CT微创介入实时机器人导航系统研究

With high spatial and density resolution, CT guided puncture is commonly used in minimally invasive surgeries. However, puncture and scanning is carried out alternately, and correction of puncture route is made by multiple CT scans. This results in extended operation time and increased patients'pain. This project is intended to study the effect of patients' respiratory and body movement on the anatomical structure, with the aim to develop a real-time image correction system. The preoperative scanning is conducted to obtain the CT images; sensors are stick to patient's skin to detect the movement of certain points. These signals are input to the computer which processes the information and makes real-time correction of the CT images. A spatial displacement sensor is installed on the needle to detect the position of the needle during puncture; the result is displayed on the screen. With this navigation system, doctors could see the movement of patients' anatomical structure and the location of the needle, which makes it possible for one puncture to the target. This project uses the knowledge of medical imaging and minimally invasive treatment, to solve the problem that CT-based navigation does not show the real-time images. Accurate and rapid puncture is the basis for interventional treatment. Results of this project could be applied in biopsy, tumor ablation and other minimally invasive therapies.

CT影像具有较高的空间和密度分辨率，利用CT影像引导穿刺是微创介入治疗中常用的方法，但是目前在临床上穿刺和扫描是交替进行的，通过多次CT扫描来修正穿刺路线,即耗时又增加了患者的创伤和痛苦。本项目拟研究患者呼吸运动和身体移动对其解剖结构的影响，并在此基础上研制一种图像实时修正系统。以术前CT扫描图像为基础利用位置传感器检测患者体表若干点的位移，将这些信号输入计算机对CT图像进行实时修正。在穿刺针上安装传感器，探测穿刺过程中针的位置并显示在屏幕上。利用这套系统医生可以随时了解患者当前的解剖结构和穿刺针的位置，一次性地精确地将针插入到病灶。通过机械手辅助增加穿刺的准确性和精确性。本项目属于医学影像与微创介入治疗的交叉领域，准确而快速的穿刺是介入治疗的基础，本项目最终研发具有自主知识产权的高端医疗设备，广泛地应用于CT穿刺活检、肿瘤消融等微创介入治疗。