Pre-operative image-to-patient registration using patient-specific instruments

A patient-specific instruments (PSI) is an instrument that can be placed in the planned location on hard tissues. This PSI enables an image-to-patient registration, which is required for implementing a surgical navigation system, to be performed more quickly and conveniently than the traditional pointing-based registration methods.

Surgical navigation system for vascular intervention

A surgical navigation system is presented to improve the safety and precision of conventional vascular interventions. The proposed system visualizes in real time vascular anatomy or occlusion that are originally invisible in X-ray images and the location of surgical instruments is displayed in the 3D CT model.

3d-2d rigid registration for vascular intervention

Proposed 3D-2D registration method is hybrid method based on intensity-based method and feature-based method. Proposed method replaced the highest computational process of intensity-based method called Digitally Reconstructed Radiograph (DRR) generation with the new DRR generation method inspired by feature-based method. In this study, centerlines and corresponding radii were used as feature for DRR generation.

Optical Tracking System with Multi-Sensors for Surgical Navigation

The proposed optical tracking system reduces marker size into 3 cm on a side by finding marker’s ID with not the structure of infrared reflective region but the color of marker plate. It makes line of sight problem less happened especially in operation which has small workspace such as dental implant surgery.

Electroencephalography(EEG) Electrode Placement Navigation System

The proposed system is visual-based EEG electrode guidance system. After to gain ROI on fMRI, showing ROI on virtual space, and tracking and displaying an electrode in real-time also, system user can place electrode on ROI easily.

The optical tracking system for surgical navigation

The optical trackers are widely used to guide surgical instruments with a patient in operation. We developed various trackers in accordance with the surgical field such as bone tumor, implant and CMF surgery. The trackers are composed with a mono or stereo type cameras and we developed calibration procedures to build pose estimation.

An Integration system of endoscope holder and AR navigation for solving line-of-sight Proble of tracker in sinus surgery

To overcome the line-of-sight problem of optical tracking system in sinus surgery, an integration system of endoscope holder and AR navigation was developed. Using kinematics information of the holder, the line-of-sight problem was solved after solving key parameters to integrate both holder and navigation systems.

A vision guided screw insertion robotic system for bone tissues using rolling frictions

We proposed an insertion mechanism by using rolling friction for surgical safety of the auto drilling. Using a vision guided system, the proposed robot aligns the angle of the insertion and drill to the target point precisely.

Flexible robot with ball based spherical joint for single port laparoscopic surgery

This research aims to improve position accuracy of flexible robot for single port laparoscopic surgery. Torsional deformation of flexible robot affects the accuracy of the flexible robot. With this consideration, we are developing mechanisms preventing the torsional deformation structurally in order to improve the position accuracy of flexible robot .

An Electrode Guidance Navigation based on Markerless Augmented Reality

We proposed an electrode guidance navigation based on markerless augmented reality visualization, which aims to enable the precise electrode placement in a cost-effective way. The presented system uses a RGB-D camera for scanning and registration of facial surface or electrodes and thereby visualizes reference and current electrode position in real time.

Panoramic image of different viewpoint for shoulder arthroscopy

One of major issues in a conventional arthroscopic system is limited field-of-view (FOV). This constrains surgeons’ perspective regarding the orientation of an instrument in a surgical space as well as hand-eye coordination in arthroscopic surgery. Therefore, inexperienced surgeons require a lot of arthroscopic surgeries for their better perspective. This research aims to solve the issue by image processing called panorama.

Single Incision Laparoscopic Surgery Robot

Single Incision Laparoscopic Surgery (SILS) or Natural orifice transluminal endoscopic Surgery (NOTES) is the new scarless surgical technique. To overcome limited space, vision, and degree of freedom, small and dexterous surgical instruments are required. SILS uses a single incision on the abdominal surface, preferably the navel. A novel robotic SILS platform with high torque and large workspace is studied in our laboratory.

Surgical Navigation System Using Augmented Reality

The augmented reality (AR) based surgical navigation system allows virtual organs superimposed on the real organs. Particularly, internal organs and vessels that are covered in external organs are visualized, and this is one of the attractive advantages of the AR system. AR navigation system helps surgeons to recognize sensitive nerves, organs or vessels intuitively, and it is also helpful for minimum invasive surgery.

Surgical Navigation System for Catheter-Insertion Procedures

Surgical navigation based on electromagnetic tracking system (EMTS) assists catheter-insertion procedures including the epiduroscopy. Optical tracking system (OTS) is a tracking modality which has higher accuracy and reliability than the EMTS. To compensate for inherent tracking inaccuracy of EMTS, the OTS is additionally used in the conventional navigation system.

Design of the Master Device for Single Incision Surgery Robot

Unlike daVinci surgical system, in a single port surgery robot, all joints of the slave robot are located inside abdomen. We need to control not only the slave tip but all slave joints to increase the safety. In this study, a master device was developed for PLAS which is one of the Y-type slave robot for single port laparoscopic surgery (SPLS).

3D Augmented Reality for Stereo Camera Images

Recently, stereo microscope and endoscope system has been used in the hospitals. We develop the augmented reality image overlay system for stereo camera images.

fNIRs – fMRI Registration

In brain science, fNIRs and fMRI are useful technologies for measuring brain activity. Each technology has limitations, fNIRs has a low spatial resolution, and fMRI has a low temporal resolution. fNIRs and fMRI registration can mutually overcome the limitations. In our system, fNIRs can be displayed on the indivisual patients’ medical images

Improvement of Registration Accuracy with Anatomical Landmarks

Most surgical navigation systems use the surface information for the registration. They use skin markers for the registration, but the markers far from target area. Even though the fiducial registration error (FRE) is small, target registration error (TRE) can be high. Including anatomical landmarks near the target can reduce the TRE. In our system, anatomical landmarks are obtained and used by ultrasound image.

High Precision Camera-tracker Calibration with an Optical Tracking System

Augmented reality (AR) navigation requires a transformation matrix from tracker to camera obtained from camera-tracker calibration. Camera-tracker calibration is one of the important elements to determine the accuracy of augmented reality based surgical navigation system (see TCCM in figure 1). The optical tracking system itself has the spatial error which increases with the distance.

Surgical Navigation System for Sinus Surgery

Sinus surgery is one of the challenging procedures for surgeons since a complex access route to paransal sinuses is formed in the nose. In the case of less-experienced surgeons, there is a possibility of damaging the orbit and the skull base, which causes the complication.

Interface for wide-angle arthroscope

In order to overcome small field of arthroscope view, the field of view is expanded by utilizing digital zoom, panorama view technology and fisheye lens (wide angle lens). A Region of interest in the enlarged arthroscopic display is selectable when surgeons want to focus on specific anatomy in detail.

Usability evaluation of wide-angle arthroscope

The usability of wide-angle arthroscope as compared to the 30 degree arthroscope are demonstrated experimentally utilizing motion analysis system. Our study opens new avenues towards assessment of surgical instruments with motion analysis system.