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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 陳永耀 | |
dc.contributor.author | Ming-Chun Ke | en |
dc.contributor.author | 柯名峻 | zh_TW |
dc.date.accessioned | 2021-06-16T10:16:46Z | - |
dc.date.available | 2018-08-26 | |
dc.date.copyright | 2013-08-26 | |
dc.date.issued | 2013 | |
dc.date.submitted | 2013-08-17 | |
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/60380 | - |
dc.description.abstract | 本論文致力於建立一套微創手術體內光學追蹤與超音波影像導引系統,此系統有三種功能,第一種功能為追蹤血管、腫瘤與器械端點,當器械切割面太過靠近血管或腫瘤時,系統能夠即時的提出警告,避免對血管或腫瘤造成傷害。第二種功能為利用擴增實境對內視鏡畫面進行超音波影像導引,令使用者可以更直觀的了解組織內部構造。第三種功能為超音波影像疊合,可於內視鏡畫面上利用多張超音波影像疊合出組織內部構造,提供更寬廣的影像導引視野。
本論文提出了體內光學追蹤架構,此架構有三項優點:無手術中電磁訊號所造成的干擾,有效的縮短光學追蹤的量測距離,並提供更簡單的座標系統以減少追蹤誤差。實驗證明,在163毫米的觀察距離下,體內光學追蹤可將器械追蹤與超音波探頭追蹤的誤差於降低於1毫米左右,此數值小於一般醫生在肝臟切除手術中保持的安全距離:20毫米,結果顯示新提出的體內光學追蹤架構具有相當良好的精確度。 | zh_TW |
dc.description.abstract | The aim of this thesis is to create an intracorporeal optical tracking and ultrasound image-guided system for assisting minimal invasive surgery. The system contains three functions. First function is tracking vessel, tumor and instruments. When blade of the instruments are too close to vessel or tumor, warning will be shown on the screen immediately. Second function is ultrasound image guidance with augmented reality, which allows surgeons have intuitive interpretation of organ structure. Third function is ultrasound image stitching. A stitching image is displayed in augmented endoscope screen for wider view of ultrasound image guidance. This three functions allow surgeons to lower the risk of minimal invasive surgery.
In this thesis, intracorporeal optical tracking is proposed. This approach contains three advantages: no electromagnetic interference, shorter observation distance and simpler coordinate system for less error. The experiments show that intracorporeal optical tracking can track instrument and ultrasound-detecting objects with error about 1 mm within 163 mm observation distance. These values are less than the maximal safe distance defined by surgeon: 20 mm in minimal invasive surgery. The experiments have shown a considerably good accuracy in instrument and ultrasound tracking. | en |
dc.description.provenance | Made available in DSpace on 2021-06-16T10:16:46Z (GMT). No. of bitstreams: 1 ntu-102-R00921059-1.pdf: 2188105 bytes, checksum: d20c3df8060d3ec4179813de85c2cd05 (MD5) Previous issue date: 2013 | en |
dc.description.tableofcontents | 誌謝 i
中文摘要 1 Abstract 2 List of Figures 8 List of Tables 12 Chapter 1 Introduction 14 1.1 Motivation and Problem Definition 15 1.2 Previous Work 17 1.3 Proposed Approach 19 1.4 Thesis Overview 24 Chapter 2 Previous Work 25 2.1 Extracorporeal Tracking Technology 26 2.1.1 Optical Tracking 26 2.1.2 Mechanical Arm 29 2.2 Intracorporeal Tracking Technology 31 2.2.1 Electromagnetic Tracking 31 2.3 Comparison and Summary 33 Chapter 3 Intracorporeal Optical Tracking 35 3.1 System Overview 36 3.2 Tracking Algorithm 40 3.3 Instrument Tracking 44 3.3.1 Accuracy Improvement 48 3.3.2 Relationship between Pointer Distance and Accuracy 49 3.3.3 Relationship between Observation Distance and Accuracy 50 3.3.4 Mean-valued Approach 51 3.3.5 Multi-featured Approach 52 3.3.6 Optimization of Line Fitting 53 3.3.7 Number of Markers 54 3.4 Ultrasound Guidance 55 3.4.1 System Architecture 56 3.4.2 Coordinate Transformation 57 3.4.3 Calibration 59 Chapter 4 Display and Warning 62 4.1 Augmented Realty 62 4.2 Ultrasound Image Stitching 64 4.3 Caution Area Estimation 65 Chapter 5 Experimental Results 66 5.1 Instrument Tracking 67 5.1.1 Experiment Setup 68 5.1.2 Pointer Distance and Accuracy 69 5.1.3 Observation Distance and Accuracy 74 5.1.4 Mean-valued Approach 79 5.1.5 Multi-featured Approach 84 5.1.6 Optimization of Line Fitting 89 5.1.7 Number of Markers and Accuracy 94 5.2 Ultrasound Guidance 99 5.2.1 Accuracy Experiment 99 5.3 Comparison 109 Chapter 6 Conclusions and Future Work 110 Appendixes 111 References 112 | |
dc.language.iso | en | |
dc.title | 體內光學追蹤與超音波影像導引應用於微創手術 | zh_TW |
dc.title | Intracorporeal Optical Tracking and Ultrasound Image Guidance for Minimal Invasive Sugery | en |
dc.type | Thesis | |
dc.date.schoolyear | 101-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 連豊力,顏家鈺,何明志,林文澧 | |
dc.subject.keyword | 體內光學追蹤,超音波影像導引,擴增實境,電磁干擾, | zh_TW |
dc.subject.keyword | Intracorporeal optical tracking,Ultrasound image guidance,Augmentedreality,Electromagnetic interference, | en |
dc.relation.page | 118 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2013-08-18 | |
dc.contributor.author-college | 電機資訊學院 | zh_TW |
dc.contributor.author-dept | 電機工程學研究所 | zh_TW |
顯示於系所單位: | 電機工程學系 |
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