| 鲁通,徐静,任贺,王旸,梁萍,陈恳,杨向东,胡晨明.介入性超声计算机辅助导航系统的初步实现及实验研究[J].中国医学影像技术,2007,23(7):1085~1087 |
| 介入性超声计算机辅助导航系统的初步实现及实验研究 |
| Study on navigation system for US-guided intervention |
| 投稿时间：2006-12-27 修订日期：2007-05-27 |
| DOI： |
| 中文关键词: 介入性超声 计算机辅助 三维超声 |
| 英文关键词:Interventional ultrasound Computer-assisted 3D ultrasound |
| 基金项目:本课题受国家自然科学基金资助(30672016)。 |
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| 中文摘要: |
| 目的 建立用于介入性超声的计算机辅助导航系统。方法 利用高精度磁定位器实时跟踪超声探头和穿刺针,构建三维超声,穿刺操作中实时显示二维超声图像平面在三维超声中的位置及与穿刺针的空间位置关系,利用一个五自由度的被动机械人引导装置辅助穿刺,初步建立用于介入性超声的计算机辅助导航系统。使用该系统对固定于水槽中的直径为0.5 cm的球形穿刺目标进行任意角度穿刺操作,评估系统的穿刺准确度。结果 建立的系统可以完成超声引导穿刺操作,所有实验均命中穿刺目标。结论 介入性超声计算机辅助导航系统可以实现三维空间的准确定位,并摆脱穿刺引导架的角度限制,实现灵活准确的穿刺操作。 |
| 英文摘要: |
| Objective To develop a novel navigation system for interventional ultrasound. Methods The navigation system includes a high-accuracy electromagnetic tracker and a passive arm with 6 degrees-of-freedom. The electromagnetic tracker was used to track ultrasound probe and needle. The tracked freehand B-mode ultrasound probe provided data for computer-reconstructed 3D ultrasound. The positions of B-mode ultrasound image plane and needle were displayed in real-time. The passive arm was used to assist needle delivering. A 0.5 cm ball immersed in a transparent water tank was punctured with random angle by using the navigation system. The precision of this system was assessed. Results The system can finish the whole progress. On all occasions, the ball could be touched by the tip of needle accurately. Conclusion The navigation system can position the needle accurately in three-dimensional space, get rid of the angle limit. The operation is flexible and accurate. |
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