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实时增强现实:一种使用连续容积计算机断层扫描的腹腔镜手术新可视化方法。

Live augmented reality: a new visualization method for laparoscopic surgery using continuous volumetric computed tomography.

机构信息

Department of Diagnostic Radiology and Nuclear Medicine, University of Maryland School of Medicine, 22 South Greene Street, Baltimore, MD 21201, USA.

出版信息

Surg Endosc. 2010 Aug;24(8):1976-85. doi: 10.1007/s00464-010-0890-8. Epub 2010 Feb 21.


DOI:10.1007/s00464-010-0890-8
PMID:20174949
Abstract

BACKGROUND: Current laparoscopic images are rich in surface detail but lack information on deeper structures. This report presents a novel method for highlighting these structures during laparoscopic surgery using continuous multislice computed tomography (CT). This has resulted in a more accurate augmented reality (AR) approach, termed "live AR," which merges three-dimensional (3D) anatomy from live low-dose intraoperative CT with live images from the laparoscope. METHODS: A series of procedures with swine was conducted in a CT room with a fully equipped laparoscopic surgical suite. A 64-slice CT scanner was used to image the surgical field approximately once per second. The procedures began with a contrast-enhanced, diagnostic-quality CT scan (initial CT) of the liver followed by continuous intraoperative CT and laparoscopic imaging with an optically tracked laparoscope. Intraoperative anatomic changes included user-applied deformations and those from breathing. Through deformable image registration, an intermediate image processing step, the initial CT was warped to align spatially with the low-dose intraoperative CT scans. The registered initial CT then was rendered and merged with laparoscopic images to create live AR. RESULTS: Superior compensation for soft tissue deformations using the described method led to more accurate spatial registration between laparoscopic and rendered CT images with live AR than with conventional AR. Moreover, substitution of low-dose CT with registered initial CT helped with continuous visualization of the vasculature and offered the potential of at least an eightfold reduction in intraoperative X-ray dose. CONCLUSIONS: The authors proposed and developed live AR, a new surgical visualization approach that merges rich surface detail from a laparoscope with instantaneous 3D anatomy from continuous CT scanning of the surgical field. Through innovative use of deformable image registration, they also demonstrated the feasibility of continuous visualization of the vasculature and considerable X-ray dose reduction. This study provides motivation for further investigation and development of live AR.

摘要

背景:目前的腹腔镜图像富含表面细节,但缺乏关于深层结构的信息。本报告介绍了一种使用连续多层计算机断层扫描(CT)在腹腔镜手术中突出这些结构的新方法。这导致了一种更准确的增强现实(AR)方法,称为“实时 AR”,它将来自实时低剂量术中 CT 的三维(3D)解剖结构与来自腹腔镜的实时图像合并。

方法:在配备齐全的腹腔镜手术套件的 CT 室中对猪进行了一系列手术。使用 64 层 CT 扫描仪每秒大约对手术区域成像一次。手术从对比度增强的诊断质量 CT 扫描(初始 CT)开始,然后进行连续术中 CT 和光学跟踪腹腔镜的腹腔镜成像。术中解剖变化包括用户应用的变形和呼吸引起的变形。通过可变形图像配准,即中间图像处理步骤,将初始 CT 扭曲以与低剂量术中 CT 扫描空间对齐。然后对配准的初始 CT 进行渲染,并与腹腔镜图像合并以创建实时 AR。

结果:与传统 AR 相比,使用描述的方法对软组织变形进行更好的补偿,导致腹腔镜和渲染 CT 图像之间的空间配准更准确。此外,用注册的初始 CT 替代低剂量 CT 有助于连续观察血管,并有可能将术中 X 射线剂量降低至少 8 倍。

结论:作者提出并开发了实时 AR,这是一种新的手术可视化方法,它将来自腹腔镜的丰富表面细节与手术区域连续 CT 扫描的即时 3D 解剖结构合并。通过对可变形图像配准的创新使用,他们还证明了连续观察血管和大幅降低 X 射线剂量的可行性。本研究为进一步研究和开发实时 AR 提供了动力。

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[7]
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