CN108186116A - A kind of operation point of a knife heat source imaging system and its method - Google Patents

A kind of operation point of a knife heat source imaging system and its method Download PDF

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Publication number
CN108186116A
CN108186116A CN201810146314.0A CN201810146314A CN108186116A CN 108186116 A CN108186116 A CN 108186116A CN 201810146314 A CN201810146314 A CN 201810146314A CN 108186116 A CN108186116 A CN 108186116A
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knife
operation point
image
heat source
point
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熊力
张江杰
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Second Xiangya Hospital of Central South University
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Second Xiangya Hospital of Central South University
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Priority to CN201810146314.0A priority Critical patent/CN108186116A/en
Publication of CN108186116A publication Critical patent/CN108186116A/en
Priority to PCT/CN2019/070111 priority patent/WO2019153983A1/en
Priority to ZA2019/03831A priority patent/ZA201903831B/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00601—Cutting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00666—Sensing and controlling the application of energy using a threshold value
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00696—Controlled or regulated parameters
    • A61B2018/00714—Temperature
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00773—Sensed parameters
    • A61B2018/00791—Temperature
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
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Abstract

The invention discloses a kind of operation point of a knife heat source imaging system and its method, including：Integrate the 3D model foundations part of processing CT images：By collecting and analyzing multiple CT scan figures of patient, the 3D analog images of processing construction patient are carried out to the CT figures of scanning, define patient a part coordinate data；Operation point of a knife catching portion：Fever scalpel is captured, then measures and calculates, recycles image processing techniques positioning scalpel intermediate point, position of tool tip of as performing the operation；Image tagged display portion：After determining CT longitudinal scanning figures according to the coordinate of operation point of a knife, gradation of image processing is carried out to scanning figure, and specifically deepen to mark in combination lateral position and lateral position.Real-time tracing of the present invention is performed the operation position of tool tip, it is included in corresponding picture system, positioning operation point of a knife position, and auxiliary and guiding doctor are operated, solve the problems, such as new hand or intern can not accurate judgement patient respectively organize organ site.

Description

A kind of operation point of a knife heat source imaging system and its method
Technical field
The present invention relates to medical electronics technical field more particularly to a kind of operation point of a knife heat source imaging systems and its method.
Background technology
Electric knife (high frequency electro surgical unit) is a kind of electrosurgical unit that mechanical operation knife is replaced to carry out tissue cutting.It is logical It crosses when the high-frequency high-voltage current that active electrode tip generates is contacted with human body and tissue is heated, realize and injected organism tissue is divided From and solidification, so as to play the purpose of cutting and hemostasis.
CT (Computed Tomography), i.e. CT scan, it be using Accurate collimation X-ray beam, Gamma-rays, ultrasonic wave etc. make section one by one together with the detector high with sensitivity around a certain position of human body Scanning has the features such as sweep time is fast, image clearly, the inspection available for a variety of diseases；According to used ray difference It can be divided into：X ray CT (X-CT), ultrasound computed tomography (UCT) and gamma-rays CT (γ-CT) etc..
Digital Image Processing Digital Image Processing (Digital Image Processing) is to image by computer It is removed the methods and techniques of the processing such as noise, enhancing, recovery, segmentation, extraction feature.The generation of Digital Image Processing and fast Speed development is mainly influenced by three factors：First, the development of computer；Second is that development (the particularly theory of discrete mathematics of mathematics Foundation and perfect)；Third, the increasing of the application demand of extensive farming and animal husbandry, forestry, environment, military affairs, industry and medicine etc. It is long.Application of the Digital Image Processing in terms of biomedical engineering is very extensive, and very effective.In addition to CT presented hereinbefore Except technology, also one kind is the analysis of the processing to medical micro-image, such as red blood cell, leukocyte differential count, chromosome analysis, cancer Cell recognition etc..In addition, increase clear, ultrasonography processing, ecg analysis, stereotactic radiotherapy in X-ray lung images Wait in terms of medical diagnosis all widely application image treatment technologies.
Thermal imaging is to detect infrared energy (heat), and be converted into electric signal, and then in display by non-contact Upper generation thermal image and temperature value, and a kind of detection device that temperature value can be calculated.The effect of thermal imaging has：Inflammation Prompting, the early warning of tumour, the prompting of peripheral nerve disease, other difficult and complicated illness analysis, curative effect tracking.
In view of many new hands or intern can not accurate judgement patient each tissue organ site, to solve these disadvantages End, facilitates the rapid advances of intern and development and veteran the doctor real-time visual that needs to perform the operation understand deep The dissection of structure is adjoined, and traditional scalpel is gradually replaced by thermal cutting scalpel, and maximum technical problem is exactly The accurate 3D imagings for capturing operation position of tool tip and corresponding position in thermal imaging system, but the prior art is real not yet The preferable scheme of this existing effect.
Invention content
In view of the drawbacks described above of the prior art, the technical problems to be solved by the invention are to provide a kind of operation point of a knife heat Source imaging system and its method, to solve the deficiencies in the prior art.
To achieve the above object, the present invention provides it is a kind of operation point of a knife heat source imaging system, including：
Integrate the 3D model foundations part of processing CT images：By collecting and analyzing multiple CT scan figures of patient, to sweeping After the CT figures retouched carry out image enhancement, then image is subjected to compressed encoding, decodes the 3D analog images of image configuration patient, with x, Y, z three-dimensional data storages, definition horizontal axis be x, longitudinal axis y, vertical pivot z, if (x, y, z) coordinate point data is not zero, as Patient a part data；
Operation point of a knife catching portion：Fever scalpel is captured, then measures and calculates, is recycled at image Technological orientation scalpel intermediate point is managed, position of tool tip of as performing the operation is named as (x, y, z)；
Image tagged display portion：After determining CT longitudinal scanning figures according to the coordinate of operation point of a knife, figure is carried out to scanning figure Specifically deepen to mark as gray proces, and in combination lateral position and lateral position.
Further, for the temperature of the operation position of tool tip at 100 DEG C or so, 70% with the temperature is boundary point.
Further, the operation point of a knife catching portion captures fever scalpel using frequency as 50Hz.
Further, the operation point of a knife catching portion is mounted on the 150cm positions on the right side of operating table.
Further, the image processing techniques used using image processing techniques positioning scalpel intermediate point include but It is not limited to：Image identification, infrared, ultrasonic wave.
A kind of operation point of a knife heat source imaging method, specific implementation step are：
The first step, the refreshing frequency scanning heat source imaging with 50HZ, further according to threshold value has been determined, judge position of tool tip of performing the operation, According to the contrast conting formula in image procossing, its coordinate (x, y, z) is determined；
Second step, in known coordinate, according to its Y-axis (longitudinal direction) coordinate, the correspondence CT for having carried out image procossing is swept Tracing displaying in the display system, and enhances scanning figure；
Third walks, according to X (transverse direction), and Z (lateral) coordinates mark in the image of corresponding display system, for convenience of seeing It examines, image can be amplified diminution.
The beneficial effects of the invention are as follows：
The present invention a kind of operation point of a knife heat source imaging system, according to radio knife heat cutting phenomenon, using heat into As form capture operation point of a knife hot source point coordinate, in conjunction with digital image processing techniques, surgical environments and the image of patient are simulated System forms corresponding visual image, and energy real-time continuous dynamic tracing operation position of tool tip, it is included in corresponding figure As in system, to reach positioning operation point of a knife position, auxiliary and guiding doctor are operated, and solve new hand or practice doctor Life can not the problem of respectively organizing organ site of accurate judgement patient.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to attached drawing, with It is fully understood from the purpose of the present invention, feature and effect.
Description of the drawings
Fig. 1 is the system structure diagram of the present invention.
Fig. 2 is the system flow chart of the present invention.
Specific embodiment
Embodiment one
As shown in Figure 1, 2, a kind of imaging system for point of a knife position capture of performing the operation.The system includes：
A. the 3D model foundations part of processing CT images is integrated：It is right by collecting and analyzing multiple CT scan figures of patient The CT of scanning schemes after carrying out image enhancement, then image is carried out compressed encoding, decodes the 3D analog images of image configuration patient, with X, y, z three-dimensional data storage, definition horizontal axis be x, longitudinal axis y, vertical pivot z, if (x, y, z) coordinate point data is not zero, i.e., For patient a part data；
B. in operation point of a knife catching portion：The installation thermal imaging of 150cm positions captures equipment, the equipment energy on the right side of operating table Fever scalpel is captured using frequency as 50Hz, according to measuring and calculating, the temperature for position of tool tip of performing the operation is 100 DEG C of left sides It is right, you can be in a program boundary point with the 70% of the temperature, accurate position location recycles image processing techniques positioning Intermediate point, position of tool tip of as performing the operation are named as (x, y, z).
C. image tagged display portion：After determining CT longitudinal scanning figures according to the coordinate of operation point of a knife, scanning figure is carried out Gradation of image processing, and specifically deepen to mark in combination lateral position and lateral position, doctor is facilitated quick and precisely to identify position.
Specific implementation step is as follows：
The first step is imaged with the refreshing frequency scanning heat source of 50HZ, further according to threshold value has been determined, judges position of tool tip of performing the operation, according to According to the contrast conting formula in image procossing, its coordinate (x, y, z), the system coordinates of corresponding A part are determined.
Second step according to its Y-axis (longitudinal direction) coordinate, will carry out the correspondence CT scan of image procossing in known coordinate Figure displaying in the display system, and enhances scanning figure.
Third step is marked according to X (transverse direction), Z (lateral) coordinates in the image of corresponding display system, for convenience of observing, Image can be amplified diminution.
It can be operated after determining operation position of tool tip according to set operation route.
Embodiment two
The places different from embodiment one are, after carrying out given surgical route operation, also to be carried out in terminal point next Operation.Similarly, continue B, C portion, complete follow-up implementation steps, plan a new operation route again, continue from terminal point Surgical procedure according to different picture presentations of the real part to position of tool tip, with reference to doctor's experience, carries out subtle amendment, Complete next operation.
It is worth noting that using before the system needing that patient is fixed, it is most simple and practical, it will be to needing The patient of operation lays anesthesia before CT scan is carried out, and is fixed with device and (be clinically to be fixed with bandage, can invent special Door fixed solution, with anti-offset), when carrying out CT scan, system by each position of patient (be particularly body surface location, Because our operating bed scale assists adjusting necessary not only for above-mentioned fixing device, it is often more important that according to CT bone marks Will etc. is corresponding to confirm reliable body surface location to determine) location determination is carried out, and can be adjusted and correct under operation, it uses To ensure that system coordinates are not in deviation, meanwhile, doctor the system can finely tune some ginsengs with Self-operating in use Number etc., to facilitate control operations.Wherein parameter includes picture size, positioning calibration etc..
The present invention a kind of operation point of a knife heat source imaging system, according to radio knife heat cutting phenomenon, using heat into As form capture operation point of a knife hot source point coordinate, in conjunction with digital image processing techniques, surgical environments and the image of patient are simulated System forms corresponding visual image, and energy real-time continuous dynamic tracing operation position of tool tip, it is included in corresponding figure As in system, to reach positioning operation point of a knife position, auxiliary and guiding doctor are operated, and solve new hand or practice doctor Life can not the problem of respectively organizing organ site of accurate judgement patient.
The preferred embodiment of the present invention described in detail above.It should be appreciated that those of ordinary skill in the art without Creative work is needed according to the present invention can to conceive and makes many modifications and variations.Therefore, all technologies in the art Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea Technical solution, all should be in the protection domain being defined in the patent claims.

Claims (6)

1. a kind of operation point of a knife heat source imaging system, which is characterized in that including：
Integrate the 3D model foundations part of processing CT images：By collecting and analyzing multiple CT scan figures of patient, to scanning CT schemes after carrying out image enhancement, then image is carried out compressed encoding, the 3D analog images of image configuration patient is decoded, with x, y, z Three-dimensional data storage, definition horizontal axis is x, longitudinal axis y, vertical pivot z, if (x, y, z) coordinate point data is not zero, as patient A part data；
Operation point of a knife catching portion：Fever scalpel is captured, then measures and calculates, recycles image procossing skill Art positioning scalpel intermediate point, position of tool tip of as performing the operation are named as (x, y, z)；
Image tagged display portion：After determining CT longitudinal scanning figures according to the coordinate of operation point of a knife, image ash is carried out to scanning figure Degree processing, and specifically deepen to mark in combination lateral position and lateral position.
2. a kind of operation point of a knife heat source imaging system as described in claim 1, it is characterised in that：The operation position of tool tip For temperature at 100 DEG C or so, 70% with the temperature is boundary point.
3. a kind of operation point of a knife heat source imaging system as described in claim 1, it is characterised in that：The operation point of a knife capture unit Divide and fever scalpel is captured using frequency as 50Hz.
A kind of 4. operation point of a knife heat source imaging system as described in claim 1, which is characterized in that the operation point of a knife capture unit Divide and be mounted on the 150cm positions on the right side of operating table.
5. a kind of operation point of a knife heat source imaging system as described in claim 1, which is characterized in that described to utilize image procossing skill The image processing techniques that art positioning scalpel intermediate point is used includes but not limited to：Image identification, infrared, ultrasonic wave.
6. a kind of operation point of a knife heat source imaging method, which is characterized in that implementation steps are：
The first step, the refreshing frequency scanning heat source imaging with 50HZ, further according to threshold value has been determined, judge position of tool tip of performing the operation, according to Contrast conting formula in image procossing determines its coordinate (x, y, z)；
Second step, in known coordinate, according to its Y-axis (longitudinal direction) coordinate, the correspondence CT scan figure of image procossing will have been carried out Displaying in the display system, and enhances scanning figure；
Third walks, according to X (transverse direction), and Z (lateral) coordinates mark in the image of corresponding display system, for convenience of observing, figure As diminution can be amplified.
CN201810146314.0A 2018-02-12 2018-02-12 A kind of operation point of a knife heat source imaging system and its method Pending CN108186116A (en)

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CN201810146314.0A CN108186116A (en) 2018-02-12 2018-02-12 A kind of operation point of a knife heat source imaging system and its method
PCT/CN2019/070111 WO2019153983A1 (en) 2018-02-12 2019-01-02 Surgical scalpel tip thermal imaging system and method therefor
ZA2019/03831A ZA201903831B (en) 2018-02-12 2019-06-13 Scalpel tip heat source imaging system and method thereof

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CN113995511A (en) * 2021-12-31 2022-02-01 中南大学 Actual measurement positioning operation navigation system and positioning operation navigation method

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Application publication date: 20180622