多模态图像引导手术导航进展  

Developments of Multimodal Image-Guided Surgical Navigation

作　　者：杨健[1,2] 王媛媛 艾丹妮 宋红 范敬凡[1,2] 付天宇[4] 肖德强 邵龙[3] 顾瑛 王涌天 Yang Jian;Wang Yuanyuan;Ai Danni;Song Hong;Fan Jingfan;Fu Tianyu;Xiao Deqiang;Shao Long;Gu Ying;Wang Yongtian(School of Optics and Photonics,Beijing Institute of Technology,Beijing 100081,China;Laboratory of Beijing Engineering Research Center of Mixed Reality and Advanced Display,Beijing 100081,China;School of Computer Science,Beijing Institute of Technology,Beijing 100081,China;School of Medical Technology,Beijing Institute of Technology,Beijing 100081,China;Department of Laser Medicine,The First Medical Center of Chinese PLA General Hospital,Beijing 100853,China)

机构地区：[1]北京理工大学光电学院,北京100081 [2]北京市混合现实与新型显示工程技术研究中心,北京100081 [3]北京理工大学计算机学院,北京100081 [4]北京理工大学医学技术学院,北京100081 [5]中国人民解放军总医院激光医学科,北京100853

出　　处：《光学学报》2023年第15期17-35,共19页Acta Optica Sinica

基　　金：国家自然科学基金(62025104)。

摘　　要：手术导航综合运用器官分割建模与手术规划、位姿标定与跟踪定位、多模态图像配准与融合显示等技术,使医生精确定位病灶与手术工具的位置,透过组织表面对内部组织进行观测,可大幅提升手术的安全性,缩短手术时间并提高手术效率。常规手术通常使用超声、内窥镜或X光等单模态影像进行手术过程引导,信息单一且均为二维影像,空间立体信息缺失,手术过程严重依赖医生经验;而多模态图像引导的手术导航技术通过融合多模态图像的优势,在三维空间提供病灶的结构或功能信息,大幅提升医生对血管、神经以及重要组织结构的空间辨识力。由此,本文针对多模态图像分割建模、手术方案决策、手术空间位姿标定与跟踪、多模态图像配准、图像融合与显示等多模态图像引导手术导航的关键技术进行总结和分析,提出其进一步发展面临的挑战并展望其未来发展趋势。多模态图像引导手术导航技术已成为神经外科、颅颌面、骨科、经皮穿刺、血管介入等临床科室精准治疗的新兴手段,具有重要的应用前景。Significance Surgical navigation combines organ segmentation modeling,surgical planning,pose calibration and tracking,multimodal image registration,and fusion display technologies to enable surgeons to precisely locate lesions and surgical tools and to observe internal tissue through the tissue surface,which can significantly improve surgical safety and time efficiency.Conventional surgery usually uses two-dimensional(2D)unimodal images such as ultrasound,endoscopy,or X-ray images to guide the surgical process.However,unimodal images lack three-dimensional(3D)information and depend heavily on the surgeon's experience.In contrast,multimodal image-guided surgical navigation provides real-time instrument positions,as well as structural and functional information of the lesion in 3D space,helping the surgeons to effectively protect important tissue,vessels,and organs around the lesion,avoiding unnecessary damage,and reducing the probability of surgical complications,which has become an important tool for a variety of clinical surgical procedures.Progress The surgical navigation system mainly consists of imaging devices,tracking and positioning core devices,endeffectors,surgical tools,and other hardware,and it combines modern imaging technology,stereotactic technology,computer technology,and artificial intelligence technology to enable patients to obtain safe,precise,and minimally invasive surgical treatment.The surgical navigation system involves core theories and methods in various aspects such as multimodal image segmentation and tissue modeling,surgical planning,pose calibration and tracking,multimodal image registration,and image fusion.The hardware components of multimodal image-guided surgical navigation mainly include intraoperative imaging devices,such as X-ray,ultrasound,and endoscopic imaging systems,tracking and positioning core devices,such as optical and electromagnetic lasers,structured light positioning systems,and navigation actuation components,such as robotic arms and guidewire.The key technologies

关 键 词：手术导航 手术机器人 多模态医学影像 医学图像处理 定位跟踪 配准融合 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]