基于虚拟现实的计算机辅助立体定向神经外科手术系统

介绍了一个计算机辅助立体定向神经外科手术系统，该系统基于实时可视化绘制、机器人和虚拟现实技术，辅助医生完成立体定向神经外科手术，系统首先利用患者脑部的扫描数据重构并绘制出患者脑部的三维组织结构，为医生调整和确定手术规划提供参照。系统采用了标记点的校准方法，在手术前和手术中分别进行脑部模型和患者的坐标校准。通过机械臂的导航，使机械壁达到了手术规划规定的位置和姿态，医生利用安装在机械臂上的手术器械完成

VR Based Computer Assisted Stereotactic Neurosurgery System

A new computer assisted stereotactic neurosurgery system is presented in this paper. Using visualization technology and the data obtained from the scanned images, the system reconstructs and displays the 3D model of the brain structure of the patient in the computer. After the surgeons make the surgery planning on the model in the computer, Marker registration is used to create the mapping between the actual head of the patient and the 3D brain model reconstructed in the computer. A robot arm is used as a navigator to locate the pre defined incisive site and the orientation of incisive route during the operation. When the robot arm locates at the pre defined site on the patient's head, various medical instruments will be installed on the tip of the robot arm. Surgeon can use these medical instruments to implement the frameless stereotactic neurosurgery successfully. This system also can be used to teach and train new surgeon in the virtual reality environment.