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Electromagnetic Navigation Transthoracic Nodule Localization for Minimally Invasive Thoracic Surgery
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一种基于神经辐射场的支气管镜导航方法.

Lifeng Zhu1, Jianwei Zheng2, Cheng Wang3

  • 1State Key Laboratory of Digital Medical Engineering, Jiangsu Key Lab of Robot Sensing and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China. lfzhulf@gmail.com.

International journal of computer assisted radiology and surgery
|August 7, 2024
PubMed
概括
此摘要是机器生成的。

这项研究提出了一种新的神经辐射场 (NeRF) 方法,用于被动支气管镜导航,改善了无需外部设备的内镜定位. NeRF方法提高了微创手术的安全性和准确性.

关键词:
支气管镜检查 (bronchoscopy) 是一种支气管镜检查.神经辐射场是一个神经辐射场.位置估计 位置估计手术导航手术导航手术导航

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科学领域:

  • 医疗成像医学成像
  • 计算机视觉 计算机视觉
  • 机器人技术 机器人技术 机器人技术

背景情况:

  • 当前的支气管镜导航工具往往需要外部基础设施或活跃的支气管镜操纵,造成局限性.
  • 支气管镜导航的挑战包括低纹理环境和困难的照明条件.

研究的目的:

  • 引入一种基于神经辐射场 (NeRF) 的新方法,用于被动支气管镜导航.
  • 仅从支气管镜图像中实现被动内镜定位,克服现有方法的局限性.

主要方法:

  • 在支气管镜检查中利用NeRF进行内镜定位.
  • 开发了一个两阶段的管道:线下培训与手术前数据和在线被动姿势估计.
  • 利用安德森加速和语义外观转移来弥合模拟到真实的差距.

主要成果:

  • 在虚拟数据集上实现了平均旋转误差3.18°和转换误差4.95mm.
  • 在物理幻影上展示了平均旋转误差5.14°和转换误差13.12mm.
  • 与基于SLAM的方法进行验证的性能.

结论:

  • 基于NeRF的方法提供有效的支气管导航,无需外部基础设施或主动调整.
  • 实验结果证实了这种方法在具有挑战性的条件下有效,包括低质感和低光照明.
  • 这种技术为更安全,更准确的支气管镜手术提供了有希望的进步.