计算机辅助肾脏通路
Computer-assisted access to the kidney
摘要：
摘要：本文的目的是介绍计算机辅助肾脏通路的原理。该系统为外科医生提供计算机断层成像（CT）图像的术前3D规划。在与空间定位超声（US）数据进行刚性配准后，术前计划可以转移到术中条件，直观的人机界面允许用户执行穿刺。材料和方法：获取知情的正常志愿者的CT和US图像，以计算配准的准确性，并在肾脏体模上进行穿刺，以测量整个系统的精度。研究结果：我们对真实数据进行了毫米配准，并在肾脏模型上进行了指导实验，结果令人鼓舞，计划和达到的目标之间的距离为4.7 mm。我们注意到，最显著的误差与穿刺期间的针偏转有关。结论：初步结果令人鼓舞。将开展进一步的工作，以提高效率和准确性，并考虑呼吸。
英文摘要：
OBJECTIVES: The aim of this paper is to introduce the principles of computer-assisted access to the kidney. The system provides the surgeon with a pre-operative 3D planning on computed tomography (CT) images. After a rigid registration with space-localized ultrasound (US) data, preoperative planning can be transferred to the intra-operative conditions and an intuitive man-machine interface allows the user to perform a puncture. MATERIAL AND METHODS: Both CT and US images of informed normal volunteer were obtained to perform calculation on the accuracy of registration and punctures were carried out on a kidney phantom to measure the precision of the whole of the system. RESULTS: We carried out millimetric registrations on real data and guidance experiments on a kidney phantom showed encouraging results of 4.7 mm between planned and reached targets. We noticed that the most significant error was related to the needle deflection during the puncture. CONCLUSION: Preliminary results are encouraging. Further work will be undertaken to improve efficiency and accuracy, and to take breathing into account.
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