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首页> 外文会议>Annual International Conference of the IEEE Engineering in Medicine and Biology Society >Image-guided Laparoscopic Pelvic Lymph Node Dissection Using Stereo Visual Tracking Free-hand Laparoscopic Ultrasound
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Image-guided Laparoscopic Pelvic Lymph Node Dissection Using Stereo Visual Tracking Free-hand Laparoscopic Ultrasound

机译：使用立体声视觉跟踪自由腹腔镜超声波的图像引导腹腔镜盆腔淋巴结解剖

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Laparoscopic pelvic lymph node dissection is a delicate operation because pelvic arteries, which should be located first to guide the dissection, are often concealed by tissues and cannot be identified in the endoscopic view. Consequently, arteries can be damaged if they are not located accurately. To improve dissection safety and efficiency, we have developed an image-guided navigation system to provide pelvic artery position information by registering a 3D artery model extracted from CT images to a 3D model reconstructed from free-hand laparoscopic ultrasound images. The ultrasound probe is tracked using a proposed stereo vision-based tracking strategy that can simplify the system and reduce setup time. The artery is segmented from 2D ultrasound images using a local phase-based snakes framework. The accuracy of the proposed navigation system was estimated in a phantom experiment (the TRE error was 1.58 ± 0.70 mm), and the feasibility of the proposed navigation system was confirmed in an animal experiment.
机译：腹腔镜盆腔淋巴结解剖是一种微妙的操作，因为骨盆动脉，应该首先引导解剖，通常被组织隐藏，并且不能在内窥镜视图中鉴定。因此，如果不准确定位，则可能会损坏动脉。为了提高解剖安全性和效率，我们开发了一种图像引导的导航系统，通过将从CT图像提取的3D动脉模型注册到从释放腹腔镜超声图像重建的3D模型来提供盆腔动脉位置信息。使用所提出的基于立体声视觉的跟踪策略跟踪超声探头，可以简化系统并减少设置时间。动脉使用基于局部相位的蛇框架从2D超声图像分段。在幻影实验中估计了所提出的导航系统的准确性（TRE误差为1.58±0.70 mm），并且在动物实验中确认了所提出的导航系统的可行性。

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