一种用于锁定髓内钉的图像导航方法

图像导航是将机器人用于长骨骨折内固定手术中的关键技术．本文首先使用了一种用于定义和改变图像局部对比度的相似性测量方法．避免了图像的过增强和欠增强，然后用局部法对X光图像进行畸变校正；并提出了一种基于几何模型的对准方法，得到一条能够穿过髓内钉远端孔的三维路径，从而引导串联机器人锁定髓内钉．实验结果表明，该方法能够提高图像质量，有足够的定位精度和稳定性，并可以大大减少手术所需时间，降低医生所受辐射剂量．

An Image-Guided Way for Intramedullary Nail Fixation

Image navigation is the important technology in locking intramedullary nails in long bone fracture therapies. This paper presents a homogeneity measurement and utilizes it to define and enhance the local contrast, which can pretreat X-ray images effectively without over-enhancement and underenhancement. After correcting the distortion of X-ray images, it proposes a targeting method based on a geometric model to get the 3-D path for guiding the series robot to lock the intramedullary nail. Experimental results indicate that this method can improve images quality, has enough positioning accuracy and stability, can dramatically decreases operating time and radiation dose.