华中科技大学学报（自然科学版）2025，Vol.53Issue(11)：61-68,8.DOI:10.13245/j.hust.251144
腹腔镜肾部分切除术自动诊断及术中AR引导方法
Automatic diagnosis and intraoperative AR guidance method for laparoscopic partial nephrectomy
摘要
Abstract
Aiming at the problem of the subjective nature of preoperative diagnosis,difficulty in connecting preoperative and intraoperative information,and difficulty in locating lesions during traditional laparoscopic partial nephrectomy resulting in low surgical efficiency and certain difficulties and risks,an image segmentation algorithm based on cascaded residual convolution-mixing network(RCM U-Net)was proposed to assist doctors in rapid and accurate preoperative diagnosis.First,by segmenting CT angiography(CTA)images,tumors,blood vessels,and normal tissues of left and right kidneys could be segmented,and then the Marching Cubes algorithm was used to reconstruct the kidney,presenting patient lesion information more intuitively.On this basis,an optical positioning system was used to track laparoscopic camera and intraoperative images,and the VTK library was utilized to achieve augmented reality overlay of reconstruction models and intraoperative images,which guided doctors to perform tumor resection with improvement of surgical accuracy and efficiency.Experimental results show that this scheme could achieve normal registration and tracking,with 10 frames/s tracking rate on the laparoscopic simulator.When collecting more than 8 pairs of points on the open-source laparoscopic image dataset,a registration error of less than 3 mm could be achieved,which preliminarily verifies the effectiveness of the scheme.关键词
增强现实/腹腔镜手术/图像分割/图像配准/特征追踪Key words
augmented reality/laparoscopic surgery/image segmentation/image registration/feature tracking分类
信息技术与安全科学引用本文复制引用
LIU Dong,ZHANG Yaoren,REN Yu,PAN Dehua,HE Xiang,YU Guanghai..腹腔镜肾部分切除术自动诊断及术中AR引导方法[J].华中科技大学学报（自然科学版）,2025,53(11):61-68,8.基金项目
宁波市"科创甬江2035"关键技术突破计划资助项目(2024Z201) （2024Z201）
大连市生命健康领域指导计划资助项目(2022YG013) （2022YG013）
辽宁省中央引导地方科技发展专项资助项目(2021JH6/10500144). （2021JH6/10500144）
