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使用骨表面点云进行交叉模式注册,用于机器人超声波引导的脊椎手术
Xihan Ma1, Xiao Zhang2, Yang Wang1
1Department of Robotics Engineering, Worcester Polytechnic Institute, 100 Institute Rd., Worcester, MA 01609, USA.
Journal of medical robotics research
|July 21, 2025
概括
这项研究引入了脊柱手术的新管道,改善了图像引导的准确性. 它通过从MRI和超声数据中提取3D点云来提高机器人超声系统 (RUSS) 登记,以精确地对准每脊椎.
科学领域:
- 医疗成像医学成像
- 在外科手术中使用机器人
- 脊椎外科手术 导航 导航
背景情况:
- 使用术前MRI和术后US的图像指导改善了脊椎手术的结果.
- 机器人美国系统 (RUSS) 可实现自动化3D美国体积采集,以更好地进行注册.
- 核磁共振和US之间的交叉模式差异对准确的注册构成了重大挑战.
研究的目的:
- 开发和评估一个新的管道,用于在脊椎外科手术中准确的每脊椎注册.
- 为了应对图像引导脊柱手术中跨模式差异的挑战.
- 提高美国机器人系统在实时外科导航中的应用性.
主要方法:
- 从手术前的MRI和手术后的3D US数据中提取脊柱点云.
- 使用提取的点云来进行每脊椎注册的管道的开发.
- 实验验证管道的准确性,稳定性和时间效率.
主要成果:
- 实现了1.82mm (余根平均平方误差) 和7.02mm (Chamfer距离) 的注册精度.
- 与基线方法相比,在低于最佳的初始条件下表现出优越的稳定性.
- 展示了良好的时间效率,适合实时手术条件.
结论:
- 拟议的管道有效地解决了图像引导脊柱手术中的跨模式差异.
- 该方法显示了提高RUSS指导脊柱手术的准确性和可靠性的巨大潜力.
- 这种方法为改善复杂的脊柱干预手术结果提供了一个有希望的解决方案.
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