摘要
膝关节镜手术是利用内窥镜的膝关节微创手术,具有创口小、恢复快等优势,但同时整个手术仅凭术中二维膝关节镜图像引导,存在缺乏深度信息、容易出现遮挡、依赖手术经验等缺点。利用虚拟内窥镜技术,将术前与术中的信息结合,互为补充,为膝关节镜手术进行导航,增加其便利性和可靠性。提出基于虚拟内窥镜技术的膝关节镜手术导航系统:首先通过对内窥镜及整个坐标系统的标定,完成对整个系统的坐标描述;然后针对实时追踪的内窥镜视角,实现对应范围术前信息的渲染,最后将术前术中及融合信息通过二维、三维显示方式,全面地展示给医师。完成系统的搭建及完整的膝关节模型实验,将术前术中信息同时显示、精确融合,实现导航功能;实验的定位标定均方误差小于1 mm,术前术中图像融合匹配均方误差小于0.7 mm,分立及融合图像均可实时显示。综合定位信息与术前信息的膝关节镜手术导航系统,可以实时进行内窥镜图像增强,为膝关节镜术提供多源信息融合引导,为医生提供直观、便捷的手术导航效果。
Knee arthroscopic surgery is a kind of minimally invasive surgery using endoscope, which is associated with small incisions and a shorter hospital stay. While in the meantime, arthroscopic surgery uses two dimensional image as visual guidance, thus brings the drawback of lacking depth information, getting blocked easily, counting on surgeon′s experience. Our research brought up an arthroscopic surgery guiding system based on virtual-vision technology with pre-operation imaging. Through this system, pre-operation image collaborated with intraoperative image, and thus made the surgery procedure more convenient and reliable. Virtual-vision rendering method was used for arthroscopic surgery guidance. The calibration procedure for the arthroscope and the registration procedure for the whole system were finished at first. Then the target of virtual rendering for the pre-operation imaging in corresponding viewing position was achieved, during which, real-time tracking for the arthroscope was essential. We set up the arthroscopic surgery guiding system based on external tracking information and pre-operation imaging. Software interface for the system was developed with computer vision rendering algorithm. A knee model experiment was conducted to validate the system, where the mean square error(MSE) for the calibration of tracking device was within 1 mm,and the MSE for the image fusion was below 0.7 mm, both the separate and fusion image for guidance was provided in real-time. The surgery guiding system described in this research could provide enhanced image guidance for knee arthroscopic surgery. Multi-source imaging was made good use in our system, which would provide the surgeons with direct and precise surgery guiding information.
作者
崔曦雯
陈芳
韩博轩
马聪
马龙飞
廖洪恩
Cui Xiwen;Chen Fang;Han Boxuan;Ma Cong;Ma Longfei;Liao Hongen(Department of Biomedical Engineering,School of Medicine,Tsinghua University,Beijing 100084,China;Department of Computer Science and Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)
出处
《中国生物医学工程学报》
CAS
CSCD
北大核心
2019年第5期558-565,共8页
Chinese Journal of Biomedical Engineering
基金
国家重点研发计划重点专项(2017YFC0108000)
国家自然科学基金国家重大科研仪器研制项目(81427803)
关键词
虚拟内窥镜
膝关节镜手术
图像引导
术中定位
virtual endoscopy
knee arthroscopic surgery
image-guided surgery
intraoperative positioning
