柔性惯性传感器的制备与在颅内血肿穿刺导航系统的应用

据统计，全球出血性脑卒中的发病率约为10-30人每10万人，出血性脑卒中的死亡率通常在30%到50%之间。常见的治疗方案是进行颅内血肿穿刺手术。随着科技的发展，现有的穿刺手术辅助导航系统有立体定向导航、电磁导航和光学导航。但是这些导航系统容易受到环境中光学、电磁的干扰导致定位误差，而且操作复杂。在本文中，我们制备了一种基于柔性基底的惯性传感器，并且研发了一种使用两个柔性惯性传感器和病人头颅CT影像，对颅内血肿穿刺手术进行导航的方法。该方法不受环境中光线、电磁的干扰，而且使用惯性传感器追踪病人头部姿态，不需要通过打骨钉将病人头颅固定。该方法的原理是当病人头部发生移动时，头部柔性惯性传感器获得补偿角度，与CT影像获得的规划路径结合，确定穿刺路径。手术针上的柔性惯性传感器用来追踪手术针的实时姿态信息，通过调整手术针的姿态与规划路径一致，来实现穿刺手术导航功能。实验中首先使用Madgwick算法对柔性惯性传感器的姿态进行解算，接着通过5组实验对两个惯性传感器的角度变化进行一致性分析，实验结果表明两个惯性传感器之间的角度误差在1°以内，证明了两个惯性传感器具有高度一致性。然后在颅骨模型上进行了5组模拟穿刺实验，实验结果表明，在穿刺过程中的角度误差平均值不超过1°，均方根误差不超过0.7°。证明了该系统在颅内血肿穿刺手术上具有巨大的应用潜力。

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