CN107198568A - A kind of abdominal surgery is precisely performed the operation guiding system and method - Google Patents

A kind of abdominal surgery is precisely performed the operation guiding system and method Download PDF

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CN107198568A
CN107198568A CN201710635231.3A CN201710635231A CN107198568A CN 107198568 A CN107198568 A CN 107198568A CN 201710635231 A CN201710635231 A CN 201710635231A CN 107198568 A CN107198568 A CN 107198568A
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images
guiding system
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physical model
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赵松凌
张小文
邹浩
李越华
戈佳云
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
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  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
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  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

Precisely performed the operation guiding system and method the present invention relates to a kind of abdominal surgery.Sufferer abdomen organ 3D physical models, the key feature points on near-infrared fluorescent 3D images surface obtained comprising the processing of accurate guiding system computer, full HD color monitor in 3D image collections and real-time generation module, art, by the tomoscan such as CT, MRI image through three-dimensional reconstruction are recognized with 3D physical model images key feature points, locking and the method tracked.By viewpoint orientation, the scale of the 3D physical model images of the sufferer abdomen organ of CT, MRI tomoscan image reconstruction, driven by the viewpoint and direction parameter of near-infrared fluorescent 3D images.With the system of the present invention, the real-time display of all kinds of images inside augmented reality virtual environment lower abdomen organ can be achieved, guiding surgeon implements accurate operation.Compared with prior art, it can effectively reduce bleeding, shorten operating time, remaining organ is retained to greatest extent.

Description

A kind of abdominal surgery is precisely performed the operation guiding system and method
Technical field
The present invention relates to abdominal surgery, and in particular to a kind of abdominal surgery is precisely performed the operation guiding system and method.
Background technology
Abdominal surgery, great hair is had been achieved for especially for the abdominal surgery of liver and gall pancreas for many years Exhibition, has developed into laparoscopic surgery and newest Leonardo da Vinci's robotic surgery from the abdominal of early stage.Even however, most New Leonardo da Vinci's robotic surgery, is also only that the accurate controlling parties such as the visual field, operation trace movement have been done on laparoscopic surgery The lifting in face, this kind of improved superiority is fully demonstrated in the following aspects：The characteristics of using electronic information, it is possible to achieve remote Process control and remote operation；The negative shadow that the operation of human hand can avoid the vibration of patient's hand from bringing is performed using mechanical arm Ring；The patient visual field is expanded using the wild pick-up lens of double vision, preliminary naked eye three-dimensional is realized and shows, be allowed to more approach out abdomen hand The visual field of art.
Although lifting drastically increases the accuracy and stability that patient implements minor motion above, not thorough Change to bottom the basic situation of surgeon's operation：The sufferer organ that patient can see still is only organ body surface, it is impossible to profit The focus point inside all kinds of critical tissues and organ inside organ is accurately positioned with tomoscan image.Thus, not Have from the basic change of the substantially operation lifting to patient.The tomographic data of sufferer how is utilized, makes patient in operation During can be accurately positioned focus point, effectively avoid the key conduits such as blood vessel, be a urgent problem to be solved.
To solve problem above, patent 201710064456.8 discloses a kind of accurate surgery systems of abdominal surgery and side Method, discloses the abdominal surgery that the threedimensional model image obtained with being rebuild via CT, MRI fault image is superimposed with laparoscope image Accurate surgery systems and method.In the technical scheme, with hysteroscope abdomen organ's image surface key point and threedimensional model image The basic reference point that surface key point is locked as two kinds of images, as long as the key point locking of two kinds of images, you can make model shadow As in rotary moving with hysteroscope image synchronous, pinpoint purpose in art is reached.In practical operation, the edge generally in liver Key point is selected, because liver belongs in flexible organ, art due to operation, in liver edge tissue inevitably Occur moving relative to the relative position at other positions of liver, cause organ hysteroscope image and physical model image in art inconsistent And the situation that two kinds of images are difficult to lock is produced, only could effectively it be locked under conditions of liver organ occurs without plastic deformation Two kinds of images.This largely limits pinpoint realization in art.
The content of the invention
To solve problem above, precisely performed the operation guiding system and method the invention discloses a kind of abdominal surgery.
The technical scheme is that：A kind of abdominal surgery is precisely performed the operation guiding system and method, includes miniature 3D images Precisely guiding system handles computer, full HD color monitor, by tomographies such as CT, MRI in collection and real-time generation module, art Sufferer abdomen organ 3D physical models, 3D images key feature points and 3D physical model shadows that scan-image is obtained through three-dimensional reconstruction The method for recognizing, locking and tracking as key feature points, it is characterised in that miniature the 3D image collections and real-time generation module Output end be connected with the input of accurate guiding system processing computer in art, the input of full HD color monitor with The output end of accurate guiding system processing computer is connected in art, is obtained by the tomoscan image such as CT, MRI through three-dimensional reconstruction Sufferer abdomen organ's 3D physical models be stored in art in the Large Copacity external memory storage of accurate guiding system processing computer.
A kind of abdominal surgery of the present invention is precisely performed the operation guiding system and method, it is characterised in that the miniature 3D Image collection and real-time generation module include near-infrared camera, full HD colour imagery shot, near-infrared laser projecting apparatus, high speed Low-power consumption VPU；The output end of near-infrared camera is connected with the input of high-speed low-power-consumption VPU Connect, the output end of full HD colour imagery shot is connected with the input of high-speed low-power-consumption VPU, near-infrared laser The control end of projecting apparatus and the output control terminal of high-speed low-power-consumption VPU are connected, near-infrared camera, full HD Colour imagery shot, near-infrared laser projecting apparatus, high-speed low-power-consumption VPU welded and installed are on same circuit board.
A kind of abdominal surgery of the present invention is precisely performed the operation guiding system and method, it is characterised in that the miniature 3D The response wave length scope of the near-infrared camera of image collection and real-time generation module is 700-1000nm.
A kind of abdominal surgery of the present invention is precisely performed the operation guiding system and method, it is characterised in that the miniature 3D The wave-length coverage of the near-infrared laser projecting apparatus of image collection and real-time generation module is 700-980nm.
A kind of abdominal surgery of the present invention is precisely performed the operation guiding system and method, it is characterised in that：According to following step It is rapid to realize 3D images key feature points and the identification of 3D physical model images key feature points, locking and tracking：
In step 1 abdominal surgical procedure, the injection indoles mountain valley with clumps of trees and bamboo is green at portal vein, after injection, with 3D image collections and in real time Generation module gathers portal vein and the near-infrared 3D fluoroscopic images of surrounding tissue；
The near-infrared 3D fluoroscopic images collected are imported accurate guiding system in art and handle computer by step 2；
Step 3 is chosen on full HD color monitor at least 3 on the portal vein near-infrared 3D fluoroscopic images obtained by step 2 Individual key point（i=1,2,3）It is used as key mark the point Xi, Yi, Zi on portal vein 3D fluoroscopic images；
Xi, the Yi of the crucial punctuate of step 4 storage portal vein near-infrared 3D fluoroscopic images, Zi coordinates；
Step 5 imports the sufferer abdomen organ 3D physical models obtained by the tomoscan such as CT, MRI image through three-dimensional reconstruction Accurate guiding system handles computer and 3D physical model images is shown on high clear colorful display in art；
Step 6 is chosen on the sufferer abdomen organ's 3D physical model images obtained through three-dimensional reconstruction chooses position phase with step 3 With portal vein at least three point as 3D physical model images key mark point；
The xi of at least three key point (i=1,2,3) on step 7 storage 3D physical model image portal veins surface, yi, zi coordinates, Close the 3D physical model images of display；
Step 8 setting criterion threshold value fz；
Step 9 calculates X-x, Y-y, Z-z difference, and according to X-x, Y-y, Z-z difference modification 3D physical model displays are crucial The coordinate of point, makes crucial point coordinates be overlapped with the crucial point coordinates of fluoroscopic image, stores the coordinate of key point；
The crucial point coordinates that step 10 is obtained using step 9 reloads physical model as the crucial point coordinates of 3D physical models；
Step 11 calculates and judges key point i Xi-xi<Fz, Yi-yi<Fz, Zi-zi<Whether more each vector differentials of fz are small In given threshold；
If on step 12 3D physical models image mark surface on key point and 3D fluoroscopic image identified surfaces key point at each Difference on direction is more than default threshold value, shows that viewpoint and displaying ratio are inconsistent, and locking is unsuccessful, goes to step 9, adjusts 3D The display viewpoint and displaying ratio of entity image；
If on step 13 3D physical models image mark surface on key point and 3D fluoroscopic image identified surfaces key point at each Difference on direction is less than default threshold value, shows that viewpoint is consistent with displaying ratio, locks successfully, by the 3D physical models of locking Precisely the full HD colour of guiding system processing computer is shown image in art with full HD image Overlapping display
Compared with prior art, using the present invention, all kinds of images inside augmented reality virtual environment lower abdomen organ can be achieved Display in real time, guiding surgeon implements accurate operation.By the invention it is possible to effectively reduce bleeding, shorten operating time, most Retain to limits remaining organ.
Brief description of the drawings
Fig. 1 precisely performs the operation the theory diagram of guiding system for a kind of abdominal surgery of the present invention.
Fig. 2 is miniature 3D image collections and real-time generation module functional schematic block diagram of the invention.
Fig. 3 a to Fig. 3 c are 3D images key feature points of the present invention and the identification of 3D physical model images key feature points, lock The step of fixed and tracking, schemes.
Embodiment
As shown in figure 1, a kind of abdominal surgery of the present invention is precisely performed the operation, guiding system and method is adopted comprising miniature 3D images Collection and real-time generation module 1, art in precisely guiding system processing computer 2, by the tomoscan image such as CT, MRI through Three-dimensional Gravity Build obtained sufferer abdomen organ 3D physical models 3, full HD color monitor 4.
As shown in Fig. 2 3D image collections and real-time generation module 1 include near-infrared camera 11, full HD colored shooting First 12, near-infrared laser projecting apparatus 13, high-speed low-power-consumption VPU 14, module main circuit board 15.
In the present embodiment, miniature 3D image collections and real-time generation module 1 are taken the photograph for the RealSense 3D of INTEL Corp. As module SR300；Precisely guiding system processing computer 2 is Asus notebook N550JV in art；It is disconnected by CT, MRI etc. The sufferer abdomen organ 3D physical models 3 that layer scan-image is obtained through three-dimensional reconstruction are the belly master through Mimics16 Software Creates Want organ（Liver, courage, pancreas, portal vein, liver inferior caval vein, choledochus）Model;Full HD color monitor 4 is 47 inches of LED High clear colorful display.
Precisely guiding system handles computer 2 in the output end and art of miniature 3D image collections and real-time generation module 1 Input is connected, and the input of full HD color monitor 4 is with precisely guiding system to handle the output end phase of computer in art Link, the sufferer abdomen organ's 3D physical models obtained by the tomoscan such as CT, MRI image through three-dimensional reconstruction are stored in art smart In the Large Copacity external memory storage of quasi- guiding system processing computer.
During abdominal surgery, the near-infrared laser projecting apparatus of miniature 3D image collections and real-time generation module 1 13 under the control of high-speed low-power-consumption VPU 14 ventrad organ surface irradiate near-infrared laser grating fringe, this swash Light grating fringe forms on abdomen organ surface and contains the echelette striped image of case depth information, 3D image collections and The infrared camera 11 of real-time generation module 1 gathers the echelette striped image, in real time 3D image collections and generation mould in real time The high-speed low-power-consumption VPU 14 of block 1 according to known monocular grating fringe image depth algorithm obtain the image each The depth information of coordinate points, obtains containing the infrared image of abdomen organ's case depth information.These imaging data streams are with every The speed of 30-200 frames of second is sent in art accurate guiding system by USB3.0 interfaces and handled in computer 2.
The near-infrared laser projecting apparatus 13 of miniature 3D image collections and real-time generation module 1 is in high-speed low-power-consumption visual processes Stripe grating can be not only generated under the control of unit 14, laser scanning area source can also be generated abdomen organ surface is carried out Irradiation, to generate the infrared image on abdomen organ surface.
In abdominal surgical procedure, to liver introportal infusion indocyanine-green and in the near-infrared of 700-950 nanometers of wavelength Under the irradiation of LASER Light Source, by the IR fluorescence for exciting portal vein to send 720-1000 nanometers of wavelength, the IR fluorescence is in human body Penetration power in tissue is less than 10 millimeters, and the portal vein fluorescence of high-contrast can be obtained at the portal vein outside liver edge Image.Because portal vein is located at the thicker region of liver organization, for the edge of flexible liver organ be one very Few region for occurring flexible change in displacement, steady and audible relative displacement can be obtained by choosing portal vein image key point in the region The small reference point of change.On the other hand, by phlebography technology, CT, MRI portal vein image of high-contrast can be obtained, The pylic IR fluorescence image that near-infrared laser is excited has with the portal vein image obtained via CT, MRI reconstruction technique Good uniformity, is greatly improved the success rate of two kinds of image lockings and synchronized tracking, efficiently solves and utilize liver side Edge locks the problem of two kinds of image locking success rates are low.
Miniature 3D image collections and real-time generation module 1 can also pass through while near infrared image data flow is generated The full HD colour imagery shot 12 of miniature 3D image collections and real-time generation module 1 collect have near infrared image it is identical Viewpoint（1920X1080）High-resolution color imaging data stream, the high clear colorful image data flows through USB3.0 interfaces and is transferred to Precisely guiding system is handled in computer 2 in art.
As shown in Fig. 3 a to Fig. 3 c, in abdominal surgery, portal vein IR fluorescence image via CT, MRI image with obtaining To portal vein three-dimensional entity model image locked by following methods disclosed by the invention after i.e. can be achieved two kinds of images Genlocing and tracking.
In step 1 abdominal surgical procedure, it is green to inject the indoles mountain valley with clumps of trees and bamboo at portal vein, after injection, with 3D image collections and The near-infrared 3D fluoroscopic images of real-time generation module collection portal vein and surrounding tissue；
The near-infrared 3D fluoroscopic images collected are imported accurate guiding system in art and handle computer by step 2；
Step 3 is chosen on full HD color monitor at least 3 on the portal vein near-infrared 3D fluoroscopic images obtained by step 2 Individual key point（i=1,2,3）It is used as key mark the point Xi, Yi, Zi on portal vein 3D fluoroscopic images；
Xi, the Yi of the crucial punctuate of step 4 storage portal vein near-infrared 3D fluoroscopic images, Zi coordinates；
Step 5 imports the sufferer abdomen organ 3D physical models obtained by the tomoscan such as CT, MRI image through three-dimensional reconstruction Accurate guiding system handles computer and 3D physical model images is shown on high clear colorful display in art；
Step 6 is chosen on the sufferer abdomen organ's 3D physical model images obtained through three-dimensional reconstruction chooses position phase with step 3 With portal vein at least three point as 3D physical model images key mark point；
The xi of at least three key point (i=1,2,3) on step 7 storage 3D physical model image portal veins surface, yi, zi coordinates, Close the 3D physical model images of display；
Step 8 setting criterion threshold value fz；
Step 9 calculates X-x, Y-y, Z-z difference, and according to X-x, Y-y, Z-z difference modification 3D physical model displays are crucial The coordinate of point, makes crucial point coordinates be overlapped with the crucial point coordinates of fluoroscopic image, stores the coordinate of key point；
The crucial point coordinates that step 10 is obtained using step 9 reloads physical model as the crucial point coordinates of 3D physical models；
Step 11 calculates and judges key point i Xi-xi<Fz, Yi-yi<Fz, Zi-zi<Whether more each vector differentials of fz Less than given threshold；
If on step 12 3D physical models image mark surface on key point and 3D fluoroscopic image identified surfaces key point at each Difference on direction is more than default threshold value, shows that viewpoint and displaying ratio are inconsistent, and locking is unsuccessful, goes to step 9, adjusts 3D The display viewpoint and displaying ratio of entity image；
If on step 13 3D physical models image mark surface on key point and 3D fluoroscopic image identified surfaces key point at each Difference on direction is less than default threshold value, shows that viewpoint is consistent with displaying ratio, locks successfully, by the 3D physical models of locking Precisely the full HD colour of guiding system processing computer is shown image in art with full HD image Overlapping display.
A kind of abdominal surgery of the present invention, which is precisely performed the operation, guides accurate guiding system processing meter in art described in system and method Calculation machine, full HD color monitor, the sufferer abdomen organ 3D realities obtained by the tomoscan such as CT, MRI image through three-dimensional reconstruction The method of body Model is existing known technology, is repeated no more.

Claims (5)

  1. The guiding system and method 1. a kind of abdominal surgery is precisely performed the operation, includes miniature 3D image collections and real-time generation module, art In precisely the processing of guiding system computer, full HD color monitor, obtained through three-dimensional reconstruction by the tomoscan image such as CT, MRI Sufferer abdomen organ 3D physical models, 3D images key feature points and the identification of 3D physical model images key feature points, the lock arrived Fixed and tracking method, it is characterised in that in the output end and art of miniature the 3D image collections and real-time generation module precisely The input of guiding system processing computer is connected, and is precisely guided in the input and art of full HD color monitor at system The output end of reason computer is connected, and the sufferer abdomen organ 3D obtained by the tomoscan such as CT, MRI image through three-dimensional reconstruction is real Body Model is stored in art in the Large Copacity external memory storage of accurate guiding system processing computer.
  2. The guiding system and method 2. a kind of abdominal surgery described in claim 1 is precisely performed the operation, it is characterised in that the miniature 3D shadows As collection and real-time generation module are low comprising near-infrared camera, full HD colour imagery shot, near-infrared laser projecting apparatus, high speed Power consumption VPU；The output end of near-infrared camera is connected with the input of high-speed low-power-consumption VPU, The output end of full HD colour imagery shot is connected with the input of high-speed low-power-consumption VPU, near-infrared laser projection The control end of instrument and the output control terminal of high-speed low-power-consumption VPU are connected, near-infrared camera, full HD colour Camera, near-infrared laser projecting apparatus, high-speed low-power-consumption VPU welded and installed are on same circuit board.
  3. The guiding system and method 3. a kind of abdominal surgery described in claim 1 is precisely performed the operation, it is characterised in that the miniature 3D shadows As the response wave length scope of collection and the near-infrared camera of real-time generation module is 700-1000nm.
  4. The guiding system and method 4. a kind of abdominal surgery described in claim 1 is precisely performed the operation, it is characterised in that the miniature 3D shadows As the wave-length coverage of collection and the near-infrared laser projecting apparatus of real-time generation module is 700-980nm.
  5. The guiding system and method 5. a kind of abdominal surgery described in claim 1 is precisely performed the operation, it is characterised in that：According to following steps Realize 3D images key feature points and the identification of 3D physical model images key feature points, locking and tracking：
    In step 1 abdominal surgical procedure, the injection indoles mountain valley with clumps of trees and bamboo is green at portal vein, after injection, with 3D image collections and in real time Generation module gathers portal vein and the near-infrared 3D fluoroscopic images of surrounding tissue；
    The near-infrared 3D fluoroscopic images collected are imported accurate guiding system in art and handle computer by step 2；
    Step 3 is chosen on full HD color monitor at least 3 on the portal vein near-infrared 3D fluoroscopic images obtained by step 2 Individual key point（i=1,2,3）It is used as key mark the point Xi, Yi, Zi on portal vein 3D fluoroscopic images；
    Xi, the Yi of the crucial punctuate of step 4 storage portal vein near-infrared 3D fluoroscopic images, Zi coordinates；
    Step 5 imports the sufferer abdomen organ 3D physical models obtained by the tomoscan such as CT, MRI image through three-dimensional reconstruction Accurate guiding system handles computer and 3D physical model images is shown on high clear colorful display in art；
    Step 6 is chosen on the sufferer abdomen organ's 3D physical model images obtained through three-dimensional reconstruction chooses position phase with step 3 With portal vein at least three point as 3D physical model images key mark point；
    The xi of at least three key point (i=1,2,3) on step 7 storage 3D physical model image portal veins surface, yi, zi coordinates, Close the 3D physical model images of display；
    Step 8 setting criterion threshold value fz；
    Step 9 calculates X-x, Y-y, Z-z difference, and according to X-x, Y-y, Z-z difference modification 3D physical model displays are crucial The coordinate of point, makes crucial point coordinates be overlapped with the crucial point coordinates of fluoroscopic image, stores the coordinate of key point；
    The crucial point coordinates that step 10 is obtained using step 9 reloads physical model as the crucial point coordinates of 3D physical models；
    Step 11 calculates and judges key point i Xi-xi<Fz, Yi-yi<Fz, Zi-zi<Whether more each vector differentials of fz are small In given threshold；
    If on step 12 3D physical models image mark surface on key point and 3D fluoroscopic image identified surfaces key point at each Difference on direction is more than default threshold value, shows that viewpoint and displaying ratio are inconsistent, and locking is unsuccessful, goes to step 9, adjusts 3D The display viewpoint and displaying ratio of entity image；
    If on step 13 3D physical models image mark surface on key point and 3D fluoroscopic image identified surfaces key point at each Difference on direction is less than default threshold value, shows that viewpoint is consistent with displaying ratio, locks successfully, by the 3D physical models of locking Precisely guiding system is handled on the full HD color monitor of computer image in art with full HD image Overlapping display.
CN201710635231.3A 2017-07-30 2017-07-30 A kind of abdominal surgery is precisely performed the operation guiding system and method Pending CN107198568A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109925052A (en) * 2019-03-04 2019-06-25 杭州三坛医疗科技有限公司 Determination methods, devices and systems, the readable storage medium storing program for executing in target spot path
CN110310726A (en) * 2019-08-12 2019-10-08 杨晓鹏 Hepatic segmental resection auxiliary system based on medical image three-dimensional reconstruction and holographic display
CN113017833A (en) * 2021-02-25 2021-06-25 南方科技大学 Organ positioning method, organ positioning device, computer equipment and storage medium

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109925052A (en) * 2019-03-04 2019-06-25 杭州三坛医疗科技有限公司 Determination methods, devices and systems, the readable storage medium storing program for executing in target spot path
CN110310726A (en) * 2019-08-12 2019-10-08 杨晓鹏 Hepatic segmental resection auxiliary system based on medical image three-dimensional reconstruction and holographic display
CN110310726B (en) * 2019-08-12 2024-03-26 杨晓鹏 Liver segment resection auxiliary system based on medical image three-dimensional reconstruction and holographic display
CN113017833A (en) * 2021-02-25 2021-06-25 南方科技大学 Organ positioning method, organ positioning device, computer equipment and storage medium

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Application publication date: 20170926