Development of an articulated neuro-navigation system

关节式神经导航系统的开发

• 批准号: 63850088
• 负责人: KOSUGI Yukio
• 金额: $ 1.98万
• 依托单位: Tokyo Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Developmental Scientific Research
• 财政年份: 1988
• 资助国家: 日本
• 起止时间: 1988 至 1989
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-63850088/
• 关键词: Stereotactic Surgery; Surgical Design; Navigation; CT-images; Articulated Arm; Coordinate Conversion; CT; 多関節アーム; ナビゲーション; オンライン表示; スーパーインポーズ

Visualized information about exact position of the affected part can be easily obtained through tomographic examinations. Nevertheless, during the neurosurgical procedures, it is not an easy task to reach the exact position in the brain that corresponds to the MRI or CT images. In this research, we developed a computer assisted stereotactic guiding for on-line surgical navigation.The system consists of an articulated pointer, a display apparatus and a personal computer which calculates the position of the pointer on the brain and overlays the positional marker on the tomographical images. The articulated arm has six revolute joints; each of the joints is successively connected by pipes. The revolution angle of each joint is measured through potentiometers and the readings are given to the computer through an eight-channel A/D converter. During surgery, the position of the arm tip is translated automatically into the CT coordinate and displayed in real time with a cross-cursor on the co … More rresponding plane, selected from six slices simultaneously displayed on the screen. To get the coordinate conversion, from the arm-base coordinate system to the gantry coordinate, we put three calibration makers on the surface of the head: one on the nasion, two on the ears. Using the image of these calibration points, the computer calculates the coordinate conversion matrix prior to the starting of the surgery.When this system is used to find the best position in making an incision on the skull, the pointer-tip can be shortened to have an imaginary access to a deeply-seated tumor without inserting the tip into the head. To lessen the positional error due to hardware inaccuracy, we adopted a new joints with potentiometers of better linearity and with angular calibration means. To lessen the error due to the move of the head during surgery, we added software means to re-calibrate the coordinate conversion. We also attempted to reconstruct the surface of the head from the CT slices to facilitate a three dimensional view. This attempt was successful in designing the operation, except for the computational time required to reconstruct the surface.The navigation system developed and improved in this research will be practical in use for the accurate surgical operation especially in neurosurgical field. Less

通过层析检查，可以很容易地获得受累部位确切位置的可视化信息。然而，在神经外科手术过程中，要达到与MRI或CT图像相对应的大脑准确位置并不是一件容易的事情。在这项研究中，我们开发了一种计算机辅助立体定向导航在线手术导航。该系统由一个铰接指针、一个显示装置和一台计算指针在大脑上的位置并将位置标记覆盖在断层成像图像上的个人计算机组成。铰接臂具有六个转动关节；每个接头都是通过管道依次连接起来的。通过电位器测量每个关节的旋转角度，并通过8通道A/D转换器将读数提供给计算机。手术过程中，手臂尖端位置自动转换为CT坐标，并在对应平面上以交叉光标实时显示，从屏幕上同时显示的6个切片中选择。为了实现从臂基坐标系到龙门坐标系的坐标转换，我们在头部表面放置了三个校准器：一个在鼻子上，两个在耳朵上。利用这些校准点的图像，计算机计算出手术开始前的坐标转换矩阵。当该系统用于在颅骨上寻找切口的最佳位置时，可以缩短指针的尖端，从而在不将尖端插入头部的情况下想象进入深部肿瘤。为了减少由于硬件不精确造成的位置误差，我们采用了一种新的关节，具有更好的线性度和角度校准手段。为了减少手术中头部移动带来的误差，我们增加了软件手段来重新校准坐标转换。我们还尝试从CT切片重建头部表面，以方便三维视图。除了重建表面所需的计算时间外，这种尝试在设计操作方面是成功的。本研究开发和改进的导航系统将在外科手术特别是神经外科手术的精确操作中具有实际应用价值。少

项目成果

Y.Kosugi: Proceedings of IEEE Engineesing in Medicine ＆ Biology Society 10th Annual International Conference. 1857-1858 (1988)

Y. Kosugi：IEEE 医学与生物学工程学会第十届国际年会 1857-1858 年会议录（1988 年）。

渡辺英寿: 第8回医療情報学連合大会講演論文集. 481-482 (1988)

Hidetoshi Watanabe：第八届联合医学信息学会议论文集 481-482 (1988)。

Eiju Watanabe: "Navigator" Neurological Surgery, vol.17, pp.1098-1103, (1989).

Eiju Watanabe：“Navigator”神经外科，第 17 卷，第 1098-1103 页，(1989)。

Yukio Kosugi,Eiju Watanabe,Jun Ikebe and Kintomo Takakura: "Intracranial Measurements for Neurosurgical Aid" Proceedings of IEEE Engineering in Medicine & Biology Society 10 th Annual International Conf.1857-1858 (1988)

Yukio Kosugi、Eiju Watanabe、Jun Ikebe 和 Kintomo Takakura：“神经外科辅助的颅内测量”IEEE 医学工程会议录

渡辺英寿,小杉幸夫,高倉公明: "脳神経外科手術における位置モニタ用知覚ロボット" ロボット. 70. 117-121 (1989)

Hidetoshi Watanabe、Yukio Kosugi、Kimiaki Takakura：“用于神经外科位置监控的感知机器人”机器人学。