Abstract：
OBJECTIVE: Reverse shoulder arthroplasty has demonstrated excellent clinical efficacy for patients with shoulder joint diseases and is increasingly in demand. Traditional surgery faces challenges such as limited exposed surfaces and a narrow field of vision, leading to a shorter prosthesis lifespan and a higher risk of complications. In this study, an optical navigation system was proposed to assist surgeons in real-time tracking of the surgical scene.
METHODS: Our optical navigation system was developed using the NDI Polaris Spectra device and several open-source platforms. The first step involved using the preoperative medical image to plan screw implantation paths. Real-time tracking of the patient phantom or cadaver and the surgical instrument was achieved through registration and calibration algorithms. Surgeons were guided on drilling through visualization methods. Postoperative results were compared with the planned implantation paths, and an algorithm was introduced to correct errors caused by the incorrect beginning points.
RESULTS: Experiments involved three scapula cadavers and their corresponding phantoms with identical anatomy. For each experiment, three holes were completed with drills with diameters of 3.2 mm and 8.0 mm, respectively. Comparisons between the postoperative actual screw implantation paths and the preoperative planned implantation paths revealed an entry error of 1.05 ± 0.15 mm and an angle error of 2.47 ± 0.55° for phantom experiments. For cadaver experiments, the entry error was 1.53 ± 0.22 mm, and the angle error was 4.91 ± 0.78°.
CONCLUSIONS: Our proposed optical navigation system successfully achieved real-time tracking of the surgical site, encompassing the patient phantom or cadaver and surgical instrument, thereby aiding surgeons in achieving precise surgical outcomes. Future study will explore the integration of robots to further enhance surgical efficiency and effectiveness.
METHODS: Our optical navigation system was developed using the NDI Polaris Spectra device and several open-source platforms. The first step involved using the preoperative medical image to plan screw implantation paths. Real-time tracking of the patient phantom or cadaver and the surgical instrument was achieved through registration and calibration algorithms. Surgeons were guided on drilling through visualization methods. Postoperative results were compared with the planned implantation paths, and an algorithm was introduced to correct errors caused by the incorrect beginning points.
RESULTS: Experiments involved three scapula cadavers and their corresponding phantoms with identical anatomy. For each experiment, three holes were completed with drills with diameters of 3.2 mm and 8.0 mm, respectively. Comparisons between the postoperative actual screw implantation paths and the preoperative planned implantation paths revealed an entry error of 1.05 ± 0.15 mm and an angle error of 2.47 ± 0.55° for phantom experiments. For cadaver experiments, the entry error was 1.53 ± 0.22 mm, and the angle error was 4.91 ± 0.78°.
CONCLUSIONS: Our proposed optical navigation system successfully achieved real-time tracking of the surgical site, encompassing the patient phantom or cadaver and surgical instrument, thereby aiding surgeons in achieving precise surgical outcomes. Future study will explore the integration of robots to further enhance surgical efficiency and effectiveness.
摘要：
目的：反向肩关节置换术对肩关节疾病患者具有良好的临床疗效，需求日益增加。传统手术面临的挑战，如有限的暴露表面和狭窄的视野，导致较短的假体寿命和较高的并发症风险。在这项研究中,提出了一种光学导航系统来帮助外科医生实时跟踪手术场景。
方法：我们的光学导航系统是使用NDIPolarisSpectra设备和几个开源平台开发的。第一步涉及使用术前医学图像来规划螺钉植入路径。通过配准和校准算法实现了对患者体模或尸体以及手术器械的实时跟踪。通过可视化方法指导外科医生进行钻探。术后结果与计划的植入路径进行比较，并引入了一种算法来纠正由不正确的起始点引起的错误。
结果：实验涉及三个肩胛骨尸体及其解剖结构相同的相应体模。对于每个实验，用直径为3.2毫米和8.0毫米的钻头完成了三个孔，分别。术后实际螺钉植入路径与术前计划植入路径之间的比较显示，体模实验的进入误差为1.05±0.15mm，角度误差为2.47±0.55°。对于尸体实验，输入误差为1.53±0.22mm，角度误差为4.91±0.78°。
结论：我们提出的光学导航系统成功地实现了手术部位的实时跟踪，包括患者体模或尸体和手术器械，从而帮助外科医生实现精确的手术结果。未来的研究将探索机器人的集成，以进一步提高手术效率和效果。
方法：我们的光学导航系统是使用NDIPolarisSpectra设备和几个开源平台开发的。第一步涉及使用术前医学图像来规划螺钉植入路径。通过配准和校准算法实现了对患者体模或尸体以及手术器械的实时跟踪。通过可视化方法指导外科医生进行钻探。术后结果与计划的植入路径进行比较，并引入了一种算法来纠正由不正确的起始点引起的错误。
结果：实验涉及三个肩胛骨尸体及其解剖结构相同的相应体模。对于每个实验，用直径为3.2毫米和8.0毫米的钻头完成了三个孔，分别。术后实际螺钉植入路径与术前计划植入路径之间的比较显示，体模实验的进入误差为1.05±0.15mm，角度误差为2.47±0.55°。对于尸体实验，输入误差为1.53±0.22mm，角度误差为4.91±0.78°。
结论：我们提出的光学导航系统成功地实现了手术部位的实时跟踪，包括患者体模或尸体和手术器械，从而帮助外科医生实现精确的手术结果。未来的研究将探索机器人的集成，以进一步提高手术效率和效果。
