超声导航技术辅助经皮穿刺胆管置管引流术的系统研究中期答辩.pptx

超声导航技术辅助经皮穿刺胆管置管引流术的系统研究背景简介工作进度报告工作总结和展望背景简介工作进度报告工作总结和展望背景简介目 的：辅助经皮穿刺胆管置管引流术实现方式：使用空间定位设备跟踪超声图像和手术器械的位置，并辅以三维体数据（CT/MRI）增强立体感，帮助医生更快更好完成手术。背景简介工作进度报告工作总结和展望背景简介工作进度报告工作总结和展望工作进度报告2015.03 完成超声导航系统的硬件平台的搭建2015.05 超声探头标定工作和创新研究2015.08 超声导航系统软件平台的搭建和完善工作进度报告2015.03 完成超声导航系统的硬件平台的搭建2015.05 超声探头标定工作和创新研究2015.08 超声导航系统软件平台的搭建和完善导航系统的硬件平台的搭建穿刺针超声探头位置信息位置信息图像信号位置信息超声图像超声成像设备PLUS位置跟踪设备3D slicerDATAOpenIGTLinkIF工作进度报告2015.03 完成超声导航系统的硬件平台的搭建2015.05 超声探头标定工作和创新研究2015.08 超声导航系统软件平台的搭建和完善工作进度报告2015.03 完成超声导航系统的硬件平台的搭建2015.05 超声探头标定工作和创新研究2015.08 超声导航系统软件平台的搭建和完善超声探头标定工作和创新研究超声探头标定工作和创新研究With analyses, we concluded that these five wires should at least satisfy the following requirements: Among five wires，at most 2 wires are parallel to each other and two pairs of parallel wires are also feasible;The direction vectors of these five wires cannot be coplanar; If two of five wires are parallel to each other, the other three wires cannot be coplanar When calibration, the probe should be aligned to avoid the following cases which will lead to degeneration of equation：Among five intersections, more than three intersections are co-linearTwo of the five wires are parallel to each other and the intersections of the left three wires with ultrasound image plane are co-linear, as shown in Fig 2(a);Two of the five wires are parallel to each other and direction vectors of them are coplanar with that of two of the left three wires. In addition, the intersection of the last wire and parallel wires are co-linear as shown in Fig 2 (b).(a)(b)Fig 2. two cases that can complete calibrationin (a), l1 is parallel with l2, P1, P2 and P3 are co-linear; in (b), l1 is parallel with l2, direction vectors of l1, l2, l3 and l4 are coplanar, P1, P2 and P5 are co-linear.超声探头标定工作和创新研究新方法优点：同样的数据，更高的精度线性标定模型的归纳总结更自由的线性标定模型设计超声探头标定工作和创新研究超声探头标定工作和创新研究Comparison of calibration precisionPosition in ultrasound imagetop right cornerbottom right cornerbottom left cornertop left cornercenteraverageN-fiducials m