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完全分布式形状感应灵活的手术针使用光学频域反射计前列腺干预的前列腺干预.

Jacynthe Francoeur¹, Dimitri Lezcano², Yernar Zhetpissov²

¹Department of Electrical Engineering, Polytechnique Montréal, Montréal, QC H3T1J4, Canada.

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation

|October 28, 2024

概括

这项研究提出了一种优化的针形状感应方法,以提高最小侵入性手术的精度. 这种新的技术提高了针头放置的精度,减少了在活检和支臂疗法期间调整的需要.

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科学领域:

医疗器械医疗器械
生物医学工程生物医学工程
传感技术传感技术

背景情况:

精确的针头放置对于微创手术,如活检和胸膜疗法至关重要.
目前的追踪方法在可靠性,分辨率和图像对比度方面存在局限性,导致频繁的调整和重新插入.

研究的目的:

开发和验证一种优化的针形状感应方法,以精确地放置针.
克服干预程序中现有的追踪技术的局限性.

主要方法:

使用完全分布式网格式传感器与光学频域反射计 (OFDR).
采用三角形和几何建模用于纤维形状分析,独立于组织特性.
整合了一种可重现的校准过程和一种新的尖端曲率补偿方法.

主要成果:

实现了亚毫米精度 (平均RMSE从0.58 ± 0.21毫米到0.66 ± 0.20毫米).
通过3D立体视觉和CBCT在人工同源和不均质动物组织中验证了该方法.
证明了一种可靠和准确的针形状感应方法.

结论:

优化的针形状感应方法显著提高了微创手术的准确性.
这项技术为提高针头放置精度和减少程序并发症提供了一个有前途的解决方案.
开发的方法适用于图像引导干预的实时指导.