CN101797182A - Nasal endoscope minimally invasive operation navigating system based on augmented reality technique - Google Patents
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Abstract
The invention relates to a nasal endoscope minimally invasive operation navigating system based on an augmented reality technique, comprising an infrared tracking camera, a three-dimensional scanner, a three-dimensional stereoscopic display, which are respectively connected with a computer, and a nasal endoscope which is connected with the three-dimensional stereoscopic display. Patient encephalic organization and a three-dimensional model of blood vessel and face skin are rebuilt by the computer; then, a first transition matrix of a three-dimensional scanner coordinate system and an infrared tracking camera coordinate system is multiplied by a second transition matrix of a three-dimensional scanner coordinate system and a three-dimensional model coordinate system of the face skin, the obtained result is multiplied by a third real time data of the position and the posture of the nasal endoscope which is obtained by the infrared tracking camera, a three-dimensional model image which is corresponding to an image which is captured by the nasal endoscope is real time rendered through the computer by the obtained data, and the image is real time overlapped with the image which is captured by the nasal endoscope and is displayed on the three-dimensional stereoscopic display, thereby realizing the blending of true and false images.
Description
Invention field
Patent of the present invention relates to a kind of nasal endoscope minimally invasive operation navigating system, especially a kind of nasal endoscope minimally invasive operation navigating system based on the augmented reality technology.
Technical background
Inflammation, dacryocystisis are commonly encountered diseases, frequently-occurring disease in nasal cavity, the nasal sinuses, and nasal cavity, nasal sinuses and basis cranii pathological changes sickness rate also constantly rise.The development of scope Wicresoft sinus surgery technology has made traditional nasal cavity, operation on nasal sinus mode that basic variation has taken place, under the scope advantage of operation on nasal sinus be throw light on, the visual angle is wide, get a clear view, wound is little, help the function of nasal cavity, nasal sinuses to keep and recover.Nasal cavity, operation on nasal sinus extensively carries out the cure rate that has improved nasal polyp, chronic sinusitis greatly under the scope, the maturation of this technology has made range of operation be extended to the operation of basis cranii and nose, eye relevant disease, as preceding, in and excision, cerebrospinal rhinorrhea kposthesis and the via intranasal application optic nerve decompression or the like of tumor at the bottom of the part laterocranium, embodied more its surgical approach directly, advantages such as simple, broad view and Wicresoft.
The intranasal videoendoscopic surgery has changed some traditional operation paths, transfer a large amount of " open " operation methods to " Wicresoft " operation method, reached the outer same range of operation of approach of nose, avoided simultaneously in the operative approach facial skin, soft tissue and bone structural damage.But owing to nasal sinuses, basis cranii anatomical structure complexity, the visual field is narrow and small, there are numerous cranial nerves and trunk to walk on every side, expansion along with this type of operation range of application, the operating difficulty and big the increasing that have a big risk, the diplopia that the scope operation on nasal sinus caused, blind, cerebrospinal leak and mortality massive hemorrhage etc. happen occasionally.Experienced doctor needs the training of thousands of example operations more.How to reduce the difficulty of operation, the generation of prevention and minimizing endoscopic surgery complication, standard and acceleration specialist's cultivation is a major issue that faces at present.
For overcoming the problem of location difficulty in the intranasal videoendoscopic surgery, area of computer aided image navigation technology is introduced into intranasal mirror surgical field.Its operation principle is that patient CT (Computerizedtomography) or the MRI medical image datas such as (Magnetic Resonance Imaging) that will gather before the art carry out three-dimensional reconstruction at work station, and before the operation beginning, mate calibration with patient's head, the tracking system of utilizing various different principle and mode is shown in the position of operating theater instruments on the navigation indicator in real time, finishes the accurate location of operating theater instruments in the art Yezhong.
The scope Minimally Invasive Surgical Technology has been widely used in nasal sinuses, skull base surgery, be mainly used in commonly encountered diseases and frequently-occurring diseases such as treatment nasal polyp, chronic sinusitis, chronic dacryocystitis, and nasal sinuses, preceding, in and excision, cerebrospinal rhinorrhea kposthesis and the via intranasal application optic nerve decompression etc. of tumor at the bottom of the part laterocranium.But have numerous nerves, blood vessel to walk around should the zone, the art open country be narrow and small, operating difficulty and having a big risk.Location difficulty is one of subject matter of puzzlement patient in the art.Though the image navigation system can help the patient to locate, existing navigation system shows not directly perceived, and the registration complexity influences precision, costs an arm and a leg, and uses and owes extensive.Therefore pressing for research and development nasal endoscope minimally invasive operation navigating system of new generation addresses the above problem.
The present invention adopts the optical tracking technology that operating theater instruments, patient are carried out track and localization, technology such as application image correction, registration realize that the fusion of the wild image of multi-modal 3 D medical image and nasal endoscope operation, operating theater instruments position and attitude etc. shows, has developed the nasal endoscope minimally invasive operation navigating system of a cover based on the augmented reality technology.
Summary of the invention
A kind of navigation system of the nasal endoscope minimally invasive operation based on the augmented reality technology, comprise intranasal mirror, infrared tracking camera, spatial digitizer, three-dimensional monitor, computer and reference mark point, infrared index point, described infrared tracking camera, described spatial digitizer, described three-dimensional monitor link to each other with described computer respectively, and described intranasal mirror links to each other with described three-dimensional monitor.
The navigation system of described nasal endoscope minimally invasive operation based on the augmented reality technology also comprises:
A. before operation, thus by described computer to patient's medical image data is cut apart, multi-modal Image registration and three-dimensional reconstruction obtain patient's intracranial tissue, blood vessel and skin of face threedimensional model;
B. then, scan the described reference mark point that is fixed on the operating-table by spatial digitizer, thereby obtain the three-dimensional data of described reference mark point, take the infrared image of described reference mark point again by infrared tracking camera, thereby obtain the three-dimensional data of described reference mark point under infrared tracking camera coordinate system, import two groups of three-dimensional datas into described computer simultaneously afterwards, described computer utilizes two groups of three-dimensional datas to calculate first transition matrix that obtains spatial digitizer coordinate system and infrared tracking camera coordinate system, thereby realizes registration between the two;
C. in operation process, along with the motion of described intranasal mirror in patient's nasal cavity, the image captured by described intranasal mirror is presented on the three-dimensional monitor in real time;
D. meanwhile, by described spatial digitizer real time scan patient face, thereby obtain the three-dimensional data of patient's skin of face, and import these data into described computer, described computer utilizes these data and the data of the described threedimensional model of the skin of face rebuild before operation are calculated, second transition matrix between the coordinate system of the described threedimensional model of acquisition spatial digitizer coordinate system and skin of face, thereby realization registration between the two;
E. then, be fixed on described infrared index point on the intranasal mirror, thereby obtain the position of intranasal mirror and the 3rd real time data of attitude, and import described the 3rd real time data into described computer by described infrared tracking camera real-time tracking;
F. after, by described computer described first transition matrix and described second transition matrix are multiplied each other, obtain the 4th matrix, thereby described the 4th matrix and the 3rd real time data multiplied each other obtains the 5th data, and described the 5th data are position and the attitude data under the described threedimensional model coordinate system of patient's intracranial tissue of rebuilding before art of intranasal mirror, blood vessel;
G. described computer utilizes described the 5th data in real time to render the corresponding threedimensional model picture of described image captured with the intranasal mirror, and with this picture and the captured real-time stack of described image of intranasal mirror, and be presented on the three-dimensional monitor, thereby the deficiency and excess that has realized image merges.
Wherein, the coordinate system of the process of step f described image that described threedimensional model coordinate system and intranasal mirror is captured is come together.
Be somebody's turn to do navigation system based on the nasal endoscope minimally invasive operation of augmented reality technology, comprise that also described reference mark point is reflective infrared index point, described infrared tracking camera can be surveyed the infrared light of described reference mark point reflection and imaging in video camera, thereby obtains the three-dimensional position of each reference mark point under infrared tracking camera coordinate system.
Description of drawings
The present invention is further detailed explanation below in conjunction with drawings and embodiments.
Fig. 1 is the theory structure sketch map of nasal endoscope minimally invasive operation augmented reality navigation system;
Fig. 2 is medical science skull model and shape of a saddle index point;
Fig. 3 is for rebuilding the skull threedimensional model that obtains;
The skull three-dimensional point cloud that Fig. 4 obtains for spatial digitizer scanning;
Fig. 5 is first step calibration software interface;
Fig. 6 is the second step calibration software interface.
The specific embodiment
In Fig. 1,1 is infrared tracking camera, and 2 is spatial digitizer, and 3 is the reference mark point, and 4 is three-dimensional display.
Adopt the medical science skull model that system is described, finish before the CT scan, spatial digitizer scanner uni art of skull model the preceding preparations of a series of arts such as demarcations respectively.At last patient's skull model is superimposed in the sight glass visual field and the real-time tracking operating theater instruments.
1 pair of skull carries out CT scan and rebuilds scan-data
As shown in Figure 2 medical science skull is carried out CT scan, obtain 501 DICOM form CT faultage image datas altogether.Utilize VTK (Visualization ToolKit) that the CT data are carried out cutting apart of skeleton and visualization display, and final result is saved as obj form threedimensional model.Fig. 3 rebuilds the obj models show effect that obtains for VTK.
2 spatial digitizers scan medical science skull facial skin
The data format that spatial digitizer scanning obtains is the .asc file, wherein storage to be the spatial point that scans make three-dimensional coordinate under the coordinate system by oneself at scanner.This document scanner check in the software drawing result as shown in Figure 4.
Staking-out work before 3 arts
System utilizes Homebrew to demarcate two groups of transformational relations respectively, is respectively: 1, the transition matrix of the threedimensional model coordinate system of spatial digitizer coordinate system and reconstruction acquisition; 2, the transition matrix of spatial digitizer coordinate system and infrared tracking camera coordinate system.
The software interface that the first step is demarcated as shown in Figure 5.
Two interfaces obtain the three-dimensional data of spatial digitizer cloud data and obj model respectively, and every the choosing clicked storage after the point, the preservation of the three-dimensional data that can will put.Demarcating needs 6 index points altogether.Two steps calculated and result of calculation are stored after selecting to finish.
The position of people's face index point of first step collection in the experiment is respectively mid point, place between the eyebrows, philtrum and the left and right sides corners of the mouth of left and right sides geisoma.The reason of selecting is that the position of these points relatively disperses, and all not on same plane, can improve the precision of calibration result.The coordinate of 6 points under spatial digitizer coordinate system and threedimensional model coordinate system that collects in the experiment is as shown in table 1.
The coordinate of table 1 people face index point under spatial digitizer and CT coordinate system
According to above two data that step collects, the transition matrix that calculates is
The software interface that second step was demarcated as shown in Figure 6.
Two interfaces obtain spatial digitizer cloud data and the coordinate of corresponding point under infrared tracking camera coordinate system respectively, and every three-dimensional data of selecting the click storage afterwards of a point will put is preserved.Obtain the coordinate time of corresponding point under infrared tracking camera coordinate system, the tip of operating theater instruments be placed on the first step successively click on the respective flag point of order, place stable after, click is obtained button coordinate is stored.Obtain and calculate after finishing, result of calculation is stored.
In the actual experiment, the first step click successively from left to right and the coordinate of Memory Reference index point under the spatial digitizer coordinate system as shown in table 3.
The coordinate of table 3 shape of a saddle index point under spatial digitizer and optical tracker coordinate system
According to above two data that step collects, the transition matrix that calculates is
Real-time tracking in 4 arts
After finishing above-mentioned scanner uni staking-out work, infrared tracking camera real-time tracking in operation process is installed in the reflective infrared index point on the operating theater instruments, thereby follows the tracks of the real time position and the attitude of operating theater instruments.The real-time tracking data are imported into computer, system utilizes the transition matrix of demarcating before the art in the part 3 that tracking data is transformed under the spatial digitizer coordinate system, in the time of the conversion tracking data, the threedimensional model of the intracranial tissue that system utilizes another transition matrix in the part 3 to rebuild to obtain, blood vessel etc. also is transformed under the spatial digitizer coordinate system, the indirect registration of having finished between infrared tracking camera and the reconstruction of three-dimensional model.In the art along with the real time kinematics of operating theater instruments, virtual operation instrument in the computer is also being followed true apparatus and is being done corresponding synchronous real time kinematics fully, the doctor can observe some information that naked eyes can't be seen patient on one's body in three dimensional display, promptly rebuild to obtain threedimensional model.
Claims (3)
1. navigation system based on the nasal endoscope minimally invasive operation of augmented reality technology, it is characterized in that comprising intranasal mirror, infrared tracking camera, spatial digitizer, three-dimensional monitor, computer and reference mark point, infrared index point, described infrared tracking camera, described spatial digitizer, described three-dimensional monitor link to each other with described computer respectively, and described intranasal mirror links to each other with described three-dimensional monitor.
2. the navigation system of the nasal endoscope minimally invasive operation based on the augmented reality technology according to claim 1 is characterized in that:
A. before operation, thus by described computer to patient's medical image data is cut apart, multi-modal Image registration and three-dimensional reconstruction obtain patient's intracranial tissue, blood vessel and skin of face threedimensional model;
B. then, scan the described reference mark point that is fixed on the operating-table by spatial digitizer, thereby obtain the three-dimensional data of described reference mark point, take the infrared image of described reference mark point again by infrared tracking camera, thereby obtain the three-dimensional data of described reference mark point under infrared tracking camera coordinate system, import two groups of three-dimensional datas into described computer simultaneously afterwards, described computer utilizes two groups of three-dimensional datas to calculate first transition matrix that obtains spatial digitizer coordinate system and infrared tracking camera coordinate system, thereby realizes registration between the two;
C. in operation process, along with the motion of described intranasal mirror in patient's nasal cavity, the image captured by described intranasal mirror is presented on the three-dimensional monitor in real time;
D. meanwhile, by described spatial digitizer real time scan patient face, thereby obtain the three-dimensional data of patient's skin of face, and import these data into described computer, described computer utilizes these data and the data of the described threedimensional model of the skin of face rebuild before operation are calculated, second transition matrix between the coordinate system of the described threedimensional model of acquisition spatial digitizer coordinate system and skin of face, thereby realization registration between the two;
E. then, be fixed on described infrared index point on the intranasal mirror, thereby obtain the position of intranasal mirror and the 3rd real time data of attitude, and import described the 3rd real time data into described computer by described infrared tracking camera real-time tracking;
F. after, by described computer described first transition matrix and described second transition matrix are multiplied each other, obtain the 4th matrix, thereby described the 4th matrix and the 3rd real time data multiplied each other obtains the 5th data, and described the 5th data are position and the attitude data under the described threedimensional model coordinate system of patient's intracranial tissue of rebuilding before art of intranasal mirror, blood vessel;
G. described computer utilizes described the 5th data in real time to render the corresponding threedimensional model picture of described image captured with the intranasal mirror, and with this picture and the captured real-time stack of described image of intranasal mirror, and be presented on the three-dimensional monitor, thereby the deficiency and excess that has realized image merges.
Wherein, the coordinate system of the process of step f described image that described threedimensional model coordinate system and intranasal mirror is captured is come together.
3. the navigation system of the nasal endoscope minimally invasive operation based on the augmented reality technology according to claim 2, it is characterized in that described reference mark point is reflective infrared index point, described infrared tracking camera can be surveyed the infrared light of described reference mark point reflection and imaging in video camera, thereby obtains the three-dimensional position of each reference mark point under infrared tracking camera coordinate system.
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