CN113456226A - Interventional navigation system - Google Patents
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Abstract
The invention relates to an interventional navigation system, which acquires the positions and the directions of an ultrasonic image and an interventional instrument through an electromagnetic positioning module, forms an interventional path by utilizing a navigation processing module, forms a navigation image fusing the interventional instrument and the projection of the interventional path and provides navigation for intervention.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an interventional navigation system.
Background
The background art related to the present invention will be described below, but these descriptions do not necessarily constitute the prior art of the present invention.
Interventional Radiology (Interventional Radiology) is an edge subject that has rapidly developed in the late seventies of the twentieth century. Under the guidance of medical imaging equipment, the method is based on imaging diagnostics and clinical diagnostics, combines the principle of clinical therapeutics, and utilizes devices such as catheters, guide wires and the like to diagnose and treat various diseases. Namely: under the guidance of image medicine (X-ray, ultrasonic, CT and MRI), a specially-made catheter or instrument is inserted into a diseased region through a percutaneous puncture way or an original pore canal of a human body to carry out the discipline of diagnostic radiography and treatment or tissue collection, and cytological bacteriology and biochemical examination are carried out.
Interventional radiology provides a new route of administration and surgical methods for modern medical diagnosis and treatment. Compared with the traditional administration route and operation method, the method has the advantages of more direct and effective administration, more convenient and minimally invasive operation. The interventional radiology develops a new treatment way, is simple, convenient and safe, has small wound, few complications and quick response, and has minimal invasion; the repeatability is strong; the positioning is accurate; the curative effect is high, the effect is fast; the complication rate is low; the connection application of various technologies is simple and easy.
Interventional radiology can be divided into interventional diagnostics and interventional therapeutics according to purposes; the method comprises the following steps: vascular interventional radiology (drug infusion; embolization techniques; shaped stents; filter techniques, etc.) and non-vascular radiology (needle biopsy; drainage techniques; foreign body removal; luminal stents, etc.); according to the clinical application range, the method can be divided into tumor interventional radiology, non-tumor interventional radiology, nerve interventional radiology and the like.
Medical imaging devices applied to interventional radiology mainly include X-ray, ultrasound, CT, MRI guidance and the like, wherein X-ray and CT have radioactivity, and MRI needs to be matched with non-ferromagnetic devices and environmental applications. For interventional guidance during operation, multiple and long-time imaging is needed, the radioactivity of X-rays and CT is harmful to patients and medical staff, and the nonferromagnetic requirement of MRI on corollary equipment and environment causes inconvenience and difficulty in interventional diagnosis and treatment, thus preventing clinical application of interventional radiology.
The ultrasound has the characteristics of real-time imaging, no radioactivity and the like, and is widely applied to interventional radiology. However, problems such as non-intuitive two-dimensional property of ultrasonic imaging and coplanarity of an ultrasonic imaging plane and an interventional tool are likely to cause difficulty and error in positioning and guiding the interventional tool, and further cause puncture errors, wounds, complications and other situations, and medical staff performing interventional diagnosis and treatment are required to have a lot of training, skilled technology and rich experience.
The ultrasonic interventional navigation can display the motion condition of an interventional tool in tissues in real time, provides a basis for interventional path selection, and is an important means of interventional radiology. However, the conventional ultrasound-guided intervention depends heavily on the skill and experience of the operator and the performance of the ultrasound instrument, and may have problems of more intervention times, longer operation time and the like, thereby causing an increase in the incidence of complications.
Due to the characteristics of ultrasonic imaging, in order to perform real-time imaging navigation on an interventional instrument in an interventional procedure, a target point, the interventional instrument and an ultrasonic imaging plane need to be kept in the same plane. Due to the fact that tissue density is low, displacement/deformation is easy to occur under the condition of compression, the angle of the ultrasonic probe and the pressing force need to be adjusted again at any time according to the condition, the position of the corresponding interventional instrument is often changed, the ultrasonic probe and the interventional instrument need to be adjusted simultaneously to perform imaging navigation again, difficulty is very high, and requirements for doctors are very high.
Due to the volume effect of ultrasound, the imaging of the interventional instrument by the ultrasound device does not reflect its true position and size, thereby affecting the accuracy of navigation.
Disclosure of Invention
In view of this, an embodiment of the present invention provides an interventional navigation system, so as to solve one or more of the problems of high operation difficulty, poor accuracy and the like of the existing interventional navigation technology, and implement more easy-to-operate, more accurate and effective interventional navigation.
According to one aspect of the present invention, there is provided an interventional navigation system, comprising: the electromagnetic positioning module is connected with an ultrasonic imaging device and an interventional instrument and used for acquiring the position and the direction of an ultrasonic image generated by the ultrasonic imaging device and the position and the direction of the interventional instrument; a navigation processing module, which is connected to the ultrasound imaging device and the electromagnetic positioning module, forms an intervention path according to the position and the direction of the intervention instrument, and orthogonally projects the intervention instrument and the intervention path to the ultrasound image according to the position and the direction of the ultrasound image, the position and the direction of the intervention instrument, and the intervention path, so as to form a navigation image fusing the projections of the intervention instrument and the intervention path; and the navigation output module is connected with the navigation processing module and outputs the navigation image according to a set display mode.
Further, the interventional instrument and the ultrasound image may be displayed in different ways when in a coplanar state and when not in a coplanar state.
Further, the navigation image may be displayed in a three-dimensional perspective manner.
Further, the projection of the interventional instrument may be displayed differently when the interventional instrument and the ultrasound image are in a coplanar state and a non-coplanar state, and/or the projection of the interventional path may be displayed differently.
Further, the display mode of the projection of the interventional instrument and/or the projection of the interventional path may include, but is not limited to, one or more of a wire frame display, a surface display, a solid line display, a dashed line display, various color displays, a dynamic display, and a static display.
Further, when the interventional device and the ultrasound image are not in the same plane, the display mode of the intersection point of the interventional path and the ultrasound image may be different from the display mode of other points on the projection of the interventional path.
Further, the display mode of the intersection point may include, but is not limited to, one or more of a cross line display, a star display, a circle display, various color displays, and a dynamic display.
Further, when the interventional device and the ultrasound image are in a non-coplanar state, the projections of the two portions of the interventional path on both sides of the ultrasound image may be displayed in different manners, respectively, and/or the projections of the two portions of the interventional device on both sides of the ultrasound image may be displayed in different manners, respectively.
Further, the display manner of the projection of the two portions of the interventional instrument and/or the projection of the two portions of the interventional pathway may include, but is not limited to, a combination of one or more of a wire frame display, a surface display, a solid line display, a dotted line display, various color displays, a dynamic display, and a static display.
Further, the intervention path may be formed to extend linearly in a direction of the intervention instrument.
Further, the electromagnetic positioning module may include a first sensor connected to a probe of the ultrasound imaging device and a second sensor connected to the interventional instrument.
Further, the interventional device may include, but is not limited to, one or more of a puncture-type device, a radio frequency-type device, a microwave-type device, a particle-type device, an implant-type device, a sheath-type device, a tube-type device, and a biopsy-type device.
In conclusion, the interventional navigation system is easier to operate, more accurate and more effective, so that the technical problems in the prior art are solved.
Drawings
The features and advantages of the present invention will become more readily appreciated from the detailed description section provided below with reference to the drawings, in which:
FIG. 1 is a schematic view of an interventional navigation system in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of an electromagnetic positioning module of an embodiment of the invention;
FIG. 3 is a schematic view of a sensor of an embodiment of the present invention;
FIG. 4 is a schematic view of a sensor of an embodiment of the present invention;
FIG. 5 is a schematic view of an ultrasound probe provided with a sensor in accordance with an embodiment of the present invention;
FIG. 6 is a schematic view of a lancet provided with a sensor according to an embodiment of the present invention;
FIG. 7 is a schematic illustration of fusion forming a navigation image according to an embodiment of the present invention;
FIG. 8 is a schematic illustration of a navigation image display with an interventional instrument and ultrasound images in a coplanar state in accordance with an embodiment of the present invention;
FIG. 9 is a schematic illustration of a navigation image display of an interventional instrument according to an embodiment of the present invention in a non-coplanar state with an ultrasound image;
FIG. 10 is a schematic illustration of a navigation image display of another embodiment of the present invention in a non-coplanar state with an ultrasound image;
Detailed Description
Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is for purposes of illustration only and is not intended to limit the invention, its application, or uses.
To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to the appended drawings. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
As used in this application, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. As used in this disclosure, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise. The term "distal" as used herein refers to the side away from the operator; accordingly, "proximal" is the side opposite "distal" from "proximal" to "distal".
FIG. 1 is a schematic view of an interventional navigation system in accordance with an embodiment of the present invention. As shown in fig. 1, an interventional navigation system 1 according to an embodiment of the present invention includes an electromagnetic positioning module 2, a navigation processing module 3, and a navigation output module 4.
The electromagnetic positioning module 2 is connected with the ultrasonic imaging device 5 and the interventional instrument 6, and acquires the position and the direction of an ultrasonic image generated by the ultrasonic imaging device 5 and the position and the direction of the interventional instrument 6.
The electromagnetic positioning module 2 of the embodiment of the invention measures the position and the direction of an object by utilizing electromagnetic induction according to the Biao-Savagal law (Biot-Savart), wherein a magnetic field signal emitter generates a signal field by emitting a magnetic field signal, a magnetic signal receiving sensor receives the magnetic field signal and transmits the signal to a magnetic field signal controller to obtain the space vector information (space coordinate and direction) of the object.
The precision of the electromagnetic positioning technology can effectively solve the problem of inaccurate interventional navigation caused by the volume effect of the ultrasonic imaging equipment.
FIG. 2 is a schematic diagram of an electromagnetic positioning module of an embodiment of the invention. As shown in fig. 2, the electromagnetic positioning module 2 of the embodiment of the present invention includes an emitter 21, a sensor 22, and a magnetic field signal processor 23. At present, the widely applied products include POLARIS system of NDI company in Canada, VISLAN system of RMR company in UK, Stealthsation system of Medtronic company in USA, etc.; among them, the measurement accuracy of POLARIS system is 0.35mm RMS, which is considered as the international standard of navigation positioning system, and can track 9 passive and 3 active targets simultaneously.
Wherein the transmitter 21 includes an electromagnetic transmitting coil to transmit electromagnetic waves to generate an electromagnetic field, the effective positioning range of the electromagnetic field in the embodiment of the present invention may be 300mm × 300mm × 300mm, 400mm × 400mm × 400mm, etc.
The sensor 22 receives the electromagnetic signal transmitted by the transmitter 21 through the electromagnetic receiving coil, converts the electromagnetic signal into an electrical signal, and tracks and positions the position and the direction of the sensor 22 in the electromagnetic field through the magnetic field signal processor 23.
According to clinical requirements, interventional navigation is generally required to achieve the positioning accuracy of 5mm and the positioning speed of 30 ms. In the embodiment of the invention, the accuracy of the electromagnetic positioning can be minimum 1.5mm, and the positioning speed can be the fastest 12.5 ms. Further, in the implementation of the present invention, the electromagnetic positioning module 2 can adjust the positioning accuracy and speed as required.
Fig. 3 and 4 are schematic views of a sensor according to an embodiment of the present invention. Sensor 22 may be designed in a variety of configurations and sizes, depending on the application, and sensor 22 may be sized with a minimum outer diameter of 0.56mm in embodiments of the present invention. As shown in fig. 3, the transducer 22 may be designed in a cylindrical shape with a relatively large diameter, and is suitable for mounting to an ultrasound probe. As shown in fig. 4, the sensor 22 may also be configured in a small diameter wire shape, and is suitable for mounting to an interventional instrument, such as a puncture instrument.
The sensor 22 may be wired or wireless, and thus, the connection between the electromagnetic positioning module 2 and the ultrasound imaging device 5 and the interventional instrument 6 may be wired or wireless, for example, bluetooth, WIFI, Zigbee or the like.
Fig. 5 is a schematic view of an ultrasonic probe provided with a sensor according to an embodiment of the present invention. As shown in fig. 5, the sensor 221 is detachably mounted to the ultrasound probe 51, so that the electromagnetic localization module 2 can track and locate the position and direction of the ultrasound probe 51. Based on the relationship between the ultrasound probe 51 and the ultrasound image generated by the ultrasound imaging device 5, the electromagnetic positioning module 2 can track and position the position and orientation of the ultrasound image generated by the ultrasound imaging device 5.
Interventional instruments are devices used to perform interventional procedures, such as vascular stent kits, percutaneous needle biopsy kits, radiofrequency ablation kits, tumor embolization kits, and the like. In embodiments of the present invention, the interventional device may include, but is not limited to, one or more of a puncture-type device, a radio frequency-type device, a microwave-type device, a particle-type device, an implant-type device, a sheath-type device, a tube-type device, a biopsy-type device, and the like. The interventional instrument may include one or more interventional tools, which may be catheters, guidewires, puncture needles, vascular sheaths, balloons, biopsy needles, and the like.
In an embodiment of the present invention, the interventional tool of the interventional device 6 may be a puncture needle 61. Fig. 6 is a schematic view of a sensor-equipped lancet according to an embodiment of the present invention. As shown in fig. 6, the sensor 222 is detachably provided in the needle chamber of the puncture needle 61.
To accommodate different lengths of interventional instruments 6, different lengths of auxiliary connections may be provided to connect the sensor to the interventional instrument 6.
By means of the sensor 222 provided to the interventional instrument 6, the electromagnetic localization module 2 can track the position and orientation of the interventional tool 61.
The magnetic field signal processor 23 collects the electric signal of the tracking positioning data in real time, calculates the real-time position and direction of the sensor, and immediately transmits the calculation result information to the navigation processing module 3.
As shown in fig. 1, the navigation processing module 3 is connected to an ultrasound imaging device 5 to obtain an ultrasound image. As shown in fig. 1, the navigation processing module 3 is connected with the electromagnetic localization module 2 to obtain the location and orientation of the ultrasound image and the interventional instrument 6.
In the embodiment of the present invention, the navigation processing module 3 forms the intervention path 62 according to the position and the direction of the intervention instrument 6, and orthogonally projects the intervention instrument 6 and the intervention path 62 to the ultrasound image according to the position and the direction of the ultrasound image, the position and the direction of the intervention instrument 6, and the intervention path 62, so as to form a navigation image fusing the projections of the intervention instrument 6 and the intervention path 62.
In the embodiment of the present invention, the navigation processing module 3 may be connected to the ultrasound imaging device 5 through a video image acquisition device to acquire ultrasound image data. In an embodiment, the connection mode is a USB3.0 connection mode, and the connection mode may also be PCI or PCIE.
In the embodiment of the present invention, preferably, the video acquisition device may perform real-time ultrasound video acquisition through a high-definition video cable with shielding or a wireless mode and a DVI or HDMI interface of a full-digital color doppler ultrasound diagnostic system, convert the acquired real-time ultrasound video into a digital signal, and transmit the digital signal to the navigation processing module 3.
The video acquisition equipment provided by the embodiment of the invention is provided with a standard video interface, such as HDMI or DVI, and can be connected with the standard video interface of the existing ultrasonic imaging equipment through a standard video signal line. Therefore, the interventional navigation system provided by the embodiment of the invention can be compatible with various ultrasonic imaging devices, on one hand, the existing ultrasonic imaging devices can be fully utilized, and on the other hand, the interventional navigation system can be smaller in volume and weight, more flexible and convenient to use.
In the embodiment of the present invention, the ultrasound imaging device 5 may be a black-and-white ultrasound system, a full-digital color doppler ultrasound diagnostic system, or the like.
In the embodiment of the invention, the navigation processing module 3 and the electromagnetic positioning module 2 can be connected by a USB interface and a USB2.0 protocol so as to obtain the position and direction data of the ultrasonic image and the interventional instrument 6 from the electromagnetic positioning module 2.
In an embodiment of the present invention, the navigation processing module 3 may form the intervention path 62 according to the shape, position and orientation of the intervention instrument 6 and the need of intervention, and the intervention path 62 is generally a straight line extending along the direction of the intervention instrument 6.
FIG. 7 is a schematic diagram of fusion forming of a navigation image according to an embodiment of the present invention. As shown in fig. 7, in the embodiment of the present invention, based on the position and orientation of the ultrasound image, the position and orientation of the interventional instrument 6, and the position and orientation of the interventional path 62, the navigation processing module 3 may orthogonally project the interventional instrument 6 and the interventional path 62 onto the ultrasound image, and fuse the two together to form a navigation image fusing information of the ultrasound image, the interventional instrument, and the interventional path.
As shown in fig. 1, in the embodiment of the present invention, a navigation output module 4 is connected to a navigation processing module 3 to obtain navigation image data from the navigation processing module, and the navigation image data is output to a display device in a clearer and more intuitive display manner according to a set display manner, so as to provide intervention navigation for a medical staff performing an intervention.
The navigation image may be displayed in a two-dimensional or three-dimensional perspective display.
In the embodiment of the invention, when the interventional instrument 6 and the ultrasonic image are in a coplanar state and a non-coplanar state, the display mode of the navigation image can be different, so that interventional navigation can be provided more clearly and intuitively.
For example, FIG. 8 is a schematic illustration of a navigation image display with an interventional instrument and ultrasound images in a coplanar state, in accordance with an embodiment of the present invention. As shown in fig. 8, in the embodiment of the present invention, when the interventional instrument 6 and the ultrasound image are in a coplanar state, the projection of the interventional instrument 6 and the projection of the interventional path 62 can be displayed in a solid line manner.
FIG. 9 is a schematic illustration of a navigation image display of an interventional instrument in a non-coplanar relationship with an ultrasound image in accordance with an embodiment of the present invention. As shown in fig. 9, in the embodiment of the present invention, when the interventional instrument 6 and the ultrasound image are in a non-coplanar state, the projection of the interventional instrument 6 and the projection of the interventional path 62 can be displayed in a dashed line manner.
In embodiments of the present invention, the display of the projection of the interventional instrument 6 and/or the projection of the interventional pathway 62 may include, but is not limited to, one or more of a wire frame display, a surface display, a solid line display, a dashed line display, various color displays, a dynamic display, a static display, and the like.
In the embodiment of the present invention, when the interventional device 6 and the ultrasound image are not coplanar, the interventional path 62 or the intersection point of the interventional device 6 and the ultrasound image may be displayed in a different manner from the other points on the projection of the interventional path 62. As shown in fig. 9, the intersection of the interventional path 62 with the ultrasound image is displayed in a cross-line fashion.
In the embodiment of the present invention, the display mode of the intersection point of the intervention path 62 and the ultrasound image includes, but is not limited to, one or more combinations of a cross line display, a star display, various color displays, a dynamic display, and the like.
In the embodiment of the present invention, when the interventional device 6 and the ultrasound image are not coplanar, the projections of the two portions of the interventional path 62 on both sides of the ultrasound image may be displayed in different manners, and/or the projections of the two portions of the interventional device 6 on both sides of the ultrasound image may be displayed in different manners.
FIG. 10 is a schematic illustration of a navigation image display of another embodiment of the present invention when the interventional instrument is not coplanar with an ultrasound image. As shown in FIG. 10, in an embodiment of the present invention, the projections of the two portions of the interventional path 62 on either side of the ultrasound image may be shown in solid and dashed lines, respectively.
In embodiments of the present invention, the projection of the two portions of the interventional instrument 6 and/or the projection of the two portions of the interventional pathway 62 may be displayed in one or more combinations including, but not limited to, a wire frame display, a surface display, a solid line display, a dashed line display, various color displays, a dynamic display, a static display, and the like.
In the embodiment of the present invention, when the interventional device 6 and the ultrasound image are in the non-coplanar state, the position and the direction of the interventional device 6 can be adjusted by navigating through the intersection point of the interventional path 62 and the ultrasound image, and when the intersection point coincides with the target point, the interventional path 62 intersects the target point, so that the interventional navigation when the interventional device 6 and the ultrasound image are in the non-coplanar state can be realized.
In the embodiment of the present invention, according to the layout of the sensor 222 at the setting position of the interventional tool 61 and the structure of the interventional tool 61, the external shape of the interventional tool 61, particularly the real-time position and the direction of the working part of the interventional tool 61, can be drawn and displayed.
The embodiment of the invention can guide and position in real time, feed back the interventional path and the position direction of the working part of the interventional tool, is not limited by an angle, has high safety and is convenient and reliable to use.
In the embodiment of the present invention, the navigation processing module 3 and the navigation output module 4 may be implemented by a computer system.
In an embodiment of the present invention, the interventional ultrasound navigation system may further include a carrier, and the carrier may include an operation console, an electromagnetic positioning module mounting component, a display mounting component, a power control module, a mobile device, and the like.
In the embodiment of the invention, the operation table can be used for temporarily placing medical consumables or tools and installing, bearing and lifting the display and the electromagnetic positioning module, and has a lifting function.
In an embodiment of the present invention, the electromagnetic positioning module mounting member may be used to mount and carry the electromagnetic positioning module 2, and may be a support arm or a separate stand capable of hovering.
In the embodiment of the invention, the display mounting part can be used for mounting and carrying the display, and can be a support arm capable of hovering or an independent support.
In the embodiment of the invention, the power supply control module can be a power supply control module which conforms to the GB9706.1-2007 safety regulation and comprises a battery, and the specification of the battery is not lower than 14.8V/15.6 Ah.
In an embodiment of the present invention, the moving device may be a caster with a locking function.
The interventional navigation system of the embodiment of the invention obtains the positions and the directions of the ultrasonic images and the interventional instruments through the electromagnetic positioning module, forms the interventional paths by utilizing the navigation processing module, and forms the navigation images fusing the interventional instruments and the projections of the interventional paths, thereby providing easier operation, more accurate and effective navigation for the intervention.
In summary, the above embodiments describe the interventional navigation system in detail, but it is understood that the present invention includes but is not limited to the above embodiments, and any changes made on the basis of the above embodiments are within the scope of the present invention. One skilled in the art can take the contents of the above embodiments to take a counter-measure.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the precise embodiments described and illustrated herein, and that various changes may be made therein by those skilled in the art without departing from the scope of the invention as defined in the appended claims, all such changes as fall within the scope of the invention.
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, CD-ROM, 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.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
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 (12)
1. An interventional navigation system, comprising:
the electromagnetic positioning module is connected with an ultrasonic imaging device and an interventional instrument and used for acquiring the position and the direction of an ultrasonic image generated by the ultrasonic imaging device and the position and the direction of the interventional instrument;
a navigation processing module, which is connected to the ultrasound imaging device and the electromagnetic positioning module, forms an intervention path according to the position and the direction of the intervention instrument, and orthogonally projects the intervention instrument and the intervention path to the ultrasound image according to the position and the direction of the ultrasound image, the position and the direction of the intervention instrument, and the intervention path, so as to form a navigation image fusing the projections of the intervention instrument and the intervention path; and the navigation output module is connected with the navigation processing module and outputs the navigation image according to a set display mode.
2. The interventional navigation system of claim 1, wherein the navigation image is displayed differently when the interventional instrument and the ultrasound image are in a coplanar state than when they are not in a coplanar state.
3. The interventional navigation system of any one of claims 1-2, wherein the navigation image is displayed in a three-dimensional perspective.
4. The interventional navigation system of any one of claims 1-3, wherein the projections of the interventional instrument and the ultrasound image are displayed differently when in a coplanar state and when not in a coplanar state and/or the projections of the interventional path are displayed differently.
5. The interventional navigation system of claim 4, wherein the display of the projection of the interventional instrument and/or the projection of the interventional path includes, but is not limited to, a combination of one or more of a wireframe display, a surface display, a solid line display, a dashed line display, various color displays, a dynamic display, a static display.
6. The interventional navigation system of any one of claims 1-5, wherein the intersection of the interventional instrument and the ultrasound image is displayed in a different manner than other points on the projection of the interventional path when the interventional instrument and the ultrasound image are in a non-coplanar state.
7. The interventional navigation system of claim 6, wherein the intersection is displayed in a manner including, but not limited to, a combination of one or more of a cross-line display, a star display, a circle display, various color displays, and a dynamic display.
8. Interventional navigation system according to any one of claims 1-7, characterized in that the projections of the two parts of the interventional path on both sides of the ultrasound image are displayed in different ways, respectively, and/or the projections of the two parts of the interventional instrument on both sides of the ultrasound image are displayed in different ways, respectively, when the interventional instrument and the ultrasound image are in a non-coplanar state.
9. The interventional navigation system of claim 8, wherein the display of the projection of the two portions of the interventional instrument and/or the projection of the two portions of the interventional pathway includes, but is not limited to, a combination of one or more of a wire frame display, a surface display, a solid line display, a dashed line display, various color displays, a dynamic display, a static display.
10. Interventional navigation system according to any one of claims 1-9, characterized in that the interventional path is formed linearly extending in the direction of the interventional instrument.
11. The interventional navigation system of any one of claims 1-10, wherein the electromagnetic positioning module includes a first sensor connected to a probe of the ultrasound imaging device and a second sensor connected to the interventional instrument.
12. The interventional navigation system of any one of claims 1-11, wherein the interventional instrument includes, but is not limited to, one or more of a puncture-type instrument, a radio-frequency-type instrument, a microwave-type instrument, a particle-type instrument, an implant-type instrument, a sheath-type instrument, a tube-type instrument, a biopsy-type instrument.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110869250.9A CN113456226A (en) | 2021-07-30 | 2021-07-30 | Interventional navigation system |
| PCT/CN2022/108985 WO2023006070A1 (en) | 2021-07-30 | 2022-07-29 | Interventional navigation system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110869250.9A CN113456226A (en) | 2021-07-30 | 2021-07-30 | Interventional navigation system |
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| CN113456226A true CN113456226A (en) | 2021-10-01 |
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| CN202110869250.9A Pending CN113456226A (en) | 2021-07-30 | 2021-07-30 | Interventional navigation system |
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| CN (1) | CN113456226A (en) |
| WO (1) | WO2023006070A1 (en) |
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| WO2023006070A1 (en) * | 2021-07-30 | 2023-02-02 | 北京迈迪斯医疗技术有限公司 | Interventional navigation system |
| CN116269767A (en) * | 2023-05-22 | 2023-06-23 | 北京迈迪斯医疗技术有限公司 | Biopsy system based on electromagnetic positioning and navigation method |
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| WO2023006070A1 (en) | 2023-02-02 |
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