Name: robotized testing of camera positions to determine ideal configuration for stereo 3d visualization of open-heart surgery
Uploaded: 2021-08-12T14:45:00
Description: Watch this Scientific Journal Video about Robotized Testing of Camera Positions to Determine Ideal Configuration for Stereo 3D Visualization of Open-Heart Surgery at JoVE.com

该研究由Vinnova（2017-03728，2018-05302和2018-03651），心肺基金会（20180390），家庭坎普拉德基金会（20190194）以及Anna-Lisa和Sven Eric Lundgren基金会（2017年和2018年）资助。

这些实验得到了瑞典隆德当地伦理委员会的批准。参与是自愿的，患者的法定监护人提供了知情的书面同意书。
1. 机器人设置和配置
注：本实验使用双臂协作式工业机器人和带触摸显示屏的标准控制面板。机器人由RobotWare 6.10.01控制器软件和机器人集成开发环境（IDE）RobotStudio 2019.525控制。作者开发的软件，包括机器人应用程序，记录应?...

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在现场手术期间，用于3D视频数据收集的实验的总时间受到限制，以便对患者安全。如果物体未聚焦或过度曝光，则无法使用数据。关键步骤是在相机工具校准和设置期间（步骤2）。手术开始时，相机光圈和对焦无法改变;在设置和手术过程中应使用相同的照明条件和距离。必须仔细执行步骤2.1-2.4中的相机校准，以确保心脏在捕获的视频中居中。要对校准进行故障排除，可以通过在坐标系中慢跑?...

在外科手术中，3D 可视化可用于教育、诊断、术前计划和术后评估1，2。逼真的深度知觉可以提高对正常和异常解剖结构的理解3，4，5，6。外科手术的简单2D视频录制是一个良好的开端。然而，缺乏深度知觉可能使非手术同事难以完全理解不同解剖结构之间的前后关系，因此也会带来误解解剖结构的风险7，8，9，10。
3D 观看体验受五个因素的影响：（1） 摄像机配置可以是并行的，也可以是脚趾式的，如图 1 所示，（2） 基线距离（摄像机之间的距离）。（3）与感兴趣对象的距离和其他场景特征，如背景。（4）观看设备的特点，如屏幕尺寸和观看位置1，11，12，13。（5）观众的个人偏好14，15。
设计 3D 相机设置首先要捕获在各种相机基线距离和配置下录制的测试视频，以用于主观或自动评估16，17，18，19，20。摄像机与手术区域的距离必须恒定，以捕获清晰的图像。固定对焦是首选，因为自动对焦将调整为对可能进入视野的手，仪器或头部。然而，当感兴趣的场景是手术场时，这并不容易实现。手术室是限制进入区域，因为这些设施必须保持清洁和无菌。技术设备、外科医生和擦洗护士通常聚集在患者周围，以确保良好的视觉概览和高效的工作流程。为了比较和评估摄像机位置对 3D 观看体验的影响，应记录同一场景的一个完整的摄像机位置测试范围，因为对象特征（如形状、大小和颜色）会影响 3D 观看体验21。
出于同样的原因，应在不同的外科手术中重复相机位置的完整测试范围。必须高精度地重复整个位置序列。在手术环境中，由于空间和时间限制，需要手动调整基线距离22 或具有固定基线距离的不同相机对23 的现有方法不可行。为了应对这一挑战，设计了这种机器人化的解决方案。
数据是通过安装在手术室天花板上的双臂协作工业机器人收集的。摄像头连接到机器人的手腕上，并沿着弧形轨迹移动，基线距离增加，如图 2所示。
为了证明这种方法，记录了来自4名患有4种不同先天性心脏缺陷的不同患者的10个测试系列。当手术暂停是可行的时，选择了场景：手术修复前后的心脏跳动。当心脏被捕时，也制作了系列。手术暂停3分钟20秒，以收集40个具有不同摄像机收敛距离和基线距离的5-ssequences来捕捉场景。这些视频后来进行了后处理，以3D形式显示给临床团队，他们根据0-5的比例对3D视频的逼真程度进行了评分。
脚趾式立体相机的收敛点是两个图像的中心点相交的地方。原则上，收敛点可以放置在物体的前面、内部或后面，见图1A-C。当收敛点位于对象前面时，将捕获对象，并将其显示在左相机图像的中线左侧和右相机图像的中线右侧（图1A）。当收敛点位于对象后面时，则相反的情况适用（图1B）。当收敛点位于物体上时，物体也将出现在相机图像的中线（图1C），这大概应该会产生最舒适的观看效果，因为不需要眯眼来合并图像。为了实现舒适的立体3D视频，收敛点必须位于感兴趣的物体上或稍后一点，否则观众需要自愿向外眯眼（外斜视）。
数据是使用双臂协作工业机器人来定位相机收集的（图2A-B）。机器人在没有设备的情况下重达38公斤。机器人本质上是安全的;当它检测到意外撞击时，它会停止移动。机器人被编程为将带有C接口镜头的5百万像素相机定位在弧形轨迹上，停止在预定的基线距离处（图2C）。使用适配器板将相机连接到机器人手上，如图3所示。每个摄像机以每秒 25 帧的速度录制。镜头设置为光圈值1/8，焦点固定在感兴趣的物体上（心脏的近似几何中心）。每个图像帧都有一个时间戳，用于同步两个视频流。
校准了机器人手腕和摄像头之间的偏移量。这可以通过对齐相机图像的十字准线来实现，如图 4所示。在此设置中，从机器人手腕上的安装点到相机图像传感器中心的总平移偏移量在X方向上为55.3 mm，在Z方向上为21.2 mm， 如图5所示。旋转偏移在1100 mm的收敛距离和50 mm的基线距离处进行校准，并使用机器人控制面板上的操纵杆手动调整。本研究中的机器人在笛卡尔空间中的指定精度为0.02 mm，旋转分辨率为0.01度24。在半径为 1100 m 时，角度差为 0.01 度时，中心点偏移 0.2 mm。在50-240毫米分离的机器人运动中，每个摄像头的十字准线距离理想的收敛中心在2毫米以内。
通过视场中心周围摄像机的对称分离，基线距离逐步增加，增量为10 mm，范围为50-240 mm（图2）。相机在每个位置保持静止5秒，并以50 mm / s的速度在位置之间移动。可以使用图形用户界面在 X 和 Z 方向上调整收敛点（图 6）。机器人在其工作范围内相应地跟随。
使用均匀三角形和 图7A 和 B中的变量名称估计收敛点的精度。高度 "z" 是从收敛距离 "R" 计算得出的，毕达哥拉斯定理为：
<img alt="Equation 1" src="/files/ftp_upload/62786/62786eq01.jpg">
当实际收敛点比所需点更近时，如图7A所示，误差距离"f1"计算如下：
<img alt="Equation 2" src="/files/ftp_upload/62786/62786eq02.jpg">
类似地，当收敛点远至所需点时，误差距离"f2"计算如下：
<img alt="Equation 3" src="/files/ftp_upload/62786/62786eq03.jpg">
在这里，"e" 是十字准线之间的最大间隔，在校准期间的最大基线距离处最多为2毫米（D = 240毫米）。当 R = 1100 mm （z = 1093 mm） 时，误差小于 ± 9.2 mm。当 R = 1400 mm （z = 1395 mm） 时，误差± 11.7 mm。也就是说，收敛点放置的误差在所需值的1%以内。因此，1100 mm 和 1400 mm 这两个测试距离被很好地分开了。

<table border="1" fo:keep-together.within-page="1" fo:keep-with-next.within-page="always">
	<tbody>
		<tr>
			<td>2 C-mount lenses (35 mm F2.1, 5 M pixel)</td>
			<td>Tamron</td>
			<td>M112FM35</td>
			<td>Rated for 5 Mpixel</td>
		</tr>
		<tr>
			<td>3D glasses (DLP-link active shutter)</td>
			<td>Celexon</td>
			<td>G1000</td>
			<td>Any compatible 3D glasses can be used</td>
		</tr>
		<tr>
			<td>3D Projector</td>
			<td>Viewsonic</td>
			<td>X10-4K</td>
			<td>Displays 3D in 1080, can be exchanged for other 3D projectors</td>
		</tr>
		<tr>
			<td>6 M2 x 8 screws</td>
			<td></td>
			<td></td>
			<td>To attach the cXimea cameras to the camera adaptor plates</td>
		</tr>
		<tr>
			<td>8 M2.5 x 8 screws</td>
			<td></td>
			<td></td>
			<td>To attach the circular mounting plates to the robot wrist</td>
		</tr>
		<tr>
			<td>8 M5 x 40 screws</td>
			<td></td>
			<td></td>
			<td>To mount the robot</td>
		</tr>
		<tr>
			<td>8 M6 x 10 screws with flat heads</td>
			<td></td>
			<td></td>
			<td>For attaching the circular mounting plate and the camera adaptor plates</td>
		</tr>
		<tr>
			<td>Calibration checker board plate (25 by 25 mm)</td>
			<td></td>
			<td></td>
			<td>Any standard checkerboard can be used, including printed, as long as the grid is clearly visible in the cameras</td>
		</tr>
		<tr>
			<td>Camera adaptor plates, x2</td>
			<td></td>
			<td></td>
			<td>Designed by the authors in robot_camera_adaptor_plates.dwg, milled in aluminium.</td>
		</tr>
		<tr>
			<td>Circular mounting plates, x2</td>
			<td></td>
			<td></td>
			<td>Distributed with the permission of the designer Julius Klein and printed with ABS plastic on an FDM 3D printer. License Tecnalia Research &#38; Innovation 2017. Attached as Mountingplate_ROBOT_SIDE_ 
			NewDesign_4.stl</td>
		</tr>
		<tr>
			<td>Fix focus usb cameras, x2 (5 Mpixel)</td>
			<td>Ximea</td>
			<td>MC050CG-SY-UB</td>
			<td>With Sony IMX250LQR sensor</td>
		</tr>
		<tr>
			<td>Flexpendant</td>
			<td>ABB</td>
			<td>3HAC028357-001</td>
			<td>robot touch display</td>
		</tr>
		<tr>
			<td>Liveview</td>
			<td></td>
			<td></td>
			<td>recording application</td>
		</tr>
		<tr>
			<td>RobotStudio</td>
			<td></td>
			<td></td>
			<td>&#160;robot integrated development environment (IDE)</td>
		</tr>
		<tr>
			<td>USB3 active cables (10.0 m), x2</td>
			<td></td>
			<td></td>
			<td>Thumbscrew lock connector, water proofed.</td>
		</tr>
		<tr>
			<td>YuMi dual-arm robot</td>
			<td>ABB</td>
			<td>IRB14000</td>
			<td></td>
		</tr>
	</tbody>
</table>

robotized testing of camera positions to determine ideal configuration for stereo 3d visualization of open-heart surgery

来自外科手术的立体3D视频对于医学教育非常有价值，并改善了临床沟通。但进入手术室和手术区域受到限制。这是一个无菌的环境，物理空间挤满了外科医生和技术设备。在这种情况下，很难对外科手术进行无遮挡的捕获和逼真的再现。本文提出了一种在不同摄像机基线距离和收敛距离下快速可靠地采集立体3D视频数据的方法。为了在手术过程中以最小的干扰收集测试数据，具有高精度和可重复性，相机被连接到双臂机器人的每只手上。机器人安装在手术室的天花板上。它被编程为执行同步相机移动的定时序列，以10 mm的增量步进，在基线距离在50-240 mm之间的一系列测试位置，以及1100 mm和1400 mm的两个收敛距离。暂停手术以允许40个连续的5秒视频样本。共记录了10种手术场景。

Video1 中显示了一个可接受的评估视频，其中正确的图像放置在自上而下的立体 3D 的顶部。成功的序列应该是清晰的、集中的，并且没有不同步的图像帧。不同步的视频流将导致模糊，如文件视频 2 所示。收敛点应水平居中，独立于相机分离，如图9A，B所示。当机器人在各个位置之间转换时，视频中会出现一个小的抖动，这是在50 mm / s?...

Watch this Scientific Journal Video about Robotized Testing of Camera Positions to Determine Ideal Configuration for Stereo 3D Visualization of Open-Heart Surgery at JoVE.com

Robotized Testing of Camera Positions to Determine Ideal Configuration for Stereo 3D Visualization of Open-Heart Surgery

3D立体视频的人类深度感知取决于摄像机的分离度，收敛点，距离和物体的熟悉程度。本文提出了一种机器人化方法，用于在现场心脏直视手术期间快速可靠地收集测试数据，以确定理想的相机配置。

相机位置的机器人化测试，以确定心脏直视手术立体3D可视化的理想配置

Stereo 3D video from surgical procedures can be highly valuable for medical education and improve clinical communication. But access to the operating room ...

它可以捕获高质量的3D视频，用于培训和教育。它可以应用于大多数开放式手术室设置。通过机器人化的方法，我们可以快速准确地收集数据来评估相机位置。此方法用于快速测试 3D 视觉应用的相机配置。它还可用于研究不同的受试者如何看待深度。要开始将相机安装到机器人上，首先将镜头安装到相机上，然后使用三个M2螺钉将相机安装到适配器板上。接下来，将圆形安装板安装到相机适配板上，并在相机的另一侧使用四个 M4 螺钉。将所有摄像头安装到机器人上后，观察所得组件的镜像。使用四个 M2.5 螺钉将适配板安装到机器人手腕上。对于台式机器人，请将左侧摄像头连接到右侧机器人手臂。将 USB 电缆连接到相机和 Ubuntu 计算机。在机器人触摸显示屏上，按"菜单"按钮并选择"立体声 2"以启动机器人应用程序。在主屏幕上，在机器人应用程序中按Go启动1， 100毫米，然后等待机器人移动到起始位置。从照相机上取下保护镜头盖。将打印的校准网格放置在距离相机传感器1， 100毫米处。要正确识别相应的正方形，请在网格输入的某个位置放置一个小螺母或标记。在 Ubuntu 计算机上启动录制应用程序以启动界面。然后，调整光圈，并使用光圈和对焦环对焦镜头。在录制应用程序中，选中"十字准线"以可视化十字准线。在录制应用程序中，确保十字准线与两个相机图像中校准网格对齐在同一位置。按下机器人应用程序中的齿轮图标后，将相机相对于患者放置。通过按"手与机器人的距离"的加号或减号来更改 X 方向，通过按"高度"的加号或减号来更改 Z 方向，以捕获图像中的手术区域。通过手动移动机器人或患者来改变Y方向。暂停手术并通知手术室人员有关开始实验的信息后，在记录应用程序中按"记录"，然后在机器人应用程序中按"运行实验"。一段时间后，当实验完成后，"完成"将显示在触摸显示屏上。然后，在录制应用程序中按"停止录制"以停止录制。通知手术室人员实验已完成并恢复手术。对于评估，请使用活动 3D 投影仪以自上而下的 3D 格式显示视频。将显示正确的评估视频，并将正确的图像放置在自上而下的立体3D的顶部。成功的序列应该是清晰的、集中的，并且没有不同步的图像帧。不同步的视频流会产生模糊。收敛点应水平居中，独立于相机分离。由于左右图像之间的距离非常大，大脑无法将图像融合成一个3D图像。有几个原因可能导致心脏中心定位失败，例如从收敛点到心脏的距离。为了正确配置相机工具坐标系，请确保记录应用中的十字准线指向同一物体，校准对象位于中心位置，并且颜色的正确去拜耳格式。基线距离不断变化的3D视频使我们能够研究深度信息如何影响医务人员的解剖学理解。

Research

JoVE Journal

Medicine

Rat Heterotopic Abdominal Heart/Single-lung Transplantation in a Volume-loaded Configuration

大鼠异位心脏腹部/在卷装配置单肺移植

Herein, we describe a novel technique for heterotopic abdominal heart-lung transplantation (HAHLT) in rats. The configuration of the transplant graft ...

科研

医学

A Pipeline for 3D Multimodality Image Integration and Computer-assisted Planning in Epilepsy Surgery

管道在癫痫手术3D多模图像集成和计算机辅助规划

Epilepsy surgery is challenging and the use of 3D multimodality image integration (3DMMI) to aid presurgical planning is well-established. Multimodality ...

A Quantitative Sensory Testing Paradigm to Obtain Measures of Pain Processing in Patients Undergoing Breast Cancer Surgery

一种定量感官检测方法在乳腺癌手术患者疼痛处理中的研究

Chronic pain following surgery, persistent postsurgical pain, is an important highly prevalent condition contributing to significant symptom burden and ...

A Clinical Trial Assessing the Safety, Efficacy, and Delivery of Olive-Oil-Based Three-Chamber Bags for Parenteral Nutrition

一项临床试验，评估基于橄榄油的三腔袋的亲子营养的安全性、有效性和交付

Limited evidence exists to precisely estimate efficacy and safety differences between parenteral nutrition (PN) prepared using olive-oil-based ...

A Training and Testing System for Performing Vascular Reconstruction In Vitro

在体外进行血管重建的训练和测试系统

Manual vascular reconstruction training is essential for a beginner surgeon. However, an optimal training system for vascular reconstruction in vitro has ...

A Postoperative Evaluation Guideline for Computer-Assisted Reconstruction of the Mandible

可读机辅助重建术后评估指南

Valid comparisons of postoperative accuracy results in computer-assisted reconstruction of the mandible are difficult due to heterogeneity in imaging ...

3D Planning and Printing of Patient Specific Implants for Reconstruction of Bony Defects

患者特异性植入物重建的三维规划与打印

We are in the midst of the 3D era in most aspects of life, and especially in medicine. The surgical discipline is one of the major players in the medical ...

Implantation of Combined Telemetric ECG and Blood Pressure Transmitters to Determine Spontaneous Baroreflex Sensitivity in Conscious Mice

植入遥测心电图和血压递质组合以确定意识小鼠的自发压力反射敏感性

Blood pressure (BP) and heart rate (HR) are both controlled by the autonomic nervous system (ANS) and are closely intertwined due to reflex mechanisms. ...

Use of 3D Robotic Ultrasound for In Vivo Analysis of Mouse Kidneys

Use of 3D Robotic Ultrasound for In Vivo Analysis of Mouse Kidneys

使用3D机器人超 声进行小鼠 肾脏体内分析

Common modalities for in vivo imaging of rodents include positron emission tomography (PET), computed tomography (CT), magnetic resonance imaging (MRI), ...

Combining 3D-Printing and Electrospinning to Manufacture Biomimetic Heart Valve Leaflets

结合3D打印和静电纺丝来制造仿生心脏瓣膜传单

Electrospinning has become a widely used technique in cardiovascular tissue engineering as it offers the possibility to create (micro-)fibrous scaffolds ...