基于电磁定位的椎弓根穿刺导航研究

A Research of the Pedicle Puncture Navigation Based on Electromagnetic Positioning

项目主要包含CT图像预处理、脊椎的三维模型重建、手术前的椎弓根螺钉穿刺路径的规划、手术注册以及基于电磁定位的术中实时导航和纠偏报警四大部分。DICOM医学图像的预处理方面,主要包括对图像的灰度化、二值化和阈值分割。三维重建方面,实现体绘制和面绘制,最终期望模型为基于面绘制的三维模型。手术穿刺路径规划方面,首先在三维模型中勾画出病灶区域即靶点,然后依据解剖学知识和医生的经验并参考影像信息,确定入刺点,连接入刺点和靶点则路径规划完成,最后依据手术偏移路径数据库实时分析穿刺路径是否超出设定阈值,并将存储的数据反映到用户界面中予以反馈警报。

The project mainly consists of the processing of a collection of CT images, reconstruction of three-dimensional model of the spine , pedicle screw puncture path planning before surgery, surgical registration and real-time navigation and corrective surgery alarm based on electromagnetic positioning.As the aspect of DICOM medical image preprocessing, it mainly contains the grayscale processing, the binarization processing and the thresholding.Talking about the three-dimensional reconstruction, there are two ways named as volume rendering and surface rendering.A three-dimensional model based on the surface rendering is appropriate for us. As for surgical path planning, firstly we should lay out the lesion area which is also called target in the three-dimensional model, then determine the implantation point on the basis of our anatomical knowledge and the doctor＇s experience,lastly connect the implantation point and the target. So far we have completed the path planning, finally, determine whether the puncture points on a path exceed the threshold value according to the real-time analysis of surgical puncture offset path database, and the system is expected to store these datas such as coordinate and angle.At the same time it must give feedbacks of these datas to the operator interface, when some data exceeds a threshold, the system will alert an alarm.