基于受力变形的主从介入导管配准技术研究

Study of master-slave catheter alignment technique based on force deformation

主从介入手术中,空间配准技术可以将从手端介入导管的路径实时显示在主手端虚拟三维图像中,用来引导医生完成复杂的手术操作。本文针对配准过程中导管与血管壁受力变形所造成的位置误差对配准的影响,研究基于受力变形,通过物理模型计算形变位移,将其引入最小目标函数,估计主从转换矩阵。实现了受力变形情况下,主从坐标系的准确关联,提高了配准精度。与传统最近点迭代法作对比实验,进行了误差分析,结果表明该方法降低了接触受力变形下的配准误差,配准精度达到预期要求。

In master-slave interventions,spatial registration technology allows the position of the interventional catheter from the hand to be displayed in real time in a virtual 3D image of the main hand,which is used to guide the surgeon through complex surgical procedures.The study addresses the impact of position errors caused by the force deformation of the catheter and vessel wall during the registration process.This study calculates the deformation displacement based on the force deformation by means of a physical model.It is introduced into the minimum objective function and the master-slave conversion matrix is estimated.The accurate correlation between the master and slave coordinate systems under force deformation is achieved,which improves the registration accuracy.And compared experiments with the traditional iterative closest point method for error analysis.The results show that the method reduces the registration error under contact force deformation and achieves the expected registration accuracy.