Study On Robot Assisted Liver Tumor Puncture Navigation Technology Guided By Medical Images

Since the incidence rate of tumor and cancer in China is increasing year by year,and the number of patients is also increasing,the demand for surgical navigation system is also increasing.This project is based on the current research status of surgical systems in China,and focuses on low-cost and high-precision surgical navigation systems.It proposes to use threedimensional reconstruction technology to present three-dimensional lesions before surgery and plan surgical paths.During surgery,the overall plan is to simulate puncture needles on twodimensional ultrasound images to verify the accuracy of puncture.Research on 3D reconstruction technology,design 3D reconstruction software based on VS,QT,VTK,etc.Based on this,experiment to determine the most suitable image thickness for reconstruction,and then perform 3D reconstruction through 3D Slicer,and plan the path based on the 3D reconstructed image.According to the requirements of this project,a puncture end clamping device with convenient,fast,firm and reliable installation was designed,and a physical object was made.Using C++ and various software to program the SVD registration algorithm,and conducting accuracy experiments to verify the algorithm,determine the optimal registration conditions,and lay the foundation for subsequent registration work.Conduct research on preoperative registration technology,install electromagnetic sensors on the robotic arm to obtain point set data,and use registration algorithms to complete the registration of the robotic arm and electromagnetic transmitter;Use an electromagnetic probe to touch the reserved calibration hole of the liver model to complete the registration of the liver model with the three-dimensional reconstruction model.Perform preoperative path planning based on 3D reconstructed images,and complete mechanical arm puncture path planning through registration relationships.Conduct research on the registration of ultrasound probes,install electromagnetic sensors on the ultrasound probe to scan a single N-line model for calibration,and study the method of displaying the puncture needle on the ultrasound image.Use Open CV to simulate the display of the puncture needle on the ultrasound image to determine whether the puncture is completed.Based on the previous research theory,a medical image-guided robot assisted liver tumor puncture surgery system was constructed using programming such as VS,QT,Eigen etc.The accuracy and feasibility of the system were verified through conversion matrix accuracy experiments,3-D conversion experiments,and puncture error experiments.The relevant research in this project indicates that the design scheme of a robot assisted liver puncture surgery navigation system guided by medical images has good application and promotion value.