CN113069206A - Image guiding method and system based on electromagnetic navigation - Google Patents
Image guiding method and system based on electromagnetic navigation Download PDFInfo
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- CN113069206A CN113069206A CN202110310176.7A CN202110310176A CN113069206A CN 113069206 A CN113069206 A CN 113069206A CN 202110310176 A CN202110310176 A CN 202110310176A CN 113069206 A CN113069206 A CN 113069206A
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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
- 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
- A61B2034/2051—Electromagnetic tracking systems
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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
- A61B2034/2065—Tracking using image or pattern recognition
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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
- A61B2034/2068—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
Abstract
The invention provides an image guiding method and system based on electromagnetic navigation. Fixing a positioning marker, determining a median line, and establishing a three-dimensional magnetic coordinate system; establishing a three-dimensional model of the measured object based on the three-dimensional magnetic coordinate system; connecting a pre-operation test device and providing a guide image of electromagnetic navigation; updating the guidance image of the electromagnetic navigation in real time during the surgical procedure. According to the scheme, the position, the focus range and the functional area of the focus are obtained through electromagnetic navigation, the focus is removed through an operation on the premise of protecting the functional area, the operation precision is improved, and the operation time is shortened.
Description
Technical Field
The invention relates to the technical field of electrical and electronic equipment, in particular to an image guiding method and system based on electromagnetic navigation.
Background
Whether a particular point or region can be located during surgery depends on the surgeon's ability to coordinate the surgical three-dimensional region of interest with previously acquired radiographic images.
However, the prior art relies primarily on preoperatively first coordinating the patient's anatomy with preoperatively acquired radiological data. When the surgeon locates a point or volume in the surgical field and selects the desired procedure for the surgical treatment, the interactive display will track the surgical tool, be susceptible to occlusion and interference, and not be easily performed intraoperatively, so that its field of use is limited.
Disclosure of Invention
In view of the above problems, the present invention provides an image guidance method and system based on electromagnetic navigation, which obtains the position, the range and the functional area of a lesion through electromagnetic navigation, and performs surgical excision of the lesion on the premise of protecting the functional area, thereby improving the surgical precision and shortening the surgical time.
According to a first aspect of the embodiments of the present invention, an image guidance method based on electromagnetic navigation is provided.
The image guidance method based on electromagnetic navigation comprises the following steps:
fixing the positioning marker, determining a median line, and establishing a three-dimensional magnetic coordinate system;
establishing a three-dimensional model of the measured object based on the three-dimensional magnetic coordinate system;
connecting a pre-operation test device and providing a guide image of electromagnetic navigation;
updating the guidance image of the electromagnetic navigation in real time during the surgical procedure.
In one or more embodiments, preferably, the fixing the positioning marker, determining the median line, and establishing the three-dimensional magnetic coordinate system specifically include:
measuring and obtaining the three-dimensional coordinates of the measured object based on the ground coordinate system;
determining a geometric center according to the three-dimensional coordinates of the measured object, and determining the geometric center as an origin of the three-dimensional magnetic coordinate system;
uniformly determining a preset number of the positioning markers on the object to be measured, and fixing the positioning markers on the object to be measured, wherein the preset number is an even number greater than 0;
determining the median line according to the positions of the positioning markers, wherein the median line is arranged to pass through the geometric center and the number of the positioning markers on the two sides of the median line is the same;
setting the mid-sagittal line as an X-axis of the three-dimensional magnetic coordinate system, and generating the three-dimensional magnetic coordinate system based on the X-axis and the origin.
In one or more embodiments, preferably, the establishing a three-dimensional model of the measured object based on the three-dimensional magnetic coordinate system specifically includes:
measuring the measured object through CT to obtain a model basic image;
marking the model base image in the three-dimensional magnetic coordinate system and storing the model base image as a two-dimensional geometric outline;
emitting a magnetic field through a pre-arranged bracket, wherein the magnetic field passes through the object to be measured;
obtaining a magnetic field distribution in the three-dimensional magnetic coordinate system using the positioning markers;
and according to the magnetic field distribution in the three-dimensional magnetic coordinate system, obtaining the three-dimensional geometric profile of the measured object under the whole three-dimensional magnetic coordinate system on the basis of the magnetic field at the corresponding position of the two-dimensional geometric profile, and storing the three-dimensional geometric profile as a three-dimensional model of the measured object.
In one or more embodiments, preferably, the connecting the preoperative test device and providing the electromagnetic navigation guidance image specifically includes:
acquiring coordinates of a point to be observed;
acquiring the observation direction of a point to be observed;
generating an observation coefficient according to the coordinates of the point to be observed and the observation direction of the point to be observed;
connecting pre-operative test equipment before an operation, and generating an observation function by using a first calculation formula according to the observation coefficient;
generating a guide image of the electromagnetic navigation of the observation function according to the gray level of the three-dimensional model of the measured object in the three-dimensional magnetic coordinate system;
the first calculation formula:
A1x+A2y+A3z+A4＝0
wherein A is1、A2、A3And A4All are the observation coefficients, and x, y and z are coordinate values in the three-dimensional magnetic coordinate system.
In one or more embodiments, preferably, the updating the guidance image of the electromagnetic navigation in real time during the surgical procedure includes:
selecting a real-time observation point in the three-dimensional model of the measured object according to an operation operator at fixed time intervals in the operation, and determining a real-time observation direction;
converting the real-time observation point and the real-time observation direction into an observation point coordinate and an observation point vector in the three-dimensional model of the measured object;
generating a real-time observation coefficient according to the observation point coordinate and the observation point vector;
in the operation process, generating a real-time observation function by using a second calculation formula according to the real-time observation coefficient;
generating a guide image of the electromagnetic navigation of the real-time observation function according to the gray level of the three-dimensional model of the measured object in the three-dimensional magnetic coordinate system;
the second calculation formula:
B1x+B2y+B3z+B4＝0
wherein, B1、B2、B3And B4And x, y and z are coordinate values in the three-dimensional magnetic coordinate system.
According to a first aspect of the embodiments of the present invention, an image guidance system based on electromagnetic navigation is provided.
In one or more embodiments, preferably, the image guidance system based on electromagnetic navigation includes:
the coordinate generating subsystem is used for fixing the positioning marker, determining a median line and establishing a three-dimensional magnetic coordinate system;
the model generation subsystem is used for establishing a three-dimensional model of the measured object based on the three-dimensional magnetic coordinate system;
the first guide image generation subsystem is used for connecting the preoperative test equipment and providing a guide image of electromagnetic navigation;
and the second guide image generation subsystem is used for updating the guide image of the electromagnetic navigation in real time during the operation.
In one or more embodiments, the system preferably further comprises a storage subsystem for storing the three-dimensional magnetic coordinate system, the three-dimensional model of the object under test, the guidance image of the electromagnetic navigation.
In one or more embodiments, preferably, the system further includes an image display subsystem, wherein the image display subsystem is configured to display the guide image of the electromagnetic navigation, and the display content includes a test image and a real-time image, the number of the test images is the same as the requirement before the operation, and the number of the real-time image is only three.
According to a third aspect of embodiments of the present invention, there is provided a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method according to any one of the first aspect of embodiments of the present invention.
According to a fourth aspect of embodiments of the present invention, there is provided an electronic device, comprising a memory and a processor, the memory being configured to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the steps of any one of the first aspect of embodiments of the present invention.
The technical scheme provided by the embodiment of the invention can have the following beneficial effects:
1) the embodiment of the invention generates a three-dimensional magnetic coordinate system by determining the positive center of the measured object, installing a preset number of positioning markers on the basis of the positive line, fixing the positioning markers, and generating the three-dimensional magnetic coordinate system on the basis of fixing the positioning markers and the relative positions of the positive line and the positioning markers.
2) According to the embodiment of the invention, the geometric image is obtained through CT, comprehensive three-dimensional data is generated by utilizing electromagnetic navigation on the basis, and the three-dimensional display of the integrated measured object is realized by utilizing gray scale display as a three-dimensional model of the whole measured object.
3) The embodiment of the invention respectively acquires the whole off-line and on-line guide images for different observation points and observation directions before and during the operation, thereby facilitating the preparation of the operation and the acquisition of data during the operation.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of an image guidance method based on electromagnetic navigation according to an embodiment of the present invention.
Fig. 2 is a flowchart of fixing the positioning markers, determining the median line, and establishing a three-dimensional magnetic coordinate system in an image guidance method based on electromagnetic navigation according to an embodiment of the present invention.
Fig. 3 is a flowchart of establishing a three-dimensional model of a measured object based on the three-dimensional magnetic coordinate system in an image guidance method based on electromagnetic navigation according to an embodiment of the present invention.
Fig. 4 is a flowchart of providing a guidance image of electromagnetic navigation by connecting a pre-operative testing device in an image guidance method based on electromagnetic navigation according to an embodiment of the present invention.
Fig. 5 is a flowchart for updating the guide image of the electromagnetic navigation in real time during the operation in the image guide method based on the electromagnetic navigation according to an embodiment of the present invention.
FIG. 6 is a block diagram of an image guidance system based on electromagnetic navigation in one embodiment of the present invention.
Fig. 7 is a block diagram of an electronic device in one embodiment of the invention.
Detailed Description
In some of the flows described in the present specification and claims and in the above figures, a number of operations are included that occur in a particular order, but it should be clearly understood that these operations may be performed out of order or in parallel as they occur herein, with the order of the operations being indicated as 101, 102, etc. merely to distinguish between the various operations, and the order of the operations by themselves does not represent any order of performance. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Whether a particular point or region can be located during surgery depends on the surgeon's ability to coordinate the surgical three-dimensional region of interest with previously acquired radiographic images.
However, the prior art relies primarily on preoperatively first coordinating the patient's anatomy with preoperatively acquired radiological data. When the surgeon locates a point or volume in the surgical field and selects the desired operation/technique for the surgical treatment, the interactive display will track the surgical tool, be susceptible to occlusion and interference, and not be easily performed intraoperatively, so that its field of use is limited.
The embodiment of the invention provides an image guiding method and system based on electromagnetic navigation. According to the scheme, the position, the focus range and the functional area of the focus are obtained through electromagnetic navigation, the focus is removed through an operation on the premise of protecting the functional area, the operation precision is improved, and the operation time is shortened.
According to a first aspect of the embodiments of the present invention, an image guidance method based on electromagnetic navigation is provided.
Fig. 1 is a flowchart of an image guidance method based on electromagnetic navigation according to an embodiment of the present invention.
In one or more embodiments, as shown in fig. 1, the image guidance method based on electromagnetic navigation preferably includes:
s101, fixing the positioning marker, determining a median line, and establishing a three-dimensional magnetic coordinate system;
s102, establishing a three-dimensional model of the measured object based on the three-dimensional magnetic coordinate system;
s103, connecting pre-operation test equipment and providing a guide image of electromagnetic navigation;
and S104, updating the guide image of the electromagnetic navigation in real time in the operation process.
In the embodiment of the invention, the electromagnetic navigation process is divided into four steps, which are respectively used for establishing a three-dimensional magnetic coordinate system, modeling a measured object, generating a preoperative guide image and feeding back an intraoperative guide image.
Fig. 2 is a flowchart of fixing the positioning markers, determining the median line, and establishing a three-dimensional magnetic coordinate system in an image guidance method based on electromagnetic navigation according to an embodiment of the present invention.
As shown in fig. 2, in one or more embodiments, preferably, the fixing the positioning markers, determining the median line, and establishing the three-dimensional magnetic coordinate system includes:
s201, measuring and obtaining a three-dimensional coordinate of a measured object based on a ground coordinate system;
s202, determining a geometric center according to the three-dimensional coordinates of the measured object, and determining the geometric center as an origin of the three-dimensional magnetic coordinate system;
s203, uniformly determining a preset number of the positioning markers on the object to be measured, and fixing the positioning markers on the object to be measured, wherein the preset number is an even number greater than 0;
s204, determining the median line according to the positions of the positioning markers, wherein the median line passes through the geometric center and the number of the positioning markers on the two sides of the median line is the same;
s205, setting the midline as an X axis of the three-dimensional magnetic coordinate system, and generating the three-dimensional magnetic coordinate system based on the X axis and the origin.
In the embodiment of the invention, the center of the measured object is determined, a preset number of positioning markers are installed and fixed on the basis of the center line, and the three-dimensional magnetic coordinate system is generated on the basis of the relative positions of the center line and the positioning markers on the basis of fixing the positioning markers. The three-dimensional magnetic coordinate system enables the subsequently generated images to be displayed at a desired angle on the one hand, and enables the obtained magnetic field data to have a position reference on the other hand.
Fig. 3 is a flowchart of establishing a three-dimensional model of a measured object based on the three-dimensional magnetic coordinate system in an image guidance method based on electromagnetic navigation according to an embodiment of the present invention.
As shown in fig. 3, in one or more embodiments, preferably, the establishing a three-dimensional model of the measured object based on the three-dimensional magnetic coordinate system specifically includes:
s301, measuring the measured object through CT to obtain a model basic image;
s302, marking the model basic image in the three-dimensional magnetic coordinate system and storing the model basic image as a two-dimensional geometric outline;
s303, emitting a magnetic field through a pre-arranged bracket, wherein the magnetic field passes through the object to be measured;
s304, obtaining magnetic field distribution in the three-dimensional magnetic coordinate system by using the positioning marker;
s305, according to the magnetic field distribution in the three-dimensional magnetic coordinate system, obtaining the three-dimensional geometric profile of the measured object under the whole three-dimensional magnetic coordinate system on the basis of the magnetic field at the corresponding position of the two-dimensional geometric profile, and storing the three-dimensional geometric profile as a three-dimensional model of the measured object.
In the embodiment of the present invention, the magnetic field corresponding to the measured position is further obtained from the two-dimensional image of the measured object obtained by means of CT or the like. When a magnetic field corresponding to a measured position is obtained, a region in which a two-dimensional image of the measured object is not obtained by means of CT or the like is reversely extracted. And finally, fitting a three-dimensional model of the measured object. By the method, the three-dimensional model obtained by reverse thrust can be obtained by a plurality of multi-dimensional modes, and then the three-dimensional model is reversely pushed by the magnetic field to improve the reliability, and three-dimensional derivation can be carried out by only using one CT image as a basis. By the method, the three-dimensional model of the measured object can be effectively and dynamically generated.
Fig. 4 is a flowchart of providing a guidance image of electromagnetic navigation by connecting a pre-operative testing device in an image guidance method based on electromagnetic navigation according to an embodiment of the present invention.
As shown in fig. 4, in one or more embodiments, preferably, the connecting the preoperative test device and providing the electromagnetic navigation guidance image specifically includes:
s401, obtaining coordinates of a point to be observed;
s402, acquiring the observation direction of a point to be observed;
s403, generating an observation coefficient according to the coordinate of the point to be observed and the observation direction of the point to be observed;
s404, connecting preoperative test equipment before operation, and generating an observation function by using a first calculation formula according to the observation coefficient;
s405, generating a guide image of the electromagnetic navigation of the observation function according to the gray level of the three-dimensional model of the measured object in the three-dimensional magnetic coordinate system;
the first calculation formula:
A1x+A2y+A3z+A4＝0
wherein A is1、A2、A3And A4All are the observation coefficients, and x, y and z are coordinate values in the three-dimensional magnetic coordinate system.
In the embodiment of the invention, on the basis of generating the three-dimensional model to be detected, data are extracted according to the three-dimensional coordinate system, the gray value in the three-dimensional model is extracted, and then the geometric figures in different directions are generated according to the gray value.
Fig. 5 is a flowchart for updating the guide image of the electromagnetic navigation in real time during the operation in the image guide method based on the electromagnetic navigation according to an embodiment of the present invention.
As shown in fig. 5, in one or more embodiments, preferably, the updating the guidance image of the electromagnetic navigation in real time during the surgical procedure specifically includes:
s501, selecting a real-time observation point in the three-dimensional model of the measured object according to an operation operator at fixed time intervals in the operation, and determining a real-time observation direction;
s502, converting the real-time observation point and the real-time observation direction into an observation point coordinate and an observation point vector in a three-dimensional model of the measured object;
s503, generating a real-time observation coefficient according to the observation point coordinate and the observation point vector;
s504, in the operation process, generating a real-time observation function by using a second calculation formula according to the real-time observation coefficient;
s505, generating a guide image of the electromagnetic navigation of the real-time observation function according to the gray level of the three-dimensional model of the measured object in the three-dimensional magnetic coordinate system;
the second calculation formula:
B1x+B2y+B3z+B4＝0
wherein, B1、B2、B3And B4And x, y and z are coordinate values in the three-dimensional magnetic coordinate system.
In the embodiment of the invention, during the operation, many changes are needed, and the guide image of the electromagnetic navigation changes in real time during the change. Therefore, in the operation process, the coordinates of the real-time point to be observed and the observation direction of the real-time point to be observed are obtained through manual selection in the three-dimensional model, and then an information real-time observation function is formed; and generating a real-time electromagnetic navigation guide image by utilizing the real-time observation function.
According to a second aspect of the embodiments of the present invention, an image guidance system based on electromagnetic navigation is provided.
FIG. 6 is a block diagram of an image guidance system based on electromagnetic navigation in one embodiment of the present invention.
In one or more embodiments, as shown in fig. 6, the image guidance system based on electromagnetic navigation preferably includes:
a coordinate generating subsystem 601, for fixing the positioning marker, determining the median line, and establishing a three-dimensional magnetic coordinate system;
a model generation subsystem 602, configured to establish a three-dimensional model of the measured object based on the three-dimensional magnetic coordinate system;
a first guide image generation subsystem 603, for connecting with a pre-operative testing device, providing a guide image for electromagnetic navigation;
a second guide image generation subsystem 604 for updating the guide image of the electromagnetic navigation in real time during the surgical procedure.
In one or more embodiments, the system preferably further comprises a storage subsystem 605 for storing the three-dimensional magnetic coordinate system, the three-dimensional model of the object under test, and the guidance images for electromagnetic navigation.
In one or more embodiments, the system preferably further includes an image display subsystem 606 for displaying the guide images of the electromagnetic navigation, the display contents include test images and real-time images, wherein the number of the test images is the same as the requirement before the operation, and the number of the real-time images is only three.
According to a third aspect of embodiments of the present invention, there is provided a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method according to any one of the first aspect of embodiments of the present invention.
According to a fourth aspect of the embodiments of the present invention, there is provided an electronic apparatus. Fig. 7 is a block diagram of an electronic device in one embodiment of the invention. The electronic device shown in fig. 7 is a general-purpose image booting apparatus, which includes a general-purpose computer hardware structure, which includes at least a processor 701 and a memory 702. The processor 701 and the memory 702 are connected by a bus 703. The memory 702 is adapted to store instructions or programs executable by the processor 701. The processor 701 may be a stand-alone microprocessor or a collection of one or more microprocessors. Thus, the processor 701 implements the processing of data and the control of other devices by executing instructions stored by the memory 702 to perform the method flows of embodiments of the present invention as described above. The bus 703 connects the above components together, as well as connecting the above components to the display controller 704 and the display device and input/output (I/O) device 705. Input/output (I/O) devices 705 may be a mouse, keyboard, modem, network interface, touch input device, motion sensing input device, printer, and other devices known in the art. Typically, the input/output devices 705 are coupled to the system through an input/output (I/O) controller 706.
The technical scheme provided by the embodiment of the invention can have the following beneficial effects:
1) the embodiment of the invention generates a three-dimensional magnetic coordinate system by determining the positive center of the measured object, installing a preset number of positioning markers on the basis of the positive line, fixing the positioning markers, and generating the three-dimensional magnetic coordinate system on the basis of fixing the positioning markers and the relative positions of the positive line and the positioning markers.
2) According to the embodiment of the invention, the geometric image is obtained through CT, comprehensive three-dimensional data is generated by utilizing electromagnetic navigation on the basis, and the three-dimensional display of the integrated measured object is realized by utilizing gray scale display as a three-dimensional model of the whole measured object.
3) The embodiment of the invention respectively acquires the whole off-line and on-line guide images for different observation points and observation directions before and during the operation, thereby facilitating the preparation of the operation and the acquisition of data during the operation.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An image guidance method based on electromagnetic navigation is characterized by comprising the following steps:
fixing the positioning marker, determining a median line, and establishing a three-dimensional magnetic coordinate system;
establishing a three-dimensional model of the measured object based on the three-dimensional magnetic coordinate system;
connecting a pre-operation test device and providing a guide image of electromagnetic navigation;
updating the guidance image of the electromagnetic navigation in real time during the surgical procedure.
2. The image guidance method based on electromagnetic navigation as claimed in claim 1, wherein fixing the positioning markers, determining the median line, and establishing a three-dimensional magnetic coordinate system specifically comprises:
measuring and obtaining the three-dimensional coordinates of the measured object based on the ground coordinate system;
determining a geometric center according to the three-dimensional coordinates of the measured object, and determining the geometric center as an origin of the three-dimensional magnetic coordinate system;
uniformly determining a preset number of the positioning markers on the object to be measured, and fixing the positioning markers on the object to be measured, wherein the preset number is an even number greater than 0;
determining the median line according to the positions of the positioning markers, wherein the median line is arranged to pass through the geometric center and the number of the positioning markers on the two sides of the median line is the same;
setting the mid-sagittal line as an X-axis of the three-dimensional magnetic coordinate system, and generating the three-dimensional magnetic coordinate system based on the X-axis and the origin.
3. The image guidance method based on electromagnetic navigation according to claim 1, wherein the establishing of the three-dimensional model of the measured object based on the three-dimensional magnetic coordinate system specifically includes:
measuring the measured object through CT to obtain a model basic image;
marking the model base image in the three-dimensional magnetic coordinate system and storing the model base image as a two-dimensional geometric outline;
emitting a magnetic field through a pre-arranged bracket, wherein the magnetic field passes through the object to be measured;
obtaining a magnetic field distribution in the three-dimensional magnetic coordinate system using the positioning markers;
and according to the magnetic field distribution in the three-dimensional magnetic coordinate system, obtaining the three-dimensional geometric profile of the measured object under the whole three-dimensional magnetic coordinate system on the basis of the magnetic field at the corresponding position of the two-dimensional geometric profile, and storing the three-dimensional geometric profile as a three-dimensional model of the measured object.
4. The image guidance method based on electromagnetic navigation according to claim 1, wherein the connecting with the preoperative test equipment provides a guidance image of electromagnetic navigation, and specifically comprises:
acquiring coordinates of a point to be observed;
acquiring the observation direction of a point to be observed;
generating an observation coefficient according to the coordinates of the point to be observed and the observation direction of the point to be observed;
connecting pre-operative test equipment before an operation, and generating an observation function by using a first calculation formula according to the observation coefficient;
generating a guide image of the electromagnetic navigation of the observation function according to the gray level of the three-dimensional model of the measured object in the three-dimensional magnetic coordinate system;
the first calculation formula:
A1x+A2y+A3z+A4＝0
wherein A is1、A2、A3And A4All are the observation coefficients, and x, y and z are coordinate values in the three-dimensional magnetic coordinate system.
5. The image guidance method based on electromagnetic navigation according to claim 1, wherein the updating the guidance image of electromagnetic navigation in real time during the operation process specifically comprises:
selecting a real-time observation point in the three-dimensional model of the measured object according to an operation operator at fixed time intervals in the operation, and determining a real-time observation direction;
converting the real-time observation point and the real-time observation direction into an observation point coordinate and an observation point vector in the three-dimensional model of the measured object;
generating a real-time observation coefficient according to the observation point coordinate and the observation point vector;
in the operation process, generating a real-time observation function by using a second calculation formula according to the real-time observation coefficient;
generating a guide image of the electromagnetic navigation of the real-time observation function according to the gray level of the three-dimensional model of the measured object in the three-dimensional magnetic coordinate system;
the second calculation formula:
B1x+B2y+B3z+B4＝0
wherein, B1、B2、B3And B4And x, y and z are coordinate values in the three-dimensional magnetic coordinate system.
6. An image guidance system based on electromagnetic navigation, characterized in that the system comprises:
the coordinate generating subsystem is used for fixing the positioning marker, determining a median line and establishing a three-dimensional magnetic coordinate system;
the model generation subsystem is used for establishing a three-dimensional model of the measured object based on the three-dimensional magnetic coordinate system;
the first guide image generation subsystem is used for connecting the preoperative test equipment and providing a guide image of electromagnetic navigation;
and the second guide image generation subsystem is used for updating the guide image of the electromagnetic navigation in real time during the operation.
7. The system according to claim 6, further comprising a storage subsystem for storing the three-dimensional magnetic coordinate system, the three-dimensional model of the object under test, and the guidance image of the electromagnetic navigation.
8. The image guidance system based on electromagnetic navigation as claimed in claim 6, characterized in that the system further comprises an image display subsystem, the image display subsystem is used for displaying the guidance image of electromagnetic navigation, the display content comprises a test image and a real-time image, wherein the number of the test images is the same as the requirement before surgery, and the number of the real-time images is only three.
9. A computer-readable storage medium on which computer program instructions are stored, which, when executed by a processor, implement the method of any one of claims 1-5.
10. An electronic device comprising a memory and a processor, wherein the memory is configured to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the steps of any of claims 1-5.
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