基于结构光扫描的多区域配准技术用于脊柱外科三维手术导航的试验研究

目的 建立基于结构光扫描的脊柱手术导航配准系统.方法 获得胸椎模型的CT扫描图像及结构光扫描图像后,结合预配准与多区域迭代最近点(ICP)算法的精细配准方法,对CT图像及结构光图像进行配准.选择胸椎上4个区域进行不同组合,计算配准精度差异.对结构光扫描施加位移及三维正态噪声,观察配准精度变化.通过小牛脊柱标本进一步验证配准精度.结果 结合预配准与多区域配准的方法可实现脊椎骨可见光数据与CT数据的配准,选用两个及两个以上区域进行组合配准的误差＜1 mm,结构光扫描受到干扰后,配准误差仍＜1 mm.结论 基于结构光的预配准结合多区域配准算法可实现结构光数据与CT数据的配准,有着高精度、抗干扰能力强的优点,较传统的配准方法更为精确.

Abstract：

Objective To study the registration method based on structured light scanning for navigation assisted spinal surgery and assess its accuracy so as to construct a registration system for the navigation assisted spinal surgery using structured light scanning. Methods Both the computed tomographic (CT) dataset and the structured light scanning images of thoracic vertebra were obtained. The preregistration and multi-segment iterative closest point (ICP) algorithm were used for the registration of CT images and structured light images. Four segmentations were selected from the surface of thoracic vertebra and placed into different combinations. The accuracy for each combination was studied. Noise and perturbation were exerted to structured light and registration accuracy was studied. And calf vertebra was used for further verification. Results A combination of pre-registration and multi-segment iterative closest point (ICP) algorithm was competent for the registration of CT scanning data and the structured light scanning data. The registration error was less than 1 mm when two and more segments were selected for registration combination. The registration error was less than 1 mm when noise was exerted. Conclusion With a high accuracy and a perturbation resistance, a combination of pre-registration and multi-segment registration algorithm based on structured light scanning is competent for the registration of CT scanning data and structured light scanning data.

Experimental study of three dimensional navigation assisted spinal surgery by multi-segment registration technology based on structured light scanning

Objective To study the registration method based on structured light scanning for navigation assisted spinal surgery and assess its accuracy so as to construct a registration system for the navigation assisted spinal surgery using structured light scanning. Methods Both the computed tomographic (CT) dataset and the structured light scanning images of thoracic vertebra were obtained. The preregistration and multi-segment iterative closest point (ICP) algorithm were used for the registration of CT images and structured light images. Four segmentations were selected from the surface of thoracic vertebra and placed into different combinations. The accuracy for each combination was studied. Noise and perturbation were exerted to structured light and registration accuracy was studied. And calf vertebra was used for further verification. Results A combination of pre-registration and multi-segment iterative closest point (ICP) algorithm was competent for the registration of CT scanning data and the structured light scanning data. The registration error was less than 1 mm when two and more segments were selected for registration combination. The registration error was less than 1 mm when noise was exerted. Conclusion With a high accuracy and a perturbation resistance, a combination of pre-registration and multi-segment registration algorithm based on structured light scanning is competent for the registration of CT scanning data and structured light scanning data.