电磁口腔种植手术导航系统设计与实验研究

The Development of a Dental Implant Placement Navigation System Based on Electromagnetic Tracking

开发一套基于电磁定位的口腔种植手术导航系统,以避免光学遮挡问题,降低手术难度,提高手术连续性。系统以NDI AuroraTM电磁追踪系统为硬件基础进行开发,使用IGSTK、Qt、VTK、ITK等工具库来实现配准、标定等功能。在现有配准算法上,提出配准权重值优化算法。设计并开展模型实验验证系统精度与稳定性。配准优化算法得到的FRE平均误差是0.70±0.11 mm,未优化为0.88±0.22 mm。模型实验平均入点、止点与角度误差分别是1.35±0.14 mm,1.71±0.17 mm与1.75±0.43°。结果表明,优化算法可以有效实现配准精度分布,并提高配准精度。同时,模型实验表明本电磁导航系统可以满足口腔种植手术临床精度需求。

An electromagnetic(EM)tracking implantation navigation system named Tian Shu-ESNS was developed in this study to avoid optical line-of-sight hindrance,simplify the procedure and improve continuity in surgery.The hardware was developed based on NDI Aurora electromagnetic tracking devices.And several well-known open-source toolkits(IGSTK,Qt,VTK,ITK,etc.)were utilized to realize different functions.Optimized weights algorithm was proposed and integrated into registration to increase accuracy.The model experiment was carried out to evaluate the accuracy and stability.The mean FRE after optimized weights algorithm was 0.70±0.11 mm,and the values was 0.88±0.22 mm before optimization.The mean deviations at entry point,end point and angle in the phantoms experiment were 1.35±0.14 mm,1.71±0.17 mm and 1.75±0.43°respectively.It was experimentally proved that optimized weights algorithm registration can reduce the error of registration and realize the evenly distribution of registration accuracy.Those results show that Tian ShuESNS has promising clinical potential to improve implant placement accuracy.