电磁手术导航系统的导航精度问题研究  

Research on precision of electromagnetic surgery navigation system

作　　者：高慧[1] 钱志余[1] 王跃[1] 陶玲[1] 李韪韬[1] 

机构地区：[1]南京航空航天大学自动化学院生物医学工程系,南京210016

出　　处：《北京生物医学工程》2012年第6期591-596,共6页Beijing Biomedical Engineering

基　　金：江苏省科技支撑计划(SBE201078084);江苏省自然科学基金(BK2009371);南京航空航天大学研究生创新基地(实验室)开放基金(kfjj20110206)资助

摘　　要：目的手术导航系统的精度受多重因素影响,通过实验对电磁手术导航系统的精度进行研究。方法通过研究电磁手术导航系统的基本组成及坐标系统的定义和相互转换,认为电磁定位系统误差和手术注册误差是导航系统误差的主要来源。为此,针对电磁定位系统、手术注册、系统整体等设计一系列精度实验,测试手术导航系统的精度。结果电磁定位系统精度为(0.19±0.15)mm,系统整体精度可达(1.44±0.39)mm。通过手术注册的实验结果分析得出,手术注册时在兼顾效率和精度的情况下采用7～10个标记点包住患者头部病灶部位,可获得理想的注册效果。同时提出提高系统精度的4个可行方法,包括优化图像处理算法、手术注册算法以及脑组织位移纠偏算法、减少干扰源等。结论电磁手术导航系统的精度受到电磁定位系统、三维重建、注册算法等多重因素的影响,本文所述手术导航系统能够达到一般手术导航系统的精度需求。Objective Precision of the surgery navigation system is influenced by multiple factors. This paper focuses on the precision of electromagnetic surgery navigation system. Methods By studying the basic composition of surgery oavigation system and the coordinate transformation method in the system, we propose that the error of positioning system and the error of surgery registration are two main error sources in the navigation system. We design a series of precision experiments to test the system precision including positioning system, surgery registration and the whole system. Results The precision of the electromagnetic positioning system is （0. 19±0. 15） mmandthat of the whole system is （1.44±0.39） ram. The results show that we can get a desired registration effect if we use 7 to 10 markers to cover the focus of the patient＇ s skull. Finally,four feasible methods are proposed to improve the system precision, including optimizing image processing, surgery registration, brain tissue correction algorithms and reducing interference sources. Conclusions The precision ofelectromagnetic surgery navigation system is influenced by many factors, such as positioning system, three - dimensional reconstruction and surgery registration. The precision of the surgery navigation system described in this paper reaches the demand of general surgical navigation systems.

关 键 词：电磁定位 手术导航 误差分析 系统精度 

分 类 号：R318.04[医药卫生—生物医学工程] TP391.9[医药卫生—基础医学]