A real-time navigation system for laparoscopic surgery based on three-dimensional ultrasound using magneto-optic hybrid tracking configuration
A real-time navigation system for laparoscopic surgery based on three-dimensional ultrasound using magneto-optic hybrid tracking configuration
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DOI：
10.1007/s11548-007-0078-4
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发表时间：
2007-06-01
影响因子：
3
通讯作者：
Hashizume, Makoto
中科院分区：
文献类型：
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作者：
Konishi, Kozo;Nakamoto, Masahiko;Hashizume, Makoto
目的在腹腔镜肝脏手术中，强烈推荐术中导航。我们开发了一种基于术中超声（IOUS）的导航系统。本研究的目的是通过动画模型来评估该系统的有效性和准确性。材料与方法构建了将三维超声（3D-US）图像叠加到腹腔镜实时图像上的增强现实（AR）可视化。我们采用磁光混合跟踪结构和一种快速的磁畸变校正方法。使用12头猪和肝脏肿瘤模拟物，评估磁畸变校正效果和3D-US导航精度。结果采用磁畸变校正后，跟踪误差明显减小。每次超声扫描时间在30s以内，3D-US图像生成时间在3min以内。所有肿瘤模拟体均成功地进行了导航。配准精度由17.2 +/- 5.27 mm提高到1.96 +/- 0.87 mm。结论研制了一种基于白条的AR导航系统。实验结果表明，该方法是有效的，可以应用于临床。3D-US作为一种成像方式，无论器官移位或扭曲，都可以实时成像。
Objectives In laparoscopic liver surgery, intraoperative navigation is strongly recommended. We developed a navigation system based on intraoperative ultrasound (IOUS). The purpose of this study was to evaluate the usefulness and accuracy of this system using an animate model.Materials and methods Augmented reality (AR) visualization superimposing three-dimensional ultrasound (3D-US) images onto captured laparoscopic live images was constructed. We employed magneto-optic hybrid tracking configuration and a rapid method of magnetic distortion correction. Twelve pigs and liver tumor mimics were used, and effects of magnetic distortion correction and accuracy of 3D-US navigation were evaluated.Results Using magnetic distortion correction, tracking error was significantly reduced. Each ultrasound scanning time was within 30 s, and the time to generate 3D-US images was within 3 min. All tumor mimics were successfully punctureguided with navigation. Registration accuracy was significantly improved from 17.2 +/- 5.27 to 1.96 +/- 0.87 mm.Conclusion We developed an AR navigation system based on IOUS. Experimental results showed that the proposed method was effective, and could be used in clinical settings. 3D-US, as an imaging modality allows real-time imaging regardless of organ shifts or distortion.