深圳大学学报理工版

利用高精度电磁定位器实时跟踪超声探头和穿刺针来引导前列腺穿刺.采用手动刚体配准方法实现三维(three dimensional, 3D)经直肠超声图像(transrectal ultrasound, TRUS)与核磁图像(magnetic resonance imaging, MRI)配准; 通过二维(two dimensional, 2D)和3D探头校准,将手术前3D超声图像和手术中2D超声图像配准; 结合穿刺针标定结果,实现实时二维超声和术前MRI图像融合引导下的前列腺靶向穿刺.在对前列腺体模的12次穿刺测试中,系统穿刺点全部在大小约为0.5 cm3的穿刺目标内,且实际穿刺位置与目标穿刺位置之间的程序定位误差为(2.89±0.81)mm.实验结果表明,该系统具有较高的穿刺精度,同时降低了操作的复杂度.

The proposed system presents an approach to guide prostate biopsy by tracking the probe and needle under the high precision electromagnetic locator. Initially, manual rigid registration is explored for the three dimensional(3D)transrectal ultrasound(TRUS)and magnetic resonance imaging(MRI)images. Secondly, pre-interventional 3D ultrasound image is registered with real-time ultrasound image automatically through two dimensional(2D)and 3D probe calibration. Furthermore, the prostate targeting biopsy guidance is implemented by combining the result of needle calibration and the fused output of real-time ultrasound images and MRI images. The experiments were implemented on two commercial prostate phantoms to validate the performance of our system. All 12 biopsies can hit the randomly placed 0.5 cm3 lesion within the phantom. The procedural targeting error between planned and documented biopsy is(2.89±0.81)mm. The results have demonstrated that both the precision and operating complexity of our system are significantly improved in comparison with traditional methods.

引言
1 方法
2 实验结果
3 讨论
4 结语

图1 系统框架示意图<br/>Fig.1 (Color online)Framework of the proposed system

图1 系统框架示意图
Fig.1 (Color online)Framework of the proposed system

图2 探头校准坐标系间转换关系图<br/>Fig.2 (Color online)Relationship of coordinate transformation of probe calibration

图2 探头校准坐标系间转换关系图
Fig.2 (Color online)Relationship of coordinate transformation of probe calibration

图3 N-wire校准模型示意图<br/>Fig.3 (Color online)Illustration of N-wire calibration model

图3 N-wire校准模型示意图
Fig.3 (Color online)Illustration of N-wire calibration model

图4 3D探头校准体模示意图<br/>Fig.4 (Color online)Illustration of 3D probe calibration model

图4 3D探头校准体模示意图
Fig.4 (Color online)Illustration of 3D probe calibration model

图5 系统穿刺实验<br/>Fig.5 (Color online)Prostate biopsy experiment

图5 系统穿刺实验
Fig.5 (Color online)Prostate biopsy experiment

图6 3D TRUS-MRI配准效果<br/>Fig.6 Registration results between 3D TRUS and MRI data

图6 3D TRUS-MRI配准效果
Fig.6 Registration results between 3D TRUS and MRI data

表1 三名操作者分别对两组前列腺体模MRI-TRUS数据做手动刚体配准结果<br/>Table 1 Results of three operators register two sets of prostate data manuallymm

表1 三名操作者分别对两组前列腺体模MRI-TRUS数据做手动刚体配准结果
Table 1 Results of three operators register two sets of prostate data manuallymm

图7 2D-3D US配准融合结果<br/>Fig.7 (Color online)Registration and fusion results between 2D-3D US

图7 2D-3D US配准融合结果
Fig.7 (Color online)Registration and fusion results between 2D-3D US

图8 系统穿刺引导示意图<br/>Fig.8 (Color online)Illustration of system biopsy guidance

图8 系统穿刺引导示意图
Fig.8 (Color online)Illustration of system biopsy guidance

图9 系统穿刺误差<br/>Fig.9 (Color online)Error of proposed biopsy system

图9 系统穿刺误差
Fig.9 (Color online)Error of proposed biopsy system

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备注

引言

1 方法

2 实验结果

3 讨论

4 结语

期刊信息

备注

引言

1 方 法

2 实验结果

3 讨 论

4 结 语

期刊信息

1 方法

3 讨论

4 结语