CN106725853A - Navigation path planning device - Google Patents
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- CN106725853A CN106725853A CN201710022277.8A CN201710022277A CN106725853A CN 106725853 A CN106725853 A CN 106725853A CN 201710022277 A CN201710022277 A CN 201710022277A CN 106725853 A CN106725853 A CN 106725853A
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- 210000004072 lung Anatomy 0.000 claims abstract description 26
- 230000008676 import Effects 0.000 claims abstract description 16
- 238000000547 structure data Methods 0.000 claims abstract description 8
- 239000003814 drug Substances 0.000 claims abstract description 7
- 210000000621 bronchi Anatomy 0.000 claims description 72
- 235000004338 Syringa vulgaris Nutrition 0.000 claims 1
- 244000297179 Syringa vulgaris Species 0.000 claims 1
- 229940079593 drug Drugs 0.000 claims 1
- 230000003902 lesion Effects 0.000 abstract description 15
- 238000000034 method Methods 0.000 description 21
- 238000005516 engineering process Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 210000003437 trachea Anatomy 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000002591 computed tomography Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computed tomography [CT]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/12—Arrangements for detecting or locating foreign bodies
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Abstract
This application discloses a kind of navigation path planning device, it is suitable to navigate medicine equipment on the basis of the CT images and bronchial tree 3-dimensional image of lung areas.Navigation path planning device includes image import modul, 3D image reconstruction module and path planning module.The raw image data of CT images is received by image import modul, and produces corresponding three-dimensional CT image information.3D image reconstruction module receives three-dimensional CT image information, and the three-dimensional structure data of lung areas and the structured data of bronchial tree 3-dimensional image are then gone out according to three-dimensional CT image information reconstruction.Path planning module is to draw out guidance path from lesion locations towards main tracheae direction according to the structured data of three-dimensional CT image information and bronchial tree 3-dimensional image, so as to ensure that the uniqueness of guidance path, and improves the identity of guidance path.
Description
Technical field
The application is related to technical field of medical instruments, and in particular to a kind of navigation path planning device.
Background technology
The insertion type medical technology through lung's nature air flue of electromagnetic navigation technology is currently based on, the lung of patient is first directed to
Portion's computer tomography (computed tomography, CT) image data, then delimit lesion region, and reconstruct master
The threedimensional model of trachea and bronchus.Afterwards, according to the threedimensional model of main trachea and bronchus, from main tracheae towards bronchial
Direction calculating reaches the path of lesion locations through bronchuses at different levels.The stage in art, first by the guide with electromagnetic sensor
In conduit insertion bronchoscope, reach several key positions of navigation software requirement using bronchoscope and mark；According to these
Mark position calculates main trachea and bronchus tree threedimensional model and the position of the lung in actual electromagnetic navigation space of reconstruction
Corresponding relation, i.e. path planning is registering with physical location；Finally, further according to before from main tracheae towards bronchus direction set up
Guidance path guiding electromagnetic sensor through bronchuses at different levels close to and reach lesion locations.
However, there is following defect in the prior art：First, the three of the main trachea and bronchus rebuild by CT image datas
Dimension module is not accurate enough, if wherein accurate in order to ensure, subordinate's bronchial tree structure cannot be reconstructed, if conversely, under improving
The series of level bronchial tree structure, then cannot ensure the accuracy of threedimensional model for reconstructing.Secondly, by above-mentioned from main tracheae
Towards the route programming result that bronchus mode is obtained, if lesion locations are in deep place, lack subordinate's bronchus letter
Breath, it is impossible to accurate to set up through the guidance path of natural air flue, can only be continuously attempted to close to lesion locations by location information.Again
Person, registration Algorithm may have error, more more obvious into deep lung error, and guidance path may be caused to be offset to nature air flue
In outer lung tissue, and being shown in navigation software up to after lesion locations cannot still ensure electromagnetic sensor in lung
Really lesion locations are reached, it is necessary to confirmed with other means, for example, reached by imaging techniques such as X-ray image or CT
Into the operational inconvenience of increasing and increase X-ray are to doctor and the radiation damage of patient body on foot.
The content of the invention
Technical problems to be solved in this application are to provide a kind of navigation path planning apparatus and method, so as to solve
None- identified subordinate bronchus and problem of guidance path etc. is set up during preoperative navigation path planning.
In order to solve the above problems, this application discloses a kind of navigation path planning device, it is suitable to the CT in lung areas
The planning of guidance path is carried out on the basis of image and bronchial tree 3-dimensional image to medicine equipment.Navigation path planning device bag
Include image import modul, 3D image reconstruction module and path planning module.Image import modul is used to receive CT images
Raw image data, and three-dimensional CT image information is produced according to raw image data.3D image reconstruction module couples are in shadow
As import modul.3D image reconstruction module includes three-dimensional reconstruction unit and bronchus identification cutting unit, wherein Three-dimensional Gravity
Build unit to be used to receive three-dimensional CT image information, and go out the three-dimensional structure number of lung areas according to three-dimensional CT image information reconstruction
According to；Bronchus identification cutting unit is used to receive the three-dimensional CT image information of lung areas and the three-dimensional structure of the lung areas
Data and the bronchus in the three-dimensional structure data of the three-dimensional CT image information of lung areas identification lung areas
Tree construction, and dividing processing is carried out, and the structured data of bronchial tree 3-dimensional image is obtained, and bronchial tree 3-dimensional image
Structured data includes image coordinate information.Path planning module is respectively coupled to image import modul and 3D image reconstruction mould
Block.Path planning module is used to receive three-dimensional CT image information and bronchial tree 3-dimensional image, and according to three-dimensional CT image
The structured data of information and bronchial tree 3-dimensional image draws navigation road on CT images and/or bronchial tree 3-dimensional image respectively
Footpath.
Further, in above-mentioned navigation path planning device, bronchial tree structure includes main tracheae and multistage branch gas
Pipe, guidance path is drawn along main tracheae and multistage bronchus, and on CT images mark have, target location,
First higher level's knuckle mark, first subordinate's knuckle are marked, second higher level's knuckle mark, second subordinate's knuckle are marked and main knuckle mark
Note, wherein calibration position are located on the one of bronchus in multistage bronchus；Target location is overlapped with calibration position；
First higher level's knuckle mark is located at this bronchial higher level's crotch；First subordinate's knuckle mark is located at first higher level's knuckle mark
It is designated as another bronchial subordinate's crotch of higher level's bifurcation；Second higher level's knuckle mark is located at and is marked with first higher level's knuckle
It is the bronchial higher level's crotch of the upper level of subordinate's bifurcation；Second subordinate's knuckle mark is located at and is marked with second higher level's knuckle
It is another bronchial subordinate's crotch of higher level's bifurcation；Main knuckle mark is located at main tracheae and multistage bronchial bifurcated
Place.Also, target location, first higher level's knuckle are marked, first subordinate's knuckle is marked, second higher level's knuckle is marked, the second subordinate
Knuckle is marked and main knuckle mark is connected with each other, and constitutes guidance path.
Further, in above-mentioned navigation path planning device, bronchial tree structure includes main tracheae and multistage branch gas
Pipe, guidance path is drawn along main tracheae and multistage bronchus, and on CT images mark have, target location,
First higher level's knuckle mark, first subordinate's knuckle are marked, second higher level's knuckle mark, second subordinate's knuckle are marked and main knuckle mark
Between two adjacent in multistage bronchus bronchuses of note, wherein calibration position；Target location is located at two adjacent branch
The bronchial subordinate crotch nearest apart from calibration position in tracheae；First higher level's knuckle mark is located under being with target location
Bronchial higher level's crotch of level bifurcation；First subordinate's knuckle mark is located at and is labeled as higher level's bifurcated with first higher level's knuckle
Another bronchial subordinate's crotch of point；Second higher level's knuckle mark is located at and is labeled as subordinate's bifurcation with first higher level's knuckle
The bronchial higher level's crotch of upper level；Second subordinate's knuckle mark is located at and is labeled as higher level's bifurcation with second higher level's knuckle
Another bronchial subordinate's crotch；Main knuckle mark is located at main tracheae and multistage bronchial crotch.Also, target position
Put, first higher level's knuckle mark, first subordinate's knuckle are marked, second higher level's knuckle mark, second subordinate's knuckle mark and master are grand
Prominent mark is connected with each other, and constitutes guidance path.
The application simultaneously discloses a kind of navigation path planning method, is suitable to CT images and bronchial tree three in lung areas
To medicine equipment navigation path planning device on the basis of dimension image.Navigation path planning method includes：Obtain CT images；In CT
Lesion locations are labeled as calibration position on image；Near the branch gas of calibration position in the multistage bronchus of searching on CT images
Pipe, and target location will be labeled as at the position of correspondence calibration position on bronchus；Bronchus is located at the upper of target location
Level crotch is marked labeled as first higher level's knuckle；In another bronchus using first higher level's knuckle mark as higher level's bifurcation
On, by its subordinate's crotch labeled as first subordinate's knuckle mark；With the first higher level in the multistage bronchus of searching on CT images
Knuckle is marked as the upper level bronchus of subordinate's bifurcation, level crotch will be marked labeled as second higher level's knuckle thereon；
It is on using second higher level's knuckle mark as another bronchus of higher level's bifurcation, its subordinate's crotch is grand labeled as the second subordinate
Prominent mark；Repeating label higher level knuckle mark with subordinate's knuckle mark the step of, until higher level's knuckle mark be located at main tracheae with
The knuckle position of multistage bronchus crotch, and marked as main knuckle using the higher level's knuckle mark positioned at this knuckle position；
And it is grand in target location, first higher level's knuckle mark, the first subordinate knuckle mark, second higher level's knuckle mark, the second subordinate
Connecting line is drawn according to relative position between prominent mark and main knuckle mark, and constitutes guidance path.
Further, in above-mentioned navigation path planning method, find on the CT images in multistage bronchus near
The bronchus of calibration position, and by the operation at the position of correspondence calibration position on bronchus labeled as target location：If
Calibration position is located on bronchus, and target location is overlapped with calibration position；And if calibration position is located at multistage bronchus
In between adjacent two bronchuses, target location is located at the nearest bronchus in two adjacent bronchus mid-range objectives positions
Subordinate's crotch.
Compared with prior art, the application can be obtained including following technique effect：
The navigation path planning apparatus and method of the application, by guidance path since lesion locations, towards main tracheae
The mode that is sequentially marked of direction, it is ensured that the uniqueness of guidance path, and improve the identity of guidance path so that
None- identified subordinate bronchus and guidance path is set up when solving the problems, such as preoperative navigation path planning.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding of the present application, constitutes the part of the application, this Shen
Schematic description and description please does not constitute the improper restriction to the application for explaining the application.In the accompanying drawings：
Fig. 1 is the block schematic diagram of the navigation path planning device of the embodiment of the present application；
Fig. 2 is the navigation path planning method flow chart of the embodiment of the present application；
Fig. 3 and Fig. 4 are respectively the bronchial tree 3-dimensional images in the navigation path planning method of correspondence the embodiment of the present application
Schematic diagram；
Fig. 5 and Fig. 6 are respectively the CT image schematic diagrames in the navigation path planning method of correspondence the embodiment of the present application.
Specific embodiment
Describe presently filed embodiment in detail below in conjunction with drawings and Examples, thereby how the application is applied
Technological means can fully understand and implement according to this to solve technical problem and reach the implementation process of technology effect.
Some vocabulary have such as been used to censure specific components in the middle of specification and claim.Those skilled in the art should
It is understood that hardware manufacturer may call same component with different nouns.This specification and claims are not with name
The difference of title is used as distinguishing the mode of component, but the difference with component functionally is used as the criterion distinguished.Such as logical
The "comprising" of piece specification and claim mentioned in is an open language, therefore should be construed to " include but do not limit
In "." substantially " refer to that in receivable error range, those skilled in the art can solve described in the range of certain error
Technical problem, basically reaches the technique effect.Additionally, " coupling " or " electric connection " one word herein comprising it is any directly and
The electric property coupling means for connecing.Therefore, if a first device is coupled to a second device described in text, the first device is represented
The second device can be directly electrically coupled to, or described second is electrically coupled to indirectly by other devices or coupling means
Device.Specification subsequent descriptions are to implement the better embodiment of the application, and so the description is to illustrate that the application's is general
For the purpose of principle, scope of the present application is not limited to.The protection domain of the application is when depending on the appended claims person of defining
It is defined.
Also, it should be noted that term " including ", "comprising" or its any other variant be intended to nonexcludability
Comprising so that process, method, commodity or system including a series of key elements not only include those key elements, but also wrapping
Include other key elements being not expressly set out, or also include for this process, method, commodity or system is intrinsic wants
Element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that wanted including described
Also there is other identical element in process, method, commodity or the system of element.
Embodiment is described
The navigation path planning apparatus and method of the application are suitable to CT images and bronchial tree the three-dimensional shadow in lung areas
As on the basis of, the planning of guidance path is carried out to medicine equipment.
As shown in figure 1, navigation path planning device 10 disclosed by the embodiment of the present application include image import modul 110,
3D image reconstruction module 120 and path planning module 130.Image import modul 110 is coupled to 3D image reconstruction module
120, it is used to receive multiple CT images, and multiple CT image informations are produced according to multiple CT images.3D image reconstruction module
120 include three-dimensional reconstruction unit 121 and bronchus identification cutting unit 122, and wherein three-dimensional reconstruction unit 121 is used to from image
Import modul 110 receives multiple CT image informations, and goes out bronchial tree 3-dimensional image according to multiple CT Reconstruction for the image information.Branch
Tracheae identification cutting unit 122 is used to receive multiple CT image informations and identification multiple CT images from image import modul 110
Bronchial tree structure in information, and dividing processing is carried out, so that the three-dimensional structure data of bronchial tree structure is obtained, and three
Dimension structured data includes the image coordinate information of bronchial tree 3-dimensional image.
Path planning module 130 is respectively coupled to image import modul 110 and 3D image reconstruction module 120.Advise in path
Module 130 is drawn to be used to receive CT image informations and bronchial tree 3-dimensional image, and according to CT image informations and bronchus
Tree 3-dimensional image draws guidance path on CT images, and wherein guidance path is propped up along the main tracheae and multiple of bronchial tree structure
Tracheae is drawn, and target location, first higher level's knuckle mark, the first subordinate knuckle mark, the are labeled with guidance path
Two higher level's knuckles mark, second subordinate's knuckle mark and main knuckle mark, guidance path is exactly to be connected by these positions and mark
Form.
Below by way of certain methods embodiment to the 10 pairs of medical treatment of navigation path planning device disclosed by the embodiment of the present application
The mode that apparatus carries out navigation path planning is described further.
As shown in Fig. 2 the navigation path planning method disclosed by the embodiment of the present application includes：
Step S101, obtains CT images；
Lesion locations are labeled as calibration position by step S102 on CT images；
Step S103, finds the bronchus near calibration position in multistage bronchus on the CT images, and by branch gas
On pipe target location is labeled as at the position of correspondence calibration position；
Step S104, higher level's crotch that bronchus is located at target location is marked labeled as first higher level's knuckle；
Step S105, on using first higher level's knuckle mark as another bronchus of higher level's bifurcation, by its lower fraction
Labeled as first subordinate's knuckle mark at fork；
Step S106, is marked as subordinate's bifurcation in the multistage bronchus of searching on CT images using first higher level's knuckle
Upper level bronchus, level crotch will mark labeled as second higher level's knuckle thereon；
Step S107, on using second higher level's knuckle mark as another bronchus of higher level's bifurcation, by its lower fraction
Labeled as second subordinate's knuckle mark at fork；
Step S108, repeating label higher level knuckle marks the step of being marked with subordinate's knuckle, until higher level's knuckle marker bit
In main tracheae and the knuckle position of multistage bronchus crotch, and marked as master using the higher level's knuckle positioned at this knuckle position
Knuckle is marked；And
Step S109, in target location, first higher level's knuckle mark, the first subordinate knuckle mark, second higher level's knuckle mark
Connecting line is drawn according to relative position between note, second subordinate's knuckle mark and main knuckle mark, and constitutes guidance path.
Fig. 1 to Fig. 6 is refer to, in the second method embodiment disclosed by the application, first, by image import modul
110 receptions CT images (S101), and the raw image data of CT images is obtained from CT images, then according to the original of CT images
Beginning view data produces corresponding three-dimensional CT image information.In this step, can also be by 3D image reconstruction module 120
Three-dimensional reconstruction unit 121 receives the incoming three-dimensional CT image information of image import modul 110, and according to three-dimensional CT image information
Reconstruct the three-dimensional structure data of lung areas.Meanwhile, in this step, bronchus identification cutting unit 122 receives three dimensional CT
The three-dimensional structure data of image information and lung areas, and lung is recognized according to the three-dimensional CT image information of the lung areas
Bronchial tree structure in the three-dimensional structure data in region, then carries out dividing processing, so as to obtain bronchial tree 3-dimensional image
Structured data, the image coordinate information of such as bronchial tree 3-dimensional image.
Then, lesion locations are labeled as demarcation by lesion locations labeled as calibration position on CT images on CT images
Position T0 (S102).Then, near the bronchus of calibration position in the multistage bronchus of searching on CT images, and this is propped up
On tracheae target location B0 (S103) is labeled as at the position of correspondence calibration position.Wherein, if calibration position T0 is located at this branch gas
Guan Shang, target location B0 and calibration position T0 overlapped (as shown in Figure 3 and Figure 5)；And if calibration position T0 is located at multistage
Between two bronchuses adjacent in bronchus, then target location B0 be indicated in two adjacent bronchuses near
Bronchial subordinate's crotch (as shown in Figure 4 and Figure 6) of calibration position.
Afterwards, higher level's crotch that bronchus is located at target location B0 marks C1 labeled as first higher level's knuckle
(S104).Then, on using first higher level's knuckle mark C1 as another bronchus of higher level's bifurcation, by its subordinate's crotch
B1 (S105) is marked labeled as first subordinate's knuckle.Afterwards, with first higher level's knuckle in the multistage bronchus of searching on CT images
Mark C1 will mark C2 by level crotch labeled as second higher level's knuckle thereon as the upper level bronchus of subordinate's bifurcation
(S106)；And on using second higher level's knuckle mark C2 as another bronchus of higher level's bifurcation, by its subordinate's crotch
B2 (S107) is marked labeled as second subordinate's knuckle.
Then, by that analogy, correspondence markings higher level's knuckle mark on the main tracheae and multistage bronchus on CT images is repeated
The step of note is marked with subordinate's knuckle, until higher level's knuckle mark is positioned at main tracheae and the knuckle position of multistage bronchus crotch
Put, and Cn (S108) is marked as main knuckle using the higher level's knuckle mark positioned at this knuckle position.Finally, in target location
B0, first higher level's knuckle mark C1, first subordinate's knuckle mark B1, second higher level's knuckle mark C2, second subordinate's knuckle mark
Connecting line is drawn according to relative position between B2 and main knuckle mark Cn notes, and constitutes guidance path (S109).
Therefore, after guidance path is completed, mark has B0, first higher level's knuckle to mark on CT images
C1, the first subordinate knuckle mark B1, second higher level's knuckle mark C2, the second subordinate knuckle mark B2 ... and main knuckle mark
Cn。
Wherein, calibration position T0 is located on the one of bronchus in multiple bronchuses；Target location B0 is according to demarcation
The difference of position T0, and it is overlapped with calibration position T0 or in two adjacent bronchuses near calibration position
Bronchial subordinate's crotch of T0；First higher level's knuckle mark C1 is located at the bronchus with target location B0 as subordinate's bifurcation
Higher level's crotch；First subordinate knuckle mark B1 is located at first higher level's knuckle and marks C1 as another gas of higher level's bifurcation
Subordinate's crotch of pipe；Second higher level's knuckle mark C2 is located at first higher level's knuckle and marks C1 as the upper level of subordinate's bifurcation
Bronchial higher level's crotch；It is the another of higher level's bifurcation that second subordinate knuckle mark B2 is located at second higher level's knuckle mark C2
One bronchial subordinate's crotch；Main knuckle mark Cn is located at main tracheae and multiple bronchial crotches.
By this flag sequence started from lesion locations to main tracheae, it is ensured that the uniqueness of guidance path.This mistake
Journey not only path label, have also obtained the key point on guidance path, and these key points are contained to each bronchial bifurcated
The bronchial position of other bifurcateds of point is marked, so as to the navigation information comprising all crotches, for path and advance
The judgement in direction, and these data are completely corresponding to the bronchial tree 3-dimensional image that is obtained from CT Reconstruction for the image information, can be with
The direction of advance of medicine equipment is preferably guided in navigation stage, and smoothly guides medicine equipment to reach the mesh that lesion occurs
Cursor position.
Described above has shown and described some preferred embodiments of the application, but as previously described, it should be understood that the application
Be not limited to form disclosed herein, be not to be taken as the exclusion to other embodiment, and can be used for various other combinations,
Modification and environment, and can be in invention contemplated scope described herein, by above-mentioned teaching or the technology or knowledge of association area
It is modified.And the change and change that those skilled in the art are carried out do not depart from spirit and scope, then all should be in this Shen
Please be in the protection domain of appended claims.
Claims (2)
1. a kind of navigation path planning device, it is right on the basis of the CT images and bronchial tree 3-dimensional image of lung areas to be suitable to
Medicine equipment carries out the planning of guidance path, it is characterised in that the navigation path planning device includes：
Image import modul, is used to receive the raw image data of the CT images, and produce according to the raw image data
Raw three-dimensional CT image information；
3D image reconstruction module, is coupled to the image import modul, and the 3D image reconstruction module includes：
Three-dimensional reconstruction unit, is used to receive the three-dimensional CT image information, and gone out according to the three-dimensional CT image information reconstruction
The three-dimensional structure data of the lung areas；And
Bronchus recognizes cutting unit, is used to receive the three of the three-dimensional CT image information of the lung areas and the lung areas
Dimension structured data and the three-dimensional structure data according to the three-dimensional CT image information of the lung areas identification lung areas
In bronchial tree structure, and carry out dividing processing, and obtain the structured data of the bronchial tree 3-dimensional image, and described
The structured data of bronchial tree 3-dimensional image includes described image coordinate information；And
Path planning module, is respectively coupled to the image import modul and the 3D image reconstruction module, the path rule
Draw module and be used to the structured data for receiving the three-dimensional CT image information and the bronchial tree 3-dimensional image, and according to institute
The structured data of three-dimensional CT image information and the bronchial tree 3-dimensional image is stated respectively in the CT images and/or the branch gas
The guidance path is drawn on pipe tree 3-dimensional image；
Wherein, the bronchial tree structure includes main tracheae and multistage bronchus, the guidance path along the main tracheae and
The multistage bronchus is drawn, and mark has on the CT images：
Calibration position, on the one of bronchus in the multistage bronchus；
Target location, it is overlapped with the calibration position；
First higher level's knuckle is marked, positioned at bronchial higher level's crotch；
First subordinate's knuckle mark, positioned at another bronchial subordinate that higher level's bifurcation is labeled as with the first higher level knuckle
Crotch；
Second higher level's knuckle mark, positioned at the first higher level knuckle labeled as subordinate's bifurcation upper level it is bronchial on
Level crotch；
Second subordinate's knuckle mark, positioned at another bronchial subordinate that higher level's bifurcation is labeled as with the second higher level knuckle
Crotch；And
Main knuckle mark, positioned at the main tracheae and the multistage bronchial crotch；
Wherein, the target location, the first higher level knuckle mark, first subordinate knuckle mark, second higher level
Knuckle mark, second subordinate knuckle mark and the main knuckle mark are connected with each other, and constitute the guidance path.
2. navigation path planning device as claimed in claim 1, it is characterised in that the bronchial tree structure includes main tracheae
With multiple bronchuses, the guidance path draws along the main tracheae and the multiple bronchus, and in the CT images
Upper mark has：
Calibration position, in the multistage bronchus between two adjacent bronchuses；
Target location, the nearest bronchial subordinate's bifurcated of calibration position described in distance in two adjacent bronchuses
Place；
First higher level's knuckle is marked, positioned at the described bronchial higher level's crotch with the target location as subordinate's bifurcation；
First subordinate's knuckle mark, positioned at another bronchial subordinate that higher level's bifurcation is labeled as with the first higher level knuckle
Crotch；
Second higher level's knuckle mark, positioned at the first higher level knuckle labeled as subordinate's bifurcation upper level it is bronchial on
Level crotch；
Second subordinate's knuckle mark, positioned at another bronchial subordinate that higher level's bifurcation is labeled as with the second higher level knuckle
Crotch；And
Main knuckle mark, positioned at the main tracheae and the multistage bronchial crotch；
Wherein, the target location, the first higher level knuckle mark, first subordinate knuckle mark, second higher level
Knuckle mark, second subordinate knuckle mark and the main knuckle mark are connected with each other, and constitute the guidance path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710022277.8A CN106725853B (en) | 2014-11-07 | 2014-11-07 | Navigation path planning device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710022277.8A CN106725853B (en) | 2014-11-07 | 2014-11-07 | Navigation path planning device |
| CN201410643769.5A CN104323860B (en) | 2014-11-07 | 2014-11-07 | Navigation path planning device and method |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410643769.5A Division CN104323860B (en) | 2014-11-07 | 2014-11-07 | Navigation path planning device and method |
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| Publication Number | Publication Date |
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| CN106725853A true CN106725853A (en) | 2017-05-31 |
| CN106725853B CN106725853B (en) | 2019-07-02 |
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| CN201710022277.8A Active CN106725853B (en) | 2014-11-07 | 2014-11-07 | Navigation path planning device |
| CN201410643769.5A Active CN104323860B (en) | 2014-11-07 | 2014-11-07 | Navigation path planning device and method |
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| JP7258483B2 (en) * | 2018-07-05 | 2023-04-17 | キヤノンメディカルシステムズ株式会社 | Medical information processing system, medical information processing device and ultrasonic diagnostic device |
| CN112700551A (en) * | 2020-12-31 | 2021-04-23 | 青岛海信医疗设备股份有限公司 | Virtual choledochoscope interventional operation planning method, device, equipment and storage medium |
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| CN102395320A (en) * | 2010-06-02 | 2012-03-28 | 奥林巴斯医疗株式会社 | Medical apparatus and method for controlling the medical apparatus |
| US20120203065A1 (en) * | 2011-02-04 | 2012-08-09 | The Penn State Research Foundation | Global and semi-global registration for image-based bronchoscopy guidance |
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| CN104323860B (en) | 2018-08-31 |
| CN106725853B (en) | 2019-07-02 |
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