CN117582273A - Puncture positioning navigation method and device and electronic equipment - Google Patents
Puncture positioning navigation method and device and electronic equipment Download PDFInfo
- Publication number
- CN117582273A CN117582273A CN202311843666.9A CN202311843666A CN117582273A CN 117582273 A CN117582273 A CN 117582273A CN 202311843666 A CN202311843666 A CN 202311843666A CN 117582273 A CN117582273 A CN 117582273A
- Authority
- CN
- China
- Prior art keywords
- coordinates
- information
- probe
- determining
- coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 51
- 239000000523 sample Substances 0.000 claims abstract description 70
- 238000012545 processing Methods 0.000 claims abstract description 41
- 230000003287 optical effect Effects 0.000 claims abstract description 39
- 210000000056 organ Anatomy 0.000 claims abstract description 25
- 238000010276 construction Methods 0.000 claims abstract description 11
- 230000003190 augmentative effect Effects 0.000 claims description 39
- 239000011159 matrix material Substances 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 13
- 210000000115 thoracic cavity Anatomy 0.000 claims description 12
- 230000000241 respiratory effect Effects 0.000 claims description 11
- 238000002604 ultrasonography Methods 0.000 claims description 10
- 210000000038 chest Anatomy 0.000 claims description 3
- 230000005855 radiation Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 239000011521 glass Substances 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000002690 local anesthesia Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036407 pain Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Classifications
-
- 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
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- 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
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Gynecology & Obstetrics (AREA)
- Radiology & Medical Imaging (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The invention provides a puncture positioning navigation method, a puncture positioning navigation device and electronic equipment, which relate to the technical field of surgical navigation and comprise the following steps: performing model construction and operation planning processing on CT images of patients, and determining a human body organ model and initial operation planning information in the human body organ model; acquiring human body coordinates of a patient, probe coordinates of a puncture needle and probe coordinates of an ultrasonic probe in ultrasonic equipment through optical positioning equipment; and determining planning path adjustment information by utilizing ultrasonic equipment, and carrying out data updating processing on initial operation planning information according to the planning path adjustment information, the human body coordinates, the probe coordinates and the probe coordinates to determine target operation planning information. The invention can avoid repeated scanning CT to position, reduce the radiation quantity of patients and obviously improve the accuracy of puncture positioning navigation.
Description
Technical Field
The invention relates to the technical field of surgical navigation, in particular to a puncture positioning navigation method, a puncture positioning navigation device and electronic equipment.
Background
At present, related art proposes, when carrying out puncture operation to the patient under CT guide, need scan patient position through CT many times, constantly adjust pjncture needle's position and angle, under CT image's guide, make pjncture needle can reach puncture target position, this scheme adopts local anesthesia generally, patient's pain sense is strong, and, because need scan CT many times to fix a position, patient's radiation volume that receives is great, in addition, this scheme can not monitor the organ motion that breathe and heartbeat lead to, the accuracy is lower, puncture mistake leads to repetition operation easily.
Disclosure of Invention
Accordingly, the present invention is directed to a puncture positioning navigation method, device and electronic equipment, which can avoid repeated scanning CT to perform positioning, reduce the radiation amount of patients, and significantly improve the accuracy of puncture positioning navigation.
In a first aspect, an embodiment of the present invention provides a puncture positioning navigation method, where the method is applied to a puncture positioning navigation system, and the puncture positioning navigation system includes: an ultrasound device, an optical positioning device, and a puncture needle, the method comprising: performing model construction and operation planning processing on CT images of patients, and determining a human body organ model and initial operation planning information in the human body organ model; acquiring human body coordinates of a patient, probe coordinates of a puncture needle and probe coordinates of an ultrasonic probe in ultrasonic equipment through optical positioning equipment; and determining planning path adjustment information by utilizing ultrasonic equipment, and carrying out data updating processing on initial operation planning information according to the planning path adjustment information, the human body coordinates, the probe coordinates and the probe coordinates to determine target operation planning information.
In one embodiment, an optical positioning apparatus includes: the method comprises the steps of obtaining human body coordinates of a patient, probe coordinates of a puncture needle and probe coordinates of an ultrasonic probe in ultrasonic equipment through the optical positioning equipment, and comprises the following steps of: determining a global reference coordinate system by the optical positioning device body; based on a global reference coordinate system, acquiring human body coordinates, probe coordinates and probe coordinates by using a calibration reference frame, wherein the calibration reference frame comprises: the four reflecting balls at the tip of the cross shaft and the cross shaft can detect coordinate information of the reflecting balls by the optical positioning equipment main body and the augmented reality equipment.
In one embodiment, the step of determining planned path adjustment information using an ultrasound device includes: acquiring a thoracic cavity ultrasonic image of a patient in real time by utilizing ultrasonic equipment, and determining diaphragmatic coordinate information of the patient according to the thoracic cavity ultrasonic image, wherein the diaphragmatic coordinate information comprises: coordinate shift information of the patient's diaphragm moving along with respiratory motion during operation and initial coordinate information of the diaphragm; and determining planning path adjustment information according to the initial coordinate information and the coordinate offset information.
In one embodiment, an ultrasound device comprises: the image registration unit is used for determining the coordinate information of the diaphragm of the patient according to the thoracic cavity ultrasonic image, and comprises the following steps: acquiring a two-dimensional ultrasonic image of the chest of a patient through an ultrasonic probe; and carrying out image registration processing on the two-dimensional ultrasonic image through an image registration unit, determining three-dimensional coordinate information of the position of the diaphragm in the two-dimensional ultrasonic image, and determining the three-dimensional coordinate information as diaphragm coordinate information.
In one embodiment, the puncture positioning navigation system further comprises: the augmented reality device, before the step of updating data of the initial operation planning information according to the planning path adjustment information, the human body coordinates, the probe coordinates and determining the target operation planning information, comprises the following steps: and carrying out coordinate synchronization processing on the augmented reality equipment, and determining a coordinate synchronization matrix.
In one embodiment, the step of performing coordinate synchronization processing for the augmented reality device and determining the coordinate synchronization matrix includes: virtual coordinate information of the reflecting ball in any calibration reference frame is obtained through the augmented reality equipment; and carrying out coordinate synchronization processing based on the virtual coordinate information and the real coordinate information of the reflecting sphere corresponding to the virtual coordinate information under the global reference coordinate system by a least square method, and determining a coordinate synchronization matrix.
In one embodiment, after the step of determining the target surgical planning information, the method comprises: and determining a virtual model guide rail through the augmented reality device based on the human organ model, the target operation planning information and the coordinate synchronization matrix, so that a doctor wearing the augmented reality device performs operation according to the holographic guide of the virtual model guide rail.
In a second aspect, an embodiment of the present invention further provides a puncture positioning and navigation device, where the puncture positioning and navigation device is applied to a puncture positioning and navigation system, and the puncture positioning and navigation system includes: ultrasonic device, optical locating device and pjncture needle, the device includes: the model construction module is used for carrying out model construction processing and operation planning processing on CT images of patients and determining a human body organ model and initial operation planning information in the human body organ model; the data acquisition module acquires the coordinates of a patient body, the coordinates of a probe of a puncture needle and the coordinates of a probe of an ultrasonic probe in the ultrasonic equipment through the optical positioning equipment; and the data updating module is used for determining planning path adjustment information by utilizing ultrasonic equipment, and carrying out data updating processing on initial operation planning information according to the planning path adjustment information, the human body coordinates, the probe coordinates and the probe coordinates to determine target operation planning information.
In a third aspect, embodiments of the present invention also provide an electronic device comprising a processor and a memory storing computer executable instructions executable by the processor, the processor executing the computer executable instructions to implement the method of any one of the first aspects.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions that, when invoked and executed by a processor, cause the processor to implement the method of any one of the first aspects.
The embodiment of the invention has the following beneficial effects:
the method comprises the steps of carrying out model construction processing and operation planning processing on CT images of patients, obtaining human body coordinates of the patients, probe coordinates of a puncture needle and probe coordinates of an ultrasonic probe in ultrasonic equipment through optical positioning equipment after determining initial operation planning information in a human body organ model and the human body organ model, finally determining planning path adjustment information through the ultrasonic equipment, carrying out data updating processing on the initial operation planning information according to the planning path adjustment information, the human body coordinates, the probe coordinates and the probe coordinates, and determining target operation planning information.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
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 puncture positioning navigation system according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a puncture positioning navigation method according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a calibration reference frame according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a puncture positioning and navigation device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. 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.
At present, when a puncture operation is performed on a patient under the guidance of CT, the position and the angle of a puncture needle are required to be continuously adjusted through scanning the patient position for many times by CT, and under the guidance of CT images, the puncture needle can reach the puncture target position.
For the convenience of understanding the present embodiment, first, a puncture positioning navigation method disclosed in the present embodiment is described in detail, where the method is applied to a puncture positioning navigation system, and the puncture positioning navigation system includes: in order to facilitate understanding of the puncture positioning navigation system, the embodiment of the invention provides a structural schematic diagram of the puncture positioning navigation system, as shown in fig. 1, the server is used for constructing a three-dimensional model, setting a planning path, collecting coordinate information of all positioning devices, carrying out coordinate conversion, transmitting the position information of the devices to augmented reality devices, and the optical positioning devices can accurately acquire coordinates in a three-dimensional space of matched devices and accurately position and track the devices and the devices; the puncture positioning navigation system further comprises: the augmented reality equipment can accurately scan and identify surrounding environments by using the unique space perception capability of the augmented reality equipment, and track and acquire current position coordinate information of an object to be monitored in space in real time; the ultrasonic equipment can monitor respiratory motion and perform position compensation, errors caused by respiratory motion are reduced, and an operator can observe the change of a three-dimensional planning path in the augmented reality equipment in real time to perform visual operation.
Through the puncture positioning navigation system, a specific three-dimensional model of a patient can be rebuilt according to the CT/MRI image before operation, and after the three-dimensional model is led into the augmented reality glasses, the coordinates of the MR glasses are synchronized through the matched infrared positioning equipment, so that the instruments and the models in operation can be mixed and tracked and used, a puncture path planned before operation is projected onto the patient in operation, the puncture path is guided intuitively at a first visual angle, and the ultrasonic probe is used for monitoring organ movement in real time, so that the puncture path is adjusted, and the purpose of real-time fine adjustment in operation is achieved.
Based on the structural schematic diagram of the puncture positioning navigation system shown in fig. 1, the embodiment of the invention describes a puncture positioning navigation method in detail, referring to the flow schematic diagram of a puncture positioning navigation method shown in fig. 2, the method mainly includes the following steps S202 to S206:
step S202, performing model construction processing and operation planning processing on a CT image of a patient, determining a human body organ model and initial operation planning information in the human body organ model, wherein in one embodiment, the CT/MRI image of the patient is processed through a server, and the organ model of interest is segmented after a three-dimensional model of the patient is constructed, and interactive operation is provided to make operation planning, wherein the initial operation planning information comprises: drawing line segments and planes and marking the surgical scope.
Step S204, acquiring the coordinates of a patient body, the coordinates of a probe of a puncture needle and the coordinates of a probe of an ultrasonic probe in an ultrasonic device by an optical positioning device, wherein the optical positioning device comprises: an optical positioning device body and a set of calibration reference frames, each calibration reference frame in the set of calibration reference frames being connected to the optical positioning device body by a signal transmission line, in one embodiment, a global reference frame is determined by the optical positioning device body, and based on the global reference frame, human body coordinates, probe coordinates and probe coordinates are obtained by using the calibration reference frames, referring to a schematic structural diagram of one calibration reference frame shown in fig. 3, the calibration reference frames include: the four reflecting balls at the tip of the cross shaft and the cross shaft can detect coordinate information of the reflecting balls, and the reference bracket can be fixed on the surface of a patient, an ultrasonic probe, a puncture needle or other objects to be tracked, so that the optical positioning device can acquire three-dimensional space coordinates of the corresponding objects in real time.
Step S206, determining planning path adjustment information by using ultrasonic equipment, carrying out data updating processing on initial operation planning information according to the planning path adjustment information, human body coordinates, probe coordinates and probe coordinates, and determining target operation planning information, wherein in one implementation mode, ultrasonic images of internal organs of a patient can be acquired through the ultrasonic equipment, mainly displacement of a diaphragm along with respiratory motion is acquired, the diaphragm is automatically identified from the images by an algorithm, and a displacement value of the diaphragm is calculated, so that the real-time puncture path is corrected, and focus displacement caused by the respiratory motion is compensated.
The puncture positioning navigation method provided by the embodiment of the invention can avoid repeated scanning CT to position, reduce the radiation quantity of patients and obviously improve the puncture positioning navigation accuracy.
The embodiment of the invention also provides an implementation mode for puncture positioning, which is specifically described in the following (1) to (3):
(1) Acquiring a thoracic cavity ultrasonic image of a patient in real time by using ultrasonic equipment, determining coordinate information of a diaphragm of the patient according to the thoracic cavity ultrasonic image, and determining planning path adjustment information according to initial coordinate information and coordinate offset information, wherein the ultrasonic equipment comprises: the image registration unit, the diaphragmatic coordinate information includes: coordinate bias of patient's diaphragm moving along with respiratory motion during operationIn one embodiment, the two-dimensional ultrasonic image of the chest cavity of the patient is obtained through an ultrasonic probe, the two-dimensional ultrasonic image is subjected to image registration processing through an image registration unit, the three-dimensional coordinate information of the position of the diaphragm in the two-dimensional ultrasonic image is determined, the three-dimensional coordinate information is finally determined to be the diaphragm coordinate information, and in practical application, the position matrix of the ultrasonic probe isObtaining a value converted from two-dimensional coordinates to three-dimensional coordinates of an ultrasonic image by an image registration module of the ultrasonic probe>Thereby obtaining the three-dimensional coordinate +.>For example, the position coordinate of the diaphragm in the ultrasonic image is t= [ u v 1]The corresponding three-dimensional space coordinates are +.>
(2) Performing coordinate synchronization processing on augmented reality equipment, and determining a coordinate synchronization matrix: virtual coordinate information of the reflecting ball in any calibration reference frame is obtained through the augmented reality equipment, and based on the virtual coordinate information and real coordinate information of the reflecting ball corresponding to the virtual coordinate information under the global reference coordinate system through a least square method, coordinate synchronization processing is carried out to determine a coordinate synchronization matrix, in practical application, the augmented reality equipment obtains coordinates { p1, p2, p3, p4 … pn } of the reflecting ball in the support through scanning the calibration reference frame, and the coordinates of the reflecting ball obtained by the optical positioning equipment are { p } ′ 1 ,p ′ 2 ,p ′ 3 ,p ′ 4 …p ′ n Acquiring a device coordinate synchronization matrix by a least square methodInstrument coordinate t acquired by optical equipment ′ Can be converted into coordinates of the augmented reality device +.>
(3) Determining, by the augmented reality device, a virtual model guideway based on the human organ model, the target surgical planning information and the coordinate synchronization matrix, so that a doctor wearing the augmented reality device performs a surgical operation according to holographic guidance of the virtual model guideway, in one embodiment, synchronizing coordinates of the augmented reality device with coordinates of the optical positioning device at the time of starting the augmented reality device, transmitting the synchronized coordinate values to the server, then receiving the instrument coordinates transmitted from the server, and the registered organ coordinates, thereby projecting models of all organs and instruments to a field of view of the augmented reality device, allowing the operator to intuitively observe perspective information of a surgical area, performing a surgical operation using guidance of the holographic information, and in another embodiment, acquiring a position and a direction of the puncture needle from the optical positioning device The puncture tool is operated through the guide rail fixed by the puncture guide plate after the trackable puncture guide plate is overlapped with the planned puncture path, in practical application, a plurality of markers (namely, a calibration reference frame) are attached to the surface of a patient, the puncture tool can be recognized by optical equipment or augmented reality equipment, the puncture tool is matched with the markers in the reconstructed three-dimensional model after recognition, the puncture tool can be projected on the body position of the current patient, further, the moving position of the ultrasonic recognition diaphragm along with respiratory motion is deltap, the position of the current planned path is adjusted to p' =p+deltap, and the puncture tool is calculated and displayed in the augmented reality equipmentCoordinates of the thorn pathThe operator performs the puncture under the direction of the virtual model guide rail in the glasses.
In summary, the invention can perform operation according to virtual navigation guidance under augmented reality without repeated CT scanning and matching in operation, thereby effectively reducing the radiation quantity of a patient, and can perform position compensation by monitoring respiratory motion through B ultrasonic, thereby remarkably reducing errors caused by respiratory motion, and enabling an operator to observe the change of a three-dimensional planning path in real time in augmented reality equipment to perform visual operation.
For the puncture positioning navigation method provided by the foregoing embodiment, an embodiment of the present invention provides a puncture positioning navigation device, where the puncture positioning navigation device is applied to a puncture positioning navigation system, and the puncture positioning navigation system includes: ultrasonic equipment, optical positioning equipment and a puncture needle, see a schematic structural diagram of a puncture positioning navigation device shown in fig. 4, wherein the device comprises the following parts:
the model construction module 402 performs model construction processing and operation planning processing on CT images of patients, and determines a human organ model and initial operation planning information in the human organ model;
the data acquisition module 404 acquires the coordinates of a patient's body, the coordinates of a probe of a puncture needle and the coordinates of a probe of an ultrasonic probe in the ultrasonic equipment through the optical positioning equipment;
the data updating module 406 determines the planning path adjustment information by using the ultrasonic device, and performs data updating processing on the initial operation planning information according to the planning path adjustment information, the human body coordinates, the probe coordinates and the probe coordinates to determine the target operation planning information.
The puncture positioning navigation device provided by the embodiment of the application can avoid repeated scanning CT for positioning, reduce the radiation quantity of patients and obviously improve the accuracy of puncture positioning navigation.
In one embodiment, an optical positioning apparatus includes: the optical positioning device main body and the calibration reference frame set, each calibration reference frame in the calibration reference frame set is connected with the optical positioning device main body through a signal transmission line, and when the step of acquiring the human body coordinates of a patient, the probe coordinates of a puncture needle and the probe coordinates of an ultrasonic probe in the ultrasonic device through the optical positioning device is performed, the data acquisition module 404 is further configured to: determining a global reference coordinate system by the optical positioning device body; based on a global reference coordinate system, acquiring human body coordinates, probe coordinates and probe coordinates by using a calibration reference frame, wherein the calibration reference frame comprises: the four reflecting balls at the tip of the cross shaft and the cross shaft can detect coordinate information of the reflecting balls by the optical positioning equipment main body and the augmented reality equipment.
In one embodiment, when performing the step of determining the planned path adjustment information using the ultrasound device, the data update module 406 is further configured to: acquiring a thoracic cavity ultrasonic image of a patient in real time by utilizing ultrasonic equipment, and determining diaphragmatic coordinate information of the patient according to the thoracic cavity ultrasonic image, wherein the diaphragmatic coordinate information comprises: coordinate shift information of the patient's diaphragm moving along with respiratory motion during operation and initial coordinate information of the diaphragm; and determining planning path adjustment information according to the initial coordinate information and the coordinate offset information.
In one embodiment, an ultrasound device comprises: the image registration unit, when performing the step of determining the coordinate information of the diaphragm of the patient according to the thoracic ultrasound image, the data update module 406 is further configured to: acquiring a two-dimensional ultrasonic image of the chest of a patient through an ultrasonic probe; and carrying out image registration processing on the two-dimensional ultrasonic image through an image registration unit, determining three-dimensional coordinate information of the position of the diaphragm in the two-dimensional ultrasonic image, and determining the three-dimensional coordinate information as diaphragm coordinate information.
In one embodiment, the puncture positioning navigation system further comprises: the augmented reality device, before performing the step of performing data update processing on the initial operation planning information according to the planning path adjustment information, the human body coordinates, the probe coordinates and the probe coordinates, and determining the target operation planning information, the data update module 406 is further configured to: and carrying out coordinate synchronization processing on the augmented reality equipment, and determining a coordinate synchronization matrix.
In one embodiment, when performing the step of performing the coordinate synchronization process for the augmented reality device and determining the coordinate synchronization matrix, the data updating module 406 is further configured to: virtual coordinate information of the reflecting ball in any calibration reference frame is obtained through the augmented reality equipment; and carrying out coordinate synchronization processing based on the virtual coordinate information and the real coordinate information of the reflecting sphere corresponding to the virtual coordinate information under the global reference coordinate system by a least square method, and determining a coordinate synchronization matrix.
In one embodiment, after the step of determining the target surgical plan information, the data update module 406 is further configured to: and determining a virtual model guide rail through the augmented reality device based on the human organ model, the target operation planning information and the coordinate synchronization matrix, so that a doctor wearing the augmented reality device performs operation according to the holographic guide of the virtual model guide rail.
The device provided by the embodiment of the present invention has the same implementation principle and technical effects as those of the foregoing method embodiment, and for the sake of brevity, reference may be made to the corresponding content in the foregoing method embodiment where the device embodiment is not mentioned.
The embodiment of the invention provides electronic equipment, which comprises a processor and a storage device; the storage means has stored thereon a computer program which, when executed by the processor, performs the method of any of the embodiments described above.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, where the electronic device 100 includes: a processor 50, a memory 51, a bus 52 and a communication interface 53, the processor 50, the communication interface 53 and the memory 51 being connected by the bus 52; the processor 50 is arranged to execute executable modules, such as computer programs, stored in the memory 51.
The memory 51 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is achieved via at least one communication interface 53 (which may be wired or wireless), and the internet, wide area network, local network, metropolitan area network, etc. may be used.
Bus 52 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 5, but not only one bus or type of bus.
The memory 51 is configured to store a program, and the processor 50 executes the program after receiving an execution instruction, and the method executed by the apparatus for flow defining disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 50 or implemented by the processor 50.
The processor 50 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware in the processor 50 or by instructions in the form of software. The processor 50 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a digital signal processor (Digital Signal Processing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 51 and the processor 50 reads the information in the memory 51 and in combination with its hardware performs the steps of the above method.
The computer program product of the readable storage medium provided by the embodiment of the present invention includes a computer readable storage medium storing a program code, where the program code includes instructions for executing the method described in the foregoing method embodiment, and the specific implementation may refer to the foregoing method embodiment and will not be described herein.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A puncture positioning navigation method, characterized in that the method is applied to a puncture positioning navigation system, the puncture positioning navigation system comprising: an ultrasound device, an optical positioning device, and a puncture needle, the method comprising:
performing model construction and operation planning processing on CT images of patients, and determining a human body organ model and initial operation planning information in the human body organ model;
acquiring human body coordinates of a patient, probe coordinates of the puncture needle and probe coordinates of an ultrasonic probe in the ultrasonic equipment through the optical positioning equipment;
and determining planning path adjustment information by using the ultrasonic equipment, and carrying out data updating processing on the initial operation planning information according to the planning path adjustment information, the human body coordinates, the probe coordinates and the probe coordinates to determine target operation planning information.
2. The puncture positioning and navigation method according to claim 1, wherein the optical positioning device comprises: the method comprises the steps of acquiring human body coordinates of a patient, probe coordinates of a puncture needle and probe coordinates of an ultrasonic probe in ultrasonic equipment through the optical positioning equipment, and comprises the following steps of:
determining a global reference coordinate system by the optical positioning device body;
acquiring the human body coordinates, the probe coordinates and the probe coordinates by using the calibration reference frame based on the global reference frame, wherein the calibration reference frame comprises: the cross shaft and the four reflection balls at the tip end of the cross shaft, and the optical positioning device main body and the augmented reality device can detect coordinate information of the reflection balls.
3. The puncture location and navigation method of claim 1, wherein the step of determining planned path adjustment information using the ultrasound device comprises:
acquiring a thoracic cavity ultrasonic image of a patient in real time by using the ultrasonic equipment, and determining diaphragmatic coordinate information of the patient according to the thoracic cavity ultrasonic image, wherein the diaphragmatic coordinate information comprises: coordinate shift information of the patient's diaphragm moving along with respiratory motion during operation and initial coordinate information of the diaphragm;
and determining the planning path adjustment information according to the initial coordinate information and the coordinate offset information.
4. A puncture location and navigation method as set forth in claim 3, wherein the ultrasonic device comprises: the image registration unit, the step of determining the coordinate information of the diaphragm of the patient according to the thoracic ultrasound image, includes:
acquiring a two-dimensional ultrasonic image of the chest of a patient through the ultrasonic probe;
and carrying out image registration processing on the two-dimensional ultrasonic image through the image registration unit, determining three-dimensional coordinate information of the position of the diaphragm in the two-dimensional ultrasonic image, and determining the three-dimensional coordinate information as the coordinate information of the diaphragm.
5. The puncture positioning and navigation method according to claim 1, characterized in that the puncture positioning and navigation system further comprises: the augmented reality device, before performing data update processing on the initial operation planning information according to the planning path adjustment information, the human body coordinates, the probe coordinates and the probe coordinates, determines target operation planning information, includes:
and carrying out coordinate synchronization processing on the augmented reality equipment, and determining a coordinate synchronization matrix.
6. The puncture positioning and navigation method according to claim 5, wherein the step of performing coordinate synchronization processing for the augmented reality device and determining a coordinate synchronization matrix includes:
obtaining virtual coordinate information of a reflecting ball in any calibration reference frame through the augmented reality equipment;
and carrying out coordinate synchronization processing based on the virtual coordinate information and the real coordinate information of the reflecting sphere corresponding to the virtual coordinate information under a global reference coordinate system by a least square method, and determining the coordinate synchronization matrix.
7. The puncture location and navigation method of claim 1, comprising, after the step of determining target surgical planning information:
and determining a virtual model guide rail through the augmented reality device based on the human organ model, the target operation planning information and the coordinate synchronization matrix, so that a doctor wearing the augmented reality device performs operation according to holographic guidance of the virtual model guide rail.
8. A puncture positioning navigation device, characterized in that the device is applied to a puncture positioning navigation system comprising: an ultrasound device, an optical positioning device, and a puncture needle, the apparatus comprising:
the model construction module is used for carrying out model construction processing and operation planning processing on CT images of patients and determining a human organ model and initial operation planning information in the human organ model;
the data acquisition module is used for acquiring the coordinates of a patient body, the coordinates of a probe of the puncture needle and the coordinates of a probe of an ultrasonic probe in the ultrasonic equipment through the optical positioning equipment;
and the data updating module is used for determining planning path adjustment information by utilizing the ultrasonic equipment, and carrying out data updating processing on the initial operation planning information according to the planning path adjustment information, the human body coordinates, the probe coordinates and the probe coordinates to determine target operation planning information.
9. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any one of claims 1 to 7.
10. A computer readable storage medium storing computer executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311843666.9A CN117582273A (en) | 2023-12-28 | 2023-12-28 | Puncture positioning navigation method and device and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311843666.9A CN117582273A (en) | 2023-12-28 | 2023-12-28 | Puncture positioning navigation method and device and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117582273A true CN117582273A (en) | 2024-02-23 |
Family
ID=89922135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311843666.9A Pending CN117582273A (en) | 2023-12-28 | 2023-12-28 | Puncture positioning navigation method and device and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117582273A (en) |
-
2023
- 2023-12-28 CN CN202311843666.9A patent/CN117582273A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110946654B (en) | Bone surgery navigation system based on multimode image fusion | |
| CN107106241B (en) | System for navigating to surgical instruments | |
| JP2950340B2 (en) | Registration system and registration method for three-dimensional data set | |
| JP4822634B2 (en) | A method for obtaining coordinate transformation for guidance of an object | |
| EP2953569B1 (en) | Tracking apparatus for tracking an object with respect to a body | |
| CN110547872B (en) | Operation navigation registration system | |
| JP2008126075A (en) | System and method for visual verification of ct registration and feedback | |
| CN202751447U (en) | Vertebral pedicle internal fixation surgical navigation system based on structured light scanning | |
| US9713508B2 (en) | Ultrasonic systems and methods for examining and treating spinal conditions | |
| KR102105974B1 (en) | Medical imaging system | |
| CN103371870A (en) | Multimode image based surgical operation navigation system | |
| CN115068110A (en) | Image registration method and system for femoral neck fracture surgery navigation | |
| US11127153B2 (en) | Radiation imaging device, image processing method, and image processing program | |
| US10078906B2 (en) | Device and method for image registration, and non-transitory recording medium | |
| US20210343396A1 (en) | Automatic setting of imaging parameters | |
| CN115887003A (en) | Registration method and device of surgical navigation system and surgical navigation system | |
| CN118436438A (en) | Method and system for projecting incision markers onto a patient | |
| CN112053346A (en) | Method and system for determining operation guide information | |
| CN117582273A (en) | Puncture positioning navigation method and device and electronic equipment | |
| US11341661B2 (en) | Method and apparatus for registering live medical image with anatomical model | |
| US20210307723A1 (en) | Spatial registration method for imaging devices | |
| CN116630206B (en) | Positioning method and system for rapid registration | |
| US10028790B2 (en) | Wrong level surgery prevention | |
| CN115998425B (en) | Puncture navigation method and device under CT guidance and terminal equipment | |
| JP2022049256A (en) | Surgical navigation system, medical imaging system with surgical navigation function, and registration method of medical image for surgical navigation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |