肝肿瘤热消融穿刺机器人导航定位方法研究  

Research on Navigation and Positioning Method of Liver Tumor Thermal Ablation Puncture Robot

作　　者：伍国林 姜涛[1] 吴薇薇 吴水才[1] 周著黄[1] WU Guolin;JIANG Tao;WU Weiwei;WU Shuicai;ZHOU Zhuhuang(Department of Biomedical Engineering,Beijing University of Technology,Beijing 100124,China;School of Biomedical Engineering,The Capital University of Medical Sciences,Beijing 100069,China)

机构地区：[1]北京工业大学生物医学工程系,北京100124 [2]首都医科大学生物医学工程学院,北京100069

出　　处：《中国医疗设备》2021年第8期22-25,39,共5页China Medical Devices

基　　金：国家自然科学基金项目(61871005;61801312)。

摘　　要：目的设计一种使用导航机器人实现肝肿瘤热消融的辅助手术系统,利用实时电磁定位来精确的引导针尖进入肝脏肿瘤。方法基于术前CT图片,通过SVD矩阵分解或四元数法完成图像坐标的配准。使用UR机械臂、NDI电磁定位仪等硬件辅助设备,设计相应软件,实现肝肿瘤热消融机器人导航系统。结果在体模实验中,选用5个模拟肿瘤,在导航系统的引导下,手持消融针沿着机械臂末端插槽将消融针插入,针尖可以准确插入肿瘤内部。目标的位置误差均小于1.4 mm。在无导航系统引导时,目标的位置误差均大于3.0 mm。导航系统穿刺的目标位置误差明显小于无导航引导的误差(P<0.05)。结论本文设计的肝肿瘤热消融机器人导航系统能有效地辅助医生进行手术操作。Objective To design an auxiliary surgical system that uses a navigation robot to achieve thermal ablation of liver tumors,and real-time electromagnetic positioning is used to accurately guide the needle tip into the liver tumor.Methods Based on preoperative CT images,image coordinate registration was completed by SVD matrix decomposition or quaternion method.Using hardware auxiliary equipment such as UR robotic arm and NDI electromagnetic locator,the corresponding software was designed to realize the robot navigation system for liver tumor thermal ablation.Results In the phantom experiment,five simulated tumors were selected.Guided by the navigation system,the ablation needle was inserted into the end slot of the manipulator,and the tip of the ablation needle can be inserted into the tumor accurately.The position error of the target was less than 1.4 mm.In the absence of navigation system guidance,the target position error was greater than 3.0 mm.The target position error of navigation system was significantly less than that without navigation guidance(P<0.05).Conclusion The robot navigation system for hepatic tumor thermal ablation designed in this paper can effectively assist doctors in operation.

关 键 词：肝肿瘤 热消融 手术导航 机器人 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]