MRIによる小型受信コイルの位置姿勢計測法の開発と評価
スポンサーリンク
概要
- 論文の詳細を見る
MR guided surgery is quite effective in realizing accurate and safe minimally invasive surgery (MIS). The combination of intra-operative MRI, surgical navigation system, and surgical robot should be of practical use in the field of MIS in the future. When we use flexible endoscope type robotic manipulator, the position and the orientation of the tip point of the flexible forceps should be navigated and controlled by a robotic manipulator. However, the conventional position sensor can not be used because of the strong magnetic field and the limited workspace. We propose a novel tracking method named extended active tracking (EAT), which is based on the active tracking algorithm. EAT can measure the position and the orientation of the tracking coils synchronically. The principle of EAT is three points measurement by three series inductance. We can calculate the orientation of three coils using the measured 3-D positions of coils. In this paper, three experiments was conducted to evaluate the basic performance of the EAT. First experiment is the flip angle adjustment for the reduction of background noise, which is caused by the proton around each inductance. The experimental results shown that the inductance positions could be clearly observed without background noise at 6-deg flip angle with NMR signal peaks. Second experiment is the reproducibility evaluation. The fluctuation of measurement position and orientation were less than 0.3 mm (SD) and 1.0 deg (SD) at various positions and orientations. And standard deviation of the distance between the inductances at various positions and orientations is less than resolution (0.78 mm). Third experiment is an accuracy evaluation. The position measurement accuracy was 0.39 mm (RMS) using an optical tracking device. The orientation measurement accuracy was 3.5 deg (RMS) when the tracking coil was rotated 30 degree. Evaluation result suggests that EAT is possible to be used inside a patient body with the required accuracy.
- 一般社団法人 日本生体医工学会の論文
一般社団法人 日本生体医工学会 | 論文
- Evaluating the Workload Reduction of Automatic Vital Data Transmission
- Mental Fatigue Measurement Based on the Changes in Flicker Perception Threshold using Consumer Mobile Devices
- A Theoretical Study on a Computational Algorithm for Human Posture Estimation Based on Motion Capture of a Small Number of Markers
- Latest microscopic technique. From the principle to application. Development of three-dimensional microscopic system for operation of mini-pig fertilized eggs.
- A Study of the Automation of Cytodiagnosis (The Second Report):Cytophotometry Using Photomicroscanner and a Trial of Data-processing