CN117481791B - Navigation positioning method and equipment of microwave ablation equipment - Google Patents
Navigation positioning method and equipment of microwave ablation equipment Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/1815—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using microwaves
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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
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- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/1815—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using microwaves
- A61B2018/1869—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using microwaves with an instrument interstitially inserted into the body, e.g. needles
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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
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- 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
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
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Abstract
The invention relates to the field of medical equipment, in particular to a navigation positioning method and equipment of microwave ablation equipment, wherein the method comprises the steps of obtaining a first space position of a tracker under a camera coordinate system, wherein the tracker comprises a plurality of non-collinear optical markers; calculating position conversion data according to the first space position and the second space positions of the plurality of optical markers under the tracker coordinate system; calculating an emission window direction vector under a tracker coordinate system according to the second spatial positions of the optical markers of the first set group; the emission window direction vector in the camera coordinate system is calculated from the emission window direction vector in the tracker coordinate system and the position conversion data. The invention precisely determines the position and the direction of the emission window in the field of view of the camera, and can precisely control the orientation of microwave ablation energy emission.
Description
Technical Field
The invention relates to the field of medical appliances, in particular to a navigation and positioning method and equipment of microwave ablation equipment.
Background
The microwave ablation needle, also called as a microwave ablation catheter, is a device for medical treatment, and is widely applied to the field of tumor treatment, in particular to the ablation treatment of malignant tumors such as liver cancer, lung cancer and the like.
Microwave ablation needles destroy and ablate abnormal tissue by generating high temperatures by releasing high frequency microwave energy inside the tumor. The needle is guided accurately into the tumour tissue by the catheter, the integrity of surrounding healthy tissue can be maximally protected. The existing microwave ablation needle has a nearly spherical or ellipsoidal ablation range, but the action direction of microwaves emitted by the microwave ablation needle entering the human body is not easy to control, so that unnecessary thermal coagulation damage to normal tissues is easily caused, the ablation accuracy is low, and complications and surgical risks are increased.
Disclosure of Invention
In view of this, the present invention provides, in one aspect, a navigation positioning method of a microwave ablation device, the method comprising:
Acquiring a first spatial position of a tracker in a camera coordinate system, wherein the tracker comprises a plurality of non-collinear optical markers;
calculating position conversion data according to the first space position and a second space position of the plurality of optical markers under a tracker coordinate system;
Calculating an emission window direction vector under a tracker coordinate system according to the second spatial positions of the optical markers of the first set group;
and calculating the direction vector of the transmitting window in the camera coordinate system according to the direction vector of the transmitting window in the tracker coordinate system and the position conversion data.
Optionally, calculating an emission window direction vector in the tracker coordinate system according to the second spatial position of the optical marker of the first set group includes:
determining a first set of optical markers from the spacing of each set of optical markers in the plurality of non-collinear optical markers;
determining the direction vector of the transmitting window under the coordinate system of the tracker according to the second space position of the optical marker of the first set group
Optionally, calculating conversion data according to the first spatial position and the second spatial positions of the plurality of optical markers in the tracker coordinate system by using a preset group of formulas, wherein the conversion data comprises a rotation matrix and a displacement vector:
Where x c、yc、zc denotes the spatial position coordinates of the optical marker in the camera coordinate system, R denotes the rotation matrix, x w、xw、xw denotes the spatial position coordinates of the optical marker in the tracker coordinate system, and T denotes the translation vector.
Optionally, the emission window direction vector in the camera coordinate system is calculated using the following formula:
Where n 0′(a0′,b0′,c0') represents the transmit window direction vector in the camera coordinate system and n 0(a0,b0,c0) represents the transmit window direction vector in the tracker coordinate system.
Optionally, after calculating the emission window direction vector under the camera coordinate system, further includes:
and calculating the spatial position of the sleeve tip and the central spatial position of the emission window in the camera coordinate system according to the spatial position of the sleeve tip and the central spatial position of the emission window in the tracker coordinate system and the position conversion data.
Optionally, the sleeve tip spatial position and the emission window center spatial position in the camera coordinate system are calculated according to the sleeve tip spatial position and the emission window center spatial position in the tracker coordinate system and the position conversion data by using the following formulas:
Where x 1′、y1′、z1 'denotes the spatial position coordinates of the tip of the sleeve in the camera coordinate system, x 1、y1、z1 denotes the spatial position coordinates of the tip of the sleeve in the tracker coordinate system, x 0′、y0′、z0' denotes the spatial position coordinates of the center of the emission window in the camera coordinate system, and x 0、y0、z0 denotes the spatial position coordinates of the center of the emission window in the camera coordinate system.
Optionally, after calculating the emission window direction vector under the camera coordinate system, further includes:
and calculating the sleeve axis direction vector under the tracker coordinate system according to the second spatial position of the optical marker of the second set group.
Optionally, the sleeve axis direction vector in the camera coordinate system is calculated using the following formula:
Where n 1′(a1′,b1′,c1') represents the sleeve axis direction vector in the camera coordinate system, n 1(a1,b1,c1) represents the sleeve axis direction vector in the tracker coordinate system.
Optionally, after calculating the emission window direction vector in the camera coordinate system according to the emission window direction vector in the tracker coordinate system and the position conversion data, the method further comprises:
acquiring the central space position of a focus area under a camera coordinate system;
Calculating a target direction vector of an emission window under a camera coordinate system according to the central space position of the focus area;
and controlling the sleeve to rotate according to the target direction vector of the emission window.
In another aspect of the present invention, there is also provided a navigation positioning apparatus of a microwave ablation apparatus, including: a processor and a memory coupled to the processor; the memory stores instructions executable by the processor, and the instructions are executed by the processor, so that the processor executes the navigation positioning method of the microwave ablation device.
According to the navigation positioning method and the navigation positioning device for the microwave ablation device, provided by the invention, the direction vector of the emission window under the camera coordinate system can be calculated by utilizing the conversion relation between the tracker coordinate system and the camera coordinate system, so that the direction of the emission window can be accurately calculated in the camera coordinate system, the position and the direction of the emission window in the camera visual field can be more accurately determined, the position and the injection direction of the microwave emission window of the ablation needle can be detected in real time under the infrared navigation camera, and the directional control of microwave ablation energy emission can be accurately performed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a microwave ablation device according to an embodiment of the present invention;
FIG. 2 is an enlarged schematic view of FIG. 1 at A;
Fig. 3 is a flowchart of a navigation positioning method according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, or can be communicated inside the two components, or can be connected wirelessly or in a wired way. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
As shown in fig. 1-2, an embodiment of the present invention provides a microwave ablation device, as shown in fig. 1 and 2, comprising a microwave ablation needle 6 and a sleeve 5, wherein the tip of the distal end of the microwave ablation needle 6 can emit microwave ablation energy, the microwave ablation needle 6 can be arranged in the sleeve 5 in a penetrating way, the sleeve 5 can rotate relative to the microwave ablation needle 6, an emission window 51 allowing the microwave ablation energy to pass through is arranged on one side of the distal end of the sleeve 5, the tip (needle point) of the microwave ablation needle 6 corresponds to the position of the emission window 51, the microwave ablation energy emitted by the distal end of the microwave ablation needle 6 is emitted through the emission window 51, and the orientation of the emission window 51 can be changed by rotating the sleeve 5; the tracker 3 is arranged on the sleeve 5, the tracker 3 can be identified and positioned by the camera 1, the tracker 3 comprises at least three optical markers 4 which can be identified by the camera 1, the intervals between every two optical markers 4 are different, the spatial positions of at least part of the optical markers 4 in the at least three optical markers 4 under the coordinate system of the camera 1 can be used for determining the orientation of the emission window 51, so that the positions of the optical markers 4 in the tracker 3 can be identified by the camera 1, and then the orientation of the emission window 51 on the sleeve 5 is identified, an operator can conduct directional ablation according to the shape of a tumor entity, an ellipsoidal ablation zone does not need to be covered to the maximum tumor boundary, normal tissues around the tumor entity are prevented from being subjected to thermal coagulation damage, and complications and surgical risks are reduced. Meanwhile, the tracker 3 is fixed on the sleeve 5, the tracker 3 can be identified and positioned by the camera 1, and as the distal end of the sleeve 5 is inserted into the human body, the tracker 3 is identified by the camera 1, the operator can be helped to identify the direction of the emission window 51, so that the operator can control the sleeve 5 to rotate to adjust the direction of the emission window 51. The control of the rotation of the sleeve 5 may be manual control by an operator or may be automatic control by a computer. .
Specifically, the optical marker 4 may be a passive light reflecting component such as a light reflecting ball, or may be a component capable of actively emitting light such as an LED optical marker 4, and the camera may be a component such as an infrared navigation camera; the optical marker, by being recognized by the camera 1, reaches the effect of the position and angle of the emission window 51 on the marker sleeve 5.
In the present embodiment, the at least three optical markers 4 include a first set group formed by two of the optical markers 4, and the connection line of the two optical markers of the first set group is oriented in correspondence with the emission window 51. Since the positions of the two optical markers can be recognized by the camera, the line connecting the two optical markers can determine a direction vector, and by setting the line connecting the two optical markers to coincide with the orientation of the emission window 51, the camera can determine the direction vector of the emission window 51, that is, the orientation of the emission window 51, from the direction vector of the line connecting the two optical markers.
As an alternative to the above-described first set of settings, the first set of settings is formed by three optical markers 4, the normal to the plane formed by the three optical markers 4 being coincident with the orientation of the emission window 51. Since the positions of the three optical markers can be recognized by the camera, the three optical markers can determine a plane, and by setting the direction of the normal line of the plane to coincide with the direction of the emission window 51, the camera can determine the direction vector of the emission window 51, that is, the direction of the emission window 51, from the direction of the normal line of the plane formed by the three optical markers.
In order to achieve a conformal ablation control of the microwave ablation device, the camera also needs to identify the position of the emission window at the distal end of the sleeve, in this embodiment the tracker 3 further comprises a second set of two of the optical markers 4, the connection line of the two optical markers 4 of the second set being in the same direction as the axis of the sleeve 5, and the emission window 51 being located on a straight line where the connection line is located. Since the line connecting the two optical markers of the second set is in the same direction as the axis of the sleeve, and the distance dimension of the optical markers from the emission window of the sleeve 5 can be measured in advance, when the camera is able to identify the position of the optical markers of the second set, the position of the emission window 5 in the camera coordinate system can be determined by the known distance dimension.
In a specific embodiment of the tracker 3, the tracker has three optical markers 4, wherein one optical marker 4 is a common optical marker, a first set and a second set are formed with the other two optical markers 4, respectively, and the first set and the second set are formed between the common optical marker and the other two optical markers, respectively.
In another embodiment of the tracker 3, the tracker includes at least four optical markers, where the optical markers in the first set and the second set may be non-co-located, the spatial structures formed by the four optical markers 4 may form two non-co-located lines, one for indicating the orientation of the emission window 51, the other being in the same direction as the axis of the sleeve 5, and the emission window 51 being located on a line where the lines are located.
As an alternative embodiment, the tracker 3 includes 4 optical markers 4, and the 4 optical markers 4 are respectively located on a zero point and three rays in a rectangular coordinate system, and a connecting line between the zero point and the optical marker 4 on one of the rays is the same as the axial direction of the sleeve 5. The 4 optical markers 4 form a space structure similar to a rectangular coordinate system, and the orientation and the rotation angle of the emission window 51 can be identified through the camera 1.
In the present embodiment, the microwave ablation energy emitted from the tip of the microwave ablation needle 6 exits from the emission window 51 in a fan shape so as to perform ablation treatment on the tumor solid portion toward which the emission window 51 faces.
In this embodiment, the sleeve 5 is inserted into a human body, the sleeve 5 can be fixed through human tissue, the microwave ablation needle 6 is movably nested in the sleeve 5, so that the sleeve 5 rotates relative to the microwave ablation needle 6, and after the microwave ablation needle 6 is inserted into the sleeve 5, an operator can rotate the sleeve 5 to adjust the direction of the emission window 51, so that the directional ablation of the subsequent tumor entity is realized.
In this embodiment, the emission window 51 is a slit opened in the axial direction of the sleeve 5, and the center line of the slit is located on a straight line where the line between the two optical markers 4 in the same axial direction as the sleeve 5 is located. Since the diameters of the microwave ablation needle 6 and the sleeve 5 are relatively small, and the diameter of the sleeve 5 is about 2mm, the slit is formed on the sleeve 5 to enable the microwave ablation energy to be emitted, and the shape of the slit is not particularly limited and can be rectangular, elliptic and the like.
In the present embodiment, the distance between the center position of the slit and the tip of the sleeve 5 is not more than 8mm, i.e., the distance between the center position of the emission window 51 and the tip of the sleeve 5 is not more than 8mm. The tip of the distal end of the microwave ablation needle 6 is used for emitting microwave ablation energy, so that the position between the emission window 51 and the part of the microwave ablation needle 6 for emitting microwave ablation energy can be better matched, and the situation that the distance between a gap and the tip of the microwave ablation needle 6 is too large is avoided, so that the emission window 51 misses the part of the microwave ablation needle 6 for emitting microwave ablation energy.
In this embodiment, the microwave ablation device further comprises a handle 2, the proximal end of the microwave ablation needle 6 is connected to the handle 2, and the tracker 3 is arranged on the sleeve 5 at a position close to the handle 2, so that interference between the tracker 3 and a human body when the sleeve 5 is inserted into the human body can be avoided.
As shown in fig. 3, an embodiment of the present invention provides a navigation positioning method of a microwave ablation device, which is suitable for positioning the microwave ablation device in the foregoing embodiment, and the method includes:
s101, acquiring a first spatial position of a tracker in a camera coordinate system, wherein the tracker comprises a plurality of non-collinear optical markers.
In this embodiment, taking an infrared navigation camera as an example, taking a central position of the infrared navigation camera as an origin, establishing a camera coordinate system, actively transmitting infrared rays to a tracker by the infrared navigation camera, reflecting each optical marker in the tracker after receiving the infrared rays, and detecting the infrared rays reflected by the optical markers by the infrared navigation camera to obtain spatial position coordinates of each optical marker under the camera coordinate system. The optical marker has at least three.
S102, calculating position conversion data according to the first space position and the second space positions of the plurality of optical markers under the tracker coordinate system.
In this embodiment, since the optical marker of the microwave ablation device is fixedly mounted on the sleeve 5 at a position close to the handle, and the position of the emission window 51 on the sleeve 5 is also fixed, the distance between the optical marker and the emission window of the sleeve can be measured in advance, i.e., the distance between the two is known. In addition, the coordinate system is established with the center of the tracker 3 composed of a plurality of optical markers as the origin (or with one of the two optical markers that are the same as the sleeve axis as the origin), the spatial position of each optical marker in the tracker 3 coordinate system, that is, the second spatial position, can be calculated from the origin position of the tracker 3, in other words, the spatial position coordinates of each optical marker in the tracker 3 coordinate system are known before step S102 is performed. The conversion data of the two coordinate systems are calculated according to the first spatial position of the optical marker under the coordinate system of the camera 1 and the second spatial position of each optical marker under the coordinate system of the tracker 3 acquired in the step S101.
In the above and in the following description, the first spatial position represents a spatial position under the camera coordinate system, and the second spatial position represents a spatial position under the tracker coordinate system.
S103, calculating an emission window direction vector under a tracker coordinate system according to the second spatial position of the optical marker of the first set group, wherein the method specifically comprises the following steps:
determining a first set of optical markers from the spacing of each set of optical markers in the plurality of non-collinear optical markers;
And determining the direction vector of the emission window under the coordinate system of the tracker according to the second space position of the optical marker of the first set group.
In this embodiment, taking four optical markers as an example, the four optical markers are equally divided into two groups, because the four optical markers are arranged according to a certain criterion when being set, the distance between each optical marker is different, after the respective coordinates under the camera 1 coordinate system are obtained, the distance between each optical marker is calculated, the set group to which the optical marker belongs is distinguished according to the distance, in this embodiment, the direction of the connecting line between the two optical markers in the first set group is the same as the direction of the emission window 51, and the direction of the connecting line between the two optical markers in the second set group is the same as the axial direction of the sleeve 5.
In other embodiments, there may be one common optical marker in the first set and the second set, i.e. one optical marker forms the first set and the second set with the other two optical markers, respectively.
S104, calculating the direction vector of the emission window in the camera coordinate system according to the direction vector of the emission window in the tracker coordinate system and the position conversion data.
In this embodiment, the direction vector of the emission window 51 is calculated by using the conversion relationship between the tracker 3 coordinate system and the camera 1 coordinate system.
The application utilizes the conversion relation between the tracker 3 coordinate system and the camera 1 coordinate system to calculate the direction vector of the emission window 51 under the camera 1 coordinate system, and can accurately calculate the direction of the emission window 51 in the camera 1 coordinate system, which is helpful for more accurately determining the position and the direction of the emission window 51 in the camera visual field, realizes the real-time detection of the position and the injection direction of the emission window of the microwave ablation needle under the camera, and can accurately perform the directional control of microwave ablation energy emission.
In a preferred embodiment, S102: calculating conversion data according to the first space position and the second space positions of the plurality of optical markers in the tracker coordinate system by using a preset group of formulas, wherein the conversion data comprises a rotation matrix and a displacement vector:
Where x c、yc、zc denotes the spatial position coordinates of the optical marker in the camera coordinate system, R denotes the rotation matrix, x w、xw、xw denotes the spatial position coordinates of the optical marker in the tracker coordinate system, and T denotes the translation vector.
In this embodiment, the coordinates of one coordinate system can be converted to another coordinate system through a rotation and translation process, and a rotation matrix R and a translation vector T are generally used to describe the coordinate system, where R is an orthogonal matrix, so, taking three optical markers as an example, the coordinates of the three optical markers in the tracker 3 coordinate system and the camera 1 coordinate system are substituted into the above coordinate system to solve the rotation matrix R and the translation vector T. By calculating the conversion data between the two coordinate systems, the data conversion and the coordinate system registration between different coordinate systems can be realized.
In a preferred embodiment, S103: the emission window direction vector in the camera coordinate system is calculated using the following formula:
Where n 0′(a0′,b0′,c0') represents the transmit window direction vector in the camera coordinate system and n 0(a0,b0,c0) represents the transmit window direction vector in the tracker coordinate system.
In this embodiment, a point on a straight line may be represented by a coordinate (x, y, z), and the direction of the straight line may be represented by a unit direction vector, which is also in the form of a coordinate (a, b, c), representing the vector from the origin to the point, and thus, the emission window direction vector may be represented as n 0(a0,b0,c0 'in the tracker coordinate system, the emission window direction vector may be represented as n 0′(a0′,b0′,c0' in the camera coordinate system, and, in the tracker coordinate system, the sleeve axis direction vector may be represented as n 1(a1,b1,c1 ') and the sleeve axis direction vector may be represented as n 1′(a1′,b1′,c1') in the camera coordinate system. Since the direction vector of the emission window direction can also be obtained by the coordinate conversion relationship, the above relationship also exists for the direction of the emission window in the camera coordinate system, and the emission window direction vector in the tracker coordinate system is converted into the camera coordinate system according to the known rotation matrix R and translation vector T.
In one embodiment, after calculating the emission window direction vector under the camera coordinate system, further comprising:
and calculating the spatial position of the sleeve tip and the central spatial position of the emission window in the camera coordinate system according to the spatial position of the sleeve tip and the central spatial position of the emission window in the tracker coordinate system and the position conversion data.
According to the coordinates of the central space position of the transmitting window and the coordinates of the spatial position of the tip of the sleeve, the distance between the tip of the sleeve and the middle position of the transmitting window can be obtained, the distance between the middle position of the transmitting window and the tip of the sleeve is designed to be not less than 8mm, so that the tip of the microwave ablation needle corresponds to the transmitting window when the microwave ablation needle is inserted into the sleeve, microwave ablation energy emitted by the tip of the microwave ablation needle can be emitted from the transmitting window, and the phenomenon that the microwave ablation energy cannot be emitted normally due to the fact that the position of the tip of the microwave ablation needle does not correspond to the position of the transmitting window is avoided.
In addition, since the sleeve 5 cannot be known about its specific position after entering the human body, when the sleeve tip space position and the emission window center space position under the tracker 3 coordinate system are known, the sleeve tip and emission window center coordinates are converted under the camera coordinate system according to the conversion data to provide the operator with the specific positions of the microwave ablation needle 6 and the emission window 51, thereby realizing precise ablation.
Calculating the spatial position of the sleeve tip and the central spatial position of the emission window in the camera coordinate system according to the spatial position of the sleeve tip and the central spatial position of the emission window in the tracker coordinate system and the position conversion data by using the following formula:
Where x 1′、y1′、z1 'denotes the spatial position coordinates of the tip of the sleeve in the camera coordinate system, x 1、y1、z1 denotes the spatial position coordinates of the tip of the sleeve in the tracker coordinate system, x 0′、y0′、z0' denotes the spatial position coordinates of the center of the emission window in the camera coordinate system, and x 0、y0、z0 denotes the spatial position coordinates of the center of the emission window in the camera coordinate system.
The present embodiment converts the coordinates of the center of the tip of the sleeve and the emission window into the coordinate system of the camera 1 through a conversion formula and a known rotation matrix R and a translation vector T to provide the operator with specific positions of the microwave ablation needle 6 and the emission window 51, thereby realizing precise ablation.
In one embodiment, after calculating the emission window direction vector under the camera coordinate system, further comprising:
and calculating the sleeve axis direction vector under the tracker coordinate system according to the second spatial position of the optical marker of the second set group.
The sleeve axis direction vector in the camera coordinate system is calculated using the following formula:
Where n 1′(a1′,b1′,c1') represents the sleeve axis direction vector in the camera coordinate system, n 1(a1,b1,c1) represents the sleeve axis direction vector in the tracker coordinate system.
In the embodiment, the specific direction of the sleeve entering the human body is clearly known by an operator through calculating the axial direction vector of the sleeve under the coordinate system of the camera 1, so that accurate ablation is realized.
In another embodiment, after calculating the emission window direction vector in the camera coordinate system according to the emission window direction vector in the tracker coordinate system and the position conversion data, the method further comprises:
acquiring the central space position of a focus area under a camera coordinate system;
Calculating a transmitting window target direction vector under a camera coordinate system according to the center space position of the focus area;
and controlling the sleeve to rotate according to the target direction vector of the emission window.
In this embodiment, coordinates of the center of the focal region under the camera coordinate system are obtained according to the focal region in the captured CT image, and specifically, the image of the body surface locator worn by the patient during operation captured by the camera may be registered with the medical image (for example, CT or MR) of the body surface locator worn by the patient before operation, so as to obtain the position of the focal region in the registered image. The in-vivo focus and the tracker on the sleeve are simultaneously present in the registration image, so that the ablation direction, namely the target direction of the transmitting window, can be determined according to the coordinates of the center of the focus area, the rotation angle of the sleeve can be calculated according to the current direction vector of the transmitting window and the target direction vector of the transmitting window, an operator (can be a human or a mechanical arm) can rotate the sleeve according to the target direction of the transmitting window and the rotation angle, the transmitting window is opposite to the focus, and the directional control of microwave ablation energy emission can be accurately carried out, so that the proper coverage of the ablation area on the solid tumor is realized.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.
Claims (8)
1. A navigation positioning method of a microwave ablation device, wherein the microwave ablation device comprises a microwave ablation needle and a sleeve, the distal end of the microwave ablation needle is used for emitting microwave ablation energy, the microwave ablation needle is arranged in the sleeve in a penetrating manner, the sleeve can rotate relative to the microwave ablation needle, an emission window allowing the microwave ablation energy to pass through is arranged on one side of the distal end of the sleeve, the orientation of the emission window can be changed by rotating the sleeve, and a tracker is arranged on the sleeve, the method comprises the following steps:
Acquiring a first spatial position of a tracker in a camera coordinate system, wherein the tracker comprises a plurality of non-collinear optical markers;
calculating position conversion data according to the first space position and a second space position of the plurality of optical markers under a tracker coordinate system;
Calculating an emission window direction vector under a tracker coordinate system according to the second spatial positions of the optical markers of the first set group;
calculating the direction vector of the transmitting window under the coordinate system of the camera according to the direction vector of the transmitting window under the coordinate system of the tracker and the position conversion data;
Calculating a sleeve axis direction vector under a tracker coordinate system according to a second spatial position of the optical marker of the second set group;
acquiring the central space position of a focus area under a camera coordinate system;
Calculating a target direction vector of an emission window under a camera coordinate system according to the central space position of the focus area;
and determining the rotation angle of the sleeve according to the target direction vector of the emission window.
2. The method of claim 1, wherein calculating an emission window direction vector in a tracker coordinate system from the second spatial locations of the first set of optical markers comprises:
determining a first set of optical markers from the spacing of each set of optical markers in the plurality of non-collinear optical markers;
And determining the direction vector of the emission window under the coordinate system of the tracker according to the second space position of the optical marker of the first set group.
3. The method of claim 1, wherein the conversion data is calculated from the first spatial location and a second spatial location of the plurality of optical markers in a tracker coordinate system using the formula, the conversion data comprising a rotation matrix and a displacement vector:
,
Wherein, 、/>、/>Representing the spatial position coordinates of the optical marker in the camera coordinate system,/>The rotation matrix is represented by a matrix of rotations,、/>、/>Representing the spatial position coordinates of the optical marker in the tracker coordinate system,/>Representing the translation vector.
4. The method of claim 1, wherein the emission window direction vector in the camera coordinate system is calculated using the formula:
,
wherein, the method comprises the following steps of ) Representing the emission window direction vector in the camera coordinate system, (/ >) Representing the emission window direction vector in the tracker coordinate system,/>Representing a rotation matrix,/>Representing the translation vector.
5. The method of claim 1, further comprising, after calculating the emission window direction vector in the camera coordinate system:
and calculating the spatial position of the sleeve tip and the central spatial position of the emission window in the camera coordinate system according to the spatial position of the sleeve tip and the central spatial position of the emission window in the tracker coordinate system and the position conversion data.
6. The method of claim 5, wherein the sleeve tip spatial position, the emission window center spatial position in the camera coordinate system are calculated from the sleeve tip spatial position, the emission window center spatial position, and the position conversion data in the tracker coordinate system using the following formula:
,
,
Wherein, 、/>、/>Representing the spatial position coordinates of the sleeve tip in the camera coordinate system,/>、/>、/>Representing the spatial position coordinates of the tip of the sleeve in the tracker coordinate system,/>、/>、/>Spatial position coordinates representing the center of the emission window under the camera coordinate system,/>、/>、/>Spatial position coordinates representing the center of the emission window under the camera coordinate system,/>Representing a rotation matrix,/>Representing the translation vector.
7. The method of claim 1, wherein the sleeve axis direction vector in the camera coordinate system is calculated using the formula:
,
wherein, the method comprises the following steps of Representing sleeve axis direction vector in camera coordinate system, (/ >) Representing sleeve axis direction vector in tracker coordinate system,/>Representing a rotation matrix,/>Representing the translation vector.
8. A navigational positioning apparatus of a microwave ablation apparatus, comprising: a processor and a memory coupled to the processor; wherein the memory stores instructions executable by the processor to cause the processor to perform the method of navigational positioning of a microwave ablation device according to any of claims 1-7.
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| CN115211961A (en) * | 2021-04-17 | 2022-10-21 | 诺创智能医疗科技(杭州)有限公司 | Positioning method, device, system and computer readable storage medium |
| CN116492053A (en) * | 2023-06-28 | 2023-07-28 | 真健康（北京）医疗科技有限公司 | Method and apparatus for spatially positioning an ablation needle |
| CN117084794A (en) * | 2023-10-20 | 2023-11-21 | 北京航空航天大学 | Respiration follow-up control method, device and controller |
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| CN106606374A (en) * | 2012-05-22 | 2017-05-03 | 科维蒂恩有限合伙公司 | Planning system and navigation system for an ablation procedure |
| CN110352042A (en) * | 2016-10-21 | 2019-10-18 | 医疗技术股份有限公司 | Device and method for being recalibrated automatically to image in 3D art |
| CN115211961A (en) * | 2021-04-17 | 2022-10-21 | 诺创智能医疗科技(杭州)有限公司 | Positioning method, device, system and computer readable storage medium |
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