CN103181764B - Magnetic resonance scanning positioning system and directivity positioning scanning method - Google Patents
Magnetic resonance scanning positioning system and directivity positioning scanning method Download PDFInfo
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Abstract
The invention discloses a magnetic resonance scanning positioning system and a directivity positioning scanning method. The magnetic resonance scanning positioning system comprises a control center, an optical measurement system, display equipment and a positioner, wherein the optical measurement system and the display equipment are connected with the control center; a passive identification ball group capable of being tracked by the optical measurement system is arranged on a positioner detachably connected with a collimator; a pilot hole allowing penetration of a puncture needle is formed in the collimator in the axial direction; and the collimators with pilot holes of different inner diameters are correspondingly matched with the puncture needles in different thicknesses and are the same in dimensions. The magnetic resonance scanning positioning system can perform directivity positioning scanning to present real-time scanning images. The invention further provides a method which brings convenience in guidance, integral observation, and quick rectification.
Description
Technical field
The present invention relates to magnetic resonance medical field, particularly a kind of magnetic resonance imaging navigation system and directivity location scanning method.
Background technology
Interventional therapy is a great development direction of modern medicine, the difference of interventional therapy and traditional surgery is that it does not need to operate on, only need a very little wound puncture needles such as special conduit, freezing pin, radio frequency ablation needle can be penetrated on lesions position in human body or surgical site position, then reached the object for the treatment of by various physics or chemical action, thus solve the oncotherapy, biopsy, the artificial problem such as equipment or medicine placement that need open surgery to solve in the past.
In interventional procedure, doctor cannot observe directly organizational structure in patient body and lesions position, can only realize intervene operation planning, navigation, therapeutic process monitoring and therapeutic effect assessment by medical imaging modalities.Nuclear magnetic resonance has, scan position unrestricted choice strong without ray, high-resolution, soft tissue imaging capabilities, can detect tissue temperature, can know advantages such as showing focus that skeleton blocks, along with the development of sweeping technology soon, nuclear magnetic resonance becomes guiding and the monitoring means of comparatively ideal interventional therapy.
In prior art, magnetic resonance location scanning realizes by the following method: first carry out cross-section position, sagittal plain, Coronal prescan to lesions position, as location picture, then in location as on lesions position manually labelling position line position scanning again, obtain the image of required tangent plane.The method complex operation of this location scanning, Multiple-Scan, therefore sweep time is long, and inconvenience is used for the real time scan of interventional therapy.More importantly there is no the basis on location of operating theater instruments, be difficult to the orientation determining operating theater instruments, so the image of completeness relation between operating theater instruments and focus cannot be obtained.
In prior art when to surgical navigational, magnetic resonance imaging system is transferred to control centre the imaging data of preoperative scanning focus, by optical system, operating theater instruments is followed the tracks of Space-based information transmission to control centre, control centre obtains the coordinate of operating theater instruments by calculating, pre-operative image and operating theater instruments are transformed in same coordinate system and show.Owing to can there is the situations such as focus displacement, apparatus distortion, systematic error in art, there is larger error in this display.Chinese invention patent CN101019765A discloses surgery systems under a kind of guide of magnetic resonant image and operation piloting method, the demarcation that this patent introduces image space and operative space with mate.Chinese invention patent CN101904770A discloses a kind of operation guiding system based on the realization of optical enhancement technology and method.This patent introduces the implementation method of optical measuring system in surgical navigation systems.
Summary of the invention
Problem to be solved by this invention is to provide a kind of magnetic resonance imaging navigation system and directivity location scanning method, overcomes the above-mentioned problems in the prior art.
A kind of magnetic resonance imaging navigation system of the present invention, comprise control centre, optical measuring system, display device and localizer, optical measuring system, display device are connected with control centre, localizer be provided with can the passive mark set of balls followed the tracks of by optical measuring system, described localizer removably connects a collimator, be provided with the bullport passed for puncture needle along its axis direction in described collimator, different according to described puncture needle thickness, adaptation has the collimator of corresponding internal diameter bullport, but the overall dimensions of all collimators is all identical.
Preferably, described collimator is cone, and is made up of two parts of symmetry.
Preferably, described collimator is fixed on localizer by a pressing plate, and the two ends of pressing plate are connected by bolt with described localizer, and the upper and lower faces of described collimator is respectively provided with draw-in groove, and the draw-in groove of described upper and lower faces matches with localizer, pressing plate respectively.
Preferably, have nuclear magnetic resonance coordinate system in described control centre and take magnet as the space coordinates of object of reference, specify a tangent plane at described bullport axis place for scanning guide surface, by all be parallel to scanning guide surface bearing definition be I orientation, be II orientation by all bearing definition perpendicular to bullport axis, will simultaneously perpendicular to I, the bearing definition in II orientation is III orientation, above three scanning tangent planes can combination in any be located, control centre obtains single orientation monolithic, multi-disc or multiple orientation monolithic, multi-disc scanogram, and show in the different display boxes of display device.
The directivity location scanning method of a kind of magnetic resonance imaging navigation system of the present invention, optical measuring system, display device, localizer that described magnetic resonance imaging navigation system comprises control centre and is connected with control centre, have the image coordinate system of magnetic resonance imaging system in control centre, localizer be provided with can the passive mark set of balls followed the tracks of by optical measuring system, control centre in described magnetic resonance imaging navigation system is connected with magnetic resonance imaging system, magnet in described magnetic resonance imaging system is fixed with passive mark set of balls, described localizer is connected with the collimator with bullport, and the tangent plane comprising bullport axis is appointed as scanning guide surface, determine three scan positions by described scanning guide surface: by all be parallel to scanning guide surface bearing definition be I orientation, be II orientation by all bearing definition perpendicular to bullport axis, will simultaneously perpendicular to I, the bearing definition in II orientation is III orientation, described directivity location scanning method comprises the following steps:
Step one: when the described magnetic resonance imaging navigation system of first use positions scanning, described control centre is demarcated the magnet in described magnetic resonance imaging system by described optical measuring system, sets up identification, the foundation of following the tracks of and space coordinates; Described control centre is demarcated described localizer by described optical measuring system, sets up the foundation identifying, follow the tracks of;
Step 2: control centre carries out space position calibration by optical measuring system, peg model and magnetic resonance imaging system, the image coordinate system of described magnetic resonance imaging system is mated with described space coordinates, determines the transformational relation between image coordinate system and space coordinates;
Step 3: scanning area center sweep object being placed on magnetic resonance imaging system;
Step 4: select scanning sequence, scanning tangent plane and setting sweep parameter in the scanning interface of the heart in the controlling; And in magnetic resonance imaging region, described collimator and scanning guide surface are stably pointed to scanning position, calculate according to the image coordinate of described bullport axis, scanning guide surface the positional parameter that selected every one deck scans tangent plane by control centre, scanning sequence, sweep parameter and positional parameter, scan instruction is sent to magnetic resonance imaging system by control centre, magnetic resonance imaging system performs scanning, and gained image is sent to control centre, display in frames images different in the display device;
Step 5: mobile locator, the position of bullport axis and/or direction are changed, and the scan position of magnetic resonance imaging system also changes thereupon, and on described display device, show the real time imaging after changing.
Preferably, in described step 2, space position calibration is carried out by peg model, peg model is the solid with known spatial structure, passive mark set of balls is fixed with on the surface of peg model, have in peg model multiple can by the geometric markers thing of magnetic resonance imaging system scanning imagery, the position relationship of geometric markers thing and passive mark set of balls is known, imaging center peg model being placed on described magnetic resonance imaging system carries out scanning imagery, and in control centre's acquisition peg model, geometric markers thing is at the coordinate of image coordinate system; The coordinates transmission of peg model in space coordinates is obtained to control centre by optical measuring system, control centre can calculate the corresponding relation of peg model inner geometry label at the coordinate of space coordinates and the coordinate of image coordinate system, thus determines the transformational relation between image coordinate system and space coordinates.
Preferably, known focus approximate location is also determined to the patient of body puncture point, described collimator front end central point is placed on body puncture point, collimator is made to point to focus approximate location, search scanning is carried out by changing collimator orientation or deflecting described scanning guide surface, the I orientation in certain limit, the image in III orientation and 3-D view can be obtained to determine focus specifying information, utilize gained image tagged target spot, control centre thus obtain the coordinate of this target spot at image coordinate system.
Preferably, target spot Projection Display good for labelling respectively scans in the image of tangent plane by control centre on the display device.
Preferably, the line of described body puncture point and target spot is virtual puncture path, described collimator front end central point is placed on body puncture point place, collimator is made to point to focus approximate location, control centre is projected in target spot, virtual puncture path, bullport axis extended line on the real time imaging in I orientation, II orientation, III orientation, the sensing of adjustment bullport axis, when the projection of virtual puncture path is overlapping with the while that bullport axis extended line being on the image in I orientation, III orientation, then collimator has aimed at target spot.
Preferably, after described collimator has aimed at target spot, centered by bullport axis, deflection scanning guide surface, can change arbitrarily the tangent plane of magnetic resonance imaging.
Preferably, in magnetic resonance image (MRI), the titanium alloy puncture needle that operation uses to develop its resemblance with low signal, after collimator has aimed at target spot, keep described localizer motionless, puncture needle to be inserted in patient body through bullport and advances a segment distance, then real time scan, in the image in the I orientation and III orientation that comprise bullport axis can Real Time Observation puncture needle and focus, position relationship between target spot; If puncture needle is normally advanced towards target spot direction, then continue propelling one section of puncture needle; If puncture needle deviate from target spot direction, then need to finely tune localizer as the case may be and rectify a deviation, so incremental, until puncture needle arrives the target spot that focus is specified.
By above technical scheme, the method for magnetic resonance imaging navigation system of the present invention and directivity location scanning, can realize puncturing operation guiding in real time and monitoring preferably, have the following advantages:
(1) puncture needle of different thicknesses, adaptation has the collimator in consistent appearance size and aperture, respective guide hole, when selecting same localizer, only need disposable demarcation, only corresponding collimator need be replaced according to the puncture needle of different thicknesses in operation process, do not need again to demarcate or select, simplify operating process.
(2) described collimator had both played the effect of guided puncture, again can as the standard of Scan orientation, select at prescan, target spot, target spot when aiming at without the need to using puncture needle.
(3) the present invention guides magnetic resonance imaging system to carry out directivity location scanning by collimator and scanning guide surface, solves magnetic resonance imaging system in prior art and can only obtain the trouble of required image by sweeping location picture, doctor's hand labeled position line and then scanning in advance; Solve existing surgical navigation systems and easily cause the defect of surgical error owing to adopting pre-operative image to carry out surgical guide; Solve the trouble that puncture needle needs to demarcate one by one.
Accompanying drawing explanation
The structured flowchart of Fig. 1 magnetic resonance imaging navigation system of the present invention.
The concrete structure figure of Fig. 2 localizer of the present invention.
The operating diagram of optical measuring system described in Fig. 3.
Identified surface described in Fig. 4 and bullport axial location graph of a relation.
Fig. 5 a, 5b are that scan position and target spot aim at schematic diagram.
Detailed description of the invention
As shown in Figure 1, magnetic resonance imaging navigation system of the present invention, comprises control centre 1, optical measuring system 3, display device 2 and localizer 4.
Control centre 1 of the present invention comprises user interface, application software and utility, and has the image coordinate system of magnetic resonance imaging system 5 and take magnet as the space coordinates of reference.
Magnetic resonance imaging navigation system of the present invention is connected with magnetic resonance imaging system 5 by control centre 1, localizer 4 and magnet is provided with the mark set of balls by optical measuring system identification and tracking.
As shown in Figure 2, localizer 4 of the present invention is equipped with the collimator 42 of a cone, in collimator 42, has a bullport 44 passed for puncture needle.Collimator 42 by full symmetric and the two parts being provided with draw-in groove form, two parts draw-in groove matches with localizer 4, pressing plate 43 respectively, and collimator 42 is fixed on localizer 4 by pressing plate 43, pressing plate 43 two ends by bolted on localizer 4.Collimator 42 of the present invention removably connects with localizer, and according to the puncture needle of different thicknesses, adaptation has the collimator of corresponding internal diameter bullport 44, but the overall dimensions of all collimators 42 is all identical, replaceable use on same localizer 4.Localizer 4 is also provided with the handle 41 Gong holding, handled easily uses this localizer.
As shown in Figure 4, the present invention specifies a tangent plane of bullport axis 47 as scanning guide surface, on bullport axis 47, collimator front end central point, scanning guide surface and localizer 4, the relative position relation of passive mark set of balls 45 is fixed, and is remembered by control centre 1.The plane be made up of the central point of three passive marked balls that localizer 4 is specified is identified surface 46, scans guide surface 47 parallel with identified surface 46 in the present embodiment.
As shown in Fig. 5 (a), by all be parallel to scanning guide surface bearing definition be I orientation, the center tangent plane in I orientation is guide surface, be II orientation by all bearing definition perpendicular to bullport axis 47, the center tangent plane (target spot uses after specifying) in II orientation comprises target spot, be III orientation by the bearing definition simultaneously perpendicular to I, II orientation, the center tangent plane in III orientation comprises bullport axis 47, above three scan positions can single orientation monolithic, multi-disc or multiple orientation monolithic, multi-disc combination in any location.
The present invention is identified and track and localization device 4 by optical measuring system 3 by control centre 1, obtains the locus of bullport axis 47 and scanning guide surface and converts image coordinate to, as the definition base of selected scanning tangent plane positional parameter.Control centre 1 sends the scanning sequence of selection, sweep parameter and positional parameter to magnetic resonance imaging system 5, as the foundation of directivity location scanning.
Of the present inventionly a kind ofly apply the method that magnetic resonance imaging navigation system carries out directivity location scanning, comprise the following steps:
Step one: when the above-mentioned magnetic resonance imaging navigation system of first use positions scanning, control centre 1 carries out space position calibration by the magnet in optical measuring system 3 pairs of magnetic resonance imaging systems 5, sets up identification, follows the tracks of foundation and space coordinates; When first use localizer 4, control centre 1 is demarcated this localizer 4 by optical measuring system 3, sets up and identifies and follow the tracks of foundation; During usual use, only need to choose this localizer 4 in the heart 1 user interface in the controlling and install and the collimator of puncture needle adaptation.
Step 2: the image coordinate system of magnetic resonance imaging system 5, by optical measuring system 3, peg model and magnetic resonance imaging system 5, mates with space coordinates, determines the transformational relation between image coordinate system and space coordinates by control centre 1.
Step 3: scanning area center sweep object being placed on magnetic resonance imaging system 5.
Step 4: select scanning sequence, scanning tangent plane and setting sweep parameter in the user interface of the heart 1 in the controlling; And in magnetic resonance imaging region, collimator 42 and scanning guide surface are pointed to scanning position with certain azimuthal stabilization, go out according to the spatial coordinates calculation of described bullport axis 47, scanning guide surface the image coordinate that selected every one deck scans the positional parameter of tangent plane by control centre, scanning sequence, sweep parameter, positional parameter and scan instruction is sent to magnetic resonance imaging system 5 by control centre 1, magnetic resonance imaging system 5 performs scanning, and gained image is sent to control centre 1, show in frames images respective in display device 2.
Step 5: the sensing or the deflection scanning guide surface that change collimator 42, the scan position of magnetic resonance imaging system 5 also changes thereupon.
The present invention, according to above step, can obtain the image in I, III orientation in certain limit, and the image in II orientation only uses after target spot is specified.According to sweeping sequence soon, pointing to by changing, the scanning of search property can be realized.
Optical measuring system 3 of the present invention is based on optical positioning apparatus, its principle is: this optical positioning apparatus has position sensor can launch infrared light, Infrared irradiation is on the object that passive marked ball is housed, passive marked ball reflects infrared light gets back to position sensor, position sensor calculates the spatial information residing for passive marked ball by software program, can learn in real time passive marked ball is housed object residing for locus and then position navigation.In the present invention, all objects followed the tracks of by optical measuring system are all provided with passive mark set of balls, passive mark set of balls is made up of more than three passive marked balls, on different objects, the arrangement mode of passive marked ball is different, to show difference, the passive mark set of balls on each object is remembered by control centre 1 with artifact name after demarcating registration.As long as optical measuring system 3 traces into certain passive mark set of balls, control centre 1 just can calculate the spatial relationship of optical measuring system 3 and this passive mark set of balls, and identifies this object.
The present invention selects magnet to be object of reference in operative space, and because magnet maintains static, the passive mark set of balls that magnet is installed also maintains static.When optical measuring system 3 is placed in certain position, magnet and other objects can be traced into simultaneously, then optical measuring system 3 the spatial relationship detected between magnet passive mark set of balls and and the passive mark set of balls of other objects between spatial relationship send control centre 1 to, control centre 1 can calculate the spatial relationship between this object passive mark set of balls and the passive mark set of balls of magnet.According to this principle, above-mentioned steps one is specially: as shown in Figure 3, in operative space invariant position magnet on fix passive mark set of balls, the localizer 4 that passive mark set of balls is housed is put into operative space, optical measuring system 3 obtains the relative position relation b of the relative position relation a of himself and magnet and self and localizer 4, and then calculated the relative position relation c of magnet and localizer by software program, and the relative position relation c of magnet and localizer is designated as the spatial information of localizer in operative space.
In above-mentioned steps two, image space and operative space are demarcated by peg model, realize the coupling of two coordinate systems.Peg model is the solid with known spatial structure, passive mark set of balls is fixed with on the surface of peg model, there is in peg model multiple geometric markers thing that can be scanned into picture, the position relationship of geometric markers thing and passive mark set of balls is known, peg model is placed on the imaging region center of magnetic resonance imaging system 5, scan peg model by magnetic resonance imaging system 5 and by image data transmission to control centre 1, control centre 1 to obtain in peg model geometric markers thing at the coordinate of image coordinate system; Obtain the spatial information of peg model by optical measuring system 3 and be transferred to control centre 1, control centre 1 calculates the corresponding relation at the coordinate of space coordinates and the coordinate of image coordinate system of inner geometry label in peg model, thus determines the transformational relation between image coordinate system and space coordinates.
The step of control centre 1 of the present invention labelling target spot and acquisition coordinate is: doctor, according to pre-operative image, in conjunction with lesions position and clinical experience, selects suitable puncture path, and at body surface marking point of puncture.Collimator front end central point on localizer 4 is placed on body puncture point, collimator is made to point to focus approximate location, by change collimator 42 point to or deflection scanning guide surface carry out search scan, the image in I, III orientation in certain limit and 3-D view can be obtained to determine focus specifying information, utilize gained image tagged target spot, control centre 1 thus obtain the coordinate of this target spot at image coordinate system.
The step that control centre 1 of the present invention obtains body puncture point coordinates is: when the collimator front end central point on localizer 4 is placed on body puncture point, control centre 1 calculates the space coordinates of collimator front end central point according to locus localizer 4 identifying set of balls 45, and converting image coordinate system coordinate to, the coordinate of this collimator front end central point is the coordinate of body puncture point.
The step that target spot of the present invention aims at is: as shown in Figure 5 a, the line of above-mentioned body puncture point A and target spot B is virtual puncture path
collimator front end central point is placed on body puncture point A, makes collimator 42 point to focus approximate location, control centre 1 is target spot B, virtual puncture path
bullport axis extended line
project on the center tangent plane in I, II, III orientation, and show in frames images respective on display device 2.The sensing of adjustment collimator 42, when virtual puncture path
projection and bullport axis extended line
time overlapping while of on the image of I, III center tangent plane, then collimator 42 has aimed at target spot B, as shown in Fig. 5 (b).After collimator 42 has aimed at target spot B, centered by bullport axis 47, deflection scanning guide surface, can change arbitrarily the tangent plane of magnetic resonance imaging.
In magnetic resonance image (MRI), the titanium alloy puncture needle that operation uses to develop its resemblance with low signal, after collimator 42 has aimed at target spot, keep described localizer 4 motionless, puncture needle to be inserted in patient body through bullport 44 and advances a segment distance, then real time scan, in the image of I, III orient core tangent plane comprising bullport axis 47 can Real Time Observation puncture needle and focus, position relationship between target spot; If puncture needle is normally advanced towards target spot direction, then continue propelling one section of puncture needle; If puncture needle deviate from target spot direction, then need to rectify a deviation as the case may be, so incremental, until puncture needle arrives the target spot that focus is specified.
Utilize above-mentioned magnetic resonance imaging navigation system to carry out puncturing operation guiding to comprise the following steps:
Step one: when first use magnetic resonance imaging navigation system of the present invention, need to do preparation: 1) the demarcation registration of localizer, is remembered by control centre; 2) control centre carries out space position calibration by optical measuring system to magnet; 3) image coordinate system of magnetic resonance imaging system imaging region mates with space coordinates by control centre, determines the transformational relation between image coordinate system and space coordinates.
Step 2: select registered localizer and install the collimator with puncture needle adaptation.
Step 3: nuclear magnetic resonance regional center is delivered at scanning position.
Step 4: select scanning sequence, scanning tangent plane and setting sweep parameter in the controlling in heart user interface.
Step 5: according to preoperative magnetic resonance image (MRI) or directivity location real time scan image, formulate operation plan.Operation plan comprises the selection of puncture path, the labelling of body puncture point, the labelling of focus target spot (puncture impact point).
(1) preoperative magnetic resonance imaging
Carry out the multi-disc scanning of routine location with magnetic resonance imaging system, the selection of scan position is looked focus position and is determined, the image of acquisition has enough lesion information, and image is sent to control centre.
(2) puncture path selects the labelling with body puncture point
Operative doctor, according to pre-operative image, in conjunction with lesions position and clinical experience, selects suitable puncture path, and at body surface marking point of puncture.Collimator front end central point is placed on body puncture point, reads the space coordinates of collimator front end center point coordinate as body puncture point by control centre, and convert image coordinate to.
(3) target spot labelling
Pin place is entered when collimator front end central point is placed on body surface, when collimator is with certain bearing sense focus approximate location, search scanning is carried out by the sensing of change collimator or deflection scanning guide surface, image and the 3-D view determination focus specifying information in I, III orientation in certain limit can be obtained, utilize gained image tagged target spot, then extract the image space coordinate of this target spot.
Step 6: implement operation and guide
(1) target spot projection
In enforcement piercing process, first target spot is projected to each scanning plane, is superimposed upon on image by labelling and shows in each frames images on the display device.
(2) target spot aims at
Target spot aims at and carries out in the center tangent plane of above-mentioned I, III two scan positions.Central point position, collimator front end is placed on body puncture point, and according to pre-operative image, collimator roughly points to focus.As shown in Figure 5 a, body puncture point is A, and target spot is B, and the line of body puncture point A and target spot B is virtual puncture path
keep body puncture point position, central point place, collimator front end constant, adjustment collimator points to, and makes bullport axis extended line on the display device in I, III two sectional drawing frames simultaneously
with virtual puncture path
projection overlapping, B, C 2 overlap naturally in the sectional drawing frame of II center, as shown in Figure 5 b, then bullport axis has aimed at target spot.
(3) scan tangent plane to select
By collimator-alignment target spot, centered by bullport axis, deflection scanning guide surface, can change magnetic resonance imaging tangent plane.
(4) operation guides
In magnetic resonance image (MRI), the titanium alloy puncture needle that operation uses to develop its resemblance with low signal.
Collimator is aimed at target spot, select scanning sequence in heart scanning interface in the controlling, scan tangent plane and sweep parameter is set, control centre with the positional parameter of bullport axis, the scanning guide surface selected scanning tangent plane for benchmark goes out, and drives magnetic resonance imaging system to scan according to scanning sequence, sweep parameter and the positional parameter of specifying.Target spot B, bullport axis extended line
with virtual puncture path
project on each scanning tangent plane respectively, show in frames images separately on the display device respectively with after image overlay.Procedure is observed by virtual guided puncture, real time scan and correction hockets, when collimator aims at target spot, puncture needle is inserted human body through collimator bullport and advances a segment distance, then real time scan, observe the relation between puncture needle and focus, target spot, if puncture needle is normally advanced towards target spot direction, continue propelling one section of puncture needle, if puncture needle deviate from target spot direction, then need to rectify a deviation as the case may be.So incremental, until puncture needle arrives focus specify target spot.If focus is comparatively large, needs to specify multiple target spot and puncture path, can puncture successively by said process.Focus displacement, puncture deviation and systematic error can occur in operation process unavoidably, and the monitoring image that must obtain with directivity location scanning is foundation, determines Adjusted Option.
The method of the above magnetic resonance imaging navigation system of the present invention and the operation of directivity location scanning guided puncture thereof, guide magnetic resonance imaging system to carry out directivity location scanning by collimator and scanning guide surface, solve magnetic resonance imaging system in prior art and can only obtain the trouble of required image by sweeping location picture, doctor's hand labeled position line and then scanning in advance; Solve existing surgical navigation systems and easily cause the defect of surgical error owing to adopting pre-operative image to carry out surgical guide; Solve the trouble that puncture needle is demarcated one by one.Magnetic resonance imaging navigation system of the present invention and directivity location scanning method thereof, can realize puncturing operation guiding in real time and monitoring preferably.
Claims (2)
1. a magnetic resonance imaging navigation system, comprise control centre (1), optical measuring system (3), display device (2) and localizer (4), optical measuring system (3), display device (2) is connected with control centre (1), localizer (4) be provided with can by optical measuring system the passive mark set of balls (45) of following the tracks of, it is characterized in that, described localizer (4) removably connects a collimator, be provided with the bullport (44) passed for puncture needle along its axis direction in described collimator, different according to described puncture needle thickness, adaptation has the collimator (42) of corresponding internal diameter bullport (44), but the overall dimensions of all collimators (42) is all identical, specify a tangent plane at bullport axis (47) place for scanning guide surface, by all be parallel to scanning guide surface bearing definition be I orientation, be II orientation by all bearing definition perpendicular to bullport axis, will simultaneously perpendicular to I, the bearing definition in II orientation is III orientation, No. I, No. II, No. III these three scan positions can combination in any be located, control centre obtains single orientation monolithic, multi-disc or multiple orientation monolithic, multi-disc scanogram, and show in the different display boxes of display device.
2. magnetic resonance imaging navigation system according to claim 1, is characterized in that, described collimator (42) is cone, and is made up of two parts of symmetry.
3. magnetic resonance imaging navigation system according to claim 1, it is characterized in that, described collimator (42) is fixed on localizer (4) by a pressing plate (43), the two ends of pressing plate (43) are connected by bolt with described localizer (4), the upper and lower faces of described collimator (42) is respectively provided with draw-in groove, and the draw-in groove of described upper and lower faces matches with localizer (4), pressing plate (43) respectively.
4. magnetic resonance imaging navigation system according to claim 1, it is characterized in that, described magnetic resonance imaging navigation system also comprises the magnetic resonance imaging system (5) be connected with control centre in described magnetic resonance imaging navigation system, the magnet in described magnetic resonance imaging system is fixed with passive mark set of balls; The directivity location scanning method of described magnetic resonance imaging navigation system comprises the following steps:
Step one: when the described magnetic resonance imaging navigation system of first use positions scanning, described control centre is demarcated the magnet in described magnetic resonance imaging system by described optical measuring system, sets up identification, the foundation of following the tracks of and space coordinates; Described control centre is demarcated described localizer by described optical measuring system, sets up the foundation identifying, follow the tracks of;
Step 2: control centre carries out space position calibration by optical measuring system, peg model and magnetic resonance imaging system, the image coordinate system of described magnetic resonance imaging system is mated with described space coordinates, determines the transformational relation between image coordinate system and space coordinates;
Step 3: scanning area center sweep object being placed on magnetic resonance imaging system;
Step 4: select scanning sequence, scanning tangent plane and setting sweep parameter in the scanning interface of the heart in the controlling; And in magnetic resonance imaging region, described collimator and scanning guide surface are stably pointed to scanning position, calculate according to the image coordinate of described bullport axis, scanning guide surface the positional parameter that selected every one deck scans tangent plane by control centre, scanning sequence, sweep parameter and positional parameter, scan instruction is sent to magnetic resonance imaging system by control centre, magnetic resonance imaging system performs scanning, and gained image is sent to control centre, display in frames images different in the display device;
Step 5: mobile locator, the position of bullport axis and/or direction are changed, and the scan position of magnetic resonance imaging system also changes thereupon, and on described display device, show the real time imaging after changing.
5. magnetic resonance imaging navigation system according to claim 4, it is characterized in that, in described step 2, space position calibration is carried out by peg model, peg model is the solid with known spatial structure, passive mark set of balls is fixed with on the surface of peg model, have in peg model multiple can by the geometric markers thing of described magnetic resonance imaging system scanning imagery, the position relationship of geometric markers thing and passive mark set of balls is known, imaging center peg model being placed on described magnetic resonance imaging system carries out scanning imagery, in control centre's acquisition peg model, geometric markers thing is at the coordinate of image coordinate system, the coordinates transmission of peg model in space coordinates is obtained to control centre by optical measuring system, control centre can calculate the corresponding relation of peg model inner geometry label at the coordinate of space coordinates and the coordinate of image coordinate system, thus determines the transformational relation between image coordinate system and space coordinates.
6. magnetic resonance imaging navigation system according to claim 4, it is characterized in that, known focus approximate location is also determined to the patient of body puncture point, described collimator front end central point is placed on body puncture point, collimator is made to point to focus approximate location, search scanning is carried out by changing collimator orientation or deflecting described scanning guide surface, the I orientation in certain limit can be obtained, the image in III orientation and 3-D view are to determine focus specifying information, utilize gained image tagged target spot, control centre thus obtain the coordinate of this target spot at image coordinate system.
7. magnetic resonance imaging navigation system according to claim 6, is characterized in that, target spot Projection Display good for labelling respectively scans in the image of tangent plane by control centre on the display device.
8. magnetic resonance imaging navigation system according to claim 7, is characterized in that, the line of described body puncture point (A) and target spot (B) be virtual puncture path (
), described collimator front end central point is placed on body puncture point (A) place, makes collimator point to focus approximate location, control centre target spot (B), virtual puncture path (
), bullport axis extended line (
) be projected on the real time imaging in I orientation, II orientation, III orientation, the sensing of adjustment bullport axis, when virtual puncture path (
) projection and bullport axis extended line (
) simultaneously overlapping on the image in I orientation, III orientation time, then collimator has aimed at target spot.
9. magnetic resonance imaging navigation system according to claim 8, is characterized in that, after described collimator has aimed at target spot, centered by bullport axis, deflection scanning guide surface, can change arbitrarily the tangent plane of magnetic resonance imaging.
10. magnetic resonance imaging navigation system according to claim 9, it is characterized in that, in magnetic resonance image (MRI), the titanium alloy puncture needle that operation uses to develop its resemblance with low signal, after collimator has aimed at target spot, keep described localizer motionless, puncture needle to be inserted in patient body through bullport and advances a segment distance, then real time scan, in the image in the I orientation and III orientation that comprise bullport axis can Real Time Observation puncture needle and focus, position relationship between target spot; If puncture needle is normally advanced towards target spot direction, then continue propelling one section of puncture needle; If puncture needle deviate from target spot direction, then need to finely tune localizer as the case may be and rectify a deviation, so incremental, until puncture needle arrives the target spot that focus is specified.
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| CN105559809B (en) * | 2014-11-09 | 2020-08-28 | 刁心玺 | Scanning method and device |
| CN105726025A (en) * | 2014-12-09 | 2016-07-06 | Ge医疗系统环球技术有限公司 | Magnetic resonance imaging scanning method |
| CN105411679B (en) * | 2015-11-23 | 2017-07-14 | 中国科学院深圳先进技术研究院 | One kind punctures path planning method and device for correcting |
| WO2018069479A1 (en) * | 2016-10-12 | 2018-04-19 | Koninklijke Philips N.V. | An intelligent model based patient positioning system for magnetic resonance imaging |
| CN115137453A (en) * | 2019-07-05 | 2022-10-04 | 湖南卓世创思科技有限公司 | Continuous scanning cross section dimension-increasing space positioning system |
| CN117481755A (en) * | 2022-07-26 | 2024-02-02 | 湖南卓世创思科技有限公司 | Puncture path determining system, method, device and medium for brain focus |
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