「來源: ｜MATLAB的科學(xué)與工程應(yīng)用 ID：gh_60b944f6c215」

本文為以色列耶路撒冷希伯來大學(xué)(作者：Yair Yarom)的碩士論文，共82頁。

在計算機(jī)輔助技術(shù)中，導(dǎo)航系統(tǒng)旨在提高外科醫(yī)生的手/眼協(xié)調(diào)性和空間感知能力。在骨科，主要的術(shù)中圖像形式是X射線透視圖像，使用導(dǎo)航系統(tǒng)可以通過連續(xù)跟蹤患者和工具來最小化透視圖像的數(shù)量。因此，它最大限度地減少了病人和外科醫(yī)生的X射線照射。當(dāng)今最常見的導(dǎo)航系統(tǒng)是基于光學(xué)跟蹤器的，它需要傳感器和攝像機(jī)之間的視線傳遞，并且具有相對較大的傳感器。

本文評估了電磁跟蹤在骨科手術(shù)環(huán)境中的可行性，并對其預(yù)期精度進(jìn)行了量化。電磁跟蹤器沒有視線問題，傳感器也很小，但是它們的精度不如光學(xué)跟蹤器，因為它們對金屬和電磁干擾更敏感。

為了評估電磁跟蹤器的準(zhǔn)確性，我們在跟蹤手術(shù)工具和熒光鏡的同時拍攝了工具的熒光圖像。在圖像上標(biāo)記了熒光透視圖像和跟蹤器感知到的工具位置。誤差是由標(biāo)記位置和圖像上刀具的真實位置之間的距離定義的。

在我們的實驗中，我們在0.54mm - 3.91mm的范圍內(nèi)獲得了2.41mm的平均精度(工廠校準(zhǔn)工具)，在1.02mm - 4.33mm范圍內(nèi)的平均精度為1.85 mm(實驗室校準(zhǔn))。

Computer-assisted intra-operative navigation systems aim toimprove the surgeon’s hand/eye coordination and spatial perception.In orthopedics, where the main intraoperative image modality is the X-rayfluoroscopy image, using a navigation system can minimize the number offluoroscopic images used by continuously tracking the patient and the tools.Thus, it minimizes the exposure of both the patient and surgeon to the Xrayradiation. The most common navigation systems today are based on opticaltrackers which requires a line of sight between the sensors and the cameras,and have relatively large sensors.

This thesis evaluates the feasibility of electromagnetictracking in orthopedic surgical environment, and quantifies its expectedaccuracy. Electromagnetic trackers do not have the line of sight problem andthey have small sensors, but they are less accurate than the optical trackersas they are more sensitive to metallic and electromagnetic interferences.

To evaluate the accuracy of the electromagnetic tracker, wetook fluoroscopic images of tools while tracking both the tools and thefluoroscope. The fluoroscopic images where then dewarped and the location ofthe tools, as perceived by the tracker, was marked on the images. The error wasdefined by the distance between the marked location and the true location ofthe tools on the images.

In our experiments we achieved an average accuracy of 2.41mm in the range of 0.54 mm 3.91 mm for a factory calibrated tool,and an average accuracy of 1.85 mm in the range of 1.02 mm 4.33 mm for a lab calibrated tool.

1.引言

2. 文獻(xiàn)回顧

3. 材料與方法

4. 實驗設(shè)置與協(xié)議

5. 實驗結(jié)果

6. 結(jié)論

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