CN105361950A - Computer-assisted puncture navigation system and computer-assisted puncture navigation method under infrared guidance - Google Patents
Computer-assisted puncture navigation system and computer-assisted puncture navigation method under infrared guidance Download PDFInfo
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- CN105361950A CN105361950A CN201510859819.8A CN201510859819A CN105361950A CN 105361950 A CN105361950 A CN 105361950A CN 201510859819 A CN201510859819 A CN 201510859819A CN 105361950 A CN105361950 A CN 105361950A
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Abstract
The invention discloses a computer-assisted puncture navigation system and a computer-assisted puncture navigation method under infrared guidance. The computer-assisted puncture navigation system and the computer-assisted puncture navigation method have the advantages that problems of human movement due to respiration, heartbeat, unconscious movement and the like of people, deviation such as angular deviation between existing puncture needles and existing puncture paths and distance deviation between needle points of the existing puncture needles and existing puncture centers and severe influence on existing puncture procedures can be solved by the aid of the computer-assisted puncture navigation system and the computer-assisted puncture navigation method; the infrared positioning method is implemented by the aid of the computer-assisted puncture navigation system, locations of puncture needles are monitored in real time in puncture procedures, and accordingly operators can timely find and correct deviation.
Description
Technical field
The present invention discloses the area of computer aided puncture navigation system and method under a kind of infrared guiding, native system in piercing process can real-time positioning puncture needle with puncture center, and monitoring process in a computer, thus the deviation between puncture needle and predefined puncture path can be obtained at once.
Background technology
In modern surgery operation, pin puncture is a kind of commonplace technology.Operator thrusts tissue or the organ of human body with puncture needle, completes the operation such as biopsy, local anaesthesia.This technology is widely used in the diagnosis and treatment to Organ and tissues such as Human Lung, kidney, spinal columns.
In puncturing operation, puncture precision is the key of operation success or failure, but the accuracy of puncture at present depends on experience and the technology of operator.Operator plays pin after can only probably determining puncture center and puncture path by medical scanning devices such as CT on image before surgery by rule of thumb.And the puncture center caused by the autonomous respiration of patient or heart beating etc. changes and human operational error directly can affect the accuracy of puncture position.And due to the limitation of current technology, the puncture path of operator's definition is all vertical substantially, and this just makes in some case, and puncture needle cannot avoid responsive organ or tissue, this brings inconvenience greatly and dangerous to puncture.
In view of the above problems, be necessary to find a kind of can monitor puncture needle and puncture center and puncture path in real time system or method solve problem.
Summary of the invention
For the deficiencies in the prior art, the technical problem that the present invention solves to monitor the position relationship of puncture needle and puncture center and predefined puncture path in real time, can and guide procedure by direct vision in a computer.System can cook up many alternative puncture paths automatically according to data, and operator rule of thumb therefrom selects suitable path, also can manually plan voluntarily.Meanwhile, the present invention has broken the single limitation of puncture path angle, can realize puncturing from arbitrarily angled.
For solving the problems of the technologies described above, technical scheme of the present invention is achieved in that
An area of computer aided puncture navigation system under infrared guiding, comprises puncture needle module, human body positioner module and monitoring display module.Puncture needle module comprises puncture needle and puncture needle positioning apparatus, and puncture needle positioning apparatus is fixed on puncture needle afterbody, the position registration of positioner can be utilized to calculate the three-dimensional position of puncture needle needle point and backshank, obtain the angle of puncture needle further; Human body positioner module comprises the positioner being fixed on body surface, and the positioner of body surface is used for the real-time three-dimensional position of reflection each tissue of inside of human body and organ, puncture center and puncture path indirectly; Monitoring display module comprises high accuracy infrared monitoring equipment and computer software, and high accuracy infrared monitoring equipment can take the positional information obtaining above-mentioned positioner, computer software can carry out showing, registration, calculating operation.
Present invention is disclosed the method for the area of computer aided puncture navigation under a kind of infrared guiding, comprise the steps:
S1: according to actual needs, fixes more than three positioners near the penetrating area on body surface;
In at least one embodiment of the present invention, positioner on described body surface is can by the infrared location bead of described high accuracy infrared monitoring recognition of devices, but the technical staff in described field is without the need to creative work, the location bead described in the replacement of other shape tag objects adopting other materials with obvious infrared signature to make just should be expected.Therefore similar technical scheme does not exceed scope disclosed in the present invention and claimed yet.
The quantity being arranged on the positioner of body surface be preferably three and more than, to ensure that the motion of the positioner detected fully can show the change of six-freedom degree in three dimensions (translation in three-dimensional system of coordinate on three directions and rotation).If adopted less than three positioners, positioning precision can be affected, even Wrong localization.Generally can select the positioner of more than three, in order to avoid occur because block the location error caused.
S2: by medical scanning system, obtains the image of puncture target area, reconstruction of three-dimensional Image model.To give a definition positioner, inside of human body sensitive organization organ and puncture target in first kind coordinate system, and obtained the information of the three-dimensional relative position relation between these parts by computer registration;
Define puncture path in a computer, center of namely puncturing enters the path of pin mark to body surface, and registration calculates the information of the three-dimensional relative position relation between body surface location device and puncture center and puncture path;
S3: select puncture needle model according to practical situation, internal system predefines multiple puncture needle type information, type information mainly refers to the information of three-dimensional position relation of the positioner that is fixed on puncture needle afterbody and puncture needle needle point, backshank;
Utilize infrared location system, real-time tracing is fixed on the positioner of puncture needle afterbody, its three-dimensional location coordinates is determined under Equations of The Second Kind coordinate system, the real-time three-dimensional position coordinates of needle point and backshank is calculated according to the real-time three-dimensional position registration of selected puncture needle model and positioner, and virtual display puncture needle on computers;
In at least one embodiment of the present invention, the described positioner being fixed on puncture needle afterbody is can by the infrared location bead of described high accuracy infrared monitoring recognition of devices, but the technical staff in described field is without the need to creative work, the location bead described in the replacement of other shape tag objects adopting other materials with obvious infrared signature to make just should be expected.Therefore similar technical scheme does not exceed scope disclosed in the present invention and claimed yet.
The quantity being fixed on the positioner of puncture needle afterbody is three, to ensure that the motion of the positioner detected fully can show the change of six-freedom degree in three dimensions (translation in three-dimensional system of coordinate on three directions rotates).If adopted less than three positioners, positioning precision can be affected, even Wrong localization.
S4: in piercing process, according to the positional information of the positioner of high accuracy infrared monitoring equipment real-time tracing, demonstrate the three-dimensional location coordinates of puncture center, puncture path and puncture needle in the mode of virtual reality in the threedimensional model rebuild, thus, operator intuitively can arrive the whole process of puncture;
S5: puncture needle arrives puncture center, and puncture completes.
Beneficial effect of the present invention is: can realize puncturing from arbitrarily angled, and having broken puncture path can only the limitation of vertical human body surface.Can to make rational planning for puncture path, effectively to avoid responsive Organ and tissue.Can monitor in real time piercing process, operator can learn the angular deviation between puncture needle and puncture path in real time, and the range deviation etc. between puncture needle needle point and puncture center, and revise in time, thus substantially increase accuracy and the safety of puncture.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet that the present invention applies in piercing process.
Left figure in Fig. 2 is the axonometric chart of puncture needle and positioner thereof, and right figure is the top view of puncture needle and positioner thereof.
Fig. 3 is the model schematic of computerized three-dimensional reconstruction.
Fig. 4 is human body location schematic diagram.
Fig. 5 is the schematic diagram of piercing process.
Fig. 6 is the total schematic diagram of lancing system.
Detailed description of the invention
In order to make the object, technical solutions and advantages of the present invention clearly, describe the present invention below in conjunction with the drawings and specific embodiments.
With reference to figure 2 ~ 6, be fixed on the positioner on puncture needle and the positioner on body surface is can by the infrared location bead of described high accuracy infrared monitoring recognition of devices.Infrared location bead surface covers the material that one deck can reflect most directs light.High accuracy infrared monitoring equipment is launched infrared light and is reflected by bead, and watch-dog receives the Infrared reflected, and analytical data calculates the three-dimensional location coordinates of bead, achieves the object of monitoring positioner.
With reference to figure 2, on puncture needle, the positioner support that is fixed is fixed on the afterbody of puncture needle, has pre-defined the puncture needle information of Multiple Type in computer.If the three-dimensional relative position relation of described puncture needle information spinner positioner and puncture needle needle point and backshank, therefore, the three-dimensional location coordinates of positioner and puncture needle type information on the puncture needle that computer can utilize high accuracy infrared monitoring device back, registration calculates the three-dimensional location coordinates of puncture needle needle point and backshank, further can obtain the angle of puncture needle.
Further, the three-dimensional coordinate of described " three-dimensional location coordinates of puncture needle " puncture needle backshank of calculating for registration and needle point.
With reference to figure 3, before operation starts, computer receives the scanogram of patient, rebuilds the threedimensional model of human body, show in a computer after analyzing and processing.Operator manually defines puncture center by rule of thumb in the three-dimensional model.
With reference to figure 4, computer cooks up several suitable puncture paths automatically according to the data received, and effectively avoids sensitive organization or organ.It is suitable that operator can therefrom select, also can according to obtained information manual definition puncture path in a computer.In this threedimensional model, different threshold values can be set and render the different tissue of human body, thus the accuracy of puncture path and puncture center can be determined intuitively.
Human body positioner has just been fixed on the human body surface of penetrating area before the scan, the positioner after computer reception scanogram in Automatic-searching scanogram.Calculate the three-dimensional relative position relation of body surface positioner and each tissue of inside of human body and organ, puncture center and puncture path according to scanogram registration, be denoted as initial three-dimensional relative position.
After operation starts, high accuracy infrared monitoring equipment can the three-dimensional location coordinates of real-time tracing body surface positioner.These coordinate informations are reached computer, and computer is according to the initial three-dimensional relative position of record, and registration calculates the real-time three-dimensional position of each tissue of inside of human body and organ, puncture center and puncture path.
With reference to figure 5, when puncture needle is from entering after pin mark enters human body, in the threedimensional model of computer, puncture process can be shown in real time.If deviation appears in puncture needle and puncture path, operator can learn from computer at once, and corrects in time.When the needle point of puncture needle arrives puncture center, puncture completes.
Claims (10)
1. the area of computer aided puncture navigation system under infrared guiding, is characterized in that: described system comprises puncture needle module, human body positioner module and monitoring display module;
Described puncture needle module comprises puncture needle and puncture needle positioning apparatus, described puncture needle positioning apparatus is fixed on puncture needle afterbody, the position registration of positioner can be utilized to calculate the three-dimensional position of puncture needle needle point and backshank, obtain the angle of puncture needle further;
Described human body positioner module comprises the positioner being fixed on body surface, and the positioner of body surface is used for the real-time three-dimensional position of reflection each tissue of inside of human body and organ, puncture center and puncture path indirectly;
Described monitoring display module comprises high accuracy infrared monitoring equipment and computer software; Described high accuracy infrared monitoring equipment can take the positional information obtaining above-mentioned positioner; Described computer software can carry out showing, registration, calculating operation.
2. the area of computer aided puncture navigation system under infrared guiding as claimed in claim 1, it is characterized in that, described puncture needle positioning apparatus is can by the infrared location bead of described high accuracy infrared monitoring recognition of devices, and its quantity is three.
3. the area of computer aided puncture navigation system under infrared guiding as claimed in claim 1, it is characterized in that, described monitoring display module has pre-defined the puncture needle information of different model, and this information comprises the information of the needle point of puncture needle, the relative dimensional position relationship between backshank and puncture needle positioning apparatus.
4. the area of computer aided puncture navigation system under infrared guiding as claimed in claim 1, it is characterized in that, described human body positioner is can by the infrared location bead of described high accuracy infrared monitoring recognition of devices, and its quantity is at least three.
5. the area of computer aided puncture navigation system under infrared guiding as claimed in claim 1, is characterized in that, the high accuracy infrared monitoring equipment in described monitoring display module can detect, the real-time three-dimensional positional information of receiving positioner.
6. the area of computer aided puncture navigation system under infrared guiding as claimed in claim 1, it is characterized in that, computer software in described monitoring display module can receive the image that medical scanning device obtains, through playing up processing reconstructed human 3d model, and the measurement function of angle and distance can be provided.
7. the area of computer aided puncture navigation system under infrared guiding as claimed in claim 1, it is characterized in that, described computer software can according to scanogram and positioner the position in scanogram, intelligently from arbitrarily angled puncture path of making rational planning for, effectively avoid responsive Organ and tissue, and the relevant position display in Three-dimension Reconstruction Model.
8. the area of computer aided puncture navigation system under infrared guiding as claimed in claim 1, it is characterized in that, described computer software can according to the three dimensional local information of positioner on puncture needle and puncture needle type information, registration calculates the needle point of puncture needle and the real time position of backshank, and the relevant position in Three-dimension Reconstruction Model shows.
9. the area of computer aided puncture navigation system under infrared guiding as claimed in claim 1, it is characterized in that, in piercing process, described computer software can show the deviation between puncture needle and puncture path in real time.
10. the area of computer aided puncture air navigation aid under infrared guiding, is characterized in that, said method comprising the steps of:
S1: according to actual needs, fixing at least three positioners near the penetrating area on body surface;
S2: by medical scanning system, obtain the image of puncture target area, reconstruction of three-dimensional Image model, to give a definition positioner, inside of human body sensitive organization organ and puncture target in first kind coordinate system, and obtained the relative position relation at positioner on body surface and these positions by computer registration;
S3: select puncture needle model according to practical situation, internal system predefines multiple puncture needle type information, type information mainly refers to the three-dimensional position relation of the positioner that is fixed on puncture needle afterbody and puncture needle needle point, backshank;
S4: in piercing process, according to the positional information of the positioner of high accuracy infrared monitoring equipment real-time tracing, in the threedimensional model rebuild, demonstrate puncture center, puncture path and puncture needle in the mode of virtual reality, thus, doctor intuitively can arrive the whole process of puncture;
S5: puncture needle arrives puncture center, and puncture completes.
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| CN106139423A (en) * | 2016-08-04 | 2016-11-23 | 梁月强 | A kind of image based on photographic head guides seeds implanted system |
| CN106730422A (en) * | 2017-02-27 | 2017-05-31 | 江苏富科思科技有限公司 | A kind of method that people and body position fixing device deviation are measured in posture radiotherapy based under infrared guiding |
| CN106859767A (en) * | 2017-03-29 | 2017-06-20 | 上海霖晏网络科技有限公司 | A kind of operation piloting method |
| CN106983545A (en) * | 2017-04-10 | 2017-07-28 | 牡丹江医学院 | A kind of color ultrasound orthopaedics punctures dual boot control system |
| CN107007944A (en) * | 2017-02-27 | 2017-08-04 | 南京大学 | The method for putting position is calibrated by human projection in a kind of radiotherapy operation |
| CN107307906A (en) * | 2017-08-24 | 2017-11-03 | 上海市同济医院 | Abdominal CT liver tissue bioptic localization method under the guiding of mimics three-dimensional reconstructions |
| CN107320162A (en) * | 2017-09-04 | 2017-11-07 | 山东卓业电子科技有限公司 | A kind of design method of tumor puncture operation 3D printing template |
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| CN108210024A (en) * | 2017-12-29 | 2018-06-29 | 威朋（苏州）医疗器械有限公司 | Operation piloting method and system |
| CN108335326A (en) * | 2018-01-31 | 2018-07-27 | 上海联影医疗科技有限公司 | The bearing calibration of lancing system, apparatus and system |
| CN108853650A (en) * | 2018-05-16 | 2018-11-23 | 温州医科大学附属口腔医院 | A kind of Maxillary region nerve block anesthesia syringe sleeve of computer navigation auxiliary |
| CN109044539A (en) * | 2018-08-24 | 2018-12-21 | 真健康（北京）医疗科技有限公司 | A kind of body surface location method for infrared navigation |
| CN109200402A (en) * | 2018-08-27 | 2019-01-15 | 复旦大学附属中山医院 | Venipuncture system based on infrared thermal imaging technique |
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| CN110584752A (en) * | 2018-06-13 | 2019-12-20 | 彭水苗族土家族自治县人民医院 | Percutaneous lung puncture positioning method under CT guidance |
| CN111513849A (en) * | 2020-04-30 | 2020-08-11 | 京东方科技集团股份有限公司 | Surgical system for puncture, control method and control device |
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| CN113907884A (en) * | 2020-07-10 | 2022-01-11 | 南京智云医疗器械研究院有限公司 | Equipment and method for supporting needle sleeve guiding and realizing accurate puncture based on infrared binocular camera and robot mechanical arm |
| CN114343845A (en) * | 2022-01-11 | 2022-04-15 | 上海睿触科技有限公司 | Dynamic focus position tracking method for auxiliary puncture system |
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