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腹腔镜下肝脏手术增强现实三维影像导航平台的构建与应用 |
许阳1, 成剑文1, 王鹏翔1, 周恺乾1, 孙云帆1, 吴乙荣2, 李南哲2, 段小明2, 陈永健2, 樊嘉1, 周俭1, 杨欣荣1
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1.复旦大学附属中山医院肝外科,复旦大学附属中山医院肝癌研究所,上海 200032;2.青岛海信医疗设备股份有限公司,青岛 2661043. 上海顺久电子科技有限公司,上海 201208
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摘要: |
目的 实现腹腔镜下肝脏手术增强现实三维影像实时导航方案,构建平台雏形并评估其运行效果。方法 通过编写术前CT影像三维重建自动化算法、三维模型二维平面投影轮廓点集采集算法、基于人工智能的腹腔镜手术视野肝脏轮廓点集识别采集算法、“一对多”匹配算法、坐标系转换算法以及视频实时渲染增强融合算法,组成腹腔镜下肝脏手术增强现实三维影像实时导航软件,配合光学定位系统硬件和双目光学信息采集硬件,构建出导航平台雏形。在实验室仿真模型和大型动物中进行平台试运行,引入配准误差参数,评估运行效果并进行优化调整。结果 腹腔镜下肝脏手术导航软件基本实现:三维模型重建(CT图像自动分割和异色掩膜处理),手术室观测坐标系、腹腔镜视角坐标系和三维重建模型坐标系的建立及三者之间的信息转换,三维重建模型与手术视频所见结构实时配准导航,导航平台雏形构建。实验室仿真模型中的试运行配准误差为(4.1±0.4)mm,大型动物试运行2 次的配准误差分别为4.6 mm和5.8 mm。结论 通过腹腔镜下肝脏手术增强现实三维影像实时导航平台雏形的设计、研发、构建以及使用,导航配准精度已经基本可以达到临床需求,未来进一步优化调整之后,有望广泛应用于腹腔镜肝脏手术中。 |
关键词: 腹腔镜 手术导航 增强现实 实时配准 肝脏切除 |
DOI:10.12025/j.issn.1008-6358.2023.20221844 |
分类号:R575 |
基金项目:上海市科学技术委员会科研计划项目(19441905000). |
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Construction and application of augmented reality 3D image navigation platform for laparoscopic liver surgery |
U Yang1, CHENG Jian-wen1, WANG Peng-xiang1, ZHOU Kai-qian1, SUN Yun-fan1, WU Yi-rong2, LI Nan-zhe2, DUAN Xiao-ming2, CHEN Yong-jian2, FAN Jia1, ZHOU Jian1, YANG Xin-rong1
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1.Department of Liver Surgery, Liver Cancer Institute, Zhongshan Hospital, Fudan University, Shanghai 200032, China;2.Qingdao Hisense Medical Equipment Co. Ltd, Qingdao 266104, Shandong, China 3. Shanghai Shunjiu Electronic Technology Co. Ltd, Shanghai 201208, China
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Abstract: |
Objective To realize the real-time navigation scheme of augmented reality 3D image in laparoscopic liver surgery, build the prototype of the platform and evaluate its running effect. Methods The 3D image real-time navigation software of laparoscopic liver surgery augmented reality is composed of the automatic algorithm of 3D reconstruction of CT images, the acquisition algorithm of 2D plane projection contour point set of 3D model, the recognition and acquisition algorithm of liver contour point set of laparoscopic surgery visual field based on artificial intelligence, “one to many” matching algorithm, coordinate system conversion algorithm and video real-time rendering enhancement fusion algorithm. Cooperate with the optical positioning system hardware and binocular optical information acquisition hardware to build the prototype of the navigation platform; carry out the platform test run in the laboratory simulation model and large animals, introduce the registration error parameters, evaluate the operation effect and optimize the adjustment. Results The navigation software of laparoscopic liver surgery is basically realized: 3D model reconstruction (CT image automatic segmentation and heterochromatic mask processing), the establishment of operating room observation coordinate system, laparoscopic viewing angle coordinate system and 3D reconstruction model coordinate system and the information conversion among them, real-time registration and navigation between 3D reconstruction model and structure seen in operation video, and prototype construction of navigation platform. The registration error of the trial run in the laboratory simulation model is (4.1±0.4) mm, and the registration error of the two trial runs in large animals is 4.6 mm and 5.8 mm respectively. Conclusions Through the design, development, construction and use of the prototype of the augmented reality 3D image real-time navigation platform for laparoscopic liver surgery, the accuracy of navigation registration has basically met the clinical needs. After further optimization and adjustment in the future, it is expected to be widely used in laparoscopic liver surgery. |
Key words: laparoscope surgical navigation augmented reality real time registration hepatectomy |