中文摘要：

热消融技术已成为肿瘤治疗的重要手段之一,影像导航是热消融治疗精确定位的必要保证.本文就近年来国内外关于肿瘤热消融治疗中影像导航关键技术的研究进展进行综述,主要包括多模态影像配准与融合技术、电磁/光学跟踪技术、导航系统和消融机器人技术.多模态影像配准技术的未来发展方向是精度高、鲁棒性好、速度快、全自动的非刚性配准,而定位精度更高、作用范围更广的电磁跟踪将是肿瘤热消融影像导航中跟踪系统的发展方向.商业化电磁/光学跟踪系统和导航系统主要为国外厂商垄断,国内需加大研究力度,争取自主研发出具有竞争力的产品.国内对消融机器人系统的研究已具备一定基础,下一步需提高精度和安全性,争取早日应用于临床.

英文摘要：

Thermal ablation technique has become an important means for tumor treatment. Image navigation is an indispensable guarantee for accurate targeting of thermal ablation therapies. In this paper, the recent advances in image navigation techniques for tumor thermal ablation are reviewed and discussed, including multimodality image registration and fusion techniques, electromagnetic/optical tracking techniques, navigation systems, and ablation robot techniques. The future developments of multi-modality registration are high-precision, robust, fast, automatic, and non-rigid. Electromagnetic tracking with higher precision and larger effective range are the future direction of tracking systems. Commercial electromagnetic/optical tracking systems and navigation systems have not been developed in China, so we hope that such systems will be produced in China in the future. Considerable works have been conducted for ablation robots in China, however, the precision and safety must be improved before clinical application.