Krempien Robert, Hoppe Harald, Kahrs Lüder, Daeuber Sascha, Schorr Oliver, Eggers Georg, Bischof Marc, Munter Marc W, Debus Juergen, Harms Wolfgang
Department of Radiation Oncology, University of Heidelberg, Heidelberg, Germany.
Int J Radiat Oncol Biol Phys. 2008 Mar 1;70(3):944-52. doi: 10.1016/j.ijrobp.2007.10.048. Epub 2007 Dec 31.
PURPOSE: The aim of this study is to implement augmented reality in real-time image-guided interstitial brachytherapy to allow an intuitive real-time intraoperative orientation. METHODS AND MATERIALS: The developed system consists of a common video projector, two high-resolution charge coupled device cameras, and an off-the-shelf notebook. The projector was used as a scanning device by projecting coded-light patterns to register the patient and superimpose the operating field with planning data and additional information in arbitrary colors. Subsequent movements of the nonfixed patient were detected by means of stereoscopically tracking passive markers attached to the patient. RESULTS: In a first clinical study, we evaluated the whole process chain from image acquisition to data projection and determined overall accuracy with 10 patients undergoing implantation. The described method enabled the surgeon to visualize planning data on top of any preoperatively segmented and triangulated surface (skin) with direct line of sight during the operation. Furthermore, the tracking system allowed dynamic adjustment of the data to the patient's current position and therefore eliminated the need for rigid fixation. Because of soft-part displacement, we obtained an average deviation of 1.1 mm by moving the patient, whereas changing the projector's position resulted in an average deviation of 0.9 mm. Mean deviation of all needles of an implant was 1.4 mm (range, 0.3-2.7 mm). CONCLUSIONS: The developed low-cost augmented-reality system proved to be accurate and feasible in interstitial brachytherapy. The system meets clinical demands and enables intuitive real-time intraoperative orientation and monitoring of needle implantation.
目的:本研究旨在将增强现实技术应用于实时图像引导的组织间近距离放射治疗,以实现直观的实时术中定位。 方法与材料:所开发的系统由一台普通视频投影仪、两台高分辨率电荷耦合器件相机和一台现成的笔记本电脑组成。投影仪通过投射编码光图案作为扫描设备,用于对患者进行配准,并将手术视野与计划数据及其他任意颜色的附加信息叠加。通过立体跟踪附着在患者身上的被动标记来检测非固定患者的后续移动。 结果:在第一项临床研究中,我们评估了从图像采集到数据投影的整个过程链,并对10例接受植入治疗的患者确定了总体准确性。所描述的方法使外科医生能够在手术过程中直接通过视线在任何术前分割和三角测量的表面(皮肤)上可视化计划数据。此外,跟踪系统允许根据患者当前位置动态调整数据,因此无需进行刚性固定。由于软组织移位,患者移动时我们获得的平均偏差为1.1毫米,而改变投影仪位置时平均偏差为0.9毫米。一次植入所有针的平均偏差为1.4毫米(范围为0.3 - 2.7毫米)。 结论:所开发的低成本增强现实系统在组织间近距离放射治疗中被证明是准确且可行的。该系统满足临床需求,能够实现直观的实时术中定位以及对针植入的监测。
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