标志性基于支气管镜定位用于在呼吸道变形下插入针头
Inbar Fried1,2, Janine Hoelscher1, Jason A Akulian3
1I. Fried, J. Hoelscher, S. Pizer, and R. Alterovitz are with the Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA.
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems
|July 1, 2024
概括
在肺癌诊断期间准确定位支气管镜是具有挑战性的,因为肺部运动. 这种新的基于摄像头的深度学习方法精确地使用气道地标跟踪支气管,从而实现更准确的活检.
科学领域:
- 医学成像医学成像
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能是人工智能.
背景情况:
- 支气管镜检查是诊断肺癌的最不侵入性方法.
- 精确的支气管镜定位对于肺结节活检至关重要.
- 挑战包括肺部变形,重复的呼吸道解剖学和缺乏特征.
研究的目的:
- 引入一种基于实时摄像机的方法,用于准确地定位支气管镜.
- 为了克服使用解剖学地标的全球姿势估计的局限性.
- 为了实现精确的针插入肺活检.
主要方法:
- 一种用于实时支气管镜定位的深度学习方法.
- 使用气道分叉作为地标来解释变形.
- 估计与呼吸运动不变的不同几何特征相对的姿势.
主要成果:
- 该方法达到足够的准确性,可以访问小,临床相关的肺结节.
- 在不同患者和呼吸运动水平上表现出普遍性.
- 即使在具有挑战性的远距离气道中,也能有效地定位.
结论:
- 开发的方法使得用于肺癌诊断的支气管镜可准确地定位.
- 它克服了手术期间的肺部变形和解剖学挑战.
- 这是迈向自主机器人支气管检查的重要一步.
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