CN109009435A - A kind of Lung neoplasm puncture navigation system - Google Patents
A kind of Lung neoplasm puncture navigation system Download PDFInfo
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- CN109009435A CN109009435A CN201810950030.7A CN201810950030A CN109009435A CN 109009435 A CN109009435 A CN 109009435A CN 201810950030 A CN201810950030 A CN 201810950030A CN 109009435 A CN109009435 A CN 109009435A
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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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
- A61B34/10—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
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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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
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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Abstract
The present invention relates to technical field of medical equipment more particularly to a kind of Lung neoplasm to puncture navigation system.The system includes: three-dimensional visualization display unit, rough registration unit, smart registration unit and navigation tracking cell；Three-dimensional visualization display unit is used to show lung threedimensional model, Lung neoplasm threedimensional model, thorax threedimensional model and the skin threedimensional model of patient respectively；Rough registration unit is used on patient's thorax and acquires the information of anatomical location points respectively on thorax threedimensional model, and the information of two kinds of anatomical location points is registrated；For smart registration unit for the point cloud model of patient skin to be registrated with skin threedimensional model, point cloud model is the profile information of the patient body-surface skin acquired in real time by positioning tool；Navigation tracking cell includes the infra-red tracing system of the position for real-time navigation tracking and positioning tool on patient body-surface.It is injured caused by people the invention avoids inserting spring circle in conventional method and CT guides the radiation injury caused by people repeatedly.
Description
Technical field
The present invention relates to technical field of medical equipment more particularly to a kind of Lung neoplasm to puncture navigation system.
Background technique
Lung neoplasm is a kind of granulomatous diseases of multisystem multiple organ that the cause of disease is unknown, often invades lung, the leaching of bilateral hilus pulumonis
It fawns on, organs, the chest rate of being invaded such as eye, skin are up to 80%~90%.
In the operation of traditional lung neoplasm eminectomy, the positioning of lung neoplasm tubercle relies primarily on preoperative CT guidance inserting spring
Marker, so that the lung section where tubercle is positioned according to the position of spring marker in art, it is still, preoperative that human body is placed in
Spring will cause additional injury to human body, and the merging needs of spring carry out under the guidance repeatedly of CT, the guidance repeatedly of CT
Also patient can be made to bear biggish radiation injury.
Summary of the invention
(1) technical problems to be solved
The technical problem to be solved by the present invention is to solve existing Lung neoplasm lancing system caused by human body is built into spring
Human body additional injuries the problem of.
(2) technical solution
In order to solve the above-mentioned technical problems, the present invention provides a kind of Lung neoplasms to puncture navigation system comprising:
Three-dimensional visualization display unit, the three-dimensional visualization display unit are used to show the lung three-dimensional mould of patient respectively
Type, Lung neoplasm threedimensional model, thorax threedimensional model and skin threedimensional model；
Rough registration unit, the rough registration unit are used to distinguish on patient's thorax and on the thorax threedimensional model
The information of anatomical location points is acquired, and the information of two kinds of anatomical location points is registrated；
Smart registration unit, the essence registration unit are used for the point cloud model of the patient skin and the skin three-dimensional mould
Type is registrated, and the point cloud model is the profile information of the patient body-surface skin acquired in real time by positioning tool；
Navigate tracking cell, and the navigation tracking cell includes that the positioning tool is tracked for real-time navigation in the trouble
The infra-red tracing system of position on person's body surface.
Further, it further includes computer that the Lung neoplasm, which punctures navigation system, the three-dimensional visualization display unit, institute
It states rough registration unit and the smart registration unit is set in the computer.
Further, the three-dimensional visualization display unit is the computer screen.
Further, the infra-red tracing system and the computer communicate to connect, and determine what real-time navigation traced into
Location information of the position tool on patient body-surface is transmitted to the computer.
Further, the rough registration unit includes the positioning tool, and the information of the anatomical location points passes through described
Positioning tool is acquired；
The anatomical location points are at least three.
Preferably, three anatomical location points include but is not limited to that location point, articulatio sternoclavicularis on the right side of articulatio sternoclavicularis are left
Location point on the location point and angulus sterni of side.
Further, the mode that the point cloud model of the patient skin is registrated with the skin threedimensional model is ICP
Registration, the essence registration unit include the ICP registration unit for ICP registration.
Further, the positioning tool is that can be marked by the infrared track that the infra-red tracing system is identified and monitored.
Further, the infrared track is labeled as infrared positioning bead.
Further, when carrying out real-time navigation tracking, the three-dimensional visualization is shown the infra-red tracing system
Unit can display real-time position and posture of the puncture needle relative to patient lungs' organ, and to the position of the puncture needle with
Posture carries out real-time tracking.
(3) beneficial effect
Above-mentioned technical proposal of the invention has the advantages that
Lung neoplasm of the present invention punctures navigation system and is not necessarily to guide inserting spring marker by preoperative CT, therefore keeps away
Traditional Lung neoplasm is exempted from and has punctured needs to human body additional injury brought by patient's body inserting spring, has also avoided because of CT repeatedly
Guide inserting spring CT radiation injury caused by patient.Thus, navigation system of the present invention avoids the additional damage of human body
Wound, to human body safety, more friendly.And navigation system of the present invention have passed through and be registrated twice, so that puncture position is more
Accurately, it punctures more efficient.
Detailed description of the invention
Fig. 1 is the three-dimensional model diagram of the lung of patient described in the embodiment of the present invention, Lung neoplasm, thorax and skin；
Fig. 2 is the schematic diagram of three dot position information of patient's thorax acquired described in the embodiment of the present invention by positioning tool；
Fig. 3 is the contoured skin surgical scene figure of patient described in the embodiment of the present invention；
Fig. 4 is the threedimensional model (only showing partial skin threedimensional model) of skin described in the embodiment of the present invention；
Fig. 5 is the surgical scene figure for carrying out Lung neoplasm puncture described in the embodiment of the present invention referring to the threedimensional model of Lung neoplasm；
Fig. 6 is the structural schematic diagram that Lung neoplasm described in the embodiment of the present invention punctures navigation system；
Wherein, 1, lung threedimensional model；2, thorax threedimensional model；3, skin threedimensional model；4, on the right side of articulatio sternoclavicularis；5, chest is locked
On the left of joint；6, angulus sterni；7, tool is positioned；8, puncture needle；9, display screen；10, three-dimensional visualization display unit；11, slightly match
Quasi- unit；12, smart registration unit；13, navigate tracking cell；14, CT images scanner.
Specific embodiment
Embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples.Following embodiment is used for
Illustrate the present invention, but cannot be used to limit the scope of the invention.
In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more；Term " on ",
The orientation or positional relationship of the instructions such as "lower", "left", "right", "inner", "outside", "top", "bottom", "front", "rear", " head ", " tail "
To be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description of the present invention and simplification of the description, rather than indicate or
It implies that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as
Limitation of the present invention.In addition, term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as indicating
Or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the concrete meaning of above-mentioned term in the present invention can be understood depending on concrete condition.
In addition, it is necessary to explanation, to become apparent from the working method that signal punctures navigation system, Fig. 3 and Fig. 5 of the invention
It is all made of live surgical scene picture.
As shown in fig. 6, present embodiments providing a kind of Lung neoplasm puncture navigation system comprising: three-dimensional visualization is shown
Unit 10, rough registration unit 11, smart registration unit 12 and navigation tracking cell 13.Three-dimensional visualization display unit 10 is for distinguishing
Show lung threedimensional model 1, Lung neoplasm threedimensional model (not shown), thorax threedimensional model 2 and the skin threedimensional model of patient
3.Rough registration unit 11 is used to acquire the information of anatomical location points respectively on patient's thorax and on thorax threedimensional model 2, and will
The information of two kinds of anatomical location points is registrated.Smart registration unit 12 is used for the point cloud model of patient skin and skin three-dimensional mould
Type 3 is registrated, and point cloud model is the profile information of the patient body-surface skin acquired in real time by positioning tool 7.Navigation tracking
Unit 13 includes that the infra-red tracing system of the position for real-time navigation tracking and positioning tool 7 on patient body-surface (does not show in figure
Out).
It further includes CT images scanner 14 that the Lung neoplasm, which punctures navigation system, and CT images scanner 14 is for reconstructing lung three
Dimension module 1, Lung neoplasm threedimensional model, thorax threedimensional model 2 and skin threedimensional model 3.
It further includes computer (not shown) that the Lung neoplasm, which punctures navigation system, three-dimensional visualization display unit 10, thick
Registration unit 11 and smart registration unit 12 are set in computer.
Specifically, three-dimensional visualization display unit 10 is computer screen 9.Infra-red tracing system is communicated with computer
The location information of positioning tool 7 that real-time navigation traces on patient body-surface is transmitted to computer by connection.Rough registration list
Member 11 includes positioning tool 7, and the information of anatomical location points is acquired by positioning tool 7；Anatomical location points are at least three；
The anatomical location points of the present embodiment are preferably three, and three anatomical location points include but is not limited on the right side of articulatio sternoclavicularis 4 position
Location point on the left of point, articulatio sternoclavicularis on 5 location point and angulus sterni 6.
Specifically, the mode that the point cloud model of patient skin is registrated with skin threedimensional model 3 is ICP registration, essence is matched
Quasi- unit 12 includes the ICP registration unit for ICP registration.
Specifically, positioning tool 7 is that can be marked by the infrared track that infra-red tracing system identifies and monitors.The present embodiment
Infrared track label is preferably infrared positioning bead.Specifically, infra-red tracing system emits infrared light to positioning tool 7, it is red
UV light is reflected back infra-red tracing system by positioning tool 7 again, obtains the three-dimensional location coordinates of positioning tool 7 with this, thus real
The now monitoring to positioning tool 7 and real-time tracking.
Specifically, infra-red tracing system is when carrying out real-time navigation tracking, three-dimensional visualization display unit 10 can be shown in real time
Show position and posture of the puncture needle 8 relative to patient lungs' organ, and real-time tracking is carried out to the position of puncture needle 8 and posture.
Infra-red tracing system selects the infra-red tracing system of Northern Digital Inc company of Canada production (also known as
Photoelectric navigation system), and the positioning tool 7 in the present embodiment or the product to match with the infra-red tracing system.
When work, referring to Fig. 1, lung threedimensional model 1, the Lung neoplasm three of patient are reconstructed respectively by CT images scanner 14
Dimension module (not shown), thorax threedimensional model 2 and skin threedimensional model 3, and each threedimensional model is imported into three-dimensional visible
Change in display unit 10 and carries out visualization display；Positioning tool 7 is fixed on to the body surface of patient, and is divided by the positioning tool 7
Acquire 4 on the right side of the articulatio sternoclavicularis of patient not in real time, on the left of articulatio sternoclavicularis 5 and angulus sterni 6 three points (respectively point A, point B,
Point C) location information, be denoted as first location information, as shown in Figure 2；Divided on thorax threedimensional model 2 by positioning tool 7 again
Not Xuan Qu on the right side of articulatio sternoclavicularis on the left of 4, articulatio sternoclavicularis 5 and the position of three points (point A ', point B ', point C ') of angulus sterni 6 believe
Breath, is denoted as second location information, as shown in Figure 1；First location information and second location information are transmitted separately to rough registration list
Member 11, is matched corresponding three points of three points of first location information and second location information by rough registration unit 11
It is quasi-；The profile information for acquiring patient body-surface skin in real time by positioning tool 7, obtains the point cloud model of skin, passes through essence and is registrated
Point cloud model is registrated by unit 12 with skin threedimensional model 3 (referring to fig. 4)；Point cloud model is not shown in the present embodiment, only
Point cloud model is represented with the profile picture of patient skin, as shown in Figure 3；Pass through the infra-red tracing system for the tracking cell 13 that navigates
(not shown) real-time tracking positions position of the tool 7 on patient body-surface, and shows in three-dimensional visualization display unit 10
It is shown in a manner of virtual reality in the Lung neoplasm threedimensional model shown and enters and leaves pin mark and enter needle direction, doctor's reference enters pin mark and enters
Needle direction, the puncture of Lung neoplasm is completed using puncture needle 8 to patient, as shown in figure 5, wherein entering pin mark and entering needle direction is foundation
Relative positional relationship in Lung neoplasm threedimensional model between Lung neoplasm and rib cage determines.
In such a way that rough registration unit 11 is registrated in art are as follows: according to the three of the first location information points of position
Relationship establishes the first three-dimensional system of coordinate, establishes the second three-dimensional coordinate according to the three of the second location information points of positional relationship
System, and first three-dimensional system of coordinate and the second three-dimensional system of coordinate are registrated.For the first three-dimensional system of coordinate, it is with point A
Origin, AB vector are X-axis, and the plane that AB vector and AC vector determine is X/Y plane, then Z-direction be AB vector multiplication cross AC to
Y-axis can be obtained by Z axis multiplication cross X-axis at this time in amount, and such tri- axis of X, Y, Z is it has been determined that can determine the first three-dimensional system of coordinate；
Same method determines the second three-dimensional system of coordinate being made of point A ', point B ', 3 points of point C ', and obtains the first three-dimensional system of coordinate and arrive
Transition matrix M between second three-dimensional system of coordinate12, realize the registration between two coordinate systems.
In such a way that smart registration unit 12 is registrated are as follows: by the point cloud model and the skin threedimensional model 3 into
Row ICP registration, and the transition matrix M being registrated, then by the skin threedimensional model 3 multiplied by the transition matrix, thus
Just it is able to achieve being registrated for threedimensional model and real human body.
The basic principle of ICP algorithm is: respectively in matched target point cloud P and source point cloud Q, according to certain constraint
Condition finds closest point (pi, qi), optimum matching parameters R and t are then calculated, so that error function is minimum.Error function
For E (R, t) are as follows:
Wherein, n is the number of closest point pair, piFor a bit in target point cloud P, qiFor in source point cloud Q with piIt is corresponding
Closest approach, R are spin matrix, and t is translation vector.
It is not necessarily to guide inserting spring mark by preoperative CT in conclusion Lung neoplasm described in the present embodiment punctures navigation system
Remember object, therefore avoids traditional Lung neoplasm and puncture and need also to keep away to human body additional injury brought by patient's body inserting spring
Exempt to guide inserting spring CT radiation injury caused by patient repeatedly because of CT.Thus, navigation system described in the present embodiment avoids
The additional injuries of human body, to human body safety, more friendly.And navigation system described in the present embodiment have passed through and be registrated twice,
So that puncture position is more accurate, puncture more efficient.
The embodiment of the present invention be in order to example and description and provide, and be not exhaustively or by the present invention limit
In disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selection and
Description embodiment is and to enable those skilled in the art to more preferably illustrate the principle of the present invention and practical application
Understand the present invention to design various embodiments suitable for specific applications with various modifications.
Claims (9)
1. a kind of Lung neoplasm punctures navigation system characterized by comprising
Three-dimensional visualization display unit, the three-dimensional visualization display unit are used to show lung threedimensional model, the lung of patient respectively
Tubercle threedimensional model, thorax threedimensional model and skin threedimensional model；
Rough registration unit, the rough registration unit are used on patient's thorax and acquire respectively on the thorax threedimensional model
The information of anatomical location points, and the information of two kinds of anatomical location points is registrated；
Smart registration unit, the essence registration unit be used for by the point cloud model of the patient skin and the skin threedimensional model into
Row registration, the point cloud model is the profile information of the patient body-surface skin acquired in real time by positioning tool；
Navigate tracking cell, and the navigation tracking cell includes that the positioning tool is tracked for real-time navigation in patient's body
The infra-red tracing system of position on table.
2. Lung neoplasm according to claim 1 punctures navigation system, which is characterized in that it further include computer, the three-dimensional
Visualization display unit, the rough registration unit and the smart registration unit are set in the computer.
3. Lung neoplasm according to claim 2 punctures navigation system, which is characterized in that the three-dimensional visualization display unit
For the computer screen.
4. Lung neoplasm according to claim 2 punctures navigation system, which is characterized in that the infra-red tracing system with it is described
Computer communication connection.
5. Lung neoplasm according to claim 1 punctures navigation system, which is characterized in that the rough registration unit includes described
The information of positioning tool, the anatomical location points is acquired by the positioning tool；
The anatomical location points are at least three.
6. Lung neoplasm according to claim 1 punctures navigation system, which is characterized in that the point cloud model of the patient skin
The mode being registrated with the skin threedimensional model is ICP registration, and the essence registration unit includes being registrated for the ICP
ICP registration unit.
7. Lung neoplasm according to claim 1 punctures navigation system, which is characterized in that the positioning tool is can be described
The infrared track label of infra-red tracing system identification and monitoring.
8. Lung neoplasm according to claim 7 punctures navigation system, which is characterized in that the infrared track is labeled as infrared
Position bead.
9. Lung neoplasm according to claim 1 punctures navigation system, which is characterized in that the infra-red tracing system is carrying out
When the real-time navigation tracks, the three-dimensional visualization display unit can display real-time puncture needle relative to patient lungs' device
The position of official and posture, and real-time tracking is carried out to the position of the puncture needle and posture.
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Cited By (9)
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| CN109907804A (en) * | 2019-04-09 | 2019-06-21 | 上海市肺科医院 | A kind of Lung neoplasm in-vivo measurement auxiliary locator and localization method |
| CN110101452A (en) * | 2019-05-10 | 2019-08-09 | 山东威高医疗科技有限公司 | A kind of optomagnetic integrated positioning navigation method for surgical operation |
| CN110169820A (en) * | 2019-04-24 | 2019-08-27 | 艾瑞迈迪科技石家庄有限公司 | A kind of joint replacement surgery pose scaling method and device |
| CN110613519A (en) * | 2019-09-20 | 2019-12-27 | 真健康（北京）医疗科技有限公司 | Dynamic registration positioning device and method |
| CN110680470A (en) * | 2019-10-08 | 2020-01-14 | 山东大学 | Laser guide positioning device and method of automatic tumor puncture machine |
| CN111127527A (en) * | 2019-12-06 | 2020-05-08 | 广州柏视医疗科技有限公司 | Method and device for realizing lung nodule self-adaptive matching based on CT image bone registration |
| CN111462201A (en) * | 2020-04-07 | 2020-07-28 | 广州柏视医疗科技有限公司 | Follow-up analysis system and method based on novel coronavirus pneumonia CT image |
| CN113893033A (en) * | 2021-07-01 | 2022-01-07 | 中国科学院苏州生物医学工程技术研究所 | Lung percutaneous puncture navigation method and system |
| CN115005851A (en) * | 2022-06-09 | 2022-09-06 | 上海市胸科医院 | Nodule positioning method and device based on triangulation positioning and electronic equipment |
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