• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>IEEE International Conference on Real-time Computing and Robotics >A Preliminary Study on an IMU-Based Surgery Assisting Method for Minimally Invasive Puncture of Intracranial Hematoma
【24h】

A Preliminary Study on an IMU-Based Surgery Assisting Method for Minimally Invasive Puncture of Intracranial Hematoma

机译：基于IMU的手术辅助方法初步研究，用于颅内血肿的微创穿刺

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

A navigation always plays a vital role during the minimally invasive puncture and drainage (MIPD) of intracranial hematoma (ICH). However, providing accurate navigation is very expensive and complex. This paper presents a low-cost method that supplies efficient and precise navigation information during operation. This method proposes a sensor fusion system with two Initial Measurement Units (IMU) and Computed Tomography (CT) to estimate the attitude (orientation) of puncture path and surgical tools in real-time. Here, the IMUs play the role of attitude (orientation) tracking. The one is the wearable IMU on the patient, tracking the patient's intracranial puncture path in real-time. The second is the IMU on the surgery needle, tracking the needle's orientation. The surgeon has the power to control the needle's orientation to match the puncture path's orientation to complete the puncture operation. The preliminary study was conducted to estimate the error of the two IMUs' orientation by calibrating them in the same coordinate system to explore this application's feasibility in surgery. The experimental results showed no significant difference between the two IMU measurements, and the mean error was within 1°. It suggested that two IMUs can work in the same coordinate system with high consistency. In the future, more experiment will be carried out for developing the method.
机译：在颅内血肿（ICH）的微创穿刺和排水（MIPD）期间，导航始终发挥至关重要的作用。但是，提供准确的导航非常昂贵和复杂。本文介绍了一种低成本的方法，可在操作期间提供有效和精确的导航信息。该方法提出了一种具有两个初始测量单元（IMU）和计算机断层扫描（CT）的传感器融合系统，以估计穿刺路径和外科手术工具的姿态（方向）。在这里，IMUS发挥态度（方向）跟踪的作用。一个是患者的可穿戴IMU，实时跟踪患者的颅内穿刺路径。第二个是手术针上的IMU，跟踪针头的方向。外科医生有能力控制针的方向，以匹配穿刺路径的方向来完成穿刺操作。通过将它们校准在相同的坐标系中来估计两个IMUS取向的初步研究来估算两个IMUS取向的误差，以探索该应用在手术中的可行性。实验结果表明，两个IMU测量之间没有显着差异，并且平均误差在1°内。它建议，两个IMU可以在具有高一致性的相同坐标系中工作。将来，将进行更多的实验以开发方法。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号