CT引导机器人辅助经皮肺穿刺活检术定位机制

计算机科学 ›› 2019, Vol. 46 ›› Issue (11A): 320-323.

CT引导机器人辅助经皮肺穿刺活检术定位机制

李博, 康晓东, 高万春, 洪睿, 王亚鸽, 张华丽

(天津医科大学医学影像学院天津300203)

出版日期:2019-11-10 发布日期:2019-11-20
通讯作者: 高万春(1961-),男,副主任医师,主要研究方向为医学影像技术,E-mail:szxfsk789@163.com。
作者简介:李博(1987-),男,硕士生,主要研究方向为医学影像技术;康晓东(1964-),男,教授,博士,CCF高级会员,主要研究方向为医学图像处理、医疗信息系统集成。
基金资助:
本文受天津市自然科学重点基金(17JC2DJ32500)资助。

Robot Aided Lung Biopsy Positioning Mechanism Based on CT Image Guidance

LI Bo, KANG Xiao-dong, GAO Wan-chun, HONG Rui, WANG Ya-ge, ZHANG Hua-li

(School of Medical Imaging,Tianjin Medical University,Tianjin 300203,China)

Online:2019-11-10 Published:2019-11-20

摘要/Abstract

摘要： 文中提出一种基于CT图像引导机器人辅助经皮肺穿刺活检术空间定位的新机制。首先,设计6个标记点,并将其同时固定于CT检查床,以在硬件上参考定位;其次,在软件上以改进的D-H逆向运动算法实现CT图像引导机器人进行经皮肺穿刺操作。仿真实验结果表明,使用文中提出的定位机制可有效地保证一次性穿刺成功率。

关键词: D-H逆向运动算法, 机器人辅助系统, 经皮肺穿刺活检术

Abstract: A new spatial localization mechanism based on CT image-guided robot-assisted percutaneous lung biopsy was proposed.Firstly,six marker points are designed and fixed on the CT examination bed at the same time to reference and locate in hardware.Secondly,the improved D-H inverse motion algorithm is used in software to guide the robot to perform percutaneous lung puncture.The simulation results show that the success rate of one-time puncture can be effectively guaranteed by using the location mechanism proposed in this paper.

Key words: D-H inverse motion algorithm, Percutaneous lung biopsy, Robot assistant system

中图分类号:

TP242

李博, 康晓东, 高万春, 洪睿, 王亚鸽, 张华丽. CT引导机器人辅助经皮肺穿刺活检术定位机制[J]. 计算机科学, 2019, 46(11A): 320-323. https://doi.org/

LI Bo, KANG Xiao-dong, GAO Wan-chun, HONG Rui, WANG Ya-ge, ZHANG Hua-li. Robot Aided Lung Biopsy Positioning Mechanism Based on CT Image Guidance[J]. Computer Science, 2019, 46(11A): 320-323. https://doi.org/

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