机械臂超声成像结合超声-CT配准技术构建胫股关节在体检测系统的可行性及精度分析

doi:10.13418/j.issn.1001-165x.2023.3.15

中国临床解剖学杂志 ›› 2023, Vol. 41 ›› Issue (3): 336-341.doi: 10.13418/j.issn.1001-165x.2023.3.15

机械臂超声成像结合超声-CT配准技术构建胫股关节在体检测系统的可行性及精度分析

汪斐¹，徐灏²，姜江¹，杨萃²，贾蕊¹，杜冰冉¹，李鉴轶¹*

1.南方医科大学基础医学院人体解剖学教研室，广东省数字医学与生物力学重点实验室，广州 510515；
2.华南理工大学，广州 510641

收稿日期:2022-05-23 出版日期:2023-05-25 发布日期:2023-06-05
通讯作者: 李鉴轶，博士，教授，E-mail：wuxili74@126.com
作者简介:汪斐（1998-），女，安徽人，硕士研究生，主要从事运动生物力学研究，E-mail：1094729624@qq.com
基金资助:
广州市科技计划项目（201704020069）；广东省自然科学基金（2022A1515011604）

Feasibility and accuracy analysis of detection system of tibiofemoral joint in vivo based on robotic arm ultrasonic imaging combined with registration of CT images to ultrasound images technology

Wang Fei¹, Xu Hao², Jiang Jiang¹, Yang Cui², Jia Rui¹, Du Bingran¹, Li Jianyi¹*

1. Department of Human Anatomy, Guangdong Provincial Key Laboratory of Digital Medicine and Biomechanics, Southern Medical University, Guangzhou 510515, China；2. South China University of Technology, Guangzhou 510641, China

Received:2022-05-23 Online:2023-05-25 Published:2023-06-05

摘要/Abstract

摘要： 目的应用机械臂超声成像结合超声-CT配准技术构建胫股关节在体检测系统，并对该系统的测试精度进行评价。方法采集猪胫股关节及股骨标本的CT及超声图像，分别三维重建后进行手动配准；采集股骨标本六自由度运动超声图像，进行三维重建后与CT三维模型配准，比较CT三维模型间测量的位移与真实位移差值，计算配准精度；配准及精度计算由两名研究人员分别进行，计算组内相关系数。结果利用三维几何信息进行超声-CT手动配准构建胫股关节在体检测系统具有可行性；平移精度为0.94~1.16 mm，旋转精度为0.63°~1.50°；精度测量结果的组内相关系数为0.794（P=0.014）。结论本超声-CT配准技术是可行的，其精度能够满足胫股关节动态检测要求，未来需改进机械臂扫描获取超声图像的方法，利用计算机图像处理技术进行快速配准。

关键词: 3D/3D图像配准； , , 机械臂超声成像； , , 胫股关节

Abstract: Objective To build a detection system of tibiofemoral joint in vivo based on robotic arm ultrasonic imaging combined with registration of CT images to ultrasound images technology and evaluate the accuracy of the system. Methods CT and ultrasound images of pork tibiofemoral joints and femur were collected and registered after three-dimensional reconstruction. After femur’s movement at six degrees of freedom, ultrasound images were collected and reconstructed and then registered to CT three-dimensional model. The displacement between CT three-dimensional model and real displacement were compared to calculate registration accuracy. The registration and accuracy calculation were implemented by two researchers to calculate intraclass correlation coefficient. Results It was feasible to use three-dimensional geometric information for ultrasound-CT manual registration to build a detection system of tibiofemoral joint in vivo. Translation accuracy ranged from 0.94 mm to 1.16 mm, and rotation accuracy ranged from 0.63 ° to 1.50 °. Intraclass correlation coefficient was 0.794 (P=0.014). Conclusions The ultrasound-CT registration method proposed in this article is feasible, and the accuracy can meet the requirements of tibiofemoral dynamic detection. In the future, we need to further improve the method of ultrasound images’ obtaining by robotic arm and use computer image processing technology for fast registration research.

Key words: 3D/3D image registration; , , Robotic arm ultrasonic imaging; , , Tibiofemoral joint

中图分类号:

R318.01

汪斐, 徐灏, 姜江, 杨萃, 贾蕊, 杜冰冉, 李鉴轶. 机械臂超声成像结合超声-CT配准技术构建胫股关节在体检测系统的可行性及精度分析[J]. 中国临床解剖学杂志, 2023, 41(3): 336-341.

Wang Fei, Xu Hao, Jiang Jiang, Yang Cui, Jia Rui, Du Bingran, Li Jianyi. Feasibility and accuracy analysis of detection system of tibiofemoral joint in vivo based on robotic arm ultrasonic imaging combined with registration of CT images to ultrasound images technology[J]. Chinese Journal of Clinical Anatomy, 2023, 41(3): 336-341.

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机械臂超声成像结合超声-CT配准技术构建胫股关节在体检测系统的可行性及精度分析

Feasibility and accuracy analysis of detection system of tibiofemoral joint in vivo based on robotic arm ultrasonic imaging combined with registration of CT images to ultrasound images technology

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