基于路径的血管介入手术电磁跟踪的配准算法  

Path-based registration method of electromagnetic tracking of vascular interventional surgery

作　　者：李在娟 付宜利[1] 高文朋[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080

出　　处：《华中科技大学学报（自然科学版）》2013年第S1期316-319,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：哈尔滨工业大学科研创新基金资助项目(HIT.NSRIF.2013106);教育部博士学科点专项科研基金资助项目(20122302120077);中国博士后科学基金资助项目(2012M520741);国家自然科学基金资助项目(81071219;81201150);国家高技术研究发展计划资助项目(2007AA04Z237)

摘　　要：基于路径的配准算法建立在电磁定位和追踪的基础上,其通过寻找由电磁跟踪(EMT)获取的微创导管机器人的路径数据和从CT图像中获取的中心线数据的对应关系求解空间变换矩阵,实现患者坐标系和CT图像坐标系的关联.该方法是一种动态的配准方法,且无须人工标记.为提高配准精度,算法在精配准的目标函数中引入血管半径参数,并通过识别导管分叉点对变换参数进行补偿.实验以胸部血管硅胶模型为对象进行精度验证和误差分析,结果表明该方法简单可行,配准精度达到预期要求.The path-based registration method was proposed based on the mentioned electromagnetic sensor for positioning and tracking.By searching for the correspondence between the path data of minimally invasive catheter robot using electromagnetic tracking(EMT)and the center line data extracted from the CT image,the spatial transformation matrix was calculated to implement the association between the patient coordinate system and the CT image coordinate system.The proposed method is dynamic and does not need any natural landmarks.In order to improve the precision of the algorithm,the radius of the vascular was introduced to the target function of the precision registration phase.Meanwhile,the method of recognition of the corner points was designed for compensation of conversion parameters.Finally,a silicone chest vascular model was tested and the precision verification and error analysis were completed to evaluate the performance of the algorithm.Experimental results show that this registration method is simple and feasible and the registration accuracy achieves the desired requirements.

关 键 词：血管介入手术 电磁跟踪 配准算法 路径 中心线 分叉点 血管半径 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]