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研究生： 李訓銘
Hsin-Ming Lee
論文名稱： 電腦輔助骨科手術用規劃及導引系統
指導教授： 曾清秀
Ching-Shiow Teseng
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： 88
語文別： 中文
論文頁數： 58
中文關鍵詞： 電腦輔助手術 、方位校準 、曲面對應法 、疊代最近點 、內插邊界點追蹤法
外文關鍵詞： Computer-Assisted Surgery, Registration, Surface Matching, Iterative Closest Point, ICP, Interpolating Boundary Tracking Algorithm
相關次數： 點閱：8  下載：0 
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    • 本系統可分為三大部分：影像重建、定位裝置及方位校準。在影像重建部份是將二維掃描影像重建出立體模型，且求出手術器械端點所在的三個正交剖面與任意剖面影像。在定位裝置部份，本系統則同時擁有磁場式與光學式定位裝置，可任意選擇一種使用。在方位校準技術中，則採用曲面對應法( Surface Matching )求出影像座標與定位裝置座標之間的轉換關係。找到轉換關係後，醫師於影像中規劃的手術路徑即可經由此轉換關係利用定位裝置於病患身上精確定出，而手術中，手術器械的位置亦可轉換成影像座標而於影像中即時顯示出手術器械所在位置的組織影像。其中曲面對應法使無法以附加標記法達成方位校準的手術，如脊椎固定手術、人工關節替換手術、及其它骨科手術等具備骨骼曲面曲率變化大的特性，成為可行。
    本研究採用光學式定位與磁場式定位裝置分別對頭顱模型以附加標記法進行實驗，以光學式定位裝置所得的精確度約為1±0.2mm；以磁場式定位裝置所得的精確度約為1.5±0.3mm。另外亦以光學式定位裝置對脊椎模型與膝蓋模型進行曲面對應法實驗，定位平均誤差1±0.3mm。前述的定位平均誤差應符合實際骨科手術要求。

    摘要………………………………………………………………………I 目錄………………………………………………………………………II 圖索引……………………………………………………………………IV 表索引……………………………………………………………………VI 第一章緒論…………………………………………………………1 1-1研究動機……………………………………………………1 1-2文獻回顧……………………………………………………2 1-3研究方法……………………………………………………3 1-4論文介紹……………………………………………………4 第二章系統簡介……………………………………………………5 2-1系統作業流程………………………………………………5 2-2系統硬體架構………………………………………………7 2-3系統軟體……………………………………………………13 2-3-0程式概觀……………………………………………………13 2-3-1影像資料來源………………………………………………13 2-3-2二維及三維影像顯示………………………………………15 2-3-3影像處理……………………………………………………17 2-3-4量測工具……………………………………………………18 2-3-5手術規劃工具………………………………………………19 第三章方位校準……………………………………………………22 3-1方位校準定義………………………………………………22 3-2附加標記對應法……………………………………………23 3-3特徵點對應法………………………………………………24 3-4曲面對應法…………………………………………………25 3-4-1曲面對應法流程……………………………………………26 3-4-2特徵曲面搜尋………………………………………………28 3-4-3特徵曲面邊界點座標找尋…………………………………30 3-4-3-1 4-方向與8-方向邊界點追蹤法……………………………30 3-4-3-2 內插邊界點追蹤法…………………………………………31 3-4-4內插特徵曲面點座標………………………………………34 3-4-5差異函數最佳化……………………………………………35 第四章實驗結果與討論……………………………………………38 4-1頭骨模型實驗………………………………………………38 4-2膝蓋模型實驗………………………………………………44 4-3脊椎模型實驗………………………………………………49 4-4討論…………………………………………………………53 第五章結論…………………………………………………………54 參考文獻………………………………………………………………55

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