姜杉, 陈超民, 窦怀素, 杨志永
AuthorsHTML:姜杉, 陈超民, 窦怀素, 杨志永
AuthorsListE:Jiang Shan, Chen Chaomin, Dou Huaisu, Yang Zhiyong
AuthorsHTMLE:Jiang Shan, Chen Chaomin, Dou Huaisu, Yang Zhiyong
Unit:天津大学机械工程学院，天津 300350
Unit_EngLish:School of Mechanical Engineering, Tianjin University, Tianjin 300350, China
Abstract_Chinese:为辅助医生完成肺癌近距离放疗粒子植入手术, 实现远距离监控下的穿刺用模板自动定位, 研发了由机器人定位系统、电磁定位追踪系统和治疗计划系统(TPS)组成的模板自动定位实时追踪系统．针对术中空间配准, 提出了四元数(quaternion)-最近点迭代(ICP)混合算法, CT环境下的现场实验结果表明, 其配准精度达到(0.87±0.11) mm．模板定位追踪实验结果表明, 系统的追踪精度达到(1.01±0.10) mm, 满足手术需求．该系统的应用实现了模板的精确快速定位, 对降低医生工作强度、减少病人所受辐射与加快肺癌近距离放疗手术进程, 有着重要的临床意义．
Abstract_English:To assist the surgeons in lung cancer brachytherapy，an automatic positioning and real-time tracking system consisting of robotic positioning system，electromagnetic-positioning and tracking system and treatment planning system(TPS)was developed to achieve the automatic template positioning under remote monitoring. To cope with the issue of spatial registration，a quaternion-based iterative closest point(QICP)algorithm was proposed. Results of field experiment in a CT room show that the proposed QICP algorithm achieves a registration accuracy of (0.87±0.11) mm. It is also validated by the tracking experiments that the proposed system achieves a tracking accuracy of (1.01±0.10) mm，which meets the clinical requirements. The application of the system accomplishes precise and quick positioning of the template，which is of great significance in lessening the workload of surgeons，reducing the CT radiation injury to the patient and accelerating the progress of a lung brachytherapy surgery.
Keyword_Chinese:近距离放疗; 模板; 自动定位; 空间配准; 实时追踪
Keywords_English:brachytherapy; template; automatic positioning; spatial registration; real-time tracking

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