Yoshida Toshio, Onogi Shinya, Sugano Yuki, Saito Shun, Mochizuki Takashi, Masuda Kohji
Annu Int Conf IEEE Eng Med Biol Soc. 2013;2013:4945-8. doi: 10.1109/EMBC.2013.6610657.
Image guided procedures such as percutaneous needle insertion or high intensity focused ultrasound, have become quite widespread. In images acquisition, ultrasound (US) is convenient to use in a conventional operating room, and inexpensive compared to CT and MRI. However, US requires to handle an US probe and do not have the base coordinate system. Therefore, intraoperative image position is unclear and cannot position to interested area. To address the issues, we have developed a robotic system based on US calibration and a probe scanning robot. In this study, to validate the implement system, positioning accuracy of an image plane was evaluated. Moreover, we developed an automated US guidance system with a conventional US probe. The system enables image plane positioning to visualize a therapeutic tool automatically. From the results, positioning accuracy of the image plane was 1.6 mm and 1.5 deg, maximally. In the phantom test, the error between the positions of the image plane and the mock needle was 2.5 mm and 0.9 deg. We have confirmed that the proposed system is greatly applicable for an intraoperative US guidance.
诸如经皮穿刺针插入或高强度聚焦超声等图像引导手术已相当普遍。在图像采集方面，超声（US）在传统手术室中使用方便，且与CT和MRI相比成本较低。然而，超声需要操作超声探头且没有基础坐标系。因此，术中图像位置不明确，无法定位到感兴趣区域。为了解决这些问题，我们开发了一种基于超声校准和探头扫描机器人的机器人系统。在本研究中，为了验证该实施系统，评估了图像平面的定位精度。此外，我们使用传统超声探头开发了一种自动超声引导系统。该系统能够自动进行图像平面定位以可视化治疗工具。结果显示，图像平面的最大定位精度为1.6毫米和1.5度。在体模测试中，图像平面与模拟针位置之间的误差为2.5毫米和0.9度。我们已证实所提出的系统非常适用于术中超声引导。
