本文選題：顱頜面外科 + 虛擬仿真培訓(xùn)��； 參考：《上海交通大學(xué)》2014年碩士論文

【摘要】：計算機(jī)輔助手術(shù)是信息技術(shù)與現(xiàn)代醫(yī)學(xué)的交叉學(xué)科，是國際前沿研究熱點(diǎn)，它突破了傳統(tǒng)手術(shù)的局限，極大地提高了手術(shù)精度與成功率，對于提高人類的生命健康水平具有深遠(yuǎn)影響。本文主要對計算機(jī)輔助手術(shù)的兩個重要組成部分——“虛擬手術(shù)仿真培訓(xùn)”與“手術(shù)導(dǎo)航”的關(guān)鍵技術(shù)展開研究，并開發(fā)了針對顱頜面外科臨床的應(yīng)用系統(tǒng)。 在虛擬手術(shù)仿真培訓(xùn)方面，本文主要對碰撞檢測和觸覺力反饋等關(guān)鍵技術(shù)和算法進(jìn)行了研究。為了實(shí)時、精確地檢測手術(shù)器械與顱頜面模型間的相交情況，提出了AABB（AxisAligned Bounding Box）包圍盒與多個檢測點(diǎn)相結(jié)合的碰撞檢測算法，能夠同時達(dá)到比較高的檢測速度和精度。以操作力本構(gòu)方程為基礎(chǔ)，實(shí)現(xiàn)了觸覺反饋力的精確計算。在上述算法和技術(shù)的研究基礎(chǔ)上，，以VS2008為集成開發(fā)環(huán)境，結(jié)合Qt、OpenGL和Chai3D等軟件工具，并利用Omega.6型力反饋儀器和Display300型沉浸式視覺平臺，開發(fā)了集視覺、觸覺和聽覺為一體的顱頜面虛擬手術(shù)仿真培訓(xùn)系統(tǒng)（VR-CMFS）。由臨床醫(yī)師和相關(guān)領(lǐng)域?qū)＜覍ο到y(tǒng)進(jìn)行了體驗(yàn)和評估，結(jié)果表明VR-CMFS的視覺仿真環(huán)境和觸覺反饋感與真實(shí)臨床較為接近，能夠?yàn)樾g(shù)前準(zhǔn)備和新手培訓(xùn)提供有效的幫助。 在手術(shù)導(dǎo)航方面，本文的研究內(nèi)容主要有以下幾個方面：1）以封裝后的STL文件和常規(guī)的XML文件為基礎(chǔ)，設(shè)計了規(guī)劃與導(dǎo)航系統(tǒng)之間的數(shù)據(jù)接口；2）研究了手術(shù)器械的標(biāo)定算法，設(shè)計了標(biāo)定裝置，實(shí)現(xiàn)了對手術(shù)器械尖端、軸向和法向的標(biāo)定；3）研究了基于點(diǎn)和基于面的配準(zhǔn)方案。在配準(zhǔn)點(diǎn)的拾取方面，設(shè)計了佩戴式外置配準(zhǔn)標(biāo)記點(diǎn)，既對患者無創(chuàng)又能有效地保證配準(zhǔn)精度。4）以VS2008為集成開發(fā)環(huán)境，以Qt為圖形界面開發(fā)工具，并結(jié)合ITK、VTK、CTK和IGSTK等圖像分析和可視化工具包，對相關(guān)的算法和技術(shù)進(jìn)行了實(shí)現(xiàn)與集成，開發(fā)了顱頜面外科手術(shù)導(dǎo)航系統(tǒng)（CMFSNS）。為了驗(yàn)證導(dǎo)航系統(tǒng)的精度，我們設(shè)計了一種由金屬底座、有機(jī)玻璃基座和尼龍顱頜面模型構(gòu)成的精度檢驗(yàn)裝置；并通過一組精度測試實(shí)驗(yàn)，表明系統(tǒng)點(diǎn)配準(zhǔn)和面配準(zhǔn)精度分別保持在1mm和1.2mm以內(nèi)，性能指標(biāo)可與國際同類產(chǎn)品相媲美。因此，CMFSNS能夠滿足顱頜面外科手術(shù)的臨床要求，為實(shí)現(xiàn)手術(shù)的個性化、精確化和微創(chuàng)化提供了保障。
[Abstract]:Computer-aided surgery is an interdisciplinary subject of information technology and modern medicine. It is a hot topic in international frontier research. It breaks through the limitations of traditional surgery and greatly improves the accuracy and success rate of surgery. It has a profound influence on the improvement of human life and health. In this paper, the key technologies of virtual surgery simulation training and surgical navigation are studied, and a clinical application system for craniomaxillofacial surgery is developed. In the training of virtual surgery simulation, the key technologies and algorithms such as collision detection and tactile force feedback are studied in this paper. In order to accurately detect the intersection between surgical instruments and craniomaxillofacial models in real time, a collision detection algorithm combining AABB(AxisAligned Bounding box with multiple detection points is proposed, which can achieve high detection speed and accuracy simultaneously. Based on the constitutive equation of operational force, the accurate calculation of tactile feedback force is realized. On the basis of the above algorithms and techniques, using VS2008 as the integrated development environment, combined with the software tools such as QtTX OpenGL and Chai3D, and using the Omega.6 force feedback instrument and Display300 immersion vision platform, the set vision is developed. The virtual surgery training system of skull and maxillofacial is VR-CMFSS. The results show that the visual simulation environment and tactile feedback of VR-CMFS are close to the real clinic and can provide effective help for preoperative preparation and novice training. In the aspect of operation navigation, the main contents of this paper are as follows: 1) based on the encapsulated STL file and the conventional XML file, the data interface between the planning and navigation system is designed and the calibration algorithm of the surgical instrument is studied. A calibration device is designed to calibrate the tip, axial and normal directions of surgical instruments. The registration scheme based on point and surface is studied. In the aspect of picking up the registration points, a wearable external registration marker is designed, which is not only noninvasive for patients but also can effectively guarantee the registration accuracy. 4) taking VS2008 as the integrated development environment and QT as the graphical interface development tool, Combined with the image analysis and visualization toolkits such as ITK VTK and IGSTK, the related algorithms and techniques were realized and integrated, and the craniomaxillofacial surgery navigation system was developed. In order to verify the accuracy of the navigation system, we designed a precision testing device composed of metal base, plexiglass base and nylon craniomaxillofacial model, and passed a set of precision test experiments. The results show that the accuracy of point registration and surface registration are kept within 1mm and 1.2mm respectively, and the performance indexes are comparable with those of similar products in the world. Therefore, CMFSNS can meet the clinical requirements of craniomaxillofacial surgery and provide a guarantee for individualization, accuracy and minimally invasive operation.
【學(xué)位授予單位】：上海交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TP391.7;R782

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