Intraoperative 3-D image acquisition and augmented reality for laparoscopic/thoracoscopic surgical navigation system

腹腔镜手术导航系统术中三维图像采集与增强现实磁光混合跟踪器在腹腔镜手术中用于三维超声导航的术中跟踪器校准（2004）磁性跟踪器的精度受到金属物体和电子设备近距离接触导致的磁场畸变的影响，这在手术室中是不可避免的。我们开发了一种术中磁畸变校正方法，可应用于腹腔镜三维超声数据采集。在体内实验（2004）我们通过动物实验评估了腹腔镜下三维超声重建的准确性。使用猪，在腹腔镜控制下获得校准数据和3-D US体积。在猪肝背侧放置附着于支架远端的楔形标志点，标志点支架由内镜支架固定。将磁畸变引起的定位误差减小到2.9 mm。在胸腔镜手术中，由于肺塌陷引起肺明显的大变形，根据术中胸腔镜图像和术前CT图像预测肿瘤位置往往成为一项困难的任务。我们提出了一种基于ct的胸腔镜手术导航系统，涉及术中大变形的矫正。通过动物实验和临床实验对肿瘤位置的预测准确性进行了评价。研究了胃粘膜下注射造影剂（超顺磁氧化铁：SPIO）进行磁共振成像（MRI）后，胃癌前哨淋巴结导航系统的最佳条件。输尿管导航系统在直肠乙状结肠切除术中的应用（2006 ~ 2007）为避免术中输尿管损伤，我们研制了输尿管导航系统，并将输尿管导航系统叠加在术中实时内镜图像上。少

Intraoperative 3-D image acquisition and augmented reality for laparoscopic surgical navigation system1.Intraoperative tracker calibration using a magneto-optic hybrid tracker for 3-D ultrasound-based navigation in laparoscopic surgery (2004)The accuracy of magnetic trackers is affected by magnetic field distortion that results from the close proximity of metal objects and electronic equipment, which is unavoidable in the operating room. We developed a calibration method for intraoperative magnetic distortion that can be applied to laparoscopic 3-D US data acquisition.2.In vivo experiment (2004)We evaluated the accuracy of laparoscopic 3-D US reconstruction by animal experiments. Using a pig, calibration data and 3-D US volumes were acquired under laparoscopic control. A wedge-shaped landmark attached to the distal end of the holder was placed dorsal to the pig liver, and the landmark holder was fixed by the endoscopic holder. The positional error caused by magnetic distortion was redu … More ced to 2.9 mm.3.Estimation of intraoperative lung deformation for computer assisted thoracoscopic surgery (2005〜2007)In the thoracoscopic surgery, predicting the cancer position based on intraoperative thoracoscopic images and preoperative CT images often becomes a difficult task because the lung collapse causes significantly large deformation of the lung. We propose a CT-based thoracoscopic surgical navigation system, involving the intraoperative correction of large large deformation. Animal and clinical experiments were performed to evaluate the prediction accuracy of the cancer position.4.Sentinel node navigation system (2005〜2007)After the gastric submucosal injection of contrast enhance agent (Super-Paramagnetic Iron Oxide: SPIO) for magnetic resonance imaging (MRI), optimal conditions were investigated for sentinel node navigation system for gastric cancer.5.Navigation system for ureter in rectosigmoid resection (2006〜2007)To avoid the intraoperative injury of ureters, we have developed the navigation system for ureters which were superimposed onto live endoscopic images intraoperatively. Less