CN106725853B - Navigation path planning device - Google Patents
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- CN106725853B CN106725853B CN201710022277.8A CN201710022277A CN106725853B CN 106725853 B CN106725853 B CN 106725853B CN 201710022277 A CN201710022277 A CN 201710022277A CN 106725853 B CN106725853 B CN 106725853B
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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
- 210000000621 bronchi Anatomy 0.000 claims description 68
- 235000004338 Syringa vulgaris Nutrition 0.000 claims 1
- 244000297179 Syringa vulgaris Species 0.000 claims 1
- 230000003902 lesion Effects 0.000 abstract description 15
- 238000000034 method Methods 0.000 description 20
- 238000005516 engineering process Methods 0.000 description 4
- 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
- 238000002591 computed tomography Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
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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 devices, suitable for navigating on the basis of the CT image of lung areas and bronchial tree 3-dimensional image to medical instrument.Navigation path planning device includes image import modul, 3D image reconstruction module and path planning module.The raw image data of CT image is received by image import modul, and generates 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 draws out the 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, to ensure that the uniqueness of guidance path, and improves the identity of guidance path.
Description
Technical field
This application involves the field of medical instrument technology, and in particular to a kind of navigation path planning device.
Background technique
Currently based on the insertion type medical technology through lung's nature air flue of electromagnetic navigation technology, it is first directed to the lung of patient
Portion's computer tomography (computed tomography, CT) image data, then delimit lesion region, and reconstruct master
The threedimensional model of trachea and bronchus.Later, 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 will have the guide of electromagnetic sensor first
Conduit is inserted into bronchoscope, is reached several key positions of navigation software requirement using bronchoscope and is marked；According to these
Mark position calculates the position of the main trachea and bronchus tree threedimensional model and lung of reconstruction in actual electromagnetic navigation space
Corresponding relationship, i.e. planning path and physical location be registrated；Finally, further according to being established before from main tracheae towards bronchus direction
Guidance path guidance electromagnetic sensor it is close through bronchuses at different levels and reach lesion locations.
However, following defect exists in the prior art: firstly, three of the main trachea and bronchus by CT images data reconstruction
Dimension module is inaccurate, wherein junior's bronchial tree structure can not be reconstructed if accurate in order to guarantee, conversely, if under improving
The series of grade bronchial tree structure, then not can guarantee the accuracy of the threedimensional model reconstructed.Secondly, by above-mentioned from main tracheae
Towards bronchus mode route programming result obtained, if lesion locations lack junior's bronchus letter in deep place
Breath, can not accurately establish the guidance path through natural air flue, can only be continuously attempted to by location information close to lesion locations.Again
Person, registration Algorithm may have error, more enter deep lung error and are more obvious, may cause guidance path and be offset to nature air flue
In outer lung tissue, and electromagnetic sensor is not can guarantee still in lung after showing arrival lesion locations in navigation software
Really lesion locations are reached, it is necessary to be confirmed by other means, such as reached by imaging techniques such as X-ray image or CT
At increasing is operational inconvenient on foot and increases X-ray to the radiation damage of doctor and patient body.
Summary of the invention
Technical problems to be solved in this application are to provide a kind of navigation path planning device and method, to solve
The problem of can not identifying junior's bronchus when preoperative navigation path planning and establishing guidance path etc..
To solve the above-mentioned problems, this application discloses a kind of navigation path planning devices, suitable for 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 medical instrument.Navigation path planning device packet
Include image import modul, 3D image reconstruction module and path planning module.Image import modul is to receive CT image
Raw image data, and three-dimensional CT image information is generated according to raw image data.3D image reconstruction module couples are in shadow
As import modul.3D image reconstruction module includes that three-dimensional reconstruction unit and bronchus identify cutting unit, wherein Three-dimensional Gravity
Unit is built to receive three-dimensional CT image information, and goes out the three-dimensional structure number of lung areas according to three-dimensional CT image information reconstruction
According to；Bronchus identifies cutting unit to receive the three-dimensional CT image information of lung areas and the three-dimensional structure of the lung areas
Data and according to the three-dimensional CT image information of the lung areas identify lung areas three-dimensional structure data in bronchus
Tree construction, and it is split processing, 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 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 image and/or bronchial tree 3-dimensional image respectively
Diameter.
Further, in above-mentioned navigation path planning device, bronchial tree structure includes main tracheae and multistage branch gas
Pipe, guidance path are drawn along main tracheae and multistage bronchus, and on CT image label have position, target position,
First higher level's knuckle label, first junior's knuckle label, second higher level's knuckle label, second junior's knuckle label and main knuckle mark
Note, wherein calibration position is located on one of bronchus in multistage bronchus；Target position and calibration position are overlapped；
First higher level's knuckle label is located at this bronchial higher level's crotch；First junior's knuckle label is located at first higher level's knuckle mark
It is denoted as another bronchial junior's crotch of higher level's bifurcation；Second higher level's knuckle label is located at first higher level's knuckle label
For the bronchial higher level's crotch of upper level of junior's bifurcation；Second junior's knuckle label is located at second higher level's knuckle label
For another bronchial junior's crotch of higher level's bifurcation；Main knuckle label is located at main tracheae and multistage bronchial bifurcated
Place.Also, target position, first higher level's knuckle label, first junior's knuckle label, second higher level's knuckle label, the second junior
Knuckle label and main knuckle label are connected with each other, and constitute guidance path.
Further, in above-mentioned navigation path planning device, bronchial tree structure includes main tracheae and multistage branch gas
Pipe, guidance path are drawn along main tracheae and multistage bronchus, and on CT image label have position, target position,
First higher level's knuckle label, first junior's knuckle label, second higher level's knuckle label, second junior's knuckle label and main knuckle mark
Note, wherein calibration position is located between two bronchuses adjacent in multistage bronchus；Target position is located at two adjacent branch
The nearest bronchial junior's crotch in distance calibration position in tracheae；First higher level's knuckle label under being with target position
Bronchial higher level's crotch of grade bifurcation；First junior's knuckle label, which is located at, is labeled as higher level's bifurcated with first higher level's knuckle
Another bronchial junior's crotch of point；Second higher level's knuckle label, which is located at, is labeled as junior's bifurcation with first higher level's knuckle
The bronchial higher level's crotch of upper level；Second junior's knuckle label, which is located at, is labeled as higher level's bifurcation with second higher level's knuckle
Another bronchial junior's crotch；Main knuckle label is located at main tracheae and multistage bronchial crotch.Also, target position
It sets, first higher level's knuckle label, first junior's knuckle label, second higher level's knuckle label, second junior's knuckle mark and master is grand
Prominent label is connected with each other, and constitutes guidance path.
The application simultaneously discloses a kind of navigation path planning method, suitable for the CT image and bronchial tree three in lung areas
To medical instrument navigation path planning device on the basis of dimension image.Navigation path planning method includes: to obtain CT image；In CT
By lesion locations labeled as calibration position on image；The branch gas in multistage bronchus near calibration position is found on CT image
Pipe, and target position will be labeled as at the position of calibration corresponding on bronchus position；Bronchus is located at the upper of target position
Grade crotch is marked labeled as first higher level's knuckle；In another bronchus using first higher level's knuckle label as higher level's bifurcation
On, its junior's crotch is marked labeled as first junior's knuckle；It is found on CT image in multistage bronchus with the first higher level
Knuckle marks the upper level bronchus as junior's bifurcation, grade crotch will mark thereon labeled as second higher level's knuckle；?
It is on using second higher level's knuckle label as another bronchus of higher level's bifurcation, its junior's crotch is grand labeled as the second junior
Prominent label；Repeating label higher level's knuckle label with junior's knuckle mark the step of, until higher level's knuckle label be located at main tracheae with
The knuckle position of multistage bronchus crotch, and the label of higher level's knuckle to be located at this knuckle position is marked as main knuckle；
And it is grand in target position, first higher level's knuckle label, first junior's knuckle label, second higher level's knuckle label, the second junior
Connecting line is drawn according to relative position between prominent label and main knuckle label, and constitutes guidance path.
Further, in above-mentioned navigation path planning method, found on CT image in multistage bronchus near
The bronchus of position is demarcated, and will be labeled as in the operation of target position at the position of calibration corresponding on bronchus position: if
Calibration position is located on bronchus, and target position and calibration position are overlapped；And if calibration position is located at multistage bronchus
In between adjacent two bronchuses, target position is located at the nearest bronchus in two adjacent bronchus mid-range objectives positions
Junior's crotch.
Compared with prior art, the application can be obtained including following technical effect:
The navigation path planning device and method of the application, through guidance path since lesion locations, towards main tracheae
The mode that is sequentially marked of direction, ensure that the uniqueness of guidance path, and improve the identity of guidance path, thus
It solves the problems, such as not identifying junior's bronchus when preoperative navigation path planning and establishes guidance path.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present 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 is the bronchial tree 3-dimensional image in the navigation path planning method of corresponding the embodiment of the present application respectively
Schematic diagram；
Fig. 5 and Fig. 6 is the CT image schematic diagram in the navigation path planning method of corresponding the embodiment of the present application respectively.
Specific embodiment
Presently filed embodiment is described in detail below in conjunction with accompanying drawings and embodiments, how the application is applied whereby
Technological means solves technical problem and reaches the realization process of technical effect to fully understand and implement.
As used some vocabulary to censure specific components in the specification and claims.Those skilled in the art answer
It is understood that hardware manufacturer may call the same component with different nouns.This specification and claims are not with name
The difference of title is as the mode for distinguishing component, but with the difference of component functionally as the criterion of differentiation.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 within the acceptable error range, those skilled in the art can within a certain error range solve described in
Technical problem basically reaches the technical effect.In addition, " coupling " or " electric connection " word include herein it is any directly and
The electric property coupling means connect.Therefore, if it is described herein that a first device is coupled to a second device, then the first device is represented
It can be directly electrically coupled to the second device, or be electrically coupled to described second 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, it is not intended to limit the scope of the present application.The protection scope of the application is when view appended claims institute defender
Subject to.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the system that include a series of elements not only include those elements, but also to wrap
Include the other elements being not explicitly listed, or further include for this process, method, commodity or system intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want
There is also other identical elements in the process, method of element, commodity or system.
Embodiment description
The navigation path planning device and method of the application are suitable for CT image and bronchial tree three-dimensional shadow in lung areas
As on the basis of, the planning of guidance path is carried out to medical instrument.
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, multiple CT image informations are generated to receive multiple CT images, and according to multiple CT images.3D image reconstruction module
120 include that three-dimensional reconstruction unit 121 and bronchus identify cutting unit 122, and wherein three-dimensional reconstruction unit 121 is 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 identifies cutting unit 122 to receive multiple CT image informations and the multiple CT images of identification from image import modul 110
Bronchial tree structure in information, and it is split processing, to obtain the three-dimensional structure data of bronchial tree structure, 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.Path rule
Module 130 is drawn to receive CT image information and bronchial tree 3-dimensional image, and according to CT image information and bronchus
Tree 3-dimensional image draws guidance path on CT image, and wherein guidance path is along the main tracheae of bronchial tree structure and multiple
Tracheae is drawn, and is labeled on guidance path target position, first higher level's knuckle label, first junior's knuckle label, the
Two higher level's knuckles label, second junior's knuckle label and main knuckle label, guidance path are exactly by these positions and label connection
It forms.
Below by way of certain methods embodiment to 10 pairs of medical treatment of navigation path planning device disclosed by the embodiment of the present application
The mode that instrument carries out navigation path planning is described further.
As shown in Fig. 2, navigation path planning method disclosed by the embodiment of the present application includes:
Step S101 obtains CT image；
Step S102, by lesion locations labeled as calibration position on CT image；
Step S103 is found on CT image near the bronchus of calibration position in multistage bronchus, and by branch gas
Target position is labeled as at the position of corresponding calibration position on pipe；
Step S104 marks higher level's crotch that bronchus is located at target position labeled as first higher level's knuckle；
Step S105, on marking another bronchus as higher level's bifurcation using first higher level's knuckle, by its lower fraction
It is marked at fork labeled as first junior's knuckle；
Step S106 is found in multistage bronchus on CT image using first higher level's knuckle label as junior's bifurcation
Upper level bronchus grade crotch will be marked labeled as second higher level's knuckle thereon；
Step S107, on marking another bronchus as higher level's bifurcation using second higher level's knuckle, by its lower fraction
It is marked at fork labeled as second junior's knuckle；
The step of step S108, repeating label higher level's knuckle label is marked with junior's knuckle, until higher level's knuckle marker bit
In the knuckle position of main tracheae and multistage bronchus crotch, and higher level's knuckle to be located at this knuckle position is marked as master
Knuckle label；And
Step S109, in target position, first higher level's knuckle label, first junior's knuckle label, second higher level's knuckle mark
Connecting line is drawn according to relative position between note, second junior's knuckle label and main knuckle label, and constitutes guidance path.
Fig. 1 to Fig. 6 is please referred to, in the second method embodiment disclosed by the application, firstly, passing through image import modul
110 receive CT image (S101), and the raw image data of CT image is obtained from CT image, then according to the original of CT image
Beginning image data generates corresponding three-dimensional CT image information.In this step, 3D image reconstruction module 120 can also be passed through
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 identified according to the three-dimensional CT image information of the lung areas
Then bronchial tree structure in the three-dimensional structure data in region is split processing, to obtain bronchial tree 3-dimensional image
Structured data, such as the image coordinate information of bronchial tree 3-dimensional image.
Then, lesion locations are labeled as calibration on CT image labeled as calibration position by lesion locations on CT image
Position T0 (S102).Then, the bronchus in multistage bronchus near calibration position is found on CT image, and this is propped up
Target position B0 (S103) is labeled as at the position of corresponding calibration position on tracheae.Wherein, if calibration position T0 is located at this branch gas
Guan Shang, target position B0 and calibration position T0 are overlapped (as shown in Figure 3 and Figure 5)；And if calibration position T0 is located at multistage
In bronchus between two adjacent bronchuses, then target position B0 be indicated in two adjacent bronchuses near
Demarcate bronchial junior's crotch (as shown in Figure 4 and Figure 6) of position.
Later, higher level's crotch that bronchus is located to target position B0 marks C1 labeled as first higher level's knuckle
(S104).Then, on another bronchus using first higher level's knuckle label C1 as higher level's bifurcation, by its junior's crotch
B1 (S105) is marked labeled as first junior's knuckle.Later, it is found on CT image in multistage bronchus with first higher level's knuckle
Upper level bronchus of the C1 as junior's bifurcation is marked, second higher level's knuckle label C2 will be labeled as by grade crotch thereon
(S106)；And on another bronchus using second higher level's knuckle label C2 as higher level's bifurcation, by its junior's crotch
B2 (S107) is marked labeled as second junior's knuckle.
Then, and so on, repeat correspondence markings higher level's knuckle mark on the main tracheae and multistage bronchus on CT image
The step of note is marked with junior's knuckle, until higher level's knuckle label is located at the knuckle position of main tracheae and multistage bronchus crotch
It sets, and the label of higher level's knuckle to be located at this knuckle position marks Cn (S108) as main knuckle.Finally, in target position
B0, first higher level's knuckle label C1, first junior's knuckle label B1, second higher level's knuckle label C2, second junior's knuckle label
Connecting line is drawn according to relative position between B2 and main knuckle mark Cn note, and constitutes guidance path (S109).
Therefore, after guidance path is completed, label has B0, first higher level's knuckle label on CT image
C1, first junior's knuckle label B1, second higher level's knuckle label C2, second junior's knuckle label B2 ... and main knuckle label
Cn。
Wherein, calibration position T0 is located on one of bronchus in multiple bronchuses；Target position B0 is according to calibration
The difference of position T0, and with calibration position T0 it is overlapped or in two adjacent bronchuses near calibration position
Bronchial junior's crotch of T0；First higher level's knuckle marks C1 to be located at using target position B0 as the bronchus of junior's bifurcation
Higher level's crotch；Another gas that first junior's knuckle marks B1 to be located at first higher level's knuckle label C1 for higher level's bifurcation
Junior's crotch of pipe；Second higher level's knuckle marks C2 to be located at using first higher level's knuckle label C1 as the upper level of junior's bifurcation
Bronchial higher level's crotch；It is the another of higher level's bifurcation that second junior's knuckle, which marks B2 to be located at second higher level's knuckle label C2,
One bronchial junior's crotch；Main knuckle label Cn is located at main tracheae and multiple bronchial crotches.
Pass through this uniqueness for being started from lesion locations to ensure that guidance path to the flag sequence of main tracheae.This mistake
Journey not only path label, has also obtained the key point on guidance path, these key points are contained to each bronchial bifurcated
The bronchial position of other bifurcateds of point is marked, so that the navigation information comprising all crotches, is used for path and advance
The judgement in direction, and these data are completely corresponding to the bronchial tree 3-dimensional image obtained from CT Reconstruction for the image information, can be with
The direction of advance of medical instrument is preferably guided in navigation stage, and medical instrument is smoothly guided to reach the mesh that lesion occurs
Cursor position.
Above description shows and describes several preferred embodiments of the present application, but as previously described, it should be understood that the application
Be not limited to forms disclosed herein, should not be regarded as an exclusion of other examples, and can be used for various other combinations,
Modification and environment, and the above teachings or related fields of technology or knowledge can be passed through within that scope of the inventive concept describe herein
It is modified.And changes and modifications made by those skilled in the art do not depart from spirit and scope, then it all should be in this Shen
It please be in the protection scope of appended claims.
Claims (1)
1. a kind of navigation path planning device, suitable for right on the basis of the CT image of lung areas and bronchial tree 3-dimensional image
The planning of medical instrument progress guidance path, which is characterized in that the navigation path planning device includes:
Image import modul is produced to receive the raw image data of the CT image, and 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 goes out to receive the three-dimensional CT image information, and according to the three-dimensional CT image information reconstruction
The three-dimensional structure data of the lung areas；And
Bronchus identify cutting unit, to receive the lung areas three-dimensional CT image information and the lung areas three
Dimension structured data and the three-dimensional structure data that the lung areas is identified according to the three-dimensional CT image information of the lung areas
In bronchial tree structure, and be split 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
Structured data of the module to receive the three-dimensional CT image information and the bronchial tree 3-dimensional image is drawn, 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 image 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, institute
It states guidance path to draw along the main tracheae and the multistage bronchus, and marks and have on the CT image
Position is demarcated, on one of bronchus in the multistage bronchus；
Target position, it is overlapped with the calibration position；
First higher level's knuckle label, is located at bronchial higher level's crotch；
First junior's knuckle label, positioned at another bronchial junior for being labeled as higher level's bifurcation with the first higher level knuckle
Crotch；
Second higher level's knuckle label, positioned at the first higher level knuckle labeled as junior's bifurcation upper level it is bronchial on
Grade crotch；
Second junior's knuckle label, positioned at another bronchial junior for being labeled as higher level's bifurcation with the second higher level knuckle
Crotch；And
Main knuckle label, is located at the main tracheae and the bronchial crotch of multistage；
Wherein, the target position, the first higher level knuckle label, first junior knuckle label, second higher level
Knuckle label, second junior knuckle label and the main knuckle label are connected with each other, and constitute the guidance path.
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| CN105303942B (en) * | 2015-10-22 | 2018-02-16 | 中国人民解放军第三军医大学第一附属医院 | A kind of bronchus navigation model |
| 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 |
| CN204364122U (en) * | 2014-11-07 | 2015-06-03 | 刘弘毅 | Navigation path planning device |
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| CN104323860B (en) | 2018-08-31 |
| CN106725853A (en) | 2017-05-31 |
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