WO2019153983A1 - 一种手术刀尖热源成像系统及其方法 - Google Patents

一种手术刀尖热源成像系统及其方法 Download PDF

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WO2019153983A1
WO2019153983A1 PCT/CN2019/070111 CN2019070111W WO2019153983A1 WO 2019153983 A1 WO2019153983 A1 WO 2019153983A1 CN 2019070111 W CN2019070111 W CN 2019070111W WO 2019153983 A1 WO2019153983 A1 WO 2019153983A1
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scalpel
image
scalpel tip
patient
heat source
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PCT/CN2019/070111
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English (en)
French (fr)
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熊力
唐四元
李亚敏
张江杰
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中南大学
中南大学湘雅二医院
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Priority to ZA2019/03831A priority Critical patent/ZA201903831B/en
Publication of WO2019153983A1 publication Critical patent/WO2019153983A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • 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
    • 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
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00601—Cutting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00666—Sensing and controlling the application of energy using a threshold value
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00696—Controlled or regulated parameters
    • A61B2018/00714—Temperature
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00773—Sensed parameters
    • A61B2018/00791—Temperature
    • 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
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • 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
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners

Definitions

  • the present invention relates to the field of medical electronic technology, and in particular, to a scalpel tip heat source imaging system and a method thereof.
  • the high frequency electrosurgical unit (high frequency surgical instrument) is an electrosurgical instrument that replaces a mechanical scalpel for tissue cutting. It uses the high-frequency and high-voltage current generated by the effective electrode tip to heat the tissue when it contacts the body, thereby achieving separation and coagulation of the body tissue, thereby cutting and stopping bleeding.
  • CT Computer Tomography
  • X-CT X-ray CT
  • UCT ultrasound CT
  • ⁇ -CT ⁇ -ray CT
  • Digital Image Processing is a method and technique for removing noise, enhancing, restoring, segmenting, and extracting features from a computer by a computer.
  • the generation and rapid development of digital image processing are mainly affected by three factors: first, the development of computers; second, the development of mathematics (especially the creation and improvement of discrete mathematics theory); third, extensive agriculture, animal husbandry, forestry, and environment. Demand for applications in military, industrial, and medical fields.
  • Digital image processing is widely used in biomedical engineering and is very effective.
  • medical microscopic images such as red blood cells, white blood cell classification, chromosome analysis, cancer cell recognition and the like.
  • image processing techniques are widely used in medical diagnosis such as X-ray lung image enhancement, ultrasound image processing, electrocardiogram analysis, and stereotactic radiotherapy.
  • Thermal imaging is a type of detection device that detects infrared energy (heat) by non-contact and converts it into an electrical signal, thereby generating thermal images and temperature values on the display, and calculating the temperature values.
  • the role of thermal imaging includes: indications of inflammation, early warning of tumors, tips for peripheral neuropathy, analysis of other difficult conditions, and tracking of efficacy.
  • the technical problem to be solved by the present invention is to provide a scalpel tip heat source imaging system and method thereof to solve the deficiencies of the prior art.
  • a scalpel tip heat source imaging system comprising:
  • Integrating and processing the 3D model of the CT image collecting and analyzing the patient's multiple CT scans, enhancing the scanned CT image, compressing and encoding the image, and decoding the image to construct the patient's 3D simulated image to x , y, z three-dimensional data storage, define the horizontal axis as x, the vertical axis as y, the vertical axis is z, if the (x, y, z) coordinate point data is not zero, it is the data of a certain part of the patient;
  • the scalpel tip capture part capture the fever scalpel, then measure and calculate, and then use image processing technology to locate the middle point of the scalpel, which is the position of the scalpel tip, named (x, y, z);
  • Image mark display part After determining the CT longitudinal scan image according to the coordinates of the scalpel tip, the image is grayscale processed, and the mark is specifically deepened in combination with the lateral position and the lateral position.
  • the temperature of the scalpel position is about 100 ° C, and 70% of the temperature is a limit point.
  • the scalpel capturing portion captures the heating scalpel at a frequency of 50 Hz.
  • the scalpel capturing portion is mounted at a position of 150 cm on the right side of the operating table.
  • image processing techniques used to locate the intermediate point of the scalpel using image processing techniques include, but are not limited to, image recognition, infrared, and ultrasonic.
  • a scalpel tip heat source imaging method the specific implementation steps are:
  • the first step is to scan the heat source imaging at a refresh rate of 50 Hz, and then determine the position of the scalpel tip according to the determined threshold value, and determine the coordinates (x, y, z) according to the comparison formula in the image processing;
  • the second step in the case of known coordinates, according to its Y-axis (longitudinal) coordinates, the corresponding CT scan image that has been subjected to image processing is displayed in the display system, and the scan image is enhanced;
  • the Z (lateral) coordinates are marked in the image of the corresponding display system, and the image can be enlarged and reduced for convenient observation.
  • the scalpel tip heat source imaging system of the invention adopts a thermal imaging form to capture the coordinates of the heat source point of the scalpel tip according to the heating and cutting phenomenon of the high frequency scalpel, and combines the digital image processing technology to simulate the operating environment and the image system of the patient to form
  • the corresponding visual image can continuously track the position of the scalpel in real time and display it in the corresponding image system to locate the position of the scalpel, assist and guide the doctor to perform the operation, and solve the problem of the novice or the intern Accurately determine the location of each tissue organ of the patient.
  • FIG. 1 is a block diagram showing the structure of a system of the present invention.
  • an imaging system for scalpel tip position capture As shown in Figures 1 and 2, an imaging system for scalpel tip position capture.
  • the system includes:
  • A. Integrating and processing the 3D model of the CT image by collecting and analyzing multiple CT scans of the patient, performing image enhancement on the scanned CT image, then compressing and encoding the image, and decoding the image to construct a 3D simulated image of the patient.
  • the horizontal axis is x
  • the vertical axis is y
  • the vertical axis is z. If the (x, y, z) coordinate point data is not zero, it is the data of a certain part of the patient;
  • the scalpel capture part Install a thermal imaging capture device at a position 150 cm to the right of the operating table.
  • the device can capture the thermal scalpel at a frequency of 50 Hz.
  • the temperature of the scalpel position is 100 °C. Left and right, you can use 70% of the temperature as the limit point in the program, the more accurate positioning position, and then use the image processing technology to locate the intermediate point, which is the position of the scalpel tip, named (x, y, z).
  • Image mark display part After determining the CT longitudinal scan image according to the coordinates of the scalpel tip, the image is grayscale processed, and the mark is specifically deepened in combination with the lateral position and the lateral position, so that the doctor can quickly and accurately identify the position.
  • the first step is to scan the heat source imaging at a refresh rate of 50 Hz, and then determine the position of the scalpel tip according to the set threshold value, and determine the coordinates (x, y, z) according to the comparison formula in the image processing, and the system corresponding to the A part. coordinate.
  • the second step in the case of known coordinates, according to its Y-axis (longitudinal) coordinates, the corresponding CT scan image that has been subjected to image processing is displayed in the display system, and the scan image is enhanced.
  • the third step is based on X (lateral) and Z (lateral) coordinates are marked in the image of the corresponding display system. For convenient observation, the image can be enlarged and reduced.
  • the operation can be performed according to the established surgical route.
  • the difference from the first embodiment is that after the operation of the predetermined surgical route, the next operation is performed at the end point.
  • the patient needs to be fixed before using the system.
  • the simplest and most practical is that the patient in need of surgery will be anesthetized before the CT scan, and fixed by the device (clinically fixed with a strap, can be invented Specialized fixation scheme to prevent offset).
  • the system will position each part of the patient (especially the body surface, because our operating bed ruler not only needs the above-mentioned fixing device to assist the adjustment, but more importantly It is determined according to the confirmation of reliable body surface positioning corresponding to CT bone markers, etc., and can be adjusted and corrected under operation to ensure that the system coordinates do not deviate, and at the same time, the doctor is in use. You can operate the system to fine-tune some parameters, etc., to facilitate comparison operations.
  • the parameters include image size, positioning calibration, and so on.
  • the scalpel tip heat source imaging system of the invention adopts a thermal imaging form to capture the coordinates of the heat source point of the scalpel tip according to the heating and cutting phenomenon of the high frequency scalpel, and combines the digital image processing technology to simulate the operating environment and the image system of the patient to form
  • the corresponding visual image can continuously track the position of the scalpel in real time and display it in the corresponding image system to locate the position of the scalpel, assist and guide the doctor to perform the operation, and solve the problem of the novice or the intern Accurately determine the location of each tissue organ of the patient.

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Abstract

本发明公开了一种手术刀尖热源成像系统及其方法，包括：整合处理CT图像的3D模型建立部分：通过收集和分析患者的多张CT扫描图，对扫描的CT图进行处理构造患者的3D模拟图像，定义患者某部位坐标数据；手术刀尖捕捉部分：对发热手术刀进行捕捉，然后进行测量和计算，再利用图像处理技术定位手术刀中间点，即为手术刀尖位置；图像标记显示部分：根据手术刀尖的坐标确定CT纵向扫描图后，对扫描图进行图像灰度处理，并在结合侧向位置和横向位置具体加深标注。本发明实时追踪手术刀尖位置，将其显示在对应的图像系统中，定位手术刀尖位置，辅助和引导医生进行手术操作，解决了新手或实习医生并不能准确判断患者的各组织器官位置的问题。

Description

一种手术刀尖热源成像系统及其方法 技术领域
本发明涉及医疗电子技术领域，尤其涉及一种手术刀尖热源成像系统及其方法。
背景技术
高频电刀(高频手术器)是一种取代机械手术刀进行组织切割的电外科器械。它通过有效电极尖端产生的高频高压电流与肌体接触时对组织进行加热，实现对肌体组织的分离和凝固，从而起到切割和止血的目的。
CT(Computed Tomography)，即电子计算机断层扫描，它是利用精确准直的X线束、γ射线、超声波等，与灵敏度极高的探测器一同围绕人体的某一部位作一个接一个的断面扫描，具有扫描时间快，图像清晰等特点，可用于多种疾病的检查；根据所采用的射线不同可分为：X射线CT(X-CT)、超声CT(UCT)以及γ射线CT(γ-CT)等。
数字图像处理数字图像处理(Digital Image Processing)是通过计算机对图像进行去除噪声、增强、复原、分割、提取特征等处理的方法和技术。数字图像处理的产生和迅速发展主要受三个因素的影响：一是计算机的发展；二是数学的发展(特别是离散数学理论的创立和完善)；三是广泛的农牧业、林业、环境、军事、工业和医学等方面的应用需求的增长。数字图像处理在生物医学工程方面的应用十分广泛，而且很有成效。除了上面介绍的CT技术之外，还有一类是对医用显微图像的处理分析，如红细胞、白细胞分类，染色体分析，癌细胞识别等。此外，在X光肺部图像增晰、超声波图像处理、心电图分析、立体定向放射治疗等医学诊断方面都广泛地应用图像处理技术。
热成像是通过非接触探测红外能量(热量)，并将其转换为电信号，进 而在显示器上生成热图像和温度值，并可以对温度值进行计算的一种检测设备。热成像的作用有：炎症的提示、肿瘤的早期预警、周围神经疾病的提示、其他疑难病症分析、疗效跟踪。
鉴于很多新手或实习医生并不能准确判断患者的各组织器官位置，为解决这些弊端，方便实习医生的快速进步和发展，以及经验丰富的医生需要手术实时可视化了解深部结构的解剖毗邻，传统的手术刀已经逐渐被热切割手术刀替换，最大的技术上的问题就是在热成像系统中较准确的捕捉到手术刀尖位置和对应位置的3D成像，但现有技术还没有实现这一效果的较好方案。
发明内容
有鉴于现有技术的上述缺陷，本发明所要解决的技术问题是提供一种手术刀尖热源成像系统及其方法，以解决现有技术的不足。
为实现上述目的，本发明提供了一种手术刀尖热源成像系统，包括：
整合处理CT图像的3D模型建立部分：通过收集和分析患者的多张CT扫描图，对扫描的CT图进行图像增强后，再将图像进行压缩编码，解码图像构造患者的3D模拟图像，以x、y、z三维数据存储，定义横轴为x,纵轴为y,竖轴为z,若(x,y,z)坐标点数据不为零时，即为患者某部位数据；
手术刀尖捕捉部分：对发热手术刀进行捕捉，然后进行测量和计算，再利用图像处理技术定位手术刀中间点，即为手术刀尖位置，命名为(x,y,z)；
图像标记显示部分：根据手术刀尖的坐标确定CT纵向扫描图后，对扫描图进行图像灰度处理，并在结合侧向位置和横向位置具体加深标注。
进一步地，所述手术刀尖位置的温度在100℃左右，以该温度的70％为界限点。
进一步地，所述手术刀尖捕捉部分以频率为50Hz对发热手术刀进行捕捉。
进一步地，所述手术刀尖捕捉部分安装在在手术台右侧150cm位置。
进一步地，所述利用图像处理技术定位手术刀中间点用到的图像处理技术包括但不限于：图像识别、红外、超声波。
一种手术刀尖热源成像方法，具体实施步骤为：
第一步、以50HZ的刷新频率扫描热源成像，再根据已定阈值，判断手术刀尖位置，依照图像处理中的比对计算公式，确定其坐标(x,y,z)；
第二步、在已知坐标情况下，据其Y轴(纵向)坐标，将已进行图像处理的对应CT扫描图展示在显示系统中，并对扫描图进行增强；
第三步、据X(横向),Z(侧向)坐标在对应显示系统的图像中标示出来，为方便观察，图像可进行放大缩小。
本发明的有益效果是：
本发明的一种手术刀尖热源成像系统，根据高频手术刀加热切割现象，利用热成像形式捕获手术刀尖热源点坐标，再结合数字图像处理技术，模拟手术环境和患者的图像系统，形成对应的可视化图像，并能实时持续动态追踪手术刀尖位置，将其显示在对应的图像系统中，以达到定位手术刀尖位置，辅助和引导医生进行手术操作，解决了新手或实习医生并不能准确判断患者的各组织器官位置的问题。
以下将结合附图对本发明的构思、具体结构及产生的技术效果作进一步说明，以充分地了解本发明的目的、特征和效果。
附图说明
图1是本发明的系统结构框图。
图2是本发明的系统流程图。
具体实施方式
实施例一
如图1、2所示，一种手术刀尖位置捕捉的成像系统。该系统包括：
A.整合处理CT图像的3D模型建立部分：通过收集和分析患者的多张CT扫描图，对扫描的CT图进行图像增强后，再将图像进行压缩编码，解码图像构造患者的3D模拟图像，以x,y,z三维数据存储，定义横轴为x,纵轴为y,竖轴为z,若(x,y,z)坐标点数据不为零时，即为患者某部位数据；
B.在手术刀尖捕捉部分：在手术台右侧150cm位置安装热成像捕捉设备，该设备能以频率为50Hz对发热手术刀进行捕捉，根据测量和计算，手术刀尖位置的温度为100℃左右，即可在程序中以该温度的70％为界限点，较准确的定位位置，再利用图像处理技术定位中间点，即为手术刀尖位置，命名为(x,y,z)。
C.图像标记显示部分：根据手术刀尖的坐标确定CT纵向扫描图后，对扫描图进行图像灰度处理，并在结合侧向位置和横向位置具体加深标注，方便医生快速准确识别位置。
具体实施步骤如下：
第一步以50HZ的刷新频率扫描热源成像，再根据已定阈值，判断手术刀尖位置，依照图像处理中的比对计算公式，确定其坐标(x,y,z),对应A部分的系统坐标。
第二步在已知坐标情况下，据其Y轴(纵向)坐标，将已进行图像处理的对应CT扫描图展示在显示系统中，并对扫描图进行增强。
第三步据X(横向),Z(侧向)坐标在对应显示系统的图像中标示出来，为方便观察，图像可进行放大缩小。
确定好手术刀尖位置后即可按照既定的手术路线进行手术操作。
实施例二
与实施例一不同的地方是，进行既定手术路线操作后，还要在终点处进行下一个手术。同理，继续B、C部分，完成后续实施步骤，重新规划一 条新的手术路线，从终点处继续手术操作，根据现实部分对刀尖位置的不同图片展示，结合医生自身经验，进行细微修正，完成下一个手术。
值得注意的是使用该系统前需要对患者进行固定操作，最简单实用的是，将对需手术的患者在进行CT扫描前即打下麻醉，并用装置固定(临床上是用绑带固定，可以发明专门的固定方案，以防偏移)，在进行CT扫描时，系统将对患者的各个部位(特别是体表定位，因为我们的手术床标尺不仅仅需要上述固定装置来辅助调整，更重要的是根据与CT骨性标志等对应的确认可靠的体表定位来确定)进行位置确定，并可在操作下进行调整和修正，用以保证系统坐标不会出现偏差，同时，医生在使用过程中可以自行操作该系统微调一些参数等，用以方便对照操作。其中参数包含图片大小、定位校准等。
本发明的一种手术刀尖热源成像系统，根据高频手术刀加热切割现象，利用热成像形式捕获手术刀尖热源点坐标，再结合数字图像处理技术，模拟手术环境和患者的图像系统，形成对应的可视化图像，并能实时持续动态追踪手术刀尖位置，将其显示在对应的图像系统中，以达到定位手术刀尖位置，辅助和引导医生进行手术操作，解决了新手或实习医生并不能准确判断患者的各组织器官位置的问题。
以上详细描述了本发明的较佳具体实施例。应当理解，本领域的普通技术人员无需创造性劳动就可以根据本发明的构思做出诸多修改和变化。因此，凡本技术领域中技术人员依本发明的构思在现有技术的基础上通过逻辑分析、推理或者有限的实验可以得到的技术方案，皆应在由权利要求书所确定的保护范围内。

Claims (6)

  1. 一种手术刀尖热源成像系统，其特征在于，包括：
    整合处理CT图像的3D模型建立部分：通过收集和分析患者的多张CT扫描图，对扫描的CT图进行图像增强后，再将图像进行压缩编码，解码图像构造患者的3D模拟图像，以x、y、z三维数据存储，定义横轴为x,纵轴为y,竖轴为z,若(x,y,z)坐标点数据不为零时，即为患者某部位数据；
    手术刀尖捕捉部分：对发热手术刀进行捕捉，然后进行测量和计算，再利用图像处理技术定位手术刀中间点，即为手术刀尖位置，命名为(x,y,z)；
    图像标记显示部分：根据手术刀尖的坐标确定CT纵向扫描图后，对扫描图进行图像灰度处理，并在结合侧向位置和横向位置具体加深标注。
  2. 如权利要求1所述的一种手术刀尖热源成像系统，其特征在于：所述手术刀尖位置的温度在100℃左右，以该温度的70％为界限点。
  3. 如权利要求1所述的一种手术刀尖热源成像系统，其特征在于：所述手术刀尖捕捉部分以频率为50Hz对发热手术刀进行捕捉。
  4. 如权利要求1所述的一种手术刀尖热源成像系统，其特征在于，所述手术刀尖捕捉部分安装在在手术台右侧150cm位置。
  5. 如权利要求1所述的一种手术刀尖热源成像系统，其特征在于，所述利用图像处理技术定位手术刀中间点用到的图像处理技术包括但不限于：图像识别、红外、超声波。
  6. 一种手术刀尖热源成像方法，其特征在于，实施步骤为：
    第一步、以50HZ的刷新频率扫描热源成像，再根据已定阈值，判断手 术刀尖位置，依照图像处理中的比对计算公式，确定其坐标(x,y,z)；
    第二步、在已知坐标情况下，据其Y轴(纵向)坐标，将已进行图像处理的对应CT扫描图展示在显示系统中，并对扫描图进行增强；
    第三步、据X(横向),Z(侧向)坐标在对应显示系统的图像中标示出来，为方便观察，图像可进行放大缩小。
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