肝脏跟踪在开放手术中的导航。
Tracking of the liver for navigation in open surgery.
机构信息
Micro Technology and Medical Device Engineering (MIMED), TU München, Munich, Germany.
出版信息
Int J Comput Assist Radiol Surg. 2010 May;5(3):229-35. doi: 10.1007/s11548-009-0395-x. Epub 2009 Aug 7.
PURPOSE
A main task of navigation systems assisting a surgeon during an intervention is to determine the spatial position of instruments relative to the organ. In comparison to navigation of hard tissue, this is still a challenge for navigation in soft tissue. In this contribution a method is presented to measure the position and the deformation of the liver.
METHOD
Therefore, reflective fiducials are fixed at the surface of the liver, whose spatial positions are measured with an optical position measurement system. Therewith the position of the whole liver is calculated. The deformation at the surface of the liver is determined using a model of the surface. The method was verified in an experiment with pig liver.
RESULTS
The position of the liver could be tracked. Spatial deviations because of the deformation of the liver could be reduced by 36%.
CONCLUSION
This method can be applied in navigation of instruments in open liver surgery to track the position of the liver.
目的
在手术过程中辅助外科医生的导航系统的主要任务是确定手术器械相对于器官的空间位置。与硬组织导航相比，这对于软组织导航仍然是一个挑战。在本研究中，我们提出了一种测量肝脏位置和变形的方法。
方法
为此，在肝脏表面固定反射性基准标记，并用光学位置测量系统测量其空间位置。由此计算整个肝脏的位置。使用表面模型确定肝脏表面的变形。该方法在猪肝实验中得到验证。
结果
可以跟踪肝脏的位置。肝脏变形引起的空间偏差可减少 36%。
结论
该方法可应用于开放性肝手术中的器械导航，以跟踪肝脏的位置。
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