Magnetic Tracking Sensors for Open Surgery Evaluation, Ultrasound Multi-view Fusion, and Cardiac Modeling

我们想购买一个新的磁跟踪系统，它可以容纳一个外径为1.5毫米的16传感器单元，用于三个项目中的两个项目，第二个外径为0.58毫米的16传感器单元用于心脏建模项目。第一个项目是基于传感器的开放手术活动分析项目，将使用两个仪器化的手术手套来记录专家外科医生在开放手术过程中的表现，并将他们的表现与培训期间的新手进行比较。我们的目标是在两个改良的手术手套中插入十个小型（~1.5 mm）磁传感器和应变计传感器，以测量每个手指在6-D中的位置（位置和方向）以及施加在它们上的力。磁追踪器的使用是至关重要的，因为由于视觉阻塞，依赖于直接视线的方法不可能在开放手术中使用。一旦获得了各种任务的数据，我们的目标是使用全局特征和简单的曲率/力相关技术来进行比较，以确定实习生和专家外科医生的表现有多接近。在第二个项目中，我们提出了一种方法，该方法依赖于安装在超声扫描仪（美国）上的相同便携式6-D磁跟踪系统来执行图像校准。这种跟踪系统将使我们能够解决图像对准问题，因为它消除了对图像重叠和质量的限制，因为跟踪系统获得的对准精度远远优于美国传感器的图像分辨率。在第三个项目中，我们计划使用相同的设备，但使用更小的磁性跟踪器（0.58毫米）来验证患者特定的心脏模型，并通过测量活体心脏运动来提取动态模型参数。主要的想法是使用这些传感器来跟踪心脏上关键解剖标志的位置，然后将它们与我们的模拟进行比较。然后，通过调整模型参数，如难以评估离体的几何形状和材料特性，将差异最小化。

We would like to purchase one new magnetic tracking system which can accommodate a 16-sensor unit with an outer diameter of 1.5 mm to be used for two of the three projects, and a second 16-sensor unit with an outer diameter of 0.58 mm for the cardiac modeling project. The first project is a sensor-based open surgery activity analysis project where two instrumented surgical gloves will be used in order to record expert surgeons' performances during open surgical procedures and to compare their performance with those of novices during training. Our goal is to insert into two modified surgical gloves, ten small (~1.5 mm) magnetic sensors combined with strain gage sensors to measure the position of each finger in 6-D (position and orientation) and the forces applied to them. The use of a magnetic tracker is critical as methods that rely on a direct line of sight are impossible to use in open surgery due to visual occlusions. Once the data is acquired for various tasks, our goal is to use global features and a simple curvature/force correlation technique to perform a comparison to determine how close the performances of the trainees and the expert surgeons are. In the second project, we propose a method that relies on the same portable 6-D magnetic tracking system mounted on an ultrasound scanner (US) to perform image alignment. This tracking system will allow us to solve image alignment as it eliminates the constraints on image overlap and quality as the accuracy of the alignment obtained by the tracking system is far superior to the image resolution of a US sensor. In the third project, we are planning to use the same equipment but with smaller magnetic trackers (0.58 mm) to validate patient specific models of a heart and to extract dynamic model parameters by measuring live heart motion. The main idea is to use those sensors to track the position of key anatomical landmarks on the heart and then compare them with our simulation. The discrepancy will then be minimized by adjusting model parameters such as geometry and material properties which are difficult to evaluate ex-vivo.