Comparative Study of Potential-Based and Sensor-Based Surgical Navigation in Several Liver Environments
Comparative Study of Potential-Based and Sensor-Based Surgical Navigation in Several Liver Environments
复制标题
几种肝脏环境中基于电位和基于传感器的手术导航的比较研究
DOI：
10.1007/978-3-030-78465-2_40
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Hiroshi Noborio
中科院分区：
文献类型：
--
作者：
Takahiro Kunii;Miho Asano;Kanako Fujita;Katsunori Tachibana;Hiroshi Noborio
医疗导航仪最近在外科手术中的应用引起了人们的关注，以尽可能准确地为外科医生提供恶性肿瘤的位置和方向。目前，正在进行广泛的研究，生产手术导航仪，但是，它们的实际应用是很难在器官变形的情况下。本研究提出了一种医疗导航系统，使用两种类型的算法来选择一个路径，从手术刀尖端附近的恶性肿瘤在3D肝脏环境中，避免血管（动脉，静脉和门静脉）和恶性肿瘤时，他们在肝脏内的区域分割。第一种算法涉及基于电势的导航，其中手术刀尖端通过调整对目的地（当前为恶性肿瘤）的吸引和对血管的排斥而到达其目的地。第二种算法涉及基于传感器的导航，其中外科医生在恶性肿瘤的方向上沿直线移动手术刀。当遇到血管时，手术刀在一定平面内沿顺时针或逆时针方向移动一定距离以避开血管。在本研究中，这两种导航算法在具有不同形状和排列的血管和恶性肿瘤的3D肝脏环境中选择恶性肿瘤附近的路径。然后，基于电位的导航算法在恶性肿瘤附近选择较短的直线路径，但切口的方向以复杂的方式变化。最后，基于传感器的导航算法在恶性肿瘤附近选择较长的迂回路径，但切口方向是均匀的。
Medical navigators have gained recent attention for application in surgery to provide the surgeon with the position and orientation of malignant tumors as accurately as possible. Currently, extensive research is being conducted on producing surgical navigators; however, their practical application is difficult in the case of organ deformation. This study presents a medical navigation system using two types of algorithms to select a pathway from the scalpel tip near a malignant tumor in a 3D liver environment, which avoids blood vessels (arteries, veins, and portal veins) and the malignant tumor when they are regionally segmented inside the liver. The first algorithm involves potential-based navigation, in which the scalpel tip reaches its destination by adjusting the attraction to the destination (currently the malignant tumor) and the repulsion from the blood vessels. The second algorithm involves sensor-based navigation where the surgeon moves the scalpel in a straight line in the direction of the malignant tumor. When a blood vessel is encountered, the scalpel is moved in a clockwise or counterclockwise direction in a certain plane over a certain distance to avoid the blood vessel. It is then moved in a straight line in the direction of the malignant tumor again after approaching the malignant tumor monotonically or asymptotically.In this study, both navigation algorithms select a path near the malignant tumor in the 3D liver environments with diverse shapes and arrangements of blood vessels and malignant tumors. The potential-based navigation algorithm then selects a shorter straight path near the malignancy, but the direction of the incision varies in a complex manner. Lastly, the sensor-based navigation algorithm selects a longer circuitous path near the malignancy, but the incision direction is uniform.
DOI：
10.1007/978-3-030-49065-2_42
发表时间：
2020-07
期刊：
--
影响因子：
--
作者：
H. Noborio;Kiyomi Kawai;Kaoru Watanabe;Katsunori Tachibana;Takahiro Kunii;Kiminori Mizushino
通讯作者：
H. Noborio;Kiyomi Kawai;Kaoru Watanabe;Katsunori Tachibana;Takahiro Kunii;Kiminori Mizushino