Accurate localization of blood vessels with image navigation is a key element in vascular-related medical research and vascular surgery.However,current vascular navigation techniques cannot provide naked-eye visualiza...Accurate localization of blood vessels with image navigation is a key element in vascular-related medical research and vascular surgery.However,current vascular navigation techniques cannot provide naked-eye visualization of deep vascular information noninvasively and with high resolution,resulting in inaccurate vascular anatomy and diminished surgical success rates.Here,we introduce a photoacousticenabled automatic vascular navigation method combining photoacoustic computed tomography with augmented and mixed reality,for the first time,to our knowledge,enabling accurate and noninvasive visualization of the deep microvascular network within the tissues in real time on a real surgical surface.This approach achieves precise vascular localization accuracy(<0.89 mm)and tiny vascular relocation latency(<1 s)through a zero-mean normalization idea-based visual tracking algorithm and a curved surfacefitting algorithm.Further,the subcutaneous vessels of minimum diameter(∼0.15 mm)in rabbit thigh and the maximum depth(∼7 mm)in human arm can be vividly projected on the skin surface with a computer visionbased projection tracking system to simulate preoperative and intraoperative vascular localization.Thereby,this strategy provides a way to visualize deep vessels without damage on the surgical surface and with precise image navigation,opening an avenue for the application of photoacoustic imaging in surgical operations.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.61822505 and 11774101)the Natural Science Foundation of Guangdong Province(Grant No.2022A1515010548)+2 种基金the Science and Technology Program of Guangzhou(Grant Nos.2019050001 and 202206010094)the National Key R&D Program of China(Grant No.2022YFC2304205)the Special Funds for the Cultivation of Guangdong College Students’Scientific and Technological Innovation(Grant No.pdjh2023a0134).
文摘Accurate localization of blood vessels with image navigation is a key element in vascular-related medical research and vascular surgery.However,current vascular navigation techniques cannot provide naked-eye visualization of deep vascular information noninvasively and with high resolution,resulting in inaccurate vascular anatomy and diminished surgical success rates.Here,we introduce a photoacousticenabled automatic vascular navigation method combining photoacoustic computed tomography with augmented and mixed reality,for the first time,to our knowledge,enabling accurate and noninvasive visualization of the deep microvascular network within the tissues in real time on a real surgical surface.This approach achieves precise vascular localization accuracy(<0.89 mm)and tiny vascular relocation latency(<1 s)through a zero-mean normalization idea-based visual tracking algorithm and a curved surfacefitting algorithm.Further,the subcutaneous vessels of minimum diameter(∼0.15 mm)in rabbit thigh and the maximum depth(∼7 mm)in human arm can be vividly projected on the skin surface with a computer visionbased projection tracking system to simulate preoperative and intraoperative vascular localization.Thereby,this strategy provides a way to visualize deep vessels without damage on the surgical surface and with precise image navigation,opening an avenue for the application of photoacoustic imaging in surgical operations.
