用于骨折闭合复位的计算机辅助导航方法  

Computer-aided navigation method for closed reduction of fractures

作　　者：李长瑞 蔡向东[1] 周志勇[2] 王磊[3] 胡冀苏 戴亚康[2] LI Changrui;CAI Xiangdong;ZHOU Zhiyong;WANG Lei;HU Jisu;DAI Yakang(School of Automation,Harbin University of Science and Technology,Harbin Heilongjiang 150080,China;Suzhou Institute of Biomedical Engineering and Technology,Chinese Academy of Sciences,Suzhou Jiangsu 215163,China;Affiliated Suzhou Science and Technology Town Hospital,Nanjing Medical University,Suzhou Jiangsu 215153,China;School of Biomedical Engineering(Suzhou),University of Science and Technology of China,Suzhou Jiangsu 215163,China)

机构地区：[1]哈尔滨理工大学自动化学院,哈尔滨150080 [2]中国科学院苏州生物医学工程技术研究所,江苏苏州215163 [3]南京医科大学附属苏州科技城医院,江苏苏州215153 [4]中国科学技术大学生物医学工程学院(苏州),江苏苏州215163

出　　处：《计算机应用》2021年第S01期211-215,共5页journal of Computer Applications

基　　金：江苏省重点研发计划项目(BE2017663,BE2020625);山东省重点研发计划项目(国际合作)(SYC2020002);苏州市医疗健康信息技术重点实验室资助项目(SZS201818);苏州高新区医疗卫生科技计划项目(2016Z010)。

摘　　要：针对目前骨折闭合复位存在的操作难、精度低和辐射大等问题,基于术前电子计算机断层扫描(CT)图像和电磁定位技术提出了一种计算机辅助的骨折闭合复位导航方法。首先,对CT图像中的骨骼区域分割建模获取健侧骨、断骨近心端和远心端的3D模型,并使用迭代最近点(ICP)方法将断骨近心端模型与健侧骨镜像模型进行配准;其次,使用奇异值分解(SVD)方法统一磁定位空间和图像空间坐标系;最后,通过与断骨模型刚性连接的磁定位传感器实时追踪断骨模型的位姿信息,从而实现虚拟断骨模型和真实断骨模型的同步移动。模型骨反向模拟复位实验表明,使用本方法复位后的角度误差90分位数为1.14°,最大2.32°;距离误差90分位数为5.12 mm,最大7.45 mm。实验结果表明,该方法在减少辐射暴露和简化复位操作的同时有较好的复位精度。In view of the difficulties in operation,low accuracy and high level of radiation in the current closed reduction of fractures,a computer-assisted navigation method for closed facture reduction based on Computer Tomography(CT)and electromagnetic positioning technology was proposed.First,the bone area was segmented from the CT image to obtain the 3D models of the healthy side,the proximal and the distal facture segments,of which the proximal segment was aligned with the mirrored healthy side by using the Iterative Closest Point(ICP)registration method.Then,the Singular Value Decomposition(SVD)algorithm was applied to unify the electromagnetic tracking space and the image coordinate system.Finally,the positions and orientations of the facture segments were tracked in real time through the rigidly mounted electromagnetic sensors,thus the virtual and real bone models were able to move synchronously.According to multiple reverse reduction simulation experiments,the proposed method achieved the maximum angular error at 2.32°with the 90th quantile at 1.14°and the maximum distance error at 7.45 mm with the 90th quantile at 5.12 mm.Experimental results show that the proposed method can maintain an acceptable reduction accuracy with reduced radiation exposure and simplified reduction operation.

关 键 词：骨折复位 电磁定位 奇异值分解 迭代最近点 坐标系标定 计算机辅助骨科手术 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]