一种用于外置脑室引流管置入的低成本关节臂导航系统。
A Low-Cost Articulated Arm Navigation System for External Ventricular Drain Placement.
作者信息
Smith Alexander D, Naik Anant, Pappu Suguna, Arnold Paul M, Hauser Kris
机构信息
Siebel School of Computing and Data Science and the Carle Illinois College of Medicine, University of Illinois at Urbana-Champaign, Urbana, IL 61801 USA.
Department of Neurosurgery, University of Minnesota Twin-Cities, Minneapolis, MN 55455 USA.
出版信息
IEEE Trans Med Robot Bionics. 2025 Aug;7(3):1087-1098. doi: 10.1109/tmrb.2025.3573390. Epub 2025 May 26.
OBJECTIVE
This paper proposes a low-cost real-time navigation system to assist a surgeon in placing external ventricular drains.
METHODS
In our approach, the base of an articulated arm coordinate measuring machine is bolted to the patient's skull, and a graphical user interface quickly guides the operator through the image registration and 3D navigation to place an external ventricular drain at a desired target specified relative to preoperative imaging. The method can be employed in workflows with and without fiducials embedded in the preoperative imaging.
RESULTS
The proposed system is evaluated using precise registration instruments, human phantom models, and ex vivo ovine models, demonstrating less than 2 mm of error with fiducials and less than 4 mm of error without fiducials.
CONCLUSION
The registration procedure takes less than one minute and can be performed intuitively by a single operator without an assistant.
SIGNIFICANCE
Our proposed system enables real-time image-guided navigation to be used in bedside external ventricular drain placement, with potential to expand access to this procedure.
目的
本文提出一种低成本实时导航系统，以协助外科医生放置体外脑室引流管。
方法
在我们的方法中，将关节臂坐标测量机的基座用螺栓固定在患者颅骨上，图形用户界面可快速引导操作员完成图像配准和三维导航，以便在相对于术前成像指定的期望目标处放置体外脑室引流管。该方法可用于术前成像中嵌入或未嵌入基准点的工作流程。
结果
使用精确配准仪器、人体模型和离体羊模型对所提出的系统进行评估，结果表明，使用基准点时误差小于2毫米，不使用基准点时误差小于4毫米。
结论
配准过程耗时不到一分钟，可由单个操作员在无助手的情况下直观地完成。
意义
我们提出的系统能够将实时图像引导导航用于床边体外脑室引流管放置，有可能扩大该手术的可及性。
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