CN204364123U - Medical treatment navigation system - Google Patents
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- CN204364123U CN204364123U CN201420680082.4U CN201420680082U CN204364123U CN 204364123 U CN204364123 U CN 204364123U CN 201420680082 U CN201420680082 U CN 201420680082U CN 204364123 U CN204364123 U CN 204364123U
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Abstract
This application discloses a kind of medical navigation system, be suitable for coordinating bronchoscope to carry out the guidance operation of bronchial path on the CT image of lung areas and the basis of bronchial tree 3-dimensional image.Medical treatment navigation system comprises real-time navigation locating module, locator module and display module, and wherein real-time navigation locating module comprises electromagnetic field emissions unit, localization probe and system control unit.By electromagnetic location sensor the current location that localization is popped one's head in be positioned and ultrasonic probe obtains the real-time imaging of the surrounding of current location, and be shown on display module, thus confirm the actual position of localization probe and the relative position on the guidance path of CT image.Further, the predicted position on the actual position of being popped one's head in localization by locator module and guidance path carries out registration and correction, thus promotes the accuracy of guidance path.
Description
Technical field
The application relates to technical field of medical instruments, is specifically related to a kind of medical navigation system.
Background technology
At present based on the insertion type medical skill through pulmonary's nature air flue of electromagnetic navigation technology, first pulmonary computed tomographic (the computed tomography of patient is imported, CT) image data, then delimit lesion region, and reconstruct the threedimensional model of main trachea and bronchus.Afterwards, according to the threedimensional model of main trachea and bronchus, arrive the path of lesion locations through bronchus at different levels from main trachea towards bronchial direction calculating.In the stage in art, first the guiding catheter with electromagnetic transducer is inserted in bronchoscope, use bronchoscope to arrive several key position that navigation software requires labelling; The main trachea and bronchus tree threedimensional model of reconstruction and the corresponding relation of the position of pulmonary in actual electromagnetic navigation space is calculated, i.e. the registration of path planning and physical location according to these mark positions; Finally, then according to the guidance path set up towards bronchus direction from main trachea before guide electromagnetic transducer through bronchus at different levels close to and arrival lesion locations.
But, following defect is there is: first in prior art, the threedimensional model of the main trachea and bronchus rebuild by CT image data is accurate not, if wherein ensure accurately, then cannot reconstruct subordinate's bronchial tree structure, otherwise, if improve the progression of subordinate's bronchial tree structure, then cannot ensure the accuracy of the threedimensional model reconstructed.Secondly, by the above-mentioned route programming result obtained towards bronchus mode from main trachea, if lesion locations is in comparatively deep location, then lack subordinate's bronchus information, accurately cannot set up the guidance path through natural air flue, constantly can only be attempted close to lesion locations by locating information.Moreover, registration Algorithm may have error, more enter deep lung error more obvious, in the lung tissue that guidance path may be caused to be offset to outside nature air flue, and show in navigation software after arriving lesion locations and still cannot ensure that electromagnetic transducer really arrives lesion locations in pulmonary, must confirm with other means, such as, be reached by the imaging technique such as X-ray image or CT, increase on foot operational inconvenience and increase the radiation damage of X-ray to doctor and patient body.
Summary of the invention
Technical problems to be solved in this application are to provide a kind of medical navigation system, thus cannot automatically identify subordinate's bronchus when solving preoperative navigation path planning and the error set up on guidance path, guidance path and Actual path Existential Space cannot be mated completely and/or cannot be confirmed whether bronchoscopic electromagnetic transducer arrives the problem etc. of lesion locations really.
In order to solve the problem, this application discloses a kind of medical navigation system, be suitable for coordinating bronchoscope to carry out the guidance operation of bronchial path on the CT image of lung areas and/or the basis of bronchial tree 3-dimensional image.This medical navigation system comprises real-time navigation locating module, locator module and display module, and wherein real-time navigation locating module comprises electromagnetic field emissions receiving element, localization probe and system control unit.In order to there is electromagnetic field in electromagnetic field emissions receiving element; Localization probe is coupled to system control unit, and can follow bronchoscope or independently free displacement in the bronchial tree of lung areas.Localization unit comprises probe body, electromagnetic location sensor and ultrasonic probe, and electromagnetic location sensor and ultrasonic probe are arranged at same one end of probe body.Electromagnetic location sensor is in order to send the location coordinate information of the current location of localization probe in electromagnetic field to system control unit; Ultrasonic probe is in order to send the ultrasonic image information of current location to display module.System control unit is coupled to electromagnetic field emissions receiving element, in order to control electromagnetic field emissions receiving element generation electromagnetic field, and receiving position coordinate information and set up corresponding position coordinates image according to location coordinate information on electromagnetic field.Locator module couples is in system control unit, in order to receive the image coordinate information of bronchial tree 3-dimensional image, and from system control unit receiving position coordinate information, and comparison chart is as coordinate information and location coordinate information, and according to the registration relation of the guidance path on comparison result correcting CT image and position coordinates image.Display module is respectively coupled to real-time navigation locating module, bronchoscope and locator module, in order to receive and to show CT image, guidance path, bronchial tree 3-dimensional image, image coordinate information, location coordinate information, ultrasonic image information and position coordinates image.
Further, in above-mentioned medical navigation system, localization probe also comprises catheter sheath.The probe body of localization probe is arranged in catheter sheath, and one end that probe body is provided with electromagnetic location sensor and ultrasonic probe can extend out to outside catheter sheath or in retraction catheter sheath, wherein catheter sheath pre-sets angle of bend, enters bronchus bifurcateds different in bronchial tree to be guided probe body by the rotation of catheter sheath.
Further, in above-mentioned medical navigation system, electromagnetic location sensor is 6DOF electromagnetic location sensor.
Further, above-mentioned medical navigation system also comprises the navigation path planning device being coupled to locator module.Navigation path planning device comprises image and imports module, 3D image reconstruction module and path planning module.Image imports module in order to receive the raw image data of CT image, and produces three-dimensional CT image information according to raw image data.3D image reconstruction module couples imports module in image.3D image reconstruction module comprises three-dimensional reconstruction unit and bronchus identification cutting unit, and wherein three-dimensional reconstruction unit is in order to receive three-dimensional CT image information, and goes out the three-dimensional structure data of lung areas according to three-dimensional CT image information reconstruction; Bronchus identification cutting unit in order to receive the three-dimensional CT image information of described lung areas and three-dimensional structure data and according to the three-dimensional CT image information identification of described lung areas lung areas three-dimensional structure data in bronchial tree structure, and carry out dividing processing, and obtain the structured data of bronchial tree 3-dimensional image, and the structured data of bronchial tree 3-dimensional image comprises image coordinate information.Path planning module is respectively coupled to image and imports module and 3D image reconstruction module.Path planning module in order to receive three-dimensional CT image information and bronchial tree 3-dimensional image, and draws guidance path respectively according to the structured data of three-dimensional CT image information and bronchial tree 3-dimensional image on CT image and/or bronchial tree 3-dimensional image.
Further, in above-mentioned medical navigation system, bronchial tree comprises main trachea and multistage bronchus, guidance path is drawn along main trachea and multistage bronchus, and be marked with calibration position, target location, first higher level's knuckle labelling, first subordinate's knuckle labelling, second higher level's knuckle labelling, second subordinate's knuckle labelling and main knuckle labelling on CT image, wherein calibration position is arranged in one of them bronchus of multistage bronchus; Target location and calibration position overlapped; First higher level's knuckle labelling is positioned at this bronchial higher level's crotch; First subordinate's knuckle labelling is positioned at another the bronchial subordinate crotch being labeled as higher level's bifurcation with first higher level's knuckle; Second higher level's knuckle labelling is positioned at the bronchial higher level's crotch of upper level being labeled as subordinate's bifurcation with first higher level's knuckle; Second subordinate's knuckle labelling is positioned at another the bronchial subordinate crotch being labeled as higher level's bifurcation with second higher level's knuckle; Main knuckle labelling is positioned at main trachea and multistage bronchial crotch.Further, target location, first higher level's knuckle labelling, first subordinate's knuckle labelling, second higher level's knuckle labelling, second subordinate's knuckle labelling and main knuckle labelling are interconnected, and form guidance path.
Further, in above-mentioned medical navigation system, bronchial tree comprises main trachea and multistage bronchus, guidance path is drawn along main trachea and multistage bronchus, and on CT image, be marked with calibration position, target location, first higher level's knuckle labelling, first subordinate's knuckle labelling, second higher level's knuckle labelling, second subordinate's knuckle labelling and main knuckle labelling, between two bronchus that wherein calibration position is adjacent in multistage bronchus; Target location is arranged in the nearest bronchial subordinate crotch in two adjacent bronchus distance calibration positions; It is bronchial higher level's crotch of subordinate's bifurcation that first higher level's knuckle labelling is positioned at target location; First subordinate's knuckle labelling is positioned at another the bronchial subordinate crotch being labeled as higher level's bifurcation with first higher level's knuckle; Second higher level's knuckle labelling is positioned at the bronchial higher level's crotch of upper level being labeled as subordinate's bifurcation with first higher level's knuckle; Second subordinate's knuckle labelling is positioned at another the bronchial subordinate crotch being labeled as higher level's bifurcation with second higher level's knuckle; Main knuckle labelling is positioned at main trachea and multistage bronchial crotch.Further, target location, first higher level's knuckle labelling, first subordinate's knuckle labelling, second higher level's knuckle labelling, second subordinate's knuckle labelling and main knuckle labelling are interconnected, and form guidance path.
Compared with prior art, the application can obtain and comprise following technique effect:
The medical navigation system of the application and method, by real-time navigation locating module and the real-time interactive information of locator module, thus acquisition true path real-time in navigation procedure is at the position coordinates of elect magnetic field, and pass through the comparison of guidance path and the true path planned in advance, constantly registration and correction can be carried out to the guidance path planned in advance, thus improve the accuracy of guidance path, and solve the problem that the error on guidance path and Actual path Existential Space cannot mate completely.Simultaneously, by configuring the mode of ultrasonic probe on localization probe, localization is allowed to pop one's head in the process of navigation, can determine that whether electromagnetic location sensor arrives the target location producing pathological changes really by ultrasonic image, thus solve and cannot confirm whether electromagnetic location sensor arrives the problem of lesion locations really.In addition, the application can also by guidance path from lesion locations, the mode of labelling is sequentially carried out in direction towards main trachea, ensure that the uniqueness of guidance path, and improve the identity of guidance path, thus None-identified subordinate bronchus set up the problem of guidance path when solving preoperative navigation path planning.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide further understanding of the present application, and form a application's part, the schematic description and description of the application, for explaining the application, does not form the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the block schematic diagram of the medical navigation system of the application first embodiment;
Fig. 2 is the floor map of the localization probe of the medical navigation system of the application first embodiment;
Fig. 3 is the medical air navigation aid flow chart of the application first embodiment of the method;
Fig. 4 is the block schematic diagram of the medical navigation system of the application second embodiment;
Fig. 5 is the navigation path planning method flow chart of the application second embodiment of the method;
Fig. 6 and Fig. 7 is the bronchial tree 3-dimensional image schematic diagram of corresponding the application second embodiment of the method respectively;
Fig. 8 and Fig. 9 is the CT image schematic diagram of corresponding the application second embodiment of the method respectively.
Detailed description of the invention
Drawings and Examples will be coordinated below to describe the embodiment of the application in detail, by this to the application how application technology means solve technical problem and the implementation procedure reaching technology effect can fully understand and implement according to this.
As employed some vocabulary to censure specific components in the middle of description and claim.Those skilled in the art should understand, and hardware manufacturer may call same assembly with different noun.This specification and claims are not used as with the difference of title the mode distinguishing assembly, but are used as the criterion of differentiation with assembly difference functionally." comprising " as mentioned in the middle of description and claim is in the whole text an open language, therefore should be construed to " comprise but be not limited to "." roughly " refer to that in receivable range of error, those skilled in the art can solve the technical problem within the scope of certain error, reach described technique effect substantially.In addition, " couple " or " electric connection " one word comprise directly any and indirectly electric property coupling means at this.Therefore, if describe a first device in literary composition to be coupled to one second device, then represent described first device and directly can be electrically coupled to described second device, or be indirectly electrically coupled to described second device by other device or the means that couple.Description subsequent descriptions is implement the better embodiment of the application, and right described description is for the purpose of the rule that the application is described, and is not used to the scope limiting the application.The protection domain of the application is when being as the criterion depending on the claims person of defining.
Also it should be noted that, term " comprises ", " comprising " or its other variant any are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, commodity or system and not only comprise those key elements, but also comprise other key element clearly do not listed, or also comprise by the intrinsic key element of this process, method, commodity or system.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, commodity or the system comprising described key element and also there is other identical element.
embodiment describes
The medical navigation system of the application is suitable on the CT image of lung areas and/or the basis of bronchial tree 3-dimensional image, coordinates bronchoscope to carry out the guidance operation of bronchial path.
As shown in Figure 1, medical navigation system 1 disclosed by the application first embodiment comprises real-time navigation locating module 10, locator module 20 and display module 30, and wherein real-time navigation locating module 10 comprises electromagnetic field emissions unit 110, localization probe 120 and system control unit 130.
Please refer to Fig. 1 and Fig. 2, in order to there is electromagnetic field in electromagnetic field emissions unit 110.Localization probe 120 is coupled to system control unit 130, and localization probe 120 comprises probe body 121, electromagnetic location sensor 122 and ultrasonic probe 123.Localization probe 120 can follow bronchoscope free displacement or independently free displacement in the bronchial tree of lung areas in the bronchial tree of lung areas.Electromagnetic location sensor 122 and ultrasonic probe 123 are arranged at same one end of probe body 121 respectively, such as, front end in probe body 121 opposite endpoint, wherein electromagnetic location sensor 122 can be but be not limited to 6DOF electromagnetic location sensor, in order to when there is electromagnetic field in electromagnetic field emissions unit 110, send the location coordinate information that localization probe 121 is arranged in the current location of bronchial tree in the sphere of action of electromagnetic field, location coordinate information such as in the main trachea or bronchus at different levels of a shape Guan Shuzhong, and ultrasonic probe 123 pops one's head in the ultrasonic image information of 121 current locations to display module in order to send localization, namely by electromagnetic location sensor 122 under current location, the ultrasonic image of present position and surrounding thereof is sent to display module 130.In addition, localization probe 120 can also optionally comprise catheter sheath 124, probe body 121 is arranged in positioning catheter 124 together with electromagnetic location sensor 122 and ultrasonic probe 123, and, one end that probe body 121 is provided with electromagnetic location sensor 122 and ultrasonic probe 123 can extend out to outside catheter sheath 124 or in retraction catheter sheath 124, wherein catheter sheath 124 can pre-set angle of bend, make probe body 121 can along with the rotation of catheter sheath 124 is to convert direction of advance, and be guided and enter bronchus bifurcateds different in bronchial tree, thus displacement is explored in the bronchial tree of lung areas, extend out to outside catheter sheath 124 by probe body 121 simultaneously, allow ambient condition information outside electromagnetic location sensor 122 and ultrasonic probe 123 detecting real-time catheter sheath 124, the namely location coordinate information of relevant position and ultrasonic image information in bronchial tree.
System control unit 130 is coupled to electromagnetic field emissions unit 110, in order to control electromagnetic field emissions unit 110, electromagnetic field occurs, and Fen Do From electromagnetic location sensor 122 and ultrasonic probe 123 receiving position coordinate information and ultrasonic image information.Meanwhile, system control unit 130 can also set up corresponding position coordinates image according to location coordinate information on electromagnetic field.
Locator module 20 is coupled to the system control unit 130 of real-time navigation locating module 10, in order to receive the image coordinate information of bronchial tree 3-dimensional image, and from system control unit 130 receiving position coordinate information and position coordinates image, and comparison chart is as coordinate information and location coordinate information, and according to the registration relation between the guidance path on comparison result correcting CT image and position coordinates image.
Display module 30 is respectively coupled to real-time navigation locating module 10, locator module 20 and bronchoscope, in order to receive and to show CT image, guidance path, bronchial tree 3-dimensional image, image coordinate information location coordinate information, ultrasonic image information and position coordinates image etc.Meanwhile, display module 30 is also in order to receive the real image by bronchoscope views.
Below by way of an embodiment of the method, the medical navigation system disclosed by the application first embodiment is described further the mode that medical apparatus and instruments navigates.
As shown in Figure 3, medical air navigation aid disclosed by the application first embodiment of the method is suitable on the CT image of lung areas and/or the basis of bronchial tree 3-dimensional image, coordinate bronchoscope to carry out the guidance operation of bronchial path, this medical air navigation aid comprises the following steps:
Step S101, CT image and/or bronchial tree 3-dimensional image is drawn the main trachea of lung areas to multistage bronchial guidance path, wherein guidance path has multiple knuckle labelling;
Step S102, according to guidance path, touch main trachea and multistage bronchial knuckle position by localization probe, and each knuckle position is indicated corresponding telltale mark by the electromagnetic location sensor in being popped one's head in by localization on the position coordinates image of electromagnetic field;
Step S103, carries out preliminary registration and the correction of position coordinates image and guidance path according to each knuckle labelling and telltale mark;
Step S104, guides localization probe by corresponding bronchus by the guidance path of preliminary registration and correction;
Step S105, according to the relative position of each knuckle labelling indicated in the guidance path of preliminary registration and correction and its higher level, subordinate's knuckle labelling, subordinate's bronchus of each bronchial knuckle position is identified as bifurcation site and the direction of bronchial path on the coordinate diagram picture of position by electromagnetic location sensor;
Step S106, according to the relative position of each knuckle labelling and the bifurcation site of bronchial path and direction, carries out registration again and the correction of guidance path;
Step S107, guides localization probe by corresponding bronchus, until target location by the guidance path of registration and correction again; And
Step S108, the ultrasonic probe in being popped one's head in by localization obtains the ultrasonic image information of target location.
Please refer to Fig. 1 to Fig. 3, in the medical air navigation aid disclosed by the application first embodiment of the method, first, CT image and/or bronchial tree 3-dimensional image are drawn guidance path (S101), this guidance path can be but be not limited to before this step or among this step, according to the main trachea in bronchial tree and multistage bronchial trend out of the ordinary and with the relativeness of lesion locations on locus, drawn on CT image and/or bronchial tree 3-dimensional image by corresponding automatic or manual mode.In the present embodiment, the generation type for guidance path is not limited.In addition, in this step, key point labelling can also be carried out on CT image and/or bronchial tree 3-dimensional image, such as, in main trachea and bronchial knuckle position at different levels or carry out predictive marker at lesion locations place.Therefore, guidance path have multiple knuckle labellings of the predicted position indicating knuckle.
Then, control electromagnetic field emissions receiving element 110 by the system control unit 130 of real-time navigation locating module 10 to generate an electromagnetic field, so that allow the deformation trace of electromagnetic location sensor 122 in the sphere of action of electromagnetic field be arranged in localization probe 120 be presented on the position coordinates image of electromagnetic field with position, and on display module 30, show the relative position that localization pops one's head between 120 and guidance path.Then, according to guidance path, by localization probe 120 in main trachea and bronchial natural air flue at different levels, follow bronchoscope or have angle of bend catheter sheath 124 guiding or independently advance (advancing in the target location namely towards guidance path terminal) towards lesion locations, and when by main trachea and bronchial crotch at different levels, touch main trachea and bronchial knuckle position at different levels in the lump, and by the electromagnetic location sensor 122 being arranged in localization probe 120, each knuckle position physical location is spatially indicated corresponding telltale mark (S102) on the position coordinates image of electromagnetic field.
Afterwards, according to the relative position between multiple knuckle labelling and telltale mark, carry out preliminary registration and the correction of position coordinates image and guidance path, wherein, being used for predicting that the knuckle labelling of knuckle position is compared by locator module 20 by representing on the telltale mark of each knuckle physical location and guidance path, namely the location coordinate information of the current location of electromagnetic location sensor 122 in electromagnetic field and the image coordinate information of bronchial tree 3-dimensional image being compared.And, according to comparison result, preliminary registration and correction are carried out to the registration relation between guidance path and position coordinates image, each telltale mark is made to fall on guidance path, and, so that the degree of deviation (S103) of the predictive marker that correct guidance path on and physical location overlapped with the knuckle labelling of relevant position.
Then, guide localization probe 120 by corresponding bronchus (S104) by the guidance path of preliminary registration and correction, and touch each bronchial knuckle, so that obtain the physical location of each bronchial knuckle by localization probe 120.Then, according to the relative position of each knuckle labelling indicated in the guidance path of preliminary registration and correction and its higher level, subordinate's knuckle labelling, subordinate's bronchus of each bronchial knuckle position is identified as bifurcation site and direction (S105) of bronchial path on the coordinate diagram picture of position by electromagnetic location sensor 122.Afterwards, namely locator module 20 can carry out registration again and the correction (S106) of guidance path according to the bifurcation site of the relative position of these knuckle labellings and bronchial path and direction.
Then, guide localization probe 120 by corresponding bronchus, until target location (S107) by the guidance path of registration and correction again.And, after localization probe 120 arrives target location, obtained the ultrasonic image information (S108) of target location by the ultrasonic probe in localization probe 120, and on display module 30, present the ultrasonic image of target location and/or its surrounding according to this ultrasonic image information.Thus, can arrive at except the target location of generation pathological changes smoothly except allowing localization probe 120, the ultrasonic image of target location can also be obtained simultaneously, and confirm that the electromagnetic location sensor 122 of localization probe 120 arrives the target location producing pathological changes really, thus improve the accuracy of the Navigation and localization of medical apparatus and instruments.
What deserves to be explained is, in order to improve the accuracy of localization, in the medical air navigation aid disclosed by some embodiments of the application, carry out the preliminary registration of guidance path and the operation of correction according to each knuckle labelling and guided by the guidance path of preliminary registration and correction localization probe 120 by corresponding bronchial operation between, the real image of each knuckle position can also be obtained by bronchoscope, and according to the real image adjustment relevant position of knuckle position in CT image and/or bronchial tree 3-dimensional image of each knuckle position, make the position consistency of each knuckle position in real image and bronchial tree 3-dimensional image, thus allow localization pop one's head in 120 at CT image, the Image Location that guidance path and/or bronchial tree 3-dimensional image manifest can very close to actual position or just correspond to actual position.
In addition, in the medical air navigation aid disclosed by other embodiments of the application, 120 can also be popped one's head in by the process of guidance path at localization, localization is allowed to pop one's head in 120 in two adjacent bronchus that bronchial crotch at different levels enters different bifurcated respectively after one section of preset distance, return crotch again, in this way, allow electromagnetic location sensor 122 can obtain bronchial bifurcation information at different levels, positional information and move towards information, and be supplied to locator module 20 by system control unit 130, allow locator module 20 can further according to bifurcation information, positional information and information of moving towards carry out registration and correction to guidance path.
As shown in Figure 4, be the block schematic diagram of the medical navigation system of the application second embodiment.The medical navigation system that the application second embodiment is revealed is forming with the medical navigation system of the first embodiment and is doing on flowing mode roughly the same, difference is between the two, medical navigation system disclosed by the application second embodiment is except real-time navigation locating module 10, locator module 20 and display module 30, also comprise navigation path planning device 40, be respectively coupled to locator module 20 and display module 30.
Navigation path planning device 40 comprises image and imports module 410,3D image reconstruction module 420 and path planning module 430.Image imports module 410 in order to receive the raw image data of CT image, and produces corresponding three-dimensional CT image information according to the raw image data of received CT image.3D image reconstruction module 420 is coupled to image and imports module 410,3D image reconstruction module 420 comprises three-dimensional reconstruction unit 421 and bronchus identification cutting unit 422, wherein three-dimensional reconstruction unit 421 receives three-dimensional CT image information in order to import module 410 from image, and goes out the three-dimensional structure data of lung areas according to three-dimensional CT image information reconstruction.Bronchus identification cutting unit 422 in order to receive from three-dimensional reconstruction unit 421 three-dimensional CT image information and lung areas three-dimensional structure data and according to the bronchial tree structure in the three-dimensional structure data of the three-dimensional CT image information identification lung areas of described lung areas, and carry out dividing processing, thus obtain the structured data of bronchial tree 3-dimensional image, and the structured data of bronchial tree 3-dimensional image comprises image coordinate information.
Path planning module 430 is respectively coupled to image and imports module 410 and 3D image reconstruction module 420.Path planning module 430 is in order to receive the structured data of three-dimensional CT image information and bronchial tree 3-dimensional image, and the structured data according to three-dimensional CT image information and bronchial tree 3-dimensional image draws guidance path on CT image/or bronchial tree 3-dimensional image, wherein guidance path is drawn along the main trachea of bronchial tree structure and bronchus at different levels, and on guidance path, be labeled with target location, first higher level's knuckle labelling, first subordinate's knuckle labelling, second higher level's knuckle labelling, second subordinate's knuckle labelling and main knuckle labelling, guidance path is formed by connecting by these positions and labelling exactly.
Below by way of certain methods embodiment, the medical navigation system disclosed by the application first embodiment is described further the mode that medical apparatus and instruments navigates.Further, the difference of these medical air navigation aids and the first embodiment of the method is mainly in the planning of guidance path, and this difference is carried out in the operation of the step S101 of the first embodiment of the method.Therefore, in these embodiments of the method following, only focusing on, the method how navigation path planning device 40 plans guidance path runs business into particular one illustrates in detail, and all the other steps are roughly the same with the content of the step S102 to S108 in the first embodiment of the method, therefore repeat no more.
In the medical air navigation aid disclosed by the application second embodiment of the method, the operation of the main trachea that CT image the draws lung areas bronchial guidance path of Grade at the most also comprises navigation path planning method, and as shown in Figure 5, the method comprises:
Step S201, obtains CT image;
Step S202, lesion locations is labeled as calibration position by CT image;
Step S203, CT image is found the bronchus near calibration position in multistage bronchus, and the position of calibration position corresponding in bronchus is labeled as target location;
Step S204, higher level's crotch bronchus being positioned at target location is labeled as first higher level's knuckle labelling;
Step S205, using first higher level's knuckle labelling as in another bronchus of higher level's bifurcation, is labeled as first subordinate's knuckle labelling by its subordinate's crotch;
Step S206, CT image to be found in multistage bronchus using first higher level's knuckle labelling as the upper level bronchus of subordinate's bifurcation, its higher level's crotch is labeled as second higher level's knuckle labelling;
Step S207, using second higher level's knuckle labelling as in another bronchus of higher level's bifurcation, is labeled as second subordinate's knuckle labelling by its subordinate's crotch;
Step S208, the step of repeating label higher level knuckle labelling and subordinate's knuckle labelling, until higher level's knuckle labelling is positioned at the knuckle position of main trachea and multistage bronchus crotch, and using the higher level's knuckle labelling being positioned at this knuckle position as main knuckle labelling; And
Step S209, in target location, first higher level's knuckle labelling, first subordinate's knuckle labelling, second higher level's knuckle labelling, draws connecting line according to relative position between second subordinate's knuckle labelling and main knuckle labelling, and forms guidance path.
Please refer to Fig. 4 to Fig. 9, in the second embodiment of the method disclosed by the application, first, import module 410 by image and receive CT image (S201), and from CT image, obtain the raw image data of CT image, then produce corresponding three-dimensional CT image information according to the raw image data of CT image.In this step, image can also be received by the three-dimensional reconstruction unit 421 of 3D image reconstruction module 420 and import the three-dimensional CT image information imported into of module 410, and go out the three-dimensional structure data of lung areas according to three-dimensional CT image information reconstruction.Simultaneously, in this step, bronchus identification cutting unit 422 receives the three-dimensional structure data of three-dimensional CT image information and lung areas, and according to the bronchial tree structure in the three-dimensional structure data of the three-dimensional CT image information identification lung areas of described lung areas, then dividing processing is carried out, thus obtain the structured data of bronchial tree 3-dimensional image, the image coordinate information of such as bronchial tree 3-dimensional image.
Then, lesion locations is labeled as by CT image calibration position and lesion locations is labeled as calibration position T0 (S202) on CT image.Then, CT image is found the bronchus near calibration position in multistage bronchus, and the position of calibration position corresponding in this bronchus is labeled as target location B0 (S203).Wherein, if calibration position T0 is positioned in this bronchus, target location B0 and calibration position T0 overlapped (as shown in Figure 6 and Figure 8); And if between two bronchus adjacent in multistage bronchus of calibration position T0, then target location B0 is indicated in and is arranged in the bronchial subordinate crotch (as shown in figures 7 and 9) of two adjacent bronchus near calibration position.
Afterwards, higher level's crotch bronchus being positioned at target location B0 is labeled as first higher level's knuckle labelling C1 (S204).Then, using first higher level's knuckle labelling C1 as in another bronchus of higher level's bifurcation, its subordinate's crotch is labeled as the first subordinate knuckle labelling B1 (S205).Afterwards, CT image to be found in multistage bronchus using first higher level's knuckle labelling C1 as the upper level bronchus of subordinate's bifurcation, its higher level's crotch is labeled as second higher level's knuckle labelling C2 (S206); And using second higher level's knuckle labelling C2 as in another bronchus of higher level's bifurcation, its subordinate's crotch is labeled as the second subordinate knuckle labelling B2 (S207).
Then, by that analogy, repeat the step of correspondence markings higher level knuckle labelling and subordinate's knuckle labelling in main trachea on CT image and multistage bronchus, until higher level's knuckle labelling is positioned at the knuckle position of main trachea and multistage bronchus crotch, and using the higher level's knuckle labelling being positioned at this knuckle position as main knuckle labelling Cn (S208).Finally, between target location B0, first higher level's knuckle labelling C1, the first subordinate knuckle labelling B1, second higher level's knuckle labelling C2, the second subordinate knuckle labelling B2 and main knuckle mark Cn remember, draw connecting line according to relative position, and form guidance path (S209).
Therefore, after guidance path is completed, CT image is marked with target location B0, first higher level's knuckle labelling C1, the first subordinate knuckle labelling B1, second higher level's knuckle labelling C2, the second subordinate knuckle labelling B2 ..., and main knuckle labelling Cn.
Wherein, calibration position T0 is arranged in one of them bronchus of multiple bronchus; Target location B0 is according to the difference of calibration position T0, and overlapped or be arranged in the bronchial subordinate crotch of two adjacent bronchus near calibration position T0 with calibration position T0; Bronchial higher level's crotch that it is subordinate's bifurcation that first higher level's knuckle labelling C1 is positioned at target location B0; Another bronchial subordinate crotch that it is higher level's bifurcation that first subordinate knuckle labelling B1 is positioned at first higher level's knuckle labelling C1; The bronchial higher level's crotch of upper level that it is subordinate's bifurcation that second higher level's knuckle labelling C2 is positioned at first higher level's knuckle labelling C1; Another bronchial subordinate crotch that it is higher level's bifurcation that second subordinate knuckle labelling B2 is positioned at second higher level's knuckle labelling C2; Main knuckle labelling Cn is positioned at main trachea and multiple bronchial crotch.
By this by lesion locations the flag sequence to main trachea, ensure that the uniqueness of guidance path.This process not only path label, have also obtained the key point on guidance path, these key points contain carries out labelling to the bronchial position of other bifurcateds of each bronchial bifurcation, thus comprise the navigation information of all crotches, for the judgement of path and direction of advance, and these data correspond to the structured data of the bronchial tree 3-dimensional image obtained from three-dimensional CT image information reconstruction completely, better bronchoscopic direction of advance can be guided in navigation stage, and guide localization probe and electromagnetic location sensor to arrive the target location that pathological changes occurs smoothly.Meanwhile, by the configuration of ultrasonic probe, the real-time imaging of lesion region can also be obtained in target location, and more confirm that electromagnetic location sensor has arrived at target location, thus the accurate three-dimensional location realized focus and Detectable effects.
Above-mentioned explanation illustrate and describes some preferred embodiments of the application, but as previously mentioned, be to be understood that the application is not limited to the form disclosed by this paper, should not regard the eliminating to other embodiments as, and can be used for other combinations various, amendment and environment, and can in invention contemplated scope described herein, changed by the technology of above-mentioned instruction or association area or knowledge.And the change that those skilled in the art carry out and change do not depart from the spirit and scope of the application, then all should in the protection domain of the application's claims.
Claims (6)
1. a medical navigation system, be suitable for coordinating bronchoscope to carry out the guidance operation of bronchial path on the CT image of lung areas and/or the basis of bronchial tree 3-dimensional image, it is characterized in that, described medical navigation system comprises: real-time navigation locating module, locator module and display module, wherein
Described real-time navigation locating module, comprising: electromagnetic field emissions unit, localization unit and system control unit, wherein,
In order to there is electromagnetic field in described electromagnetic field emissions unit;
Described localization probe, be coupled to described system control unit, and described bronchoscope or independently free displacement in the bronchial tree of described lung areas can be followed, described localization probe comprises probe body, electromagnetic location sensor and ultrasonic probe, described electromagnetic location sensor and described ultrasonic probe are arranged at same one end of described probe body, described electromagnetic location sensor is in order to send the location coordinate information of described localization probe in the current location of described electromagnetic field inside to described system control unit, described ultrasonic probe is in order to send the ultrasonic image information of described current location to described display module,
Described system control unit is coupled to described electromagnetic field emissions unit, there is described electromagnetic field in order to control described electromagnetic field emissions unit, and receive described location coordinate information and on described electromagnetic field, set up corresponding position coordinates image according to described location coordinate information;
Described locator module couples is in described system control unit, in order to receive the image coordinate information of described bronchial tree 3-dimensional image, and receive described location coordinate information and described position coordinates image from described system control unit, and image coordinate information described in comparison and described location coordinate information, and the registration relation correcting guidance path on described CT image and described position coordinates image according to comparison result;
Described display module is respectively coupled to described real-time navigation locating module, described bronchoscope and described locator module, in order to receive and to show described CT image, described guidance path, described bronchial tree 3-dimensional image, described image coordinate information, described location coordinate information, described ultrasonic image information and described position coordinates image.
2. medical navigation system as claimed in claim 1, it is characterized in that, described localization probe also comprises catheter sheath, described probe body is arranged in described catheter sheath, and one end that described probe body is provided with described electromagnetic location sensor and described ultrasonic probe can extend out to outside described catheter sheath or retract in described catheter sheath, wherein said catheter sheath pre-sets angle of bend, enters bronchus bifurcateds different in described bronchial tree to be guided described probe body by the rotation of described catheter sheath.
3. medical navigation system as claimed in claim 1, is characterized in that, described electromagnetic location sensor is 6DOF electromagnetic location sensor.
4. medical navigation system as claimed in claim 1, is characterized in that, also comprises navigation path planning device, is respectively coupled to described locator module and described display module, and described navigation path planning device comprises:
Image imports module, in order to receive the raw image data of described CT image, and produces three-dimensional CT image information according to described raw image data;
3D image reconstruction module, be coupled to described image and import module, described 3D image reconstruction module comprises:
Three-dimensional reconstruction unit, in order to receive described three-dimensional CT image information, and goes out the three-dimensional structure data of described lung areas according to described three-dimensional CT image information reconstruction; And
Bronchus identification cutting unit, in order to receive the three-dimensional CT image information of described lung areas and three-dimensional structure data and according to the three-dimensional CT image information identification of described lung areas lung areas three-dimensional structure data in bronchial tree structure, and carry out dividing processing, and obtain the structured data of described bronchial tree 3-dimensional image, and the structured data of described bronchial tree 3-dimensional image comprises described image coordinate information; And
Path planning module, be respectively coupled to described image and import module and described 3D image reconstruction module, described path planning module in order to receive the structured data of described three-dimensional CT image information and described bronchial tree 3-dimensional image, and draws described guidance path respectively according to the structured data of described three-dimensional CT image information and described bronchial tree 3-dimensional image on described CT image and/or described bronchial tree 3-dimensional image.
5. medical navigation system as claimed in claim 4, is characterized in that, described bronchial tree comprises main trachea and multistage bronchus, and described guidance path is drawn along described main trachea and described multistage bronchus, and is marked with on described CT image:
Calibration position, is arranged in one of them bronchus of described multistage bronchus;
Target location, overlapped with described calibration position;
First higher level's knuckle labelling, is positioned at described bronchial higher level's crotch;
First subordinate's knuckle labelling, is positioned at another the bronchial subordinate crotch being labeled as higher level's bifurcation with described first higher level's knuckle;
Second higher level's knuckle labelling, is positioned at the bronchial higher level's crotch of upper level being labeled as subordinate's bifurcation with described first higher level's knuckle;
Second subordinate's knuckle labelling, is positioned at another the bronchial subordinate crotch being labeled as higher level's bifurcation with described second higher level's knuckle; And
Main knuckle labelling, is positioned at described main trachea and described multistage bronchial crotch;
Wherein, described target location, described first higher level's knuckle labelling, described first subordinate's knuckle labelling, described second higher level's knuckle labelling, described second subordinate's knuckle labelling and described main knuckle labelling are interconnected, and form described guidance path.
6. medical navigation system as claimed in claim 4, is characterized in that, described bronchial tree comprises main trachea and multistage bronchus, and described guidance path is drawn along described main trachea and described multistage bronchus, and is marked with on described CT image:
Calibration position, between two bronchus adjacent in described multistage bronchus;
Target location, is arranged in the bronchial subordinate crotch that described in described two adjacent bronchus distances, calibration position is nearest;
First higher level's knuckle labelling, described bronchial higher level's crotch that to be positioned at described target location be subordinate's bifurcation;
First subordinate's knuckle labelling, is positioned at another the bronchial subordinate crotch being labeled as higher level's bifurcation with described first higher level's knuckle;
Second higher level's knuckle labelling, is positioned at the bronchial higher level's crotch of upper level being labeled as subordinate's bifurcation with described first higher level's knuckle;
Second subordinate's knuckle labelling, is positioned at another the bronchial subordinate crotch being labeled as higher level's bifurcation with described second higher level's knuckle; And
Main knuckle labelling, is positioned at described main trachea and described multistage bronchial crotch;
Wherein, described target location, described first higher level's knuckle labelling, described first subordinate's knuckle labelling, described second higher level's knuckle labelling, described second subordinate's knuckle labelling and described main knuckle labelling are interconnected, and form described guidance path.
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