Biosensor National Special Laboratory, Key Laboratory of Biomedical Engineering of Ministry of Education, College of Biomedical Engineering and Instrument Science, Zhejiang University, Hangzhou, China.
College of Artificial Intelligence, Nankai University, Tianjin, China.
Int J Med Robot. 2021 Aug;17(4):e2274. doi: 10.1002/rcs.2274. Epub 2021 May 20.
During flexible ureteroscopy (FURS), surgeons may lose orientation due to intrarenal structural similarities and complex shape of the pyelocaliceal cavity. Decision-making required after initially misjudging stone size will also increase the operative time and risk of severe complications.
A intraoperative navigation system based on electromagnetic tracking (EMT) and simultaneous localization and mapping (SLAM) was proposed to track the tip of the ureteroscope and reconstruct a dense intrarenal three-dimensional (3D) map. Furthermore, the contour lines of stones were segmented to measure the size.
Our system was evaluated on a kidney phantom, achieving an absolute trajectory accuracy root mean square error (RMSE) of 0.6 mm. The median error of the longitudinal and transversal measurements was 0.061 and 0.074 mm, respectively. The in vivo experiment also demonstrated the effectiveness.
The proposed system worked effectively in tracking and measurement. Further, this system can be extended to other surgical applications involving cavities, branches and intelligent robotic surgery.
在软性输尿管镜检查（FURS）过程中，由于肾内结构相似和肾盂肾盏腔的复杂形状，外科医生可能会失去方向感。最初误判结石大小时所需的决策也会增加手术时间和严重并发症的风险。
提出了一种基于电磁跟踪（EMT）和同时定位与地图构建（SLAM）的术中导航系统，以跟踪输尿管镜的尖端并重建密集的肾内三维（3D）地图。此外，还对结石的轮廓线进行分割以测量其大小。
我们的系统在肾模型上进行了评估，实现了轨迹绝对精度均方根误差（RMSE）为 0.6mm。纵向和横向测量的中位数误差分别为 0.061mm 和 0.074mm。体内实验也证明了其有效性。
所提出的系统在跟踪和测量方面有效。此外，该系统可以扩展到涉及腔体、分支和智能机器人手术的其他外科应用。
