Surgical navigation systems for soft tissues surgery with shape deformation

手术导航系统正在变得越来越常见，它实现了对手术室和患者内部解剖结构的实时(或快速)三维重建。本文针对外科手术中软组织变形的处理问题，开发了手术过程中的变形检测、三维超声图像采集、软组织区域提取与形状校正的分割与配准等技术，作为手术中软组织变形处理的基础技术。我们强调，我们针对的是一个特殊的应用范围，即在软组织外科中的应用，而所获得的结果可以被认为是3D图像分析和空间集成的通用方法。例如，磁跟踪器的快速校准方法可以被视为使用磁跟踪器的广泛虚拟/自动/混合现实系统的有用工具，尽管它最初是为3D腹腔镜超声系统开发的，是为了处理手术环境。另一个例子是处理软组织器官的组织切片的非刚性配准方法。该方法特别适用于肝脏动态CT图像的时间配准，对于解决计算机视觉中涉及的形变矢量场的不连续性问题具有重要意义。因此，我们获得了适用于手术室和软组织内部解剖结构的技术的发展，以及在更广泛的图像分析和空间数据分析背景下的有用和有趣的技术。

Surgical navigation systems are becoming eommon, which realize realtime (or rapid) 3D recbnstmction of the operating room and internal anatomical structures of the patient. In this work, we focus on the problems of dealing with deformation of soft tissues in surgical nayigation.As basic technologies for this ptrpose, we have developed techniques for deformation detection during surgery, 3D ultrasound image acquisition, and segmentation and registration of soft tissue region extraction and shape correction. We emphasized that we have aimed at a special application purppse, that is, application to soft tissue surgery, while the obtained results can be regarded as general purpose methods for 3D image analysis and spatial integration. For example, a rapid method for magnetic tracker calibration can be regarded as a useful tool for wide ranges of virtual/autmented/mixed reality systems using magnetic trackers although it was originally developed for 3D laparoscopic ultrasound systems was developed to deal with surgical environments. Another example is a nonrigid registration method which deals with tissue slide of soft tissue organs. The developed method is particularly useful for temporal registration of dynamic CT image of the liver while it gives deep insights to dealing with discontinuities of deformation vector field involved in many computer vision problems. As a result, we attain the develop ment of technologies suitable for ithe operating room and internal anatomical structures of soft tissues as well as useful and interesting in wider contexts of image analysis and spatial data analysis.