王庆辉, 赵凯航, 宋国立, 赵忆文, 赵新刚. 基于增强现实的脊柱微创手术导航系统[J]. 机器人, 2023, 45(5): 546-553. DOI: 10.13973/j.cnki.robot.220300
引用本文: 王庆辉, 赵凯航, 宋国立, 赵忆文, 赵新刚. 基于增强现实的脊柱微创手术导航系统[J]. 机器人, 2023, 45(5): 546-553. DOI: 10.13973/j.cnki.robot.220300
WANG Qinghui, ZHAO Kaihang, SONG Guoli, ZHAO Yiwen, ZHAO Xingang. Augmented Reality-based Navigation System for Minimally Invasive Spine Surgery[J]. ROBOT, 2023, 45(5): 546-553. DOI: 10.13973/j.cnki.robot.220300
Citation: WANG Qinghui, ZHAO Kaihang, SONG Guoli, ZHAO Yiwen, ZHAO Xingang. Augmented Reality-based Navigation System for Minimally Invasive Spine Surgery[J]. ROBOT, 2023, 45(5): 546-553. DOI: 10.13973/j.cnki.robot.220300

基于增强现实的脊柱微创手术导航系统

Augmented Reality-based Navigation System for Minimally Invasive Spine Surgery

  • 摘要: 针对脊柱微创手术实际的临床导航需求, 设计开发了一种基于增强现实的脊柱微创手术导航系统。在术前通过CT对患者脊柱病灶部位进行扫描和重建, 将合适的脊柱模型导入Unity-3D平台中并为其添加控制脚本。使用标定球对手术器械进行标定, 采用Polaris Vega光学追踪器实时追踪手术器械, 建立手术器械与Polaris Vega光学追踪器之间的坐标转换关系, 将识别到的手术器械位姿信息实时发送到HoloLens设备中, 从而实现手术器械、病灶模型等医疗影像的同步显示。在术中为医生提供3维脊柱病灶影像的可视化显示, 帮助医生实现病灶定位和手术器械导航。经过脊柱模型实验测试, 系统导航误差小于2.8 mm, 可以满足脊柱外科的临床应用要求。

     

    Abstract: Aiming at the actual clinical navigation needs of minimally invasive spine surgery, an augmented reality-based navigation system for minimally invasive spinal surgery is designed and developed. The scan and reconstruction of the patient's spine lesions are realized by CT (computed tomography) before surgery, and the appropriate spine model is imported into the Unity-3D platform to add control scripts for it. To achieve the synchronous display of medical images of surgical instrument and lesion model, the calibration ball is adopted to calibrate surgical instruments, the Polaris Vega optical tracker is used to track surgical instruments in real time, the coordinate conversion relationship between surgical instrument and Polaris Vega optical tracker is established, and the posture information of the identified surgical instrument is sent to HoloLens device in real time. During surgery, it provides doctors with three-dimensional images to visualize spinal lesions, helping doctors to locate lesions and navigate surgical instruments. The experimental test on the spine model show that the system navigation error is less than 2.8 mm, which can meet the requirements of clinical application in spine surgery.

     

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