基于正侧位投影约束的空间配准与脊柱手术导航  

Spatial Registration and Spinal Surgery Navigation Based on Constraint of Anterior-posterior and Lateral Views

作　　者：栾胜[1] 王田苗[1] 李危石[2] 胡磊[1,3] 刘忠军[2] 姜亮[2] 

机构地区：[1]北京航空航天大学机器人研究所,北京100191 [2]北京大学第三医院骨科,北京100191 [3]机器人技术与系统国家重点实验室(哈尔滨工业大学),黑龙江哈尔滨150080

出　　处：《机器人》2010年第1期1-5,共5页Robot

基　　金：国家十一五科技支撑计划资助项目(2006BAI03A16;2007BAI07A23);机器人技术与系统国家重点实验室开放基金资助项目(SKLRS200714);北京市科技计划资助项目(H060720050230)

摘　　要：为提高机器人辅助脊柱手术的精确性、安全性以及易用性,将术前CT图像与术中X射线图像配准.传统单平面配准法因缺乏沿光轴的深度信息而导致导航误差较大,本文通过同时计算正侧位透视图像来提高配准与导航精度.通过分析正侧位投影空间变换模型,利用该双平面几何约束实现自动的配准初值估计并建立3维手术空间与CT空间的映射.在虚拟X射线导航基础上,利用立体视觉定位计算手术器械在CT空间的实时位姿从而实现3维导航.脊柱体模实验证明该配准与导航方法的精度满足手术要求,动物椎板磨削实验表明该系统可实现实时监控,提高手术安全性.To improve the precision, safety and usability of the robot assisted spinal operation, registration between preoperative CT images and intraoperative X-ray images is utilized. Conventional single planar registration is processed with large navigation error due to lack of depth information along the optical axis, therefore anterior-posterior （AP） and lateral views are calculated simultaneously to improve the registration and navigation accuracy. Based on the analysis on the transformation model of anterior-posterior （AP） and lateral projection spaces, initial registration parameters are automatically estimated and the mapping from the 3D surgical space to the CT space is established by using the biplanar geometric constraint. The real-time postures of surgical instrument in CT space are calculated by using stereo-vision-based positioning technique based on virtual X-ray navigation, and 3D navigation is realized. A vertebral phantom experiment validates the accuracy of the registration and navigation method, and animal lamina milling experiments prove that the operation safety could be improved and the real-time monitoring is accomplished.

关 键 词：医用机器人 医学图像配准 3维导航 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]