CN103006261A - Ultrasonic puncturing navigation method based on electromagnetic location - Google Patents
Ultrasonic puncturing navigation method based on electromagnetic location Download PDFInfo
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- CN103006261A CN103006261A CN2012105053491A CN201210505349A CN103006261A CN 103006261 A CN103006261 A CN 103006261A CN 2012105053491 A CN2012105053491 A CN 2012105053491A CN 201210505349 A CN201210505349 A CN 201210505349A CN 103006261 A CN103006261 A CN 103006261A
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Abstract
The invention belongs to the technical field of medical appliances, and relates to an ultrasonic puncturing navigation method, particularly to an ultrasonic puncturing navigation method based on electromagnetic location. The navigation method orderly comprises the following steps: A, tracking and collecting position information of a probe and a puncturing needle through a puncturing location system under the control of a navigation software subsystem, wherein the puncturing location system refers to an electromagnetic puncturing location system; B, transmitting the collected information to an ARM (Advanced RISC Machines) processor in the navigation software subsystem through the electromagnetic puncturing location system, and performing data correction and post treatment; and C, transmitting the information after being corrected and post-processed to an ultrasonic imaging equipment through the navigation software subsystem to realize visual display. The ultrasonic puncturing navigation method based on the electromagnetic location has the advantages of exact location, small volume and light weight; the method is nonradiative and is slightly affected by environmental factor; the puncturing needle path is displayed in real time; and the needle tip position can be clearly observed at random angle, the puncturing accuracy is improved, the hemorrhagic complication is reduced, and the safety is improved.
Description
Technical field
The invention belongs to technical field of medical instruments, relate to a kind of ultrasonic puncture air navigation aid, relate in particular to a kind of ultrasonic puncture air navigation aid of electromagnetic location.
Background technology
The ultrasonic puncture navigation is the important means of ultrasonic auxiliary treatment as the important component part of interventional ultrasound.Traditional ultrasonic puncture navigation mainly is to adopt the guider method, this technology comparative maturity, but still exist the direction of puncture needle and acoustic beam angle less than normal, puncture needle and scanning plane are not parallel, cause easily the false judgment to tip position, partial volume effect also often causes and monitors and the guiding error, the judgement of lesions position is relied on to a great extent clinician's the shortcomings such as experience, cause easily the puncture error, cause wound and complication.
Summary of the invention
The present invention is directed to and puncture, cause by mistake easily the defectives such as wound and complication in the prior art, use magnetic tracking, navigate in conjunction with ultrasonic puncture, purpose provides a kind of ultrasonic puncture air navigation aid of electromagnetic location, realizes that precision is high, easy to operate, can realize at any angle the accurately solution of location.
In order to solve the problems of the technologies described above, the present invention is solved by following technical proposals:
A kind of ultrasonic puncture air navigation aid of electromagnetic location is comprised of following step successively,
A. under the control of navigation software subsystem, by the positional information of puncture navigation system tracking and acquisition probe and puncture needle, the navigation system that wherein punctures is electromagnetism puncture navigation system;
B. then electromagnetism puncture navigation system carries out data calibration and post processing with the information transmission that the collects arm processor to the navigation software subsystem;
C. the navigation software subsystem will carry out visualization display through the information transmission to the ultrasonic image equipment of calibration and post processing.
Utilize electromagnetism puncture navigation system, precision is high, easy to operate, can realize accurately locating at any angle.Ultrasonic technique and electromagnetic location airmanship all belong to the radiationless technology of safety, only need that emitter is moved to close puncture position and get final product, and need not fixed guide, and be simple to operate, flexible, convenient, radiationless.
As preferably, the electromagnetism puncture navigation system in the steps A is received and sent messages by magnetic field transmitter and probe receptor and puncture needle receptor, thus the positional information of tracking and acquisition probe and puncture needle.The path that can show in real time puncture needle during puncture, and in arbitrarily angled clear view to the residing position of needle point, improve the accuracy of puncture.And can carry out the pre-operative surgical plan, and differentiate the blood vessel structure in the puncture path, reduce the generation of hemorrhage complication, improve safety.In piercing process, can change direction, the angle of puncture needle or probe, guarantee the concordance on best puncture plane and optimal imaging plane.
As preferably, in the steps A under the control of navigation software subsystem, specifically under the control of the probe-head control module that comprises of the fpga chip inside in the navigation software subsystem.
As preferably, data calibration among the step B and post processing, specifically arm processor is realized the conversion of textual interface information and image information by the fpga chip in the navigation software subsystem, be that fpga chip had both received the image information that scanning directly obtains, again ultrasonoscopy and navigation position information are carried out integrated treatment, the information of the two superposes to drive a ultrasonic image equipment the most at last, and arm processor carries out data interaction by data/address bus, control bus, address bus and fpga chip.What the ultrasonic image equipment interface showed is a fusion image information, to show simultaneously ultrasound image information and textual interface information, and ultrasound image information is made of two parts, the image information that a part directly obtains for scanning, another part are puncture needle, the probe positions information that electromagnetism puncture navigation system obtains.
As preferably, the navigation software subsystem among the step C, specifically the supersound process module that comprises of the fpga chip inside in the navigation software subsystem will be through calibrating and the information transmission to the ultrasonic image equipment of post processing carry out visualization display.
As preferably, the navigation software subsystem adopts the ARM+FPGA Duo-Core Architecture, and arm processor mainly is responsible for the real-time control of system, and fpga chip mainly is responsible for acquisition and processing, the probe control of ultrasound image information, the compound display of various information.
As preferably, arm processor mainly is responsible for key response, the demonstration of textual interface and the selection of application software.
The navigation software subsystem comprises arm processor and fpga chip, and fpga chip links to each other with ultrasonic image equipment with arm processor, electromagnetism puncture navigation system respectively, and arm processor is by bus control unit interconnection and transfer of data.Arm processor is a kind of microprocessor, fpga chip is field programmable gate array chip, mainly is comprised of seven parts such as input-output unit able to programme, basic programmable logic cells, complete Clock management, embedded block formula RAM, abundant interconnection resource, embedded bottom functional unit and embedded application specific hardware modules.What the present invention adopted is an ARM+FPGA Duo-Core Architecture, arm processor mainly is responsible for the real-time control of system, such as the demonstration of key response, textual interface, the selection of application software etc., and fpga chip mainly is responsible for acquisition and processing, the probe control of ultrasound image information, the compound display of various information, and the ultrasonoscopy that complete ultrasonoscopy is obtained by the character display control interface of arm processor output and fpga chip processing forms.Arm processor sends to fpga chip with the form of controlling word table by system bus with parameter information, and this fpga chip carries out ultrasonoscopy according to control table and processes operation.
As preferably, arm processor links to each other with the probe receptor by four general purpose I/O ports, utilizes the status poll of popping one's head in of timing fetch interface line level information; During without the probe access, four general purpose I/O port level are height; When the probe access was arranged, four mouth line information that read were the identification code of this probe; In addition, fpga chip also will send power information to probe according to the parameter list that arm processor passes over when the probe access is arranged.
As preferably, ultrasonic image equipment is liquid crystal display.
The invention provides a kind of ultrasonic puncture air navigation aid of electromagnetic location, accurate positioning, volume be little, lightweight, radiationless, be subjected to such environmental effects little, clinical practice in conjunction with the ultrasonic puncture navigation system, designed the real-time navigation algorithm based on the electromagnetic location mode, for improving the accuracy of puncture, the time of reducing puncture provides effective technical scheme.And Soft Tissue Deformation is as one of topmost factor of impact puncture precision, native system utilizes Finite Element Method that Soft Tissue Deformation has been done detailed analysis, and according to this theoretical model, utilize the ANSYS finite element analysis software to carry out Simulation of Soft Tissue Deformation, draw acupuncture Soft Tissue Deformation model, for the puncture navigation system provides reliable early warning, for the clinical practice of puncturing provides effective means, puncture operation wound face and post-operative complication have greatly been reduced, especially the congenital heart disease in children of suffering from middle ventricular septal defect (VSD) is adopted the puncture through the umbrella Feng Shuzhong of breast Wicresoft, have revolutionary meaning.
Description of drawings
Fig. 1 is the structural representation of the applied system of ultrasonic puncture air navigation aid of a kind of electromagnetic location of the present invention.
Fig. 2 is the workflow diagram of the ultrasonic puncture air navigation aid of a kind of electromagnetic location of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail.
Embodiment
A kind of ultrasonic puncture air navigation aid of electromagnetic location, shown in Fig. 1 to 2: formed by following step successively,
A. under the control of navigation software subsystem 11, by the positional information of puncture navigation system 9 tracking and acquisition probe and puncture needle, the navigation system that wherein punctures 9 is electromagnetism puncture navigation system;
B. then electromagnetism puncture navigation system carries out data calibration and post processing with the information transmission that the collects arm processor 10 to the navigation software subsystem 11;
C. navigation software subsystem 11 will carry out visualization display through the information transmission to the ultrasonic image equipment 2 of calibration and post processing.
Electromagnetism puncture navigation system in the steps A is received and sent messages by magnetic field transmitter 7 and probe receptor 6 and puncture needle receptor 8, thus the positional information of tracking and acquisition probe and puncture needle.
In the steps A under the control of navigation software subsystem 11, specifically under the control of the probe-head control module 5 that comprises of 1 inside of the fpga chip in navigation software subsystem 11.
Data calibration among the step B and post processing, specifically arm processor 10 is realized the conversion of textual interface information and image information by the fpga chip 1 in the navigation software subsystem 11, be that fpga chip 1 had both received the image information that scanning directly obtains, again ultrasonoscopy and navigation position information are carried out integrated treatment, the information of the two superposes to drive a ultrasonic image equipment 2 the most at last, and arm processor 10 carries out data interaction by data/address bus, control bus, address bus and fpga chip 1.
In a word, the above only is preferred embodiment of the present invention, and all equalizations of doing according to the present patent application claim change and modify, and all should belong to the covering scope of patent of the present invention.
Claims (9)
1. the ultrasonic puncture air navigation aid of an electromagnetic location is characterized in that: formed by following step successively,
A. under the control of navigation software subsystem (11), by the positional information of puncture navigation system (9) tracking and acquisition probe and puncture needle, the navigation system that wherein punctures (9) is electromagnetism puncture navigation system;
B. then electromagnetism puncture navigation system carries out data calibration and post processing with the information transmission that the collects arm processor (10) to the navigation software subsystem (11);
C. navigation software subsystem (11) will carry out visualization display through the information transmission to the ultrasonic image equipment (2) of calibration and post processing.
2. the ultrasonic puncture air navigation aid of a kind of electromagnetic location according to claim 1, it is characterized in that: the electromagnetism puncture navigation system in the steps A is received and sent messages by magnetic field transmitter (7) and probe receptor (6) and puncture needle receptor (8), thus the positional information of tracking and acquisition probe and puncture needle.
3. the ultrasonic puncture air navigation aid of a kind of electromagnetic location according to claim 1, it is characterized in that: in the steps A under the control of navigation software subsystem (11), specifically under the control of the probe-head control module (5) that comprises of fpga chip (1) inside in navigation software subsystem (11).
4. the ultrasonic puncture air navigation aid of a kind of electromagnetic location according to claim 1, it is characterized in that: the data calibration among the step B and post processing, specifically arm processor (10) is realized the conversion of textual interface information and image information by the fpga chip (1) in the navigation software subsystem (11), be that fpga chip (1) had both received the image information that scanning directly obtains, again ultrasonoscopy and navigation position information are carried out integrated treatment, the information of the two superposes to drive a ultrasonic image equipment (2) the most at last, and arm processor (10) passes through data/address bus, control bus, address bus and fpga chip (1) carry out data interaction.
5. the ultrasonic puncture air navigation aid of a kind of electromagnetic location according to claim 1, it is characterized in that: the navigation software subsystem (11) among the step C, specifically the supersound process module (4) that comprises of fpga chip (1) inside in the navigation software subsystem (11) will be through calibrating and the information transmission to the ultrasonic image equipment (2) of post processing carry out visualization display.
6. the ultrasonic puncture air navigation aid of a kind of electromagnetic location according to claim 1, it is characterized in that: navigation software subsystem (11) adopts the ARM+FPGA Duo-Core Architecture, arm processor (10) mainly is responsible for the real-time control of system, and acquisition and processing, the probe of ultrasound image information are controlled, the compound display of various information and fpga chip (1) mainly is responsible for.
7. the ultrasonic puncture air navigation aid of a kind of electromagnetic location according to claim 6 is characterized in that: arm processor (10) mainly is responsible for key response, the demonstration of textual interface and the selection of application software.
8. the ultrasonic puncture air navigation aid of a kind of electromagnetic location according to claim 2, it is characterized in that: arm processor (10) links to each other with probe receptor (6) by four general purpose I/O ports, the status poll of popping one's head in of utilization timing fetch interface line level information; During without the probe access, four general purpose I/O port level are height; When the probe access was arranged, four mouth line information that read were the identification code of this probe; In addition, fpga chip (1) also will send power information to probe according to the parameter list that arm processor (10) pass over when the probe access is arranged.
9. according to the ultrasonic puncture air navigation aid of a kind of electromagnetic location according to claim 1, it is characterized in that: ultrasonic image equipment (2) is liquid crystal display.
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Cited By (11)
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| CN103268726A (en) * | 2013-05-20 | 2013-08-28 | 浙江大学 | Ultrasonic-guided needle puncture operation simulation training system |
| CN104161546A (en) * | 2014-09-05 | 2014-11-26 | 深圳先进技术研究院 | Ultrasonic probe calibration system and method based on locatable puncture needle |
| CN106021935B (en) * | 2016-05-24 | 2018-09-28 | 深圳先进技术研究院 | A kind of flexible needle puncture path appraisal procedure and system |
| CN108962387A (en) * | 2018-06-14 | 2018-12-07 | 暨南大学附属第医院（广州华侨医院） | A kind of thyroid nodule Risk Forecast Method and system based on big data |
| CN108992143A (en) * | 2018-08-22 | 2018-12-14 | 中国人民解放军陆军军医大学第二附属医院 | A kind of vein puncture device and venipuncture control method |
| CN110292400A (en) * | 2019-07-05 | 2019-10-01 | 浙江大学 | A kind of transnaso-sphenoidal approach hypophysoma positioning device based on supersonic blood detection guidance |
| CN110338852A (en) * | 2018-04-04 | 2019-10-18 | 云南师范大学 | A kind of haptic visualization puncturing operation navigation system based on augmented reality |
| CN110478040A (en) * | 2019-08-19 | 2019-11-22 | 王小丽 | Obtain the method and device of alimentary stent implantation navigation image |
| CN110974417A (en) * | 2019-12-13 | 2020-04-10 | 浙江伽奈维医疗科技有限公司 | Integrated navigation intelligent ablation system and method thereof |
| CN111374701A (en) * | 2018-12-29 | 2020-07-07 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic diagnostic equipment and method for reducing ultrasonic echo data interference |
| WO2023006072A1 (en) * | 2021-07-30 | 2023-02-02 | 北京迈迪斯医疗技术有限公司 | Puncture system |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103268726B (en) * | 2013-05-20 | 2015-06-17 | 浙江大学 | Ultrasonic-guided needle puncture operation simulation training system |
| CN103268726A (en) * | 2013-05-20 | 2013-08-28 | 浙江大学 | Ultrasonic-guided needle puncture operation simulation training system |
| CN104161546A (en) * | 2014-09-05 | 2014-11-26 | 深圳先进技术研究院 | Ultrasonic probe calibration system and method based on locatable puncture needle |
| CN106021935B (en) * | 2016-05-24 | 2018-09-28 | 深圳先进技术研究院 | A kind of flexible needle puncture path appraisal procedure and system |
| CN110338852A (en) * | 2018-04-04 | 2019-10-18 | 云南师范大学 | A kind of haptic visualization puncturing operation navigation system based on augmented reality |
| CN108962387A (en) * | 2018-06-14 | 2018-12-07 | 暨南大学附属第医院（广州华侨医院） | A kind of thyroid nodule Risk Forecast Method and system based on big data |
| CN108992143A (en) * | 2018-08-22 | 2018-12-14 | 中国人民解放军陆军军医大学第二附属医院 | A kind of vein puncture device and venipuncture control method |
| CN111374701A (en) * | 2018-12-29 | 2020-07-07 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic diagnostic equipment and method for reducing ultrasonic echo data interference |
| CN110292400A (en) * | 2019-07-05 | 2019-10-01 | 浙江大学 | A kind of transnaso-sphenoidal approach hypophysoma positioning device based on supersonic blood detection guidance |
| CN110292400B (en) * | 2019-07-05 | 2020-09-18 | 浙江大学 | Intranasal pituitary adenoma positioning device based on ultrasonic blood flow detection and guidance |
| CN110478040A (en) * | 2019-08-19 | 2019-11-22 | 王小丽 | Obtain the method and device of alimentary stent implantation navigation image |
| CN110974417A (en) * | 2019-12-13 | 2020-04-10 | 浙江伽奈维医疗科技有限公司 | Integrated navigation intelligent ablation system and method thereof |
| WO2023006072A1 (en) * | 2021-07-30 | 2023-02-02 | 北京迈迪斯医疗技术有限公司 | Puncture system |
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Application publication date: 20130403 |