體內光學追蹤與超音波影像導引應用於微創手術

Intracorporeal Optical Tracking and Ultrasound Image Guidance for Minimal Invasive Sugery

柯名峻(Ming-Chun Ke)

指導教授 ： 陳永耀

國立臺灣大學/電機資訊學院/電機工程學研究所/碩士(2013年)

https://doi.org/10.6342/NTU.2013.01834

摘要

本論文致力於建立一套微創手術體內光學追蹤與超音波影像導引系統，此系統有三種功能，第一種功能為追蹤血管、腫瘤與器械端點，當器械切割面太過靠近血管或腫瘤時，系統能夠即時的提出警告，避免對血管或腫瘤造成傷害。第二種功能為利用擴增實境對內視鏡畫面進行超音波影像導引，令使用者可以更直觀的了解組織內部構造。第三種功能為超音波影像疊合，可於內視鏡畫面上利用多張超音波影像疊合出組織內部構造，提供更寬廣的影像導引視野。
本論文提出了體內光學追蹤架構，此架構有三項優點:無手術中電磁訊號所造成的干擾，有效的縮短光學追蹤的量測距離，並提供更簡單的座標系統以減少追蹤誤差。實驗證明，在163毫米的觀察距離下，體內光學追蹤可將器械追蹤與超音波探頭追蹤的誤差於降低於1毫米左右，此數值小於一般醫生在肝臟切除手術中保持的安全距離：20毫米，結果顯示新提出的體內光學追蹤架構具有相當良好的精確度。

關鍵字

體內光學追蹤 ； 超音波影像導引 ； 擴增實境 ； 電磁干擾

並列摘要

The aim of this thesis is to create an intracorporeal optical tracking and ultrasound image-guided system for assisting minimal invasive surgery. The system contains three functions. First function is tracking vessel, tumor and instruments. When blade of the instruments are too close to vessel or tumor, warning will be shown on the screen immediately. Second function is ultrasound image guidance with augmented reality, which allows surgeons have intuitive interpretation of organ structure. Third function is ultrasound image stitching. A stitching image is displayed in augmented endoscope screen for wider view of ultrasound image guidance. This three functions allow surgeons to lower the risk of minimal invasive surgery.
In this thesis, intracorporeal optical tracking is proposed. This approach contains three advantages: no electromagnetic interference, shorter observation distance and simpler coordinate system for less error. The experiments show that intracorporeal optical tracking can track instrument and ultrasound-detecting objects with error about 1 mm within 163 mm observation distance. These values are less than the maximal safe distance defined by surgeon: 20 mm in minimal invasive surgery. The experiments have shown a considerably good accuracy in instrument and ultrasound tracking.

並列關鍵字

Intracorporeal optical tracking ； Ultrasound image guidance ； Augmentedreality ； Electromagnetic interference

參考文獻

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