摘要
为验证Kinect相机用于腹部肝穿刺介入导航的可行性,开发了一套基于第二代Kinect相机的被动光学定位导航系统。该系统实现了一种无标记术中注册方法,分别从术前腹部X-射线计算机断层图像和Kinect相机获取的彩色及深度图像中提出腹部表面点云数据做匹配,实现术中数据与术前数据融合。为验证系统的导航精度,分别在1个腹部体模和6只健康比格犬肝脏区域做了穿刺导航实验,穿刺结果分别统计了靶点配准误差、用户手动误差和靶点定位误差。体模实验显示,靶点配准误差、用户手动误差和靶点定位误差分别为(4.26±1.94)mm、(2.92±1.67)mm、(5.23±2.29)mm。同时比较了第一代和第二代Kinect相机应用于穿刺导航的性能,实验结果表明,第二代相机的导航精度明显高于第一代。动物实验中得到的靶点定位误差及其横向、径向误差分量为(6.40±2.72)mm、(4.30±2.51)mm、(3.80±3.11)mm。由实验结果可知,该研究成功验证了Kinect相机用于腹部肝穿刺介入手术导航的可行性。
To investigate the feasibility of Microsoft Kinect camera for guiding percutaneous liver needle intervention, a puncture navigation system based on the second generation Kinect was developed. The two surfaces from preoperative computed tomograph （CT） and intraoperative Kinect RGB-depth images were extracted and matched for physical-to-image registration. Experiments were conducted on a general abdominal phantom and six beagles in vivo. The target registration error, user error, and target positioning error were used to evaluate navigation accuracy. The results show that target registration error, user error, and target positioning error of the phantom are （4.26±1.94） ram, （2.92±1.67） mm and （5.23±2.29） ram, respectively. In addition, two generations of Kinect were both tested, and the results imply that the second generation Kinect-based navigation is superior to the first-generation. For the animal experiment, the target positioning error was evaluated as （6.40±2.72） mm, and its lateral and longitudinal component were （4.30±2.51） mm and （3.80±3.11） ram, respectively. This study demonstrates that the Kinect camera has a potential of clinical application in percutaneous liver puncture navigation.
作者
肖德强
罗火灵
张彦舫
贾富仓
胡庆茂
XIAO Deqiang1 LUO Huoling1 ZHANG Yanfang2 JIA Fucang1 HU Qingmao1(Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China ） 2（ Intervention Therapy Department of Shenzhen People＇s Hospital, Shenzhen 518020, China)
出处
《集成技术》
2018年第2期22-36,共15页
Journal of Integration Technology
基金
国家重点研发计划课题(2016YFC0106502
SQ2017ZY040217/03)
国家自然科学基金-深圳机器人基础研究中心项目(U1613221)
国家自然科学基金-广东联合基金(U1201254)
广东省科技计划项目(2015A020214012
2015A020214012)
深圳市基础研究布局项目(JCYJ20170413162213765)
