School of Computer Engineering and Science, Shanghai University, No.99 Shangda Road, Baoshan District, Shanghai City, China,
J Med Syst. 2015 Nov;39(11):133. doi: 10.1007/s10916-015-0315-2. Epub 2015 Aug 30.
Preoperative path planning plays a critical role in vascular access surgery. Vascular access surgery has superior difficulties and requires long training periods as well as precise operation. Yet doctors are on different leves, thus bulky size of blood vessels is usually chosen to undergo surgery and other possible optimal path is not considered. Moreover, patients and surgeons will suffer from X-ray radiation during the surgical procedure. The study proposed an improved ant colony algorithm to plan a vascular optimal three-dimensional path with overall consideration of factors such as catheter diameter, vascular length, diameter as well as the curvature and torsion. To protect the doctor and patient from exposing to X-ray long-term, the paper adopted augmented reality technology to register the reconstructed vascular model and physical model meanwhile, locate catheter by the electromagnetic tracking system and used Head Mounted Display to show the planning path in real time and monitor catheter push procedure. The experiment manifests reasonableness of preoperative path planning and proves the reliability of the algorithm. The augmented reality experiment real time and accurately displays the vascular phantom model, planning path and the catheter trajectory and proves the feasibility of this method. The paper presented a useful and feasible surgical scheme which was based on the improved ant colony algorithm to plan vascular three-dimensional path in augmented reality. The study possessed practical guiding significance in preoperative path planning, intraoperative catheter guiding and surgical training, which provided a theoretical method of path planning for vascular access surgery. It was a safe and reliable path planning approach and possessed practical reference value.
术前路径规划在血管介入手术中起着至关重要的作用。血管介入手术难度较大，需要长时间的培训和精确的操作。然而，医生的水平参差不齐，因此通常选择较粗的血管进行手术，而不考虑其他可能的最佳路径。此外，在手术过程中，患者和外科医生会受到 X 射线辐射。本研究提出了一种改进的蚁群算法，以规划血管的三维最优路径，综合考虑导管直径、血管长度、直径以及曲率和扭转等因素。为了保护医生和患者免受长期 X 射线辐射，本文采用了增强现实技术来注册重建的血管模型和物理模型，同时通过电磁跟踪系统定位导管，并使用头戴式显示器实时显示规划路径和监测导管推送过程。实验证明了术前路径规划的合理性和算法的可靠性。增强现实实验实时、准确地显示了血管模型、规划路径和导管轨迹，证明了该方法的可行性。本文提出了一种基于改进蚁群算法的血管三维路径规划的有效且可行的手术方案，在术前路径规划、术中导管引导和手术培训方面具有实际指导意义，为血管介入手术提供了路径规划的理论方法，是一种安全可靠的路径规划方法，具有实际参考价值。
