达芬奇机器人在肝脏外科领域的应用已被证实是安全可行的，但无法透视肝内重要管道和精准定位肝实质内肿瘤。虚拟现实和增强现实等技术的应用可使人体结构立体化、可视化，术前三维模型的建立可以帮助医生制定完善的术前规划，增强现实的应用可以实时进行术中指导，从而避免损伤肝内重要管道，减少出血，并保证安全的手术切缘。本文报道了 2 例达芬奇机器人肝脏手术，在三维重建结合增强现实技术的指导下进行了精准的肝切除。

The Da Vinci robot surgical procedure has been proved to be safe and feasible in the field of liver surgery, but it still has the shortage of being unable to penetrate important hepatic ducts and accurately locate tumors in liver parenchyma. The application of technologies such as virtual reality and augmented reality can make the human body structure three-dimensional and visualized. The establishment of a three-dimensional model before surgery can help us make better preoperative planning, the application of augmented reality can provide real-time intraoperative guidance to avoid damage to important intrahepatic ducts, reduce intraoperative hemorrhage, and ensure safe surgical margins. This article reports two cases of Da Vinci liver surgery, which was accurately performed under the guidance of 3D reconstruction combined with augmented reality technology.

收稿日期：2020-02-13  录用日期：2020-05-15

Received Date: 2020-02-13  Accepted Date: 2020-05-15

基金项目：山东省科技发展计划（2016GSF201221）

Foundation Item: The Research and Development Project of Shandong Province (2016GSF201221)

通讯作者：孙传东，Email：sunchuandong@hotmail.com

Corresponding Author: SUN Chuandong, Email: sunchuandong@hotmail.com

引用格式：邹浩，朱呈瞻，王畅，等 . 三维重建结合增强现实技术在机器人下精准肝切除术中的应用 [J]. 机器人外科学杂志，2020，1（2）：141-147.

Citation: ZOU H, ZHU C Z, WANG C, et al.Application of three-dimensional reconstruction combined with augmented reality technology in precise hepatectomy performed by robot [J]. Chinese Journal of Robotic Surgery, 2020, 1 (2):141-147.

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