Department of Biomedical Engineering, University of Alberta, 1098 Research Transition Facility, 8308-114 Street, Edmonton, AB, T6G 2V2, Canada.
Department of Physical Therapy, Faculty of Rehabilitation Medicine, University of Alberta, 2-50 Corbett Hall, Edmonton, AB, T6G2G4, Canada.
Int J Comput Assist Radiol Surg. 2019 Mar;14(3):427-439. doi: 10.1007/s11548-018-1894-4. Epub 2018 Dec 5.
Determine the positional, rotational and reconstruction accuracy of a 3D ultrasound system to be used for image registration in navigation surgery.
A custom 3D ultrasound for spinal surgery image registration was developed using Optitrack Prime 13-W motion capture cameras and a SonixTablet Ultrasound System. Temporal and spatial calibration was completed to account for time latencies between the two systems and to ensure accurate motion tracking of the ultrasound transducer. A mock operating room capture volume with a pegboard grid was set up to allow phantoms to be placed at a variety of predetermined positions to validate accuracy measurements. Five custom-designed ultrasound phantoms were 3D printed to allow for a range of linear and angular dimensions to be measured when placed on the pegboard.
Temporal and spatial calibration was completed with measurement repeatabilities of 0.2 mm and 0.5° after calibration. The mean positional accuracy was within 0.4 mm, with all values within 0.5 mm within the critical surgical regions and 96% of values within 1 mm within the full capture volume. All orientation values were within 1.5°. Reconstruction accuracy was within 0.6 mm and 0.9° for geometrically shaped phantoms and 0.5 and 1.9° for vertebrae-mimicking phantoms.
The accuracy of the developed 3D ultrasound system meets the 1 mm and 5° requirements of spinal surgery from this study. Further repeatability studies and evaluation on vertebrae are needed to validate the system for surgical use.
确定用于导航手术图像配准的三维超声系统的位置、旋转和重建精度。
使用 Optitrack Prime 13-W 运动捕捉相机和 SonixTablet 超声系统开发了一种用于脊柱手术图像配准的定制 3D 超声系统。完成了时间和空间校准，以考虑到两个系统之间的时间延迟，并确保超声换能器的精确运动跟踪。设置了一个带有钉板网格的模拟手术室捕获体积，以便可以将幻影放置在各种预定位置，以验证精度测量值。定制设计了五个超声幻影，通过 3D 打印，可以在钉板上测量各种线性和角度尺寸。
经过校准后，时间和空间校准的测量重复性分别为 0.2mm 和 0.5°。平均位置精度在 0.4mm 以内，所有关键手术区域内的所有值均在 0.5mm 以内，96%的值在整个捕获体积内均在 1mm 以内。所有方向值均在 1.5°以内。对于几何形状的幻影，重建精度在 0.6mm 和 0.9°以内，对于模仿椎骨的幻影，精度在 0.5mm 和 1.9°以内。
所开发的 3D 超声系统的精度符合本研究中脊柱手术的 1mm 和 5°要求。需要进一步的重复性研究和对椎骨的评估，以验证该系统是否可用于手术。
