MRI醫學影像分析與電腦輔助醫療系統開發;Analysis of MRI Image and Development for Computer Aided Surgery System

[[abstract]]本研究針對MRI影像進行組織萃取並建立其三維模型，透過該三維模型建立電腦輔助系統，使醫師得以於脊椎手術中，利用該系統進行手術規劃，並將規劃完成之手術路徑傳送至機械手臂，使機械手臂輔助醫師進行手術。而在機械手臂驗證部分則會製作假體脊椎模型進行驗證規劃，並利用相機影像擷取系統使假體脊椎模型與機械手臂系統進行連結。在研究中，主要是針對脊椎周遭組織進行建模，因此首先需針對MRI影像進行主動式輪廓運算，圈選出目標組織，並分析輪廓內之像素點資訊位置，接著將點資訊利用等值面提取建構出實際之三維模型，並設計應用於脊椎手術之電腦輔助系統，使醫師可以於系統中，按照步驟規劃手術路徑，並將手術路徑資訊傳送至機械手臂系統，使之移動至目標位置以輔助醫師進行手術。而實驗驗證部分，由於市售假體模型無法拍攝MRI影像，因此將製作一3D列印假體脊椎模型並拍攝MRI影像，透過該影像進行三維建模，並規劃以座標標記點與相機影像擷取系統為溝通媒介，並使機械手臂移動至目標位置之手術流程。 This purpose of this study was extracting spinal tissue from magnetic resonance imaging(MRI), reconstruct the 3D model and design a computer aided system (CAS) that can provide surgeon with the preoperative planning and robot-guided positioning of path. The end effector of the 5DOF robot would be automatically positioned correctly to assist surgeon to perform an operation while obtaining the data of the path placement planed in CAS system. The reference marks need to be set on the dummy during MRI scan, and the image system is set up to establish the transformation between the two coordinates of the CAS system and 5DOF robot system.In practice, the extraction of MRI image will use the active contour model to extract tissue which we want(ex: spinal cord、artery、vein). The 3D reconstruction will use the iso-surface extraction to build up the 3D model. The dummy which we made was made by 3D printer and fill up the water and oil to make sure it will image in MRI image. In addition, the 5DOF robot system composes of the Delta robot with three translational DOF and RCM mechanism with two rotational DOF, and the RCM mechanism is installed on the end effector of the Delta robot