基于电磁定位的手术导航探针可视化与实时跟踪技术

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田和强, 吴冬梅, 王继虎, 杜志江, 孙立宁. 基于电磁定位的手术导航探针可视化与实时跟踪技术[J]. 机器人, 2011, 33(1): 59-65.. TIAN Heqiang, WU Dongmei, WANG Jihu, DU Zhijiang, SUN Lining. Visualization and Real-time Tracking Technologies of the Probe Used in Surgical Navigation Based on Electromagnetic Positioning. ROBOT, 2011, 33(1): 59-65..

摘要针对手术导航探针可视化与时跟踪技术进行了研究．文中对电磁定位方法进行了介绍，设计了电磁定位下具有数据采集功能的探针．首先，应用3维实体造型技术构建探针的模型，完成实体几何模型向3维表面模型的转化．其次，使用旋转注册方法对针尖进行注册，并进行了精度测试．然后，应用最近点迭代（ICP）算法实现CT模型与患行位置的术中注册，并对ICP算法进行了模拟分析和精度验证．最后，根据术前注册的位置与方向实时准确地跟踪手术探针的空间位置并在系统中显示．结果显示探针的数据采集功能和注册精度以及注册算法的效果能够满足手术导航的需要．

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关键词 ：电磁定位, 探针, 手术导航, 可视化, 实时跟踪

Abstract：The visualization and real-time tracking technologies of the probe in surgical navigation system are studied.The electromagnetic positioning method is introduced,and the probe with data acquisition function is designed based on electromagnetic positioning.Firstly,the probe model is constructed by means of three-dimensional solid modeling technology, and the transformation from the solid geometry model to the three-dimensional surface models is completed.Secondly,the probe tip is registered using the pivot calibration method and the registration accuracy is also tested.Then,the registration between the CT model and the patients site is realized intraoperatively by means of iterative closest point(ICP) algorithm, and simulation analysis and accuracy verification are carried out.Finally,according to the preoperatively registered position and orientation,the spatial location of the probe is tracked in real-time and accurately,and is displayed in the system.The results show that the data acquisition function and registration accuracy of the probe,as well as the effect of registration algorithms can meet the needs for surgical navigation.

Key words： electromagnetic positioning probe surgical navigation visualization real-time tracking

收稿日期: 2010-01-26 录用日期: 2010-09-06

TP391.9

基金资助:国家863计划资助项目（2009AA04Z202）；教育部新世纪优秀人才支持计划资助项目（NCET-07-0232）；黑龙江省攻关课题（GC06C40601）；黑龙江省青年基金资助项目（QC06C032）；国家重点实验室规划课题（SKLRS200802A03，SKLRS200904B）

通讯作者: 田和强 E-mail: thq_1980@126.com

作者简介: 田和强（1979- ），男，博士生．研究领域：医疗机器人与计算机辅助手术．
吴冬梅（1968- ），女，博士，副教授．研究领域：医疗机器人与计算机辅助外科．
王继虎（1986- ），男，硕士生．研究领域：手术导航技术．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I1/59

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