北京生物医学工程

腹腔镜模拟手术三维纠偏系统的研究

Research on three-dimensional rectifying system based on the simulative laparoscopic operation

作者：刘云王殊轶于成龙徐明哲张燕群宋成利

单位：上海理工大学医疗器械与食品学院(上海200093)

关键词：腹腔镜训练; 手术导航; 三维纠偏; 双目视觉系统; Micron Tracker

分类号：R318；TH38

出版年·卷·期（页码）：2016·35·6（615-619）

摘要：

目的基于腹腔镜模拟手术训练缺乏有效的训练系统的问题，本文采用双目视觉系统设计了一种腹腔镜模拟手术三维纠偏系统，以达到将原设定切割路径呈现在程序界面，同时实时显示手术刀尖端切割路径，并实现纠正切割路径。方法在Visual Studio 2010软件平台上对Micron Tracker进行二次开发，调用Micron Tracker函数库进行Marker点的识别，采用拉格朗日拟合算法拟合出原定路径，通过逐一调用器械尖端坐标画出器械尖端走过的轨迹。结果使用纠偏系统的A组志愿者和不使用纠偏系统的B组志愿者之间的偏移量比较得出：A组的25次实验整体X轴和Y轴正负平均偏移量均小于B组的偏移量；A、B两组第1次和第5次实验相比，正负平均偏移量均显著减少(P<0.05)，且随着受试者操作次数的增加偏移量呈减小的趋势；对A、B两组的正负偏移量进行方差分析，可得因素（纠偏系统）对实验指标（偏移量）有显著影响（F>F-crit）。结论本研究设计的纠偏系统能有效减少培训者在培训过程中的偏移量及培训时间，提高培训效率。

Objective The current situation is lacking of effective simulative laparoscopic operation training system. This paper mainly presents three-dimensional rectifying system based on Micron Tracker. The three-dimensional rectifying system can real-time display the cutting paths and knife tip trajectory on interface, and rectify the cutting paths. Methods We redevelop Micron Tracker based on Visual Studio 2010. Micron Tracker can identify Marker and get 3D coordinates of knife tip. The system fits the cutting path by Lagrange method and real-time displays knife tip trajectory by calling 3D coordinates of knife tip separately. Results The volunteers are divided into two groups. Group A with the training system and Group B without the training system are compared. Plus-minus average offset of Group A is less than that of Group B in 25 times experiments. In the first and fifth experiment, plus-minus average offset of the two groups are all decreased. With the increase of experimental frequency, offset shows a trend of decrease. The variance analysis of the two groups’ offset shows that the offset is influenced by the rectifying system (F>F-crit). Conclusions The rectifying system can decrease the offset, save time and improve operation efficiency.

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