WO2023273189A1

WO2023273189A1 - Intracranial puncture method, intracranial puncture apparatus, intracranial puncture system, and storage medium

Info

Publication number: WO2023273189A1
Application number: PCT/CN2021/137596
Authority: WO
Inventors: 王琳; 邵天琪; 王烨; 姜鹏; 杜世伟; 李光林
Original assignee: 深圳先进技术研究院
Priority date: 2021-06-29
Filing date: 2021-12-13
Publication date: 2023-01-05
Also published as: CN113520543B; LU500668B1; CN113520543A

Abstract

An intracranial puncture method, an intracranial puncture apparatus (5), an intracranial puncture system, and a storage medium. The method comprises: obtaining head posture information, a head scanning image, and puncture needle posture information (S11); determining puncture path posture information by using the head posture information and the head scanning image (S12), wherein the reference plane (S2) of the ground coordinate of the head posture information and the cross section (S1) of the head scanning image are on the same horizontal plane; and displaying a puncture path and a puncture needle in real time on the basis of the puncture path posture information and the puncture needle posture information (S13). By means of the intracranial puncture method, the head does not need to be fixed, and navigation optimization can be performed on intracranial puncture, thereby providing accurate puncture path posture information and puncture needle posture information.

Description

Intracranial puncture method, intracranial puncture device, intracranial puncture system and storage medium

technical field

The present application relates to the technical field of intracranial puncture, in particular to an intracranial puncture method, an intracranial puncture device, an intracranial puncture system and a storage medium.

Background technique

Intracerebral hemorrhage (ICH) is a disease with high mortality and morbidity. At present, the treatment methods for removing intracranial hematoma mainly include conservative treatment, craniotomy for hematoma removal, small bone window hematoma removal, and minimally invasive puncture and drainage of intracranial hematoma (MIPD).

Existing navigation systems include optical surgical navigation systems, electromagnetic surgical navigation systems, and mechanical surgical navigation systems. However, most navigation systems have limitations such as complex operation, high requirements on the use environment, and high manufacturing costs.

At present, intracranial puncture hematoma drainage is a minimally invasive operation to avoid craniotomy, and it can treat cerebral hemorrhage very well. However, in conventional intracranial hematoma puncture surgery, in order to improve accuracy, doctors often need to combine multiple key factors and fix the patient's head, and then insert the surgical needle accurately according to the guided puncture path. However, patients often cannot maintain a posture for a long time, so that the navigation route is misaligned, which leads to inaccurate insertion in the puncture operation.

Contents of the invention

The first aspect of the embodiments of the present application provides a method for intracranial puncture, the method includes: acquiring head posture information, head scan images, and puncture needle posture information; using the head posture information and head scan images to determine the posture of the puncture path information, wherein the reference plane of the ground coordinates of the head pose information is on the same level as the cross-section of the head scan image; based on the puncture path pose information and the puncture needle pose information, the puncture path and the puncture needle are displayed in real time.

The second aspect of the embodiment of the present application provides an intracranial puncture device, the intracranial puncture device includes: a processor and a memory, a computer program is stored in the memory, and the processor is used to execute the computer program to implement the first embodiment of the present application. method provided.

The third aspect of the embodiment of the present application provides an intracranial puncture system, the intracranial puncture system includes: a first sensor, configured to be fixed on the head, for collecting head posture information; a scanning device for Acquiring head scanning images; the second sensor is configured to be fixed on the puncture needle for collecting pose information of the puncture needle; the intracranial puncture device is connected to the first sensor, the scanning device and the second sensor, and is used to perform the implementation of the present application. Example of the method provided in the first aspect.

A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and the computer program can implement the method provided in the first aspect of the embodiments of the present application when executed by a processor.

The beneficial effect of the present application is: different from the situation of the prior art, the present application is aimed at the current navigation method of intracranial puncture, by designing the reference plane of the ground coordinates of the head posture information and the cross-section of the head scanning image to always be on the same horizontal plane On the one hand, the connection between the head posture and the head scan image is closely related, without fixing the patient's head, and can optimize the navigation of intracranial puncture, thereby providing accurate puncture path posture information and puncture needle posture information, and real-time Shows the puncture path and puncture needle.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

Fig. 1 is the system frame diagram of the intracranial puncture method of the present application;

Fig. 2 is a schematic flow chart of the first embodiment of the intracranial puncture method of the present application;

Fig. 3 is a schematic flow chart of a specific embodiment of step S12 in Fig. 2;

Fig. 4 is a schematic flow chart of a specific embodiment of step S21 in Fig. 3;

Fig. 5 is a schematic flow chart of a specific embodiment of step S22 in Fig. 3;

Fig. 6 is a schematic structural diagram of a patient wearing a fixed first inertial measurement unit in the present application;

Fig. 7 is a structural schematic diagram of calculating the included angle between the puncture path and the reference plane by using preset software in the present application;

Fig. 8 is a schematic diagram illustrating the calculation method of the three-axis Euler angle in the ground coordinates of the intracranial puncture path of the present application;

Fig. 9 is a schematic flow chart of a specific embodiment of step S23 in Fig. 3;

Fig. 10 is a schematic diagram of the puncture needle device carrying the second inertial measurement unit of the present application;

Fig. 11 is a schematic block diagram of an embodiment of the intracranial puncture device of the present application;

Fig. 12 is a schematic block diagram of an embodiment of a computer-readable storage medium of the present application;

detailed description

In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and/or components, but does not exclude one or more other features. , whole, step, operation, element, component and/or the presence or addition of a collection thereof.

It should also be understood that the terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural referents unless the context clearly dictates otherwise.

It should also be further understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations .

As used in this specification and the appended claims, the term "if" may be construed as "when" or "once" or "in response to determining" or "in response to detecting" depending on the context . Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be construed, depending on the context, to mean "once determined" or "in response to the determination" or "once detected [the described condition or event] ]” or “in response to detection of [described condition or event]”.

In order to illustrate the technical solution of the present application, the following specific examples are used to illustrate the first aspect of the present application to provide a method for intracranial puncture. In order to better explain the method for intracranial puncture proposed in this application, please refer to Figure 1, Figure 1 It is a system frame diagram of the intracranial puncture method of the present application, and the system at least includes: an acquisition module 1, a calculation module 2, a personal computer (Personal Computer, PC) terminal 3 and a display module 4.

Three data acquisition modules: wearable inertial measurement unit (Inertial measurement unit, IMU) 10, electronic computer tomography (Computer Tomography, CT) image acquisition module 20 and IMU measurement module 30 on the surgical needle, collectively referred to as the data acquisition module , hereinafter referred to as acquisition module 1.

Data processing module based on PC terminal 3: used to receive and process the head posture through the Bluetooth serial port, as shown in Figure 1, obtain and related intracranial data through the head wearable IMU10, such as the CT image acquisition module 20, It can be obtained by CT scan. The real-time posture of the intracranial puncture path (the angle under the ground coordinates) is obtained by fusing the two data sources, which can be referred to as a "processing module" below, such as the calculation module 2 in the figure.

Data visualization module: Real-time visualization of the real-time posture of the intracranial puncture path (angle under the ground coordinates) and the real-time posture of the surgical probe (angle under the ground coordinates) to provide to the doctor and assist the surgical operation, hereinafter referred to as the display module 4.

Calculation module 2: use image processing software to process the CT scan image data of the pre-acquisition module b, design the target point according to the position of the patient's intracranial hematoma, design the scope of the transcranial puncture path, and obtain the cross-section of the puncture path relative to the CT scan yaw, roll, and pitch values. Combining the data of the IMU inertial sensing unit of the pre-acquisition module a and the CT scan image of the pre-acquisition module b to post-process the transcranial puncture path data, and calculate according to the positional relationship, the intracranial puncture path based on the feedback of the IMU inertial sensing unit is obtained. attitude information.

Display module 4: The display module can also be set in the PC terminal 3 to receive the posture data of the intracranial puncture path input by the data module and the needle posture information input by the acquisition module 1, and simultaneously output the posture data of the two to guide the doctor to adjust The surgical probe is in a posture that conforms to the puncture path, and the puncture action is completed.

Aiming at the system frame diagram of the intracranial puncture method, in order to provide the surgeon with a precise puncture angle, this application proposes an intracranial puncture method to provide a navigation method for intracranial hematoma. Please refer to Fig. 2, Fig. 2 is a schematic flow chart of the first embodiment of the intracranial puncture method of the present application, specifically comprising the following steps:

S11: Obtain head posture information, head scan images, and puncture needle posture information;

Usually, the intracranial puncture method system of the present application is provided with an acquisition module 1 for acquiring head posture information, head scan images and puncture needle posture information. As shown in FIG. 1 , the acquisition module 1 includes at least a first acquisition module ( For example, the front-collection module a), the second collection module (for example, the front-collection module b), and the third collection module (for example, the front-collection module c).

Wherein, the first collection module is used to obtain head posture information, the second collection module is used to obtain head scan images, and the third collection module is used to obtain puncture needle posture information. Of course, the head posture information, the head scan image and the puncture needle posture information can also be obtained by calling the calculation module 2 in the database pre-stored in the PC terminal 3. In addition, those skilled in the art can also use other The way to obtain it is not limited here.

As shown in Figure 1, the acquisition of head posture information, head scan images and puncture needle posture information may specifically include:

Based on the information collected by the first sensor, the first positional relationship is established, the accelerometer 12, the gyroscope 11, and the magnetometer 13 of the first sensor are fused by a first preset algorithm (such as the Madgwick algorithm), and the attitude angle of the first sensor is calculated, to obtain head pose information.

Pre-acquisition module a: the patient's head is equipped with a wearable IMU10, so that the IMU10 on the wearable device can establish a definite positional relationship with the patient's head. The IMU 10 includes a gyroscope 11, an accelerometer 12, and a magnetometer 13, which can provide Euler angles on three axes after being fused by the Madgwick algorithm. The wearable device is a two-degree-of-freedom adjustment device designed to calibrate the head-worn IMU10 on the cross-section of the patient's head CT scan.

Specifically, the gyroscope 11 and the accelerometer 12 of the first sensor do not directly provide the attitude angle, the accelerometer 12 provides the acceleration in the three-axis direction, the gyroscope 11 provides the angular velocity in the three-axis direction, and the magnetometer 13 provides the magnetic force in the three-axis direction, The attitude angle is calculated by the formula to obtain the three-axis attitude angle obtained by each of the three (accelerometer 12, gyroscope 11, and magnetometer 13). The specific formula used will be described in detail later, and then the madgwick algorithm will further fuse the results Noise reduction to obtain a stable and accurate three-axis attitude angle.

Import the scanned image into the preset software to obtain the head scan image, wherein the preset software can be 3DSlicer, specifically, the CT image (DICOM file) can be imported into the 3DSlicer software for acquisition; and the front sampling module b: use the image The device scans the brain of patients with cerebral hemorrhage with CT slices to obtain the patient's head image data.

Based on the information collected by the second sensor, the second positional relationship is established, and the accelerometer 31, the gyroscope 32, and the magnetometer 33 of the second sensor are fused by a second preset algorithm (such as the Madgwick algorithm), and the attitude angle of the second sensor is calculated, to obtain the posture information of the puncture needle.

Pre-acquisition module c: The puncture needle guide used by the doctor is equipped with an IMU inertial sensing unit 30, which is responsible for detecting and recording the posture information of the needle. The IMU measurement module 30 also includes a gyroscope 31, an accelerometer 32, and a magnetometer 33, which can provide Euler angles on three axes after being fused by the Madgwick algorithm.

S12: Using the head posture information and the head scan image, determine the posture information of the puncture path;

Based on the acquisition module 1, it can be known that the system requires at least two IMU inertial sensing units. The first IMU (referred to as IMUa) is installed on the head wearable device, and the purpose is to establish a positional relationship with the patient's head, so that through correlation The calculation feeds back the real-time posture changes of the patient's intracranial puncture path, so as to obtain real-time head posture information.

Among them, in order to control the cost, simple operation, real-time positioning and the movement of the patient's head, the reference plane of the ground coordinates of the head posture information is set on the same horizontal plane as the cross-section of the head scan image, so that the doctor uses the head Posture information and head scan images can quickly determine the posture information of the puncture path, without the need for angle calibration when the patient's head moves, that is, without spending time on angle conversion, which improves the navigation optimization of the puncture path and provides accurate puncture Path attitude information.

S13: Based on the attitude information of the puncture path and the attitude information of the puncture needle, display the puncture path and the puncture needle in real time.

Usually, in routine high-precision puncture surgery for intracranial hematoma, doctors need to determine the puncture path through CT images, including puncture point, target point, puncture angle (yaw, pitch, roll angle relative to the CT reference plane), and depth. Then the surgical needle is inserted precisely according to the guided puncture path.

Therefore, based on the posture information of the puncture path and the posture information of the puncture needle, it is particularly important to display the puncture path and the puncture needle in real time. Specifically, the puncture path and the puncture needle can be displayed in real time through the host computer software.

Therefore, this application aims at the current navigation method of intracranial puncture, by designing the reference plane of the ground coordinates of the head posture information and the cross-section of the head scan image to always be on the same horizontal plane, so that the distance between the head posture and the head scan image It is closely related to the connection of the patient's head without fixing the patient's head, and can optimize the navigation of intracranial puncture, thereby providing accurate puncture path posture information and puncture needle posture information, and displaying the puncture path and puncture needle in real time, thus reducing the doctor's surgery Operating error.

Furthermore, the posture information of the puncture path is determined by using the head posture information and the head scan image, please refer to Fig. 3, Fig. 3 is a schematic flow chart of a specific embodiment of step S12 in Fig. 2, which specifically includes the following steps:

S21: Process the head scan image to obtain the puncture path and the Euler angle corresponding to the cross section of the head scan image corresponding to the puncture path;

In medicine, the skull is divided into three basic planes: sagittal plane, coronal plane and cross section. A CT scan scans a cross-section of the skull. Import the CT image (DICOM file) into the 3DSlicer software. According to the experience of the CT image, the doctor obtains the processing experience value input by the doctor in the 3DSlicer software, then processes the head scan image, and designs the transcranial puncture path and the corresponding head of the puncture path. Euler angles of the cross-section of the scanned image.

Specifically, how to calculate the Euler angle of the puncture path corresponding to the cross-section of the head scan image will be described in detail later when the 3DSlicer software calculates the angle between the puncture path and the reference surface.

S22: Determine the theoretical axis angle of the puncture path in ground coordinates according to the puncture path, the Euler angle, and the cross-section of the head scan image;

Since the puncture path is actually a path that takes the range of the puncture path, there are actually many puncture paths. Here, one of the puncture paths is taken as an example for a representative illustration, so as to improve the feasibility of the puncture method for realizing the puncture method.

The Euler angle is actually the rotation angle of the object around the three coordinate axes (x, y, z axes) of the coordinate system. Generally speaking, Euler angles can be divided into two situations: 1. Static: that is, the rotation around the three axes of the world coordinate system. Since the coordinate axes remain stationary during the rotation of the object, it is called static. 2. Dynamic: that is, the rotation around the three axes of the object coordinate system. Since the coordinate axis rotates with the object during the rotation of the object, it is called dynamic. The value of its rotation angle can usually be represented by yaw (yaw with the y-axis), pitch (pitch with the x-axis), roll (roll with the z-axis) angle values.

The cross-section of the head scan image, as can be seen from step S12 in Figure 2 above, is designed to be the same as the reference plane of the ground coordinates of the head posture information in order to facilitate the movement of the patient's head, and the surgical needle's The three-axis angles are actually equal to the three-axis angles of the puncture path, so the theoretical axis angles of the puncture path in ground coordinates can be determined according to the puncture path, Euler angles, and the cross-section of the head scan image.

S23: Using the head posture information and the theoretical axis angle, determine the posture information of the puncture path.

The head posture information is displayed in real time, and the doctor can observe the real-time display status of the hematoma in real time and feed back the real-time posture changes of the patient's intracranial puncture path through relevant calculations.

In the process of calibration, the three-axis angle of the surgical needle is actually equal to the three-axis angle of the puncture path. Therefore, the calculated theoretical axis angle actually determines the insertion angle during the operation, and because the puncture path has been determined, so the attitude information of the puncture path can be determined.

Further, process the head scan image to obtain the puncture path, please refer to Fig. 4, Fig. 4 is a schematic flow chart of a specific embodiment of step S21 in Fig. 3, which specifically includes the following steps:

S31: Process the head scan image with image processing software to obtain the location of the intracranial hematoma;

Intracranial hematoma, due to trauma and other reasons, when the blood vessels in the brain or between the brain tissue and the skull rupture, blood gathers in the brain or between the brain and the skull, and compresses the brain tissue, Intracranial hematoma (Intracranial hematoma) hematomas) are thus formed.

The size of the intracranial hematoma directly determines the surgical measures to be used. For example, if the hematoma volume does not exceed 30ml, conservative treatment can be used to reduce swelling, dehydrate, stop bleeding, and nourish the cranial nerves. If the volume of hematoma is relatively large, exceeding 30ml, brain herniation will occur due to the compression of brain tissue and brainstem. This requires surgery to remove the hematoma first, and then the treatment can be carried out according to the method after surgery.

Therefore, after the head scan image is obtained, the head scan image can be processed by image processing software. Specifically, the detailed information such as the position, size, and shape of the intracranial hematoma can be determined according to the basic principle of three-dimensional stereotaxy.

S32: Design target points and cranial surface puncture points according to the location of intracranial hematoma;

By confirming detailed information such as the position, size and shape of the intracranial hematoma, the volume of the hemorrhagic tumor can be calculated by a preset formula, wherein, for example, the preset formula can use Tada's formula.

According to the location of the intracranial hematoma, design the target point and design the puncture point on the cranial surface. Specifically, first determine the hematoma puncture plane.

The second is to determine the target point. For a spherical or oval hematoma, the target point should be selected at the center of the hematoma puncture plane. When the hematoma is large, it can also be used as the puncture target point slightly behind the center position by 0.5 to 1.0 cm. , so it is more conducive to hematoma removal. For example, when the amount of bleeding exceeds 80ml, as a large intracranial hematoma, two puncture targets can be selected, and double-needle puncture can be used to select the anterior and posterior positions of the hematoma puncture plane, or two different puncture planes, upper and lower, as appropriate. The distance between the upper and second puncture needles is usually greater than 2 cm.

Then determine the puncture point on the cranial surface. First, avoid the main trunk of the superficial temporal artery and the venous sinus. For example, the 2 cm left and right of the sagittal sinus and the 2 cm above and below the transverse sinus cannot be selected as the puncture point, sylvian blood vessels and important brain. Functional areas, such as sports areas, etc.; second, on the hematoma puncture plane, the puncture point on the head surface is closest to the outer edge of the intracranial hematoma; third, the epidural and subdural hematoma puncture points should be selected at the thickest hematoma diameter center position. Of course, there are other ways to design target points and cranial surface puncture points for different numbers and sizes of hematomas. For example, the puncture point is usually determined according to the doctor’s experience. For example, the third part of the hematoma is less than 10cm from the top of the head. You can choose according to your needs, and there is no limitation here.

S33: Using the target point and the puncture point on the cranial surface, determine the puncture path.

Using the target point and the puncture point on the cranial surface, the straight-line distance between the target point and the puncture point on the cranial surface can be determined. However, since there are other tissues between the two, it is necessary to avoid the frontal sinus and the midline when choosing a puncture path. For the position before 2cm before the peak, the puncture path should best coincide with the long axis of the hematoma.

Furthermore, according to the puncture path, the Euler angle and the cross-section of the head scan image, determine the theoretical axis angle of the puncture path in the ground coordinates, please refer to Figure 5-8, Figure 5 is a specific implementation of step S22 in Figure 3 Figure 6 is a structural schematic diagram of a patient wearing a fixed first inertial measurement unit; Figure 7 is a structural schematic diagram of the application using preset software to calculate the angle between the puncture path and the reference plane; Figure 8 is a structural schematic diagram of the application's intracranial A schematic diagram illustrating the calculation method of the three-axis Euler angle in the ground coordinates of the puncture path; specifically, the following steps are included:

S41: Establish ground coordinates with the target point as the coordinate origin, and the reference plane of the ground coordinates is on the same horizontal plane as the cross-section of the head scan image;

In order to facilitate the insertion of the angle of the puncture needle, the ground coordinates with the target point as the origin of the coordinates are established, so that the conversion and calculation of the three-axis Euler angles of the intracranial puncture path in the ground coordinates can be facilitated.

Usually, in order to obtain the precise target of the position of the intracranial hematoma and the precise puncture point on the cranial surface, the patient's head must be fixed to ensure the correct puncture path. The reference plane of the coordinates is a plane composed of two points determined by the patient's ears and a point above the nose, a total of three points as the reference plane.

In the embodiment of the present application, in order to make the patient's head more comfortable, the reference plane S2 of the design coordinates is on the same level as the cross-section S1 of the head scan image, so that the relationship between the head posture and the head scan image is closely related , without fixing the patient's head, it can optimize the navigation of intracranial puncture, thereby providing accurate puncture path posture information.

Furthermore, using the head posture information and the theoretical axis angle to determine the puncture path posture information, please refer to Fig. 9, Fig. 9 is a schematic flow chart of a specific embodiment of step S23 in Fig. 3, which specifically includes the following steps:

S51: Reconstructing a 3D model of the head by using the head posture information with preset software;

Because the first IMU (referred to as IMUa) is installed on the head wearable device, the head posture information can be collected, and the 3D model of the head can be reconstructed through the preset software.

Specifically, for example, when running under MATLAB R2016a version, which contains the CT image of the head, the running result can display the stereoscopic image and three views of the head. Of course, those skilled in the art can also use 3DSlicer software to reconstruct the CT image of the head. It shows the stereoscopic image and three views of the head, here you can choose according to your needs, and there is no specific limitation.

S52: Displaying the head in real time according to the three-dimensional model;

The first IMU (referred to as IMUa) is installed on the head wearable device, the purpose is to establish a positional relationship with the patient's head, so that the real-time attitude changes of the patient's intracranial puncture path can be fed back through correlation calculations, and the 3D model can be used to monitor the patient's head. for real-time display.

S53: Determine the posture information of the puncture path according to the puncture point on the cranial surface of the head and the theoretical axis angle.

The second IMU (denoted as IMUb) is installed on the needle device and is responsible for detecting the three-axis attitude change of the recording needle. In order to calculate the Euler angle change during the IMU rotation, we define the three-axis rotation matrix of the IMU as, such as formulas (1), (2) and formula (3):

Among them, θ is the roll angle roll, that is, the rotation angle around the x-axis of the IMU;

Pitch is the pitch angle, which is the rotation angle around the y-axis of the IMU; ψ is the heading angle yaw, which is the rotation angle around the z-axis of the IMU. The attitude angle of the IMU at the n+1 moment is θ,

ψ, which means that the IMU coordinate system is from the initial position at time n, through the rotation angle ψ around Z, and the rotation angle around Y

Rotate the angle θ around X to get the final pose.

Multiply the three rotation matrices of the above formulas (1), (2) and formula (3) in the order of zyx rotation to obtain a rotation matrix C that can represent one Euler rotation, which is also called the direction cosine matrix (Direction Cosine matrix) Matrix, DCM). We define this as the rotation from the reference frame (m frame) to the own coordinate system (b frame), with

express

The accelerometer measures the acceleration of the component itself, using

Indicates that during the rotation of the IMU, the attitude angle calculated by the accelerometer is expressed as formula (5):

By solving equation (5), we get,

For gyroscope

Indicates that the three-axis attitude angle at the n+1th moment is: θ+Δθ,

ψ+Δψ, where the change in attitude angle Δθ,

Δψ can be integrated by the angular velocity with the adopted time period, i.e.

Then the expression of attitude angle calculated by gyroscope is as formula (7):

Find the inversion matrix to get:

The magnetometer (magnetometer) is used in its own coordinate system (b system)

Represented by M ^m in the magnetic geographic coordinate system (m system). The conversion from the b-system to the m-system coordinate system is related as follows:

in

is the direction cosine matrix transformed from the b system to the m system:

When the b series coincides with the m series,

Substituting the roll angle (roll) and pitch angle (pitch) obtained by the accelerometer into the direction cosine matrix can be obtained:

The yaw angle of the magnetometer is obtained as:

S42: Obtain the first axis angle of the first sensor;

Through the 3DSlicer software in Figure 7, in a specific embodiment, the calculation results of the included angles of the puncture path to the three reference surfaces are 23.6, 14.3, and 62.0 respectively, and the distance between the puncture point on the cranial surface and the hematoma target point is measured to be 42.4mm .

Among them, the horizontal line in the lower part of Figure 8 is a plane as a cross section, and the vertical line in the lower part of Figure 8 is another plane as a sagittal plane, and the angle between the puncture path and the two planes is what we need to obtain The angle information of , that is, the angle of the first week.

Specifically, it can be seen from FIG. 8 that in the coordinates of the head-mounted IMUa, x _a is the x-axis angle of the IMUa, and y _a is the y-axis angle of the IMUa. Here, x _a and y _a are the first axis angle.

S43: According to the puncture path, the Euler angle, and the reference plane, and based on the first axis angle, calculate a theoretical second axis angle and a theoretical third axis angle corresponding to the cranial surface puncture point of the puncture path.

It can be seen from Figure 8 that the straight-line distance between the target point O and the puncture point A on the cranial surface is OA. According to the puncture path, the Euler angle of the target point O, and the reference plane S2, based on the angle of the first axis, the corresponding cranial surface angle of the puncture path is calculated. The theoretical second-axis angle and the theoretical third-axis angle of the puncture point, that is, the insertion angle of the puncture needle, are shown in Expression (14) and Expression (15).

x _b = x _a -(90°-θ) (14)

The z-axis angle of the puncture point does not need to be calculated, but in the calibration process of the subsequent surgical puncture, ensure that the x-axis angle of the needle = x _b , the y-axis angle = y _b , and the z-axis angle = z _a . Axis angle = triaxial angle of the puncture path. So far, the embodiment of the present application has completed the pose calculation of the intracranial puncture path. Therefore, the beneficial effects of the embodiment of the present application have the following three aspects:

1. By matching the puncture of the puncture needle and the intracranial puncture path to agree on the Euler angle under the ground coordinates, the surgical puncture is performed.

2. Methods The IMU was used to establish a definite relationship with the cross-section of the head CT scan, so that the IMU could indirectly measure the real-time ground coordinate Euler angle of the intracranial puncture path. This is a data fusion method of CT image information and IMU attitude information.

3. A new navigation method for puncture surgery of intracranial hematoma is proposed.

The embodiment of the present application also provides an intracranial puncture system, please refer to FIG. 10 , which is a schematic diagram of a puncture needle device carrying a second inertial measurement unit of the present application. The intracranial puncture system includes:

The first sensor is configured to be fixed on the head, and is used to collect head posture information;

a scanning device for obtaining head scan images;

The second sensor is configured to be fixed on the puncture needle for collecting pose information of the puncture needle;

The intracranial puncture device is connected to the first sensor, the scanning device and the second sensor, and is used to implement the method provided in the first aspect of the embodiment of the present application.

Aiming at the urgently needed navigation system for puncture and drainage of intracranial hematoma, a method for locating intracranial hematoma and navigating the puncture path is disclosed by fusing head wearable IMU inertial sensing elements (such as the first sensor) and CT image data. Compared with the existing optical navigation system, mechanical navigation system, and electromagnetic navigation system, this system can provide more accurate intracranial puncture path navigation. Complete puncture and drainage of intracranial hematoma.

Under the hematoma puncture system of this application, the accuracy experiment of the cooperation of two IMUs was carried out. The experimental method is to calibrate the two IMUs used in the system on the same level and place them on both sides of the same horizontal board. Then pick up the wooden board and move it every ten minutes, record the attitude data of the two IMUs, and perform a total of five moving actions, which are recorded as five groups of experiments. The three-axis angular error between the two IMUs is then analyzed statistically. The purpose of this experiment is to verify whether the two IMUs used in the navigation system can provide sufficiently accurate attitude information in real time and synchronously within a certain period of time during the simulation. The experimental results prove that the average error of the three-axis angle of the two IMUs synergistically is within 1°.

The second experiment carried out the simulation experiment of surgical operation under the navigation of this method, and measured the error between the puncture path and the intracranial puncture path after the simulation operation was completed. The experimental results meet the medical error requirements.

In the case of ensuring the accuracy, the operation is simpler, the restriction conditions are less, the cost is also greatly reduced, and the clinical use efficiency is greatly improved. Compared with the same IMU-based navigation system studied recently, this new method realizes the real real-time navigation of the puncture path with the IMU.

Further, please refer to FIG. 11 , which is a schematic block diagram of an embodiment of the intracranial puncture device of the present application. The embodiment of the present application also provides an intracranial puncture device 5, including a processor 51 and a memory 52, the memory 52 stores a computer program 521, and the processor 51 is used to execute the computer program 521 to process the first aspect of the embodiment of the present application method, which will not be repeated here.

Please refer to FIG. 12 . FIG. 12 is a schematic block diagram of an embodiment of a computer-readable storage medium of the present application. If implemented in the form of a software function unit and sold or used as an independent product, it can be stored in the computer-readable storage medium 60 . Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage device , including several instructions (computer program 61) to enable a computer device (which may be a personal computer, server, or network device, etc.) or a processor (processor) to execute all or part of the steps of the methods in various embodiments of the present application. And aforementioned storage device comprises: various media such as U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and have above-mentioned storage medium Computers, mobile phones, laptops, tablets, cameras and other electronic equipment.

For the description of the execution process of the computer program in the computer-readable storage medium, reference may be made to the description in the embodiment of the processing method of the intracranial puncture device 5 of the present application, and details are not repeated here.

The above descriptions are only part of the embodiments of the application, and are not intended to limit the scope of protection of the application. All equivalent devices or equivalent process transformations made by using the contents of the specification and drawings of the application, or directly or indirectly used in other related All technical fields are equally included in the patent protection scope of the present application.

Claims

A method for intracranial puncture, characterized in that the method comprises:

Obtain head posture information, head scan images and puncture needle posture information;

Using the head posture information and the head scan image to determine puncture path posture information, wherein the reference plane of the ground coordinates of the head posture information is on the same horizontal plane as the cross section of the head scan image;

Based on the posture information of the puncture path and the posture information of the puncture needle, the puncture path and the puncture needle are displayed in real time.
The method according to claim 1, characterized in that,

Using the head posture information and the head scan image to determine the puncture path posture information includes:

Processing the head scan image to obtain a puncture path and Euler angles of the puncture path corresponding to the cross-section of the head scan image;

determining a theoretical axis angle of the puncture path in ground coordinates according to the puncture path, the Euler angles, and the cross-section of the head scan image;

Using the head posture information and the theoretical axis angle, determine the puncture path posture information.
The method according to claim 2, characterized in that,

The processing of the head scan image to obtain the puncture path includes:

Processing the head scan image by image processing software to obtain the location of the intracranial hematoma;

Design target points and cranial surface puncture points according to the position of the intracranial hematoma;

The puncture path is determined by using the target point and the cranial surface puncture point.
The method according to claim 3, characterized in that,

The determining the theoretical axis angle of the puncture path in ground coordinates according to the puncture path, the Euler angle, and the cross-section of the head scan image includes:

Establishing ground coordinates with the target point as the coordinate origin, the reference plane of the ground coordinates is on the same horizontal plane as the cross-section of the head scan image;

Obtain the first axis angle of the first sensor;

According to the puncture path, the Euler angle and the reference plane, based on the first axis angle, calculate the theoretical second axis angle and the theoretical third axis angle corresponding to the puncture point of the cranial surface of the puncture path.
The method according to claim 3, characterized in that,

Using the head posture information and the theoretical axis angle to determine the puncture path posture information includes:

Using the head posture information, using preset software to reconstruct the three-dimensional model of the head;

displaying the head in real time according to the three-dimensional model;

The attitude information of the puncture path is determined according to the cranial surface puncture point of the skull and the theoretical axis angle.
The method according to claim 1, characterized in that,

The acquisition of head posture information, head scan image and puncture needle posture information includes:

Based on the information collected by the first sensor, a first positional relationship is established, and an accelerometer, a gyroscope, and a magnetometer of the first sensor are fused by a first preset algorithm to calculate an attitude angle of the first sensor, so as to obtain the head attitude information ;

Importing the scanned image into a preset software to obtain the scanned image of the head;

Based on the information collected by the second sensor, the second position relationship is established, and the accelerometer, gyroscope, and magnetometer of the second sensor are fused by the second preset algorithm to calculate the attitude angle of the second sensor to obtain the attitude information of the puncture needle.
The method according to claim 1, characterized in that,

The real-time display of the puncture path and the puncture needle based on the posture information of the puncture path and the posture information of the puncture needle includes:

Based on the attitude information of the puncture path and the attitude information of the puncture needle, the host computer software displays the puncture path and the puncture needle in real time.
An intracranial puncture device, characterized in that the intracranial puncture device includes a processor and a memory, and a computer program is stored in the memory, and the processor is used to execute the computer program to realize the requirements of claims 1-7. any one of the methods described.
A kind of intracranial puncture system, is characterized in that, described intracranial puncture system comprises:

The first sensor is configured to be fixed on the head, and is used to collect head posture information;

a scanning device for obtaining head scan images;

The second sensor is configured to be fixed on the puncture needle, and is used to collect pose information of the puncture needle;

An intracranial puncture device, connected to the first sensor, the scanning device and the second sensor, is used to execute the method according to any one of claims 1-7.
A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program can implement the method according to any one of claims 1-7 when executed by a processor.