本研究開發一套可應用於術中脊椎椎足鑽孔導航系統，藉由兩張X光影像，並結合現有手術器械，開發獨特的系統註冊方法，讓醫師可於術中即時利用導引針進行導航。
銜接研究室學長所開發機械式脊椎椎足鑽孔訓練系統[1-2]，應用於脊椎椎足骨釘植入路徑的空間感訓練，本論文承續並擴展其方法，以手術房之G-arm作為影像來源，開發術中可用導航系統。光學導航採用現有商業化光學式追蹤系統(MicronTracker)，設計追蹤用標記物與X光影像建立關聯，開發術中快速註冊方法。
整體系統誤差平均值為1.77 mm，目前以人工假骨實作，做為測試基準在手術房中進行，根據專業醫師在人工假骨當中認可之植入路徑，即時進行追蹤與比對，根據比對結果討論誤差來源與可能改良方法，提升未來系統精度應用於術中導航的參考。

In this dissertation, we have developed a navigation system for pedicle screw implantation in spinal surgery. Two orthogonal X-ray images are taken as image source. A specific registration method is designed to integrate the existing surgical instruments in order to trace the navigation guide pin during the operation. Based on the predecessor’s pedicle screw insertion training system developed in our lab, the procedure can be transformed into a navigation system that can be used in the operation room.
The X-ray image is taken from G-arm, which is the medical imaging equipment that can simultaneously take two orthogonal pictures. The images are transferred to our navigation system using the PACS system by the freeware K-PACS.
MicronTracker is an optical tracking system used in this research. It provides multiple pattern design of the markers, our specific registration method is also an extension of the marker sketch.
Sawbones are used as a test bed of our system. The accuracy of the developed system is 1.77 mm. To solve the causes of system inaccuracy will make the system in surgical use more stable in the future.

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