CN102727309B - Surgical navigation system combined with endoscope image and surgical navigation method - Google Patents
Surgical navigation system combined with endoscope image and surgical navigation method Download PDFInfo
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- CN102727309B CN102727309B CN201110088612.7A CN201110088612A CN102727309B CN 102727309 B CN102727309 B CN 102727309B CN 201110088612 A CN201110088612 A CN 201110088612A CN 102727309 B CN102727309 B CN 102727309B
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- 238000000034 method Methods 0.000 title abstract description 10
- 239000000523 sample Substances 0.000 claims abstract description 16
- 230000000007 visual effect Effects 0.000 claims description 9
- 238000003384 imaging method Methods 0.000 claims description 4
- 230000003902 lesion Effects 0.000 abstract description 2
- 230000008676 import Effects 0.000 abstract 2
- 210000001519 tissue Anatomy 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002674 endoscopic surgery Methods 0.000 description 2
- 210000005036 nerve Anatomy 0.000 description 2
- 208000032843 Hemorrhage Diseases 0.000 description 1
- 208000029549 Muscle injury Diseases 0.000 description 1
- 238000005481 NMR spectroscopy Methods 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 206010058046 Post procedural complication Diseases 0.000 description 1
- 208000035965 Postoperative Complications Diseases 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000011846 endoscopic investigation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000008764 nerve damage Effects 0.000 description 1
- 210000004279 orbit Anatomy 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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Abstract
The invention discloses a surgical navigation system combined with an endoscope image. The surgical navigation system comprises a computer, a display, a navigation camera probe, a converter, and a navigation tool adapter; the navigation camera probe collects a signal and transmits the signal to the computer through the converter; the computer processes the signal and displays the processing result through the display; an import interface of one endoscope image is arranged on the computer, and connected with an image collecting card; the import interface of the endoscope image is electrically connected with an endoscope instrument, the endoscope instrument is connected with an endoscope lens; the endoscope lens is provided with the navigation tool adapter. By adopting the surgical navigation system, doctors can be more confident to treat deep-seated lesions or the focus with complex and important structures at surroundings or incapable of being distinguished by naked eyes, and thus important organizations out of the endoscope vision can be protected, and the scale of an operation target region is more accurate. The invention further discloses a surgical navigation method combined with an endoscope image.
Description
Technical field
The present invention relates to a kind of medical apparatus and instruments, be specifically related to the surgical navigation systems of a kind of combination endoscope image.
Background technology
The operation back-up system that existing Computer-assisted Surgical Navigation system is a kind of three-dimensional localization.In operation process, utilize computer technology by the pathological changes position of patient in the image data of patient in preoperative or art (from CT computed tomography, MRI nuclear magnetic resonance etc.), actual operation process, and the coordinate system at operation tool place is united.Computer utilizes these image informations to carry out 3D image reconstruction, provides the hands section of objective, accurate, directly perceived, quick, Wicresoft, science for surgeon carries out surgery planning; Can, according to the needs of actual operation, carry out location of operation, operation tool tissue is around done to corresponding demonstration, thereby operation is carried out to real-time navigation simultaneously.But, this surgical navigation equipment, its all data are from the preoperative image such as CT or MR, the three-dimensional reconstruction that it does, does not accomplish real image truly, and any in art or the drift of preoperative appearance all can bring accuracy error to operation.
Endoscopic surgery has that wound is little, operation under few intercurrent disease, direct-view, the feature such as safe and effective, and the micro-wound surgical operation epoch have been started in the application of current endoscope.But owing to lacking stereovision in endoscopic surgery art, visual area is narrow and small, visual area cannot penetrate tissue, therefore still has visual area inside and outside nerve injury, muscle injury, and may occur the relatively large shortcoming such as hemorrhage.
Summary of the invention
Technical problem to be solved by this invention is to provide the surgical navigation systems of a kind of combination endoscope image, it can make surgical operation more accurately, safety.
For solving the problems of the technologies described above, the present invention in conjunction with the technical solution of the surgical navigation systems of endoscope's image is:
Comprise computer, display, navigation camera probe, transducer, navigational tool adapter, navigation camera probe is collected signal, and signal is passed to computer by transducer, computer is processed signal, and result is shown by display; On described computer, be provided with the introducting interface of endoscope's image, the introducting interface of endoscope's image connects image pick-up card; The introducting interface electrical connection endoscopic instrument of endoscope's image, endoscopic instrument connects endoscope lens, and endoscope lens is provided with navigational tool adapter.
The introducting interface of described endoscope image is one of endoscopic images interface that 1394 interfaces, S-Video terminal or bnc connector are corresponding.
Described navigational tool adapter is fixedly installed on the vertical side of endoscope lens.
The present invention also provides the surgical navigation method of a kind of combination endoscope image, and it comprises the following steps:
The image data of computer and importing is carried out to spatial registration by navigation camera probe, realize common navigation feature;
Navigation camera probe is carried out to surgical navigational location by navigational tool adapter, and the summit and the endoscope lens that trace into endoscope lens are axial;
Connect computer and endoscopic instrument by data wire; The data wire of described connection computer and endoscopic instrument is 1394 data wires, S-Video data wire or BNC data wire.
Determine the field range of endoscope in 3-D view, realize navigation feature in the art of the similar probe of endoscope;
Open endoscope's visual views interface;
According to the imaging parameters of endoscope lens and demarcated axially, adjust the setting angle of navigational tool adapter, realize Image registration;
Again the profile of the target area of delineating in navigation picture or vital tissue is fallen in endoscope's image of importing, increased perspective function to endoscope;
Show in real time hat position, axle position, the vector potential fault image of place, the visual field aspect of endoscope.
The technique effect that the present invention can reach is:
Surgical navigation systems of the present invention, in conjunction with endoscopic technique, is realized Shu Zhong endoscope image and is combined with the image such as CT, MR, can endoscope instrument in operation carry out navigator fix.
The present invention has 3 D stereo perspective imaging function, position that can real-time tracing endoscope in operation process, by the position relationship between endoscope and differences in patient, the sightless focus in visible anatomical structure below, blood vessel and nerve on endoscope's image are sketched the contours on endoscope's image; When operation, the profile scope in the tumor of any aspect of endoscope distal end and critical function district marks with multi-color cord, and add direction line and scale, dynamic superpose to the image in kind of endoscope, thereby can realize operation navigation device and the endoscope action compensating in operation.
The present invention can expand to operation visual area outside the endoscope visual field, makes doctor in carrying out operation technique, takes endoscope's vital tissue (as eye socket, nerve, blood vessel etc.) around into account, makes operation safety, thorough, reduces postoperative complication.
The present invention can make doctor process Deep Lesions, around more sure while having complicated important structure or the indistinguishable focus of naked eyes, can protect the vital tissue outside the endoscope visual field, make target surgical scope more accurate.
Brief description of the drawings
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation:
Fig. 1 is the schematic diagram of the present invention in conjunction with the surgical navigation systems of endoscope's image;
Fig. 2 is circuit diagram of the present invention;
Fig. 3 is the schematic diagram of endoscope of the present invention;
Fig. 4 utilizes the viewed actual effect figure of the present invention.
Description of reference numerals in figure:
1 is computer, and 11 is keyboard,
12 is mouse, and 13 is interface panel,
2 is display, and 3 is navigation camera probe,
4 is endoscopic instrument, 41 vertical side that are endoscope lens,
42 is navigational tool adapter, and 5 is endoscope lens.
Detailed description of the invention
As shown in Figure 1 and Figure 2, the present invention is in conjunction with the surgical navigation systems of endoscope's image, it is the improvement that existing operation guiding system is carried out, operation guiding system comprises computer 1, display 2, navigation camera probe 3, computer 1 connects alternating-current power supply by power management, display 2 connects computer 1, and computer 1 operates by keyboard 11 and mouse 12; Navigation camera probe 3 is electrically connected transducer, and transducer is electrically connected with computer;
Navigation camera probe 3 is collected signal, and signal is passed to computer 1 by transducer, and computer 1 is processed signal, and result is shown by display 2;
On the interface panel 13 of computer 1, be provided with the introducting interface of endoscope's image, the introducting interface of described endoscope image can be the endoscopic images interface that 1394 interfaces, S-Video terminal or bnc connector etc. are corresponding; The introducting interface of endoscope's image is connected in the image pick-up card of computer-internal, and image pick-up card is used for gathering endoscopic images data signal;
Computer 1 is by the introducting interface electrical connection endoscopic instrument 4 of endoscope's image, and endoscopic instrument 4 is provided with endoscope lens 5, and endoscope lens 5 is for adopting data; Endoscope lens 5 is provided with navigational tool adapter 42, and navigational tool adapter 42 is for confirming the relevant parameter of endoscope lens 5, and completes in the preoperative the staking-out work of instrument;
As shown in Figure 3, navigational tool adapter 42 is fixedly installed on the vertical side 41 of endoscope lens 5.
Operation principle of the present invention is:
Navigation camera probe 3 carries out surgical navigational location by navigational tool adapter 42, and the summit and the endoscope lens 5 that trace into endoscope lens 5 are axial, determine the field range of endoscope in 3-D view, realizes navigation feature in the art of the similar probe of endoscope;
According to the imaging parameters of endoscope lens 5 and demarcated axially, and adjust the setting angle of navigational tool adapter 42, make it be fixedly installed on the vertical side 41 of endoscope lens 5, to realize Image registration; Again the profile of the target area of delineating in navigation picture or vital tissue is fallen in endoscope's image of importing, like having increased perspective function to endoscope, hat position, axle position, the vector potential fault image of this aspect are also shown in real time, as shown in Figure 4.
The present invention is fixedly installed on navigational tool adapter 42 vertical side 41 of endoscope lens 5, can really accomplish the surgical navigation in conjunction with endoscope's image.
Claims (3)
1. the surgical navigation systems in conjunction with endoscope's image, comprise computer, display, navigation camera probe, transducer, navigational tool adapter, endoscopic instrument, endoscope lens, navigation camera probe is collected signal, and signal is passed to computer by transducer, computer is processed signal, and result is shown by display; It is characterized in that: on described computer, be provided with the introducting interface of endoscope's image, the introducting interface of endoscope's image connects image pick-up card; The introducting interface electrical connection endoscopic instrument of endoscope's image, endoscopic instrument connects endoscope lens, and endoscope lens is provided with navigational tool adapter;
Described navigation camera probe carries out surgical navigational location by navigational tool adapter, and the summit and the endoscope lens that trace into endoscope lens are axial, determines the field range of endoscope in 3-D view, realizes navigation feature in the art of endoscope;
Described image pick-up card receives the data that endoscope lens gathers, according to the imaging parameters of endoscope lens and demarcated axially, adjust the setting angle of navigational tool adapter, realize Image registration; The profile of the target area of delineating in navigation picture or vital tissue is fallen in endoscope's image of importing, thereby can be increased perspective function to endoscope, show in real time hat position, axle position, the vector potential fault image of place, the visual field aspect of endoscope.
2. the surgical navigation systems of combination according to claim 1 endoscope image, is characterized in that: the introducting interface of described endoscope image is one of endoscopic images interface that 1394 interfaces, S-Video terminal or bnc connector are corresponding.
3. the surgical navigation systems of combination according to claim 1 endoscope image, is characterized in that: described navigational tool adapter is fixedly installed on the vertical side of endoscope lens.
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