Full metadata record
DC Field | Value | Language |
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dc.contributor.advisor | Hong, Jae Seung | - |
dc.contributor.author | Jeon, Sang Seo | - |
dc.date.accessioned | 2017-05-10T08:50:40Z | - |
dc.date.available | 2016-05-18T00:00:00Z | - |
dc.date.issued | 2014 | - |
dc.identifier.uri | http://dgist.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002262555 | en_US |
dc.identifier.uri | http://hdl.handle.net/20.500.11750/1362 | - |
dc.description.abstract | Epiduroscopy (EDS) is an emerging branch of less invasive treatment of chronic back pain and lumber herniated intervertebral disc disease. However, the EDS leads to X-ray radiation exposure and contrast agent-induced nephrotoxicity, since it is usually performed under the guidance of fluoroscopy. In this regard, We propose a new surgical navigation system for the EDS, which uses an electromagnetic tracking system (EMTS) and an optical tracking system (OTS) in a complementary way to compensate for inherent tacking inaccuracy of the EMTS and finally improve the navigation accuracy. The proposed system aims at replacing the conventional fluoroscopy to reduce the radiation doses and providing 3D visual information to help sur-geons more easily understand the surgical situation. For further improvement in the navigation accuracy of the proposed system, correction for magnetic field distortion based on the polynomial fitting technique are also studied. The phantom experiments were performed to quantitatively evaluate the accuracy of the pro-posed system and qualitative assessment was also performed with clinical application of the system over 14 patients. ⓒ 2014 DGIST | - |
dc.description.tableofcontents | Ⅰ. Introduction -- 1.1 Brief Anatomy of the Spine and vertebrae 1 -- 1.2 Conventional procedure: its limitations and related research 3 -- 1.3 Goal of the Thesis 7 -- 1.4 Thesis Outline 8 -- Ⅱ. Surgical Navigation System for Epidurosopic Procedure -- 2.1 Basics 9 -- 2.1.1 Surgical Navigation 9 -- 2.1.2 Tracking Modality 10 -- 2.1.3 Imaging Modality 14 -- 2.2 EMTS-based Navigation System 17 -- 2.3 Hybrid Navigation System 25 -- 2.3.1 Tracker Calibration between Tracking Systems 26 -- 2.3.2 Patient-to-Image Registration 29 -- 2.4 Compensation of Error from Electromagnetic Field Distortion 31 -- 2.4.1 Definition of Error 32 -- 2.4.2 Data Acquisition 33 -- 2.4.3 Error Modeling 34 -- 2.4.4 Real-time Measurement Compensation 37 -- 2.5 Development of Navigation Software 38 -- 2.5.1 Functionality 38 -- 2.5.2 Implementation Procedure 42 -- Ⅲ. Experiments -- 3.1 Experiment 1: Evaluation and Compensation of Error Field 43 -- 3.2 Experiment 2: Evaluation of Registration Accuracy 45 -- Ⅳ. Experimental Results -- 4.1 Evaluation and Compensation of Error Field 47 -- 4.2 Evaluation of Registration Accuracy 50 -- Ⅴ. Clinical Application -- 5.1 Epiduroscopic Laser Neural Decompression (ELND) 51 -- 5.2 Navigation-Guided ELND 52 -- 5.2.1 Preoperative Preparations 52 -- 5.2.2 Intraoperative Set-up for ELND Navigation 58 -- 5.2.3 Catheter Insertion under Guidance of Navigation 62 -- 5.2.4 Discussion on Clinical Application 63 -- Ⅵ. Discussions 65 -- Ⅶ. Conclusions 66 |
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dc.format.extent | 66 | - |
dc.language | eng | - |
dc.publisher | DGIST | - |
dc.subject | Epiduroscopy | - |
dc.subject | Surgical Navigation | - |
dc.subject | Magnetic Field Distortion | - |
dc.subject | Calibration | - |
dc.subject | Registration | - |
dc.subject | 경막외강 내시경술 | - |
dc.subject | 수술 내비게이션 | - |
dc.subject | 자기장 왜곡 | - |
dc.subject | 캘리브레이션 | - |
dc.subject | 좌표계 정합 | - |
dc.title | Development of Surgical Navigation System for Less Invasive Therapy of Intervertebral Disk Disease | - |
dc.title.alternative | 경막외강 내시경술 지원 수술 내비게이션 시스템의 개발 | - |
dc.type | Thesis | - |
dc.identifier.doi | 10.22677/thesis.2262555 | - |
dc.description.alternativeAbstract | 경막외강 내시경술은 만성 요통을 수반하는 요추간판탈출 질환에 대한 최소 침습적 치료 시술로써 각광 받고 있다. 하지만 경막외강 내시경술 시술 시 형광투시영상을 사용하여 체강 내 삽입된 카테터의 위치를 확인하기 때문에 방사선 피폭 및 조영제 투여로 인한 부작용을 겪는다는 한계점이 있다. 이에 본 논문에서는 형광투시영상의 대체 및 시술상황의 보다 나은 이해를 돕는 3차원 시각정보의 제공을 목표로 하는 경막외강 내시경술 지원 수술 내비게이션 시스템을 제안한다. 제안된 시스템은 광학식 위치추적장치와 자기장 기반 위치추적장치를 상호보완적으로 함께 사용함으로써 자기장 기반 위치추적장치에 내재하는 낮은 정확도 및 자기장 왜곡에 의한 위치 측정 오차를 보상하고, 제안된 시스템의 내비게이션 정확도를 더욱 향상시키기 위해 다항식 근사에 기반한 자기장 왜곡 보정 방법 또한 적용하였다. 모형 실험을 통해 제안된 시스템의 정확도를 정량적으로 평가하였고, 14회에 걸친 임상 응용을 통해 집도의에 의한 정성적인 평가 또한 이루어졌다. ⓒ 2014 DGIST | - |
dc.description.degree | Master | - |
dc.contributor.department | Robotics Engineering | - |
dc.contributor.coadvisor | Kim, Min Young | - |
dc.date.awarded | 2014. 2 | - |
dc.publisher.location | Daegu | - |
dc.description.database | dCollection | - |
dc.date.accepted | 2016-05-18 | - |
dc.contributor.alternativeDepartment | 대학원 로봇공학전공 | - |
dc.contributor.affiliatedAuthor | Jeon, Sang Seo | - |
dc.contributor.affiliatedAuthor | Hong, Jae Seung | - |
dc.contributor.alternativeName | 전상서 | - |
dc.contributor.alternativeName | 홍재승 | - |
dc.contributor.alternativeName | 김민영 | - |