進階搜尋


 
系統識別號 U0026-2308201616542600
論文名稱(中文) 發展三維超音波影像注射輔助系統
論文名稱(英文) Development of an Injection Assistant System with 3D Ultrasound
校院名稱 成功大學
系所名稱(中) 資訊工程學系
系所名稱(英) Institute of Computer Science and Information Engineering
學年度 104
學期 2
出版年 105
研究生(中文) 黃昱仁
研究生(英文) Yu-Ren Huang
學號 P76024685
學位類別 碩士
語文別 英文
論文頁數 65頁
口試委員 指導教授-王士豪
口試委員-袁炎偉
口試委員-藍崑展
口試委員-林奕勳
中文關鍵字 三維超音波影像  超音波引導注射  注射輔助系統 
英文關鍵字 three dimensional ultrasound images  ultrasound-guided injection  injection assistant system 
學科別分類
中文摘要 醫學上在進行經皮診斷或者治療(組織切片、靜脈注射、局部麻醉、導管植入、神經外科手術)時,都需要找到皮下目標,以便將針頭刺入至目標區域。例如靜脈注射或抽血時,通常需在病人手臂綁上止血帶加壓,以利於護理人員找到正確血管位置。但對於部分特殊情況的患者(皮下脂肪過厚、血管細小)來說,不僅會造成護理人員難以入針,更有可能對靜脈造成傷害(穿刺血管);且整個治療過程僅能仰賴護理人員的經驗,對於醫療機構來說,容易引起醫療糾紛。因此本研究希望透過超音波影像建立一套簡單、穩定、便宜且跨平台的引導針頭系統,以降低護理人員失誤的可能性。所以本研究提出一套結合以上特點的輔助系統,首先透過特別設計的超音波探頭夾具來結合不同的探頭,將以下感測器結合在夾具上:三軸加速器、電子羅盤、滑鼠光學測距感測器,取得影像空間資訊,將原始的二維超音波影像重建成三維影像。而旋轉感測器結合夾具上針頭插入的設計,取得當下入針角度,在影像上產生預測輔助線。而在各種資訊的整合上,本系統採用Arduino Nano整理所有空間的資訊,並透過藍芽的資訊傳遞減少線材對於護理人員操作的影響。最終系統開發的結果中,在傾斜角度的偵測上,平均都能達到1度內的角度差,最大的誤差不超過3度;在方位角偵測方面,由於誤差大於15度,因此需透過查表的方式,從計算出的值比對出最接近的方位角;在位移的偵測上,誤差會隨著量測距離累積,但只要超音波探頭移動的距離少於167毫米,偵測出的誤差就會小於1毫米;而針頭旋轉部份,旋轉感測器每22.5度可以分辨出,用來在三維空間產生一條輔助線,且定格住的齒輪讓針頭能夠被使用者穩定的刺入目標。本研究最大的貢獻在於提供了護理人員更安全、可靠的方法來進行注射,亦利用了低成本的方法,協助原本僅有二維影像的超音波系統,進一步產生三維影像以利於各種研究及醫療面相。對於本身便擁有超音波系統的許多醫療、研究機構,透過本研究開發的系統,能使用極為具有效益的投資以提升設備的價值;而對於教育機構而言,本研究更是能降低初學者在進行練習時,對於練習目標所造成的傷害。
英文摘要 Percutaneous diagnosis and local therapies are implemented in many modern clinical practices (biopsies, intravenous injection, regional anesthesia, catheter insertion, neurosurgery). Medical personnel should use thin tubular devices to inject deep into soft tissue. Taking intravenous injection or blood withdraw as an example, they are frequently employed by tiring down the patient’s arm with a tourniquet so the medical personnel can easily find the vessel before injection. Under some special conditions like thick subcutaneous fat or small vessel, they not only increase the difficulty of inserting needle but also have the possibility of puncturing the vessel. For medical institutions, it’s likely to cause medical disputes because all these treatment procedures are depending on nurses’ experiences. As a result, this research attempts to reduce the probability of mistakes by developing an easy, stable, cheap and cross-platform ultrasound-guided needle system. Combined with all the features, this research built a supporting system for existing ultrasound systems. First of all, a probe holder that could fit the linear probes and put sensors on the holder was designed. Optical mouse sensor, 3-axis accelerometer and compass sensor were used for collecting space information so that 3D ultrasound images could be reconstructed from original 2D images. Besides, the rotation sensor was connected with inserting part of the holder to immediately transmit the injection angle to processing software that shows predicted injecting-line. Second, a cross-platform software was written by java language for showing 3D images, guiding line and analyzing the injection point. In this system, Arduino Nano was used to process space information and transmit to computer through Bluetooth. With gathering space information in this research, the mean error of tilt angle sensing was less than 1° and the highest error was not more than 3°. Error of azimuth was larger than 15°, but it could be compensated by a looked up table for each degree in space. Error of movement was less than 1mm when the total moving distance of probe is less than 167mm. The 3D printed probe holder could be combined with probe and Arduino platform firmly. The guided path could be generated each 22.5° which was recognized by rotation sensor and the injected part can be fixed by gear in rotation sensor to give a stable injection. The contribution of this research is providing a safer and more reliable way to employ injection also helps to improve the 2D ultrasound image system for reconstructing 3D images by a low-cost condition. For the entire medical or research organizations, using the result of this research is really a cost-effective investment to upgrade their existing ultrasound system. For the educational institutions, beginners can reduce the mistake when they practice injection to their partners.
論文目次 論文口試委員審定書(中文) I
論文口試委員審定書(英文) II
摘要 III
ABSTRACT IV
誌謝 VI
TABLE OF CONTENTS VII
LIST OF TABLE X
LIST OF FIGURE XI
CHAPTER 1. INTRODUCTION 1
1.1 BACKGROUND 1
1.2 LITERATURES REVIEW 2
1.2.1 Search needle position 2
1.2.2 Guide needle with suggesting path 6
1.2.3 Gather space information to construct 3D ultrasound 9
1.3 MOTIVATION AND OBJECTIVES 10
CHAPTER 2. THEORETICAL BACKGROUND 12
2.1 FUNDAMENTALS OF ULTRASOUND 12
2.1.1 Fundamentals of acoustic propagation 12
2.1.2 Reflection and refraction 13
2.2 3D PRINTER 15
2.3 SENSORS AND INTEGRATED CIRCUITS IN ARDUINO 18
2.3.1 Introduction of Arduino 18
2.3.2 Arduino Nano 19
2.3.3 Arduino serial port 19
2.3.4 I2C communication 20
2.3.5 Optical mouse sensor and SPI protocol 21
CHAPTER 3. MATERIALS AND METHODS 25
3.1 SYSTEM STRUCTURE 25
3.2 ICS MEASUREMENT 27
3.2.1 Accelerometer 27
3.2.2 Digital Compass IC 31
3.2.3 Optical Mouse Sensor 36
3.2.4 Rotation sensor 38
3.2.5 Bluetooth 39
3.3 HOLDER 40
3.4 SOFTWARE WORKING FLOW 43
3.4.1 Choose Image Source 43
3.4.2 Initialize Sensors and Create 3D space 44
CHAPTER 4. RESULTS AND DISCUSSION 45
4.1 ICS CALIBRATION 45
4.1.1 Tilt Angle Calibration 45
4.1.2 Azimuth Calibration 47
4.1.3 Movement Calibration 50
4.2 FINISHED HOLDER 52
4.3 SOFTWARE 54
4.4 DISCUSSION 56
CHAPTER 5. CONCLUSIONS AND FUTURE WORKS 58
5.1 CONCLUSIONS 58
5.2 SUGGESTIONS FOR FUTURE WORKS 60
REFERENCE 61
參考文獻 [1] N. Abolhassani, R. Patel, and M. Moallem, "Needle insertion into soft tissue: A survey," Medical engineering & physics, vol. 29, pp. 413-431, 2007.
[2] D. Davidson, D. G. Bostwick, J. Qian, P. C. Wollan, J. E. Oesterling, R. A. Rudders, et al., "Prostatic intraepithelial neoplasia is risk factor for Adenocarcinoma: Predictive Accuracy in Needle Biopsies," The Journal of urology, vol. 154, pp. 1295-1299, Oct 1995.
[3] I. J. Fidler, "Therapy of spontaneous metastases by intravenous injection of liposomes containing lymphokines," Science, vol. 208, pp. 1469-1471, Jun 27 1980.
[4] R. Brull, C. J. McCartney, V. W. Chan, and H. El-Beheiry, "Neurological complications after regional anesthesia: contemporary estimates of risk," Anesthesia & Analgesia, vol. 104, pp. 965-974, Apr 2007.
[5] J. H. Barsuk, W. C. McGaghie, E. R. Cohen, K. J. O’Leary, and D. B. Wayne, "Simulation-based mastery learning reduces complications during central venous catheter insertion in a medical intensive care unit," Crit Care Med, vol. 37, pp. 2697-2701, Oct 2009.
[6] N. J. Hopf and A. Perneczky, "Endoscopic neurosurgery and endoscope-assisted microneurosurgery for the treatment of intracranial cysts," Neurosurgery, vol. 43, pp. 1330-1336, Dec 1998.
[7] M. A. Huntoon, "Anatomy of the cervical intervertebral foramina: vulnerable arteries and ischemic neurologic injuries after transforaminal epidural injections," Pain, vol. 117, pp. 104-111, Sep 2005.
[8] T. R. Porter and F. Xie, "Transient myocardial contrast after initial exposure to diagnostic ultrasound pressures with minute doses of intravenously injected microbubbles demonstration and potential mechanisms," Circulation, vol. 92, pp. 2391-2395, Nov 1 1995.
[9] B. Fornage, J. Coan, and C. David, "Ultrasound-guided needle biopsy of the breast and other interventional procedures," Radiologic Clinics Of North America, vol. 30, p. 167, 1992.
[10] M. J. Barrington, D. M. Wong, B. Slater, J. J. Ivanusic, and M. Ovens, "Ultrasound-guided regional anesthesia: how much practice do novices require before achieving competency in ultrasound needle visualization using a cadaver model," Regional anesthesia and pain medicine, vol. 37, pp. 334-339, 2012.
[11] B. D. Sites, R. Brull, V. W. Chan, B. C. Spence, J. Gallagher, M. L. Beach, et al., "Artifacts and pitfall errors associated with ultrasound‐guided regional anesthesia. Part I: understanding the basic principles of ultrasound physics and machine operations," Regional anesthesia and pain medicine, vol. 32, pp. 412-418, Sep-Oct 2007.
[12] Z.-j. Liu, "Development of an ultrasound image-based platform for guiding intravenous injection," Institute of Computer Science and Information Engineering, National Cheng Kung University, 2015.
[13] S. Khosravi, R. Rohling, and P. Lawrence, "One-step Needle Pose Estimation for Ultrasound Guided Biopsies," Conf Proc IEEE Eng Med Biol Soc, vol. 2007, pp. 3343-6, 2007.
[14] M. Najafi, P. Abolmaesumi, and R. Rohling, "Single-Camera Closed-Form Real-Time Needle Tracking for Ultrasound-Guided Needle Insertion," Ultrasound Med Biol, vol. 41, pp. 2663-2676, Oct 2015.
[15] D. Magee, Y. Zhu, R. Ratnalingam, P. Gardner, and D. Kessel, "An augmented reality simulator for ultrasound guided needle placement training," Medical & biological engineering & computing, vol. 45, pp. 957-967, Oct 2007.
[16] P. Marhofer and V. W. Chan, "Ultrasound-guided regional anesthesia: current concepts and future trends," Anesthesia & Analgesia, vol. 104, pp. 1265-1269, May 2007.
[17] P. J. Stolka, P. Foroughi, M. Rendina, C. R. Weiss, G. D. Hager, and E. M. Boctor, "Needle Guidance Using Handheld Stereo Vision and Projection for Ultrasound-Based Interventions," 2014.
[18] (2012). Medical Feather Makes IV Injection Easy and Painless. Available: http://www.tuvie.com/medical-feather-makes-iv-injection-easy-and-painless/
[19] J. Gadsden, M. Latmore, and D. M. Levine, "Evaluation of the eZono 4000 with eZGuide for ultrasound-guided procedures," Expert Review of Medical Devices, vol. 12, pp. 251-261, May 2015.
[20] A. M. Goldsmith, P. C. Pedersen, and T. L. Szabo, "An Inertial-Optical Tracking System for Portable, Quantitative, 3D Ultrasound," 2008 IEEE Ultrasonics Symposium, pp. 45 - 49, 2008.
[21] K. Palmer, D. Alelyunas, C. McCann, K. Yoshimitsu, T. Kato, S.-E. Song, et al., "Development and evaluation of optical needle depth sensor for percutaneous diagnosis and therapies," in SPIE Medical Imaging, 2014, pp. 90362M-90362M-7.
[22] P. J. Stolka, H.-J. Kang, M. Choti, and E. M. Boctor, "Multi-DoF Probe Trajectory Reconstruction with Local Sensors for 2D-to-3D Ultrasound," 2010 IEEE International Symposium on Biomedical Imaging: From Nano to Macro, pp. 316 - 319, 2010.
[23] S.-Y. Sun, M. Gilbertson, and B. W. Anthony, "Computer-guided ultrasound probe realignment by optical tracking," in 2013 IEEE 10th International Symposium on Biomedical Imaging, 2013, pp. 21-24.
[24] K. K. Shung and G. A. Thieme, Ultrasonic scattering in biological tissues: CRC Press, 1992.
[25] S. Vinodh, G. Sundararaj, S. Devadasan, D. Kuttalingam, and D. Rajanayagam, "Agility through rapid prototyping technology in a manufacturing environment using a 3D printer," Journal of Manufacturing Technology Management, vol. 20, pp. 1023-1041, 2009.
[26] R.F. (2014, 3D印表機的7大成型技術,材質與固化方式你知道多少? Available: http://www.techbang.com/posts/18161-3d-printer-technology-talk
[27] Arduino. (2016). What is Arduino? Available: https://www.arduino.cc/en
[28] P. Semiconductors, "The I2C-bus specification," Philips Semiconductors, vol. 9397, p. 00954, 2000.
[29] MIKEGRUSIN. Serial Peripheral Interface (SPI). Available: https://learn.sparkfun.com/tutorials/serial-peripheral-interface-spi
[30] byteparadigm. Introduction to I²C and SPI protocols. Available: http://www.byteparadigm.com/applications/introduction-to-i2c-and-spi-protocols/
[31] Arduino. Arduino Nano 3.0 Datasheet. Available: https://www.arduino.cc/en/Main/ArduinoBoardNano
[32] A. Einstein, Relativity: The special and the general theory: Princeton University Press, 2015.
[33] Analog Devices, "3-Axis, ±2 g/±4 g/±8 g/±16 g Digital Accelerometer " ADXL345 datasheet, 2015. Available: http://www.analog.com/media/en/technical-documentation/data-sheets/ADXL345.pdf
[34] K. Tuck, "Tilt sensing using linear accelerometers," Freescale Semiconductor Application Note AN3107, 2007.
[35] Honeywell, "3-Axis Digital Compass IC " HMC5883L datasheet, February. 2013. Available: https://cdn-shop.adafruit.com/datasheets/HMC5883L_3-Axis_Digital_Compass_IC.pdf
[36] M. J. Caruso, "Applications of Magnetoresistive Sensors in Navigation Systems," SAE Technical Paper, 1997.
[37] T. Ozyagcilar, "Calibrating an ecompass in the presence of hard and soft-iron interference," Freescale Semiconductor Ltd, 2012.
[38] seraphim. 加速度感測器與電子羅盤的原理介紹. Available: http://www.seraphim.com.tw/upfiles/c_supports01328152963.pdf
[39] Magnetic-Declination.com. Magnetic declination in Tainan, Taiwan. Available: http://www.magnetic-declination.com/Taiwan/Tainan/2654800.html
[40] T. Ng, "The optical mouse as a two-dimensional displacement sensor," Sensors and Actuators A: Physical, vol. 107, pp. 21-25, 2003.
[41] J. Palacin, I. Valganon, and R. Pernia, "The optical mouse for indoor mobile robot odometry measurement," Sensors and Actuators A: Physical, vol. 126, pp. 141-147, 2006.
[42] X. Yin, S. Guo, and X. Ma, "Motion characteristic evaluation of a catheter operating system using an optical mouse sensor," in 2013 IEEE International Conference on Mechatronics and Automation, 2013, pp. 979-984.
[43] PixArt Imaging Inc., "PMW3360DM‐T2QU: Optical Gaming Navigation Sensor," PMW3360DM‐T2QU: Optical Gaming Navigation Sensor, 17 March. 2015.
[44] D. Zheng, S. Zhang, S. Wang, C. Hu, and X. Zhao, "A capacitive rotary encoder based on quadrature modulation and demodulation," IEEE Transactions on Instrumentation and Measurement, vol. 64, pp. 143-153, 2015.
[45] waveshare. Rotation Sensor 用户手册. Available: http://www.waveshare.net/wiki/Rotation_Sensor
[46] J.-H. Kim, S.-C. Lee, B.-G. Lee, and W.-Y. Chung, "Mobile healthcare system based on bluetooth medical device," Journal of Sensor Science and Technology, vol. 21, pp. 241-248, 2012.
[47] Electronica 60 Norte, "BLUETOOTH TO SERIAL PORT MODULE HC05," HC05 datasheet, Available: http://www.electronica60norte.com/mwfls/pdf/newBluetooth.pdf
[48] Terason, "Terason Streaming RF Data Reference," March. 2004.
[49] Terason, "Terason Server SDK User Guide," March. 2007.
[50] Terason, "Terason Ultrasound COM Automation and Streaming Video Reference," March. 2007.
[51] clay_shooter, "JACOB - Java COM Bridge," in Software Development, 2.0 ed, 2015.
[52] Java.net, " Java 3DTM," 1.5.2 ed, 2014.

論文全文使用權限
  • 同意授權校內瀏覽/列印電子全文服務,於2020-08-24起公開。
  • 同意授權校外瀏覽/列印電子全文服務,於2020-08-24起公開。


  • 如您有疑問,請聯絡圖書館
    聯絡電話:(06)2757575#65773
    聯絡E-mail:etds@email.ncku.edu.tw