CN115363757A - Design method based on mixed reality tumor minimally invasive surgery - Google Patents
Design method based on mixed reality tumor minimally invasive surgery Download PDFInfo
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- CN115363757A CN115363757A CN202211079393.0A CN202211079393A CN115363757A CN 115363757 A CN115363757 A CN 115363757A CN 202211079393 A CN202211079393 A CN 202211079393A CN 115363757 A CN115363757 A CN 115363757A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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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
- A61B2034/2055—Optical tracking systems
- A61B2034/2057—Details of tracking cameras
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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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Abstract
The invention discloses a design method based on mixed reality tumor minimally invasive surgery, a corresponding design system of the design method consists of operation planning software, MR equipment, magnetic navigation equipment, a 3D vision camera and an electronic tag, and the invention relates to the technical field of medical clinical surgery. The design method based on the mixed reality tumor minimally invasive surgery can completely restore the operation intention of a clinician, and ensures that the position, the angle, the depth and the like of a puncture needle of the clinician when the minimally invasive surgery is performed on the tumor meet the requirements of a preoperative treatment plan, so that the safety and the treatment effect of the surgery are ensured, the working efficiency is greatly improved, the surgery time is shortened, the pain of a patient is reduced, the image scanning times are greatly reduced, the operation is simple, the maintenance is convenient, and the method can be used for performing the accurate minimally invasive surgery operation under the guidance of various medical imaging devices such as CT, nuclear magnetism, ultrasound and the like.
Description
Technical Field
The invention relates to the technical field of medical clinical operations, in particular to a design method of a tumor minimally invasive operation based on mixed reality.
Background
The existing tumor minimally invasive surgery is completely treated by puncturing by doctors according to experience: firstly, a doctor plans a proper puncture path according to the position, size, form and depth of a tumor of a patient on a medical image, then the doctor punctures the tumor by hands through experience, the whole process is completely operated manually, and the puncture precision completely depends on the experience of the doctor.
The main problems are that the risk of the bare-handed puncture operation of a doctor is high, the puncture precision is low, the treatment effect is poor, the doctor possibly punctures blood vessels, nerves and important organs to cause medical accidents, and the life safety of the patient is endangered.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a design method based on a mixed reality tumor minimally invasive surgery, which solves the problems that the risk of bare-handed puncture surgery of a doctor is high, the puncture accuracy is low, the treatment effect is poor, the doctor possibly punctures blood vessels, nerves and important organs to cause medical accidents, and the life safety of a patient is endangered.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: a design method based on mixed reality tumor minimally invasive surgery corresponds to a design system which is composed of surgery planning software, MR equipment, magnetic navigation equipment, a 3D vision camera and an electronic tag, and specifically comprises the following steps:
s1, firstly, introducing medical images scanned by CT and nuclear magnetic equipment of a patient into operation planning software, and planning a puncture path according to treatment requirements;
s2, fusing the image coordinates and the predicted coordinates generated by the operation planning software in the step S1 and the puncture path obtained after three-dimensional reconstruction with the patient image captured by the MR, pushing the fused image to a doctor, and enabling the doctor to see the fused image and the guide path through the MR;
s3, when a doctor performs a puncture operation, the magnetic navigation equipment and the 3D vision camera calculate the actual coordinates of the puncture needle with the electronic tag in real time and transmit the actual coordinates to operation planning software for data integration, and the integrated puncture needle data is displayed in a fusion image in real time to guide the doctor to adjust the position, the angle and the direction of the puncture needle;
and S4, when the puncture needle completely coincides with the guide path, carrying out actual puncture operation, informing the needle insertion depth of the puncture needle of the operation planning software in real time by the 3D vision camera and the magnetic navigation equipment, informing a doctor through the MR equipment, displaying the puncture needle on the fused image, and repeating the steps until the operation is finished.
Preferably, when the puncture is performed in step S3, the surgical planning software calculates a deviation between the actual coordinate and the predicted coordinate, and provides a correction suggestion, and when the virtual needle completely coincides with the guide path, the adjustment of the puncture needle is completed.
Preferably, the surgical planning software is composed of a puncture path design module, a three-dimensional reconstruction module and a cooperative control module, and the processing method of the puncture path design module specifically comprises the following steps: and (3) importing the patient image data into operation planning software for data analysis, drawing a patient tumor target area on the operation planning software by a doctor according to clinical treatment requirements, reasonably designing a puncture path, and converting coordinate information of the puncture path on the medical image into coordinate information of a world geographic coordinate system.
Preferably, the processing method of the three-dimensional reconstruction module is specifically that the operation planning software carries out three-dimensional reconstruction on the image data of the patient, and the designed puncture path is displayed on the three-dimensional reconstructed image for guidance during real puncture.
Preferably, the cooperative control module is used for processing cooperation on data interaction and instructions of each subsystem in real time by the operation planning software.
Preferably, the MR device is a mixed reality device, and the MR device fuses a real-world patient image captured by the MR device and a three-dimensional reconstruction image generated by surgical planning software, the fusion image follows and fits the posture of the patient in real time, and the guidance path indicates the direction and angle of the puncture required by the doctor on the body surface of the patient.
Preferably, the built-in magnet and the coil of the electronic tag are used for carrying out interactive induction with magnetic navigation equipment, the external cross mark is convenient to be captured by a 3D vision camera, and the electronic tag is installed at the tail part of the puncture needle before operation.
Preferably, the 3D visual camera captures the position of the electronic tag, converts the position into coordinate information of a world geographic coordinate system, and interacts with the magnetic navigation device data through the surgical planning software, so that complete position information of the puncture needle in the world geographic coordinate system can be obtained.
Preferably, the magnetic navigation device captures the posture of the puncture needle in real time, so that the length of the puncture needle is calculated according to the actual coordinate value, namely the depth of the puncture needle entering a human body during surgery is calculated, and the puncture needle interacts with the 3D vision camera through surgery planning software, so that the complete position information of the puncture needle in the world geographic coordinate system is obtained.
(III) advantageous effects
The invention provides a design method based on mixed reality tumor minimally invasive surgery. Compared with the prior art, the method has the following beneficial effects: the design method based on the mixed reality tumor minimally invasive surgery comprises a corresponding design system consisting of operation planning software, MR equipment, magnetic navigation equipment, a 3D vision camera and an electronic tag, and specifically comprises the following steps: s1, firstly, introducing medical images scanned by CT and nuclear magnetic equipment of a patient into operation planning software, planning a puncture path according to treatment requirements, S2, fusing image coordinates and predicted coordinates generated by the operation planning software in the step S1 and the puncture path obtained after three-dimensional reconstruction with an image of the patient captured by MR, pushing the fused image to a doctor, seeing the fused image and the guide path through the MR, S3, when the doctor performs puncture operation, calculating the actual coordinates of a puncture needle with an electronic tag in real time by magnetic navigation equipment and a 3D vision camera, transmitting the actual coordinates to the operation planning software for data integration, displaying the integrated puncture needle data in the fused image in real time to guide the doctor to adjust the position, the angle and the direction of the puncture needle, and S4, when the puncture needle is completely overlapped with the guide path, the actual puncture operation is carried out, the 3D vision camera and the magnetic navigation equipment inform the needle insertion depth of the puncture needle of the operation plan software in real time, and inform a doctor through the MR equipment and display the needle insertion depth on the fused image, so that the operation is repeated until the operation is finished, the operation intention of the clinician can be completely restored, and the position, the angle, the depth and the like of the puncture needle when the doctor carries out minimally invasive operation on the tumor meet the requirements of a preoperative treatment plan, so that the safety and the treatment effect of the operation are ensured, the working efficiency is greatly improved, the operation time is shortened, the pain of a patient is reduced, the image scanning times are greatly reduced, the operation is simple, the maintenance is convenient, and the accurate minimally invasive operation can be carried out by using the method under the guidance of various medical image equipment such as CT, nuclear magnetic, ultrasonic and the like.
Drawings
Fig. 1 is a schematic block diagram of a design system according to the present invention.
Detailed Description
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.
Referring to fig. 1, an embodiment of the present invention provides a technical solution: a design method based on mixed reality tumor minimally invasive surgery is characterized in that a corresponding design system is composed of surgery planning software, MR equipment, magnetic navigation equipment, a 3D vision camera and an electronic tag, and the tumor minimally invasive therapy method based on mixed reality specifically comprises the following steps:
s1, firstly, introducing medical images scanned by CT and nuclear magnetic equipment of a patient into operation planning software, and planning a puncture path according to treatment requirements;
s2, fusing the image coordinates and the predicted coordinates generated by the operation planning software in the step S1 and the puncture path obtained after three-dimensional reconstruction with the patient image captured by the MR, pushing the fused image to a doctor, and enabling the doctor to see the fused image and the guide path through the MR;
s3, when a doctor performs puncture surgery, the magnetic navigation equipment and the 3D vision camera calculate the actual coordinate of the puncture needle with the electronic tag in real time and transmit the actual coordinate to operation planning software for data integration, the integrated puncture needle data is displayed in a fusion image in real time to guide the doctor to adjust the position, the angle and the direction of the puncture needle, when the puncture is performed, the operation planning software calculates the deviation between the actual coordinate and the predicted coordinate and gives a correction suggestion, and when the virtual needle and the guide path are completely overlapped, the adjustment of the puncture needle is completed;
and S4, when the puncture needle is completely overlapped with the guide path, carrying out actual puncture operation, informing the needle insertion depth of the puncture needle to operation planning software in real time by the 3D vision camera and the magnetic navigation equipment, informing a doctor by the MR equipment, displaying the needle insertion depth on the fusion image, and repeating the steps until the operation is finished.
In the embodiment of the invention, the operation planning software consists of a puncture path design module, a three-dimensional reconstruction module and a cooperative control module, and the processing method of the puncture path design module specifically comprises the following steps: the method comprises the steps that patient image data are imported into operation planning software for data analysis, doctors draw a patient tumor target area on the operation planning software according to clinical treatment requirements, puncture paths are reasonably designed, meanwhile, coordinate information of the puncture paths on medical images is converted into coordinate information of a world geographic coordinate system, the three-dimensional reconstruction module is used for processing the three-dimensional reconstruction of the patient image data through the operation planning software, the designed puncture paths are displayed on the three-dimensional reconstructed images and used for guiding in real puncture, and the cooperative control module is used for carrying out real-time processing cooperation on data interaction and instructions of all subsystems through the operation planning software.
In the embodiment of the invention, the MR device is a mixed reality device, the device fuses a real-world patient image captured by the MR device and a three-dimensional reconstruction image generated by operation planning software, the fusion image follows and fits the body state of a patient in real time, and a guide path marks the direction and the angle of a doctor needing to puncture on the body surface of the patient.
In the embodiment of the invention, instruments for minimally invasive surgery are various, including a biopsy needle, a puncture needle, a cryoablation needle, a thermal ablation needle, a nano-knife and the like, all of the instruments are made of metal materials, meanwhile, the puncture surgery operation needs to be performed, hereinafter, the instruments are collectively called as the puncture needle, an electronic tag built-in magnet and a coil are used for performing interactive induction with magnetic navigation equipment, an external cross mark is convenient to be captured by a 3D (three-dimensional) vision camera, and the electronic tag is installed at the tail of the puncture needle before surgery.
In the embodiment of the invention, the 3D vision camera captures the position of the electronic tag, converts the position into the coordinate information of a world geographic coordinate system, and interacts with the magnetic navigation equipment through operation planning software, so that the complete position information of the puncture needle in the world geographic coordinate system can be obtained.
In the embodiment of the invention, the magnetic navigation equipment captures the posture (hereinafter referred to as a virtual needle) of the puncture needle in real time, so that the length of the puncture needle is calculated according to the actual coordinate value, namely the depth of the puncture needle entering a human body during operation is calculated, and the puncture needle interacts with a 3D visual camera through operation planning software, so that the complete position information of the puncture needle in a world geographic coordinate system is obtained.
In conclusion, the invention can completely restore the operation intention of a clinician, and ensure that the position, the angle, the depth and the like of the puncture needle of the clinician in the minimally invasive operation of the tumor meet the requirements of a preoperative treatment plan, thereby ensuring the safety and the treatment effect of the operation, greatly improving the working efficiency, shortening the operation time, reducing the pain of a patient, greatly reducing the image scanning times, having simple operation and convenient maintenance, and being capable of using the method to carry out precise minimally invasive operation under the guidance of various medical image devices such as CT, nuclear magnetism, ultrasound and the like.
And those not described in detail in this specification are well within the skill of those in the art.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A design method based on mixed reality tumor minimally invasive surgery is characterized by comprising the following steps: the design system corresponding to the tumor minimally invasive treatment method based on mixed reality is composed of operation planning software, MR equipment, magnetic navigation equipment, a 3D visual camera and an electronic tag, and the tumor minimally invasive treatment method based on mixed reality specifically comprises the following steps:
s1, firstly, introducing medical images scanned by CT and nuclear magnetic equipment of a patient into operation planning software, and planning a puncture path according to treatment requirements;
s2, fusing the image coordinates and the predicted coordinates generated by the operation planning software in the step S1 and the puncture path obtained after three-dimensional reconstruction with the patient image captured by the MR, pushing the fused image to a doctor, and enabling the doctor to see the fused image and the guide path through the MR;
s3, when a doctor performs a puncture operation, the magnetic navigation equipment and the 3D vision camera calculate the actual coordinates of the puncture needle with the electronic tag in real time and transmit the actual coordinates to operation planning software for data integration, and the integrated puncture needle data is displayed in a fusion image in real time to guide the doctor to adjust the position, the angle and the direction of the puncture needle;
and S4, when the puncture needle is completely overlapped with the guide path, carrying out actual puncture operation, informing the needle insertion depth of the puncture needle to operation planning software in real time by the 3D vision camera and the magnetic navigation equipment, informing a doctor by the MR equipment, displaying the needle insertion depth on the fusion image, and repeating the steps until the operation is finished.
2. The design method based on the mixed reality tumor minimally invasive surgery of claim 1, characterized in that: and S3, when the puncture is performed, calculating the deviation between the actual coordinate and the predicted coordinate by the operation planning software, giving a correction suggestion, and finishing the adjustment of the puncture needle when the virtual needle is completely overlapped with the guide path.
3. The design method based on the mixed reality tumor minimally invasive surgery of claim 1, characterized in that: the operation planning software consists of a puncture path design module, a three-dimensional reconstruction module and a cooperative control module, and the processing method of the puncture path design module specifically comprises the following steps: the patient image data is imported into operation planning software for data analysis, doctors draw out a tumor target area of the patient on the operation planning software according to clinical treatment requirements, puncture paths are reasonably designed, and meanwhile coordinate information of the puncture paths on the medical images is converted into coordinate information of a world geographic coordinate system.
4. The design method based on the mixed reality tumor minimally invasive surgery of claim 3, characterized in that: the processing method of the three-dimensional reconstruction module is specifically that the operation planning software carries out three-dimensional reconstruction on the image data of the patient, and the designed puncture path is displayed on the three-dimensional reconstructed image for guiding in real puncture.
5. The design method based on the mixed reality tumor minimally invasive surgery of claim 3, characterized in that: and the cooperative control module is used for processing the data interaction and the instruction of each subsystem in real time and cooperating by the operation planning software.
6. The design method based on the mixed reality tumor minimally invasive surgery as claimed in claim 1, characterized in that: the MR equipment is mixed reality equipment, real-world patient images captured by the equipment are fused with three-dimensional reconstruction images generated by operation planning software, the fused images follow and fit the body state of a patient in real time, and a guide path marks the direction and the angle of a doctor needing to puncture on the body surface of the patient.
7. The design method based on the mixed reality tumor minimally invasive surgery of claim 1, characterized in that: the built-in magnet and the coil of the electronic tag are used for carrying out interactive induction with magnetic navigation equipment, the external cross mark is convenient to be captured by a 3D vision camera, and the electronic tag is installed at the tail part of the puncture needle before an operation.
8. The design method based on the mixed reality tumor minimally invasive surgery of claim 1, characterized in that: the 3D vision camera captures the position of the electronic tag, converts the position into coordinate information of a world geographic coordinate system, and performs data interaction with the magnetic navigation equipment through operation planning software, so that complete position information of the puncture needle in the world geographic coordinate system can be obtained.
9. The design method based on the mixed reality tumor minimally invasive surgery of claim 1, characterized in that: the magnetic navigation equipment captures the posture of the puncture needle in real time, so that the length of the puncture needle is calculated according to the actual coordinate value, namely the depth of the puncture needle entering a human body during operation is calculated, and the puncture needle is interacted with a 3D vision camera through operation planning software, so that the complete position information of the puncture needle in a world geographic coordinate system is obtained.
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