高精度手术导航的研究与应用
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摘要
随着社会的进步和科技的发展,外科手术越来越注重微创化和精细化。手术导航系统将病人术前影像数据和术中病人解剖结构准确对应,在术中为医生实时进行导航,可以提高手术精度,减小手术创伤,减少术后恢复时间,取得了传统手术不能达到的效果。根据国内对手术导航系统的需求和研究需要,本文研制了新一代的红外手术导航仪临床样机系统。
本文研究了手术导航仪需要的常见关键技术,包括摄像机的标定方法,立体视觉的三维重建,医学图像的三维重建等。此外,本文还针对提高导航仪的运行速度和定位精度做了如下研究:
1.提出了手术器械的预测分割算法。手术器械的识别通常采用模版匹配的算法,此算法速度较慢。因此,提出了预测分割算法,将短时间内手术器械的标志点的运动轨迹视为二次曲线,利用拟合得到的二次曲线求得标志点在当前帧的预测坐标,然后利用最近邻算法进行分类。此算法有效提高了识别速度,与模版匹配算法结合使用,能有较高准确度。
2.提出了手术器械高精度重建算法。传统手术器械利用标志点进行识别,然后利用标志点的位置求得手术器械的姿态,利用工作点与标志点的关系求得工作点位置。本文在此方法的基础上引入了手术器械三维重建环节:在进行手术器械识别后,利用手术器械自身结构信息作为标志点投影方程的约束重建同一个手术器械的所有标志点。此方法不仅能得到更高精度的重建结果而且能消除抖动误差。
3.提出了手术器械的预测加权滤波算法。预测加权滤波算法假设标志点、工作点运动轨迹为二次曲线。利用以往帧的坐标拟合二次曲线计算得到当前帧标志点坐标的预测值。对当前帧的预测值和实测值进行加权平均得到最终结果。预测加权滤波算法相比常见的滤波算法有比较好的滤波效果又不影响手术器械的实时跟踪。
在上述关键基础的基础上,本文研制了红外手术导航仪临床样机系统。该样机硬件系统包括双目摄像机、手术器械、病灶物体和计算机等几个部分,软件系统包括图像采集处理,手术器械重建,医学图像的三维重建,以及手术导航等模块。该系统在上海市第九人民医院进行了两例临床手术,其在临床中的应用验证了该系统基本满足临床手术要求,其性能已经达到了国际先进水平。
With the rapid development of medical science, surgery put on more and more attention on minimally invasive and refinement. Surgical Navigation System(SNS) matches the patient preoperative image data and intraoperative patient anatomy structure accurately, and plays real-time navigation, which will attribute to higher operation accuracy, smaller operation trauma and less recovery time. According to the needs of SNS, this paper design a new generation of infrared surgery navigation clinical prototype system.
This paper studies key technologies of SNS, including binocular camera calibration, stereo calibration, 3-D reconstruction of medical images. In addition, this article does some researches to increase the running speed and the positioning accuracy which are as follows:
1. Propose the prediction segmentation algorithm. The surgery instruments’recognition typically uses matching algorithm, which is slowly. Therefore, the prediction segmentation algorithm is proposed, which regarded the trajectory of marks as quadratic curve. It uses the quadratic curve fitted by previous frame to figure out the current prediction coordinate, and then the nearest neighbor algorithm is used to classify the current marks. The algorithm can effectively improve the recognition speed, and can gain high accuracy with template matching algorithm used in combination.
2. Propose the high precision reconstruction algorithm of surgery instruments. Traditionally, we recognize the surgery instruments by the marks on themselves, whose coordinates are used to calculate the posture and work point of the instruments. This paper introduces the process of 3-D reconstruction of surgery instruments based on the traditional method. It doesn’t reconstruct the marks separately, but use the structure information as constraints of the projection functions to reconstruct the marks of one surgery instruments. The method can not only reduce the jitter greatly but also improve the accuracy effectively.
3. Propose the prediction weighted filtering algorithm. It supposes the trajectory of marks and work point are quadratic curve. The coordinates in previous frame are used to fitting quadratic curve, with which predicted coordinates of current frame can be figured out. The final result is the weighted average of predicted and measured values. This algorithm, compared with common filtering algorithm, has a nice filtering effect while not affecting the real-time tracking.
Based on the key technologies above, this paper develops the clinical prototype system of surgery navigation. The hardware includes binocular camera, instruments, focus objects and computer. The software is constituted by digital image acquisition, reconstruction of surgery instruments, reconstruction of medical image, as well as surgery navigation. The prototype system conducted two cases of clinical operation in the Shanghai Ninth People’s Hospital, which indicated that its performance had reached the international advanced level.
本文研究了手术导航仪需要的常见关键技术,包括摄像机的标定方法,立体视觉的三维重建,医学图像的三维重建等。此外,本文还针对提高导航仪的运行速度和定位精度做了如下研究:
1.提出了手术器械的预测分割算法。手术器械的识别通常采用模版匹配的算法,此算法速度较慢。因此,提出了预测分割算法,将短时间内手术器械的标志点的运动轨迹视为二次曲线,利用拟合得到的二次曲线求得标志点在当前帧的预测坐标,然后利用最近邻算法进行分类。此算法有效提高了识别速度,与模版匹配算法结合使用,能有较高准确度。
2.提出了手术器械高精度重建算法。传统手术器械利用标志点进行识别,然后利用标志点的位置求得手术器械的姿态,利用工作点与标志点的关系求得工作点位置。本文在此方法的基础上引入了手术器械三维重建环节:在进行手术器械识别后,利用手术器械自身结构信息作为标志点投影方程的约束重建同一个手术器械的所有标志点。此方法不仅能得到更高精度的重建结果而且能消除抖动误差。
3.提出了手术器械的预测加权滤波算法。预测加权滤波算法假设标志点、工作点运动轨迹为二次曲线。利用以往帧的坐标拟合二次曲线计算得到当前帧标志点坐标的预测值。对当前帧的预测值和实测值进行加权平均得到最终结果。预测加权滤波算法相比常见的滤波算法有比较好的滤波效果又不影响手术器械的实时跟踪。
在上述关键基础的基础上,本文研制了红外手术导航仪临床样机系统。该样机硬件系统包括双目摄像机、手术器械、病灶物体和计算机等几个部分,软件系统包括图像采集处理,手术器械重建,医学图像的三维重建,以及手术导航等模块。该系统在上海市第九人民医院进行了两例临床手术,其在临床中的应用验证了该系统基本满足临床手术要求,其性能已经达到了国际先进水平。
With the rapid development of medical science, surgery put on more and more attention on minimally invasive and refinement. Surgical Navigation System(SNS) matches the patient preoperative image data and intraoperative patient anatomy structure accurately, and plays real-time navigation, which will attribute to higher operation accuracy, smaller operation trauma and less recovery time. According to the needs of SNS, this paper design a new generation of infrared surgery navigation clinical prototype system.
This paper studies key technologies of SNS, including binocular camera calibration, stereo calibration, 3-D reconstruction of medical images. In addition, this article does some researches to increase the running speed and the positioning accuracy which are as follows:
1. Propose the prediction segmentation algorithm. The surgery instruments’recognition typically uses matching algorithm, which is slowly. Therefore, the prediction segmentation algorithm is proposed, which regarded the trajectory of marks as quadratic curve. It uses the quadratic curve fitted by previous frame to figure out the current prediction coordinate, and then the nearest neighbor algorithm is used to classify the current marks. The algorithm can effectively improve the recognition speed, and can gain high accuracy with template matching algorithm used in combination.
2. Propose the high precision reconstruction algorithm of surgery instruments. Traditionally, we recognize the surgery instruments by the marks on themselves, whose coordinates are used to calculate the posture and work point of the instruments. This paper introduces the process of 3-D reconstruction of surgery instruments based on the traditional method. It doesn’t reconstruct the marks separately, but use the structure information as constraints of the projection functions to reconstruct the marks of one surgery instruments. The method can not only reduce the jitter greatly but also improve the accuracy effectively.
3. Propose the prediction weighted filtering algorithm. It supposes the trajectory of marks and work point are quadratic curve. The coordinates in previous frame are used to fitting quadratic curve, with which predicted coordinates of current frame can be figured out. The final result is the weighted average of predicted and measured values. This algorithm, compared with common filtering algorithm, has a nice filtering effect while not affecting the real-time tracking.
Based on the key technologies above, this paper develops the clinical prototype system of surgery navigation. The hardware includes binocular camera, instruments, focus objects and computer. The software is constituted by digital image acquisition, reconstruction of surgery instruments, reconstruction of medical image, as well as surgery navigation. The prototype system conducted two cases of clinical operation in the Shanghai Ninth People’s Hospital, which indicated that its performance had reached the international advanced level.
引文
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