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CN103371870B - A multi-mode image based surgical navigation system - Google Patents

A multi-mode image based surgical navigation system Download PDF

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CN103371870B
CN103371870B CN 201310298142 CN201310298142A CN103371870B CN 103371870 B CN103371870 B CN 103371870B CN 201310298142 CN201310298142 CN 201310298142 CN 201310298142 A CN201310298142 A CN 201310298142A CN 103371870 B CN103371870 B CN 103371870B
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CN 201310298142
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CN103371870A (en )
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秦文健
辜嘉
温铁祥
李志成
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深圳先进技术研究院
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Abstract

本发明涉及一种基于多模影像的外科手术导航系统,其包括术前影像获取装置、超声波扫描装置、多模影像配准装置、内窥镜集成装置、术后评估装置。 The present invention relates to a multi-mode image based surgical navigation system, which comprises a preoperative image capturing apparatus, an ultrasonic scanning device, multi-mode image registration apparatus, an endoscope apparatus integrated postoperative evaluation device. 术前影像获取装置获取三维影像;超声波扫描装置实时获取超声影像;多模影像配准装置将三维影像与超声影像进行配准得到配准影像;内窥镜集成装置获取术中手术位置的当前影像信息,多模影像配准装置对配准影像以及当前影像信息进行融合得到融合影像。 Preoperative imaging acquisition means acquires three-dimensional images; ultrasonic scanning apparatus to acquire ultrasound images in real time; multimodal image registration means three-dimensional image of the ultrasonic image be registered to obtain an image registration; integrated endoscopic surgery apparatus acquires the current image of the surgical site information, multimodal image registration means for registering the current image and the image information obtained fusion image fusion. 本发明融合了术前三维影像、术中超声影像以及术中当前影像,可为医生提供精确可靠、信息量丰富的实时影像信息;同时本发明还提供术后评估装置,为后续疾病诊断、跟踪或手术实施提供依据。 The present invention combines the three-dimensional image preoperative, intraoperative ultrasound image and the current image surgery, provide accurate and reliable, information-rich, real-time image information for doctors; The invention also provides postoperative evaluation means, for subsequent diagnosis of disease, follow or provide the basis for the implementation of the operation.

Description

一种基于多模影像的外科手术导航系统 A multi-mode image based surgical navigation system

【技术领域】 TECHNICAL FIELD

[0001] 本发明涉及医疗器械领域,尤其涉及一种基于多模影像的外科手术导航系统。 [0001] The present invention relates to the field of medical devices, particularly to a multi-mode image based surgical navigation system. 【背景技术】 【Background technique】

[0002]计算机断层扫描(Computed Tomography, CT)、磁共振成像(Magnetic ResonanceImaging, MRI)以及超声成像(Ultrasound, US)以其各自的特性和优点被广泛应用于在计算机辅助诊断和手术导航技术中。 [0002] Computer tomography (Computed Tomography, CT), magnetic resonance imaging (Magnetic ResonanceImaging, MRI) and ultrasound imaging (Ultrasound, US) with their respective features and advantages are widely used in computer-aided diagnosis and surgical navigation technology . 在传统的微创外科手术过程中,术前缺乏对病灶三维结构的准确描述,直接影响了术前计划的精确程度,术中的可视区域仅限于人体暴露表面,只能凭借医生的经验及空间构想和推测去综合判定判断病灶具体位置,其安全性和精确性会受到主观影响,严重者导致手术失败。 In traditional minimally invasive surgical procedure, preoperative lack of accurate description of the three-dimensional structure of the lesion, direct impact on the accuracy of preoperative planning and intraoperative visible area of ​​human exposure is limited to the surface, and only with a doctor's experience space concept and comprehensive judgment to speculate whether the lesion specific location, its safety and accuracy will be subjective influence, severe cases lead to surgical failure.

[0003] 外科手术导航仪在计算机辅助下,对图像数据进行处理如图像分割、图像配准融合和三维重建等,再根据医生的临床经验以及术前对病灶区患病的病理特征和患病部位结构分析,规划手术路径,制定合理、定量和微创的手术方案并结合立体定位系统来辅助医生进行手术操作,从而有效降低手术的创伤、提高治疗精度,使患者及早康复,减少术后其他后遗症发生的可能性。 [0003] In a surgical navigation computer-aided image data processing such as image segmentation, image registration and fusion 3D reconstruction, then according to the doctor's clinical experience and pathological lesions characteristic of preoperative diseased and diseased parts of the structural analysis, planning surgical approach, the development of rational, quantitative and minimally invasive surgical solutions combined positioning system to assist physicians surgical operation, thereby effectively reducing the trauma of surgery, to improve the accuracy of the treatment, the patient speedy recovery, reduce postoperative other the possibility of sequelae.

[0004] 现有技术中的外科手术导航系统缺乏一套结合术前成像和术中成像复合检测导航方案,从而不能为医生提供精确可靠、信息量丰富的实时影像信息,手术的质量无法进一步提升。 [0004] The prior art lacks a surgical navigation system in conjunction with preoperative imaging and intraoperative imaging navigation composite detection scheme, thereby failing to provide accurate and reliable, information-rich real-time image information for physicians, not further improve the quality of surgery . 此外,现有技术中的手术导航仪并不是开放式的平台,软件系统和接口只能按照各厂家仪器使用标准进行操作,不能进行更新,而且基本上不具备术后跟踪分析评估功能,因此有必要建立一个建立影像引导开放和术后评估系统,不仅可以为医护人员提供一个术后历史数据参考平台,还可以提供一个基于历史手术数据、用于为后续的疾病诊断、跟踪或手术实施提供依据的平台。 Further, prior art surgical navigator is not an open platform, system software and interfaces can be operated according to the manufacturers use standard instruments, can not be updated, but does not have substantially after analysis and evaluation tracing functions, therefore necessary to create a build image-guided open and postoperative evaluation system, not only can provide historical data after a reference platform for health care workers, may also provide a procedure based on historical data, used for subsequent diagnosis, tracking or provide the basis for the implementation of surgery platform.

【发明内容】 [SUMMARY]

[0005] 本发明旨在解决上述现有技术中存在的问题,提出一种基于多模影像的外科手术导航系统。 [0005] The present invention is intended to solve the aforementioned problems of the prior art, proposed surgical navigation system based on multi-mode images.

[0006] 所述基于多模影像的外科手术导航系统包括:术前影像获取装置、超声波扫描装置、多模影像配准装置、内窥镜集成装置、术后评估装置。 [0006] The surgical navigation system based on multi-mode images comprising: acquiring preoperative imaging device, an ultrasonic scanning device, multi-mode image registration apparatus, an endoscope apparatus integrated postoperative evaluation device. 其中,所述术前影像获取装置获取病人术前病变区的三维影像;所述超声波扫描装置实时获取病人术中病变区的超声影像;所述多模影像配准装置将所述三维影像与超声影像进行多模配准,得到配准影像;所述内窥镜集成装置获取术中手术位置的当前影像信息,所述多模影像配准装置对所述配准影像以及当前影像信息进行融合,得到融合影像;所述术后评估装置根据所述配准影像以及融合影像信息进行机器学习,建立疾病预测模型。 Wherein said image acquisition means acquires preoperative preoperative three-dimensional image of the lesion; the ultrasound image scanning means to acquire ultrasound lesions in patients undergoing real time; multimodal image registration of the device with the three-dimensional ultrasound image multimode image registration, the registration image obtained; the integrated endoscopic surgery the surgical apparatus acquires image information of the current location, the multi-mode image registration device and the registration image information of the current image fusion, fused image obtained; the postoperative evaluation machine learning apparatus according to the registration image and the fusion image information, the establishment of disease prediction model.

[0007] 本发明提出的基于多模影像的外科手术导航系统融合了术前MRI/CT三维影像、术中超声影像以及术中手术位置的当前影像,可以为医生提供更加精确可靠、信息量丰富的实时影像信息;同时本发明还提供用于存储和分析手术数据的术后评估装置,该评估装置可以根据手术数据进行机器学习,从而为后续的疾病诊断、跟踪或手术实施提供依据。 [0007] The present invention proposed a multi-mode image based surgical navigation system combines the preoperative MRI / CT three-dimensional image, the current image intraoperative ultrasound imaging and intraoperative surgical site can provide more accurate and reliable as doctors, information-rich the real-time image information; the invention also provides postoperative evaluation device for storing operation data and analysis, the evaluation device can be a machine learning surgical data, so as to follow the diagnosis of a disease, or surgery embodiments provide the basis for tracking. 【附图说明】 BRIEF DESCRIPTION

[0008]图1为本发明一实施例的基于多模影像的外科手术导航系统结构图。 [0008] Figure 1 is based surgical navigation system configuration diagram of a multi-mode image according to an embodiment of the present invention.

[0009] 图2为本发明一实施例的多模影像配准装置工作原理图。 [0009] FIG. 2 more than one mode image registration apparatus operating principle diagram of an embodiment of the present invention.

【具体实施方式】 【detailed description】

[0010] 为了使本发明的目的、技术方案及优点更加清晰,以下结合具体实施例及附图,对本发明作进一步详细说明。 [0010] To make the objectives, technical solutions and advantages of the present invention more clearly, the accompanying drawings and with reference to specific embodiments, the present invention is described in further detail. 应当理解,文中所描述的具体实施例仅仅用以解释本发明的技术方案,而不应当理解为对本发明的限制。 It should be understood that the specific embodiments described herein only serve to explain the aspect of the present invention should not be construed as limiting the present invention.

[0011] 本发明提供一种基于多模影像的外科手术导航系统,用于为术中医生提供实时、精确的病变区影像作为参考,从而引导医生实施手术。 [0011] The present invention provides a multi-mode image based surgical navigation system for providing real-time, accurate lesion area image as a reference for the doctors surgery, in order to guide doctors surgery.

[0012] 如图1所示,在本发明一实施例中,所述基于多模影像的外科手术导航系统包括术前影像获取装置100、超声波扫描装置200、多模影像配准装置300、内窥镜集成装置400以及术后评估装置500。 [0012] As shown in FIG 1, in one embodiment of the present invention, the multi-mode image based surgical navigation system comprises a preoperative image capturing apparatus 100, an ultrasonic scanning apparatus 200, multimodal image registration apparatus 300, the integrated endoscope apparatus 400 and postoperative evaluation device 500.

[0013] 下文将对所述基于多模影像的外科手术导航系统的各组成部分及其工作原理作进一步详细描述。 [0013] Hereinafter will be based on the principle of the various components and surgical navigation system of the multi-mode images described in further detail.

[0014] 所述术前影像获取装置100用于术前对病人病变区进行扫描,从而获取病人病变区的三维影像。 [0014] The preoperative imaging device 100 for acquiring the lesion patient preoperative scanning so as to obtain three-dimensional image of the patient lesion. 其中,所述术前影像获取装置100包括但不限于MRI扫描仪、CT扫描仪等医学扫描成像装置。 Wherein the image capturing apparatus 100 preoperative including but not limited to an MRI scanner, CT scanner, and other medical imaging scanning apparatus. 优选地,所述术前影像获取装置100基于数字图像处理的相关算法对扫描获得的初始数据进行预处理,然后采用基于统计的组织/器官形状模型,对病人病变区组织/器官进行三维重建,最终获得准确的所述三维影像。 Preferably, the preoperative imaging apparatus 100 acquires preprocess data obtained by scanning the original correlation algorithm based on digital image processing, then using statistical-based tissue / organ shape model, lesion of the patient tissue / organ reconstruction, finally obtained the accurate three-dimensional image. 所述三维影像可用于规划手术路径,例如,可通过碰撞算法计算最优的手术安全区,实现危险区域主动规避技术,用以约束术中手术器械的位移,避免误操作而伤及正常组织器官或致血管破裂。 The three-dimensional image for planning surgical approach, for example, calculate the optimal surgical safety zone by collision algorithm to achieve active avoidance technology hazardous area to displacement constraints intraoperative surgical instruments, and to avoid misuse harming normal tissues and organs or induced vascular rupture.

[0015] 所述超声波扫描装置200用于实时地获取病人术中病变区的超声影像。 The [0015] apparatus 200 for acquiring ultrasound scan patients undergoing ultrasound imaging of the lesion in real time. 所述多模影像配准装置300将所述三维影像与超声影像进行多模配准,得到配准影像。 The multimodal image registration means 300 and the three-dimensional ultrasound image multimode image registration, image registration obtained.

[0016] 所述三维影像与超声影像为不同模态的医学影像,不同模态的医学影像对应体素的灰度值之间没有关联。 The [0016] three-dimensional image of the ultrasonic image different medical imaging modalities, there is no correlation between the gray scale value corresponding to the medical imaging voxel different modalities. 因此,如图2所示,优选地,所述多模影像配准装置300进一步包括模态转换模块301以及配准模块302,所述模态转换模块301将所述三维影像转换为虚拟超声影像,所述配准模块302对所述虚拟超声影像与所述超声影像进行配准,得到所述配准影像。 Thus, as shown in FIG. 2 Preferably, the multimodal image registration apparatus 300 further comprises a mode conversion module 301 and a registration module 302, the mode conversion module 301 converts the three-dimensional image to a virtual ultrasound image the registration module of the virtual ultrasound image and the ultrasound image 302 pairs for registration, the registration image obtained. 具体地,可根据两种不同模态的成像物理特征属性,采用基于感知器核函数的数学理论推导和建模,得出两种模态数据之间的内在的物理特征属性,并进一步推导出所述三维影像和超声影像双模态数据之间的转化关系,将所述三维影像转换为虚拟超声影像,然后再对所述虚拟超声影像与所述超声影像进行配准,得到所述配准影像。 Specifically, according to two different physical properties wherein the imaging modality, based theoretical analysis and mathematical modeling perceptron kernel function, the intrinsic physical characteristics derived attribute data between the two modes, and further derived the conversion relationship between three-dimensional image data and the ultrasound image bimodal, the three-dimensional ultrasound images into the virtual image and then to the virtual ultrasound image and the ultrasound images for registration, the registration to obtain image.

[0017] 所述配准影像结合了所述三维影像以及超声影像的特点,具有三维立体且实时呈现的优点,更加真实可靠地反映了病人病变区状况。 [0017] The ligand binding characteristics of the registration image and an ultrasonic three-dimensional video images, and has the advantage of real-time three-dimensional rendering, more reliably reflects the true condition of the patient lesion area.

[0018] 优选地,所述超声波扫描装置200包括基于旋量理论的机械臂以及设置于所述机械臂末端的超声波探头。 [0018] Preferably, the ultrasonic scanning apparatus 200 includes a robot arm based on the screw theory and an ultrasonic probe disposed at the end of the robot arm. 所述基于旋量理论的机械臂为轻巧型多关节机械臂,其具有活动自如的优点;所述机械臂用于握持所述超声波探头。 Based on the theory of robot arm Screw lightweight multi-joint robot arm, which has the advantage of freely activity; the robot arm for holding the ultrasound probe. 在手术中,所述超声波探头贴近病人病变区,用以获取病人病变区的超声图像。 In operation, the ultrasound probe the patient proximate the lesion, the lesion area of ​​the patient to acquire ultrasonic images.

[0019] 在手术中,病人因呼吸往往会导致组织形变或器官微量偏移,因此在一优选实施例中,所述超声波扫描装置200可自适应地调整其与病人的相对位置,以防因贴近病人且保持固定位姿而挫伤病人组织。 [0019] In operation, the patient will often cause respiratory organ or tissue deformation trace offset so In a preferred embodiment, the ultrasonic scanning apparatus 200 may adaptively adjust its position relative to the patient, to prevent close to the patient and maintain a fixed posture and the patient's tissue contusion. 具体地,所述超声波扫描装置200进一步包括传感模块、命令控制模块以及机械臂控制箱。 In particular, the ultrasound scanning apparatus further comprises a sensing module 200, the command control module and the manipulator control box. 所述传感模块获取所述超声波扫描装置与病人之间的作用力数据,当所述作用力数据大于某一预设阈值T时,所述命令控制模块向所述机械臂控制箱发出控制命令,所述机械臂控制箱控制所述机械臂远离病人,防止挫伤病人。 Said force sensing module acquiring ultrasound scan data between the device and the patient, when the data is greater than a preset force threshold T, the control command to the manipulator control box module issues a control command the manipulator control box controlling the robot arm away from the patient, the patient to prevent bruising. 本发明中的机械臂辅助医生握持超声探头,还可采用正向运动学矩阵推算出末端超声探头位置参数,并通过自制尼龙平面网格体模型实现探头标定,得到超声图像空间到术前影像数据空间位置的变换关系,这样不仅可以根据已知的空间变换关系得到超声探头准确空间位置信息,还降低医生工作强度。 Manipulator assist doctors in the ultrasonic probe according to the present invention, a grip, a matrix may be employed forward kinematics calculate ultrasound probe end position parameters, and the probe calibration is achieved by planar mesh made of nylon-body model, to obtain an ultrasound image space preoperative imaging conversion relation of spatial location data, can be changed not only according to a known spatial relationship to obtain accurate positional information of the ultrasound probe, the doctor also reduce the intensity of work.

[0020] 在手术中除使用所述超声波扫描装置200实时获取病人病变区的超声影像外,医生还需使用内窥镜集成装置400获取术中手术位置的当前影像信息。 [0020] In addition to using the real-time ultrasonic scanning device acquires ultrasound images of patients affected area 200, the physician needs to use the endoscope apparatus of the integrated current image information acquiring intraoperative surgical site 400 during surgery. 在现有技术中,电子内窥镜具有实时、高逼真成像的特性,其被广泛应用于微创外科手术,为医生提供可视手术视野,同时具有创口小、并发症少、恢复快和直视下操作和安全有效等优点。 In the prior art, an electronic endoscope having real-time characteristics, high fidelity image, which is widely used for minimally invasive surgery, the physician provides a visual operative field, while having a small wound, fewer complications, and rapid recovery linear depending safe and effective operating advantages. 但内窥镜手术获取的医学图像缺乏层次感,术野狭小。 But medical image endoscopic surgery acquired the lack of layering, narrow surgical field. 在本发明中,所述内窥镜集成装置400获取术中手术位置的当前影像信息之后,所述多模影像配准装置300对所述配准影像以及当前影像信息进行进一步融合,得到融合影像。 In the following the present invention, the current image information acquiring intraoperative integrated surgical site of the endoscope apparatus 400, the registration of the multi-mode video image registration apparatus 300, and further integration of the current image information, the image fusion to give . 所述融合影像融合了术前三维影像、术中超声图像以及术中手术位置的当前影像,可以为医生提供更加精确可靠的图像信息用于手术实施参考。 The fused image three-dimensional image fusion preoperative, intraoperative ultrasound image of the current image and the intraoperative surgical site can provide more accurate and reliable image information for a surgical implement the physician reference. [0021 ] 优选地,所述内窥镜集成装置400还包括定位器,所述内窥镜集成装置400以及超声波扫描装置200均设有光学标记物,所述定位器根据所述光学标记物获取所述内窥镜集成装置400在所述超声影像中的位置。 [0021] Preferably, the integration of the endoscope apparatus further comprises a retainer 400, the integrated device 400 of the endoscope and the ultrasonic scanning device has an optical marker 200, acquires the positioning of the optical labels according the position of the endoscope apparatus 400 integrated in the ultrasound image. 具体地,所述定位器作为参照物固定,其坐标位置已知。 In particular, the retainer is fixed as a reference, the coordinate position is known. 在手术中,所述内窥镜集成装置400以及超声波扫描装置200均可能发生实时位移,通过所述定位器分别获取所述内窥镜集成装置400相对于所述定位器的位置信息、以及所述超声波扫描装置200相对于所述定位器的位置信息,从而换算得到所述内窥镜集成装置400相对于所述超声波扫描装置200的位置。 In operation, ultrasonic scanning of the endoscope apparatus 200 and 400 are likely to occur in real-time integrated displacement means 400 acquires relative position information of the endoscope with respect to the integrated device by said locator positioning respectively, and the ultrasonic scanning means 200 with said position information of said retainer, such that the position obtained by converting the integration of the endoscope 400 relative to the ultrasonic scanning device 200 device. 包含所述内窥镜集成装置400影像的所述融合影像可进一步为医生提供更加精确可靠的图像信息用于手术实施参考。 The endoscopic image 400 comprising the integrated device may further be fused image for doctors to provide more accurate and reliable information for a surgical implement the reference image.

[0022] 优选地,所述内窥镜集成装置400为基于CMOS的窄带光谱成像内窥镜集成装置。 [0022] Preferably, the endoscope apparatus 400 based on narrowband integrated spectral imaging endoscope CMOS integrated device. 采用这种内窥镜集成装置除可获取病灶部位准确信息之外,还可通过结合健壮的自适应图像增强方法去除图像中的模糊、矫正光照信息并提高图像分辨率,解决光学图像中的噪声、模糊、反光、照度不足等问题。 With this endoscope apparatus in addition to acquiring the integration site of the lesion accurate information, it can also be removed through a combination of robust adaptive fuzzy image enhancement image, illumination correction information and the resolution is improved to solve the optical noise in the image , fuzzy, reflective, lack of illumination and other issues. 例如利用边缘驻留准则和各向异性扩散算法恢复图像的本质纹理,以及引入光滑约束来解决图像修复中的总变差问题,最终可获取真实视野内三维解剖结构对应的叠加显示与融合信息。 For example, using the edge criterion and anisotropic diffusion reside essentially restored texture image, and smoothness constraint is introduced to resolve the problem of image deterioration in the total repair, the final field of view can be obtained within the true superposition of three-dimensional anatomical configuration display information corresponding to the fusion.

[0023] 优选地,所述术后评估装置500可以是基于云计算的数据存储分析平台。 [0023] Preferably, the postoperative evaluation means 500 may be a cloud-based analysis of the data storage internet. 所述术后评估装置500包括存储器以及数据处理器,所述存储器存储所述配准影像以及融合影像,所述数据处理器通过机器学习建立所述疾病预测模型,为后续的疾病诊断或手术实施提供依据。 The postoperative evaluation apparatus 500 includes a memory and a data processor, the memory stores the registration image and the fusion image, the data processor establishing the disease through machine learning prediction model implemented for subsequent diagnosis or surgery Provide evidence. 进一步优选地,所述数据处理器基于支持向量机原理或神经网络理论进行机器学习。 Further preferably, the data processor based machine learning support vector machine theory or neural networks. 本发明中的术后评估装置将大量影像数据和手术参数分布在虚拟云中,实现影像数据的高效安全存储和高速动态读写。 Postoperative evaluation device of the present invention and a large amount of video data in the virtual surgical parameter distribution cloud, efficient and secure storage of high-speed dynamic image data read and write. 采用基于云平台的数据分析统计可通过建立基于概率统计分析模型,对术后的影像数据和云平台上手术过程的图像进行分析,为医生对病人手术后情况进行全面跟踪评估,同时也为临床上对于影像引导的手术提供参考数据及教学资源。 May adopt, the image on the image data after the surgical procedure and cloud platform based on statistical analysis of the data cloud platform by establishing statistical probability analysis model based on the analysis, a comprehensive follow-up evaluation of patients after surgery situation for doctors, but also for clinical for the image-guided surgery provides reference data and teaching resources. 基于上述原理还可开发一套完整运行于Web客户端软件,为非编程用户提供享受云平台资源的服务。 Also developed a complete set of software running on the Web client based on the above principle, non-programming users to enjoy the resources of the cloud platform service.

[0024] 本发明提出的基于多模影像的外科手术导航系统结合了术前MRI/CT三维影像、术中超声影像以及术中手术位置的当前影像的各自优点,并将其融合得到融合影像,为医生提供更加精确可靠、信息量丰富的实时影像信息用于手术实施参考,可实现:在穿刺过程中,结合定位跟踪系统,采用基于术中双超声正交图像的体内特征点跟踪及穿刺针定位,确保实现最佳的手术路径;在扩张过程中,结合增强现实的可视化方法,研宄扩张管实时定位及预警;在手术操作过程中,采取基于光学与电磁混合定位技术的内窥镜定位方法及增强现实技术,最终实现手术过程的全三维实时导航。 [0024] The present invention is made of a multi-mode image based surgical navigation system combines the respective advantages of the current image preoperative MRI / CT three-dimensional image, intraoperative ultrasound imaging and intraoperative surgical site, fused and the resulting fused image, provide more accurate and reliable, information-rich real-time video information for the physician embodiments with reference to the operation can be realized: during lancing, the binding location tracking system, wherein the body based orthogonal intraoperative ultrasound images of the two-point tracking and needle positioning, ensure optimal surgical approach; expansion process, combined with augmented reality visualization method, a Subsidiary dilation tube positioning and real-time warning; during a surgical operation, to take the endoscope is positioned on the optical and electromagnetic hybrid location technology methods and augmented reality, and ultimately full three-dimensional real-time navigation surgical procedure.

[0025] 此外,本发明还提供用于存储和分析手术数据的术后评估装置,该评估装置可以根据手术数据进行机器学习,从而为后续的疾病诊断、跟踪或手术实施提供依据。 [0025] Further, the present invention also provides a postoperative evaluation device for storing and analyzing data operation, the evaluation device can be a machine learning surgical data, so as to follow the diagnosis of a disease, or surgery embodiments provide the basis for tracking.

[0026] 虽然本发明参照当前的较佳实施方式进行了描述,但本领域的技术人员应能理解,上述较佳实施方式仅用来解释和说明本发明的技术方案,而并非用来限定本发明的保护范围,任何在本发明的精神和原则范围之内,所做的任何修饰、等效替换、变形、改进等,均应包含在本发明的权利要求保护范围之内。 [0026] While the present invention has been described with reference to presently preferred embodiments, those skilled in the art will appreciate that the above-described preferred embodiments are merely to explain and illustrate the technical solutions of the present invention, and are not intended to limit the present the scope of the invention, any in the range of the spirit and principle of the present invention, made by any modification, equivalents, variations, modifications all fall within the protection scope claimed in the claims of the present invention.

Claims (9)

  1. 1.一种基于多模影像的外科手术导航系统,包括:术前影像获取装置、超声波扫描装置、多模影像配准装置、内窥镜集成装置、术后评估装置,其中, 所述术前影像获取装置获取病人术前病变区的三维影像; 所述超声波扫描装置实时获取病人术中病变区的超声影像; 所述多模影像配准装置将所述三维影像与超声影像进行多模配准,得到配准影像; 所述内窥镜集成装置获取术中手术位置的当前影像信息,所述多模影像配准装置对所述配准影像以及当前影像信息进行融合,得到融合影像; 所述术后评估装置根据所述配准影像以及融合影像信息进行机器学习,建立疾病预测丰旲型; 所述多模影像配准装置包括模态转换模块以及配准模块,所述模态转换模块将所述三维影像转换为虚拟超声影像,所述配准模块对所述虚拟超声影像与所述超声影像进行配准 A multi-mode image based surgical navigation system, comprising: a preoperative image capturing apparatus, an ultrasonic scanning device, multi-mode image registration apparatus, an endoscope apparatus integrated postoperative evaluation device, wherein said preoperative three-dimensional video image acquisition means acquires preoperative lesions; said ultrasonic image scanning means to acquire ultrasound lesions in patients undergoing real time; the multimodal image registration means the three-dimensional image and the ultrasonic image registration multimode to obtain registration image; said integrated endoscopic surgery apparatus acquires image information of the current position of the operation, the multi-mode image registration device and the registration image information of the current image are fused to obtain fused image; the postoperative evaluation machine learning apparatus according to the registration image and the fusion image information, the establishment of a disease predicted abundance Dae type; the multimodal image registration apparatus comprises a mode conversion module and a registration module, the mode conversion module the three-dimensional ultrasound images into the virtual image, the registration module on the virtual ultrasound image and the ultrasound image registering 得到所述配准影像。 To obtain the registration image.
  2. 2.根据权利要求1所述的基于多模影像的外科手术导航系统,其特征在于,所述术前影像获取装置为MRI扫描仪或CT扫描仪。 The multi-mode image based surgical navigation system according to claim 1, wherein said preoperative image capturing apparatus as an MRI scanner or CT scanner.
  3. 3.根据权利要求1所述的基于多模影像的外科手术导航系统,其特征在于,所述术后评估装置为基于云计算的数据存储分析平台。 3. The multi-mode image based surgical navigation system, characterized in that according to claim 1, said means for the postoperative evaluation of cloud-based data storage analysis internet.
  4. 4.根据权利要求3所述的基于多模影像的外科手术导航系统,其特征在于,所述术后评估装置包括存储器以及数据处理器,所述存储器存储所述配准影像以及融合影像,所述数据处理器通过机器学习建立所述疾病预测模型。 4. The multi-mode image based surgical navigation system, characterized in that according to claim 3, the postoperative evaluation means comprises a memory and a data processor, the memory stores the registration image and image fusion, the said data processor by a machine learning disorders establishing the prediction model.
  5. 5.根据权利要求4所述的基于多模影像的外科手术导航系统,其特征在于,所述数据处理器基于支持向量机原理或神经网络理论进行机器学习。 The multi-mode image based surgical navigation system according to claim 4, wherein the data processor based on support vector machine theory or machine learning neural network theory.
  6. 6.根据权利要求1所述的基于多模影像的外科手术导航系统,其特征在于,所述超声波扫描装置包括基于旋量理论的机械臂以及位于所述机械臂末端的超声波探头。 6. The multi-mode image based surgical navigation system, characterized in that according to claim 1, wherein the ultrasonic scanning device comprises a robot arm based on the screw theory and an ultrasonic probe is located in the robot arm end.
  7. 7.根据权利要求6所述的基于多模影像的外科手术导航系统,其特征在于,所述超声波扫描装置进一步包括传感模块、命令控制模块以及机械臂控制箱,所述传感模块获取所述超声波扫描装置与病人之间的作用力数据,当所述作用力数据大于预设阈值T时,所述命令控制模块向所述机械臂控制箱发出控制命令,所述机械臂控制箱控制所述机械臂远离病人。 7. The multi-mode image based surgical navigation system, characterized in that said according to claim 6, said apparatus further comprising a sensing ultrasonic scanning module, the control module commands the manipulator control box and the sensing module acquires the ultrasonic scanning means and said force between the patient data, when the data is greater than a preset force threshold T, the command control module sends a control command to the manipulator control box, the control box to control the robot arm said robot arm away from the patient.
  8. 8.根据权利要求1所述的基于多模影像的外科手术导航系统,其特征在于,所述内窥镜集成装置为基于CMOS的窄带光谱成像内窥镜集成装置。 The multi-mode image based surgical navigation system, characterized in that said 1, the endoscope apparatus based on narrow-band spectra integrated CMOS integrated endoscopic imaging apparatus according to claim.
  9. 9.根据权利要求8所述的基于多模影像的外科手术导航系统,其特征在于,所述内窥镜集成装置还包括定位器,所述内窥镜集成装置以及超声波扫描装置均设有光学标记物,所述定位器根据所述光学标记物获取所述内窥镜集成装置在所述超声影像中的位置。 According to claim 8, said multi-mode images based surgical navigation system, characterized in that said endoscope apparatus further includes a locator integrated, the integrated device of the endoscope and the ultrasonic scanning device has an optical marker, the position of the endoscope acquires positioning means integrated in the ultrasound image based on the optical label.
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