發(fā)布時(shí)間：2018-05-26 21:55

  本文選題：內(nèi)窺鏡手術(shù) + 手術(shù)導(dǎo)航　； 參考：《上海交通大學(xué)》2011年碩士論文

【摘要】：眼眶手術(shù)是外科領(lǐng)域最復(fù)雜的手術(shù)之一，眼眶解剖結(jié)構(gòu)復(fù)雜，內(nèi)含眼球、視神經(jīng)、血管和眼外肌等重要組織，手術(shù)危險(xiǎn)性高，損傷后會(huì)造成不可挽回的后果；眼眶骨折復(fù)位、視功能重建要求精度高、難度大。因此，國際上眼眶外科領(lǐng)域的發(fā)展趨勢是微創(chuàng)化和高精度。內(nèi)窺鏡技術(shù)可以使手術(shù)微創(chuàng)化，而基于圖像引導(dǎo)的手術(shù)導(dǎo)航技術(shù)可以提高手術(shù)的精度，將內(nèi)窺鏡技術(shù)和手術(shù)導(dǎo)航技術(shù)結(jié)合起來可以提高眼眶手術(shù)的精確性、安全性和微創(chuàng)性，目前國內(nèi)尚未將此二者結(jié)合起來應(yīng)用于眼眶手術(shù)。本文針對傳統(tǒng)眼眶內(nèi)窺鏡手術(shù)治療中存在的局限性，研究了基于圖像引導(dǎo)的手術(shù)導(dǎo)航技術(shù)以及相關(guān)的幾何原理，在此基礎(chǔ)上開發(fā)了眼眶內(nèi)窺鏡手術(shù)導(dǎo)航系統(tǒng)。具體研究內(nèi)容包括： 1．醫(yī)學(xué)圖像處理與三維重建問題。在圖像處理方面，通過對常用空間濾波方法和圖像分割方法的比較，運(yùn)用中值濾波法對含有噪聲的CT圖像進(jìn)行去噪處理，由于在CT圖像中骨組織與其他軟組織的灰度值有較大的差異，將閥值分割法和區(qū)域生長法結(jié)合起來實(shí)現(xiàn)對頭部CT圖像的骨組織分割。在圖像三維重建方面，運(yùn)用Marching cubes三維重建算法實(shí)現(xiàn)了對顱骨CT圖像的三維重建，并采用二次誤差測度方法實(shí)現(xiàn)網(wǎng)格簡化。 2．手術(shù)導(dǎo)航系統(tǒng)中坐標(biāo)系轉(zhuǎn)換問題。針對手術(shù)導(dǎo)航系統(tǒng)中患者坐標(biāo)和手術(shù)器械方位與坐標(biāo)在不同坐標(biāo)系之間的轉(zhuǎn)換問題，采用四元數(shù)法表示空間坐標(biāo)系的方位信息，推導(dǎo)了空間坐標(biāo)系旋轉(zhuǎn)四元數(shù)的求解表達(dá)式和不同坐標(biāo)系之間旋轉(zhuǎn)合成的四元數(shù)表達(dá)式，運(yùn)用四元數(shù)的球面線性插值原理實(shí)現(xiàn)手術(shù)器械在三維模型坐標(biāo)系下方位變換的平滑過渡。 3．空間配準(zhǔn)問題。根據(jù)選取配準(zhǔn)標(biāo)記點(diǎn)的不同方法，通過對手術(shù)導(dǎo)航系統(tǒng)中空間配準(zhǔn)的主要方法進(jìn)行比較，采用基于人體解剖標(biāo)記點(diǎn)和特征曲面的非傾入式配準(zhǔn)方法實(shí)現(xiàn)配準(zhǔn)，，將配準(zhǔn)過程分為基于特征點(diǎn)的初配準(zhǔn)和基于特征曲面的精配準(zhǔn)，減少了對患者的創(chuàng)傷，提高了配準(zhǔn)精度和配準(zhǔn)速度。 4．內(nèi)窺鏡手術(shù)導(dǎo)航系統(tǒng)集成問題�；贒irectshow技術(shù)開發(fā)了內(nèi)窺鏡視頻采集系統(tǒng)，實(shí)現(xiàn)了內(nèi)窺鏡手術(shù)導(dǎo)航系統(tǒng)的集成，并通過實(shí)驗(yàn)?zāi)Ｐ万?yàn)證了本手術(shù)導(dǎo)航系統(tǒng)的配準(zhǔn)精度與實(shí)時(shí)跟蹤精度。
[Abstract]:Orbital surgery is one of the most complicated operations in the field of surgery. Orbital anatomy is complicated, including eyeball, optic nerve, blood vessel and extraocular muscle and other important tissues. The reconstruction of visual function requires high precision and difficulty. Therefore, the international development trend of orbital surgery is minimally invasive and high precision. The endoscopic technique can make the surgery minimally invasive, while the image-based navigation technology can improve the accuracy, safety and minimally invasive of the orbital surgery, and the combination of the endoscopic technique and the surgical navigation technology can improve the accuracy, safety and minimally invasive of the orbital surgery. At present, the combination of the two has not been used in orbital surgery. Aiming at the limitation of traditional orbital endoscopic surgery, this paper studies the technique of image guided surgery navigation and the related geometry principle, and develops the navigation system of orbital endoscope surgery. Specific studies include: 1. Medical image processing and 3D reconstruction. In the aspect of image processing, the median filtering method is used to de-noise the CT image with noise by comparing the common spatial filtering method and the image segmentation method. Because there is great difference between the gray value of bone tissue and other soft tissue in CT image, the threshold value segmentation method and the region growth method are combined to realize the bone tissue segmentation of head CT image. In the aspect of 3D image reconstruction, the three-dimensional reconstruction of skull CT image is realized by using Marching cubes 3D reconstruction algorithm, and the mesh simplification is realized by using quadratic error measure method. 2. Coordinate system transformation in surgical navigation system. In order to solve the problem of the transformation of patient coordinate and surgical instrument azimuth and coordinate in different coordinate systems in the surgical navigation system, the quaternion method is used to express the azimuth information of the spatial coordinate system. In this paper, the solution expression of the rotation quaternion in the space coordinate system and the expression of the rotation composition between the different coordinate systems are derived. The principle of spherical linear interpolation of quaternion is used to realize the smooth transition of the position transformation of surgical instruments under the three-dimensional model coordinate system. 3. Space registration problem. According to the different methods of selecting registration mark points, the main methods of space registration in surgical navigation system are compared, and the non-tilt registration method based on human anatomical marker points and characteristic surface is adopted to realize registration. The registration process is divided into initial registration based on feature points and fine registration based on feature surface, which reduces the trauma to patients and improves registration accuracy and registration speed. 4. Integration of Endoscopic surgery Navigation system. Based on Directshow technology, an endoscope video acquisition system is developed, and the integration of endoscopic surgery navigation system is realized. The registration accuracy and real-time tracking accuracy of the system are verified by the experimental model.
【學(xué)位授予單位】：上海交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：R779.6

【引證文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前1條

1 胡亮;基于傳感器融合的爬壁機(jī)器人感知系統(tǒng)的研究[D];哈爾濱工業(yè)大學(xué);2011年

本文編號(hào)：1939050