Name: تسليط الضوء على المؤلف: إحداث ثورة في الجراحة عن بعد باستخدام الواقع المعزز والروبوتات لتحسين الدقة وإمكانية الوصول
Uploaded: 2024-08-09T14:25:00
Description: Augmented Reality (AR) is in high demand in medical applications. The aim of the paper is to provide automatic surgery using AR for the Transcatheter ...

يقر المؤلفون بعدم وجود تمويل لهذا البحث.

1. البيئة الجراحية
<ol><li>تصميم بيئة جراحية كما هو موضح في الشكل 1. تأكد من أن البيئة تحتوي على طبق يحمل شيئا وذراعا آليا وذراعين معلقين جانبيا، أحدهما لحمل عنصر نائب للكاميرا والآخر للحصول على خلفية بيضاء متسقة مع وحدة الوزن لتحقيق التوازن.</li>
	<li>تطوير محركين ، أحده?...

إعادة بناء 3D الأمثل ورسم خرائط الحركة للجراحة بمساعدة AR عن بعد

<ol>
	<li>Wang, L. J., Casto, B., Reyes-Molyneux, N., Chance, W. W., Wang, S. J. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Smartphone-based+augmented+reality+patient+education+in+radiation+oncology.">Smartphone-based augmented reality patient education in radiation oncology.</a> Tech Innov Patient Supp Radiation Oncol. 29, 100229 (2024).</li><li>Guerroudji, M. A., Amara, K., Lichouri, M., Zenati, N., Masmoudi, M. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+3D+visualization-based+augmented+reality+application+for+brain+tumor+segmentation.">A 3D visualization-based augmented reality application for brain tumor segmentation.</a> Comput Anim Virtual Worlds. 35 (1), e2223 (2024).</li><li>Xia, L., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Augmented+reality+and+indoor+positioning+based+mobile+production+monitoring+system+to+support+workers+with+human-in-the-loop.">Augmented reality and indoor positioning based mobile production monitoring system to support workers with human-in-the-loop.</a> Robotic Comput Integ Manufac. 86, 102664 (2024).</li><li>Preece, C., Skandalis, A. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Time+to+imagine+an+escape:+investigating+the+consumer+timework+at+play+in+augmented+reality.">Time to imagine an escape: investigating the consumer timework at play in augmented reality.</a> Eur J Market. 58, 92-118 (2024).</li><li>Suresh, D., Aydin, A., James, S., Ahmed, K., Dasgupta, P. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=The+role+of+augmented+reality+in+surgical+training:+a+systematic+review.">The role of augmented reality in surgical training: a systematic review.</a> Surg Innov. 30, 366-382 (2023).</li><li>Moreta-Martinez, R., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Combining+augmented+reality+and+3D+printing+to+display+patient+models+on+a+smartphone.">Combining augmented reality and 3D printing to display patient models on a smartphone.</a> J Vis Exp. (155), 60618 (2020).</li><li>Ma, L., Huang, T., Wang, J., Liao, H. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Visualization,+registration+and+tracking+techniques+for+augmented+reality+guided+surgery:+a+review.">Visualization, registration and tracking techniques for augmented reality guided surgery: a review.</a> Phys Med Biol. 68, 04TR02 (2023).</li><li>Hofman, J., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=First-in-human+real-time+ai-assisted+instrument+deocclusion+during+augmented+reality+robotic+surgery.">First-in-human real-time ai-assisted instrument deocclusion during augmented reality robotic surgery.</a> Healthc Technol Lett. 11 (2-3), 33-39 (2023).</li><li>Thiene, G., Rizzo, S., Basso, C. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Bicuspid+aortic+valve:+The+most+frequent+and+not+so+benign+congenital+heart+disease.">Bicuspid aortic valve: The most frequent and not so benign congenital heart disease.</a> Cardiovasc Pathol. 70, 107604 (2024).</li><li>Mack, M. J., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Transcatheter+aortic-valve+replacement+in+low-risk+patients+at+five+years.">Transcatheter aortic-valve replacement in low-risk patients at five years.</a> New Engl J Med. 389, 1949-1960 (2023).</li><li>Vitanova, K., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Aortic+valve+versus+root+surgery+after+failed+transcatheter+aortic+valve+replacement.">Aortic valve versus root surgery after failed transcatheter aortic valve replacement.</a> J Thorac Cardiovas Surg. 166, 1418-1430 (2023).</li><li>Bydlon, T. M., Torjesen, A., Fokkenrood, S., Di Tullio, A., Flexman, M. L. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=3d+visualisation+of+navigation+catheters+for+endovascular+procedures+using+a+3d+hub+and+fiber+optic+realshape+technology:+phantom+study+results.">3d visualisation of navigation catheters for endovascular procedures using a 3d hub and fiber optic realshape technology: phantom study results.</a> EJVES Vascular Forum. 59, 24-30 (2023).</li><li>Faris, H., Harfouche, C., Bandle, J., Wisbach, G. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Surgical+tele-mentoring+using+a+robotic+platform:+initial+experience+in+a+military+institution.">Surgical tele-mentoring using a robotic platform: initial experience in a military institution.</a> Surg Endosc. 37, 9159-9166 (2023).</li><li>Fitzgerald, L., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Mentoring+approaches+in+a+safe+surgery+program+in+tanzania:+Lessons+learned+during+covid-19+and+recommendations+for+the+future.">Mentoring approaches in a safe surgery program in tanzania: Lessons learned during covid-19 and recommendations for the future.</a> Surg Open Sci. 14, 109-113 (2023).</li><li>de Turenne, A., Eug&#232;ne, F., Blanc, R., Szewczyk, J., Haigron, P. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Catheter+navigation+support+for+mechanical+thrombectomy+guidance:+3d/2d+multimodal+catheter-based+registration+with+no+contrast+dye+fluoroscopy.">Catheter navigation support for mechanical thrombectomy guidance: 3d/2d multimodal catheter-based registration with no contrast dye fluoroscopy.</a> Int J Comput Assist Radiol Surg. 19 (3), 459-468 (2023).</li><li>Tang, H., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+multiple+catheter+tips+tracking+method+in+x-ray+fluoroscopy+images+by+a+new+lightweight+segmentation+network+and+bayesian+filtering.">A multiple catheter tips tracking method in x-ray fluoroscopy images by a new lightweight segmentation network and bayesian filtering.</a> Int J Med Robotics Comput Assist Surg. 19, e2569 (2023).</li><li>Annabestani, M., Caprio, A., Wong, S. C., Mosadegh, B. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+machine+learning-based+roll+angle+prediction+for+intracardiac+echocardiography+catheter+during+bi-plane+fluoroscopy.">A machine learning-based roll angle prediction for intracardiac echocardiography catheter during bi-plane fluoroscopy.</a> Appl Sci. 13, 3483 (2023).</li><li>Thourani, V. H., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Survival+after+surgical+aortic+valve+replacement+in+low-risk+patients:+a+contemporary+trial+benchmark.">Survival after surgical aortic valve replacement in low-risk patients: a contemporary trial benchmark.</a> Ann Thorac Surg. 117, 106-112 (2024).</li><li>Dom&#237;nguez-Velasco, C. F., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Augmented+reality+simulation+as+training+model+of+ventricular+puncture:+Evidence+in+the+improvement+of+the+quality+of+punctures.">Augmented reality simulation as training model of ventricular puncture: Evidence in the improvement of the quality of punctures.</a> Int J Med Robotics Comput Assist Surg. 19, e2529 (2023).</li><li>Wang, Q., Xie, Z. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Arias:+An+ar-based+interactive+advertising+system.">Arias: An ar-based interactive advertising system.</a> Plos One. 18, e0285838 (2023).</li><li>Ji, F., Chong, F., Wang, F., Bai, D. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Augmented+reality+platform+for+the+unmanned+mining+process+in+underground+mines.">Augmented reality platform for the unmanned mining process in underground mines.</a> Mining,Metal Explor. 39 (2), 385-395 (2022).</li><li>Indhumathi, S., Clement, J. C. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Directional+intensified+feature+description+using+tertiary+filtering+for+augmented+reality+tracking.">Directional intensified feature description using tertiary filtering for augmented reality tracking.</a> Sci Rep. 13, 20311 (2023).</li><li>Gao, L., Zhao, Y., Han, J., Liu, H. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Research+on+multi-view+3D+reconstruction+technology+based+on+SFM.">Research on multi-view 3D reconstruction technology based on SFM.</a> Sensors. 22 (12), 4366 (2022).</li><li>Su&#225;rez, I., Sfeir, G., Buenaposada, J. M., Baumela, L. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=BEBLID:+Boosted+efficient+binary+local+image+descriptor.">BEBLID: Boosted efficient binary local image descriptor.</a> Pattern Recog Lett. 133, 366-372 (2020).</li><li>Borman, R. I., Harjoko, A. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Improved+ORB+algorithm+through+feature+point+optimization+and+Gaussian+pyramid.">Improved ORB algorithm through feature point optimization and Gaussian pyramid.</a> Int J Adv Comp Sci Appl. 15 (2), 268-275 (2024).</li></ol>

في عمل موجود15 ، يتم فحص الأشعة السينية والأشعة المقطعية لتحديد موقع القسطرة في القلب. ومع ذلك ، فإن استبدال AR TAVR يؤسس إمكانية جديدة في الإجراء الجراحي TAVR18 من خلال تنفيذ نموذج آلي باستخدام إعادة البناء ثلاثية الأبعاد. كما هو مذكور في قسم البروتوكول ، يحتوي هذا العم...

يمكن للواقع المعزز تركيب نموذج 3D في بيئة العالم الحقيقي. أحدث التطور التكنولوجي نحو الواقع المعزز نقلة نوعية في العديد من المجالات ، وهي التعليم1 والطب2 والتصنيع3 والترفيه4. تثبت تقنية AR ، إلى جانب الاتصالات ذات الكمون المنخفض الموثوقة للغاية ، دورها الحتمي في المجال الطبي. من مرحلة تعلم التشريح البشري إلى التوجيه الجراحي ، يمكن تصور مراحل التعلم باستخدام البرامجالتي تعمل بالواقع المعزز 5,6 والأجهزة. يوفر الواقع المعزز حلا حاسما وموثوقا للممارس الطبي في بيئة جراحية 7,8.
تضيق الصمام الأبهري هو مرض صمام القلب ، وهو الأكثر شيوعا بين البشر9. السبب الجذري للمرض هو العادات الغذائية السيئة والروتين غير المنتظم للحياة اليومية. أعراض ونتائج المرض هي تضييق صمام القلب ، يليه انخفاض في تدفق الدم. يجب معالجة هذه المشكلة قبل حدوث أي ضرر لقلب الإنسان. وبالتالي ، فإن القلب مثقل بمعالجة تدفق الدم. لذلك ، قبل حدوث أي ضرر ، يجب إجراء عملية جراحية ، والتي ، بسبب التطورات التكنولوجية في الأيام الأخيرة ، يمكن إجراؤها أيضا باستخدام إجراء TAVR. يمكن اعتماد الإجراء بناء على حالة القلب وأجزاء الجسم الأخرى للمرضى. في TAVR10,11 ، يتم إدخال القسطرة لاستبدال الصمام التالف في القلب. ومع ذلك ، فإن وضع موضع القسطرة12 لاستبدال الصمام أمر شاق للممارس. دفعتنا هذه الفكرة إلى تصميم نموذج جراحة آلي يعتمد على AR13,14 ، مما يساعد الجراح على وضع الصمام بدقة أثناء عملية الاستبدال. علاوة على ذلك ، يمكن إجراء الجراحة بواسطة خوارزمية رسم خرائط الحركة ، والتي تحدد حركة الجراح التي تم التقاطها من مكان بعيد إلى الذراع الآلية.
في العمل الحالي15،16،17 ، يتم مراقبة تصور إجراء TAVR18 من خلال التنظير الفلوري. وبالتالي ، من الصعب تحليل صمام القلب ومملة للعثور على موقع الاستبدال. هذا يضع حاجزا أمام وضع القسطرة في قلب الإنسان. بالإضافة إلى ذلك ، يتم تعيين الحركة عن بعد إلى المجال الجراحي لجعل العملية آلية. ومع ذلك ، للتغلب على الفجوة البحثية ، نقترح إجراء جراحة آلية قائمة على الروبوت لاستبدال الصمام باستخدام تقنية بمساعدة الواقع المعزز.
البروتوكول هو نموذج عام يمكن تطبيقه على جميع البيئات الجراحية. في المرحلة الأولى من العمل ، يتم التقاط صور 2D في جميع أنحاء البيئة الجراحية مع أقصى دقة مكانية لأكبر درجة من الحرية. هذا يعني أنه يتم التقاط صور كافية لغرض إعادة الإعمار3D 19 ، تليها خرائط الحركة من خلال تتبع إيماءات اليد20.

<table border="1" fo:keep-together.within-page="1" fo:keep-with-next.within-page="always">
	<tbody>
		<tr>
			<td>android IDE</td>
			<td>software</td>
			<td>https://developer.android.com/studio</td>
			<td>software can be downloaded from this link</td>
		</tr>
		<tr>
			<td>Arduino Board</td>
			<td>Ardunio Uno</td>
			<td>Ardunio Uno</td>
			<td>Microcontroller for processing</td>
		</tr>
		<tr>
			<td>arduino software</td>
			<td>software</td>
			<td>https://www.arduino.cc/en/software.</td>
			<td>software can be downloaded from this link</td>
		</tr>
		<tr>
			<td>Human Heart phantom model</td>
			<td>Biology Lab Equipment Manufacturer and Exporter</td>
			<td>B071YBLX2V(8B-ZB2Q-H3MS-1)</td>
			<td>light weight model with 3parts to the deep analysis of heart.</td>
		</tr>
		<tr>
			<td>mobile holder</td>
			<td>Humble universal monopoad holder</td>
			<td>B07S9KNGVS</td>
			<td>To carry the mobile in surgical field</td>
		</tr>
		<tr>
			<td>pycharm IDE</td>
			<td>software</td>
			<td>https://www.jetbrains.com/pycharm/</td>
			<td>software can be downloaded from this link</td>
		</tr>
		<tr>
			<td>Robot arm</td>
			<td>Printed-bots</td>
			<td>B08R2JLKYM(P0-E2UT-JSOU)</td>
			<td>arm can be controlled through control signal.it has 5 degree of freedom to access.</td>
		</tr>
		<tr>
			<td>servo motor</td>
			<td>Kollmorgen Co-Engineers Motors</td>
			<td>MG-966R</td>
			<td>high-torque servo motor,servo pulses ranging from 500 to 2500 microseconds (&#181;s), with a frequency of 50Hz to 333Hz.&#160;</td>
		</tr>
		<tr>
			<td>servomotor</td>
			<td>Kollmorgen Co-Engineers&#160;Motors</td>
			<td>SG-90R</td>
			<td>1.8 kg-cm to 2.5 kg-cm load can be applied to SG-90R servo.</td>
		</tr>
		<tr>
			<td>Stepper Motor</td>
			<td>28BYJ-48</td>
			<td>28BYJ-48</td>
			<td>Steper motor, 5V DC, 100 Hz frequency, torque 1200 Gf.cm</td>
		</tr>
		<tr>
			<td>Stepper Motor</td>
			<td>Nema 23</td>
			<td>Nema</td>
			<td>Steper motor, 9V - 42 V DC, 100 Hz frequency</td>
		</tr>
	</tbody>
</table>

automatic surgery in transcatheter aortic valve replacement using augmented reality

يزداد الطلب على الواقع المعزز (AR) في التطبيقات الطبية. الهدف من الورقة هو توفير الجراحة التلقائية باستخدام AR لاستبدال الصمام الأبهري عبر القسطرة (TAVR). استبدال الصمام الأبهري عبر القسطرة هو الإجراء الطبي البديل لجراحة القلب المفتوح. يستبدل استبدال الصمام الأبهري عبر القسطرة الصمام المصاب بالصمام الجديد باستخدام قسطرة. في النموذج الحالي ، يتم إعطاء التوجيه عن بعد ، في حين أن الجراحة ليست آلية بناء على الواقع المعزز. في هذه المقالة ، قمنا بنشر كاميرا محاذاة مكانيا متصلة بمحرك لأتمتة التقاط الصور في البيئة الجراحية. تتعقب الكاميرا الصورة عالية الدقة 2D لقلب المريض جنبا إلى جنب مع اختبار القسطرة. يتم تحميل هذه الصور الملتقطة باستخدام تطبيق الهاتف المحمول إلى جراح عن بعد وهو خبير في أمراض القلب. يتم استخدام هذه الصورة لإعادة بناء 3D من تتبع الصور 2D. يتم عرض هذا في HoloLens مثل المحاكي في جهاز كمبيوتر محمول. يمكن للجراح فحص الصور المعاد بناؤها 3D عن بعد مع ميزات تحويل إضافية مثل الدوران والقياس. يتم تمكين ميزات التحويل هذه من خلال إيماءات اليد. يتم نقل إرشادات الجراح إلى البيئة الجراحية لأتمتة العملية في سيناريوهات الوقت الفعلي. يتم التحكم في اختبار القسطرة في المجال الجراحي عن طريق توجيه إيماءات اليد للجراح عن بعد. يوضح النموذج الأولي المطور فعالية التوجيه الجراحي عن بعد من خلال الواقع المعزز.

AR can superimpose the 3D model in a real-world environment. The technological development towards AR has made a paradigm shift in many fields, namely education1, medical2, manufacturing3, and entertainment4. AR technology, along with ultra-reliable low-latency communication, proves its inevitable role in the medical field. From the learning stage of human anatomy to surgical guidance, the stages of learning can be visualized with AR-powered software5,6 and hardware. AR provides a crucial and reliable solution to the medical practitioner in a surgical environment7,8.
Aortic valve stenosis is the heart valve disease, which is most common among mankind9. The root cause of the disease is poor food habits and irregular routines of day-to-day life. The symptom and result of the disease is the narrowing of the heart valve, followed by a reduction in the blood flow. This problem needs to be addressed before any damage takes place to the human heart. Thus, the heart is overburdened to process the blood flow. So, before any damage happens, surgery needs to be done, which, owing to technological developments in recent days, can also be done using the TAVR procedure. The procedure can be adopted based on the condition of the heart and other body parts of patients. In this TAVR10,11, the catheter is inserted to replace the damaged valve in the heart. However, placing the catheter position12 to replace the valve is tedious for the practitioner. This idea motivated us to design an automated surgery model based on AR13,14, which helps the surgeon to precisely position the valve during the replacement process. Moreover, the surgery can be performed by a motion mapping algorithm, which maps the surgeon&#39;s movement captured from a remote location to the robotic arm.
In the existing work15,16,17, the visualization of the TAVR18 procedure is monitored through fluoroscopy. Hence, it is difficult to analyze the heart valve and tedious to find the replacement location. This sets up a barrier to positioning the catheter in the human heart. In addition, the remote motion is mapped to the surgical field to make the process automated. However, to overcome the research gap, we propose an automated robotic-based surgery for valve replacement using AR-assisted technology.
The protocol is a generic model that can be applied to all surgical environments. In the beginning stage of the work, 2D images are captured all around the surgical environment with the fullest spatial resolution of the largest degree of freedom. This means that enough images are captured for 3D reconstruction19 purpose, followed by motion mapping through hand gesture tracking20.

تسليط الضوء على المؤلف: إحداث ثورة في الجراحة عن بعد باستخدام الواقع المعزز والروبوتات لتحسين الدقة وإمكانية الوصول

الجراحة التلقائية في استبدال الصمام الأبهري عبر القسطرة باستخدام الواقع المعزز

Our research focuses on revolutionizing remote surgery through augmented reality and robotics, aiming to enhance precision and accessibility in medical procedures. We are exploring how real-time 3D reconstruction and feature extraction can provide surgeons with unprecedented control and visualization, even from a distance. We have implemented our own directional intensified feature extraction to ensure precise and accurate detection of surgical features, enhancing the surgeon's control over the robotic arm.By using 3D reconstruction from minimal 2D images, we have significantly reduced the hardware complexity and improved the efficiency of our system. Our system provides the best surveillance of the surgical environment using a single mobile camera synchronized to take snaps every two seconds, ensuring real-time updates for the remote surgeon. We have developed seamless communication protocols with low latency and high reliability using Bluetooth and LAN, ensuring uninterrupted and accurate data transmission.Our approach to achieve precise, real-time synchronization between video feeds and robotic arm responses can serve as a benchmark for future research in remote surgery and telemedicine. It offers a model for integrating real-time data with robotic control systems. Our approach to achieve precise real-time synchronization between video feeds and robotic arm responses can serve as a benchmark for future research in remote surgery and telemedicine.It offers a model for integrating real-time data with robotic control systems.

تم اختبار البروتوكول باستخدام نموذج القلب الوهمي. يوضح الشكل 2 الإعداد المتوقع للمراقبة الحية للمجال الجراحي بمساعدة الكاميرات الموزعة مكانيا. تساعد الكاميرات الموزعة ، كما هو موضح في الشكل 2 ، على زيادة الدقة المكانية للمجال من أجل إعادة بناء 3D فعالة. ومع ...

تقدم هذه المقالة تصميم وتنفيذ وحدة جراحية تلقائية تعتمد على إعادة بناء 3D القائمة على الواقع المعزز (AR). يتيح النظام الجراحة عن بعد من خلال السماح للجراحين بفحص الميزات المعاد بناؤها وتكرار حركات اليد الجراحية كما لو كانوا يجرون الجراحة على مقربة.

Augmented Reality (AR) is in high demand in medical applications. The aim of the paper is to provide automatic surgery using AR for the Transcatheter ...

automatic-surgery-transcatheter-aortic-valve-replacement-using

Research

JoVE Journal

Medicine

Automatic Surgery in Transcatheter Aortic Valve Replacement Using Augmented Reality

Augmented Reality (AR) is in high demand in medical applications. The aim of the paper is to provide automatic surgery using AR for the Transcatheter Aortic Valve Replacement (TAVR). TAVR is the alternate medical procedure for open-heart surgery. TAVR replaces the injured valve with the new one using a catheter. In the existing model, remote guidance is given, while the surgery is not automated based on AR. In this article, we deployed a spatially aligned camera that is connected to a motor for the automation of image capture in the surgical environment. The camera tracks the 2D high-resolution image of the patient's heart along with the catheter testbed. These captured images are uploaded using the mobile app to a remote surgeon who is a cardiology expert. This image is utilized for the 3D reconstruction from 2D image tracking. This is viewed in a HoloLens like an emulator in a laptop. The surgeon can remotely inspect the 3D reconstructed images with additional transformation features such as rotation and scaling. These transformation features are enabled through hand gestures. The surgeon's guidance is transmitted to the surgical environment to automate the process in real-time scenarios. The catheter testbed in the surgical field is controlled by the hand gesture guidance of the remote surgeon. The developed prototype model demonstrates the effectiveness of remote surgical guidance through AR.

This article presents the design and implementation of an automatic surgery module based on augmented reality (AR)- based 3D reconstruction. The system enables remote surgery by allowing surgeons to inspect reconstructed features and replicate surgical hand movements as if they were performing the surgery in close proximity.

Creating an Advanced Automated Surgical Environment with Surveillance and Real-Time Image Transmission

To prepare the surgery environment, arrange an object-carrying platter, a robotic arm, and two side-hanging arms on a working platform. After locking the mobile in the mobile holder, enable Bluetooth of the mobile device and the laptop, which serve as the surgeon's HoloLens emulator. Pair the devices for uninterrupted image transmission.Ensure that the hanging arms are controlled by a stepper motor for a flawless revolution of 360 degrees. Connect the motor to the microcontroller board using the TB6600 driver. Click the Download button to download the microcontroller integrated development environment from the browser.Then go to File and open a new sketch to write the code. Connect the microcontroller board to interface with the new sketch through a communication port number for connection port. Check the communication port and verify that it shows the microcontroller board.Check the hardware switch settings of the stepper motor driver TB6600 to ensure a current flow of two amperes. Set SW4 to on and SW5 and SW6 to off. Set SW1 and SW3 to off and SW2 to on to achieve 1/8 micro steps, meeting the required revolution steps.Connect RTC 3231 with the microcontroller to have real global time synchronization. Ensure the revolution step size is 12 degrees and the motor step increments only when the seconds read from the RTC module are odd. Connect the 5-volt pin of the microcontroller board to the RTCVCC and the microcontroller's ground to the RTC's ground.Connect the SCL pin of RTC to the A0 pin and the SDA to the A1 pin of the microcontroller. This module ensures a 12-degree step size, completing 30 steps per revolution with increments occurring every odd second. Run the code available on the GitHub page to verify the setup is working correctly.Download Android Studio to develop the automatic camera application. Connect the mobile phone to the system. In Android Studio, click New, New Project, and choose Empty Views Activity.Click on Next to develop an Android code available at the given site. Confirm that the app captures the images automatically and sends them to a remote device consistently. Transmit snapshots from the mobile app immediately to the remote surgeon system through Bluetooth.

إنشاء بيئة جراحية آلية متقدمة مع المراقبة ونقل الصور في الوقت الفعلي

Developing Interactive Surgery Environment with Real-Time Surveillance and Augmented Reality Integration

To begin, open the graphical user interface server module. Enter the VVID port number in the VVID text field. Click on Create Socket to create and bind the socket.Then click on Connect to establish a connection with the mobile app. Now click on Capture to capture and save the scene surveillance images in the local folder. Let the client module include a robotic arm designed to have rotational movement in its base, shoulder, elbow, wrist, and fingers.Ensure that MG996R servos are used to govern the rotational movement at the base, shoulder, and elbow. Use the SG90 servo motor to control the rotational movement at the wrist and fingers. Compile the code given in the microcontroller integrated development environment to drive the robotic arm based on the commands received from the remote surgeon.Read two images at a time in a sequence, one by one, from the local folder to identify the possible overlapping between them. Extract the features using the DITF method. Reconstruct three-dimensional images from the collected features using SFM.Enable the surgeon to inspect the three-dimensional reconstructed image features using hand gesture controls for rotation and zoom in or out, allowing visualization from all perspectives. Normalize and map the distance between the tip of the surgeon's thumb and the index finger of the right hand into a corresponding angle of rotation. Transmit the hand gesture control through Bluetooth to the remote surgery environment.Ensure that the rotation of the object platter at the remote site mirrors the rotation of the three-dimensional reconstructed features at the surgeon's end. The accuracy of motion mapping decreased as the distance between two fingers increased. The DITF algorithm achieved the lowest latency compared to ORB and BEBLID.