[1]王子灿１,付 庄１,卢晨卓１,等.基于点云三维重建技术的甲状腺超声穿刺三维导航研究[J].机械与电子,2021,(06):56-60.
　WANG Zican,FU Zhuang,LU Chenzhuo,et al.Research on Supersonic Thyroid Piercing Three Dimensional Navigation Based on Three Dimensional Reconstruction Technology[J].Machinery & Electronics,2021,(06):56-60.
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基于点云三维重建技术的甲状腺超声穿刺三维导航研究()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2021年06期
页码:
56-60
栏目:
智能工程
出版日期:
2021-06-23

文章信息/Info

Title:
Research on Supersonic Thyroid Piercing Three Dimensional Navigation Based on Three Dimensional Reconstruction Technology
文章编号:
１００１-２２５７ ( ２０２１ ) ０６-００５６-０５
作者:
王子灿１ ; 付 庄１ ; 卢晨卓１ ; 赵艳娜２ ; 谢荣理３ ; 张 俊３ ; 费 健３
１． 上海交通大学机械系统与振动国家重点实验室,上海 ２００２４０ ;
２． 上海市瑞金康复医院,上海 ２０００２３ ;?
３． 上海交通大学医学院附属瑞金医院,上海 ２０００２５
Author(s):
WANG Zican１ ; FU Zhuang１ ; LU Chenzhuo１ ; ZHAO Yanna２ ; XIE Rongli３ ; ZHANG Jun３ ; FEI Jian３
(１．State Key Laboratory of Mechanical System and Vibration , Shanghai Jiao Tong University , Shanghai ２００２４０ , China ;
２．Shanghai Ruijin Rehabilitation Hospital , Shanghai ２０００２３ , China ;
３．Ruijin Hospital Affiliated to Shanghai Jiao Tong University , Shanghai ２０００２５ , China )
关键词:
自动超声扫查; 三维重建; 数据融合; 甲状腺穿刺; 手术导航
Keywords:
automatic supersonic scanning ;  three dimensional reconstruction ;  data fusion ;  thyroid piercing ;  surgery navigation
分类号:
TP２４９ ; R４４５.1
文献标志码:
A
摘要:
设计了一种基于超声自动扫描机器人的甲状腺点云三维重建系统,并与甲状腺超声截面穿刺机器人系统相融合,实现并验证了一套甲状腺超声穿刺三维导航的软硬件方案.通过甲状腺自动超声扫查机器人获得了１组带有准确空间位姿信息的甲状腺超声图像,并且通过传统图像算法和深度学习方法分割出甲状腺组织的区域.此后通过点云重建和空间重建方案获得了甲状腺模型,并将超声模型与CT扫查模型及机械臂模型进行空间配准和数据融合,依此在软件界面为医生提供了穿刺手术的多视角三维空间信息,在减轻手术医师负担的同时提升了穿刺手术的精准度和成功率.通过实验分析了扫描控制算法和三维重建算法的可行性和稳定性,并验证了该三维导航系统的导航空间精度和响应速度.
Abstract:
The paper designs a thyroid point cloud reconstruction system based on automatic supersonic thyroid scanning robot , and integrates it with the supersonic cross section navigation thyroid piercing robot to implement and verify a novel thyroid three dimensional thyroid piercing navigation robot.The paper samples the supersonic thyroid cross section image with the automatic scanning robot , and selects the thyroid tissue area with classic and deep neural network algorithms．After that the segmented images are input into the point cloud reconstruction and spatial reconstruction method to obtain thyroid model , and the model is then merged and registered with the CT scanning data and piercing robot arm model , in order to provide the surgeons with multiple views of the surgery target , to reduce the workload of the doctors and to increase the success probability of the surgery．The paper also verifies the feasibility and robustness of the scanning control algorithm and three dimensional reconstruction algorithm , along with the accuracy and feedback speed of the three dimensional navigation．

参考文献/References:

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相似文献/References:

[1]周瑜,李戈,张学贺,等.基于双目视觉的地形三维重建[J].机械与电子,2016,(07):57.
　ZHOU Yu,LI Ge,ZHANG Xuehe,et al.[J].Machinery & Electronics,2016,(06):57.

备注/Memo

备注/Memo:
收稿日期: ２０２０-１２-２８
基金项目:医工交叉项目(YG２０１９ZDA１７ , ZH２０１８QNB２３);国家自然科学 基金面上项目 (６１９７３２１０ );上 海 市 科 学 技 术 委 员 会 项 目(１７４４１９０１０００);上海市黄浦区科研新项目(HKQ２０１８１０)
作者简介:王子灿 (１９９５－),男,四川攀枝花人,硕士研究生,研究方向为机器人控制系统、医疗机器人等;付 庄 (１９７２－),男,山东招远人,教授,博士研究生导师,研究方向为机器人及智能控制系统、运动学与动力学等,通信作者.
更新日期/Last Update: 2021-06-22