基于图像质量评价的手术机器人系统磁共振兼容性分析方法

Magnetic Resonance Compatibility Analysis Method of Surgical Robotic System Based on Image Quality Evaluation

为保证手术安全及操作精度,基于磁共振图像导航的手术机器人系统需具备磁共振设备兼容性.针对这一问题,本文提出了基于磁共振图像质量评价的手术机器人系统磁共振设备兼容性分析方法,扩展了图像数据集,并结合图像信噪比、图像变化因数、磁共振图像畸变量等评价参数,逐一分析机器人系统组件通电、机器人系统运动对磁共振图像质量产生的影响,建立图像质量评价依据.实验结果表明,该质量评价方法可充分分析手术机器人及其系统组件的磁共振兼容性,且可为医疗手术机器人系统组件的磁共振兼容性分析提供测试方法与理论依据.

To ensure the safety and precision of surgery,the robotic system applied in magnetic resonance(MR)image-guided robot-assisted surgery should be MR-compatible.In terms of this issue,a MR compatibility analysis method for surgical robotic system based on image quality evaluation is proposed in this paper,and the image sets are extended.The image quality evaluation model is constructed by combining evaluation parameters such as signal-to-noise ratio of MR images,image change factor and MR image distortion.The model can analyze the effect of the robot component and robot motion on image quality,forming a basis for image quality evaluation.The experimental results show that the image quality evaluation method can fully analyze the MR compatibility of the robotic system component,and provide an evaluative method and theoretical basis for the MR compatibility analysis of other kinds of medical robotic systems.