CN108210024B - Surgical navigation method and system - Google Patents
Surgical navigation method and system Download PDFInfo
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- CN108210024B CN108210024B CN201711481252.0A CN201711481252A CN108210024B CN 108210024 B CN108210024 B CN 108210024B CN 201711481252 A CN201711481252 A CN 201711481252A CN 108210024 B CN108210024 B CN 108210024B
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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Abstract
The invention relates to a surgical navigation method and a surgical navigation system, wherein the method comprises the following steps: optically positioning the ultrasonic probe and the puncture needle which are provided with the optical marker; acquiring ultrasonic imaging data acquired by an ultrasonic probe in real time; generating the position and the track of the puncture needle in the ultrasonic image according to the optical positioning information and the ultrasonic imaging data; and synchronously displaying the ultrasonic images and the positions and the tracks of the puncture needles in the ultrasonic images. The system comprises a positioning module, an ultrasonic imaging data acquisition module, a puncture needle track generation module and a display module. The puncture needle and the ultrasonic probe can be optically positioned through the operation navigation system, and the position and the track of the puncture needle in the ultrasonic image acquired by the ultrasonic probe are displayed in real time, so that the harm of X-ray radiation to doctors and patients is eliminated, and the defects of unclear contrast and non-intuitive guide of the traditional ultrasonic guide are overcome, so that the doctors can intuitively and efficiently master the puncture direction of the operation.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a surgical navigation method and a surgical navigation system.
Background
Currently, minimally invasive surgery has become a common treatment method due to its characteristics of small trauma, fast recovery, and the like, such as percutaneous nephroscopy (PCNL). In the minimally invasive surgery, accurate and rapid surgical puncture is the basis for ensuring the success of the surgery and shortening the treatment time. The puncture guide is the dominant role in the minimally invasive surgery process, and the currently popular puncture guide method mainly comprises C-arm X-ray guide and ultrasonic guide, but the C-arm X-ray guide has radioactivity and can cause radiation damage to doctors and patients; the ultrasound guide has the problems of unclear contrast of the puncture needle, insufficient intuition of the guide and the like, so that a doctor is difficult to accurately master the puncture direction and depth.
Disclosure of Invention
Therefore, it is necessary to provide a surgical navigation method and system for solving the problems of radiation hazard, unclear contrast of the puncture needle and non-intuitive guidance existing in the current puncture guiding method in the minimally invasive surgery.
A surgical navigation method, comprising:
performing optical positioning on the ultrasonic probe and the puncture needle which are provided with the optical marker to acquire three-dimensional positioning information of the ultrasonic probe and the puncture needle relative to a first coordinate system;
acquiring ultrasonic imaging data acquired by an ultrasonic probe in real time, wherein the ultrasonic imaging data comprises an ultrasonic image corresponding to a second coordinate system;
generating the position and the track of the puncture needle in the ultrasonic image of the second coordinate system according to the ultrasonic image corresponding to the second coordinate system and the three-dimensional positioning information of the ultrasonic probe and the puncture needle relative to the first coordinate system;
and synchronously displaying the ultrasonic images and the positions and the tracks of the puncture needles in the ultrasonic images of the second coordinate system.
In one embodiment, before optically positioning the ultrasound probe and the puncture needle with the optical marker deployed, the method further comprises:
configuring an optical marker for the ultrasonic probe and the puncture needle;
acquiring three-dimensional calibration information of the ultrasonic probe and the puncture needle which are provided with the optical marker;
the optical positioning of the ultrasonic probe and the puncture needle which are provided with the optical marker to acquire the three-dimensional positioning information of the ultrasonic probe and the puncture needle relative to the first coordinate system comprises the following steps:
and according to the three-dimensional calibration information of the ultrasonic probe and the puncture needle which are provided with the optical marker, carrying out optical positioning on the ultrasonic probe and the puncture needle which are provided with the optical marker so as to obtain the three-dimensional positioning information of the ultrasonic probe and the puncture needle relative to the first coordinate system.
In one embodiment, generating the position and the track of the puncture needle in the ultrasound image of the second coordinate system according to the ultrasound image of the second coordinate system and the three-dimensional positioning information of the ultrasound probe and the puncture needle relative to the first coordinate system comprises:
according to the ultrasonic image corresponding to the second coordinate system and the three-dimensional positioning information of the ultrasonic probe and the puncture needle relative to the first coordinate system;
converting the coordinate of the puncture needle into an ultrasonic image of a second coordinate system;
and generating the position and the track of the puncture needle in the ultrasonic image of the second coordinate system.
In one embodiment, the method further comprises the following steps:
acquiring a mark of a target puncture area in an ultrasonic image;
determining the shape of the target puncture region and the position of the target puncture region in the ultrasonic image according to the mark;
determining the distance between the puncture needle and the target puncture area in the ultrasonic image according to the position of the target puncture area in the ultrasonic image and the position and the track of the puncture needle in the ultrasonic image of the second coordinate system;
wherein, the synchronous display ultrasound image and the position and the track of the puncture needle in the ultrasound image of the second coordinate system include:
synchronously displaying the ultrasonic image, the shape of the target puncture area, the position of the target puncture area in the ultrasonic image, the distance between the puncture needle and the target puncture area in the ultrasonic image, and the position and the track of the puncture needle.
In one embodiment, the needle is positioned in an ultrasound image of a second coordinate system, comprising: the three-dimensional coordinates of the puncture needle in the ultrasonic image of the second coordinate system, the offset distance of the puncture needle relative to the ultrasonic image and the intersection point of the puncture needle extension line and the ultrasonic image plane.
In one embodiment, the method further comprises the following steps:
and if the offset distance of the puncture needle relative to the ultrasonic image or the distance between the puncture needle and the target puncture area is smaller than a preset threshold value, an alarm is given.
A surgical navigation system, comprising:
the positioning module is used for optically positioning the ultrasonic probe and the puncture needle which are provided with the optical marker so as to acquire three-dimensional positioning information of the ultrasonic probe and the puncture needle relative to a first coordinate system;
the ultrasonic imaging data acquisition module is used for acquiring ultrasonic imaging data acquired by the ultrasonic probe in real time, wherein the ultrasonic imaging data comprises an ultrasonic image corresponding to a second coordinate system;
the puncture needle track generation module is used for generating the position and the track of the puncture needle in the ultrasonic image of the second coordinate system according to the ultrasonic image corresponding to the second coordinate system and the three-dimensional positioning information of the ultrasonic probe and the puncture needle relative to the first coordinate system;
and the display module is used for synchronously displaying the ultrasonic images and the positions and the tracks of the puncture needles in the ultrasonic images of the second coordinate system.
In one embodiment, the method further comprises the following steps:
the optical marker configuring module is used for configuring the optical markers for the ultrasonic probe and the puncture needle; and acquiring the three-dimensional calibration information of the ultrasonic probe and the puncture needle which are provided with the optical marker.
In one embodiment, the method further comprises the following steps:
the target puncture area determining module is used for acquiring a mark of a target puncture area in the ultrasonic image;
the ultrasonic imaging device is also used for determining the shape of the target puncture area and the position of the target puncture area in the ultrasonic image according to the mark;
and the distance between the puncture needle and the target puncture area in the ultrasonic image is determined according to the position of the target puncture area in the ultrasonic image and the position and the track of the puncture needle in the ultrasonic image of the second coordinate system.
In one embodiment, the puncture needle is located at a position in the ultrasound image of the second coordinate system, including an offset distance of the puncture needle relative to the ultrasound image and an intersection point of an extension line of the puncture needle and the ultrasound image plane, the surgical navigation system further includes:
and the alarm module is used for giving an alarm when the offset distance of the puncture needle relative to the ultrasonic image or the distance between the puncture needle and the target puncture area is smaller than a preset threshold value.
According to the operation navigation method and the operation navigation system, the puncture needle and the ultrasonic probe can be optically positioned through the operation navigation system, and the position and the track of the puncture needle in the ultrasonic image acquired by the ultrasonic probe are displayed in real time, so that the harm of X-ray radiation to doctors and patients is eliminated, and the defects of unclear contrast and non-visual guide of the traditional ultrasonic guide are overcome, so that the doctors can intuitively and efficiently master the puncture direction of the operation.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a surgical navigation system;
FIG. 2 is a schematic diagram of the surgical navigation system in one embodiment;
FIG. 3 is a schematic diagram of the surgical navigation system in one embodiment;
FIG. 4 is a schematic structural diagram of a surgical navigation system in one embodiment;
FIG. 5 is a schematic diagram of the surgical navigation system in one embodiment;
FIG. 6 is a flow chart illustrating a surgical navigation method according to one embodiment;
FIG. 7 is a schematic diagram of a coordinate system with a positioning module as a reference for a surgical navigation method according to an embodiment;
FIG. 8 is a schematic diagram of a coordinate system for an embodiment of a surgical navigation method using an ultrasound image plane as a reference;
FIG. 9 is a navigation display diagram of a surgical navigation method in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
In a specific application scenario, as shown in fig. 1, for example, in a minimally invasive surgery, the surgical navigation system 100 can optically position the puncture needle 101 and the ultrasound probe 102, and display the position of the puncture needle 101 in an ultrasound image 103 acquired by the ultrasound probe 102 in real time (e.g., at T' and at cross C in fig. 1, where T is T′The point is the projection of the puncture needle tip on the ultrasonic image plane, and the point C of the cross mark is the intersection point of the puncture needle extension line and the ultrasonic image plane) And a track (such as an EL dotted line segment in fig. 1, namely a projection of the puncture needle on an ultrasonic image plane and an extension line segment thereof) and a target puncture region (such as a curve surrounding region M in fig. 1), not only eliminate the harm of X-ray radiation for doctors and patients, but also solve the defects of unclear contrast and non-intuitive guidance of the traditional ultrasonic guidance, so that the doctors can intuitively and efficiently master the puncture direction of the operation.
In one embodiment, as shown in fig. 2, the surgical navigation system 100 may include a positioning module 201, an ultrasound imaging data acquisition module 202, a puncture needle trajectory generation module 203, and a display module 204, wherein:
and the positioning module 201 is used for optically positioning the ultrasonic probe and the puncture needle which are configured with the optical marker so as to acquire three-dimensional positioning information of the ultrasonic probe and the puncture needle relative to the first coordinate system.
In this embodiment, the optical marker may be an active light emitting or reflective optical device; the first coordinate system is a coordinate system with reference to the positioning module 201. The present embodiment obtains three-dimensional positioning information of the ultrasound probe and the puncture needle in the first coordinate system by configuring the optical marker on the instruments, such as the ultrasound probe and the puncture needle, which are needed to be used in the surgery, so as to perform optical positioning on the ultrasound probe and the puncture needle configured with the optical marker through the positioning module 201. The three-dimensional positioning information comprises three-dimensional coordinates and directions of the ultrasonic probe and the puncture needle in the first coordinate system, and the positioning accuracy can reach within 2 mm.
An ultrasound imaging data acquisition module 202, configured to acquire ultrasound imaging data acquired by the ultrasound probe in real time. Wherein the ultrasound imaging data comprises an ultrasound image corresponding to the second coordinate system. In this embodiment, the second coordinate system is a coordinate system with reference to the ultrasound image plane. In this embodiment, the ultrasound imaging data acquisition module 202 may read the ultrasound imaging data acquired by the ultrasound probe in real time through a data interface of the ultrasound machine itself, or an onboard interface of the ultrasound machine host, or an interface of the medical information network server. The ultrasound imaging data includes, but is not limited to, ultrasound images, time stamp data, operating state data, and the like.
And the puncture needle track generating module 203 is used for generating the position and the track of the puncture needle in the ultrasound image of the second coordinate system according to the ultrasound image corresponding to the second coordinate system and the three-dimensional positioning information of the ultrasound probe and the puncture needle relative to the first coordinate system.
In this embodiment, according to the three-dimensional coordinates and the direction of the ultrasound probe and the puncture needle in the first coordinate system and the ultrasound image acquired by the ultrasound probe in real time and corresponding to the second coordinate system, the three-dimensional coordinates and the direction of the puncture needle in the first coordinate system are converted into the ultrasound image in the second coordinate system, so as to generate the position and the track of the puncture needle in the ultrasound image in the second coordinate system.
And the display module 204 is configured to synchronously display the ultrasound image and the position and the track of the puncture needle in the ultrasound image of the second coordinate system.
The position of the puncture needle in the ultrasonic image of the second coordinate system comprises equivalent information of the offset angle and the offset distance of the puncture needle and the ultrasonic image. The track of the puncture needle in the ultrasonic image of the second coordinate system comprises the projection of the puncture needle in the ultrasonic image, the track information of an extension line and the like. Therefore, the doctor can intuitively master the puncture direction of the operation through the content displayed by the display module 204, and the accuracy and efficiency of puncture are further improved.
In a particular embodiment, the display module 204 includes, but is not limited to, a number of display screens, wherein the display screens may be ordinary display screens, or touch-sensitive display screens.
In one embodiment, as shown in fig. 3, in order to enable the positioning module 201 to accurately position the ultrasound probe and the puncture needle during the operation, the surgical navigation system 100 in this embodiment may further include an optical marker configuration module 301 configured to configure an optical marker for the ultrasound probe and the puncture needle, and in particular, the optical marker may be configured at the tail of the ultrasound probe and the puncture needle, so that the positioning module 201 can optically identify, track and position the ultrasound probe and the puncture needle configured with the optical marker. In this embodiment, the optical marker may be composed of 3 or more than 3 active light-emitting or reflective optical markers. For example, an active light emitting LED or a reflective ball (the reflective light source of which may be provided by the positioning module 201). Wherein, the active light-emitting LED or the light source and the reflection waveband are preferably infrared waveband.
In this embodiment, the optical marker configuration module 301 may also acquire three-dimensional calibration information of the ultrasound probe and the puncture needle to which the optical marker has been configured. The three-dimensional calibration information refers to a rigid body formed by fixing the optical marker and the ultrasonic probe or the puncture needle, and the three-dimensional shape of the rigid body and the position relation among all the components can be determined by CAD design. Specifically, the three-dimensional calibration information may include, but is not limited to, an imaging start position, an imaging depth, an imaging resolution, an imaging size of the ultrasound probe, a three-dimensional shape of the ultrasound probe and the puncture needle, a positional relationship between each component, and the like.
In one embodiment, as shown in fig. 4, the surgical navigation system 100 may further include a target puncture region determination module 401 for acquiring a marker of the target puncture region in the ultrasound image; the shape of the target puncture region and the position of the target puncture region in the ultrasonic image can be determined according to the mark; and determining the distance between the puncture needle and the target puncture area in the ultrasonic image according to the position of the target puncture area in the ultrasonic image and the position and the track of the puncture needle in the ultrasonic image of the second coordinate system.
In this embodiment, the doctor may mark the target puncturing area in the ultrasound image according to the displayed ultrasound image, and specifically, may touch and mark the position of the puncturing target in the ultrasound image through a mouse keyboard or a display screen. Therefore, the surgical navigation system 100 may further obtain the mark of the target puncture area by the doctor through the target puncture area determination module 401, so as to determine the shape of the target puncture area and the position of the target puncture area in the ultrasound image according to the shape and the area of the mark, further determine the distance between the puncture needle and the target puncture area in the ultrasound image according to the position of the target puncture area in the ultrasound image and the position and the track of the puncture needle in the ultrasound image of the second coordinate system, and display the distance and the corresponding track.
In one embodiment, the position of the puncture needle in the ultrasound image of the second coordinate system includes quantitative information such as the offset distance, offset angle, etc. of the puncture needle relative to the ultrasound image. Therefore, in this embodiment, as shown in fig. 5, the surgical navigation system 100 may further include an alarm module 501 for giving an alarm when the offset distance of the puncture needle from the ultrasound image or the distance of the puncture needle from the target puncture area is smaller than a preset threshold. Specifically, the mode of giving an alarm can be a sound alarm, a light alarm and the like so as to achieve the purpose of reminding a doctor, so that the doctor can more intuitively master the puncture direction and depth of the operation, and the accuracy and efficiency of puncture are further improved.
The operation navigation system provided by the embodiment does not need a separate ultrasonic device, can adapt to the existing ultrasonic machine and the ultrasonic probe to work cooperatively, and does not change the handheld mode of the ultrasonic probe. Therefore, the surgical navigation system can greatly improve the accuracy and efficiency of the puncture surgery with low cost.
The embodiment of the invention provides a surgical navigation method, an execution main body of which can be the surgical navigation system, as shown in fig. 6, the method comprises the following steps:
step S601, an optical marker is disposed on the ultrasound probe and the puncture needle.
In this embodiment, the optical marker may be composed of 3 or more than 3 active light-emitting or reflective optical markers. The optical marker is arranged on the instruments required to be used, such as the ultrasonic probe and the puncture needle before the operation, so that the optical positioning of the ultrasonic probe and the puncture needle in the subsequent operation is facilitated.
Step S602, three-dimensional calibration information of the ultrasonic probe and the puncture needle with the optical marker configured is obtained.
The three-dimensional calibration information refers to a rigid body formed by fixing the optical marker and the ultrasonic probe or the puncture needle, and the three-dimensional shape of the rigid body and the position relation among all the components can be determined by CAD design. Specifically, the three-dimensional calibration information may include, but is not limited to, an imaging start position, an imaging depth, an imaging resolution, an imaging size of the ultrasound probe, a three-dimensional shape of the ultrasound probe and the puncture needle, a positional relationship between each component, and the like.
Step S603, optically positioning the ultrasound probe and the puncture needle configured with the optical marker to obtain three-dimensional positioning information of the ultrasound probe and the puncture needle with respect to the first coordinate system.
In the present embodiment, three-dimensional positioning information of the ultrasound probe and the puncture needle in the first coordinate system is acquired by optically positioning the ultrasound probe and the puncture needle, which have been provided with the optical marker. The three-dimensional positioning information comprises three-dimensional coordinates and directions of the ultrasonic probe and the puncture needle in the first coordinate system. The first coordinate system is a coordinate system with reference to the positioning module 201.
In one embodiment, as shown in FIG. 7, assume that the coordinate axis of the orientation module 201 is xopt,yopt,zoptThen, the three-dimensional positioning information of the ultrasound probe and the puncture needle in the coordinate system includes:
Pus-m-opt: three-dimensional coordinates of the geometric center of the optical positioning marker 1021 mounted on the ultrasound probe 102 in the frame of reference of the positioning module 201, such as the center point U0 of the optical positioning marker 1021 in fig. 7;
Tus-m-cad: for three-dimensional CAD design, the relative position relationship between the image acquisition starting point of the ultrasonic probe 102 and the geometric center of the optical positioning mark 1021 installed on the image acquisition starting point is shown as T1 dotted line segment (namely U0-P0) in FIG. 7;
Pus-opt: for the three-dimensional coordinates of the image acquisition starting point of the ultrasound probe 102 in the frame of reference of the localization module 201, which can be understood as Pus-opt＝Pus-m-opt+Rcad-opt*Tus-m-cad(Rcad-optDesigning a coordinate transformation relationship between the reference system and the reference system of the positioning module 201 for the three-dimensional CAD), as indicated by point P0 in fig. 7;
Vus-opt: is the direction of the ultrasound probe 102 (as indicated by the arrow) in the frame of reference of the positioning module 201;
Pnd-m-opt: three-dimensional coordinates of the optical positioning mark 1011 mounted on the puncture needle 101 in the reference system of the positioning module 201 are shown as a center point N0 of the optical positioning mark 1011 in FIG. 7;
Tnd-m-cad: for three-dimensional CAD design, the relative position relationship between the needle point of the puncture needle 101 and the geometric center of the optical positioning mark 1011 mounted on the needle point is shown as a V1 line segment (namely N0-N1) in FIG. 7;
Pnd-opt: the three-dimensional coordinates of the tip of the puncture needle 101 in the reference system of the positioning module 201 can be understood as Pnd-opt＝Pnd-m-opt+Rcad-opt*Tnd-m-cad(Rcad-optDesigning a coordinate transformation relationship between the reference system and the reference system of the positioning module 201 for the three-dimensional CAD), as shown by point N1 in fig. 7;
Vnd-opt: is the direction of the puncture needle 101 (as indicated by the arrow) in the frame of reference of the positioning module 201.
Step S604, acquiring ultrasound imaging data acquired by the ultrasound probe in real time, wherein the ultrasound imaging data includes an ultrasound image corresponding to the second coordinate system.
The ultrasound imaging data includes, but is not limited to, ultrasound images, time stamp data, operating state data, and the like. The second coordinate system is a coordinate system with the ultrasound image plane as a reference.
And step S605, generating the position and the track of the puncture needle in the ultrasonic image of the second coordinate system according to the ultrasonic image corresponding to the second coordinate system and the three-dimensional positioning information of the ultrasonic probe and the puncture needle relative to the first coordinate system.
Specifically, the coordinates of the puncture needle are converted into the ultrasound image of the second coordinate system according to the ultrasound image corresponding to the second coordinate system and the three-dimensional positioning information of the ultrasound probe and the puncture needle relative to the first coordinate system, so that the position and the track of the puncture needle in the ultrasound image of the second coordinate system are generated.
In one embodiment, as shown in FIG. 8, assume that the ultrasound image plane 800 is taken as a frame of reference and the corresponding coordinate axis is xus,yus,zusWherein y isusI.e., V in fig. 7us-opt(i.e., the orientation of the ultrasound probe 102);
o: is the starting point of the planar frame of reference of the ultrasound image, i.e. P in FIG. 7us-optPoint P0 (the three-dimensional coordinates of the starting point of image acquisition of the ultrasound probe 102), and the size of the ultrasound image plane 800 can be determined by the imaging depth, imaging resolution, and imaging size of the ultrasound probe 102 in the three-dimensional calibration information;
Vnd-us: for the orientation of the needle 101 in the ultrasound image plane frame of reference, V can be understood as the direction of the needlend-us＝Vnd-opt-Vus-opt；
T: for three-dimensional coordinates of the piercing tip in the planar frame of reference of the ultrasound image, i.e. P in FIG. 7nd-optPoint, can be understood as T ═ Pnd-opt-Pus-opt；
T': projection of a puncture needle tip point T on an ultrasonic image plane;
TT': the position relation between the puncture needle point T and the projection T' thereof in an ultrasonic image plane reference system, and the length thereof is the offset distance of the puncture needle relative to an ultrasonic imaging plane;
ET': is the projection of the puncture needle in the plane of the ultrasonic image;
e: the intersection point of the projection of the puncture needle in the ultrasonic image plane and the edge of the ultrasonic image plane can be understood as the entry point of the projection ET' of the puncture needle into the ultrasonic image plane;
t' L: an extension line of the puncture needle projection ET';
l: the intersection point of the projection extension line T' L of the puncture needle and the edge of the ultrasonic image plane can be understood as the departure point of the projection of the puncture needle and the extension line EL thereof from the ultrasonic image plane;
EL: the projection of the puncture needle in the ultrasonic image and the extension line thereof are the track of the puncture needle in the ultrasonic image;
c: the intersection point of the puncture needle extension line and the ultrasound image plane is positioned on the puncture needle projection extension line T' L, as shown by a gray cross in FIG. 8;
TCT': in the ultrasonic image plane reference system, the angle value of the included angle between the puncture needle direction and the ultrasonic image plane is the offset angle of the puncture needle relative to the ultrasonic image plane;
a: a geometric central point of a puncture target region (such as a circular region in the figure) on an ultrasonic image plane, and coordinates of the puncture target region on the ultrasonic image plane are determined by image recognition (an initial position is marked by manual work, and then position tracking is carried out by the image recognition);
AT: in the ultrasonic image plane reference system, the position relation between the geometric center A of the puncture target area and the puncture needle point T is shown, and the length is the distance between the puncture needle point and the puncture target area.
And step S606, synchronously displaying the ultrasonic images and the positions and the tracks of the puncture needles in the ultrasonic images of the second coordinate system.
The present invention is further described below by a specific embodiment, before performing surgical puncture navigation, an optical marker configuration module is used to install an optical positioning mark 1021 at the tail of the medical ultrasound probe 102 and an optical positioning mark 1011 at the tail of the medical puncture needle 101, and then three-dimensional calibration information of the ultrasound probe, the puncture needle and the optical positioning mark thereof is collected, calculated and stored, wherein the three-dimensional calibration information refers to coordinate information of the ultrasound probe, the puncture needle and the optical positioning mark thereof in CAD in three-dimensional CAD design.
In this embodiment, the optical marker configuration module transmits the three-dimensional calibration information of the ultrasound probe, the puncture needle and the optical positioning markers thereof to the positioning module, and performs surgical puncture navigation after calibration is completed. Specifically, optical positioning can be performed by the positioning module, that is, by acquiring optical signals of the optical positioning markers 1011 and 1021, three-dimensional positioning information of the puncture needle 101 and the ultrasound probe 102 can be analyzed according to the acquired optical signals, where the three-dimensional positioning information refers to coordinate information of the puncture needle 101 and the ultrasound probe 102 in a coordinate system using the positioning module as a reference system.
Meanwhile, the ultrasonic imaging data acquired by the ultrasonic probe in real time is acquired through the ultrasonic imaging data acquisition module, and the ultrasonic imaging data specifically comprises ultrasonic images, timestamp data, working state data and the like. Then, the puncture needle track generation module converts the coordinates of the puncture needle into an ultrasound image of a second coordinate system according to the three-dimensional positioning information of the puncture needle 101 and the ultrasound probe 102 and the ultrasound image, wherein the second coordinate system is a coordinate system with the ultrasound image as a reference. Thereby calculating the position and the track of the puncture needle on the ultrasonic image and displaying the position and the track through the display module. The position and the track of the puncture needle on the ultrasonic image comprise equivalent information of the offset angle and the offset distance of the puncture needle relative to the ultrasonic image.
In this embodiment, a target puncturing area may also be marked in the displayed ultrasound image, so that the mark of the area is obtained by the target puncturing area determining module, such as a circular area M shown in fig. 9, where the shape of the area may be set differently according to actual needs. Further, the position of the target puncture region in the ultrasound image 800 can be determined according to the mark, and the distance between the puncture needle and the target puncture region in the ultrasound image can be determined by combining the position and the track of the puncture needle in the ultrasound image of the second coordinate system. When the distance between the puncture needle and the target puncture area is smaller than a preset threshold value, an alarm can be given out through the alarm module. In this embodiment, when the offset distance of the puncture needle relative to the ultrasound image is smaller than the preset threshold, an alarm can be issued by the alarm module. Thereby clearly indicating the puncture direction and depth and the position of the target puncture area, and further being beneficial to accurately and quickly completing the surgical puncture.
As shown in fig. 9, the line segment ET 'and the line segment T' L form a track of the puncture needle in the ultrasound image plane, the cross C is the intersection point of the puncture needle direction and the ultrasound image plane, the curve M is the outline of the target puncture region, and the blob-like shadow in the outline is the puncture target. The current displayed picture is that the track (namely, the line segment EL) of the puncture needle in the ultrasonic image plane passes through a target puncture area (namely, the curve M), but the predicted position (namely, the cross mark C) of the puncture needle about to pass through the ultrasonic image plane is positioned outside the target area, so that the cross mark C can be kept in the target area (namely, the curve M) by adjusting the puncture needle, and the navigation can be completed by pushing the puncture needle until the cross mark C is coincided with the puncture needle tip (namely, T'), thereby realizing the successful puncture.
In the above embodiment, in order to enhance the display effect and make the display result more intuitive, the ultrasound image displayed in the display module 204 and the position and the track of the puncture needle in the ultrasound image may be displayed in color, specifically, the track of the puncture needle in the ultrasound image and the extension line thereof may be distinguished by line segments of different shapes, thicknesses, or colors, respectively, so that the doctor may view the operation navigation picture more efficiently.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A surgical navigation method, comprising:
performing optical positioning on an ultrasonic probe and a puncture needle which are provided with optical markers to acquire three-dimensional positioning information of the ultrasonic probe and the puncture needle relative to a first coordinate system, wherein the three-dimensional positioning information comprises three-dimensional coordinates and directions of the ultrasonic probe and the puncture needle in the first coordinate system, and the first coordinate system is a space coordinate system where the ultrasonic probe and the puncture needle are located;
acquiring ultrasonic imaging data acquired by the ultrasonic probe in real time, wherein the ultrasonic imaging data comprises an ultrasonic image corresponding to a second coordinate system, and the second coordinate system is a coordinate system taking an ultrasonic image plane as a reference;
converting the coordinates of the puncture needle into an ultrasonic image of a second coordinate system according to the ultrasonic image corresponding to the second coordinate system and the three-dimensional positioning information of the ultrasonic probe and the puncture needle relative to the first coordinate system, and generating the position and the track of the puncture needle in the ultrasonic image of the second coordinate system, wherein the position of the puncture needle in the ultrasonic image of the second coordinate system comprises: the three-dimensional coordinates of the puncture needle in the ultrasound image of the second coordinate system, the offset angle and the offset distance of the puncture needle relative to the ultrasound image, and the track of the puncture needle in the ultrasound image of the second coordinate system comprises: the projection of the puncture needle in the ultrasonic image and the intersection point of the puncture needle extension line and the ultrasonic image plane;
and synchronously displaying the ultrasonic images and the position and the track of the puncture needle in the ultrasonic images of the second coordinate system, wherein the position and the track of the puncture needle in the ultrasonic images of the second coordinate system are used for indicating the puncture direction of the puncture needle.
2. The surgical navigation method of claim 1, further comprising, prior to the optically positioning the ultrasound probe and the puncture needle with the optical marker deployed, the steps of:
configuring an optical marker for the ultrasonic probe and the puncture needle;
acquiring three-dimensional calibration information of the ultrasonic probe and the puncture needle which are provided with the optical marker;
the optical positioning of the ultrasonic probe and the puncture needle which are configured with the optical marker to acquire the three-dimensional positioning information of the ultrasonic probe and the puncture needle relative to a first coordinate system comprises the following steps:
and according to the three-dimensional calibration information of the ultrasonic probe and the puncture needle which are provided with the optical marker, carrying out optical positioning on the ultrasonic probe and the puncture needle which are provided with the optical marker so as to obtain the three-dimensional positioning information of the ultrasonic probe and the puncture needle relative to the first coordinate system.
3. The surgical navigation method of claim 1, further comprising:
acquiring a mark of a target puncture area in an ultrasonic image;
determining the shape of a target puncture region and the position of the target puncture region in the ultrasonic image according to the mark;
determining the distance between the puncture needle and the target puncture area in the ultrasonic image according to the position of the target puncture area in the ultrasonic image and the position and the track of the puncture needle in the ultrasonic image of the second coordinate system;
the synchronous display of the ultrasound image and the position and the track of the puncture needle in the ultrasound image of the second coordinate system includes:
synchronously displaying the ultrasonic image, the shape of a target puncture area, the position of the target puncture area in the ultrasonic image, the distance between a puncture needle and the target puncture area in the ultrasonic image, and the position and the track of the puncture needle.
4. The surgical navigation method of claim 3, further comprising:
and if the offset distance of the puncture needle relative to the ultrasonic image or the distance between the puncture needle and the target puncture area is smaller than a preset threshold value, giving an alarm.
5. A surgical navigation system, comprising:
the positioning module is used for optically positioning the ultrasonic probe and the puncture needle which are provided with the optical marker so as to acquire three-dimensional positioning information of the ultrasonic probe and the puncture needle relative to a first coordinate system, wherein the three-dimensional positioning information comprises three-dimensional coordinates and directions of the ultrasonic probe and the puncture needle in the first coordinate system, and the first coordinate system is a space coordinate system where the ultrasonic probe and the puncture needle are located;
the ultrasonic imaging data acquisition module is used for acquiring ultrasonic imaging data acquired by the ultrasonic probe in real time, wherein the ultrasonic imaging data comprises an ultrasonic image corresponding to a second coordinate system, and the second coordinate system is a coordinate system taking an ultrasonic image plane as a reference;
a puncture needle track generation module, configured to convert the coordinate of the puncture needle into an ultrasound image of a second coordinate system according to the ultrasound image corresponding to the second coordinate system and the three-dimensional positioning information of the ultrasound probe and the puncture needle relative to the first coordinate system, and generate a position and a track of the puncture needle in the ultrasound image of the second coordinate system, where the position of the puncture needle in the ultrasound image of the second coordinate system includes: the three-dimensional coordinates of the puncture needle in the ultrasound image of the second coordinate system, the offset angle and the offset distance of the puncture needle relative to the ultrasound image, and the track of the puncture needle in the ultrasound image of the second coordinate system comprises: the projection of the puncture needle in the ultrasonic image and the intersection point of the puncture needle extension line and the ultrasonic image plane;
and the display module is used for synchronously displaying the ultrasonic images and the positions and the tracks of the puncture needles in the ultrasonic images of the second coordinate system, and the positions and the tracks of the puncture needles in the ultrasonic images of the second coordinate system are used for indicating the puncture direction of the puncture needles.
6. The surgical navigation system of claim 5, further comprising:
the optical marker configuration module is used for configuring the optical markers for the ultrasonic probe and the puncture needle; and acquiring the three-dimensional calibration information of the ultrasonic probe and the puncture needle which are provided with the optical marker.
7. The surgical navigation system of claim 5, further comprising:
the target puncture area determining module is used for acquiring a mark of a target puncture area in the ultrasonic image;
the ultrasonic imaging device is also used for determining the shape of a target puncture region and the position of the target puncture region in the ultrasonic image according to the mark;
and the distance between the puncture needle and the target puncture area in the ultrasonic image is determined according to the position of the target puncture area in the ultrasonic image and the position and the track of the puncture needle in the ultrasonic image of the second coordinate system.
8. The surgical navigation system of claim 7, further comprising:
and the alarm module is used for giving an alarm when the offset distance of the puncture needle relative to the ultrasonic image or the distance between the puncture needle and the target puncture area is smaller than a preset threshold value.
9. A navigation device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 4.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
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