基于平面标定和体表定位的双目导航技术在盆底手术中的应用研究  

Application research of binocular navigation technology based on planar calibration and surface localization in pelvic floor surgery

作　　者：刘明博[1] 孙铁芫 卢深涛 胡畔 刘建双[1] 刘禄斌[1] LIU Ming-bo;SUN Tie-yuan;LU Shen-tao;HU Pan;LIU Jian-shuang;LIU Lu-bin(Department of Obstetrics and Gynecology,Women and Children's Hospital of Chongqing Medical University,Chongqing 400010,China)

机构地区：[1]重庆市妇幼保健院/重庆医科大学附属妇女儿童医院妇三科,重庆400010

出　　处：《中国实用妇科与产科杂志》2024年第11期1138-1141,共4页Chinese Journal of Practical Gynecology and Obstetrics

基　　金：重庆市科技局自然科学基金重点项目(cstc2020jcyj-zdxm0159);重庆市科卫联合医学科研项目(2023DBXM001);重庆市渝中区基础研究与前沿探索项目(20210181);重庆市卫生健康委医学科研项目(2023WSJK058)。

摘　　要：目的探索一种基于平面标定和体表定位技术试图克服半刚体结构体表漂移空间配准这一难题,为实现盆底半刚体结构的手术导航奠定重要研究基础。方法2024年4—6月,在重庆市妇幼保健院采用平面校准方法验证标靶(模拟手术器械)空间配准精准度,并通过志愿者半刚体结构骨盆体表标记,采集呼吸合并运动后体表标记点变化数据,运用Loss函数及呼吸补偿算法进行空间配准,以修正相对于刚性骨盆的体表标记的漂移误差。结果基于平面校准三维空间定位方法稳定,精确度可达0.02mm。通过数学模型的空间配准计算修正后,骨盆半刚体结构的左髂前上棘漂移误差范围在(0.69±0.01)mm(P<0.05),右髂前上棘漂移误差范围在(0.61±0.14)mm(P<0.05),耻骨联合处漂移误差范围在(0.90±0.16)mm(P<0.05),肚脐稳定性较差,漂移误差范围为(1.34±0.37)mm(P>0.05)。结论基于平面校准及体表定位技术可以克服半刚体骨盆部位的体表漂移问题,从而突破双目视觉技术在半刚体结构下手术导航应用的瓶颈。Objective To explore a technique based on planar calibration and surface localization to overcome the problem of spatial registration of semi rigid body structure surface drift,in order to lay an important research foundation for achieving surgical navigation of pelvic floor semi rigid body structure.Methods The study was conducted at Chongqing health center for women and children form April to June 2024.The planar calibration method was used to verify the spatial registration accuracy of the target(simulated surgical instrument),and the changes in the surface markers after breathing and movement were collected through the semi rigid pelvic body surface markers of volunteers.The Loss function and respiratory compensation algorithm were used for spatial alignment to correct the drift error of the surface markers corresponding to the rigid pelvis.Results The planar calibration positioning method was stable with an accuracy of up to O.02mm.After spatial registration calculation and correction through mathematical models,the drift error range of the left anterior superior iliac spine of the semi rigid pelvic structure was(0.69+0.01)mm(P<0.05),the range of the right anterior superior iliac spine was(0.61±0.14)mm(P<0.05),the range of the pubic symphysis was(0.90±0.16)mm(P<0.05),and the stability of the navel was poor,with an error range of(1.34±0.37)mm(P>0.05).Conclusion The technique based on plane calibration and surface localization methods can overcome the problem of surface drift in the semi rigid pelvic region,thus breaking through the bottleneck of the application of surgical navigation in binocular vision technology in semi rigid structures.

关 键 词：平面标定 体表定位 手术导航 盆底手术 

分 类 号：R714.2[医药卫生—妇产科学]