Needle Insertion Path Planning System for Lower Abdominal Insertion Based on CT Images
Needle Insertion Path Planning System for Lower Abdominal Insertion Based on CT Images
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基于CT图像的下腹部进针路径规划系统
DOI：
10.1109/robio.2018.8664883
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Ryosuke Tsumura ; Hiroyasu Iwata
中科院分区：
文献类型：
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作者：
Ryutaro Matsumoto;Ryosuke Tsumura ; Hiroyasu Iwata
对于下腹部经皮穿刺针插入，术前插入路径规划与CT成像是重要的。先前的研究已经表明，可以通过选择使组织边界上的插入角度的总和最小化的插入路径来最小化针偏转。为了将路径规划的概念应用于临床环境，必须开发一种系统来自动计算插入角度并确定CT图像上的最佳插入路径。本文提出了一种用于下腹部中的多层组织边界检测和基于边界检测的沿插入路径沿着的插入角度计算的方法。因为该检测方法不依赖于组织形状，所以检测并连接每个插入路径上示出峰值亮度变化的边界点。实验结果显示，皮肤、肌肉和肠中的平均插入角度误差分别为0.68度、0.99度和5.3度。
For percutaneous needle insertion in the lower abdomen, preoperative insertion path planning with CT imaging is important. Previous studies have shown that needle deflection can be minimized by selecting an insertion path for which the sum of the insertion angles on the tissue boundaries is minimized. To apply the concept of path planning to the clinical setting, a system must be developed to automatically calculate the insertion angle and determine the optimal insertion path on CT images. We herein present a method for multilayered tissue boundary detection in the lower abdomen and insertion angle calculation along the insertion path based on the boundary detection. Because this detection method does not depend on the tissue shape, the boundary points showing a peak brightness change on each insertion path are detected and connected. The experimental results showed an average insertion angle error in the skin, muscle, and bowel of 0.68, 0.99, and 5.3 degrees, respectively.