CN113100932A - Three-dimensional visual locator under perspective and method for matching and positioning human body three-dimensional space data - Google Patents
Three-dimensional visual locator under perspective and method for matching and positioning human body three-dimensional space data Download PDFInfo
- Publication number
- CN113100932A CN113100932A CN202110284921.5A CN202110284921A CN113100932A CN 113100932 A CN113100932 A CN 113100932A CN 202110284921 A CN202110284921 A CN 202110284921A CN 113100932 A CN113100932 A CN 113100932A
- Authority
- CN
- China
- Prior art keywords
- dimensional
- dimensional data
- perspective
- under
- acquisition device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/50—Clinical applications
- A61B6/504—Clinical applications involving diagnosis of blood vessels, e.g. by angiography
-
- 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
-
- 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
- A61B2034/2051—Electromagnetic tracking systems
-
- 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
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
Abstract
The invention discloses a three-dimensional visual position finder under perspective and a method for matching and positioning human body three-dimensional space data, wherein by utilizing the position finder, high-density and low-density targets can be clearly expressed in a three-dimensional visual form to assist in positioning; compared with a two-dimensional plane image, the operation under three-dimensional visualization is visual and three-dimensional, so that the operation time is saved, errors are not easy to generate, and the operation success rate is increased. The loading of the blood vessel intervention selective three-dimensional operation path can avoid the superposition of blood vessel shadows and the interference of the operation of an operator.
Description
Technical Field
The invention relates to a method for positioning three-dimensional space data of a human body in real time, in particular to a three-dimensional visual positioning instrument under perspective and a method for positioning the three-dimensional space data of the human body by matching the three-dimensional visual positioning instrument.
Background
CT is X-ray computed tomography, which uses an X-ray beam to perform tomography on a part of a human body to obtain a cross-sectional or stereo image of the examined part of the human body. CT can provide complete three-dimensional information of the examined part of the human body, can make the organ and the structure clearly develop and clearly display the pathological changes. As if a piece of bread were cut into slices. The advantage is that the method can be viewed hierarchically, and can display more organization information after calculation.
MRI (magnetic resonance imaging) is an imaging technique that uses signals generated by the resonance of atomic nuclei within a magnetic field to be imaged by reconstruction.
Digital Subtraction Angiography (DSA) is short for DSA, namely, an angiographic image is digitally processed, an unnecessary tissue image is deleted, and only a blood vessel image is reserved. Is mainly suitable for the examination and treatment of systemic vascular diseases and tumors.
Rotational DSA is a rotational three-dimensional stereoscopic imaging technique.
X-ray inspection can only provide two-dimensional planar images of high density objects in the body, with low density objects not being developed. The two-dimensional plane image has no vertical vector data, and the operator loads the vector data by feeling and experience in the operation and operation under fluoroscopy, so that error misjudgment is easy to generate. During interventional surgery, the inaccurate surgical path is easy to fail and cause complications.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a three-dimensional visual position finder under fluoroscopy and a method for matching and positioning human body three-dimensional space data. Setting a preoperative surgical path. The three-dimensional space image is output in real time under the perspective during the operation, and the data guides the operation of a surgeon.
The technical scheme of the invention is as follows: the three-dimensional visual locator under perspective comprises a three-dimensional data acquisition device, a two-dimensional data acquisition device and a three-dimensional visual locator;
the three-dimensional data acquisition device is used for acquiring three-dimensional data of the body surface marker and the target area in the body; the three-dimensional data of the in-vivo target region comprises three-dimensional data of a tissue organ which can be visualized under perspective and a tissue organ which is not visualized under perspective;
the two-dimensional data acquisition device is used for acquiring two-dimensional data of a body surface marker, a tissue organ which can be developed under fluoroscopy and an opaque target object in a body in real time;
the three-dimensional visual locator receives and reconstructs three-dimensional data acquired by the three-dimensional data acquisition device and two-dimensional data acquired by the two-dimensional data acquisition device, and calculates the position of an unobtrusive tissue organ under perspective and loads vector data of all the internal opaque targets by locking and matching the body surface markers acquired by the three-dimensional data acquisition device and the two-dimensional data of the tissue organ under perspective on the basis of ensuring that the position relationship among the body surface markers, the tissue organ which can be developed under perspective and the internal opaque targets is fixed; and displaying the target object selected by the perspective area in the positioning instrument in a three-dimensional visualization mode in real time.
Further, the three-dimensional data acquisition device is CT, MRI or rotational DSA.
Further, the two-dimensional data acquisition device is an X-ray fluoroscopy or a DSA.
The invention also provides a method for matching and positioning human body three-dimensional space data by the three-dimensional visual positioning instrument under perspective, which comprises the following steps:
step one, setting a body surface marker on the body surface of a perspective area;
scanning through a three-dimensional data acquisition device, and acquiring three-dimensional data of a body surface marker and an in-vivo target region, wherein the three-dimensional data of the in-vivo target region comprises three-dimensional data of a tissue organ which can be developed under perspective and a tissue organ which cannot be developed under perspective;
thirdly, the three-dimensional visual locator receives and reconstructs the three-dimensional data acquired in the second step;
acquiring two-dimensional data of a body surface marker, a tissue organ which can be developed under fluoroscopy and an opaque target object in a body in real time through a two-dimensional data acquisition device; keeping the body position consistent with the body position of the data acquisition in the second step during data acquisition;
fifthly, because the position relation of the body surface marker, the tissue organ which can be developed under the perspective and the opaque target object in the body is fixed, the three-dimensional visual locator receives the two-dimensional data collected by the two-dimensional data collection device in real time, and calculates the position of the tissue organ which is not developed under the perspective and the vector data for loading all the opaque target objects in the body by locking and matching the two-dimensional data of the body surface marker and the tissue organ which can be developed under the perspective collected by the three-dimensional data collection device and the two-dimensional data collection device; and displaying the target object selected by the perspective area in the positioning instrument in a three-dimensional visualization mode in real time.
Furthermore, a surgical path can be planned and selected on the three-dimensional visual locator.
Furthermore, the vascular intervention can select blood vessels through which an interventional catheter needs to pass from three-dimensional images of the three-dimensional visual locator, the lines of the centers of the blood vessels are surgical paths, and the three-dimensional images of the paths of the blood vessels are selectively and intensively displayed under perspective in the surgery.
Further, outputting the three-dimensional spatial data of the surgical path and the instrument catheter in real time under fluoroscopy may guide the automated operation of the interventional procedure.
Furthermore, the intravascular interventional catheter can be rotated to establish a three-dimensional image through the identification of specified actions under fluoroscopy, and the three-dimensional image is loaded into a corresponding blood vessel; the surgical instrument can identify the three-dimensional image and spatial position of the surgical instrument through the rotation of the DSA C-arm.
Further, the three-dimensional data acquisition device is CT, MRI or rotational DSA.
Further, the two-dimensional data acquisition device is an X-ray fluoroscopy or a DSA.
The invention has the beneficial effects that: the two-dimensional plane image that can only show high density target object under the prior art perspective utilizes three-dimensional visual locater, and high, low density target object can both clearly express with three-dimensional visual form, assistance-localization real-time. Compared with a two-dimensional plane image, the operation under three-dimensional visualization is visual and three-dimensional, so that the operation time is saved, errors are not easy to generate, and the operation success rate is increased. The loading of the blood vessel intervention selective three-dimensional operation path can avoid the superposition of blood vessel shadows and the interference of the operation of an operator.
The method is suitable for interventional operations and operations which are performed on human tissues with low mobility and need to be performed under X-ray fluoroscopy during operations and examinations, such as path setting of intertissue interventional operations and puncture, body surface positioning, blood vessel interventional operations and interventional operations, three-dimensional space data for providing operation paths and the like.
Drawings
Fig. 1 is a working flow chart of a three-dimensional visual locator.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The three-dimensional visual locator under perspective comprises a three-dimensional data acquisition device, a two-dimensional data acquisition device and the three-dimensional visual locator; the three-dimensional data acquisition device is CT, MRI or rotary DSA and the like. The two-dimensional data acquisition device is an X-ray fluoroscopy instrument or a DSA instrument and the like. The three-dimensional visual locator is a three-dimensional developing device (MR glasses, naked eye 3D displays and the like) with a two-dimensional data input interface, a three-dimensional data input interface and a three-dimensional data output interface.
The three-dimensional data acquisition device is used for acquiring three-dimensional data of the body surface marker and the target area in the body; the three-dimensional data of the in-vivo target region comprises three-dimensional data of a tissue organ which can be visualized under perspective and a tissue organ which is not visualized under perspective;
the two-dimensional data acquisition device is used for acquiring two-dimensional data of a body surface marker, a tissue organ which can be developed under fluoroscopy and an opaque target object in a body in real time;
the three-dimensional visual locator receives and reconstructs three-dimensional data acquired by the three-dimensional data acquisition device and two-dimensional data acquired by the two-dimensional data acquisition device, and calculates the position of an unobtrusive tissue organ under perspective and loads vector data of all the internal opaque targets by locking and matching the body surface markers acquired by the three-dimensional data acquisition device and the two-dimensional data of the tissue organ under perspective on the basis of ensuring that the position relationship among the body surface markers, the tissue organ which can be developed under perspective and the internal opaque targets is fixed; and displaying the target object selected by the perspective area in the positioning instrument in a three-dimensional visualization mode in real time.
As shown in fig. 1, the work flow is: the three-dimensional data of the body surface marker and the target region in the body are acquired through CT, MRI and rotary DSA scanning (three-dimensional data acquisition is required according to the body position of the operation, and the consistency of the three-dimensional data during the examination and the operation is kept). And the positioning instrument receives and reconstructs three-dimensional data. Because the position relation of the marker, the tissue organ (bone, enhanced vascular shadow, skin contour and the like) which is visualized under fluoroscopy and the opaque target object in the body is fixed. Under perspective, the positions of the tissues and organs which are not visualized under perspective are calculated and the vector data of all the target objects are loaded by locking the two-dimensional data of the matched markers and the visualized tissues and organs, and the target objects selected in the perspective area are displayed in a three-dimensional visualization mode in the positioning instrument.
The operation path can be planned and selected on the positioning instrument. The vascular intervention can select the blood vessels needed to be passed by the intervention catheter from the three-dimensional images, the line of the centers of the blood vessels is an operation path, and the three-dimensional images of the path blood vessels are selectively highlighted under the perspective in the operation. The surgical path for the intertissue intervention may be straight or curved, and is guided by a fine needle and cannula to the target site.
Outputting three-dimensional spatial data of the surgical path and instrument catheter in real time under fluoroscopy may guide the automated operation of the interventional procedure. (the intravascular interventional catheter can be rotated to create a three-dimensional image through the identification of a prescribed motion under fluoroscopy, and loaded into a corresponding blood vessel; the three-dimensional image and the spatial position of the surgical instrument can also be identified through the rotation of the C-arm of the DSA.)
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. Three-dimensional visual locater under perspective, its characterized in that: the system comprises a three-dimensional data acquisition device, a two-dimensional data acquisition device and a three-dimensional visual locator;
the three-dimensional data acquisition device is used for acquiring three-dimensional data of the body surface marker and the target area in the body; the three-dimensional data of the in-vivo target region comprises three-dimensional data of a tissue organ which can be visualized under perspective and a tissue organ which is not visualized under perspective;
the two-dimensional data acquisition device is used for acquiring two-dimensional data of a body surface marker, a tissue organ which can be developed under fluoroscopy and an opaque target object in a body in real time;
the three-dimensional visual locator receives and reconstructs three-dimensional data acquired by the three-dimensional data acquisition device and two-dimensional data acquired by the two-dimensional data acquisition device, and calculates the position of an unobtrusive tissue organ under perspective and loads vector data of all the internal opaque targets by locking and matching the body surface markers acquired by the three-dimensional data acquisition device and the two-dimensional data of the tissue organ under perspective on the basis of ensuring that the position relationship among the body surface markers, the tissue organ which can be developed under perspective and the internal opaque targets is fixed; and displaying the target object selected by the perspective area in the positioning instrument in a three-dimensional visualization mode in real time.
2. The three-dimensional visual positioning instrument according to claim 1, wherein: the three-dimensional data acquisition device is CT, MRI or rotary DSA.
3. The three-dimensional visual positioning instrument according to claim 1, wherein: the two-dimensional data acquisition device is an X-ray fluoroscopy instrument or a DSA.
4. The method for matching and positioning the three-dimensional space data of the human body by the three-dimensional visual positioning instrument under perspective is characterized by comprising the following steps of: the method comprises the following specific steps:
step one, setting a body surface marker on the body surface of a perspective area;
scanning through a three-dimensional data acquisition device, and acquiring three-dimensional data of a body surface marker and an in-vivo target region, wherein the three-dimensional data of the in-vivo target region comprises three-dimensional data of a tissue organ which can be developed under perspective and a tissue organ which cannot be developed under perspective;
thirdly, the three-dimensional visual locator receives and reconstructs the three-dimensional data acquired in the second step;
acquiring two-dimensional data of a body surface marker, a tissue organ which can be developed under fluoroscopy and an opaque target object in a body in real time through a two-dimensional data acquisition device; keeping the body position consistent with the body position of the data acquisition in the second step during data acquisition;
fifthly, because the position relation of the body surface marker, the tissue organ which can be developed under the perspective and the opaque target object in the body is fixed, the three-dimensional visual locator receives the two-dimensional data collected by the two-dimensional data collection device in real time, and calculates the position of the tissue organ which is not developed under the perspective and the vector data for loading all the opaque target objects in the body by locking and matching the two-dimensional data of the body surface marker and the tissue organ which can be developed under the perspective collected by the three-dimensional data collection device and the two-dimensional data collection device; and displaying the target object selected by the perspective area in the positioning instrument in a three-dimensional visualization mode in real time.
5. The method for matching and positioning the three-dimensional space data of the human body through the three-dimensional visual positioning instrument under perspective according to claim 4, wherein: the operation path can be planned and selected on the three-dimensional visual locator.
6. The method for matching and positioning the human body three-dimensional space data through the three-dimensional visual positioning instrument under perspective according to claim 5, wherein: the vascular intervention can select blood vessels through which an interventional catheter needs to pass from three-dimensional images of a three-dimensional visual locator, the lines of the centers of the blood vessels are surgical paths, and the three-dimensional images of the path blood vessels are selectively and intensively displayed under the perspective in the operation.
7. The method for matching and positioning the three-dimensional space data of the human body through the three-dimensional visual positioning instrument under perspective according to claim 4, wherein: outputting three-dimensional spatial data of the surgical path and instrument catheter in real time under fluoroscopy may guide the automated operation of the interventional procedure.
8. The method for matching and positioning the human body three-dimensional space data through the three-dimensional visual positioning instrument under perspective according to claim 7, wherein: the intravascular interventional catheter can rotationally establish a three-dimensional image through the identification of specified actions under fluoroscopy and is loaded into a corresponding blood vessel; the surgical instrument can identify the three-dimensional image and spatial position of the surgical instrument through the rotation of the DSA C-arm.
9. The method for matching and positioning the three-dimensional space data of the human body through the three-dimensional visual positioning instrument under perspective according to claim 4, wherein: the three-dimensional data acquisition device is CT, MRI or rotary DSA.
10. The method for matching and positioning the three-dimensional space data of the human body through the three-dimensional visual positioning instrument under perspective according to claim 4, wherein: the two-dimensional data acquisition device is an X-ray fluoroscopy instrument or a DSA.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110284921.5A CN113100932A (en) | 2021-03-17 | 2021-03-17 | Three-dimensional visual locator under perspective and method for matching and positioning human body three-dimensional space data |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110284921.5A CN113100932A (en) | 2021-03-17 | 2021-03-17 | Three-dimensional visual locator under perspective and method for matching and positioning human body three-dimensional space data |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113100932A true CN113100932A (en) | 2021-07-13 |
Family
ID=76711657
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110284921.5A Pending CN113100932A (en) | 2021-03-17 | 2021-03-17 | Three-dimensional visual locator under perspective and method for matching and positioning human body three-dimensional space data |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113100932A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114549766A (en) * | 2022-04-24 | 2022-05-27 | 成都纵横自动化技术股份有限公司 | Real-time AR visualization method, device, equipment and storage medium |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030181809A1 (en) * | 2002-03-11 | 2003-09-25 | Hall Andrew F. | 3D imaging for catheter interventions by use of 2D/3D image fusion |
-
2021
- 2021-03-17 CN CN202110284921.5A patent/CN113100932A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030181809A1 (en) * | 2002-03-11 | 2003-09-25 | Hall Andrew F. | 3D imaging for catheter interventions by use of 2D/3D image fusion |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114549766A (en) * | 2022-04-24 | 2022-05-27 | 成都纵横自动化技术股份有限公司 | Real-time AR visualization method, device, equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110811835B (en) | Computed tomography enhanced fluoroscopy systems, devices, and methods of use thereof | |
| US20090281418A1 (en) | Determining tissue surrounding an object being inserted into a patient | |
| US6628977B2 (en) | Method and system for visualizing an object | |
| JP4514283B2 (en) | Catheter navigation method and apparatus | |
| US6577889B2 (en) | Radiographic image diagnosis apparatus capable of displaying a projection image in a similar position and direction as a fluoroscopic image | |
| EP1715788B1 (en) | Method and apparatus for registration, verification, and referencing of internal organs | |
| US8165660B2 (en) | System and method for selecting a guidance mode for performing a percutaneous procedure | |
| US8285021B2 (en) | Three-dimensional (3D) reconstruction of the left atrium and pulmonary veins | |
| US8498692B2 (en) | Method for displaying a medical implant in an image and a medical imaging system | |
| US8942457B2 (en) | Navigating an interventional device | |
| US20090192385A1 (en) | Method and system for virtual roadmap imaging | |
| EP3059709A1 (en) | Method and system for tomosynthesis imaging | |
| US20090123046A1 (en) | System and method for generating intraoperative 3-dimensional images using non-contrast image data | |
| CN110248603A (en) | 3D ultrasound and computer tomography are combined for guiding intervention medical protocol | |
| CN105377138B (en) | System for producing composite reality three-dimensional image | |
| WO2005092198A1 (en) | System for guiding a medical instrument in a patient body | |
| JP2016178986A (en) | Radiation imaging apparatus, image processing method, and program | |
| US8467850B2 (en) | System and method to determine the position of a medical instrument | |
| JP5314934B2 (en) | Image alignment system | |
| CN113100932A (en) | Three-dimensional visual locator under perspective and method for matching and positioning human body three-dimensional space data | |
| US8358874B2 (en) | Method for displaying computed-tomography scans, and a computed-tomography system or computed-tomography system assembly for carrying out this method | |
| US10448860B2 (en) | System and method for bioelectric localization and navigation of interventional medical devices | |
| de la Rosette et al. | Newer advances in access | |
| KR101727567B1 (en) | Methods for Preparing Complex Reality Three-Dimensional Images and Systems therefor | |
| JP2023148676A (en) | Medical image processing device, x-ray diagnostic device, and medical image processing program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |