肖德强,罗火灵,张彦舫,贾富仓,胡庆茂.一种基于 Kinect 相机的腹部肝穿刺介入导航系统[J].集成技术,2018,7(2):22-36
一种基于 Kinect 相机的腹部肝穿刺介入导航系统
A Kinect Camera Based Navigation System for Percutaneous LiverNeedle Intervention
  
DOI:
中文关键词:  腹部穿刺;手术导航;Kinect 相机;无标记点注册;多模态表面匹配
英文关键词:abdominal puncture; surgical navigation; Kinect camera; markerless registration; multimodality surface matching
基金项目:国家重点研发计划课题(2016YFC0106502、SQ2017ZY040217/03);国家自然科学基金-深圳机器人基础研究中心项目(U1613221); 国家自然科学基金-广东联合基金(U1201254);广东省科技计划项目(2015A020214012、2015A020214012);深圳市基础研究布局项目 (JCYJ20170413162213765)
作者单位
肖德强 中国科学院深圳先进技术研究院 深圳 518055 
罗火灵 中国科学院深圳先进技术研究院 深圳 518055 
张彦舫 深圳市人民医院介入科 深圳 518020 
贾富仓 中国科学院深圳先进技术研究院 深圳 518055 
胡庆茂 中国科学院深圳先进技术研究院 深圳 518055 
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中文摘要:
      为验证 Kinect 相机用于腹部肝穿刺介入导航的可行性,开发了一套基于第二代 Kinect 相机 的被动光学定位导航系统。该系统实现了一种无标记术中注册方法,分别从术前腹部 X-射线计算机断层图像和 Kinect 相机获取的彩色及深度图像中提出腹部表面点云数据做匹配,实现术中数据与术前 数据融合。为验证系统的导航精度,分别在 1 个腹部体模和 6 只健康比格犬肝脏区域做了穿刺导航实验,穿刺结果分别统计了靶点配准误差、用户手动误差和靶点定位误差。体模实验显示,靶点配准误 差、用户手动误差和靶点定位误差分别为(4.26±1.94)mm、(2.92±1.67)mm、(5.23±2.29)mm。同 时比较了第一代和第二代 Kinect 相机应用于穿刺导航的性能,实验结果表明,第二代相机的导航精度明显高于第一代。动物实验中得到的靶点定位误差及其横向、径向误差分量为(6.40±2.72)mm、 (4.30±2.51)mm、(3.80±3.11)mm。由实验结果可知,该研究成功验证了 Kinect 相机用于腹部肝穿刺介入手术导航的可行性。
英文摘要:
      To investigate the feasibility of Microsoft Kinect camera for guiding percutaneous liver needle intervention, a puncture navigation system based on the second generation Kinect was developed. The two surfaces from preoperative computed tomograph (CT) and intraoperative Kinect RGB-depth images were extracted and matched for physical-to-image registration. Experiments were conducted on a general abdominal phantom and six beagles in vivo. The target registration error, user error, and target positioning error were used to evaluate navigation accuracy. The results show that target registration error, user error, and target positioning error of the phantom are (4.26±1.94) mm, (2.92±1.67) mm and (5.23±2.29) mm, respectively. In addition, two generations of Kinect were both tested, and the results imply that the second generation Kinect-based navigation is superior to the first-generation. For the animal experiment, the target positioning error was evaluated as (6.40±2.72) mm, and its lateral and longitudinal component were (4.30±2.51) mm and (3.80±3.11) mm, respectively. This study demonstrates that the Kinect camera has a potential of clinical application in percutaneous liver puncture navigation.
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