（節(jié)選）外文翻譯--基于gpu的三維超聲手術(shù)導(dǎo)航系統(tǒng)光學(xué)定位追蹤的定位誤差評(píng)估（原文）

1、Int J CARS (2013) 8:379–393DOI 10.1007/s11548-012-0789-zORIGINAL ARTICLEPositioning error evaluation of GPU-based 3D ultrasound surgical navigation system for moving targets by using optical tracking systemIkuma Sato

2、83; Ryoichi NakamuraReceived: 6 February 2012 / Accepted: 29 July 2012 / Published online: 22 August 2012 © CARS 2012Abstract Purpose A near real-time three-dimensional (3D) ultra- sound navigation system has been d

3、eveloped for guiding sur- gery involving internal organs that move and change shape (e.g., abdominal surgery, fetal surgery). In practical applica- tions, significant errors arise between the actual navigation- image pos

4、itions depending on the time delay of the system. Therefore, the positioning error of the system relative to the target velocity was evaluated. Methods We developed a method for evaluating the posi- tioning error of a gr

5、aphics processing unit-based 3D ultra- sound surgical navigation system (with an optical tracking system) for moving targets. The effectiveness of this system was quantitatively evaluated in terms of its image process- i

6、ng runtime, target registration error (TRE), and positioning error for a moving target. The positioning error was evalu- ated for a phantom (with an optical tracking marker) moving at speeds of 5–25mm/s, and the navigati

7、on target was the center point of the phantom. The imaging range of the vol- ume data was set to the maximum angle and range of the ultrasound diagnostic system (update rate: 4Hz). Results The image processing runtime wa

8、s 27.43±4.80 ms, and the TRE was 1.50±0.28 mm. The positioning error was 4.24 ± 0.12mm for a target moving at a speed of 10mm/s and 5.36 ± 0.10 mm for one moving at 15mm/s.I. Sato Department of Media

9、Architecture, Faculty of System Information Science Engineering, Future University Hakodate, 116-2 Kamedanakano, Hakodate, Hokkaido 041-8655, JapanR. Nakamura (B ) Department of Medical System Engineering, Graduate Schoo

10、l of Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan e-mail: ryoichin@faculty.chiba-u.jpConclusion The effectiveness of an ultrasound navigation system was quantitatively evaluated by using

11、 the positioning error for a moving target. This navigation system demon- strated high calculation speed and positioning accuracy for a moving target. Therefore, it is suitable to guide the surgery of abdominal internal

12、organs (e.g., in fetal and abdominal surgeries) that move or change shape during breathing and surgical approaches.Keywords Surgical navigation · Image-guided · Ultrasound · GPU · CUDAIntroductionSurg

13、ical navigation systems are utilized in fields such as cranial nerve surgery, head and neck surgery, otorhinolar- yngology, and orthopedics. A popular strategy is to use such navigation systems for highly accurate and sa

14、fe sur- geries. These navigation systems guide surgical instruments by using preoperative medical image data of body parts. Recently, intraoperative medical image data have been used to enable navigation to tissues that

15、move and change shape during surgery (e.g., abdominal organs, blood vessels (BVs), tumors). Intraoperative images have been provided for real- time updates in systems based on X-ray fluoroscopy, ultra- sound, and magneti

16、c resonance (MR). Given that intraoperative images can be acquired at high speed and low cost, numerous image navigation systems and methods based on an ultrasound diagnostic system have been reported. These reports show

17、 that surgical navigation of abdominal organs can be realized effectively [1–6]. In one such system, the ultrasound probe is rotated at high speed, and a three-dimensional (3D) image is constructed from the acquired two-

18、dimensional (2D) ultrasound images123Int J CARS (2013) 8:379–393 381Fig. 1 System configuration for 3D ultrasound surgical navigation systemaccuracy due to the time delay of the system and the speed of a moving target.GP

19、U-based 3D ultrasound surgical navigation systemToachievetheobjectiveofdevelopingasystemtoenablenav- igation to internal organs (e.g., abdominal organs, WAFLES, fetal surgery) in near real-time, we developed a GPU-based

20、fast 3D ultrasound surgical navigation system. This system navigated surgical instruments by using 3D position data from an optical 3D tracking system and ultrasound volume data from the ultrasound diagnostic system. As

21、shown in Fig. 1, our system consists of an ultrasound diagnostic sys- tem (ProSound α7; Hitachi Aloka Medical, Ltd.) with a USB LAN adapter (UE-1000T-G2; Planex Communications Inc.), a 3D ultrasound probe consisting of a

22、 mechanical convex sec- tor (ASU-1010; Hitachi Aloka Medical, Ltd.), an optical 3D tracking system (Polaris Vicra; NDI Inc.), and a work station with GPUs. The work station consists of a CPU (Core i7- 950 Processor; Inte

23、l Corp.), a display GPU (GLADIAC GTX 580; ELSA Japan Inc.), a computational GPU (Tesla C2050; NVIDIA Corp.), a motor controller board (PCI-7414V; Inter- face Corp.), and an operating system (Windows 7 Profes- sional 64 b

24、it, Microsoft). The USB LAN adapter is used to transmit ultrasound volume data from the ultrasound diag- nostic system to the work station. The optical tracking marker is attached to the ultrasound probe, and the coordin

25、ate sys- tems for the optical tracking system, tracking marker of the ultrasound probe, and ultrasound image are integrated. In addition, the motor controller board controls the motor of an evaluation phantom.Our navigat

26、ion system provides useful information about the current position and orientation of a surgical instru- ment during surgery. The graphic user interface (GUI) of our navigation system was shown in Fig. 2. The GUI of the s

27、ystem consists of a tab of navigation function buttons as well as volume-rendering and cross-sectional images. The cross-sectional images consist of transverse (TRS), sagittal (SAG), and coronal (COR) images of the instr

28、uments. Our system can be used very easily; it is switched to the navi- gation mode only after the navigation start button is clicked (Fig. 2), and the system automatically adjusts to all reso- lutions of volume data. Mo

29、reover, the system can be used without registration to integrate the ultrasound probe and ultrasound image coordinate systems in advance during sur- gery. Below we describe how this navigation system helps guide surgical

30、 instruments by acquiring 3D ultrasound vol- umedataandprocessingguidingimagesbyusing3Dposition information. First, the system acquires ultrasound volume data includ- ing imaging parameters from the ultrasound diagnostic

31、 system by using TCP/IP. The volume data are transmitted immediately after data acquisition before the images are cal- culated and displayed in the ultrasound diagnostic system. The update rate of the ultrasound diagnost

32、ic system for 3D image displays ranged from about 0.3 to over 10Hz, depend- ing on the imaging parameters of the volume data. In addi- tion, volume data transfer is initiated automatically when the real-time 3D function

33、of the ultrasound diagnostic system is activated. Second, position information for the surgical instru- ments and that for the ultrasound probe are measured by the optical tracking system. The system then calcu- lates th