Qian Liwei, Yan Shijun, Xia Qing, Wang Chengtao
School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China.
Sheng Wu Yi Xue Gong Cheng Xue Za Zhi. 2009 Oct;26(5):1106-10.
A surgical navigation system based on X-rays of C-arm with a calibration target has been studied and developed. Extracting images of markers in the two templates on the calibration target, the system is able to establish the relationship between different markers coordinates in different coordinate systems using the algorithm based on the layout of specific markers. The correction of X-ray image distortion and C-arm camera calibration are performed using the images of calibration target as bases. After the parameters of the C-arm projection model being determined, an X-ray image of surgical site will be acquired preoperatively; the surgical instruments will be tracked by the optical position system, and then virtual projections of instruments can be formed on preoperative images. Surgeons will perform operations with the guidance of the system. The C-arm can be used less frequently and the X-ray radiation can be reduced. Cadaveric spine specimen experiments and error analysis have underpinned the clinical feasibility of the system.
一种基于带有校准靶标的C形臂X射线的手术导航系统已被研究和开发。通过提取校准靶标上两个模板中标记物的图像，该系统能够使用基于特定标记物布局的算法来建立不同坐标系中不同标记物坐标之间的关系。以校准靶标的图像为基础进行X射线图像失真校正和C形臂相机校准。在确定C形臂投影模型的参数后，术前获取手术部位的X射线图像；手术器械将由光学定位系统跟踪，然后可以在术前图像上形成器械的虚拟投影。外科医生将在该系统的引导下进行手术。C形臂的使用频率可以降低，X射线辐射也可以减少。尸体脊柱标本实验和误差分析证明了该系统的临床可行性。
