Research On Guided Control Of Prostate Puncture Based On TRUS-MR Image Registration

In the traditional prostate interventional robot for puncture surgery,doctors need to monitor the puncture surgery in real time.The traditional monitoring method is to use ultrasound imaging system to detect the relative position of human tissue and puncture needle in real time.But the ultrasound imaging is poor sex and accuracy.The MR image has a high resolution and can clearly show the prostate and surrounding tissues,but the MR image acquisition time is long and requires the help of a nuclear magnetic environment,which is not suitable for use in surgery.Therefore,this paper proposes a prostate guided puncture system based on TRUS-MR image registration,which can obtain the patient's prostate MR image before surgery.Register the TRUS image during surgery with the MR image before surgery and it can improve biopsy rate and reduce the chance of complications.In this paper,a prostate guided puncture system based on TRUS-MR image registration is studied.Firstly,a level set algorithm for contour extraction of prostate ultrasound images based on active bands and boundary operators is proposed.The evolution of the initial contour curve is constrained by adding continuously updated energy functions and boundary operator functions on the annular region,and the feasibility and accuracy of the method are verified by analyzing and comparing experimental data.Secondly,this paper proposes a method for extracting the contours of prostate MR images based on the level set of the prior shape.By adding an energy function incorporating the prior information to the initial contour curve,the algorithm's adaptability is improved.The feasibility and accuracy of the method are verified by analyzing and comparing the experimental data.The 3D Slicer software was used to perform 3D reconstruction of the extracted prostate MR time series.Thirdly,the three-dimensional prostate MR model and the prostate TRUS image are registered.The orientation constraint information given manually and the deformation constraint information obtained from the finite element analysis of the three-dimensional prostate model by ANSYS software are registered.Finally,an experimental platform for prostate guided puncture system based on TRUS-MR image registration is set up.This paper uses MATLAB and 3D Slicer software to carry out simulation experiments and error analysis.It is confirmed that the proposed prostate guided puncture system based on TRUS-MR image registration has higher accuracy and stability.