CN103371870B - A kind of surgical navigation systems based on multimode images - Google Patents
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Abstract
The present invention relates to a kind of surgical navigation systems based on multimode images, it comprises preoperative image acquisition device, ultrasonic scanning device, multimode images registration apparatus, endoscope's integrating device, postoperative evaluation device.Preoperative image acquisition device obtains 3-dimensional image; Ultrasonic scanning device Real-time Obtaining ultrasonic image; 3-dimensional image and ultrasonic image are carried out registration and obtain registration image by multimode images registration apparatus; Endoscope's integrating device obtains the current image information of surgery location in art, and multimode images registration apparatus carries out fusion to registration image and current image information and obtains fusion evaluation.Current image in preoperative 3-dimensional image, intraoperative ultrasound image and art has been merged in the present invention, can be the real-time imaging information that doctor provides accurately reliable, informative; The present invention simultaneously also provides postoperative evaluation device, for follow-up medical diagnosis on disease, tracking or operation enforcement provide foundation.
Description
[technical field]
The present invention relates to medical instruments field, particularly relate to a kind of surgical navigation systems based on multimode images.
[background technology]
Computed tomography (Computed Tomography, CT), nuclear magnetic resonance (Magnetic Resonance Imaging, MRI) and ultra sonic imaging (Ultrasound, US) be widely used in computer-aided diagnosis and Technology of surgery navigation with its respective characteristic and advantage.In traditional micro-wound surgical operation process, preoperative shortage is to the accurate description of focus three dimensional structure, directly affects the levels of precision of preoperative plan, viewing area in art is only limitted to Human body package surface, the experience of doctor and Space Idea and supposition can only be relied on to go synthetic determination to judge focus particular location, its safety and accuracy can be subject to subjective impact, and severe patient causes operative failure.
Surgical navigation instrument is under area of computer aided, process is carried out as Iamge Segmentation, image registration fusion and three-dimensional reconstruction etc. to view data, again according to the clinical experience of doctor and the preoperative pathological characters ill to focal zone and disease sites structural analysis, planning operation pathway, formulate rationally, quantitatively and the operation plan of Wicresoft carry out assist physician in conjunction with stereotactic system and carry out operation technique, thus effectively reduce wound, the raising treatment precision of operation, make patient's rehabilitation early, reduce the probability that other sequela postoperative occur.
Surgical navigation systems of the prior art lacks a set of in conjunction with imaging compound detection navigation scheme in preoperative imaging and art, thus can not provide the real-time imaging information of accurately reliable, informative for doctor, and the quality of operation cannot promote further.In addition, surgical navigator of the prior art is not open platform, software system and interface can only use standard to operate according to each producer instrument, can not upgrade, and substantially do not possess postoperative trace analysis evaluation function, therefore be necessary that setting up one sets up image-guided opening and postoperative evaluation system, not only a postoperative historical data can be provided with reference to platform for medical personnel, one can also be provided based on history surgical data, for implementing to provide the platform of foundation for follow-up medical diagnosis on disease, tracking or operation.
[summary of the invention]
The present invention is intended to solve above-mentioned problems of the prior art, proposes a kind of surgical navigation systems based on multimode images.
The described surgical navigation systems based on multimode images comprises: preoperative image acquisition device, ultrasonic scanning device, multimode images registration apparatus, endoscope's integrating device, postoperative evaluation device.Wherein, described preoperative image acquisition device obtains the 3-dimensional image of the preoperative diseased region of patient; The ultrasonic image of diseased region in described ultrasonic scanning device Real-time Obtaining patient art; Described 3-dimensional image and ultrasonic image are carried out multimode registration by described multimode images registration apparatus, obtain registration image; Described endoscope integrating device obtains the current image information of surgery location in art, and described multimode images registration apparatus merges described registration image and current image information, obtains fusion evaluation; Described postoperative evaluation device carries out machine learning according to described registration image and fusion evaluation information, sets up disease forecasting model.
The surgical navigation systems based on multimode images that the present invention proposes has merged the current image of surgery location in preoperative MRI/CT 3-dimensional image, intraoperative ultrasound image and art, can provide the real-time imaging information of more accurately reliable, informative for doctor; Simultaneously the present invention is also provided for the postoperative evaluation device storing and analyze surgical data, and this apparatus for evaluating can carry out machine learning according to surgical data, thus provides foundation for follow-up medical diagnosis on disease, tracking or operation enforcement.
[accompanying drawing explanation]
Fig. 1 is the surgical navigation systems structure chart based on multimode images of one embodiment of the invention.
Fig. 2 is the multimode images registration apparatus fundamental diagram of one embodiment of the invention.
[detailed description of the invention]
In order to make object of the present invention, technical scheme and advantage more clear, below in conjunction with specific embodiment and accompanying drawing, the present invention is described in further detail.Should be appreciated that specific embodiment described in literary composition is only in order to explain technical scheme of the present invention, and not should be understood to limitation of the present invention.
The invention provides a kind of surgical navigation systems based on multimode images, for providing in real time for doctor in art, accurate diseased region image as a reference, thus guides doctor to implement operation.
As shown in Figure 1, in an embodiment of the present invention, the described surgical navigation systems based on multimode images comprises preoperative image acquisition device 100, ultrasonic scanning device 200, multimode images registration apparatus 300, endoscope's integrating device 400 and postoperative evaluation device 500.
Hereafter be described in further detail to each ingredient of the described surgical navigation systems based on multimode images and operation principle thereof.
Described preoperative image acquisition device 100 scans patient's diseased region for preoperative, thus obtains the 3-dimensional image of patient's diseased region.Wherein, described preoperative image acquisition device 100 includes but not limited to the medical scanning such as MRI scanner, CT scanner imaging device.Preferably, described preoperative image acquisition device 100 carries out pretreatment based on the related algorithm of Digital Image Processing to the primary data that scanning obtains, then the tissue/organ shape of Corpus--based Method is adopted, three-dimensional reconstruction is carried out to patient's diseased region tissue/organ, final acquisition described 3-dimensional image accurately.Described 3-dimensional image can be used for planning operation pathway, such as, calculate optimum surgical safe zone by collision algorithm, realize deathtrap active dodge technology, in order to retrain the displacement of operating theater instruments in art, avoid maloperation and injure normal structure organ or hyperamization tracheal rupture.
Described ultrasonic scanning device 200 is for obtaining the ultrasonic image of diseased region in patient's art in real time.Described 3-dimensional image and ultrasonic image are carried out multimode registration by described multimode images registration apparatus 300, obtain registration image.
Described 3-dimensional image and ultrasonic image are the medical image of different modalities, not association between the gray value of the corresponding voxel of medical image of different modalities.Therefore, as shown in Figure 2, preferably, described multimode images registration apparatus 300 comprises MODAL TRANSFORMATION OF A module 301 and registration module 302 further, described 3-dimensional image is converted to virtual ultrasound image by described MODAL TRANSFORMATION OF A module 301, described registration module 302 carries out registration to described virtual ultrasound image and described ultrasonic image, obtains described registration image.Particularly, can according to the Imaging physics characteristic attribute of two kinds of different modalities, the mathematical theory based on perceptron kernel function is adopted to derive and modeling, draw the physical features attribute of the inherence between two kinds of modal datas, and the transforming relationship derived further between described 3-dimensional image and ultrasonic image bimodal data, described 3-dimensional image is converted to virtual ultrasound image, and then registration is carried out to described virtual ultrasound image and described ultrasonic image, obtain described registration image.
Described registration image combines the feature of described 3-dimensional image and ultrasonic image, has 3 D stereo and the advantage presented in real time, reflects patient's diseased region situation more true and reliablely.
Preferably, described ultrasonic scanning device 200 comprise based on spinor theory mechanical arm and be arranged at the ultrasound probe of described mechanical arm tail end.The described mechanical arm based on spinor theory is legerity type multi-joint mechanical arm, and it has movable advantage freely; Described mechanical arm is for gripping described ultrasound probe.In operation, described ultrasound probe presses close to patient's diseased region, in order to obtain the ultrasonoscopy of patient's diseased region.
In operation, patient often causes organizing deformation or the skew of organ trace because breathing, therefore in a preferred embodiment, described ultrasonic scanning device 200 can adjust the relative position of itself and patient adaptively, in case because pressing close to patient and keeping fixing pose and dampen tissue of patient.Particularly, described ultrasonic scanning device 200 comprises sensing module, command control module and mechanical arm control chamber further.Described sensing module obtains the force data between described ultrasonic scanning device and patient, when described force data is greater than a certain predetermined threshold value T, described command control module sends control command to described mechanical arm control chamber, described mechanical arm control chamber controls described mechanical arm away from patient, prevents from dampening patient.Mechanical arm assist physician in the present invention grips ultrasonic probe, direct kinematics matrix also can be adopted to extrapolate end ultrasound probe position parameter, and realize probe demarcation by self-control nylon plane grid body Model, obtain the transformation relation of ultrasonoscopy space to preoperative image data locus, so not only can obtain ultrasonic probe exact space position information according to known spatial transform relation, also reduce working doctor intensity.
In operation except using the ultrasonic image of described ultrasonic scanning device 200 Real-time Obtaining patient diseased region, doctor also needs to use endoscope's integrating device 400 to obtain the current image information of surgery location in art.In the prior art, fujinon electronic video endoscope has the characteristic of real-time, high imaging true to nature, it is widely used in micro-wound surgical operation, for doctor provides the visual operation visual field, has that wound is little, the fast and lower operation of direct-view of few intercurrent disease, recovery and an advantage such as safe and effective simultaneously.But the medical image that endoscopic surgery obtains lacks stereovision, and visual area is narrow and small.In the present invention, after described endoscope integrating device 400 obtains the current image information of surgery location in art, described multimode images registration apparatus 300 merges further to described registration image and current image information, obtains fusion evaluation.Described fusion evaluation has merged the current image of surgery location in preoperative 3-dimensional image, intraoperative ultrasound image and art, more accurate image information reliably can be provided for enforcement reference of performing the operation for doctor.
Preferably, described endoscope integrating device 400 also comprises localizer, described endoscope integrating device 400 and ultrasonic scanning device 200 are equipped with optical markings thing, and described localizer obtains the position of described endoscope integrating device 400 in described ultrasonic image according to described optical markings thing.Particularly, described localizer is fixed as object of reference, and its coordinate position is known.In operation, all may there is real-time displacement in described endoscope integrating device 400 and ultrasonic scanning device 200, obtain described endoscope integrating device 400 respectively relative to the positional information of described localizer and described ultrasonic scanning device 200 positional information relative to described localizer by described localizer, thus convert and obtain the position of described endoscope integrating device 400 relative to described ultrasonic scanning device 200.The described fusion evaluation comprising described endoscope integrating device 400 image may further be doctor provides more accurate image information reliably for enforcement reference of performing the operation.
Preferably, described endoscope integrating device 400 is the narrow-band spectrum imaging endoscope integrating device based on CMOS.Adopt this endoscope integrating device except can obtaining lesions position accurate information, also by combine healthy and strong method for adaptive image enhancement remove in image fuzzy, correct Lighting information and improve image resolution ratio, the problem such as solve the noise in optical imagery, fuzzy, reflective, illumination is not enough.Such as utilize this texture of the resident criterion in edge and anisotropy parameter algorithm Recovery image, and introducing Smoothing Constraint solves the total variance problem in image repair, finally can obtain the Overlapping display that in the true visual field, 3 D anatomy structure is corresponding and fuse information.
Preferably, described postoperative evaluation device 500 can be the data inventory analysis platform based on cloud computing.Described postoperative evaluation device 500 comprises memorizer and data processor, described memorizer stores described registration image and fusion evaluation, described data processor sets up described disease forecasting model by machine learning, for follow-up medical diagnosis on disease or operation enforcement provide foundation.Further preferably, described data processor carries out machine learning based on support vector machine principle or neural network theory.A large amount of image data and surgical parameters are distributed in virtual cloud by the postoperative evaluation device in the present invention, and the highly effective and safe realizing image data stores and high speed dynamic read/write.Adopt based on cloud platform data analysis statistical by set up based on probability statistical analysis model, the image of operation process on postoperative image data and cloud platform is analyzed, for doctor follows the tracks of assessment to patient's Post operation situation comprehensively, simultaneously also for providing reference data and teaching resource for image-guided operation clinically.Also can develop complete set based on above-mentioned principle and run on Web client software, for non-programming user provides the service enjoying cloud platform resource.
The surgical navigation systems based on multimode images that the present invention proposes combines the respective advantage of the current image of surgery location in preoperative MRI/CT 3-dimensional image, intraoperative ultrasound image and art, and merged and obtain fusion evaluation, for doctor provides the real-time imaging information of more accurately reliable, informative for enforcement reference of performing the operation, can realize: in piercing process, in conjunction with locating and tracking system, adopt feature point tracking and puncture needle location in the body based on ultrasonic orthogonal image two in art, guarantee to realize best operation pathway; In process of expansion, in conjunction with the method for visualizing of augmented reality, research convergent divergent channel real-time positioning and early warning; In operative process, take the endoscope positioning method based on optics and electromagnetism hybrid positioning technology and augmented reality, finally realize the complete three-dimensional real-time navigation of operation process.
In addition, the present invention is also provided for storing and analyzing the postoperative evaluation device of surgical data, and this apparatus for evaluating can carry out machine learning according to surgical data, thus provides foundation for follow-up medical diagnosis on disease, tracking or operation enforcement.
Although the present invention is described with reference to current better embodiment; but those skilled in the art will be understood that; above-mentioned better embodiment is only used for explaining and technical scheme of the present invention being described; and be not used for limit protection scope of the present invention; any within the spirit and principles in the present invention scope; any modification of doing, equivalence replacement, distortion, improvement etc., all should be included within claims of the present invention.
Claims (9)
1. based on a surgical navigation systems for multimode images, comprising: preoperative image acquisition device, ultrasonic scanning device, multimode images registration apparatus, endoscope's integrating device, postoperative evaluation device, wherein,
Described preoperative image acquisition device obtains the 3-dimensional image of the preoperative diseased region of patient;
The ultrasonic image of diseased region in described ultrasonic scanning device Real-time Obtaining patient art;
Described 3-dimensional image and ultrasonic image are carried out multimode registration by described multimode images registration apparatus, obtain registration image;
Described endoscope integrating device obtains the current image information of surgery location in art, and described multimode images registration apparatus merges described registration image and current image information, obtains fusion evaluation;
Described postoperative evaluation device carries out machine learning according to described registration image and fusion evaluation information, sets up disease forecasting model;
Described multimode images registration apparatus comprises MODAL TRANSFORMATION OF A module and registration module, described 3-dimensional image is converted to virtual ultrasound image by described MODAL TRANSFORMATION OF A module, described registration module carries out registration to described virtual ultrasound image and described ultrasonic image, obtains described registration image.
2. the surgical navigation systems based on multimode images according to claim 1, is characterized in that, described preoperative image acquisition device is MRI scanner or CT scanner.
3. the surgical navigation systems based on multimode images according to claim 1, is characterized in that, described postoperative evaluation device is the data inventory analysis platform based on cloud computing.
4. the surgical navigation systems based on multimode images according to claim 3, it is characterized in that, described postoperative evaluation device comprises memorizer and data processor, described memorizer stores described registration image and fusion evaluation, and described data processor sets up described disease forecasting model by machine learning.
5. the surgical navigation systems based on multimode images according to claim 4, is characterized in that, described data processor carries out machine learning based on support vector machine principle or neural network theory.
6. the surgical navigation systems based on multimode images according to claim 1, is characterized in that, described ultrasonic scanning device comprise based on spinor theory mechanical arm and be positioned at the ultrasound probe of described mechanical arm tail end.
7. the surgical navigation systems based on multimode images according to claim 6, it is characterized in that, described ultrasonic scanning device comprises sensing module, command control module and mechanical arm control chamber further, described sensing module obtains the force data between described ultrasonic scanning device and patient, when described force data is greater than predetermined threshold value T, described command control module sends control command to described mechanical arm control chamber, and described mechanical arm control chamber controls described mechanical arm away from patient.
8. the surgical navigation systems based on multimode images according to claim 1, is characterized in that, described endoscope integrating device is the narrow-band spectrum imaging endoscope integrating device based on CMOS.
9. the surgical navigation systems based on multimode images according to claim 8, it is characterized in that, described endoscope integrating device also comprises localizer, described endoscope integrating device and ultrasonic scanning device are equipped with optical markings thing, and described localizer obtains the position of described endoscope integrating device in described ultrasonic image according to described optical markings thing.
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Effective date of registration: 20170912 Address after: 215028, room 20, 523, Northwest District, nano City, 99 Jinji Lake Road, Suzhou Industrial Park, Jiangsu, China Patentee after: SUZHOU ZHONGKE ADVANCED TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. Address before: Room office building No. 1068 Shenzhen Institute of advanced technology A-301 518000 in Guangdong city of Shenzhen province Nanshan District Shenzhen University city academy Avenue Patentee before: Shenzhen shen-tech advanced Cci Capital Ltd. Effective date of registration: 20170912 Address after: Room office building No. 1068 Shenzhen Institute of advanced technology A-301 518000 in Guangdong city of Shenzhen province Nanshan District Shenzhen University city academy Avenue Patentee after: Shenzhen shen-tech advanced Cci Capital Ltd. Address before: 1068 No. 518055 Guangdong city in Shenzhen Province, Nanshan District City Xili University School Avenue Patentee before: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY |
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Effective date of registration: 20210617 Address after: 215123 Room 201, building 1, 333 Xingpu Road, Suzhou Industrial Park, Jiangsu Province Patentee after: Suzhou zhongkehuaying Health Technology Co.,Ltd. Address before: Room 523, building 20, northwest of nano City, 99 Jinjihu Avenue, Suzhou Industrial Park, Jiangsu Province, 215028 Patentee before: SUZHOU ZHONGKE ADVANCED TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. |