颅颌面外科虚拟培训与手术导航关键技术研究及应用系统开发

发布时间：2018-04-25 07:29

本文选题：颅颌面外科 + 虚拟仿真培训　；参考：《上海交通大学》2014年硕士论文

【摘要】：计算机辅助手术是信息技术与现代医学的交叉学科，是国际前沿研究热点，它突破了传统手术的局限，极大地提高了手术精度与成功率，对于提高人类的生命健康水平具有深远影响。本文主要对计算机辅助手术的两个重要组成部分——“虚拟手术仿真培训”与“手术导航”的关键技术展开研究，并开发了针对颅颌面外科临床的应用系统。在虚拟手术仿真培训方面，本文主要对碰撞检测和触觉力反馈等关键技术和算法进行了研究。为了实时、精确地检测手术器械与颅颌面模型间的相交情况，提出了AABB（AxisAligned Bounding Box）包围盒与多个检测点相结合的碰撞检测算法，能够同时达到比较高的检测速度和精度。以操作力本构方程为基础，实现了触觉反馈力的精确计算。在上述算法和技术的研究基础上，，以VS2008为集成开发环境，结合Qt、OpenGL和Chai3D等软件工具，并利用Omega.6型力反馈仪器和Display300型沉浸式视觉平台，开发了集视觉、触觉和听觉为一体的颅颌面虚拟手术仿真培训系统（VR-CMFS）。由临床医师和相关领域专家对系统进行了体验和评估，结果表明VR-CMFS的视觉仿真环境和触觉反馈感与真实临床较为接近，能够为术前准备和新手培训提供有效的帮助。在手术导航方面，本文的研究内容主要有以下几个方面：1）以封装后的STL文件和常规的XML文件为基础，设计了规划与导航系统之间的数据接口；2）研究了手术器械的标定算法，设计了标定装置，实现了对手术器械尖端、轴向和法向的标定；3）研究了基于点和基于面的配准方案。在配准点的拾取方面，设计了佩戴式外置配准标记点，既对患者无创又能有效地保证配准精度。4）以VS2008为集成开发环境，以Qt为图形界面开发工具，并结合ITK、VTK、CTK和IGSTK等图像分析和可视化工具包，对相关的算法和技术进行了实现与集成，开发了颅颌面外科手术导航系统（CMFSNS）。为了验证导航系统的精度，我们设计了一种由金属底座、有机玻璃基座和尼龙颅颌面模型构成的精度检验装置；并通过一组精度测试实验，表明系统点配准和面配准精度分别保持在1mm和1.2mm以内，性能指标可与国际同类产品相媲美。因此，CMFSNS能够满足颅颌面外科手术的临床要求，为实现手术的个性化、精确化和微创化提供了保障。
[Abstract]:Computer-aided surgery is an interdisciplinary subject of information technology and modern medicine. It is a hot topic in international frontier research. It breaks through the limitations of traditional surgery and greatly improves the accuracy and success rate of surgery. It has a profound influence on the improvement of human life and health. In this paper, the key technologies of virtual surgery simulation training and surgical navigation are studied, and a clinical application system for craniomaxillofacial surgery is developed. In the training of virtual surgery simulation, the key technologies and algorithms such as collision detection and tactile force feedback are studied in this paper. In order to accurately detect the intersection between surgical instruments and craniomaxillofacial models in real time, a collision detection algorithm combining AABB(AxisAligned Bounding box with multiple detection points is proposed, which can achieve high detection speed and accuracy simultaneously. Based on the constitutive equation of operational force, the accurate calculation of tactile feedback force is realized. On the basis of the above algorithms and techniques, using VS2008 as the integrated development environment, combined with the software tools such as QtTX OpenGL and Chai3D, and using the Omega.6 force feedback instrument and Display300 immersion vision platform, the set vision is developed. The virtual surgery training system of skull and maxillofacial is VR-CMFSS. The results show that the visual simulation environment and tactile feedback of VR-CMFS are close to the real clinic and can provide effective help for preoperative preparation and novice training. In the aspect of operation navigation, the main contents of this paper are as follows: 1) based on the encapsulated STL file and the conventional XML file, the data interface between the planning and navigation system is designed and the calibration algorithm of the surgical instrument is studied. A calibration device is designed to calibrate the tip, axial and normal directions of surgical instruments. The registration scheme based on point and surface is studied. In the aspect of picking up the registration points, a wearable external registration marker is designed, which is not only noninvasive for patients but also can effectively guarantee the registration accuracy. 4) taking VS2008 as the integrated development environment and QT as the graphical interface development tool, Combined with the image analysis and visualization toolkits such as ITK VTK and IGSTK, the related algorithms and techniques were realized and integrated, and the craniomaxillofacial surgery navigation system was developed. In order to verify the accuracy of the navigation system, we designed a precision testing device composed of metal base, plexiglass base and nylon craniomaxillofacial model, and passed a set of precision test experiments. The results show that the accuracy of point registration and surface registration are kept within 1mm and 1.2mm respectively, and the performance indexes are comparable with those of similar products in the world. Therefore, CMFSNS can meet the clinical requirements of craniomaxillofacial surgery and provide a guarantee for individualization, accuracy and minimally invasive operation.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP391.7;R782

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