CN103479430A - Image guiding intervention operation navigation system - Google Patents
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Abstract
The invention relates to an image guiding intervention operation navigation system which comprises a hardware component and a software component. The hardware component comprises a navigation workstation, an intraoperative locating device, a navigation registration tool, an intraoperative locating clamp, a body surface mark point and a patient fixing device. The software component comprises an image storage server, a volume data management module, a three-dimensional image visualization module, a three-dimensional image fast segmentation module, a pre-operation operation planning module, an operation guiding module and a post-operation operation assessment module. The image guiding intervention operation navigation system enables a computer to be applied to the operation process, the operation process is regulated through the software component of the system, doctors can be effectively helped to perform disease judgment, pre-operation operation planning, intraoperative operation guide and post-operation operation assessment, operation difficulty is reduced, treatment precision and effect are improved, pain of patients is reduced, and the operation success rate is improved.
Description
Technical field
The present invention relates to Technology of surgery navigation, relate in particular to a kind of image-guided intervene operation navigation system.
Background technology
Rigid guiding intervene operation navigation is a kind of emerging Wicresoft's tumor therapeuticing method, is the new method that integrates many-sided technology such as computer science, artificial intelligence, control automatically, image processing, three-dimensional graphics, virtual reality and clinical treatment.The method is used the medical image of multiple modalities to assist a physician operating theater instruments directly is punctured to inside tumor and is carried out topical therapeutic, and the method can improve the operation quality, reduces operation wound, reduce the patient suffering.
Although the method has obtained clinical improvement preferably, Wicresoft's intervention tumour treatment operation also is faced with many-sided difficulty in actual application.For example, when carrying out some intervention associated treatment, do not have a kind of perfect surgery planning method at present; The doctor is difficult to exactly intervention therapeutic apparatus to be punctured to tumor locus according to predetermined operation plan, because the doctor is difficult to accurately measure tumor locus and shape information, also is difficult to obtain the relativeness of puncture needle end and tumor in piercing process.These problems have all affected the therapeutic effect of operation.
Summary of the invention
The present invention has overcome the deficiencies in the prior art, and a kind of image-guided intervene operation navigation system that reduces operating difficulty, improves treatment precision and effect is provided.
For achieving the above object, the technical solution used in the present invention is: a kind of image-guided intervene operation navigation system, it comprises hardware composition part and software ingredient, described hardware composition part comprises: the navigation work station, the Intraoperative position device, the navigation registration tool, the Intraoperative position jig, skin-marker and patient's fixture, it is characterized in that, described software ingredient comprises the image store server, the volume data administration module, the 3-dimensional image visualization model, 3-dimensional image Fast Segmentation module, the pre-operative surgical planning module, operation bootstrap module and postoperative operation evaluation module,
Described image store server is for storing communicating by letter of clinical medicine image and hospital information system and image system;
Described volume data administration module for managing that medical image is visual concentratedly, the volume data of surgery planning and navigation procedure;
Described 3-dimensional image visualization model is obtained the medical image volume data by described volume data administration module, through skeleton or the vessel information of quick three-dimensional reconstruction calculations and Fast Volume Rendering Algorithm display of visually;
Described 3-dimensional image Fast Segmentation module is carried out three-dimensional segmentation fast for the organ that needs are performed the operation, and further utilizes the result of cutting apart to carry out preoperative analysis;
Described pre-operative surgical planning module, for realizing pre-operative surgical planning, is calculated and predicts the action effect of operation according to the operation pathway of doctor's design;
Described operation bootstrap module is for the concrete enforcement of navigating surgery, and this module is for preoperative medical apparatus and instruments and the calibration algorithm of positioner and real-time positioning and the space coordinates transfer algorithm of art operating theater instruments;
Described postoperative operation evaluation module is used for postoperative importing medical image and other preoperative images is mated mutually, then the impact of preoperative and postoperative is merged and shown, by contrast, judges surgical effect.
In a preferred embodiment of the present invention, further comprise, described quick three-dimensional reconstruction calculations is based on the visual quick three-dimensional reconstruction calculations of medical image quick three-dimensional of GPU, the Fast Volume Rendering Algorithm that described Fast Volume Rendering Algorithm is carried out for the ray cast method algorithm that uses GPU to accelerate.
In a preferred embodiment of the present invention, further comprise, described 3-dimensional image visualization model is obtained the medical image volume data by described volume data administration module and is comprised CT data and MRI data.
In a preferred embodiment of the present invention, further comprise, the visualization result of described 3-dimensional image visualization model can be used for pre-operative surgical planning module, operation bootstrap module and postoperative operation evaluation module Reusability.
In a preferred embodiment of the present invention, further comprise, the organ that the medical image quick three-dimensional Parallel segmentation algorithm that described 3-dimensional image Fast Segmentation module use cuts off based on figure is performed the operation to needs carries out quick three-dimensional to be cut apart.
In a preferred embodiment of the present invention, further comprise, the three-dimensional segmentation result of described 3-dimensional image Fast Segmentation module is for pre-operative surgical planning module, operation bootstrap module and postoperative operation evaluation module Reusability.
In a preferred embodiment of the present invention, further comprise, described navigation work station is NVIDIA GTX470 display unit, and this unit can complete the visual computing of high-performance and image is processed.
In a preferred embodiment of the present invention, further comprise, described Intraoperative position device is passive type infrared optics location instrument, and the speed that the system accuracy of this passive type infrared optics location instrument is per second 60Hz is issued to 0.35 millimeter.
The invention solves the defect existed in background technology, there is following beneficial effect:
Image-guided intervene operation navigation system of the present invention can be by Computer application for operation process, then carry out the flow process of standard operation by the software section of system, can effectively help the doctor to carry out operation guiding and postoperative operation assessment in disease judgement, pre-operative surgical planning, art, and then Jiangdu the operation difficulty, improve precision and the effect for the treatment of, reduce the painful of patient and improve success rate of operation.
The accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the software module figure of the preferred embodiments of the present invention.
The specific embodiment
The present invention is further detailed explanation in conjunction with the accompanying drawings and embodiments now, and these accompanying drawings are the schematic diagram of simplification, basic structure of the present invention only is described in a schematic way, so it only shows the formation relevant with the present invention.
As shown in Figure 1, the invention provides a kind of image-guided intervene operation navigation system, it comprises hardware composition part and software ingredient, described hardware composition part comprises: navigation work station, Intraoperative position device, navigation registration tool, Intraoperative position jig, skin-marker and patient's fixture, described software ingredient comprises image store server, volume data administration module, 3-dimensional image visualization model, 3-dimensional image Fast Segmentation module, pre-operative surgical planning module, operation bootstrap module and postoperative operation evaluation module.
The navigation work station is mainly for the treatment of a large amount of medical images, can carry out organ and lesion segmentation reconstruct and the quick visualization of medical image, and carry out operation pathway planning based on the three-dimensional visualization effect, finally the mode guided operation by guiding in real time carries out.Navigation work station image-capable is high, the NVIDIA GTX479 display unit of the employing superior performance that the present invention is concrete, its can complete high performance visual computing and based on the GPU(image processor) image process.
The Intraoperative position device is mainly used in the position of positioning operation apparatus in operation process, and operation guiding system requires in operation can real-time tracking and show orientation tool.The concrete Intraoperative position device adopted of the present invention is passive type infrared optics location instrument, and the speed that the system accuracy of this passive type infrared optics location instrument is per second 60Hz is issued to 0.35 millimeter.
The navigation registration tool is for obtaining the coordinate of each coordinate points in location coordinate in 3-dimensional image, sets up the mapping relations between the location coordinate of coordinate systems in image and optical positioning apparatus.The Intraoperative position jig is used for fixation surgical instrument, and obtains the positional information of operating theater instruments by the elements of a fix that obtain self.Skin-marker is mainly used in the registration process that patient in operation process affects coordinate system and location coordinate, it is the gauge point that a class can be caught and develop in medical image by image documentation equipment, need to determine these gauge points when the patient being carried out to CT or MRI scanning, thereby the doctor can clearly see these gauge points on image before operation in patients.Patient's fixture is fixing for patient's pose, reduces the position error of bringing due to patient body deformation.
Image store server in the software ingredient is for storing communicating by letter of clinical medicine image and hospital information system and image system; Image store server in the present invention has been taken in fact the basic function that image in the hospital is stored in transmission system (PACS) system.After the patient completes CT scan, the DICOM procotol that can carry by the CT machine sends to image in the image store server, if need corresponding data, this systems soft ware only need be obtained and get image and get final product by the Image Acquisition interface direct in the DICOM agreement.
The volume data administration module for managing that medical image is visual concentratedly, the volume data of surgery planning and navigation procedure; The volume data module is packaged into volume data after obtaining the data of DICOM form of standard, for follow-up various algorithms, uses.
The 3-dimensional image visualization model is obtained the medical image volume data by described volume data administration module, through skeleton or the vessel information of quick three-dimensional reconstruction calculations and Fast Volume Rendering Algorithm display of visually; Wherein, the quick three-dimensional reconstruction calculations is based on the visual quick three-dimensional reconstruction calculations of medical image quick three-dimensional of GPU, the Fast Volume Rendering Algorithm that Fast Volume Rendering Algorithm is carried out for the ray cast method algorithm that uses GPU to accelerate.The 3-dimensional image visualization model is obtained the medical image volume data by described volume data administration module and is comprised CT data and MRI data.Most crucial module in navigation system during this module, the visual of volume data is the basis of the guiding in real time based on three-dimensional display interface in man-machine interactive operation in surgery planning, surgical navigational.Relevant visualization result can be by follow-up pre-operative surgical planning module, surgical navigational module and postoperative operation evaluation module Reusability.
3-dimensional image Fast Segmentation module is carried out three-dimensional segmentation fast for the organ that needs are performed the operation, and further utilizes the result of cutting apart to carry out preoperative analysis; The organ that the medical image quick three-dimensional Parallel segmentation algorithm that the use of 3-dimensional image Fast Segmentation module cuts off based on figure is performed the operation to needs carries out quick three-dimensional to be cut apart.Its three-dimensional segmentation result is for pre-operative surgical planning module, operation bootstrap module and postoperative operation evaluation module Reusability.
The pre-operative surgical planning module, for realizing pre-operative surgical planning, is calculated and predicts the action effect of operation according to the operation pathway of doctor's design, for the treatment of doctor's standard provides good basis.The operation bootstrap module is for the concrete enforcement of navigating surgery, and this module is for preoperative medical apparatus and instruments and the calibration algorithm of positioner and real-time positioning and the space coordinates transfer algorithm of art operating theater instruments.Postoperative operation evaluation module is used for postoperative importing medical image and other preoperative images is mated mutually, then the impact of preoperative and postoperative is merged and shown, by contrast, judges surgical effect.
Above foundation desirable embodiment of the present invention is enlightenment, and by above-mentioned description, the related personnel can, in the scope that does not depart from this invention technological thought, carry out various change and modification fully.The technical scope of this invention is not limited to the content on description, must determine technical scope according to the claim scope.
Claims (8)
1. an image-guided intervene operation navigation system, it comprises hardware composition part and software ingredient, described hardware composition part comprises: navigation work station, Intraoperative position device, navigation registration tool, Intraoperative position jig, skin-marker and patient's fixture, it is characterized in that, described software ingredient comprises image store server, volume data administration module, 3-dimensional image visualization model, 3-dimensional image Fast Segmentation module, pre-operative surgical planning module, operation bootstrap module and postoperative operation evaluation module;
Described image store server is for storing communicating by letter of clinical medicine image and hospital information system and image system;
Described volume data administration module for managing that medical image is visual concentratedly, the volume data of surgery planning and navigation procedure;
Described 3-dimensional image visualization model is obtained the medical image volume data by described volume data administration module, through skeleton or the vessel information of quick three-dimensional reconstruction calculations and Fast Volume Rendering Algorithm display of visually;
Described 3-dimensional image Fast Segmentation module is carried out three-dimensional segmentation fast for the organ that needs are performed the operation, and further utilizes the result of cutting apart to carry out preoperative analysis;
Described pre-operative surgical planning module, for realizing pre-operative surgical planning, is calculated and predicts the action effect of operation according to the operation pathway of doctor's design;
Described operation bootstrap module is for the concrete enforcement of navigating surgery, and this module is for preoperative medical apparatus and instruments and the calibration algorithm of positioner and real-time positioning and the space coordinates transfer algorithm of art operating theater instruments;
Described postoperative operation evaluation module is used for postoperative importing medical image and other preoperative images is mated mutually, then the impact of preoperative and postoperative is merged and shown, by contrast, judges surgical effect.
2. a kind of image-guided intervene operation navigation system according to claim 1, it is characterized in that, described quick three-dimensional reconstruction calculations is based on the visual quick three-dimensional reconstruction calculations of medical image quick three-dimensional of GPU, the Fast Volume Rendering Algorithm that described Fast Volume Rendering Algorithm is carried out for the ray cast method algorithm that uses GPU to accelerate.
3. a kind of image-guided intervene operation navigation system according to claim 1, is characterized in that, described 3-dimensional image visualization model is obtained the medical image volume data by described volume data administration module and comprised CT data and MRI data.
4. according to claim 1 or the described a kind of image-guided intervene operation navigation system of 3 any one, it is characterized in that, the visualization result of described 3-dimensional image visualization model can be used for pre-operative surgical planning module, operation bootstrap module and postoperative operation evaluation module Reusability.
5. a kind of image-guided intervene operation navigation system according to claim 1, it is characterized in that, the organ that the medical image quick three-dimensional Parallel segmentation algorithm that described 3-dimensional image Fast Segmentation module use cuts off based on figure is performed the operation to needs carries out quick three-dimensional to be cut apart.
6. a kind of image-guided intervene operation navigation system according to claim 1 or 5, it is characterized in that, the three-dimensional segmentation result of described 3-dimensional image Fast Segmentation module is for pre-operative surgical planning module, operation bootstrap module and postoperative operation evaluation module Reusability.
7. a kind of image-guided intervene operation navigation system according to claim 1, is characterized in that, described navigation work station is NVIDIA GTX470 display unit, and this unit can complete the visual computing of high-performance and image is processed.
8. a kind of image-guided intervene operation navigation system according to claim 1, it is characterized in that, described Intraoperative position device is passive type infrared optics location instrument, and the speed that the system accuracy of this passive type infrared optics location instrument is per second 60Hz is issued to 0.35 millimeter.
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| CN105342701A (en) * | 2015-12-08 | 2016-02-24 | 中国科学院深圳先进技术研究院 | Focus virtual puncture system based on image information fusion |
| CN105434042A (en) * | 2014-08-25 | 2016-03-30 | 成果科技股份有限公司 | Operation planning system |
| CN106503451A (en) * | 2016-10-24 | 2017-03-15 | 京东方科技集团股份有限公司 | A kind of online operation plan analysis system |
| CN106725852A (en) * | 2016-12-02 | 2017-05-31 | 上海精劢医疗科技有限公司 | The operation guiding system of lung puncture |
| CN106725770A (en) * | 2017-02-27 | 2017-05-31 | 南京大学 | A kind of method of the percutaneous intervening equipment geometry of fast registration |
| CN107085671A (en) * | 2017-06-29 | 2017-08-22 | 江苏奥康尼医疗科技发展有限公司 | A kind of auxiliary equipment of repair of cartilage operation |
| CN107182200A (en) * | 2015-12-24 | 2017-09-19 | 中国科学院深圳先进技术研究院 | Minimally invasive operation navigating system |
| CN108283757A (en) * | 2018-01-19 | 2018-07-17 | 上海联影医疗科技有限公司 | Interposing catheter, the seeker of interposing catheter, interventional systems and method |
| CN109785955A (en) * | 2018-12-25 | 2019-05-21 | 襄阳市第一人民医院（襄阳市肿瘤医院） | A kind of computer based neurosurgery diagnosis and treatment control system and method |
| CN110074864A (en) * | 2018-01-25 | 2019-08-02 | 上海库欣医疗科技有限公司 | The planning system and method for intracranial hematoma drainage |
| CN110169820A (en) * | 2019-04-24 | 2019-08-27 | 艾瑞迈迪科技石家庄有限公司 | A kind of joint replacement surgery pose scaling method and device |
| CN110215283A (en) * | 2019-02-14 | 2019-09-10 | 清华大学 | Encephalic operation navigation system based on magnetic resonance imaging |
| CN110974426A (en) * | 2019-12-24 | 2020-04-10 | 上海龙慧医疗科技有限公司 | Robot system for orthopedic joint replacement surgery |
| CN111887988A (en) * | 2020-07-06 | 2020-11-06 | 罗雄彪 | Positioning method and device of minimally invasive interventional operation navigation robot |
| CN112972868A (en) * | 2021-02-04 | 2021-06-18 | 上海庆之医疗科技有限公司 | Active catheter intervention system and readable storage medium |
| US11049276B2 (en) | 2018-06-29 | 2021-06-29 | Industrial Technology Research Institute | Positioning guidance method and system for tooth brackets |
| CN113940756A (en) * | 2021-11-09 | 2022-01-18 | 广州柏视医疗科技有限公司 | Operation navigation system based on mobile DR image |
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| CN105342701A (en) * | 2015-12-08 | 2016-02-24 | 中国科学院深圳先进技术研究院 | Focus virtual puncture system based on image information fusion |
| CN105342701B (en) * | 2015-12-08 | 2018-02-06 | 中国科学院深圳先进技术研究院 | A kind of virtual lancing system of focus based on image information fusion |
| CN107182200B (en) * | 2015-12-24 | 2019-12-06 | 中国科学院深圳先进技术研究院 | minimally invasive surgery navigation system |
| CN107182200A (en) * | 2015-12-24 | 2017-09-19 | 中国科学院深圳先进技术研究院 | Minimally invasive operation navigating system |
| CN106503451B (en) * | 2016-10-24 | 2019-04-05 | 京东方科技集团股份有限公司 | A kind of online operation plan analysis system |
| CN106503451A (en) * | 2016-10-24 | 2017-03-15 | 京东方科技集团股份有限公司 | A kind of online operation plan analysis system |
| CN106725852A (en) * | 2016-12-02 | 2017-05-31 | 上海精劢医疗科技有限公司 | The operation guiding system of lung puncture |
| CN106725770A (en) * | 2017-02-27 | 2017-05-31 | 南京大学 | A kind of method of the percutaneous intervening equipment geometry of fast registration |
| CN107085671A (en) * | 2017-06-29 | 2017-08-22 | 江苏奥康尼医疗科技发展有限公司 | A kind of auxiliary equipment of repair of cartilage operation |
| CN108283757A (en) * | 2018-01-19 | 2018-07-17 | 上海联影医疗科技有限公司 | Interposing catheter, the seeker of interposing catheter, interventional systems and method |
| CN108283757B (en) * | 2018-01-19 | 2020-11-13 | 武汉联影智融医疗科技有限公司 | Interventional catheter, guiding head of interventional catheter, interventional system and interventional method |
| CN110074864A (en) * | 2018-01-25 | 2019-08-02 | 上海库欣医疗科技有限公司 | The planning system and method for intracranial hematoma drainage |
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| CN109785955A (en) * | 2018-12-25 | 2019-05-21 | 襄阳市第一人民医院（襄阳市肿瘤医院） | A kind of computer based neurosurgery diagnosis and treatment control system and method |
| CN110215283A (en) * | 2019-02-14 | 2019-09-10 | 清华大学 | Encephalic operation navigation system based on magnetic resonance imaging |
| CN110169820A (en) * | 2019-04-24 | 2019-08-27 | 艾瑞迈迪科技石家庄有限公司 | A kind of joint replacement surgery pose scaling method and device |
| CN110974426A (en) * | 2019-12-24 | 2020-04-10 | 上海龙慧医疗科技有限公司 | Robot system for orthopedic joint replacement surgery |
| CN111887988A (en) * | 2020-07-06 | 2020-11-06 | 罗雄彪 | Positioning method and device of minimally invasive interventional operation navigation robot |
| CN111887988B (en) * | 2020-07-06 | 2022-06-10 | 罗雄彪 | Positioning method and device of minimally invasive interventional operation navigation robot |
| CN112972868A (en) * | 2021-02-04 | 2021-06-18 | 上海庆之医疗科技有限公司 | Active catheter intervention system and readable storage medium |
| CN114067646A (en) * | 2021-10-16 | 2022-02-18 | 复旦大学 | Visual simulation teaching system of puncture surgical robot |
| CN113940756A (en) * | 2021-11-09 | 2022-01-18 | 广州柏视医疗科技有限公司 | Operation navigation system based on mobile DR image |
| CN113940756B (en) * | 2021-11-09 | 2022-06-07 | 广州柏视医疗科技有限公司 | Operation navigation system based on mobile DR image |
| WO2023216947A1 (en) * | 2022-05-07 | 2023-11-16 | 武汉联影智融医疗科技有限公司 | Medical image processing system and method for interventional operation |
| CN114948199A (en) * | 2022-05-17 | 2022-08-30 | 天津大学 | Surgical operation auxiliary system and operation path planning method |
| CN114948199B (en) * | 2022-05-17 | 2023-08-18 | 天津大学 | Surgical operation auxiliary system and operation path planning method |
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Application publication date: 20140101 |