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自动化活检路径规划和导航使用新的软件硬件平台.

Adam Ciszkiewicz1, Jakub Urban2, Grzegorz Ziółkowski2

  • 11Faculty of Mechanical Engineering, Cracow University of Technology, Kraków, Poland.

Acta of bioengineering and biomechanics
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概括

这项研究开发了一种自动化图像导向活检系统,用于精确放置针头. 这种新的平台在复杂的手术中提高了手术安全性和效率.

关键词:
计算机辅助活检是计算机辅助的活检.不同的进化是不同的进化.最大的空虚球体.伤口的伤口是一个伤口.一个针头针头.追踪系统的追踪系统

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科学领域:

  • 医疗成像医学成像
  • 手术机器人手术机器人手术机器人手术机器人
  • 计算解剖学的计算解剖学

背景情况:

  • 图像导向活检对于程序的安全性和准确性至关重要.
  • 当前的方法往往需要人工规划和手术内调整.
  • 自动化可以提高精度并减少侵入性.

研究的目的:

  • 开发一个软件硬件平台,用于自动化活检规划和手术内辅助.
  • 整合计算方法以优化针的轨迹并确保安全.
  • 在幻影模型上验证系统的性能.

主要方法:

  • 在DICOM成本图上开发基于voxel的针表征.
  • 使用差异进化来优化针路的安全性 (最大的空球).
  • 在头骨幻影上实施MentorEye系统进行实时导航和评估.

主要成果:

  • 自动化规划工具生成了可行的轨迹,通常是最短的路径.
  • 平均目标注册误差为2.08±0.43毫米,与计算机辅助程序相比.
  • 模拟显示活检成功,平均偏差为2.15 ± 0.84毫米和3.7%的nRMSE.

结论:

  • 开发的平台展示了图像引导活检的高效自动规划.
  • 该系统提供有效的手术内指导,增强活检程序.
  • 结果表明,在图像引导干预中,提高准确性和安全性的潜力.