CN103971574B - Ultrasonic guidance tumor puncture training simulation system - Google Patents
Ultrasonic guidance tumor puncture training simulation system Download PDFInfo
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- CN103971574B CN103971574B CN201410148060.8A CN201410148060A CN103971574B CN 103971574 B CN103971574 B CN 103971574B CN 201410148060 A CN201410148060 A CN 201410148060A CN 103971574 B CN103971574 B CN 103971574B
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Abstract
The invention discloses an ultrasonic guidance tumor puncture training simulation system. The ultrasonic guidance tumor puncture training simulation system comprises an elastic prosthesis, a simulation ultrasonic probe, a simulation puncture needle, an electromagnetic tracking device, a preoperative CT image module and an image guidance module, wherein the electromagnetic tracking device acquires position and direction information of the simulation ultrasonic probe and the simulation puncture needle and transmits the information to the image guidance module, and the image guidance module comprises a processing module, a registering module, a real-time CT section image module, a simulation ultrasonic image module, a display module and a fusion module. After registration is performed, the simulation puncture needle is inserted into the prosthesis to perform a simulation puncture operation. Because the simulation ultrasonic probe and the simulation puncture needle are adopted for the ultrasonic guidance tumor puncture training simulation system, the cost of the simulation system is greatly reduced, and the requirement of complex skill training can be met at low cost.
Description
Technical field
The present invention relates to medicine technology field is and in particular to ultrasonic guidance tumor puncture training simulation system.
Background technology
Ultrasonic (us) guiding tumor puncture technology has been widely used for therapeutic field of tumor.Puncturing operation needs doctor to have
There is skilled technical ability, especially hand eye coordination operation is required higher.Accordingly, it would be desirable to develop various training methods to strengthen doctor
Raw hand eye coordination ability.At present, some analogue systems are had to simulate for executing in preoperative planning and art.But, these systems
It is required for using ultrasound machine, and executes simulation in operation interior, one side ultrasound machine is very expensive, on the other hand,
Many non-technique factors can be subject to be affected so as to simulate effect undesirable in the indoor simulation of operation.And, current is imitative
True system is only capable of for training cloth pin technical ability it is impossible to meet the requirement of more complicated skill training, such as selects to optimize puncture road
Footpath, needle angle and depth of needle etc..Therefore, the complicated technical ability that meets in the urgent need to a kind of low cost in out operating-room is instructed
The analogue system practiced.
Content of the invention
Embodiment of the present invention technical problem to be solved is, provides a kind of ultrasonic guidance tumor puncture Simulation Training system
System so that meet the needs of complicated skill training in inexpensive mode.
For solving above-mentioned technical problem, the invention provides a kind of ultrasonic guidance tumor puncture training simulation system, comprising:
Elastic prosthese, its simulated patient structure；Emulation ultrasonic probe, it can move with real-time simulation scanning on prosthese；Emulation is worn
Pricker, it is inserted into prosthese execution emulation puncturing operation；Electromagnetism tracing equipment, it obtains emulation ultrasonic probe and emulation punctures
The position of pin and directional information, by this information transmission to image-guided module；Preoperative ct image module, it reads and display patient
Preoperative ct image；And image-guided module.Image-guided module includes: processing module, will go out 3d by preoperative ct Image Reconstruction
Image model；Registration module, it will be registering to preoperative ct image and elastic prosthese；Ct tangent plane picture module in real time, it is joined described
After standard, move on prosthese with emulation ultrasonic probe, by preoperative ct image according to the position emulating ultrasonic probe and direction
Generate real-time ct tangent plane picture；Emulation ultrasonoscopy module, it generates corresponding emulation ultrasonoscopy by real-time ct tangent plane picture；
Display module, it shows real-time ct tangent plane picture, emulation ultrasonoscopy and 3d Image model, and Fusion Module, and it is according to imitative
The real-time puncture path emulating puncture needle is merged that to be shown in real-time ct tangent plane picture, emulation super by the position of true puncture needle and direction
On acoustic image and 3d Image model, puncture path illustrates to emulate insertion point, insertion angle, insertion depth and the ablation of puncture needle
?.After described registration, emulation puncture needle insertion prosthese execution emulation puncturing operation.
Preferably, described electromagnetism tracing equipment includes electromagnetic field generator, sensor, sensor interface unit and control
Unit, control unit controls electromagnetic field generator and sensor, and sensor obtains emulation ultrasonic probe and the position of emulation puncture needle
Put and azimuth information.
As further preferably, described sensor is 6DOF sensor.
Preferably, described emulation ultrasonic probe selects 1 mark points in prosthese, using image-guided module
In ct image before selecting operation in patients, corresponding at least three mark points, and described registration module uses algorithm that these are marked point unification
So that preoperative ct image and elastic prosthese are registering in the same coordinate system system.
As further, preferably, described algorithm includes iteration with regard to proximal point algorithm.
Preferably, described image-guided module also includes preoperative planning module, it preserves ct image and/or 3d in the preoperative
The pre- puncture path of the elastic prosthese of emulation puncture needle insertion cooked up on Image model.
Preferably, described image-guided module also includes Observation Blocks in art, it is super in real-time ct tangent plane picture, emulation
The pre- puncture path of emulation puncture needle and real-time puncture path are shown on acoustic image and 3d Image model simultaneously.
Preferably, described image-guided module also includes postoperative evaluation module, it is based on tumour data and ablation number of fields
Whether melt completely according to analysis tumour.
Preferably, described emulation ultrasonic probe and emulation puncture needle are made up of the manual controlled handle of somatic sensation television game machine.
The present invention, due to employing emulation ultrasonic probe and emulation puncture needle, greatly reduces the cost of analogue system, energy
Enough needs meeting complicated skill training in inexpensive mode.
Brief description
Fig. 1 is the structural representation of the ultrasonic guidance tumor puncture training simulation system of the embodiment of the present invention.
Fig. 2 is preoperative ct image and the 3d Image model schematic diagram by preoperative ct Image Reconstruction, and wherein the picture left above is art
Front ct image, other figures are various 3d Image model, and wherein top right plot schematically illustrates tumour, liver, the table of important blood vessels structure
Iso-surface patch, lower-left figure schematically illustrates tumour, the surface rendering of important blood vessels structure, bottom-right graph schematically illustrate bone, tumour,
The surface rendering of important blood vessels structure.
Fig. 3 is to carry out the schematic diagram of preoperative planning it is illustrated that two puncture needles of insertion disappear completely using 3d Image model
Melt tumour.
Fig. 4 be emulation puncture needle real-time puncture path merge be shown in real-time ct tangent plane picture, emulation ultrasonoscopy and
Schematic diagram on 3d Image model, wherein top figure are that the real-time puncture path fusion of emulation puncture needle is shown in 3d Image model
On, lower-left figure is that the real-time puncture path fusion of emulation puncture needle is shown on real-time ct tangent plane picture, and bottom-right graph is worn for emulation
The real-time puncture path fusion of pricker is shown on emulation ultrasonoscopy.
Specific embodiment
With specific embodiment, the present invention is described in further detail below in conjunction with the accompanying drawings, but not as the limit to the present invention
Fixed.
Fig. 1 is the structural representation of the ultrasonic guidance tumor puncture training simulation system of the embodiment of the present invention.As Fig. 1 institute
Show, the ultrasonic guidance tumor puncture training simulation system of the present invention includes: elastic prosthese 1, its simulated patient structure；Emulation is ultrasonic
Probe 2, it can move with real-time simulation scanning on prosthese 1；Emulation puncture needle 3, it is inserted into prosthese 1 execution emulation and wears
Needle-holding hand art；Electromagnetism tracing equipment, it obtains emulation ultrasonic probe 2 and the position and the directional information that emulate puncture needle 3, by this information
It is sent to image-guided module；Preoperative ct image module, it reads and shows ct image before operation in patients；And image-guided mould
Block.
Image-guided module includes:
Processing module, will go out 3d Image model by preoperative ct Image Reconstruction, as shown in Figure 2 it is schematically shown that by
The various 3d Image models of preoperative ct Image Reconstruction, wherein top right plot schematically illustrate tumour, liver, the surface of important blood vessels structure
Draw, lower-left figure schematically illustrates tumour, the surface rendering of important blood vessels structure, and bottom-right graph schematically illustrates bone, tumour, weight
Want the surface rendering of blood vessel structure；
Registration module, it will be registering to preoperative ct image and elastic prosthese 1；Ct tangent plane picture module in real time, it is joined described
After standard, move on prosthese 1 with emulation ultrasonic probe 2, by preoperative ct image according to the position emulating ultrasonic probe 2 and side
To the real-time ct tangent plane picture of generation；
Emulation ultrasonoscopy module, it generates corresponding emulation ultrasonoscopy by real-time ct tangent plane picture；
Display module, it shows real-time ct tangent plane picture, emulation ultrasonoscopy and 3d Image model；And
Fusion Module, the real-time puncture path emulating puncture needle 3 is merged by it according to the position of emulation puncture needle 3 and direction
It is shown on real-time ct tangent plane picture, emulation ultrasonoscopy and 3d Image model, puncture path illustrates to emulate the insertion puncturing 3
Point, insertion angle, insertion depth and ablation field.Fig. 4 is that the real-time puncture path fusion of emulation puncture needle is shown in real-time ct
Schematic diagram on tangent plane picture, emulation ultrasonoscopy and 3d Image model, wherein top figure are the real-time puncture of emulation puncture needle
Path is merged and is shown on 3d Image model, and lower-left figure is that the real-time puncture path of emulation puncture needle merges and is shown in real-time ct and cuts
On the image of face, bottom-right graph is that the real-time puncture path fusion of emulation puncture needle is shown on emulation ultrasonoscopy；
After described registration, emulation puncture needle 3 insertion prosthese 1 execution emulation puncturing operation.
The present invention, due to employing emulation ultrasonic probe 2 and emulation puncture needle 3, greatly reduces the cost of analogue system,
The needs of complicated skill training can be met in inexpensive mode.Specifically, the present invention does not need to adopt as prior art
Use real ultrasonic device, but employ emulation ultrasonic probe 2 and emulation puncture needle 3.The effect of emulation ultrasonic probe 2 is only
It is the move mode of simulation ultrasonic probe, without other functions.The effect of emulation puncture needle 3 is only to simulate puncture needle
Inserted mode, without other functions.Electromagnetism tracing equipment only needs to obtain the position of emulation ultrasonic probe 2 and emulation puncture needle 3
Put and directional information, without other information.In whole process, real ultrasonoscopy need not be obtained it is only necessary to be cut by real-time ct
Face image generates corresponding emulation ultrasonoscopy, and this greatly reduces the cost of system.
Electromagnetism tracing equipment can include electromagnetic field generator, sensor, sensor interface unit and control unit, controls
Unit controls electromagnetic field generator and sensor, and sensor obtains emulation ultrasonic probe 2 and the position and the orientation that emulate puncture needle 3
Information.Sensor can be various sensors, such as 6DOF sensor.
Image-guided module allows doctor to execute various operations to 3d Image model, such as hides, visualizes, selects, surveys
Measure, move etc., thus more intuitively observing the complex relationship between anatomical structure.For example, by image-guided module, Ke Yiji
Calculate and observe the volume of tumour, minimum range of maximum gauge, tumour and periphery blood vessel etc..
It is necessary to carry out image registration before carrying out puncturing operation.Configuration module can realize this function.For example, emulate
Ultrasonic probe 2 selects 1 mark points in prosthese 1, is selected corresponding in ct image before operation in patients using image-guided module
1 mark points, described registration module using algorithm, these mark points is unified in the same coordinate system system so that art
Front ct image and elastic prosthese 1 registration.After registration, move on prosthese 1 with emulation ultrasonic probe 2, according to the ultrasonic spy of emulation
The position of pin 2 and direction show real-time ct tangent plane picture.Described algorithm can include various suitable algorithms, preferably iteration nearby
Point algorithm.
Image-guided module can also include preoperative planning module, and it preserves ct image and/or 3d Image model in the preoperative
On the emulation puncture needle 3 cooked up insert the pre- puncture path of elastic prosthese 1.As shown in figure 3, it illustrates using 3d image mould
Type carries out the schematic diagram of preoperative planning it is illustrated that two puncture needles of insertion carry out complete ablated tumor.
Image-guided module can also include Observation Blocks in art, its real-time ct tangent plane picture, emulation ultrasonoscopy and
The pre- puncture path of emulation puncture needle 3 and real-time puncture path are shown on 3d Image model simultaneously.So can easily carry out
Observe in art, when real-time puncture path is different from pre- puncture path, doctor passes through the reality that operation changes emulation puncture needle 3 in time
When puncture path.
Image-guided module can also include postoperative evaluation module, and it is based on tumour data and ablation field data analysis tumour
Whether melt completely.
Emulation ultrasonic probe 2 and emulation puncture needle 3 can be made up of the various appropriate device enabling the object of the invention.Send out
A person of good sense finds, is made up of emulation ultrasonic probe 2 manual controlled handle of somatic sensation television game machine and emulation puncture needle 3 can substantially reduce emulation system
The cost of system.
Certainly, the above is the preferred embodiment of the present invention it is noted that ordinary skill for the art
For personnel, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of ultrasonic guidance tumor puncture training simulation system is it is characterised in that include:
Elastic prosthese, its simulated patient structure；
Emulation ultrasonic probe, it can move with real-time simulation scanning on prosthese；
Emulation puncture needle, it is inserted into prosthese execution emulation puncturing operation；
Electromagnetism tracing equipment, it obtains emulation ultrasonic probe and the position emulating puncture needle and directional information, by this information transmission
To image-guided module；
Preoperative ct image module, it reads and shows ct image before operation in patients；And
Image-guided module, comprising:
Processing module, will go out 3d Image model by preoperative ct Image Reconstruction；
Registration module, it will be registering to preoperative ct image and elastic prosthese；
Ct tangent plane picture module in real time, it moves on prosthese with emulation ultrasonic probe, by preoperative ct after described registration
Image generates real-time ct tangent plane picture according to the position of emulation ultrasonic probe and direction；
Emulation ultrasonoscopy module, it generates corresponding emulation ultrasonoscopy by real-time ct tangent plane picture；
Display module, it shows real-time ct tangent plane picture, emulation ultrasonoscopy and 3d Image model, and
Fusion Module, the real-time puncture path fusion emulating puncture needle is shown in by it according to the position of emulation puncture needle and direction
In real time on ct tangent plane picture, emulation ultrasonoscopy and 3d Image model, puncture path illustrates to emulate insertion point, the insertion of puncture needle
Angle, insertion depth and ablation field,
Wherein, after described registration, emulation puncture needle insertion prosthese execution emulation puncturing operation, described emulation ultrasonic probe choosing
Select 1 mark points in prosthese, select corresponding at least three marks in ct image before operation in patients using image-guided module
Note point, described registration module using algorithm, these mark points is unified in the same coordinate system system so that preoperative ct image and bullet
Property prosthese registration；
Described image-guided module also includes preoperative planning module, and it preserves advises on ct image and/or 3d Image model in the preoperative
The pre- puncture path of the elastic prosthese of emulation puncture needle insertion marking；
Described image-guided module also includes Observation Blocks in art, and it is in real-time ct tangent plane picture, emulation ultrasonoscopy and 3d shadow
As the pre- puncture path of emulation puncture needle and real-time puncture path are shown on model simultaneously.
2. ultrasonic guidance tumor puncture training simulation system according to claim 1 is it is characterised in that described electromagnetism is followed the trail of
Equipment includes electromagnetic field generator, sensor, sensor interface unit and control unit, and control unit controls electromagnetic field generator
And sensor, the position of sensor acquisition emulation ultrasonic probe and emulation puncture needle and azimuth information.
3. ultrasonic guidance tumor puncture training simulation system according to claim 2 is it is characterised in that described sensor is
6DOF sensor.
4. ultrasonic guidance tumor puncture training simulation system according to claim 1 is it is characterised in that described algorithm includes
Iteration is with regard to proximal point algorithm.
5. ultrasonic guidance tumor puncture training simulation system according to claim 1 is it is characterised in that described image-guided
Module also includes postoperative evaluation module, and it is based on tumour data and whether ablation field data analysis tumour melts completely.
6. ultrasonic guidance tumor puncture training simulation system according to claim 1 is it is characterised in that described emulation is ultrasonic
Probe and emulation puncture needle are made up of the manual controlled handle of somatic sensation television game machine.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410148060.8A CN103971574B (en) | 2014-04-14 | 2014-04-14 | Ultrasonic guidance tumor puncture training simulation system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410148060.8A CN103971574B (en) | 2014-04-14 | 2014-04-14 | Ultrasonic guidance tumor puncture training simulation system |
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| CN103971574A CN103971574A (en) | 2014-08-06 |
| CN103971574B true CN103971574B (en) | 2017-01-18 |
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| CN104605917B (en) * | 2014-12-24 | 2017-06-16 | 沈阳东软医疗系统有限公司 | A kind of intelligence punctures control method and device |
| CN105869495A (en) * | 2015-01-21 | 2016-08-17 | 襄阳市中心医院 | Human body model for medical CT percutaneous puncture training |
| CN105078579A (en) * | 2015-07-06 | 2015-11-25 | 嘉恒医疗科技（上海）有限公司 | Simulation training system for nasal endoscopic surgery navigation |
| CN106308895A (en) * | 2016-09-20 | 2017-01-11 | 深圳华声医疗技术有限公司 | Puncture enhancing method, device and system |
| CN107028626B (en) * | 2017-05-26 | 2023-06-06 | 北京龙慧珩医疗科技发展有限公司 | Elastic registration method and device for prostatectomy |
| CN107224317A (en) * | 2017-06-13 | 2017-10-03 | 北京品驰医疗设备有限公司 | A kind of puncture needle and the implant system of ultrasonic guidance for ultrasonic guidance |
| CN108648592A (en) * | 2018-07-24 | 2018-10-12 | 锡山区东港晓鸣电子产品经营部 | A kind of manikin training operating method of laseropuncture guiding system |
| CN109064859B (en) * | 2018-08-17 | 2020-08-21 | 温州市人民医院 | Liver tumor puncture training model under laparoscope |
| CN110537961B (en) * | 2019-08-01 | 2021-09-28 | 中国人民解放军总医院 | Minimally invasive intervention guiding system and method for CT and ultrasonic image fusion |
| CN110448359B (en) * | 2019-08-02 | 2021-05-14 | 中国人民解放军总医院 | Operation navigation equipment for improving success rate of transjugular intrahepatic portosystemic shunt and application thereof |
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| CN111223374B (en) * | 2020-03-12 | 2021-01-05 | 吉林大学 | Demonstration device for minimally invasive surgery model of Maimengtong |
| CN115811961A (en) * | 2020-08-04 | 2023-03-17 | 深圳迈瑞生物医疗电子股份有限公司 | Three-dimensional display method and ultrasonic imaging system |
| CN112043377B (en) * | 2020-10-12 | 2022-05-10 | 中国人民解放军总医院第五医学中心 | Ultrasound visual field simulation auxiliary ablation path planning method and system for any section of CT |
| CN112767796B (en) * | 2021-01-07 | 2022-08-02 | 喻智勇 | Liver tumor ablation treatment puncture training simulation device and working method |
| CN112932683A (en) * | 2021-01-26 | 2021-06-11 | 马元 | Operation simulation method and system of ultrasonic guide bronchoscope |
| CN113855244B (en) * | 2021-09-08 | 2022-10-18 | 江苏集奥医工交叉科技有限公司 | Surgical robot for treating pain |
| CN114067646A (en) * | 2021-10-16 | 2022-02-18 | 复旦大学 | Visual simulation teaching system of puncture surgical robot |
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| JP2007159653A (en) * | 2005-12-09 | 2007-06-28 | Ge Medical Systems Global Technology Co Llc | Ultrasonic probe for puncture and ultrasonic diagnostic apparatus |
| JP2010519635A (en) * | 2007-02-26 | 2010-06-03 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | Pointing device for medical imaging |
| JP6042718B2 (en) * | 2009-06-29 | 2016-12-14 | コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． | Tumor ablation training system and training method |
| CN101779956A (en) * | 2010-01-29 | 2010-07-21 | 中国人民解放军国防科学技术大学 | Early tumor detection method |
| CN201853406U (en) * | 2010-08-20 | 2011-06-01 | 天津市天堰医教科技开发有限公司 | Elbow venipuncture module |
| CN102319117B (en) * | 2011-06-16 | 2013-04-03 | 上海交通大学医学院附属瑞金医院 | Arterial intervention implant implanting system capable of fusing real-time ultrasonic information based on magnetic navigation |
| CN102860841B (en) * | 2012-09-25 | 2014-10-22 | 陈颀潇 | Aided navigation system and method of puncture operation under ultrasonic image |
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