融合预测和感知:适应卡尔曼波器驱动的呼吸门为MR外科导航
Haoliang Li1, Shuyi Wang1, Jingyi Hu1
1School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.
Sensors (Basel, Switzerland)
|January 28, 2026
概括
这项研究引入了一种混合现实外科导航系统,以减少穿刺时的呼吸运动错误. 该系统通过预测呼吸模式来提高准确度,以提供精确的针插入指导.
科学领域:
- 医疗成像医学成像
- 手术导航 手术导航
- 增强现实是一种增强现实.
背景情况:
- 呼吸运动在胸腔腹腔穿皮穿刺时会导致显著的目标位移.
- 目前的增强现实 (AR) 引导程序面临系统延迟,依赖手术内成像和缺乏智能定时的挑战.
- 准确和安全的穿皮穿刺受到不可预测的呼吸运动的阻碍.
研究的目的:
- 开发和评估混合现实 (MR) 手术导航系统,以补偿呼吸引起的目标位移.
- 为皮肤穿刺手术提供智能定时辅助.
- 为了提高AR导向胸腔腹腔干预的准确性和安全性.
主要方法:
- 开发了一个MR外科导航系统,集成了一个基于卡尔曼波器的适应性呼吸预测模块和视觉门线索.
- 使用动态呼吸运动模拟平台对系统进行了评估.
- 利用光学追踪呼吸运动的实时状态估计和短期预测,用于补偿和指导窗口预测.
主要成果:
- 与未补偿条件相比,动态注册误差从3.15 ± 1.23 mm减少到2.11 ± 0.58 mm (p < 0.001).与未补偿条件相比,动态注册误差从3.15 ± 1.23 mm减少到2.11 ± 0.58 mm (p < 0.001).
- 在预测指导的最后吸入窗口时,达到>92%的准确性,提前大约发生142 ms.
- 证明有效地抑制由呼吸运动引起的MR模型漂移.
结论:
- 集成的MR系统成功地减轻了在外科导航中的呼吸引起的模型漂移.
- 有效地提供了穿孔执行的智能定时指导,提高了程序精度.
- 开发的系统提供了一个有前途的解决方案,以提高AR引导的皮肤穿刺手术的准确性和安全性.
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