CN113855235A - Magnetic resonance navigation method and device for microwave thermal ablation operation of liver part - Google Patents
Magnetic resonance navigation method and device for microwave thermal ablation operation of liver part Download PDFInfo
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Abstract
The invention discloses a magnetic resonance navigation method and a device for a microwave thermal ablation operation of a liver part, and relates to the technical field of medical instruments and magnetic resonance, wherein the method comprises the following steps: acquiring a magnetic resonance anatomical image of a region to be ablated of a liver part; identifying a microwave probe image and a focus image from the anatomical image so as to respectively position the tracking time coordinates of the microwave probe and the focus according to the microwave probe image and the focus image; and predicting the actual coordinate of the current moment through the tracking moment coordinates of the microwave probe and the focus, and generating a navigation path of the microwave probe according to the actual coordinate so as to perform needle insertion navigation on the microwave probe according to the navigation path. The method can provide real-time and accurate navigation information for doctors, meets the requirements of the doctors, effectively overcomes system delay, realizes real-time feedback, and improves the operation experience of the doctors and patients.
Description
Technical Field
The invention relates to the technical field of medical instruments and magnetic resonance, in particular to a magnetic resonance navigation method and device for a microwave thermal ablation operation of a liver part.
Background
The medical image navigation is a key technology for assisting smooth implementation of the operation in the microwave thermal ablation operation process of the liver part. By means of the guidance of medical images, doctors can determine the relative position relationship between the probe and the focus, so that the interventional device can safely, quickly and accurately enter a target area, and the safety of important organs such as the liver and the like is ensured. Magnetic resonance imaging has become a potential imaging modality by virtue of its advantages of no ionizing radiation, high tissue resolution, multi-aspect imaging, and the like.
The basic flow of the magnetic resonance guided microwave thermal ablation operation of the liver part comprises the following steps: before operation, the doctor pre-scans the patient, determines the focus area on the image, selects the best layer and needle insertion point for puncture, plans the needle insertion path and selects a microwave probe with proper length. In the actual operation process, the navigation system determines the positions of the focus and the interventional device, feeds back the positions to a doctor or a mechanical arm for performing the operation in real time, judges whether the microwave probe accurately enters the focus area or not, and continuously adjusts the needle inserting direction according to the needle target relation. When the microwave probe enters the target area where the focus is located, the thermal ablation treatment of the liver part can be carried out.
However, the related art cannot provide real-time and accurate magnetic resonance navigation information, cannot meet the requirements of doctors, and reduces the surgical experience of doctors and patients.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, an object of the present invention is to provide a magnetic resonance navigation method for use in microwave thermal ablation of a liver region, which can provide real-time and accurate navigation information for a doctor, meet the needs of the doctor, effectively overcome system delay, implement real-time feedback, and improve the surgical experience of the doctor and a patient.
Another object of the present invention is to provide a magnetic resonance navigator for microwave thermal ablation of a liver region.
In order to achieve the above object, an embodiment of the present invention provides a magnetic resonance navigation method for use in microwave thermal ablation of a liver region, including the following steps: acquiring a magnetic resonance anatomical image of a region to be ablated of a liver part; identifying a microwave probe image and a focus image from the anatomical image so as to respectively position the tracking time coordinates of the microwave probe and the focus according to the microwave probe image and the focus image; and predicting the actual coordinate of the current moment through the tracking moment coordinates of the microwave probe and the focus, and generating a navigation path of the microwave probe according to the actual coordinate so as to perform needle insertion navigation on the microwave probe according to the navigation path.
The magnetic resonance navigation method for the microwave thermal ablation operation of the liver part, provided by the embodiment of the invention, can predict the coordinate at the current moment based on the positioning results of the focus and the probe so as to obtain real-time and accurate magnetic resonance navigation information, thereby providing real-time and accurate navigation information for a doctor, adapting to the requirements of the doctor, effectively overcoming system delay, realizing real-time feedback and improving the operation experience of the doctor and a patient.
In addition, the magnetic resonance navigation method for microwave thermal ablation of the liver part according to the above embodiment of the present invention may further have the following additional technical features:
further, positioning according to the acquired microwave probe image to obtain the probe orientation and the needle point coordinate, and the method comprises the following steps: selecting a background image in a corresponding motion state; carrying out difference processing on the microwave probe image and the background image, and reconstructing a difference image; and determining the needle point coordinate and the probe orientation of the microwave probe in the anatomical image by using the differential image.
Further, predicting the actual coordinates of the current time by the coordinates of the tracking time of the microwave probe and the lesion, including: calculating delay time according to the image acquisition time, the identification time and the positioning time; and predicting the actual coordinates of the current time according to the motion tracking result, the positioning time and the delay time of the microwave probe and the focus.
Further, identifying a lesion image from the anatomical image, and locating coordinates of the lesion according to the lesion image, including: reconstructing the anatomical image by adopting a first reconstruction time window to obtain a first signal-to-noise ratio image, and imaging a focus according to the first signal-to-noise ratio image to obtain a focus image; and performing template matching on the focus image and the focus template image by adopting a phase cross-correlation algorithm to determine the coordinates of the focus.
Further, identifying a lesion image from the anatomical image, and locating coordinates of the lesion according to the lesion image, including: reconstructing the anatomical image by adopting a second reconstruction time window to obtain a second signal-to-noise ratio image; and inputting the second signal-to-noise ratio image and coordinate information of the upper edge of the liver part into a motion model so as to output the coordinates of the focus.
In order to achieve the above object, another embodiment of the present invention provides a magnetic resonance navigator for microwave thermal ablation of a liver region, including: the acquisition module is used for acquiring a magnetic resonance anatomical image of a region to be ablated of the liver part; the positioning module is used for identifying a microwave probe image and a focus image from the anatomical image so as to respectively position the tracking time coordinates of the microwave probe and the focus according to the microwave probe image and the focus image; and the navigation module is used for predicting the actual coordinate of the current moment through the microwave probe and the tracking moment coordinate of the focus, generating a navigation path of the microwave probe according to the actual coordinate, and performing needle insertion navigation on the microwave probe according to the navigation path.
The magnetic resonance navigation device for the microwave thermal ablation operation of the liver part predicts the coordinates at the current moment based on the positioning results of the focus and the probe to obtain real-time and accurate magnetic resonance navigation information, so that the real-time and accurate navigation information can be provided for a doctor, the requirements of the doctor are met, the system delay is effectively overcome, the real-time feedback is realized, and the operation experience of the doctor and a patient is improved.
In addition, the magnetic resonance navigation device for microwave thermal ablation of the liver part according to the above embodiment of the invention may further have the following additional technical features:
further, the positioning module is further configured to select a background image of the corresponding motion state; carrying out difference processing on the microwave probe image and the background image, and reconstructing a difference image; and determining the needle point coordinate and the probe orientation of the microwave probe in the anatomical image by using the differential image.
Further, the navigation module is further used for calculating delay time according to the image acquisition time, the identification time and the positioning time; and predicting the actual coordinates of the current time according to the motion tracking result, the positioning time and the delay time of the microwave probe and the focus.
Further, the positioning module is further configured to reconstruct the anatomical image by using a first reconstruction time window to obtain a first signal-to-noise ratio image, and image the lesion according to the first signal-to-noise ratio image to obtain the lesion image; and performing template matching on the focus image and the focus template image by adopting a phase cross-correlation algorithm to determine the coordinates of the focus.
Further, the positioning module is further configured to reconstruct the anatomical image using a second reconstruction time window to obtain a second signal-to-noise ratio image; and inputting the second signal-to-noise ratio image and coordinate information of the upper edge of the liver part into a motion model so as to output the coordinates of the focus.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a magnetic resonance navigation method for use in microwavable thermal ablation of a liver region according to an embodiment of the present invention;
FIG. 2 is a flow chart of a magnetic resonance navigation method for use in microwavable thermal ablation of a liver region according to one embodiment of the present invention;
FIG. 3 is an exemplary diagram of magnetic resonance navigation results according to one embodiment of the present invention;
fig. 4 is a block diagram of a magnetic resonance navigator used in a microwave thermal ablation procedure for a liver region according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The present invention is based on the recognition and discovery by the inventors of the following problems:
the development of magnetic resonance navigation systems involves three main tasks:
the first major task is probe localization technology. In this technique, the physician is concerned with the orientation of the probe and the coordinates of the tip position. The existing probe positioning technology is mainly divided into passive positioning and active positioning.
The passive localization technique is a localization technique based on the passive effect of metal in magnetic resonance signals, and relies on metal artifacts caused by differences in magnetic susceptibility to identify probes. The passive positioning method has the advantages of simplicity, safety and no dependence on complex hardware equipment. However, the positioning accuracy and the frame rate obtained by the method are mainly limited by the passive effect strength of the metal probe; moreover, the same metal probe can generate metal artifacts with various shapes under different conditions, and positioning deviation is easy to generate. In the active positioning technology, a radio frequency coil, an antenna or other sensing equipment is attached to a metal probe and connected to a receiving channel on a magnetic resonance scanner, and multi-dimensional projection is obtained, so that the metal probe can be positioned. Active localization can generate sharp three-dimensional information with high temporal and spatial resolution, a fast process that can be interleaved with magnetic resonance real-time scanning. However, active localization is limited by complex hardware techniques and the rf pulses applied to the mr scanner can induce currents in and around the metal probe, thereby creating rf heating and safety risks.
There are also advanced positioning methods based on the above-mentioned methods. For example, by means of infrared light on a needle holder plate and a magnetic resonance magnet systemThe sources constitute an optical triangulation system that infers the position of the tip and the orientation of the probe, but this introduces complex registration problems, causing positioning errors[4](ii) a The positive contrast image of the metal probe is generated through the dephasing gradient, but different dephasing gradients need to be designed for the metal probes with different magnetic susceptibilities to achieve the best performance, and the universality is not strong; the neural network is trained by utilizing the data set of the interventional operation image, so that the very fast image processing speed is achieved, but the requirement on the data set is difficult to realize clinically and is not in line with the actual situation of most medical institutions for developing interventional operations. Therefore, a metal probe positioning algorithm which is fast and accurate, meets clinical requirements and adapts to the actual situation of a medical institution is required to be developed by using a non-deep learning algorithm based on a common rapid imaging sequence without a special hardware system.
The second main task is lesion localization technology. Microwave thermal ablation procedures performed at the liver site are susceptible to respiratory motion. If respiratory motion is not considered and processed, motion artifacts exist in the acquired images, which cause displacement and volume change of the region of interest; the edges of the lesions can be unclear, causing the failure of the path planning under partial conditions; the probe is difficult to target at the target area where the lesion is located during the interventional procedure. Techniques for processing respiratory motion include respiratory gating techniques, breath holding techniques, forced shallow breathing techniques, and the like. The latter two methods do not require complex post-processing and reconstruction techniques, and can achieve efficient acquisition, but have poor applicability to elderly patients and children, and even to healthy adults can cause uncomfortable surgical experience. Respiratory gating techniques acquire data only at the end of expiration during a respiratory motion cycle because the respiratory motion is nearly stationary and of relatively long duration, but respiratory gating techniques can result in decreased acquisition efficiency and prolonged surgical procedures. Therefore, an ideal solution to deal with respiratory motion would be to have a good surgical experience for the patient, free breathing, and allow the physician to efficiently obtain the exact lesion and probe position.
The third main task is real-time feedback technology. The physician needs to know the coordinates of the probe and the lesion at the current time in order to make real-time adjustments. However, the feedback of the navigation system often has a delay, which is caused by the data acquisition time, the image reconstruction time and the operation time of the positioning algorithm. If the delay of the navigation system is not considered, the motion information obtained by the above positioning method is deviated from the motion information at the current time. Therefore, the navigation system needs to predict the coordinates of the lesion and the probe at the current time based on the coordinates of the lesion and the probe obtained by the positioning algorithm, so as to feed back the coordinates to the doctor or the mechanical arm operating the operation in real time.
In addition, image navigation is one of the core technologies applied to microwave thermal ablation of liver parts. Magnetic resonance imaging has become a very potential navigational imaging modality with its many advantages of no ionizing radiation, high soft tissue contrast, arbitrary imaging plane. The invention focuses on three core tasks of magnetic resonance navigation technology: probe positioning, focus positioning and real-time feedback, and provides a magnetic resonance navigation method. The probe positioning technology is used for obtaining a needle point coordinate and a probe orientation by using a positioning method on the basis of real-time imaging; the focus positioning technology obtains focus coordinates on the basis of the real-time imaging; based on the positioning result, the motion information of the probe and the focus at the current moment is predicted respectively, the system delay is overcome, and real-time feedback is provided.
The following will specifically describe a magnetic resonance navigation method and an apparatus for use in microwave thermal ablation of a liver region according to an embodiment of the present invention with reference to the drawings, and first, a magnetic resonance navigation method for use in microwave thermal ablation of a liver region according to an embodiment of the present invention will be described with reference to the drawings.
Fig. 1 is a flow chart of a magnetic resonance navigation method for use in microwavable thermal ablation of a liver region in accordance with an embodiment of the present invention.
As shown in fig. 1, the magnetic resonance navigation method for microwave thermal ablation of a liver part comprises the following steps:
in step S101, a magnetic resonance anatomical image of a region of the liver region to be ablated is acquired.
The region to be ablated is the region of the liver part where the tumor to be ablated is located.
In step S102, a microwave probe image and a lesion image are identified from the anatomical image, so as to locate the tracking time coordinates of the microwave probe and the lesion, respectively, according to the microwave probe image and the lesion image.
It can be understood that the embodiment of the invention can utilize the probe positioning technology to obtain the needle point coordinate and the probe orientation by utilizing the positioning method on the basis of real-time imaging; and obtaining the coordinates of the focus on the basis of the real-time imaging by using a focus positioning technology.
In this embodiment, obtaining probe orientation and needle point coordinates according to the acquired microwave probe image positioning includes: selecting a background image in a corresponding motion state; carrying out difference processing on the microwave probe image and the background image, and reconstructing a difference image; and determining the needle point coordinate and the probe orientation of the microwave probe in the anatomical image by using the differential image.
It should be noted that passive positioning utilizes metal artifacts, which is simple and safe, but the accuracy and frame rate are limited; in active positioning, imaging equipment such as a specially-made coil is utilized to quickly and accurately obtain multi-dimensional projection, but the hardware technology is complex and potential safety hazards exist; other methods often have higher requirements on writing sequences, acquiring data sets, acquiring complex computing equipment and the like. Therefore, the embodiment of the invention combines the advantages of passive positioning and active positioning to develop a simple, safe, rapid and accurate metal probe positioning method. According to the embodiment of the invention, on the basis of a common rapid imaging sequence and a common sampling track, a data stream is flexibly reconstructed, and real-time imaging is realized; the traditional probe positioning method is popularized to the real-time imaging scene, so that the navigation system can quickly and accurately mark the orientation and the needle point position of the probe on the anatomical image by using the prior knowledge of the background on the basis of real-time imaging, and the time resolution and the positioning precision are both considered.
Specifically, as shown in fig. 2, in the microwave probe positioning technology, the embodiment of the present invention flexibly reconstructs a data stream and performs real-time imaging based on a fast gradient echo imaging sequence by using the characteristics of a radial trajectory, and on the basis, positions of a needle point coordinate and a probe direction are performed.
The metal probe positioning method is based on the following basic assumptions. The probe appears as a rectangular metal artifact in the image; background images other than metal probes are known. The differential image can be effectively reconstructed by combining the background frame and the current frame, and the orientation and the needle point coordinate of the probe can be obtained by utilizing the image. An ideal probe image can be obtained by selecting a small amount of data, so that the required data acquisition amount is small, the image reconstruction speed is far higher than the data acquisition speed, and the invention can realize the quick positioning of the metal probe.
In organs affected by respiratory motion, the trajectories are collected radially using a golden angular distribution. Sliding time window reconstruction can be applied to the trajectory, and almost uniformly distributed samples are provided in any time window so as to recover images in any motion state; by repeatedly sampling the k-space center, golden horn radial acquisition is also more robust to physiological motion and undersampling. Before an operation, a background needs to be imaged according to the same sampling track to obtain a series of frames. In operation, on the basis of real-time imaging, a differential image is obtained by using the background frame in a corresponding state. The probe image is processed morphologically, the influence of artifacts is reduced, the complete tip features are retained, and then the tip coordinates and the probe orientation are marked on the anatomical image.
In the thermal ablation operation performed on a liver region, if respiratory motion is not processed, a lesion affected by the respiratory motion generates a motion artifact in a magnetic resonance image. The methods of respiratory gating technology, breath holding technology, forced shallow breathing technology and the like can cause poor operation experience of patients, or cause low data utilization efficiency and prolong operation time. The embodiment of the invention enables the patient to freely breathe, and efficiently utilizes the acquired data to realize rapid and accurate positioning of the focus on the basis of the real-time imaging of the probe positioning technology so as to obtain an accurate focus positioning result. The embodiment of the invention can perform focus positioning in various ways, and the method specifically comprises the following steps:
as a possible implementation manner, identifying a focus image from the anatomical image, and locating coordinates of the focus according to the focus image includes: reconstructing the anatomical image by adopting a first reconstruction time window to obtain a first signal-to-noise ratio image, and imaging the focus according to the first signal-to-noise ratio image to obtain a focus image; and performing template matching on the focus image and the focus template image by adopting a phase cross-correlation algorithm to determine the coordinates of the focus.
The first reconstruction time window refers to a wider reconstruction time window, and the first signal-to-noise ratio image refers to an image with a higher signal-to-noise ratio.
Specifically, the embodiment of the invention can obtain an image with higher signal-to-noise ratio by adopting a wider reconstruction time window, directly image the focus, and obtain the position of the focus by utilizing a focus template image acquired before operation and performing template matching by adopting a phase cross-correlation algorithm, thereby effectively improving the positioning precision.
As another possible implementation manner, identifying a lesion image from the anatomical image, and locating coordinates of a lesion according to the lesion image includes: reconstructing the anatomical image by adopting a second reconstruction time window to obtain a second signal-to-noise ratio image; and inputting the second signal-to-noise ratio image and the coordinate information of the upper edge of the liver part into the motion model so as to output the coordinates of the focus.
Wherein, the second reconstruction time window refers to a narrower reconstruction time window, and the second signal-to-noise ratio image refers to an image with a lower signal-to-noise ratio.
Specifically, the embodiment of the invention can adopt a narrower reconstruction time window to obtain an image with a lower signal-to-noise ratio, and inputs the coordinates of the upper edge of the liver into the motion model to obtain the coordinates of the focus, thereby effectively reducing the system delay.
When the focus positioning is performed, the focus positioning method can be specifically selected according to the requirement on precision in the actual operation scene and the acceptance degree of the system delay time, and is not specifically limited.
In step S103, the actual coordinates of the current time are predicted from the tracking time coordinates of the microwave probe and the lesion, and a navigation path of the microwave probe is generated according to the actual coordinates, so as to perform needle insertion navigation on the microwave probe according to the navigation path.
It is understood that, in order to solve the system delay time, the embodiment of the present invention may predict the coordinates of the lesion and the probe at the current time based on the localization result of the lesion and the probe and the system delay time, thereby implementing real-time feedback to the doctor.
In this embodiment, predicting the actual coordinates of the current time by the coordinates of the tracking time of the microwave probe and the lesion includes: calculating delay time according to the image acquisition time, the identification time and the positioning time; and predicting the actual coordinates of the current moment according to the motion tracking result, the positioning moment and the delay time of the microwave probe and the focus.
Specifically, as shown in fig. 2, the present invention predicts the coordinate information of the current time based on the positioning result, overcomes the system delay, and realizes the real-time feedback. The real-time feedback technique needs to estimate the system delay time consisting of the acquisition time, the reconstruction time and the positioning time in advance, and predict the focus and the probe position at the current time from the positioning time based on the positioning result and the system delay time by using a Kalman filtering method. Then, the probe orientation, the coordinates of the probe and the lesion are marked on the anatomical image, and the result is displayed on a screen and fed back to a doctor in real time.
As an example of a navigation result, as shown in fig. 3, a part of a liver is used as a simulated focus and marked with a "+" sign. The black columnar artifact on the left side is a probe, and the needle tip is marked by a circle; marking the connecting line of the needle insertion point and the focus by a dotted line as a planned needle insertion path; the axis of symmetry of the probe and its extension are marked with a solid line as the probe orientation.
In summary, the embodiment of the invention has the following beneficial effects:
(1) the probe positioning technology of the related technology is often difficult to realize quick and accurate positioning together, or depends on complex hardware, special imaging sequences and a large number of training sets, and is difficult to adapt to the actual scene in a hospital. The embodiment of the invention overcomes the defects, and realizes a metal probe positioning method with high tracking precision, high updating speed and strong safety factor by flexibly reconstructing the sampling data and the background information on the basis of a common rapid imaging sequence;
(2) in lesion localization in a respiratory motion scenario, related art localization methods have limitations on patient breathing or limitations on sampled data. The embodiment of the invention can enable the patient to breathe freely, and doctors can efficiently utilize the acquired data to obtain the coordinates of the focus by combining with the focus template or the motion model which is obtained in advance.
(3) In order to overcome system delay and realize real-time feedback, the embodiment of the invention predicts the coordinate of the current moment based on the positioning results of the focus and the probe, provides real-time and accurate navigation information for a doctor and adapts to the requirements of the doctor.
(4) The embodiment of the invention is beneficial to popularization and application of the magnetic resonance navigation technology in the field of minimally invasive interventional surgery of liver parts, and improves the surgical experience of doctors and patients.
According to the magnetic resonance navigation method for the microwave thermal ablation operation of the liver part, provided by the embodiment of the invention, the probe and the focus positioning can be quickly and accurately realized, and the real-time feedback of the probe and the focus positioning can be realized, so that the requirements of time resolution and precision in the thermal ablation operation of the liver part are met; the method has the advantages that the rapidity and the accuracy are realized, and meanwhile, a complex imaging sequence, a large number of training sets, complex computing equipment or complex hardware facilities are not needed; under the breathing motion scene, make patient freely breathe, make the doctor high-efficiently acquire required image, promote the operation experience to realize quick and accurate location and real-time feedback to probe and focus jointly.
Next, a magnetic resonance navigator used in a microwave thermal ablation procedure for a liver region according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 4 is a block diagram of a magnetic resonance navigator used in a microwave thermal ablation procedure for a liver region in accordance with an embodiment of the present invention.
As shown in fig. 4, the magnetic resonance navigation apparatus 10 for use in microwave thermal ablation of a liver region includes: an acquisition module 100, a positioning module 200 and a navigation module 300. Wherein the content of the first and second substances,
the acquisition module 100 is used to acquire a magnetic resonance anatomical image of a region to be ablated of a liver region.
The positioning module 200 is configured to identify a microwave probe image and a lesion image from the anatomical image, and to respectively position the tracking time coordinates of the microwave probe and the lesion according to the microwave probe image and the lesion image.
In this embodiment, the positioning module 200 is further configured to select a background image of the corresponding motion state; carrying out difference processing on the microwave probe image and the background image, and reconstructing a difference image; and determining the needle point coordinate and the probe orientation of the microwave probe in the anatomical image by using the differential image.
In this embodiment, the positioning module 200 is further configured to reconstruct the anatomical image by using a first reconstruction time window to obtain a first signal-to-noise ratio image, and image the lesion according to the first signal-to-noise ratio image to obtain a lesion image; and performing template matching on the focus image and the focus template image by adopting a phase cross-correlation algorithm to determine the coordinates of the focus.
In this embodiment, the positioning module 200 is further configured to reconstruct the anatomical image by using a second reconstruction time window to obtain a second signal-to-noise ratio image; and inputting the second signal-to-noise ratio image and the coordinate information of the upper edge of the liver part into the motion model so as to output the coordinates of the focus.
The navigation module 300 is configured to predict an actual coordinate of the current time through the tracking time coordinates of the microwave probe and the lesion, and generate a navigation path of the microwave probe according to the actual coordinate, so as to perform needle insertion navigation on the microwave probe according to the navigation path.
In this embodiment, the navigation module 300 is further configured to calculate a delay time according to the image acquisition time, the identification time, and the positioning time; and predicting the actual coordinates of the current moment according to the motion tracking result, the positioning moment and the delay time of the microwave probe and the focus.
It should be noted that the foregoing explanation of the embodiment of the magnetic resonance navigation method for use in microwave thermal ablation of a liver region is also applicable to the magnetic resonance navigation apparatus for use in microwave thermal ablation of a liver region of this embodiment, and is not repeated herein.
According to the magnetic resonance navigation device for the microwave thermal ablation operation of the liver part, provided by the embodiment of the invention, the rapid and accurate probe and focus positioning and real-time feedback can be realized, and the requirements of time resolution and precision in the thermal ablation operation of the liver part are met; the method has the advantages that the rapidity and the accuracy are realized, and meanwhile, a complex imaging sequence, a large number of training sets, complex computing equipment or complex hardware facilities are not needed; under the breathing motion scene, make patient freely breathe, make the doctor high-efficiently acquire required image, promote the operation experience to realize quick and accurate location and real-time feedback to probe and focus jointly.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A magnetic resonance navigation method used in microwave thermal ablation operation of a liver part is characterized by comprising the following steps:
acquiring a magnetic resonance anatomical image of a region to be ablated of a liver part;
identifying a microwave probe image and a focus image from the anatomical image so as to respectively position the tracking time coordinates of the microwave probe and the focus according to the microwave probe image and the focus image; and
and predicting the actual coordinate of the current moment through the tracking moment coordinates of the microwave probe and the focus, and generating a navigation path of the microwave probe according to the actual coordinate so as to perform needle insertion navigation on the microwave probe according to the navigation path.
2. The method of claim 1, wherein obtaining probe orientation and tip coordinates from the acquired microwave probe image locations comprises:
selecting a background image in a corresponding motion state;
carrying out difference processing on the microwave probe image and the background image, and reconstructing a difference image;
and determining the needle point coordinate and the probe orientation of the microwave probe in the anatomical image by using the differential image.
3. The method of claim 2, wherein predicting actual coordinates of a current time from the tracked time coordinates of the microwave probe and the lesion comprises:
calculating delay time according to the image acquisition time, the identification time and the positioning time;
and predicting the actual coordinates of the current time according to the motion tracking result, the positioning time and the delay time of the microwave probe and the focus.
4. The method of claim 1, wherein identifying a lesion image from the anatomical image, locating coordinates of the lesion from the lesion image comprises:
reconstructing the anatomical image by adopting a first reconstruction time window to obtain a first signal-to-noise ratio image, and imaging a focus according to the first signal-to-noise ratio image to obtain a focus image;
and performing template matching on the focus image and the focus template image by adopting a phase cross-correlation algorithm to determine the coordinates of the focus.
5. The method of claim 1, wherein identifying a lesion image from the anatomical image, locating coordinates of the lesion from the lesion image comprises:
reconstructing the anatomical image by adopting a second reconstruction time window to obtain a second signal-to-noise ratio image;
and inputting the second signal-to-noise ratio image and coordinate information of the upper edge of the liver part into a motion model so as to output the coordinates of the focus.
6. A magnetic resonance navigator used in microwave thermal ablation operation of a liver part is characterized by comprising:
the acquisition module is used for acquiring a magnetic resonance anatomical image of a region to be ablated of the liver part;
the positioning module is used for identifying a microwave probe image and a focus image from the anatomical image so as to respectively position the tracking time coordinates of the microwave probe and the focus according to the microwave probe image and the focus image; and
and the navigation module is used for predicting the actual coordinate of the current moment through the microwave probe and the tracking moment coordinate of the focus, generating a navigation path of the microwave probe according to the actual coordinate, and performing needle insertion navigation on the microwave probe according to the navigation path.
7. The apparatus of claim 6, wherein the positioning module is further configured to select a background image of the corresponding motion state; carrying out difference processing on the microwave probe image and the background image, and reconstructing a difference image; and determining the needle point coordinate and the probe orientation of the microwave probe in the anatomical image by using the differential image.
8. The apparatus of claim 7, wherein the navigation module is further configured to calculate a delay time based on the image acquisition time, the identification time, and the location time; and predicting the actual coordinates of the current time according to the motion tracking result, the positioning time and the delay time of the microwave probe and the focus.
9. The apparatus of claim 6, wherein the localization module is further configured to reconstruct the anatomical image using a first reconstruction time window to obtain a first signal-to-noise ratio image, and image the lesion according to the first signal-to-noise ratio image to obtain the lesion image; and carrying out template matching on the focus image and the focus template image so as to determine the coordinates of the focus.
10. The apparatus of claim 6, wherein the localization module is further configured to reconstruct the anatomical image using a second reconstruction time window to obtain a second signal-to-noise ratio image; and inputting the second signal-to-noise ratio image and coordinate information of the upper edge of the liver part into a motion model so as to output the coordinates of the focus.
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