肝肿瘤热消融穿刺电磁导航系统研究  

Study of Electromagnetic Navigation System for Thermal Ablation Puncture of Liver Tumors

作　　者：姚洁 伍国林 吴水才[1] YAO Jie;WU Guolin;WU Shuicai(Beijing International Science and Technology Cooperation Base for Intelligent Physiological Measurement and Clinical Transformation,Department of Biomedical Engineering,Faculty of Environment and Life,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]北京工业大学环境与生命学部生物医学工程系,智能化生理测量与临床转化北京市国际科研合作基地,北京100124

出　　处：《中国医疗设备》2023年第9期25-30,共6页China Medical Devices

基　　金：国家自然科学基金(61801312);北京市教委基金(KM202310025019)。

摘　　要：目的为提高传统肝肿瘤消融治疗手术成功率,降低辐射暴露时间,基于电磁定位装置设计一套肝肿瘤热消融穿刺电磁导航系统。方法根据电磁导航坐标系与三维影像坐标系对应标记点的坐标信息,使用奇异值分解完成肝肿瘤热消融穿刺电磁导航系统的空间配准。利用电磁定位仪等硬件辅助设备,设计肝肿瘤热消融穿刺电磁导航系统,实现肝肿瘤经皮穿刺路径规划以及实时交互式进针。对空间点集的配准和穿刺电磁导航系统的精度进行实验测试。结果依据每次实验中获取体膜的6个标记点在三维影像坐标系与经转换求得三维影像坐标系下的坐标计算得到均方根误差,实验中最大均方根误差不超过1.5 mm,平均目标位置均方根误差为1.262 mm。获取穿刺消融针的空间位置,肝肿瘤热消融穿刺电磁导航系统最大目标位置误差不超过5.00 mm,平均目标位置误差为3.10 mm。结论基于奇异值分解配准算法的肝肿瘤热消融穿刺电磁导航系统实现了CT数据的读取和可视化、穿刺路径规划以及基于电磁定位实时反馈消融针的空间位姿,能够有效辅助医生进行手术操作。Objective To improve the success rate of traditional liver tumor ablation treatment and reduce radiation exposure time,to design a electromagnetic navigation system for thermal ablation puncture of liver tumors based on electromagnetic positioning device.Methods Based on the coordinate information of the corresponding marker points of the electromagnetic navigation coordinate system and the three-dimensional image coordinate system,the spatial registration of the electromagnetic navigation system for thermal ablation of liver tumors was completed using singular value decomposition.The electromagnetic navigation system for thermal ablation of liver tumors was designed using hardware auxiliary equipment such as electromagnetic tracking to achieve percutaneous puncture path planning of liver tumors and real-time interactive needle feeding.The accuracy of the spatial point set registration and the accuracy of the electromagnetic navigation system were then tested.Results Based on the calculation of coordinates in the three-dimensional image coordinate system and converted three-dimensional image coordinate system obtained by transforming six reference points in each experiment,the root mean square error(RMSE)was determined.The maximum RMSE observed during the experiments was less than 1.5 mm,while the average RMSE was found to be 1.262 mm.The spatial position of the puncture ablation needle was obtained.The maximum target position error(TPE)of the electromagnetic navigation system for liver tumor thermal ablation puncture was no more than 5.00 mm,and the average TPE was 3.10 mm.Conclusion The liver tumor thermal ablation electromagnetic navigation system based on the singular value decomposition registration algorithm can realize the reading and visualization of CT data,puncture path planning,and real-time feedback of the spatial pose of ablation needle based on electromagnetic positioning,which can effectively assist the doctors in the surgical operation.

关 键 词：肝肿瘤 热消融 电磁导航系统 手术导航 术中配准 

分 类 号：R197.39[医药卫生—卫生事业管理] R735.7[医药卫生—公共卫生与预防医学]