Deadlock-Free and Collision-Free Liver Surgical Navigation by Switching Potential-Based and Sensor-Based Functions
Deadlock-Free and Collision-Free Liver Surgical Navigation by Switching Potential-Based and Sensor-Based Functions
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DOI：
10.1007/978-3-030-49065-2_42
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发表时间：
2020-07
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影响因子：
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通讯作者：
H. Noborio;Kiyomi Kawai;Kaoru Watanabe;Katsunori Tachibana;Takahiro Kunii;Kiminori Mizushino
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文献类型：
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作者：
H. Noborio;Kiyomi Kawai;Kaoru Watanabe;Katsunori Tachibana;Takahiro Kunii;Kiminori Mizushino
在这项研究中，我们开发了一种无死锁和无碰撞的肝脏手术导航方法，通过切换基于电位和基于传感器的方法。基于电势的方法选择从手术刀尖端到3D器官图中肿瘤周围的任意相邻位置的近最佳路线，所述3D器官图从通过磁共振成像或计算机断层扫描捕获的医学数字成像和通信（DICOM）数据转换。然而，在复杂形状的血管中，该方法有时会失去路线。为了克服这个缺点，我们转向基于传感器的方法。这种方法总是在肿瘤附近找到一条路线。然而，道路变得更长。因此，当基于电位的方法恢复到找到另一条路径时，我们将基于传感器的方法切换回基于电位的方法。这种切换方法的有用性，仔细确定在几种分配的肿瘤和血管。
In this study, we developed a deadlock-free and collision-free liver surgical navigation method by switching potential-based and sensor-based approaches. The potential-based approach selects a near-optimal route from a scalpel tip to an arbitrary neighbor position around a tumor in a 3D organ map converted from digital imaging and communications in medicine (DICOM) data captured by magnetic resonance imaging or computed tomography. However, among complex-shaped blood vessels, the approach sometimes loses the route. To overcome this drawback, we switch to the sensor-based approach. This approach always finds a route near a tumor. However, the path becomes longer. Therefore, when the potential-based approach recovers to find another path, we switch the sensor-based approach back to the potential-based approach. The usefulness of this switching method was carefully ascertained in several kinds of allocations of tumor and blood vessels.