機械式巡航系統於手術訓練之應用研究

陳鼎元

doi:10.6342/NTU201600213

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机械式巡航系统於手术训练之应用研究

Research on Application of Robotic Navigation System to Surgical Training

陈鼎元 , 硕士　　导师：杨宏智　　

繁体中文 DOI： 10.6342/NTU201600213

机械式手术巡航系统；手术临床规划；脑室穿刺引流术；水脑症；图形化人机介面；座标叠合； 3D Slicer ； Matlab ； Robotic Surgical System ； Surgical Planning ； VP Shunt ； Hydrocephalus ； Graphical User Interface ； Registration ； 3D Slicer ； Matlab

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摘要 │ 参考文献 (27) │ 国际计量

摘要〈TOP〉

并列摘要〈TOP〉

In order to achieve the greater safety during surgeries, The Image-Guided Surgery becomes more and more popular, also the needs of avoiding complications and shortening the recovery time after the surgery gradually expands. Therefore, an accurate, clever, and useful Image-Guided System in the new generation becomes indispensable. Seeing between the three types of Image-Guided System among Robotic, Optical, and Electro-Magnetical ones, the Robotic Image-Guided System has the advantages of: simpler structure, conveniently equipped, movable, clever applications, and there’s no need for complicated time-cost setup, it also avoids the light-shielding problem in the Optical ones. By multiple points-of-view, the Robotic Image-Guided System has an obvious superiority compared with the others.

The research’s main idea is to create a Robotic Surgical Navigation System, so far we have focused on clinical planning for the VP Shunt surgery which cures the patients suffering from Hydrocephalus. We use a robot arm and a laser pointer, combined with the CT images’ information, pointing at the most suitable point to insert, helping the doctors to finish the surgery rapidly and accurately. In addition, we want to add the system with a self-made head-like phantom, providing the new surgeons a convenient and accurate Insertion-Practice System.

We combine an Industrial Robot Arm with a Laser Pointer to construct a localizer, taking the advantages of some softwares: 3D Slicer for 3D Visualization, Matlab Graphical User Interface for the numerical inputs / outputs and calculations, registrations and communications, planning a complete clinical surgery process for the doctor. Through many experiments and cross-validations to make sure the accuracy, we expect to put the system to real clinical uses as soon as possible, playing goods for the patients suffering from brain diseases.

参考文献 ( 27 ) 〈TOP〉

[1] Hancke S, Holm HH, Koch F, “Ultrasonically Guided Percutaneous Fine Needle Biopsy of the Pancreas,” The International Journal of Surg Gynecol Obstet, Vol.140, No.3, pp. 361-364, 1975.
连结：
[3] Lindgren PG, “Percutaneous Needle Biopsy: A New Technique,” The International Journal of Acta Radiol, Vol. 23, pp. 653-656, 1982.
连结：
[5] Matthew A. Wright, Dennis Balance, Ian D. Robertson, and Brain Poteet, “Introduction to DICOM for the Practicing Veterinarian,” The International Journal of Veterinary Radiology & Ultrasound, Vol. 49, No. 1, Supp. 1, pp. S14-S18, 2008.
连结：
[6] D. A. Rajon, W. E. Bolch, “Marching Cube Algorithm: Review and Trilinear Interpolation Adaptation for Image-Based Dosimetric Models,” The International Journal of Computerized Medical Imaging and Graphics, Vol. 27, pp. 411-435, 2003.
连结：
[8] Patricia S. P. Thong, Stephanus S. Tandjung, Muhammad Mobeen Movania, Wei-Ming Chiew, Malini Olivo, Ramaswamy Bhuvaneswari, Hock-Soon Seah, Feng Lin, Kemao Qian, and Khee-Chee Soo, “Toward Real-Time Virtual Biopsy of Oral Lesions using Confocal Laser Endomicroscopy Interfaced with Embedded Computing,” The International Journal of Biomedical Optics, Vol. 17, No. 5, pp. 1-10, May 2012.
连结：

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DOI可强化引用精确性、增强学术圈连结，并给予使用者跨平台的良好使用经验，目前在全世界已有超过五千万个对象申请DOI。 如想对DOI的使用与概念有进一步了解，请参考 （ ） 。

DOI可强化引用精确性、增强学术圈连结，并给予使用者跨平台的良好使用经验，目前在全世界已有超过五千万个对象申请DOI。如想对DOI的使用与概念有进一步了解，请参考（）。