Research On Key Technologies In Ultrasound Image Guided Surgery System

As a branch of minimally invasive surgery, ultrasonic image guided surgery is the current research hotspot in the field of medicine. The key technologies of the ultrasonic image guided surgery are researched fully in this paper. Registration is a quite important one among these technologies. The derivation process of registration algorithm is described. Then the accuracy and performances of algorithm are analysed. Moreover, the experimental platform is set up and some experiments are executed to test the performance of the image guided surgery.First of all, MRI and CT are selected as medical imaging equipment preoperatively, ultrasound equipment as the imaging system intraoperatively. And the electromagnetic positioning system acts as 3D positioning technology.Additionally, an operating standard of the patient registration is set up for surgeon to follow intraoperatively. The mathematical model of the registration algorithm was obtained. Quaternion was one of the most important mathematical tools in rotation transformation, and it was introduced in this paper. Theories of homogeneous coordinate and quaternion are applied to solve the coordinate transformation problem between the real space and virtual space.Finally, the platform of image guided system was built with surgical robot and navigation software. The precision of electromagnetic positioning system was calibrated using laser tracker. The puncture needle calibration adapts a spatial multi-gesture method to collect the positions of the needle point through positioning system. Surgical robot and cube model were used to verify the accuracy of registration algorithm. Through patient model and navigation software simulates real operation process, so as to obtain the precision of navigation system. At last, the ultrasound image was calibrated with calibration model.The research presented in this paper is of significant theoretical and application value. It pilots the design of relevant image guided systems. The research lays a good foundation for further research.