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醫學影像的進步造成了手術時型態的改變，微創手術已日漸受到重視，在現今注重降低手術後併發症以及加速病患術後復原時間，對於手術誤差要求越來越小的情況下，醫學影像導航系統的存在更是不可或缺的利器。雖然光學式導航較為流行，機械式導航系統仍有其優點：行動上限制較小(不須考慮攝影機位置)，應用較為靈活，可以自動定位。
本研究主要是以開發機械式手臂進行導航輔助手術，並運用MATLAB來進行人機介面開發，包含了手臂控制以及影像疊合，將由電腦斷層掃描得到的DICOM檔輸入3D
Slicer重建出三維影像，方便醫師做術前的手術導航與路線規劃，將重構出之三維影像與手臂座標系統疊合後，操作者可運用手臂定位出病灶位置，節省醫師找到患部的時間並使手術時能更加精準達到病灶。可利用此導航系統和頭形假體，讓醫學生和住院醫師練習腦室穿刺。
關鍵字: 機械式手臂導航系統、MATLAB、穿刺、3D Slicer
The progress of medical imaging has changed the discipline of
surgery. In order to minimize the error of surgical
localization, image guided navigation system is indispensable.
Although optical systems are more popular, the benefits of
robotic surgical navigation include less limitation
(line-of-sight not necessary) and possible automated
localization.
The main purpose of the study is to use robotic arm for surgical
navigation. We also use MATLAB GUI to develop an interface that
we can control the robotic arm and map the coordinate of image
and robotic arm. After we get the DICOM from Computed Tomograph,
we load them into 3D Slicer to build the 3-dimension image. Then
we map the image coordinate with robotic arm coordinate. It will
help surgeons perform surgical planning (target, entry, and
path). Automated localization of the lesion by robotic arm will
save the localization time while improving the precision. We
will let medical students and residents practice “ventricular
puncture” on phantom using the robotic navigation system.
Keyword: robotic navigation system, MATLAB, ventricular
puncture, 3D Slicer
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