CN113662657B - Interventional vascular cancer suppository ablation medical system with 3D navigation function - Google Patents
Interventional vascular cancer suppository ablation medical system with 3D navigation function Download PDFInfo
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- A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
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Abstract
The invention provides an interventional vascular cancer suppository ablation medical system with a 3D navigation function, which is characterized in that: the medical system comprises a multi-core optical fiber with a 3D shape sensing function, a multi-core optical fiber connector, a surgical laser light source, a fiber bragg grating demodulator, a fiber sleeve and a computer; the multi-core optical fiber comprises three annular broken energy-transmitting fiber cores, four single-mode fiber cores and FBG unit arrays distributed on the four single-mode fiber cores; seven fiber cores are arranged at the output end of the multi-core fiber connector and are respectively and correspondingly connected with the single-core cores and the annular broken fiber cores of the multi-core fiber, wherein the input ends of the four corresponding single-mode fiber cores are connected with the fiber bragg grating demodulator; the input ends of the other three corresponding annular broken energy transmission fiber cores are connected with an operation light source; the optical signal obtained by the fiber bragg grating demodulator is processed by a computer and then inverted in real time to determine the position of the fiber probe in the blood vessel, so that the 3D navigation of the blood vessel in the body is realized. The invention can be used for minimally invasive interventional surgical treatment.
Description
Technical Field
The invention relates to an interventional vascular cancer suppository ablation medical system with a 3D navigation function, and belongs to the technical field of medical instruments.
Background
Vascular cancer plugs are common conditions that can occur at various stages in the tumor development process. For example, portal vein cancer embolism is a common disease in the development process of liver cancer, and is one of the direct causes of death of liver cancer patients, so it is important to discover and remove vascular cancer embolism as soon as possible.
The optical fiber has the advantages of fineness, flexibility, biocompatibility, safety, reliability and the like, so that the optical fiber sensor can be effectively embedded into medical instruments such as a needle head, a catheter, an endoscope and the like, and can reach a disease area through being inserted into various cavities and channels of a human body, thereby realizing minimally invasive and accurate detection and treatment, effectively avoiding dangerous and painful operation processes such as operation, reducing blood loss during operation and shortening the recovery time after operation. The optical fiber shape sensor can dynamically feed back the shape and position of the attached medical catheter in the human body in real time, which makes the optical fiber shape sensor hopeful to replace a dangerous and expensive X-ray perspective imaging technology in many minimally invasive interventional therapy operations.
Lasers have been used in the treatment of tumors, such as primary tumors, metastatic tumors, and post-operative recurrent tumors, particularly in tumor patients who are intolerant to re-surgery. For tumors such as liver cancer, breast cancer, adrenal gland cancer, bone-like osteoma, pituitary tumor, prostate tumor and the like, when laser treatment is performed, under the positioning and guiding of an imaging system such as an ultrasonic detector, an X-ray perspective instrument, a computer-controlled nuclear magnetic resonance instrument and the like, a common puncture needle is percutaneously punctured into the tumor body, and laser optical fibers are directly inserted into a treatment position through a needle tube of the common puncture needle, so that laser treatment can be performed. Since laser treatment has a good killing boundary, tumor cells can be completely killed by regulation and control, and cells outside an ablation area can be prevented from being damaged.
At present, although a shape sensor based on multi-core optical fibers is proposed and possibly applicable to 3D shape sensing navigation in blood vesselsSonja, et al, three-dimensional guidance including shape sensing of a stentgraft system for endovascular aneurysm repair International journal of computer assisted radiology and surgery,2020,15:1033-1042), but the fiber failed to function as a laser surgical treatment. Of course, optical fiber is a mature medical measure scheme as a surgical laser conduction medium, but the existing optical fiber surgical laser conduction optical fiber is usually a simple multimode energy transmission optical fiber and does not have a 3D navigation function.
Disclosure of Invention
The invention aims to provide an interventional vascular cancer embolus ablation medical system with a 3D navigation function.
An interventional vascular cancer embolus ablation medical system with a 3D navigation function. As shown in fig. 1, the medical system comprises a multi-core optical fiber 1 with a 3D shape sensing function, a multi-core optical fiber connector 4, a surgical laser light source 6, a fiber grating demodulator 5, a fiber sleeve 3 and a computer 9; the multi-core optical fiber comprises three annular broken energy-transmitting fiber cores 1-3, four single-mode fiber cores 1-1 and 1-2, a cladding 1-4 and an FBG unit array 2 distributed on the four single-mode fiber cores; seven fiber cores are respectively and correspondingly connected with a single-mode core and an annular broken fiber core of the multi-core fiber at the output end of the multi-core fiber connector 4, and the input ends of four corresponding single-mode fiber cores of the multi-core fiber connector 4 are connected with a fiber grating demodulator 5 for real-time monitoring of the shape of the multi-core fiber 1; the input ends of the other three corresponding annular broken fiber cores of the multi-core fiber connector 4 are connected with a surgical laser source 6, and the output surgical laser is transmitted to the fiber ends through the annular broken energy transmission fiber cores for ablation of cancer plugs. The optical signal obtained by the fiber bragg grating demodulator can invert the shape of the multi-core optical fiber 1 in real time after being processed by a computer, and the position of the optical fiber probe in the blood vessel is determined, so that the 3D navigation of the blood vessel in the body is realized.
As shown in fig. 2 and 3 (a), three cores 1-1 of the four single-mode cores of the multi-core optical fiber 1 are distributed in a regular triangle, and the other core 1-2 is located in the middle of the optical fiber. The three annular broken fiber cores 1-3 and the three single-mode fiber cores 1-1 distributed in a regular triangle are distributed on the same annular shape.
Optionally, as shown in fig. 3 (b), the four single-mode cores of the multi-core fiber have a ring of fluorine doped low refractive index layers 1-5 outside to prevent energy crosstalk in the energy-transfer core and the single-mode core.
As shown in fig. 4, the FBG unit array is located in four single-mode fiber cores, four gratings at the same position of each single-mode fiber core are formed into a group, each group of gratings is formed by using the same parameter grating mask, and the gratings of different groups are formed by using different parameter grating masks.
The multi-core optical fiber has a reflecting cone truncated cone at its fiber end, and the laser is reflected in front of the fiber end.
The fiber grating demodulator demodulates FBG reflection sensing signals on four single-mode fiber cores, and the computer acquires and processes the signals to acquire and display the three-dimensional shape distribution of the optical fibers in real time.
The tail end of the single-mode fiber core in the middle of the multi-core fiber is provided with an FBG (fiber Bragg Grating) for real-time monitoring of the temperature of the fiber end and real-time monitoring of the temperature of a laser ablation operation area of the fiber end, so that the damage to normal tissues due to overhigh local temperature is prevented.
Since the optical fiber is a special optical fiber, the connection method of each fiber core waveguide is a key problem for the application of the optical fiber. The optical fiber can adopt the following optical fiber fan-in fan-out connector: as shown in fig. 5, a seven-core fiber fan-in fan-out device 4 is optionally used for welding cores of the multi-core fiber 1, one end of the device is connected with seven single-mode fibers 4-2, the other output end 4-1 is provided with seven single-mode output fiber cores, three of six fiber cores distributed in an annular mode are correspondingly matched with three single-mode fiber cores of the multi-core fiber 1 provided by the invention, the other three fiber cores are correspondingly matched with three annular broken fiber cores, and the middle fiber cores are mutually in butt joint and match. This way the fanout connection of the present invention can be implemented.
Before the medical system works, angiography is needed to obtain the shape distribution of a treatment target blood vessel, a reference coordinate system is established through a computer, and the absolute position of the tail end of the optical fiber in the blood vessel is obtained by fusing the shape feedback of the inserted multi-core optical fiber in the coordinate system.
The three annular broken energy transmission fiber cores have larger effective areas, pulse beams with high energy density are transmitted in the three annular broken energy transmission fiber cores, and the operation effect is adjusted by adjusting parameters such as the repetition frequency of the operation beam, the output energy and the like; the three energy-transfer fiber cores can be subjected to alternate light injection, so that long-time local single-point work is prevented, heat accumulation is avoided, and normal tissues are damaged due to overhigh temperature.
To realize shape sensing of a single optical fiber and complete 3D operation navigation, the bending and torsion measurement tasks are completed simultaneously. This requires a single fiber to have a minimum of three single mode cores. In order to eliminate the systematic deviation and improve the system measurement accuracy, a common reference core is needed that provides the environmental temperature and the matrix strain. Therefore, the multi-core optical fiber adopted by the invention comprises four single-mode fiber cores, and the influence of the external environment is eliminated through the differential motion between the three triangularly distributed fiber cores and the central reference fiber core, so that the absolute measurement of bending and torsion is realized.
In order to realize the morphological reconstruction operation of the multi-core optical fiber based on curvature information in a blood vessel, wavelength data acquired by an FBG demodulation system are converted into curvature data, and the curvature serialization and reconstruction algorithm is utilized to realize the reconstruction of the morphological change of the three-dimensional structure.
As the deformation parameters of the optical fiber detected by the multi-core optical fiber FBG sensing array are discrete data, the continuous change of the data can be realized by adopting methods of linear interpolation, secondary interpolation, B-spline interpolation and the like, and a continuous change function of the curvature and torsion of the optical fiber is obtained: kappa(s) and tau(s). And reconstructing a three-dimensional spatial position function of the whole optical fiber sensor according to the continuous change data of the curvature and the torsionThe reconstruction process of this function will be briefly analyzed below.
For ease of analysis, only the four single-mode cores of the multi-core fiber, on which the FBG array is written, are analyzed during the process of reconstructing the fiber shape. As shown in fig. 6, a unit tangent vector along the bending direction of the optical fiber is definedUnit normal vector along the bending direction of the fiber +.>And negative normal vector->Here->
Thus, the formula is available from French-Serrati (Frenet-Serset):
while one important feature of the freund's endo-saint-threewingnut is that,and->Can be expressed in its integrated form:
once the parameters of the multi-core fiber optic sensor are calibrated, the initial position (i.e.And->Known), the spatial position function of the multi-core optical fiber sensor can be obtained by combining the two formulas, and the deformation profile of the sensor can be reconstructed:
bending and torsion of the multi-core fiber grating sensing array can be abstracted into a space three-dimensional curve through a Frenet-Serset formula, the fiber is analogically linear Kerr Huo Fugan, the elasticity is uniform, the structure is symmetrical, the circular cross-section density is uniform, and then the relationship between the frame of the three-dimensional space and the natural curve frame of the fiber is unchanged.
Whereas the continuously changing functions of curvature and twist of the fiber, κ(s) and τ(s), can be determined by the following method. In the process of detecting the shape of the multi-core fiber FBG sensing array, the whole sensing fiber grating array becomes a complex curve due to bending and torsion of the multi-core fiber.
Based on the geometry of the four single mode cores, as shown in fig. 7. The relationship between the strain of the FBG on the core and the fiber curvature is given by:
the local curvature of the core i is
Epsilon in i For the strain value of the ith grating, the strain value is given by
The magnitude of the local curvature vector of each core depends on its measured strain and radial distance from the center of the fiber, while the vector direction depends on the angular offset of the core. For an optical fiber with four single-mode cores, the vector of the bend vectors is defined as
The bending direction is defined as
Interpolation of curvature and bending direction of the entire fiber using cubic spline interpolation for discrete curvature and bending direction, with the bending rate function being the derivative of the bending angle function
κ(s)＝θ′(s) (9)
Once the continuously changing functions of fiber curvature and twist, k(s) and τ(s), are determined, and the initial position of the multicore fiber sensor (i.e.And->) The three-dimensional shape of the sensing fiber in space can be reconstructed from equations (2) and (3).
The dynamic data obtained by the fiber grating is further converted into a real-time reflected wavelength displacement data set after being demodulated by a high-speed FBG demodulation system. These data sets constitute two-dimensional, three-dimensional and even high-dimensional data fields containing spatial three-dimensional shape information of the interventional blood vessel and in-vivo temperature distribution information thereof.
To display the distribution shape of the optical fiber in the blood vessel in real time, the point coordinate data obtained by the fitting and reconstruction method by means of calculation needs to be displayed on a computer screen through the Open GL technology.
As shown in fig. 8, the spatial coordinate values obtained by fitting operation of the reconstruction algorithm and the computer graphics processing technology are utilized to accurately, efficiently and dynamically reconstruct the three-dimensional shape of the optical fiber in a visual way. The three-dimensional morphological reconstruction data processing flow comprises the steps of original data acquisition, curvature conversion, curvature interpolation, coordinate point fitting, coordinate data fusion, graphic rendering and the like, wherein the coordinate data fusion is a key link for realizing a dynamic display effect.
The coordinate data fusion is mainly used for fusing the relative coordinate values of all points on the optical fiber and the blood vessel into a unified coordinate system to form a unified and complete model structure coordinate point set. The coordinate point fusion processing process is as follows:
(1) By angiography, a fixed coordinate system of the vascularity is established.
(2) The coordinate values of the characteristic points in the whole optical fiber structure fixed coordinate system are determined by establishing a transformation relation between the coordinate system where the optical fiber grating sensing points are located and the fixed coordinate system and integrating the relative coordinates of the reconstructed characteristic points in the independent coordinate system of the optical fiber grating sensing points into the fixed coordinate system according to the transformation relation.
(3) And finally, carrying out coordinate fusion of each unit under a fixed coordinate system to realize coordinate point reconstruction, thereby realizing real-time reconstruction of the optical fiber shape and completing intravascular 3D operation navigation.
Compared with the prior art, the invention has the remarkable improvements that:
(1) The special multi-core optical fiber is adopted, the operation light beam conduction function and the 3D operation navigation function are integrated into the same optical fiber, and the device is small and flexible and is particularly suitable for interventional operation in blood vessels.
(2) The FBG array distributed on the optical fiber can be used for temperature distributed measurement of different parts in an interventional body to acquire distributed temperature physical sign parameters, and the fiber end of the middle core is provided with the FBG and can be used for monitoring the local temperature of an operation point to feed back the operation effect.
(3) The three annular broken fiber cores have large mode field areas, can transmit laser with large power and are used for beam transmission channels for intravascular interventional laser ablation treatment.
(4) The fiber end of the optical fiber is subjected to precise grinding processing, a cone truncated cone structure can be prepared, and surgical laser transmitted in the fiber cores of the three annular defects is reflected and focused, so that the energy density of the surgical laser is further improved.
Drawings
Fig. 1 is a block diagram of an interventional vascular cancer plug ablation medical system with 3D navigation.
Fig. 2 is a multi-core optical fiber for interventional ablation procedures, with an array of FBGs on the fiber, and the amplification zone is an end-face block diagram of the fiber.
Fig. 3 is an end view of two multifunctional optical fibers for interventional ablation procedures, wherein fig. 3 (b) differs from fig. 3 (a) in that the outer turns of the 4 single-mode cores are added with a low refractive index spacer layer.
Fig. 4 is a three-dimensional block diagram of a multi-core fiber in which fiber grating arrays are distributed in groups over 4 single-mode cores.
Fig. 5 is a block diagram of a fan-in and fan-out connector for a multifunctional fiber for interventional ablation procedures.
Fig. 6 is a schematic diagram of a multicore fiber for shape reconstruction.
FIG. 7 is a flow chart of a three-dimensional shape sensing real-time dynamic display of a multifunctional fiber for interventional ablation procedures.
Fig. 8 is a block diagram of a multicore fiber with a tapered frustoconical structure at the fiber end for an intravascular laser ablation treatment system.
Detailed Description
The invention is further illustrated below in conjunction with specific examples.
Example 1: is used for the ablation treatment of cancer embolism in blood vessel.
The blood vessel to be operated on of the patient is subjected to intravascular radiography to obtain the actual spatial distribution of the blood vessel. An absolute coordinate system is established on a computer.
Then, the puncture needle is punctured to a proper vascular position, the puncture needle core is extracted, and a guide wire is inserted along the puncture needle tube to the top end of the puncture needle tube; the puncture needle tube is pulled out and the multicore optical fiber is inserted.
And opening the fiber bragg grating demodulator, monitoring the dynamic shape of the multi-core fiber on a monitor of a computer, and judging the advancing condition and the current position of the fiber end of the fiber in the blood vessel through the shape of the multi-core fiber and the matching degree of the contrast blood vessel. According to such 3D navigation, the advancing direction of the optical fiber is adjusted until the optical fiber end reaches the cancer plug of the patient.
The surgical laser light source is turned on, laser beams are injected into the three annular broken energy-transmitting fiber cores through the multi-core fiber connector, the reflection wavelength of the obtained grating at the fiber end position of the middle core is monitored through the fiber bragg grating demodulator, and the local temperature of the fiber end is monitored.
The surgical effect is improved by adjusting the pulse intensity and pulse period of the surgical laser source.
Example 2: an intravascular thrombus ablation system with a frustum structure at the fiber end.
As shown in fig. 8, one end of the multi-core optical fiber 1 is connected with a seven-core optical fiber fan-in fan-out device 4, wherein the input ends corresponding to three annular broken fiber cores are connected with a surgical laser light source 6, and the input ends corresponding to four single-mode fiber cores of the multi-core optical fiber 1 are connected with a four-channel optical fiber grating demodulation system 5, and the system can realize the shape reconstruction of the multi-core optical fiber in real time through the wavelength reflected by a grating array 2 on the multi-core optical fiber 1. The other end of the multicore fiber 1 can be inserted into the ferrule 3, and since the fiber is flexible, the shape of the multicore fiber 1 after insertion into the ferrule 3 can be regarded as the ferrule shape. After the fiber end of the multi-core optical fiber 1 is precisely ground, a symmetrical reflecting cone truncated cone structure 10 is obtained, and the truncated cone structure 10 can realize reflection convergence of surgical laser 7 transmitted in three ring-broken fiber cores, so that a high-energy-density small-size focusing light spot 11 is formed at the fiber end and used for ablation of thrombus in a blood vessel, minimally invasive interventional therapy of thrombus in the blood vessel is realized, the Bragg grating 8 on the middle core of the fiber end can also be used for monitoring the temperature of laser heating ablation, and damage to the blood vessel is prevented.
In the description and drawings, there have been disclosed typical embodiments of the invention. The present invention is not limited to these exemplary embodiments. The specific terms are used in a generic and descriptive sense only and not for purposes of limitation, the scope of the invention being protected.
Claims (8)
1. An interventional vascular cancer embolus ablation medical system with a 3D navigation function is characterized in that: the medical system comprises a multi-core optical fiber with a 3D shape sensing function, a multi-core optical fiber connector, a surgical laser light source, a fiber bragg grating demodulator, a fiber sleeve and a computer; the multi-core optical fiber comprises three annular broken energy transmission fiber cores, four single-mode fiber cores and FBG unit arrays distributed on the four single-mode fiber cores; seven fiber cores are respectively and correspondingly connected with a single-mode core and an annular broken energy transmission fiber core of the multi-core fiber at the output end of the multi-core fiber connector, and the input ends of four corresponding single-mode fiber cores of the multi-core fiber connector are connected with a fiber bragg grating demodulator; the other three input ends of the multi-core optical fiber connector, which correspond to the annular fracture energy transmission fiber cores, are connected with a surgical laser light source and are used for transmitting surgical light beams to the fiber ends and ablating cancer plugs; the optical signal obtained by the fiber bragg grating demodulator can be processed by a computer to invert the shape of the multi-core optical fiber in real time, and the position of the optical fiber probe in the blood vessel is determined, so that the 3D navigation of the blood vessel in the body is realized;
three of four single-mode fiber cores of the multi-core fiber are distributed in a regular triangle, and the other fiber core is positioned in the middle of the fiber;
the three annular broken energy transmission fiber cores and the three single-mode fiber cores distributed in a regular triangle form of the multi-core fiber are distributed on the same annular shape.
2. The interventional vascular cancer embolus ablation medical system with 3D navigation function of claim 1, wherein: and a circle of fluorine doped low refractive index layer is arranged outside the four single-mode fiber cores of the multi-core fiber.
3. The interventional vascular cancer embolus ablation medical system with 3D navigation function of claim 1, wherein: the FBG unit arrays are positioned on four single-mode fiber cores, each group of gratings is prepared from the same-parameter grating mask plate, and different groups of gratings are prepared from different-parameter grating mask plates.
4. The interventional vascular cancer embolus ablation medical system with 3D navigation function of claim 1, wherein: the fiber end of the multi-core optical fiber is provided with a reflecting cone truncated cone, and the laser of the focused surgery is reflected in front of the fiber end.
5. The interventional vascular cancer embolus ablation medical system with 3D navigation function of claim 1, wherein: the fiber grating demodulator demodulates FBG reflection sensing signals on four single-mode fiber cores, and the computer acquires and processes the signals to acquire and display the three-dimensional shape distribution of the optical fibers in real time.
6. The interventional vascular cancer embolus ablation medical system with 3D navigation function of claim 1, wherein: and the tail end of the single-mode fiber core in the middle of the multi-core fiber is provided with an FBG (fiber Bragg Grating) for monitoring the temperature of the fiber end in real time.
7. The interventional vascular cancer embolus ablation medical system with 3D navigation function of claim 1, wherein: before the medical system works, the shape distribution of the treatment target blood vessel is obtained through angiography, a reference coordinate system is established through a computer, and the absolute position of the tail end of the multicore fiber in the blood vessel is obtained through fusing the shape feedback of the inserted multicore fiber in the coordinate system.
8. The interventional vascular cancer embolus ablation medical system with 3D navigation function of claim 1, wherein: the surgical light transmitted in the three annular broken energy transmission fiber cores is a pulse light beam with high energy density, and the three annular broken energy transmission fiber cores are alternately subjected to light injection.
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