基于DICOM的3D C-arm控制服务协议(RoboLINK)设计与实现  

Design and Implementation of a 3D C-arm Control Service Protocol(RoboLINK) Based on DICOM

作　　者：高晨 程坤 常韫恒 张飞 唐冰 胡晟 陈阳[2,3] 奚岩 GAO Chen;CHENG Kun;CHANG Yunheng;ZHANG Fei;TANG Bing;HU Sheng;CHEN Yang;XI Yan(School of Cyberspace Security,Southeast University,Nanjing 211189,China;Laboratory of Image Science_and Technology,Key Laboratory of Computer Network and Information Integration,Southeast University,Nanjing 211189,China;Jiangsu Provincial Joint International Research Laboratory of Medical Information Processing,Southeast University,Nanjing 211189,China;Jiangsu Yiying Medical Equipment Co.,Ltd.Nanjing 226100,China;Shanghai Medical Device Quality Supervision and Inspection Center,Shanghai 200120,China)

机构地区：[1]东南大学网络空间安全学院,南京211189 [2]东南大学计算机网络与信息集成重点实验室图像科学与技术实验室,南京211189 [3]东南大学江苏省医学信息处理国际联合研究实验室,南京211189 [4]江苏一影医疗设备有限公司,南京226100 [5]上海医疗器械质量监督检验中心,上海200120

出　　处：《CT理论与应用研究（中英文）》2023年第1期43-54,共12页Computerized Tomography Theory and Applications

摘　　要：三维成像技术辅助骨科机器人进行术前规划能够提高手术精确性和高效性,但目前基于三维数据的传统外科导航系统需要预先术前采图,再经过图片导入和人工配准,使得手术步骤愈加繁琐,且患者在采图和手术过程中的位置不同可能导致新的配准误差,导致精确度的降低。鉴于这一需求,本文设计一种基于DICOM协议的3D C-arm控制服务协议(RoboLINK),能将手术机器人和CT连接,可在手术过程中进行CT采图,为当前问题提供新的解决方案。在支持三维C臂与手术机器人进行数据传输的基础上,也可传输运动控制指令,达到设备相互协作的效果。根据以上设计,协议以一影医疗的3D C-arm和模拟手术机器人为实验环境,对协议进行测试。结果表明,RoboLINK协议能够有效完成数据传输和设备控制任务,具有可行性和安全性。3D imaging technology assisted orthopaedic robot for preoperative planning can improve the accuracy and efficiency of surgery. However, traditional surgical navigation systems based on 3D data currently need pre-operative drawing and manual registration. The surgical steps are cumbersome and new errors may be introduced during manual registration,resulting in the reduction of accuracy. To address this need, in this study, we design a remote device control service protocol(RoboLINK) based on the DICOM protocol, which can be used in operation and provides a novel solution to the current problem. Based on supporting data transmission between two medical devices, motion control instructions can also be transmitted to achieve mutual cooperation between devices. In accordance with this design method, the protocol is tested in a shadow medical 3D C-arm experimental environment and a simulated surgical robot. The results indicate that the RoboLINK protocol can effectively complete the tasks of data transmission and equipment control with the advantages of feasibility and security.

关 键 词：DICOM 3D C-arm 骨科手术机器人 RoboLINK 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TN915.04[自动化与计算机技术—控制科学与工程]