耳科手术导航报警系统的设计和研发
发布时间：2019-07-04 11:03
【摘要】：背景：手术导航系统在现代外科手术学中扮演着越来越重要的角色。导航系统的应用提高了手术的安全性,有助于减小不必要的损伤。但手术导航系统在我国的发展尚处于起步阶段,主要原因是其昂贵的价格国内大多数医院无法承受。另外,目前主流导航产品主要提供实时位置信息,针对专科医生需求的定制功能仍很不完善。 目的：设计和研制一款拥有自主知识产权的光学手术导航系统,并加入专为耳科手术设计的报警功能模块。 方法：我们与北京航空航天大学机械工程及自动化学院合作研发了一套3D手术导航软件系统,并在其中加入了专为耳科手术设计的乙状窦、脑膜、外耳道、面神经、半规管等结构的三维建模和术中报警系统,可以在导航中实时计算钻头至面神经等结构的最近距离,并在小于设定的报警距离时开启声音和图像报警。导航图像统一采用了标准颞骨高分辨CT。为了尽可能减小配准误差,我们使用钛钉进行标记点配准,并在两个颅骨模型和一个尸头颞骨标本上测量了配准误差和追踪误差。为了验证系统的有效性,我们在一个真实颞骨标本上进行了乳突根治术,术中使用了导航系统的报警模块,实时计算钻头至外耳道后壁、面神经、脑膜和乙状窦的距离。术后我们在复查CT图像上进行了误差测量,并实际测量术后手术腔表面对应位置的骨壁厚度进行误差比对和精度分析。 结果：导航系统的精度在标本手术中达到了亚毫米级。在颅骨模型试验中,采用四点、六点和八点配准的靶点配准误差分别为0.81±0.05mm.0.56±0.04mm和0.40±0.04mm,在尸头标本试验中的应用误差为0.43±r0.02mm,精度基本满足实际需求CT图像测量结果与实际测量的差值△Dimg=0.45±0.54mm.手术导航系统测量的最近距离与游标卡尺测量的实际骨壁厚度的差值△Dnav=0.47±0.89mm.我们顺利完成了CT图像的三维建模、距离测算和基本报警功能的开发,导航报警系统在手术中运行顺利,可行性得到了验证。 结论：我们开发的手术导航系统能为耳科手术提供医生需要的定制导航功能,协助医生在手术中保护重要的组织结构,有助于提升手术安全性。
文内图片：
图片说明手术导航报警系统结构
[Abstract]:BACKGROUND: The surgical navigation system plays a more and more important role in modern surgery. The application of the navigation system improves the safety of the operation and helps to reduce unnecessary damage. But the development of the surgical navigation system in our country is still in the initial stage, the main reason is its expensive price, most of the hospitals can't bear. In addition, that current mainstream navigation product mainly provide real-time position information, and the customization function aiming at the needs of the specialist is still not perfect. Objective: To design and develop an optical surgical navigation system with independent intellectual property, and to add an alarm function module designed for ear surgery. Block. Method: We developed a set of 3D surgical navigation software system in cooperation with the Mechanical Engineering and Automation College of the Beijing University of Aeronautics and Astronautics, and in which a sigmoid, meninges, and external auditory meatus designed for ear surgery were added. The three-dimensional modeling and intraoperative alarm system of the structure such as the facial nerve and the semicircular canal can calculate the most recent distance of the drill to the facial nerve and the like in real time in the navigation, and turn on the sound and the image when the alarm distance is less than the set alarm distance. It's like an alarm. The navigation image's unified with a standard high-bone high score. In ord to reduce that registration error as much as possible, we use the titanium nail for mark-point registration and measure the registration error and the chase on both the skull model and a cadaver bone specimen. In order to verify the effectiveness of the system, we performed the mastoidectomy on a real bone specimen, and the alarm module of the navigation system was used in the operation, and the drill bit to the posterior wall of the external auditory canal, the facial nerve, the meninges and the sigmoid were calculated in real time. After operation, we performed the error measurement on the CT image and measured the thickness of the bone wall in the corresponding position on the surface of the operation cavity after the operation. Degree analysis. Results: The accuracy of the navigation system was achieved in the specimen operation. The target registration error of four-point, six-point and eight-point registration was 0.81-0.05 mm, 0.56-0.04 mm and 0.40-0.04 mm respectively in the skull model test. The application error in the body-head specimen test was 0.43-r0.02mm, and the precision basically met the difference of the real-demand CT-image measurement result and the actual measurement. .54 mm. The difference between the most recent distance measured by the surgical navigation system and the actual bone wall thickness measured by the vernier caliper is Dnav = 0.47%0 .89 mm. We successfully completed the three-dimensional modeling, distance measurement and basic alarm function of the CT image, and the navigation and alarm system was successful in operation and feasibility. Conclusion: The surgical navigation system developed by us can provide the customized navigation function needed by the surgeon for the ear surgery, and help the doctor to protect the important tissue structure during the operation. To improve the safety of the operation. The image in the text: the operation of the picture
【学位授予单位】：北京协和医学院
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TP277
本文编号：2509869
文内图片：
图片说明手术导航报警系统结构
[Abstract]:BACKGROUND: The surgical navigation system plays a more and more important role in modern surgery. The application of the navigation system improves the safety of the operation and helps to reduce unnecessary damage. But the development of the surgical navigation system in our country is still in the initial stage, the main reason is its expensive price, most of the hospitals can't bear. In addition, that current mainstream navigation product mainly provide real-time position information, and the customization function aiming at the needs of the specialist is still not perfect. Objective: To design and develop an optical surgical navigation system with independent intellectual property, and to add an alarm function module designed for ear surgery. Block. Method: We developed a set of 3D surgical navigation software system in cooperation with the Mechanical Engineering and Automation College of the Beijing University of Aeronautics and Astronautics, and in which a sigmoid, meninges, and external auditory meatus designed for ear surgery were added. The three-dimensional modeling and intraoperative alarm system of the structure such as the facial nerve and the semicircular canal can calculate the most recent distance of the drill to the facial nerve and the like in real time in the navigation, and turn on the sound and the image when the alarm distance is less than the set alarm distance. It's like an alarm. The navigation image's unified with a standard high-bone high score. In ord to reduce that registration error as much as possible, we use the titanium nail for mark-point registration and measure the registration error and the chase on both the skull model and a cadaver bone specimen. In order to verify the effectiveness of the system, we performed the mastoidectomy on a real bone specimen, and the alarm module of the navigation system was used in the operation, and the drill bit to the posterior wall of the external auditory canal, the facial nerve, the meninges and the sigmoid were calculated in real time. After operation, we performed the error measurement on the CT image and measured the thickness of the bone wall in the corresponding position on the surface of the operation cavity after the operation. Degree analysis. Results: The accuracy of the navigation system was achieved in the specimen operation. The target registration error of four-point, six-point and eight-point registration was 0.81-0.05 mm, 0.56-0.04 mm and 0.40-0.04 mm respectively in the skull model test. The application error in the body-head specimen test was 0.43-r0.02mm, and the precision basically met the difference of the real-demand CT-image measurement result and the actual measurement. .54 mm. The difference between the most recent distance measured by the surgical navigation system and the actual bone wall thickness measured by the vernier caliper is Dnav = 0.47%0 .89 mm. We successfully completed the three-dimensional modeling, distance measurement and basic alarm function of the CT image, and the navigation and alarm system was successful in operation and feasibility. Conclusion: The surgical navigation system developed by us can provide the customized navigation function needed by the surgeon for the ear surgery, and help the doctor to protect the important tissue structure during the operation. To improve the safety of the operation. The image in the text: the operation of the picture
【学位授予单位】：北京协和医学院
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TP277
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