CN106108951B - A kind of medical real-time three-dimensional location tracking system and method - Google Patents
A kind of medical real-time three-dimensional location tracking system and method Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/085—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
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- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
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- A61B8/48—Diagnostic techniques
- A61B8/481—Diagnostic techniques involving the use of contrast agent, e.g. microbubbles introduced into the bloodstream
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
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Abstract
The present invention relates to a kind of medical real-time three-dimensional location tracking system and method, the three-dimensional positioning tracking system includes ultrasonic probe positioning system, space positioning system, baseline system, real-time three-dimensional display system and field system: the matching of ultrasonic probe positioning system is placed on ultrasonic probe；Space positioning system is placed in patient's check point front and back, upper and lower and left and right；Baseline system is placed in patient's check point attachment magnetic field；Real-time three-dimensional display system is built in ultrasonic examination system；Field system is placed under patient's check point bed or closes on position.Its advantage is shown: being carried out space environment locating for positioning and lesion to the ultrasonic probe of detection lesion respectively and is positioned, so that lesion localization is accurate, it avoids in traditional technology and bring interference is positioned by ultrasound image, improve the working efficiency of doctor, the burden at heart of patient is also mitigated simultaneously, can be dedicated with clinical, especially ultrasound detection lesion field, it is with a wide range of applications.
Description
Technical field
The present invention relates to ultrasonic focus field of locating technology, specifically, being a kind of medical real-time three-dimensional location tracking system
System and method.
Background technique
Ultrasonic tomography is the important means of medical diagnosis, has the characteristics of multiple sections scanning, image real-time dynamic, is disease
Disease diagnosis, curative effect evaluation and prognosis follow-up important tool.Ultrasound, which diagnoses the illness, to be needed to be integrated by multiple sections, multi-angle
Assessment；Ultrasound intervention is postoperative, and the ultrasonogram of lesion can change, and is often difficult to find original lesion again；Merge shadow
As that can realize that lesion is accurately positioned by the fusion of ultrasound and the images such as CT or MRI, but its blending image by respiration interference compared with
Greatly；The rise of accurate medicine can achieve targeted therapy, but with the proviso that be accurately positioned.Currently, there is no ultrasonic real-time three-dimensional fixed
Position tracing system.
Chinese patent literature CN201510416445.2, applying date 2015.07.16, patent name are as follows: a kind of infrared guidance
The venipuncture system of localization by ultrasonic discloses a kind of shallow venipuncture auxiliary system of infrared guidance localization by ultrasonic, feature
It is, the lancing system includes infrared guidance unit and localization by ultrasonic unit, and the infrared guidance unit includes infrared light supply,
Signal acquisition unit, infrared image processing unit, image projection unit, infrared image display unit, the localization by ultrasonic unit
Including high frequency ultrasound probe, ultrasound image processing unit, ultrasound image display unit, and the puncture being fixed on ultrasonic probe
Needle connection frame.The system can not only carry out locating and displaying to superficial vein blood vessel by infrared imaging, moreover it is possible in drawing for infrared image
It leads down, the depth of vein blood vessel is identified by ultrasound unit, thus realize the real-time observation to needle angle and puncture needle depth,
Venipuncture difficulty is reduced, improves and punctures precision.
Chinese patent literature CN201310068464.1, applying date 2013.03.04, patent name are as follows: a kind of three-D ultrasonic
Positioning and operation guiding system and its image processing method disclose a kind of positioning of three-D ultrasonic and operation guiding system.This is
System includes ultrasonic probe, is provided with infrared probe on ultrasonic probe, the infrared probe install 3 it is not conllinear red
Outer bead further includes infrared positioning apparatus, and infrared probe is positioned for measuring the position of infrared bead, and the ultrasonic wave is visited
Head, infrared probe and infrared positioning apparatus are connect with computer.The invention also discloses three-D ultrasonic positioning and operations
The image processing method of navigation system, by the building and update of data, elastic registrating, virtual reality is realized and is virtually shown
The three-dimensional scenics such as mammary gland, tumor of breast, puncture needle, operation pathway.Three-D ultrasonic positioning of the invention and operation guiding system, lead to
Data processing is carried out after crossing ultrasonic wave and infrared probe acquisition data, mammary gland is carried out using ultrasonic wave and infrared positioning accurate
Three-dimensional localization can also navigate for making a definite diagnosis mammary gland disease for breast puncture and operation.
However, technical solution disclosed in above-mentioned two patent documents is all made of infrared image and is positioned, belong to image skill
Art has interference using the positioning method in ultrasonic medical diagnosis on disease, and positioning is inaccurate.
In conclusion needing a kind of automatic positioning and lesion of navigating, and the medical real-time three-dimensional location tracking of accurate positioning
System and method.And it yet there are no report about this medical real-time three-dimensional location tracking system and method.
Summary of the invention
The purpose of the present invention is aiming at the shortcomings in the prior art, provide medical real-time three-dimensional location tracking system.
Another purpose of the invention is to provide a kind of medical real-time three-dimensional location tracking method.
To achieve the above object, the technical solution adopted by the present invention is that:
A kind of medical real-time three-dimensional location tracking system, the three-dimensional positioning tracking system include ultrasonic probe positioning system
System, space positioning system, baseline system, real-time three-dimensional display system and field system: the matching of ultrasonic probe positioning system is placed in
On ultrasonic probe；Space positioning system is placed in patient's check point front and back, upper and lower and left and right；Baseline system is placed in patient's inspection portion
In the attachment magnetic field of position；Real-time three-dimensional display system is built in ultrasonic examination system, and is presented in the appointed part of display；Magnetic field
System is placed under patient's check point bed or closes on position, and patient's check point is made to form stabilizing magnetic field；When probe is in inspection portion
When the scanning of position, can pop one's head in spatial position and probe direction to real-time three-dimensional display system real-time Transmission；
Ultrasound positioning system includes sensor module and wireless emitting-receiving system；Wireless emitting-receiving system can be to space
Oriented Systems Transport probe spatial position and probe are directed toward；
Space positioning system: it is made of 8 induction receiving elements, exchanges information with ultrasonic probe positioning system, pass through sense
Answer, receive and positioning datum system carry out spatial positioning accuracy correction.Last concentration of transmissions to real-time three-dimensional display system carries out
Display；
Baseline system is by 2 or 3 wireless transmission inductors, and distance is set in advance solid between each wireless transmission inductor
It is fixed, and information is interacted with space positioning system, space positioning system passes through each inter-element spacing between induction baseline system
It is corrected with actual set distance；
Real-time three-dimensional display system: for processing data information unit, it is responsible for analysis and receives ultrasonic probe positioning system, space
The various information of positioning system and baseline system passback are rebuild three-dimensional data display system, are presented on super after analysis information
On audio clinic instrument display.
Further, the sensor module is to be integrated in one with 3 axis accelerometers, magnetometer and stabilizer unit
Three-in-one sensor module in encapsulation.
Further, the field system includes permanent magnetic field or electromagnetic field.
To realize above-mentioned second purpose, the technical solution adopted by the present invention is that:
A kind of medical real-time three-dimensional location tracking method, the described method comprises the following steps, Step 1: ultrasonic probe positions
System is the patient body-surface scanning the step of；Step 2: obtaining ultrasonic probe in three-dimensional space system by space positioning system
Accurate three-dimensional coordinate the step of；Step 3: spatial position, side of the space positioning system according to ultrasonic probe Oriented Systems Transport
The rotation angle of position and three-dimensional, which determines, pops one's head in the scanning section of three-dimensional space the step of or space positioning system root
The position of virtual probe is formed in three-dimensional space according to the spatial position, orientation and rotation angle information of ultrasonic probe Oriented Systems Transport
Set with scanning section direction, and the center of virtual probe formed a virtual guide line the step of；Step 4: ultrasonic examination system
Depth and size of tumor of the system by measurement lesions position apart from probe, and determine lesion in three-dimensional space by space positioning system
Between accurate location, while spatial position precision correction is realized with baseline system interactive information, and in real-time three-dimensional display system
The step of interior virtual tag and display disease.
The invention has the advantages that:
1, a kind of medical real-time three-dimensional location tracking system of the invention and method respectively visit the ultrasound of detection lesion
Head carries out space environment locating for positioning and lesion and is positioned, so that lesion localization is accurate, avoids in traditional technology and leads to
Ultrasound image positioning bring interference is crossed, improves the working efficiency of doctor, while also mitigating the burden at heart of patient, it can
It is dedicated with clinical, especially ultrasound detection lesion field, be with a wide range of applications；
2, it is equipped with baseline system, is mainly used for the space positioning system described in patient and corrects, it can be further accurate
Lesion is accurately positioned in space positioning system；
3, sensor module includes 3 axis accelerometers, magnetometer and gyroscope, can three-dimensional space to ultrasonic probe into
Row positioning, medical worker are positioned by space three-dimensional, convenient to carry out corresponding operation to ultrasonic probe；
4, space positioning system is according to the rotation of the spatial position of ultrasonic probe Oriented Systems Transport, orientation and three-dimensional
Gyration determines the depth that probe passes through measurement lesions position distance probe in the scanning section of three-dimensional space, ultrasonic examination system
And size of tumor, realization ultrasonic contrast image are merged with conventional ultrasound images, reach accurate positioning navigation；
5, space positioning system can also be according to the spatial position of ultrasonic probe Oriented Systems Transport, orientation and rotation angle etc.
Information forms the position and scanning section direction of virtual probe in three-dimensional space, and forms one virtually in the center of virtual probe
Guide line is shown in real-time three-dimensional display system, for guiding ultrasonic probe to be directed toward, convenient for rapid in different parts difference section
Lesion is found in navigation, and guiding in real time positioning system can realize visualization guidance, convenient for being quickly found out lesion and comparison lesion.
Detailed description of the invention
Attached drawing 1 is a kind of medical real-time three-dimensional location tracking system structural schematic diagram of the invention.
Attached drawing 2 is ultrasonic probe positioning system, baseline system and space positioning system connection relationship diagram.
Attached drawing 3 is a kind of medical real-time three-dimensional location tracking system use state diagram of the invention.
Attached drawing 4 is another ultrasonic probe positioning system, baseline system and space positioning system connection relationship diagram.
Specific embodiment
It elaborates with reference to the accompanying drawing to specific embodiment provided by the invention.
Appended drawing reference involved in attached drawing and component part are as follows:
1. 2. space positioning system of ultrasonic probe positioning system
3. 4. real-time three-dimensional display system of baseline system
5. 6. lesion of field system
7. virtual 8. virtual probe of guide line
Fig. 1 is please referred to, Fig. 1 is a kind of medical real-time three-dimensional location tracking system structural schematic diagram of the invention.A kind of doctor
With real-time three-dimensional location tracking system, the three-dimensional positioning tracking system includes ultrasonic probe positioning system 1, space orientation system
System 2, baseline system 3, real-time three-dimensional display system 4 and field system 5；
The matching of ultrasonic probe positioning system 1 is placed on ultrasonic probe；Before space positioning system 2 is placed in patient's check point
Afterwards, up and down and left and right；Baseline system 3 is placed in patient's check point attachment magnetic field；Real-time three-dimensional display system 4 is built in ultrasound
Inspection system, and it is presented in the appointed part of display；Field system 5 is placed under patient's check point bed or closes on position, makes
Patient's check point forms stabilizing magnetic field；
Ultrasonic probe positioning system 1: main positioning ultrasonic probe is in spatial position and direction.By sensor module and wirelessly
Emitting-receiving system.Sensor module can be integrated in an encapsulation with elements such as 3 axis accelerometers, magnetometer and gyroscopes
Three-in-one sensor module completes this function.Meanwhile wireless emitting-receiving system can be empty to 2 transmission probe of space positioning system
Between position and probe be directed toward (direction).When popping one's head in check point scanning, can be visited to 4 real-time Transmission of real-time three-dimensional display system
Head spatial position and probe are directed toward (direction).
Space positioning system 2: it is made of 8 induction receiving elements.It can be respectively placed in patient's check point surrounding, formed empty
Between induction receive positioning system.And information is exchanged with ultrasonic probe positioning system 1.On the other hand pass through induction, reception and positioning
Baseline system 3 carries out spatial positioning accuracy correction.Last concentration of transmissions to real-time three-dimensional display system 4 is shown.
Baseline system 3: by 2 or 3 wireless transmission inductors, distance is set in advance solid between each wireless transmission inductor
It is fixed, and information is interacted with space positioning system 2.Space positioning system 2 passes through each element spacing between induction baseline system 3
From with corrected with a distance from actual set, improve 2 positioning accuracy of space positioning system.Last concentration of transmissions to real-time three-dimensional is shown
System 4 is shown and is handled.In order to make it easy to understand, the specific case of design is as follows: by two 2 nothings of baseline system 3
Between line transmitting inductor away from being set in advance as 1cm, if the induction receiving element measuring basis of application space positioning system 2
The distance between wireless generation inductor of system 3 is 0.9cm, then space system has error, can be corrected, until measurement
Distance is 1cm, improves the positioning accuracy of space positioning system 2 in this way.
Real-time three-dimensional display system 4: for processing data information unit, it is responsible for analysis and receives ultrasonic probe positioning system 1, sky
Between the various information that return of positioning system 2 and baseline system 3.After analysis information, three-dimensional data display system is rebuild, is presented
On diasonograph display.
Field system 5: it can be realized by elements such as permanent magnetic field or electromagnetic fields.Can be placed under patient's check point bed or surrounding,
So that patient's check point is formed stable magnetic field, provides good magnetic orientation field basis for ultrasonic probe positioning system 1.
Referring to figure 2., Fig. 2 is that ultrasonic probe positioning system 1, baseline system 3 and 2 connection relationship of space positioning system are shown
It is intended to.The induction receiving element of space positioning system 2 can be respectively placed in patient's check point surrounding, form spatial impression and should receive and determine
Position system.For ultrasonic probe positioning system 1 in patient body-surface scanning, space positioning system 2 can get the above-mentioned three-dimensional of ultrasonic probe
Accurate three-dimensional coordinate in space system.The space bit that space positioning system 2 is transmitted according to ultrasonic probe positioning system 1 simultaneously
It sets, the determining probe of the rotation angle in orientation and three-dimensional is in the scanning section of three-dimensional space.Ultrasonic examination system passes through survey
The depth and 6 size of lesion (see Fig. 3) of 6 position of lesion distance probe are measured, and determines lesion 6 three by space positioning system 2
The accurate location of dimension space, while spatial position precision correction is realized with 3 interactive information of baseline system.And it is shown in real-time three-dimensional
Virtual tag and display lesion 6 in system 4.
Referring to figure 4., Fig. 4 is that another ultrasonic probe positioning system 1, baseline system 3 and space positioning system 2 connect
Relation schematic diagram.Spatial position, orientation and the rotation angle that space positioning system 2 can also be transmitted according to ultrasonic probe positioning system 1
The information such as degree form the position and scanning section direction of virtual probe 8 in three-dimensional space, and form one in the center of virtual probe 8
A virtual guide line 7 is shown in real-time three-dimensional display system 4, for guiding ultrasonic probe to be directed toward, convenient in different parts difference
It navigates rapidly and finds lesion 6 in section.
A kind of medical real-time three-dimensional location tracking method, the described method comprises the following steps, Step 1: ultrasonic probe is fixed
Position system 1 is the patient body-surface scanning the step of；Step 2: obtaining ultrasonic probe in three-dimensional space system by space positioning system 2
The step of accurate three-dimensional coordinate in system；Step 3: the space that space positioning system 2 is transmitted according to ultrasonic probe positioning system 1
The rotation angle of position, orientation and three-dimensional determines probe the scanning section of three-dimensional space the step of or space orientation
The information such as spatial position, orientation and rotation angle that system 2 is transmitted according to ultrasonic probe positioning system 1 form void in three-dimensional space
The position and scanning section direction of quasi- probe 8, and the step of the center of virtual probe 8 forms virtual guide line 7；Step
Four, 6 size of depth and lesion that ultrasonic examination system is popped one's head in by measurement 6 position of lesion distance, and pass through space positioning system 2
Determine that lesion 6 realizes spatial position precision correction in the accurate location of three-dimensional space, while with 3 interactive information of baseline system, and
The step of virtual tag and display disease in real-time three-dimensional display system 4.
A kind of medical real-time three-dimensional location tracking system of the invention and method, respectively to the ultrasound spy of detection lesion 6
Head carries out space environment locating for positioning and lesion 6 and is positioned, so that 6 registration of lesion, avoids in traditional technology
Bring interference is positioned by ultrasound image, improves the working efficiency of doctor, while also mitigating the burden at heart of patient, energy
It is enough dedicated with clinical, especially 6 field of ultrasound detection lesion, it is with a wide range of applications；It is main to use equipped with baseline system 3
It is corrected in the space positioning system 2 described in patient, it can be further accurately accurate in space positioning system 2 to lesion 6
Positioning；Sensor module includes 3 axis accelerometers, magnetometer and gyroscope, can be determined the three-dimensional space of ultrasonic probe
Position, medical worker are positioned by space three-dimensional, convenient to carry out corresponding operation to ultrasonic probe；Space positioning system 2 is according to super
The rotation angle of spatial position, orientation and three-dimensional that sonic probe positioning system 1 is transmitted determines probe in three-dimensional space
Scanning section, ultrasonic examination system realize ultrasonic contrast by 6 size of depth and lesion of measurement 6 position of lesion distance probe
Image is merged with conventional ultrasound images, reaches accurate positioning navigation；Space positioning system 2 can also be positioned according to ultrasonic probe
The information such as spatial position, orientation and the rotation angle of 1 transmission of system form the position and scanning section of virtual probe 8 in three-dimensional space
Direction, and a virtual guide line 7 is formed in the center of virtual probe 8, it is shown in real-time three-dimensional display system 4, for guiding
Ultrasonic probe is directed toward, and finds lesion 6 convenient for navigating rapidly in different parts difference section, guiding in real time positioning system can be realized can
It is guided depending on changing, convenient for being quickly found out lesion 6 and comparison lesion 6.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, under the premise of not departing from the method for the present invention, can also make several improvement and supplement, these are improved and supplement also should be regarded as
Protection scope of the present invention.
Claims (3)
1. a kind of medical real-time three-dimensional location tracking system, which is characterized in that the three-dimensional positioning tracking system includes ultrasound
Probe positioning system, space positioning system, baseline system, real-time three-dimensional display system and field system: ultrasonic probe positioning system
System matching is placed on ultrasonic probe；Space positioning system is placed in patient's check point front and back, upper and lower and left and right；Baseline system is placed in
Patient's check point is nearby in magnetic field；Real-time three-dimensional display system is built in ultrasonic examination system, and is presented in the finger of display
Determine position；Field system is placed under patient's check point bed, and patient's check point is made to form stabilizing magnetic field；When probe is in inspection portion
When the scanning of position, can pop one's head in spatial position and probe direction to real-time three-dimensional display system real-time Transmission；
Ultrasonic probe positioning system includes sensor module and wireless emitting-receiving system；Wireless emitting-receiving system can be to space
Oriented Systems Transport probe spatial position and probe are directed toward；
Space positioning system: it is made of 8 induction receiving elements, information is exchanged with ultrasonic probe positioning system, by incuding, connecing
It receives and positioning datum system carries out spatial positioning accuracy correction, last concentration of transmissions to real-time three-dimensional display system is shown；
Baseline system is by 2 or 3 wireless transmission sensor groups at distance is set in advance solid between each wireless transmission inductor
It is fixed, and information is interacted with space positioning system, space positioning system passes through each inter-element spacing between induction baseline system
It is corrected with actual set distance；
Real-time three-dimensional display system: for processing data information unit, it is responsible for analysis and receives ultrasonic probe positioning system, space orientation
The various information of system and baseline system passback rebuild three-dimensional data display system, are presented on ultrasonic inspection after analysis information
It looks on system display.
2. system according to claim 1, which is characterized in that the sensor module is former with magnetometer, gyroscope
Part and 3 axis accelerometers are integrated in the three-in-one sensor module in an encapsulation.
3. system according to claim 1, the field system includes permanent magnetic field or electromagnetic field.
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| CN107802346A (en) * | 2017-10-11 | 2018-03-16 | 成都漫程科技有限公司 | A kind of ultrasound fusion navigation system and method based on inertial guidance |
| CN110575196B (en) * | 2018-06-11 | 2023-04-25 | 上海联影医疗科技股份有限公司 | Ultrasonic probe and puncture operation system |
| CN109770947B (en) * | 2019-01-24 | 2020-04-10 | 刘方民 | Intelligent detection equipment for coronary heart disease and application method thereof |
| CN110123379A (en) * | 2019-06-03 | 2019-08-16 | 尚勇 | A kind of clinic ultrasonic wave detecting system |
| CN110478041A (en) * | 2019-08-29 | 2019-11-22 | 刘星宝 | A kind of compound medicinal operation trajectory track system |
| CN112823765A (en) * | 2019-11-21 | 2021-05-21 | 上海市第六人民医院 | Ultrasonic visual nano magnetic regulation and control device |
| CN110960262B (en) * | 2019-12-31 | 2022-06-24 | 上海杏脉信息科技有限公司 | Ultrasonic scanning system, method and medium |
| CN113876356A (en) * | 2021-10-15 | 2022-01-04 | 无锡触典科技有限公司 | Projection method for medical imaging, ultrasonic equipment system and storage medium |
| CN114176630A (en) * | 2021-11-18 | 2022-03-15 | 华东师范大学 | Free arm ultrasonic pneumothorax quantitative evaluation system and method |
| CN114145770B (en) * | 2021-12-06 | 2024-04-12 | 武汉联影医疗科技有限公司 | Wireless ultrasonic probe and positioning method and system thereof |
| CN115998328A (en) * | 2022-11-11 | 2023-04-25 | 南京晓庄学院 | Three-dimensional B-type ultrasonic imaging method and device |
| CN116671974B (en) * | 2023-06-06 | 2024-02-06 | 河北大学 | Magnetic positioning system for ultrasonic inspection |
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| CN102293664A (en) * | 2011-05-30 | 2011-12-28 | 华南理工大学 | Medical ultrasonic three-dimensional imaging data collection device and method |
| CN102499762B (en) * | 2011-11-23 | 2014-06-04 | 东南大学 | Three-dimensional spatial positioning system for medical ultrasonic probe relative to part to be checked and method |
| CN102860825B (en) * | 2012-10-16 | 2014-03-26 | 中国科学院电工研究所 | System and method of magnetosonic impedance imaging based on lorentz force mechanic effect |
| EP4386777A3 (en) * | 2013-12-17 | 2024-08-07 | Ontario Power Generation Inc. | Improved ultrasound inspection |
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