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      Vision-based tracking system for augmented reality to localize recurrent laryngeal nerve during robotic thyroid surgery

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          Abstract

          We adopted a vision-based tracking system for augmented reality (AR), and evaluated whether it helped surgeons to localize the recurrent laryngeal nerve (RLN) during robotic thyroid surgery. We constructed an AR image of the trachea, common carotid artery, and RLN using CT images. During surgery, an AR image of the trachea and common carotid artery were overlaid on the physical structures after they were exposed. The vision-based tracking system was activated so that the AR image of the RLN followed the camera movement. After identifying the RLN, the distance between the AR image of the RLN and the actual RLN was measured. Eleven RLNs (9 right, 4 left) were tested. The mean distance between the RLN AR image and the actual RLN was 1.9 ± 1.5 mm (range 0.5 to 3.7). RLN localization using AR and vision-based tracking system was successfully applied during robotic thyroidectomy. There were no cases of RLN palsy. This technique may allow surgeons to identify hidden anatomical structures during robotic surgery.

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          ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras

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            Simultaneous localization and mapping (SLAM): part II

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              SVO: Fast semi-direct monocular visual odometry

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                Author and article information

                Contributors
                kevinjoon@naver.com
                juneychoi@snubh.org
                Journal
                Sci Rep
                Sci Rep
                Scientific Reports
                Nature Publishing Group UK (London )
                2045-2322
                21 May 2020
                21 May 2020
                2020
                : 10
                : 8437
                Affiliations
                [1 ]ISNI 0000 0004 0470 5905, GRID grid.31501.36, Interdisciplinary Program, Bioengineering Major, Graduate School, , Seoul National University, ; Seoul, Korea
                [2 ]ISNI 0000 0004 0647 3378, GRID grid.412480.b, Department of Surgery, , Seoul National University Bundang Hospital, ; Seongnam-si, South Korea
                [3 ]MAXST, Seoul, South Korea
                [4 ]GRID grid.412479.d, Department of Surgery, , Seoul National University Boramae Medical Center, ; Seoul, South Korea
                [5 ]ISNI 0000 0001 0722 6377, GRID grid.254230.2, Department of Biomedical Engineering, , Chungnam National University College of Medicine, ; Daejeon, Korea
                [6 ]ISNI 0000 0001 0302 820X, GRID grid.412484.f, Department of Surgery, , Seoul National University Hospital and College of Medicine, ; Seoul, South Korea
                [7 ]ISNI 0000 0004 0647 3378, GRID grid.412480.b, Department of Orthopaedic Surgery, , Seoul National University Bundang Hospital, ; Seongnam-si, South Korea
                [8 ]ISNI 0000 0004 0470 5905, GRID grid.31501.36, Department of Biomedical Engineering, College of Medicine and Institute of Medical and Biological Engineering, Medical Research Center, , Seoul National University, ; Seoul, Korea
                Article
                65439
                10.1038/s41598-020-65439-6
                7242458
                32439970
                64743d6d-a344-4e1a-a92b-6e27a9231d7b
                © The Author(s) 2020

                Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

                History
                : 27 September 2019
                : 28 April 2020
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                © The Author(s) 2020

                Uncategorized
                biomedical engineering,nervous system
                Uncategorized
                biomedical engineering, nervous system

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