目的:本研究旨在评估基于机器视觉和体模增强现实的经皮计算机断层扫描(CT)引导穿刺的准确性。
方法:建立手术空间坐标系,并使用分层优化框架确保了准确的注册。机器视觉跟踪和增强现实显示技术用于穿刺导航。CT是在一个体模上进行的,并计划从幻影表面到金属球的三种不同长度的穿刺路径。通过测量目标定位误差(TPE)来评估穿刺精度,横向误差(LE),角度误差(AE),和基于获得的CT图像的首次成功率(FSR)。
结果:一位高素质的主治介入医师使用穿刺导航共进行了30次穿刺。对于短距离(4.5-5.5厘米),TPE,LE,AE,FSR为1.90±0.62mm,1.23±0.70mm,1.39±0.86°,60%,分别。对于中等距离(9.5-10.5cm),TPE,LE,AE,FSR为2.35±0.95mm,2.00±1.07mm,1.20±0.62°,40%,分别。对于长距离(14.5-15.5厘米),TPE,LE,AE,FSR为2.81±1.17mm,2.33±1.34mm,0.99±0.55°,30%,分别。
结论:基于增强现实和机器视觉的CT引导穿刺导航系统允许在体模中进行精确穿刺。需要进一步的研究来探索其临床适用性。
OBJECTIVE: This
study aimed to evaluate the accuracy of percutaneous computed tomography (CT)-guided puncture based on machine vision and augmented reality in a phantom.
METHODS: The surgical space coordinate system was established, and accurate registration was ensured using the hierarchical optimization framework. Machine vision tracking and augmented reality display technologies were used for puncture navigation. CT was performed on a phantom, and puncture paths with three different lengths were planned from the surface of the phantom to the metal ball. Puncture accuracy was evaluated by measuring the target positioning error (TPE), lateral error (LE), angular error (AE), and first success rate (FSR) based on the obtained CT images.
RESULTS: A highly qualified attending interventional physician performed a total of 30 punctures using puncture navigation. For the short distance (4.5-5.5 cm), the TPE, LE, AE, and FSR were 1.90 ± 0.62 mm, 1.23 ± 0.70 mm, 1.39 ± 0.86°, and 60%, respectively. For the medium distance (9.5-10.5 cm), the TPE, LE, AE, and FSR were 2.35 ± 0.95 mm, 2.00 ± 1.07 mm, 1.20 ± 0.62°, and 40%, respectively. For the long distance (14.5-15.5 cm), the TPE, LE, AE, and FSR were 2.81 ± 1.17 mm, 2.33 ± 1.34 mm, 0.99 ± 0.55°, and 30%, respectively.
CONCLUSIONS: The augmented reality and machine vision-based CT-guided puncture navigation system allows for precise punctures in a phantom. Further studies are needed to explore its clinical applicability.