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擴增實境應用於導航輔助脊椎植釘手術之研究 = = Study on th...

吳家榕

擴增實境應用於導航輔助脊椎植釘手術之研究 = = Study on the Application of Augmented Reality in Navigation-Assisted Spinal Pedicle Screw Placement Surgery /

Record Type:	Language materials, printed : Monograph/item
Title/Author:	擴增實境應用於導航輔助脊椎植釘手術之研究 =/ 吳家榕.
Reminder of title:	Study on the Application of Augmented Reality in Navigation-Assisted Spinal Pedicle Screw Placement Surgery /
remainder title:	Study on the Application of Augmented Reality in Navigation-Assisted Spinal Pedicle Screw Placement Surgery.
Author:	吳家榕
Published:	雲林縣 :國立虎尾科技大學 , : 民113.07.,
Description:	[9], 64面 :圖, 表 ; : 30公分.;
Notes:	指導教授: 王文騰.
Subject:	Microsoft Hololens 2. -
Online resource:	電子資源

擴增實境應用於導航輔助脊椎植釘手術之研究 = = Study on the Application of Augmented Reality in Navigation-Assisted Spinal Pedicle Screw Placement Surgery /
吳家榕

擴增實境應用於導航輔助脊椎植釘手術之研究 =Study on the Application of Augmented Reality in Navigation-Assisted Spinal Pedicle Screw Placement Surgery /Study on the Application of Augmented Reality in Navigation-Assisted Spinal Pedicle Screw Placement Surgery.吳家榕. - 初版. - 雲林縣 :國立虎尾科技大學 ,民113.07. - [9], 64面 :圖, 表 ;30公分.

指導教授: 王文騰.

碩士論文--國立虎尾科技大學機械與電腦輔助工程系碩士班.

含參考書目.

在現今醫療領域中，傳統的手術導航依賴於光學追蹤技術，此方式使醫生在手術中需多次轉移視線至外部顯示器，以獲取導航資訊。這一分散注意力的需求可能影響手術操作的精確性與直覺性。擴增實境(Augmented Reality，AR）技術的引入，則提供一種將數位資訊直接覆蓋於醫生視野的方法，改進傳統手術導航系統的局限。本研究利用Microsoft Hololens 2 頭戴式裝置實施三維空間的手術場景導航，透過Unity3D規劃三個場景：術前規劃、定位註冊及實時AR導航來進行脊椎植釘手術。術前規劃階段，醫生能夠在虛擬環境中擺放椎弓根釘，經過微調達到最佳位置。定位註冊階段，利用迭代最近點(Iterative Closest Point，ICP）進行虛擬和實體模型的重疊。實時AR導航階段，系統即時更新手術路徑，將規劃路徑顯示於醫生視野中，增強手術的直觀性與精確度。最後將掃描出的實體模型和虛擬模型使用Geomagic Studio軟體進行最佳擬合來計算椎弓根釘進入點與角度的誤差值。實驗結果顯示，使用本AR導航系統進行脊椎植釘手術，椎弓根釘進入點位置的平均誤差為2.16毫米，角度的平均誤差為6.13度。驗證後發現，主要誤差為QRcode的偵測精度不足及操作者的手部震動，為改善誤差值，本研究將手持骨鑽套筒改成使用機器臂扶持，重複三組實驗得到進入點的平均誤差為1.07毫米和角度的平均誤差為3.26度，精度有顯著提升，但角度誤差並未達到標準的2度內，未來將探討透過程式控制機器臂自動移動到手術導航路線，從而達到更高的手術導航精度。本研究證明AR結合三維視覺化工具和實時導航在提高手術直覺性和精確性方面的重要潛力，隨著技術的進一步發展和更廣泛的臨床應用，AR導航對於提升手術安全性和效率方面發揮關鍵作用。.

(平裝)Subjects--Topical Terms:

1453998
Microsoft Hololens 2.

擴增實境應用於導航輔助脊椎植釘手術之研究 = = Study on the Application of Augmented Reality in Navigation-Assisted Spinal Pedicle Screw Placement Surgery /
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246 1 1 $a Study on the Application of Augmented Reality in Navigation-Assisted Spinal Pedicle Screw Placement Surgery.
250 $a 初版.
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500 $a 指導教授: 王文騰.
500 $a 學年度: 112.
502 $a 碩士論文--國立虎尾科技大學機械與電腦輔助工程系碩士班.
504 $a 含參考書目.
520 3 $a 在現今醫療領域中，傳統的手術導航依賴於光學追蹤技術，此方式使醫生在手術中需多次轉移視線至外部顯示器，以獲取導航資訊。這一分散注意力的需求可能影響手術操作的精確性與直覺性。擴增實境(Augmented Reality，AR）技術的引入，則提供一種將數位資訊直接覆蓋於醫生視野的方法，改進傳統手術導航系統的局限。本研究利用Microsoft Hololens 2 頭戴式裝置實施三維空間的手術場景導航，透過Unity3D規劃三個場景：術前規劃、定位註冊及實時AR導航來進行脊椎植釘手術。術前規劃階段，醫生能夠在虛擬環境中擺放椎弓根釘，經過微調達到最佳位置。定位註冊階段，利用迭代最近點(Iterative Closest Point，ICP）進行虛擬和實體模型的重疊。實時AR導航階段，系統即時更新手術路徑，將規劃路徑顯示於醫生視野中，增強手術的直觀性與精確度。最後將掃描出的實體模型和虛擬模型使用Geomagic Studio軟體進行最佳擬合來計算椎弓根釘進入點與角度的誤差值。實驗結果顯示，使用本AR導航系統進行脊椎植釘手術，椎弓根釘進入點位置的平均誤差為2.16毫米，角度的平均誤差為6.13度。驗證後發現，主要誤差為QRcode的偵測精度不足及操作者的手部震動，為改善誤差值，本研究將手持骨鑽套筒改成使用機器臂扶持，重複三組實驗得到進入點的平均誤差為1.07毫米和角度的平均誤差為3.26度，精度有顯著提升，但角度誤差並未達到標準的2度內，未來將探討透過程式控制機器臂自動移動到手術導航路線，從而達到更高的手術導航精度。本研究證明AR結合三維視覺化工具和實時導航在提高手術直覺性和精確性方面的重要潛力，隨著技術的進一步發展和更廣泛的臨床應用，AR導航對於提升手術安全性和效率方面發揮關鍵作用。.
520 3 $a In the current medical field, traditional surgical navigation relies on optical tracking technology, which requires surgeons to frequently divert their gaze to an external monitor to access navigation information during surgery. This necessity to divert attention can affect the precision and intuitiveness of surgical operations. The introduction of Augmented Reality (AR) technology offers a method to overlay digital information directly onto the surgeon's field of view, improving the limitations of traditional surgical navigation systems. This study employs the Microsoft Hololens 2 head-mounted device to implement three-dimensional spatial navigation for spinal pedicle screw placement surgery, using Unity3D to plan three scenarios: preoperative planning, localization registration, and real-time AR navigation. During the preoperative planning phase, surgeons can place pedicle screws in a virtual environment and adjust them to optimal positions. In the localization registration phase, the virtual and physical models are aligned using the Iterative Closest Point (ICP) algorithm. In the real-time AR navigation phase, the system updates the surgical path in real-time, displaying the planned path within the surgeon’s view, enhancing both the intuitiveness and accuracy of the surgery. Finally, the physical and virtual models are optimally fitted using Geomagic Studio software to calculate the errors in the entry points and angles of the screws. Experimental results show that using this AR navigation system for spinal pedicle screw placement surgery, the average error in screw entry point location is 2.16mm, and the average error in angle is 6.13 degrees. It was found that the main sources of error were insufficient QR code detection accuracy and the operator's hand tremor. To improve accuracy, this study modified the handheld bone drill sleeve to be supported by a robotic arm, repeating three sets of experiments which resulted in an average error of 1.07mm in entry points and 3.26 degrees in angles, significantly enhancing precision. However, the angular error did not meet the standard within 2 degrees. Future studies will explore controlling the robotic arm automatically through software to move along the surgical navigation path, thereby achieving higher surgical navigation precision. This research demonstrates the significant potential of AR combined with three-dimensional visualization tools and real-time navigation in enhancing the intuitiveness and accuracy of surgeries. With further technological development and broader clinical applications, AR navigation is poised to play a crucial role in improving surgical safety and efficiency..
563 $a (平裝)
650 # 4 $a Microsoft Hololens 2. $3 1453998
650 # 4 $a Real-time Navigation. $3 1453997
650 # 4 $a Spinal Pedicle Screw Placement Surgery. $3 1453996
650 # 4 $a Augmented Reality. $3 997813
650 # 4 $a 實時導航. $3 1453995
650 # 4 $a 脊椎植釘手術 $3 1453994
650 # 4 $a 擴增實境. $3 997814
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