School of Engineers, Beijing Institute of Petrochemical Technology, Beijing, China.
School of Information Engineering, Beijing Institute of Petrochemical Technology, Beijing, China.
BMC Surg. 2023 Mar 9;23(1):51. doi: 10.1186/s12893-023-01944-5.
Minimally invasive vascular intervention (MIVI) is a powerful technique for the treatment of cardiovascular diseases, such as abdominal aortic aneurysm (AAA), thoracic aortic aneurysm (TAA) and aortic dissection (AD). Navigation of traditional MIVI surgery mainly relies only on 2D digital subtraction angiography (DSA) images, which is hard to observe the 3D morphology of blood vessels and position the interventional instruments. The multi-mode information fusion navigation system (MIFNS) proposed in this paper combines preoperative CT images and intraoperative DSA images together to increase the visualization information during operations.
The main functions of MIFNS were evaluated by real clinical data and a vascular model. The registration accuracy of preoperative CTA images and intraoperative DSA images were less than 1 mm. The positioning accuracy of surgical instruments was quantitatively assessed using a vascular model and was also less than 1 mm. Real clinical data used to assess the navigation results of MIFNS on AAA, TAA and AD.
A comprehensive and effective navigation system was developed to facilitate the operation of surgeon during MIVI. The registration accuracy and positioning accuracy of the proposed navigation system were both less than 1 mm, which met the accuracy requirements of robot assisted MIVI.
微创血管介入 (MIVI) 是一种治疗心血管疾病的强大技术，如腹主动脉瘤 (AAA)、胸主动脉瘤 (TAA) 和主动脉夹层 (AD)。传统 MIVI 手术的导航主要仅依赖于二维数字减影血管造影 (DSA) 图像，难以观察血管的 3D 形态和定位介入器械。本文提出的多模态信息融合导航系统 (MIFNS) 将术前 CT 图像和术中 DSA 图像结合在一起，以增加手术期间的可视化信息。
通过真实临床数据和血管模型评估了 MIFNS 的主要功能。术前 CTA 图像和术中 DSA 图像的配准精度小于 1mm。使用血管模型对手术器械的定位精度进行了定量评估，也小于 1mm。使用真实的临床数据评估了 MIFNS 在 AAA、TAA 和 AD 中的导航结果。
开发了一种全面有效的导航系统，以方便 MIVI 手术过程中的外科医生操作。所提出的导航系统的配准精度和定位精度均小于 1mm，满足机器人辅助 MIVI 的精度要求。
