计算机辅助的血管手术机器人平台，利用基于美国的3D跟踪

IF 1.9 4区医学 Q3 SURGERY

Computer Assisted Surgery Pub Date : 2016-01-01 DOI:10.1080/24699322.2016.1185467

Marco Mura, S. Parrini, G. Ciuti, V. Ferrari, C. Freschi, M. Ferrari, P. Dario, A. Menciassi

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引用次数: 7

摘要

背景:心血管疾病是全球第一大死亡原因:2012年估计有1750万人死亡。通过结合磁导航和超声成像的优点，作者提出了一种用于血管内医疗程序的机器人平台(即MicroVAST平台)。方法:采用基于三维成像的跟踪算法实现磁拖软系装置的导航。通过实验对算法的跟踪误差和运动精度进行了评价。结果:基于3D成像的算法对血管内装置的跟踪误差为6.4±2.8像素，血管内装置与术前路径的平均位移为13.6±4.5 mm(计算时间为12.2±1.5 ms，匹配特征为30.7±6.1)。结论:MicroVAST平台包括创新的导航解决方案，通过将基于3D成像的跟踪算法与术前数据相结合，允许心血管区医疗设备的辅助磁运动。

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A computer-assisted robotic platform for vascular procedures exploiting 3D US-based tracking

Abstract Background: Cardiovascular diseases are the first cause of death globally: an estimated 17.5 million people died in 2012. By combining the benefits of magnetic navigation and ultrasound (US) imaging, the authors proposed a robotic platform (i.e. the MicroVAST platform) for intravascular medical procedures. Methods: A 3D imaging US-based tracking algorithm is implemented for the navigation of a magnetic-dragged soft-tethered device. Tests were performed to evaluate the algorithm in terms of tracking error and precision of locomotion. Results: The 3D imaging US-based algorithm tracked the endovascular device with an error of 6.4 ± 2.8 pixels and a mean displacement between the endovascular device and the preoperative path of 13.6 ± 4.5 mm (computational time of 12.2 ± 1.5 ms and 30.7 ± 6.1 matched features). Conclusions: The MicroVAST platform includes innovative solutions for navigation allowing for an assisted magnetic locomotion of medical devices in the cardiovascular district by combining a 3D imaging US-based tracking algorithm with pre-operative data.

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来源期刊

Computer Assisted Surgery Medicine-Surgery

CiteScore

2.30

自引率

0.00%

发文量

审稿时长

10 weeks

期刊介绍： omputer Assisted Surgery aims to improve patient care by advancing the utilization of computers during treatment; to evaluate the benefits and risks associated with the integration of advanced digital technologies into surgical practice; to disseminate clinical and basic research relevant to stereotactic surgery, minimal access surgery, endoscopy, and surgical robotics; to encourage interdisciplinary collaboration between engineers and physicians in developing new concepts and applications; to educate clinicians about the principles and techniques of computer assisted surgery and therapeutics; and to serve the international scientific community as a medium for the transfer of new information relating to theory, research, and practice in biomedical imaging and the surgical specialties. The scope of Computer Assisted Surgery encompasses all fields within surgery, as well as biomedical imaging and instrumentation, and digital technology employed as an adjunct to imaging in diagnosis, therapeutics, and surgery. Topics featured include frameless as well as conventional stereotactic procedures, surgery guided by intraoperative ultrasound or magnetic resonance imaging, image guided focused irradiation, robotic surgery, and any therapeutic interventions performed with the use of digital imaging technology.