前列腺手术机器人系统超声图像混合配准方法  

An Ultrasound Image Hybrid Registration Method for Prostate Surgery Robot System

作　　者：郑勇男 梁红花 杨志永[1] 刘盛[1] 王伟[2] 

机构地区：[1]天津大学机械工程学院,天津300354 [2]天津市肿瘤医院放射科,天津300060

出　　处：《天津大学学报（自然科学与工程技术版）》2017年第6期557-562,共6页Journal of Tianjin University：Science and Technology

基　　金：国家自然科学基金资助项目(51175373);天津市重大科技专项资助项目(14ZCDZGX00490)~~

摘　　要：病人空间与CT图像空间的配准是图像导航前列腺粒子植入手术机器人系统的重要部分,其关键在于提高靶区配准精度.经直肠超声探头有准确获得体内信息的优势,因此提出了一种结合体表信息以及体内超声图像信息的混合配准方法.固定电磁定位仪接收器于超声探头上,通过探头标定实验,获取二维超声图像坐标到电磁定位仪接收器的坐标转换矩阵,计算超声图像上点的空间三维坐标.模型配准实验结果表明,引入超声图像和未引入超声图像的靶点配准误差分别是(2.60±0.38)mm和(3.19±0.46)mm,靶区配准精度得到较大提高.The registration of patient space and CT image space is an essential part of image guided surgical robot system for prostate seed implantation,and its key point is to improve target registration accuracy. Transrectal probe ultrasonic image can provide in vivo information,thus a hybrid registration method is proposed,which incorporates surface markers and ultrasonic image. The electromagnetic locator receiver is fixed on the transrectal probe. The coor-dinate transformation matrix,which converts the 2D ultrasound image coordinate to electromagnetic locator receiver space,is obtained from the probe calibration experiment. The 3D ultrasonic image point will be calculated using the coordinate transformation matrix. The model registration experiment indicates higher target registration accuracy with the ultrasonic image,and the target registration errors（TREs）with and without ultrasonic image are 2.60±0.38,mmand 3.19±0.46,mm,respectively.

关 键 词：电磁定位 超声探头标定 混合配准 靶点配准精度 

分 类 号：TP391.7[自动化与计算机技术—计算机应用技术]