基于结构光扫描的椎弓根多区域组合配准技术.pdfVIP

190 ? 中凶介入影像与治疗学 2009 年第 6 卷第 2 期 Chin J lnterv lmagíng Ther.2009. Vol 6.No 2 M uIti-segmentation image associated registration technology for pedicle screw insertion based on structured light scanning LIN Xin-hωi l ， ZHENG Haa-jun J ? , LI Shu-gang 2 (1. Deρartment 0/ Precisíon Instruments Mechanology , Tsinghua University , Beijíng 100084 , Chína; 2. De户。rtment 0/ Orthopaedics. the PUMC Hosρítal. CAMS PUMC. Beijing 100730. China) [Abstract] Objectlve To register intraoperative structured light images with preoperative CT images in computer aided orthopaedic surgery. Meth创s C丁 images were obtained preoperatively and divided into different patches. then these point sets were combined into 17 combination队 Pre-registration and multi-segmentation ICP algorithm were performed to register them to vertebral surface points acquired intraoperatively by structured light scanning. Results Even with noise and per- turbation to the structured Iight images of the spine plastíc phantom. registration error was less than 1 mm. Conclusion A new registratíon method for spine surgery based on structured light scanníng with multi-segmentation image ís presented in this paper. which prevents ICP algoríthm from converging to a local mínimum , and increases the accuracy in pedicle screw insertion surgery. Submillimetric registration accuracy can be obtained even when a small portion of the posterior vertebral surface is used for registration. [Key words] Tomography , X伽ray computed; Structured light scanning; ICP algorithm 基于结构光扫描的椎弓根多区域组合配准技术 林馆海l ，郑浩峻l 铸，李书纲2 (1.清华大学精德仪销与机械学系，北京 100084;2. 中国民学科学院北京协和医院骨科，北京 100730) [摘 要] 目的 利用水中结构光扫描罔像初术前 CT 进行配准，实现计算机辅助樵弓根子术。方法 术前对手术部忱 的 CT 阁像进行王维重建及区域划分，术中用结构光对其进行王维扫描，把版椎模型骨各区域组成 17 个组合，然后结合颁 配准与多区域 ICP 算法对网点集进行配准。结果 该算法实现了脊椎骨可见光数据与 CT 数据的配准，即使在噪声干扰 和图像偏移的影响下，配准误辈辈仍能保证在 1 mm 之内。结论 本文提出的预配准结合多区域配准算法能存效地激兔 ICP 算法的局部收敛性 z即使在施加噪声和外部干扰情况下，利用两个区域组合进行配版可以满足手术精度要求。 f关键词] 体应摄影术 .X 线计算机;结构光扫描，ICP 算法 [中图分类号] R814.42 [文献标识码] A [文章编号] 1672-8475(2