跳到主要內容

簡易檢索 / 詳目顯示

回結果列表
研究生： 杜文鈞
Wen-chun Tu
論文名稱： 超音波影像輔助穿刺導引系統
Ultrasound-assisted biopsy navigation system
指導教授： 曾清秀
Ching-shiow Tseng
口試委員:
學位類別： 碩士
Master
系所名稱： 工學院 - 機械工程學系
Department of Mechanical Engineering
畢業學年度： 100
語文別： 中文
論文頁數： 81
中文關鍵詞： 方位校正 、超音波影像 、穿刺 、影像輔助穿刺
外文關鍵詞： Biopsy, Registration, Image-assisted Biopsy, Ultrasound Image
相關次數： 點閱：12  下載：0 
分享至:
查詢本校圖書館目錄 查詢臺灣博碩士論文知識加值系統 勘誤回報

    • 超音波影像穿刺取樣是診斷腫瘤良性或惡性的常見方法。以徒手或利用探頭旁加裝導引裝置的穿刺方式並無法解決穿刺針受外力變形所造成的穿刺失誤，且使用導引裝置的穿刺針必須順著超音波掃描面穿刺，限制了在需要避開特定組織時改變穿刺方向的彈性，因此臨床上醫師往往難以執行深層小腫瘤的穿刺取樣。
    本研究發展出一套超音波影像輔助穿刺導引系統。藉由磁場定位裝置以及超音波影像定位技術，將超音波影像、腫瘤、穿刺針的空間方位轉換至同一個座標系中，並以即時顯示腫瘤與穿刺針針間相對方位的影像來協助醫師進行穿刺路徑規劃及導引。此外，也設計了一穿刺輔助裝置，利用馬達讓穿刺針等速的旋轉，有效減少穿刺時穿刺針受力變形的現象，並且能夠維持穩定的刺入方向。本研究亦提出以雷射測距儀量測胸口的起伏，據以控制病患憋氣在與影像掃描時的同一呼吸狀態，降低呼吸造成肝組織移位變形，影響穿刺的準確性問題，
    實驗以豬肝和五花肉為假體，在系統的導引下進行多次穿刺實驗，結果顯示使用18G的穿刺針穿刺，平均距離誤差為3.17mm，最大誤差為4.38mm；使用21G穿刺針，平均距離誤差為3.36mm，最大誤差為4.62mm。此一系統應可幫助醫師穿刺一公分以上的深層腫瘤。

    Ultrasonic guided biopsy is the most popular approach to diagnose whether tumor is benign or malignant. However, biopsy by free-hand or using probe-attached guidance device cannot avoid needle deflection and misalignment due to external forces. In addition, the biopsy direction must follow and along the plane of ultrasound image which restrict the flexibility to adjust the needle direction to avoid critic tissues. Therefore, it is hard for physicians to do deep and small tumor biopsy clinically.
    In this research, an ultrasound-assisted biopsy navigation system has been developed. By using electromagnetic tracking system and ultrasound positioning technology, the positions of ultrasound images, tumors, and biopsy needle are transferred to the same coordinate system. Real-time image display of the relative position of tumor and biopsy needle tip will assist the physician to plan and guide biopsy direction. Moreover, a biopsy assistive device, using a stepping motor to enable the rotation of the needle, is designed to reduce needle deflection due to external forces. To reduce the influence of liver displacement and deformation to biopsy accuracy due to respiration, a Laser Range Finder is applied to measure the ups and downs of the patient’s chest to control the breath status during insertion is identical to that during ultrasound scanning.
    In the experiments, pork liver and pork belly are applied as biopsy phantoms. The results of several experiments show that the average and maximum distance errors of using 18 Gauge needle are 3.17mm and 4.38mm respectively, while the average and maximum distance errors of using 21 Gauge needle are 3.36mm and 4.62mm respectively. It indicates that the developed system should be able to `assist physicians to biopsy deep tumor with a diameter greater than 1cm.

    摘要..........................I ABSTRACT..........................II 目錄..........................II 圖索引..........................V 表索引..........................VIII 第1章 緒論..........................1 1-1 研究動機..........................1 1-2 文獻回顧..........................2 1-2-1 穿刺導引系統相關研究..........................3 1-2-2 穿刺針刺入軟組織相關研究..........................4 1-3 研究方法簡介..........................6 1-4 論文介紹..........................7 第2章 系統架構..........................8 2-1 系統作業流程..........................8 2-2 硬體架構..........................10 2-2-1 超音波機..........................10 2-2-2 磁場式定位器 11 2-2-3 電腦以及影像擷取卡..........................11 2-2-4 穿刺針..........................12 2-2-5 穿刺裝置..........................12 第3章 研究方法..........................13 3-1 座標系統..........................13 3-1-1 座標系定義..........................13 3-1-2 座標系統轉換..........................14 3-2 超音波影像的方位校正..........................16 3-2-1 超音波探頭夾具..........................17 3-2-2 超音波影像方位校正..........................18 3-3 穿刺針尖端的方位校正..........................22 3-4 導引系統軟體的建構..........................25 3-4-1 建立病患座標系..........................26 3-4-2 定位病灶位置..........................27 3-4-3 穿刺路徑投影..........................28 3-4-4 穿刺針刺入路徑規劃..........................29 3-4-5 依輔助瞄準標靶刺入..........................30 3-5 穿刺裝置..........................31 3-5-1 穿刺針變形原因..........................32 3-5-2 穿刺針變形驗證與評估..........................33 3-5-3 穿刺裝置設計..........................38 3-6 病患呼吸問題..........................42 第4章 實驗結果及討論..........................43 4-1 超音波影像方位校正誤差實驗..........................43 4-2 穿刺針變形實驗..........................51 4-2-1 穿刺洋菜凍假體實驗..........................51 4-2-2 穿刺豬肝假體實驗..........................57 4-3 超音波影像穿刺導引實驗..........................61 第5章 結論與未來展望..........................65 參考文獻..........................66

    [1]. N. Abolhassani, R. Patel and M. Moallem, "Needle insertion into soft tissue: A survey," Med. Eng. Phys., vol. 29, pp. 413-431, 2007.
    [2]. N. Abolhassani, R. Patel and M. Moallem, "Experimental study of robotic needle insertion in soft tissue," in International Congress Series, pp. 797-802, 2004.
    [3]. N. Abolhassani, R. Patel and M. Moallem, "Trajectory generation for robotic needle insertion in soft tissue," 26th Annual International Conference of the IEEE EMBS, pp. 2730-2733, 2004.
    [4]. N. Abolhassani and R. V. Patel, "Deflection of a flexible needle during insertion into soft tissue," 28th Annual International Conference of the IEEE EMBS, pp. 3858-3861, 2006.
    [5]. R. Alterovitz, K. Y. Goldberg, J. Pouliot and I. C. Hsu, "Sensorless motion planning for medical needle insertion in deformable tissues," IEEE Transactions on Information Technology in Biomedicine, vol. 13, pp. 217-225, 2009.
    [6]. H.S. Bassan, R.V. Patel, and M. Moallem, "A Novel Manipulator for Percutaneous Needle Insertion: Design and Experimentation, "IEEE/ASME Trans. Mechatron., vol. 14, no. 6, pp. 746-761, 2009.
    [7]. D. Bi and Yang Lin, "Vibrating needle insertion for trajectory optimization," Proceedings of the 7th World Congress on Intelligent Control and Automation, pp. 7444-7448, 2008.
    [8]. N. Bluvol, A. Shaikh, A. Kornecki, D. D. R. Fernandez, D. Downey and A. Fenster, "A needle guidance system for biopsy and therapy using two-dimensional ultrasound," Med. Phys., vol. 35, pp. 617, 2008.
    [9]. A. Carra and J. C. Avila-Vilchis, "Multilayer needle insertion modeling for robotic percutaneous therapy," 4th International Conference on Bioinformatics and Biomedical Engineering (iCBBE), pp. 1-4, 2010.
    [10]. G. Chapman, D. Johnson and A. Bodenham, "Visualisation of needle position using ultrasonography," Anaesthesia, vol. 61, pp. 148-158, 2006.
    [11]. Dong Ni, Wing Yin Chan, Jing Qin, Yim-Pan Chui, Ingrid Qu, S. S. M. Ho and Pheng-Ann Heng, "A Virtual Reality Simulator for Ultrasound-Guided Biopsy Training," Computer Graphics and Applications, IEEE, vol. 31, pp. 36-48, 2011.
    [12]. C. Freschi, E. Troia, V. Ferrari, G. Megali, A. Pietrabissa and F. Mosca, "Ultrasound guided robotic biopsy using augmented reality and human-robot cooperative control," 31st Annual International Conference of the IEEE EMBS, pp. 5110-5113, 2009.
    [13]. D. Glozman and M. Shoham, "Flexible needle steering and optimal trajectory planning for percutaneous therapies," Medical Image Computing and Computer-Assisted Intervention–MICCAI 2004, pp. 137-144, 2004.
    [14]. J. Hong, T. Dohi, M. Hashizume, K. Konishi and N. Hata, "An ultrasound-driven needle-insertion robot for percutaneous cholecystostomy," Phys. Med. Biol., vol. 49, pp. 441, 2004.
    [15]. M. H. Howard, R. C. Nelson, E. K. Paulson, M. A. Kliewer and D. H. Sheafor, "An Electronic Device for Needle Placement during Sonographically Guided Percutaneous Intervention," Radiology, vol. 218, pp. 905, 2001.
    [16]. J. L. Hutter and J. Bechhoefer, "Calibration of atomic‐force microscope tips," Rev. Sci. Instrum., vol. 64, pp. 1868-1873, 2009.
    [17]. K. G. Yan, T. Podder, Yan Yu, Tien-I Liu, C. W. S. Cheng and Wan Sing Ng, "Flexible Needle–Tissue Interaction Modeling With Depth-Varying Mean Parameter: Preliminary Study," IEEE Transactions on Biomedical Engineering, vol. 56, pp. 255-262, 2009.
    [18]. H. Kataoka, T. Washio, M. Audette and K. Mizuhara, "A model for relations between needle deflection, force, and thickness on needle penetration," Medical Image Computing and Computer-Assisted Intervention–MICCAI , pp. 966-974, 2001.
    [19]. J. Krücker, S. Xu, N. Glossop, A. Viswanathan, J. Borgert, H. Schulz and B. J. Wood, "Electromagnetic tracking for thermal ablation and biopsy guidance: clinical evaluation of spatial accuracy," Journal of Vascular and Interventional Radiology, vol. 18, pp. 1141-1150, 2007.
    [20]. V. G. Mallapragada, N. Sarkar and T. K. Podder, "Robot assisted real-time tumor manipulation for breast biopsy," Proceedings of the 2008 IEEE International Conference on Robotics and Automation, pp. 2515-2520, 2008.
    [21]. V. G. Mallapragada, N. Sarkar and T. K. Podder, "Robotic system for tumor manipulation and ultrasound image guidance during breast biopsy," 30th Annual International Conference of the IEEE EMBS, pp. 5589-5592, 2008.
    [22]. D. Stoianovici, L. Whitcomb, J. Anderson, R. Taylor and L. Kavoussi, "A modular surgical robotic system for image guided percutaneous procedures," Medical Image Computing and Computer-Assisted Interventation—MICCAI’98, pp. 404-410, 1998.
    [23]. S. H. Okazawa, R. Ebrahimi, J. Chuang, R. N. Rohling and S. E. Salcudean, "Methods for segmenting curved needles in ultrasound images," Med. Image Anal., vol. 10, pp. 330-342, 2006.
    [24]. K. B. Reed, A. M. Okamura and N. J. Cowan, "Modeling and Control of Needles With Torsional Friction," IEEE Transactions on Biomedical Engineering, vol. 56, pp. 2905-2916, 2009.
    [25]. C. Simone and A. M. Okamura, "Modeling of needle insertion forces for robot-assisted percutaneous therapy," Proceedings of the 2002 IEEE International Conference on Robotics and Automation, vol. 2, pp. 2085-2091, 2002.
    [26]. P. U. Thainual, G. S. Fischer, I. Iordachita, S. Vikal and G. Fichtinger, "The perk station: Systems design for percutaneous intervention training suite," Proceedings of 2008 IEEE International Conference on Robotics and Biomimetics, pp. 1693-1697, 2009.
    [27]. N. A. Wood, K. Shahrour, M. C. Ost and C. N. Riviere, "Needle steering system using duty-cycled rotation for percutaneous kidney access," 32nd Annual International Conference of the IEEE EMBS, pp. 5432-5435, 2010.
    [28]. C. T. Yeo, T. Ungi, P. U-Thainual, A. Lasso, R. C. McGraw and G. Fichtinger, "The Effect of Augmented Reality Training on Percutaneous Needle Placement in Spinal Facet Joint Injections," IEEE Transactions on Biomedical Engineering, vol. 58, pp. 2031-2037, 2011.
    [29]. B. Bussels, L. Goethals, M. Feron, D. Bielen, S. Dymarkowski, P. Suetens and K. Haustermans, "Respiration-induced movement of the upper abdominal organs: a pitfall for the three-dimensional conformal radiation treatment of pancreatic cancer," Radiotherapy and Oncology, vol. 68, pp. 69-74, 2003.
    [30]. 廖英吟, "超音波影像定位", 碩士論文,中央大學 生醫工程研究所,2011.
    [31]. 日本超音波醫學會 編；李嘉明, 李玉華 譯, “新超音波醫學1─醫用超音波的基礎”, 合記圖書出版社, pp.23-27, 2003.

    QR CODE
    :::