CN115721415A - Soft tissue puncture navigation positioning method and system - Google Patents
Soft tissue puncture navigation positioning method and system Download PDFInfo
- Publication number
- CN115721415A CN115721415A CN202211427816.3A CN202211427816A CN115721415A CN 115721415 A CN115721415 A CN 115721415A CN 202211427816 A CN202211427816 A CN 202211427816A CN 115721415 A CN115721415 A CN 115721415A
- Authority
- CN
- China
- Prior art keywords
- navigation
- dimensional
- puncture
- coordinate system
- image
- 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
Landscapes
- Apparatus For Radiation Diagnosis (AREA)
Abstract
A soft tissue puncture navigation positioning method comprises the following steps: mounting a plurality of marker balls on a target object; scanning the target object and the marker ball for a three-dimensional image; identifying coordinates of marker balls in the image in an image coordinate system and sequencing; identifying coordinates of the marker balls in a navigation coordinate system and sequencing; solving a rigid body transformation matrix between the two coordinate systems; planning a puncture path in the three-dimensional image; acquiring current attitude data and tracer pose data of the mechanical arm, and calculating the target positioning attitude of the mechanical arm according to the coordinates of the marker ball in a navigation coordinate system, a relationship matrix of the tracer and the tail end of the mechanical arm, a relationship matrix of the puncture needle and the tracer and a puncture path; after the mechanical arm moves to a target positioning posture, the puncture needle pushes the target object; recording the coordinates of the marker ball in real time in the puncture process, and calculating a deformation field according to the change of the coordinates and an interpolation function; and performing interpolation deformation on the three-dimensional image by using the deformation field, and superposing and displaying the position of the puncture needle in the deformation image in real time.
Description
Technical Field
The invention relates to the technical field of navigation and positioning, in particular to a soft tissue puncture navigation and positioning method and system.
Background
With the continuous progress of medical technology, the minimally invasive treatment technology is rapidly developed, and a plurality of minimally invasive diagnosis and treatment technologies appear. The soft tissue puncture technology is a typical application technology, and different medical measures such as biopsy, ablation treatment and the like can be performed by directly penetrating the skin of a millimeter-scale puncture needle to a focus position of a patient. At present, soft tissue puncture is required to be performed under the guidance of medical images of patients, and the puncture can be classified into puncture under the guidance of B-ultrasound, puncture under the guidance of CT, puncture under the guidance of MR and the like according to different medical images.
The B ultrasonic guidance is based on a two-dimensional real-time B ultrasonic image, and a doctor inserts the puncture needle into a focus position by hands, so that the requirement of real-time guidance is met, but the B ultrasonic image is difficult to understand and long in learning curve, and the puncture needle is not clear in the B ultrasonic image, so that the operation of the doctor is easily influenced. The CT guidance belongs to non-real-time guidance, three-dimensional CT images need to be scanned repeatedly in the puncture process, the radiation dose is large, and the puncture effect extremely depends on the experience and hand feeling of doctors. MR guidance is also non-real time guidance, imaging speed is slow, and all surgical tools are required to be made of non-magnetic materials, which is expensive.
Therefore, in order to solve the above disadvantages, a soft tissue puncture navigation and positioning scheme is needed, which can assist a doctor to complete a quick and accurate puncture task.
Disclosure of Invention
The invention provides a soft tissue puncture navigation and positioning method to overcome the defects in the prior art, and assists a doctor to accurately complete puncture operation in an operation.
In a first aspect, the invention provides a soft tissue puncture navigation positioning method, which comprises the following steps:
s1, mounting a plurality of marker balls on a target object;
s2, scanning a three-dimensional image of the target object and the marker ball;
s3, identifying coordinates of the marker balls in the image in an image coordinate system, and sequencing;
s4, identifying coordinates of the marker ball in a navigation coordinate system by using a three-dimensional navigation tracking system, and sequencing;
s5, solving a rigid transformation matrix between the two coordinate systems according to the two sets of coordinates;
s6, planning a puncture path in the three-dimensional image, and representing the puncture path by a straight line;
s7, acquiring current mechanical arm posture data and tracer pose data, and calculating the target positioning posture of the mechanical arm according to the coordinates of the marker ball in a navigation coordinate system, the relation matrix of the tracer and the tail end of the mechanical arm, the relation matrix of the puncture needle and the tracer and a puncture path;
s8, after the mechanical arm moves to a target positioning posture, the puncture needle pushes the target object;
s9, recording the coordinates of the marker ball in real time in the puncture process, calculating a deformation field according to the change of the coordinates and an interpolation function, performing interpolation deformation on the three-dimensional image by using the deformation field, and overlapping and displaying the position of the puncture needle in the deformation image in real time;
s10, stopping the movement of the puncture needle after the puncture needle reaches the target position.
Preferably, the step S2 scans a three-dimensional image, preferably a three-dimensional Computed Tomography (CT) image, of the target object and the marker sphere; the three-dimensional medical image may be a three-dimensional Magnetic Resonance (MR) image, a three-dimensional B-mode image, or the like.
Preferably, the three-dimensional navigation tracking system in the step S4 is preferably an infrared optical navigation system, and can capture the marker ball and the tracer in the field of view in real time to obtain the three-dimensional space coordinate and the space posture of the marker ball and the tracer; the three-dimensional navigation system can be any three-dimensional navigation system based on physical principles, such as a visible light optical navigation system, a laser navigation system, a magnetic navigation system, an electric navigation system and the like.
Preferably, the preferable structure of the marker ball comprises a solid metal ball inside, and a layer of reflective material is arranged on the outer surface of the metal ball, so that the three-dimensional coordinate of the center of the ball in an image coordinate system can be identified in a CT image, and can also be identified by an infrared optical navigation system, and the three-dimensional coordinate of the marker ball in the navigation coordinate system can be calculated; the marker ball also has a base for mounting on a target object.
Preferably, the relation matrix between the tracer and the tail end of the mechanical arm in the step S7 is a flange coordinate system established at a flange at the tail end of the mechanical arm, a tracer coordinate system established on the tracer, and a transformation matrix between the two coordinate systems; the conversion matrix is obtained by calibrating a three-dimensional coordinate instrument;
the relation matrix of the puncture needle and the tracer is a conversion matrix between a puncture needle coordinate system established at the needle point of the puncture needle and the tracer coordinate system; the conversion matrix is obtained by calibrating a three-dimensional coordinate instrument.
Preferably, the calculating the target positioning posture of the robot arm in step S7 includes:
converting the puncture path in an image coordinate system into the navigation coordinate system according to the rigid body transformation matrix, and then establishing a target coordinate system by using two endpoint coordinates of the puncture path and an origin of the navigation coordinate system; and aligning the puncture needle coordinate system with the target coordinate system, and calculating the target positioning posture of the mechanical arm.
Preferably, the calculating of the deformation field in step S9 includes:
recording three-dimensional coordinates of all marker balls in the navigation coordinate system before puncture; recording three-dimensional coordinates of all the marker balls in the navigation coordinate system in real time during puncture; calculating the change between the two groups of coordinates in real time, and calculating a deformation field by combining an interpolation function;
the interpolation function is preferably a B-spline difference function, and may alternatively be a thin-plate spline interpolation function, a polynomial interpolation function, or the like.
In a second aspect, the invention further provides a system for implementing the soft tissue puncture navigation positioning method, wherein the system comprises three-dimensional navigation tracking equipment, a mechanical arm, a plurality of marker balls, a tracer, a propelling mechanism, a puncture needle, image acquisition equipment and an upper computer;
the tracer and the puncture needle are arranged on the propelling mechanism, and the propelling mechanism is arranged at the tail end of the mechanical arm;
the propelling mechanism consists of a slide rail, a stepping motor, a screw rod and a puncture needle mounting seat; the stepping motor rotates to drive the screw rod to rotate, the screw rod changes the rotation into linear motion on the sliding rail, a moving part of the sliding rail is connected with the puncture needle mounting seat, and the puncture needle is mounted on the puncture needle mounting seat and can be rapidly mounted and dismounted;
the image acquisition equipment is used for acquiring a three-dimensional image and sending the three-dimensional image to the upper computer, wherein the field of view of the image acquisition equipment comprises: the target object and a marker ball mounted on the target object;
the three-dimensional navigation tracking equipment is used for obtaining the coordinates of the marked ball in a navigation coordinate system and the pose data of the tracer in the navigation coordinate system, and sending the coordinate data and the pose data to the upper computer;
the upper computer realizes the soft tissue puncture navigation positioning method in the first aspect, receives data, and controls the mechanical arm to perform positioning, puncture operation of the puncture needle, and real-time display and navigation of images.
Therefore, when the scheme of the invention is applied to the soft tissue puncture navigation positioning, the three-dimensional image only needs to be scanned once, and the operation steps and the possible radiation dose in the operation are reduced. The three-dimensional navigation tracking system and the marker balls arranged on the target object can capture the body position change and the soft tissue deformation of the target object in real time, and the deformation is mapped into the three-dimensional image through the interpolation function and displayed in real time, so that the purpose of real-time navigation is achieved. The use of the mechanical arm enables the puncture process to be fully automatic, the workload of doctors is reduced, the operation difficulty is reduced, and the puncture positioning precision can be obviously improved.
The advantages of the invention can be summarized as follows: the operation steps and possible radiation dose in the operation are reduced, the real-time navigation is realized, the puncture process is completely automatic, the workload of doctors is reduced, the operation difficulty is reduced, and the puncture positioning precision can be obviously improved.
Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained by referring to these drawings.
Fig. 1 is a schematic flow chart of a soft tissue puncture navigation positioning method according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a soft tissue puncture navigation and positioning system according to an embodiment of the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention are within the scope of the present invention.
In order to reduce the X-ray radiation quantity received by doctors and objects as much as possible in the puncture process and realize real-time navigation and positioning, the embodiment of the invention provides a soft tissue puncture navigation and positioning method and a soft tissue puncture navigation and positioning system. Each will be described in detail below.
Referring to fig. 1, fig. 1 is a schematic flow chart of a soft tissue puncture navigation and positioning method according to an embodiment of the present invention, where the method includes the following steps S101 to S110.
Step S101: a plurality of marker balls are mounted on the target object.
The structure of the marker ball comprises a solid metal ball inside, a layer of reflective material is arranged on the outer surface of the metal ball, the solid metal ball can be developed in a CT image, the three-dimensional coordinate of the center of the ball in an image coordinate system can be identified, the three-dimensional coordinate of the marker ball in a navigation coordinate system can also be identified by an infrared optical navigation system, and the three-dimensional coordinate of the marker ball in the navigation coordinate system can be calculated; the marker ball also has a base for mounting on a target object.
Step S102: the target object and the marker ball are scanned with an image acquisition device for a three-dimensional image.
The image acquisition device is preferably a three-dimensional Computed Tomography (CT) image; the three-dimensional medical image may be a three-dimensional Magnetic Resonance (MR) image, a three-dimensional B-mode image, or the like.
Step S103: and identifying the marker balls in the images, obtaining the coordinates of the marker balls in the image coordinate system, and sequencing.
The sorting is that each marker ball is provided with a number for distinguishing each marker ball according to the relative position relation among the marker balls.
Step S104: and identifying the coordinates of the marker ball in a navigation coordinate system by using a three-dimensional navigation tracking system, and sequencing.
The three-dimensional navigation tracking system is preferably an infrared optical navigation system, and can capture the marker ball and the tracer in the field of view in real time to obtain the three-dimensional space coordinate and the space posture of the marker ball and the tracer; the three-dimensional navigation system can be any three-dimensional navigation system based on physical principles, such as a visible light optical navigation system, a laser navigation system, a magnetic navigation system, an electric navigation system and the like.
Step S105: and solving a rigid body transformation matrix between the two coordinate systems according to the coordinates in the image coordinate system and the coordinates in the navigation coordinate system.
The two groups of coordinates are sequenced to determine a corresponding relation, and a rigid body transformation equation is established, so that a rigid body transformation matrix is solved; the three-dimensional rigid body transformation matrix represents translation and rotation in a three-dimensional space, and can also represent a transformation relation between two coordinate systems.
Step S106: and planning a puncture path in the three-dimensional image, and representing the puncture path by a straight line.
The puncture path is represented by a straight line between one point on the surface of the target object and the target point in the body, and is in an image coordinate system; the puncture path can be transformed into a navigation coordinate system through the rigid body transformation matrix.
Step S107: and acquiring current attitude data and tracer pose data of the mechanical arm, and calculating the target positioning attitude of the mechanical arm according to the coordinates of the marker ball in the navigation coordinate system, the relationship matrix of the tracer and the tail end of the mechanical arm, the relationship matrix of the puncture needle and the tracer and the puncture path.
The relation matrix of the tracer and the tail end of the mechanical arm refers to a flange coordinate system established at a flange at the tail end of the mechanical arm, a tracer coordinate system established on the tracer and a conversion matrix between the two coordinate systems; the conversion matrix is obtained by calibrating a three-dimensional coordinate instrument.
The relationship matrix of the puncture needle and the tracer is a conversion matrix between a puncture needle coordinate system established at the needle point of the puncture needle and the tracer coordinate system; the conversion matrix is obtained by calibrating a three-dimensional coordinate instrument.
Establishing a target coordinate system by utilizing the coordinates of the two end points of the puncture path in the navigation coordinate system and the origin of the navigation coordinate system; and aligning the puncture needle coordinate system with a target coordinate system, and calculating the target positioning posture of the mechanical arm.
Step S108: after the mechanical arm moves to the target positioning posture, the puncture needle pushes the target object.
Step S109: recording the coordinates of the marker ball in real time in the puncture process, calculating a deformation field according to the change of the coordinates and an interpolation function, performing interpolation deformation on the three-dimensional image by using the deformation field, and overlapping and displaying the position of the puncture needle in the deformation image in real time; the puncture needle stops moving after reaching the target position.
The calculation of the deformation field includes: recording three-dimensional coordinates of all marker balls in the navigation coordinate system before puncture; recording the three-dimensional coordinates of all the marker balls in the navigation coordinate system in real time during puncture; and calculating the change between the two groups of coordinates in real time, and calculating a deformation field by combining an interpolation function.
The interpolation function is preferably a B-spline difference function, and may alternatively be a thin-plate spline interpolation function, a polynomial interpolation function, or the like.
Step S110: the puncture needle stops moving after reaching the target position.
Therefore, when the scheme provided by the embodiment of the invention is applied to the navigation and positioning of the soft tissue puncture, only one three-dimensional image needs to be scanned, and the operation steps and possible radiation dose in the operation are reduced. The three-dimensional navigation tracking system can capture the body position change and the soft tissue deformation of a target object in real time, and the deformation is mapped into a three-dimensional image through an interpolation function and displayed in real time, so that the purpose of real-time navigation is achieved. The use of the mechanical arm enables the puncture process to be fully automatic, reduces the workload of doctors and reduces the operation difficulty.
Corresponding to the soft tissue puncture navigation positioning method, the embodiment of the invention also provides a soft tissue puncture navigation positioning system.
In one embodiment of the present invention, referring to fig. 2, a schematic structural diagram of a soft tissue puncture navigation and positioning system is provided, the system includes a three-dimensional navigation tracking device 201, a mechanical arm 202, a plurality of marker balls 203, a tracer 204, a propelling mechanism 205, a puncture needle 206, an image acquisition device 207, and an upper computer 208;
the tracer 204 consists of four reflecting balls and a cross bracket; the tracer 204 and the piercing needle 206 are mounted on the advancing mechanism 205, and the advancing mechanism 205 is mounted at the end of the robotic arm 202.
The propelling mechanism 205 consists of a slide rail 2051, a stepping motor 2052, a screw rod 2053 and a puncture needle mounting seat 2054; the stepping motor 2052 rotates to drive the screw rod 2053 to rotate, the screw rod 2053 changes the rotation into linear motion on the slide rail 2051, a moving part of the slide rail 2051 is connected with the puncture needle mounting seat 2054, and the puncture needle 206 is mounted on the puncture needle mounting seat 2054 and can be rapidly mounted and dismounted.
The image acquisition device 207 is configured to acquire a three-dimensional image and send the three-dimensional image to the upper computer 208, and a scanning range of the image acquisition device includes: the target object and a marker ball 203 mounted on the target object.
The three-dimensional navigation tracking device 201 is configured to obtain coordinates of the marked ball in a navigation coordinate system and pose data of the tracer in the navigation coordinate system, and send the coordinate data and the pose data to the upper computer 208, where the three-dimensional navigation tracking device in this embodiment is an infrared optical binocular vision system;
the upper computer 208 is respectively connected with the infrared optical binocular vision system 201, the mechanical arm 202, the propulsion mechanism 205 and the CT machine 207, so that the soft tissue puncture navigation positioning method is realized, data is received, and the mechanical arm is controlled to perform positioning, puncture operation of a puncture needle, and real-time display and navigation of images.
In an embodiment of the present invention, the three-dimensional navigation tracking device 201 is an infrared optical binocular vision system.
In an embodiment of the present invention, the image capturing device 207 is a CT machine.
Therefore, when the scheme provided by the embodiment of the invention is applied to the navigation and positioning of the soft tissue puncture, only one three-dimensional image needs to be scanned, and the operation steps and possible radiation dose in the operation are reduced. The three-dimensional navigation tracking system and the marker balls arranged on the target object can capture the body position change and the soft tissue deformation of the target object in real time, and the deformation is mapped into the three-dimensional image through the interpolation function and displayed in real time, so that the purpose of real-time navigation is achieved. The use of the mechanical arm enables the puncture process to be completely automatic, the workload of doctors is reduced, the operation difficulty is reduced, and the puncture positioning precision can be obviously improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (8)
1. A soft tissue puncture navigation positioning method is characterized by comprising the following steps:
s1, mounting a plurality of marker balls on a target object;
s2, scanning a three-dimensional image of the target object and the marker ball;
s3, recognizing coordinates of the marker balls in the images in an image coordinate system, and sequencing;
s4, identifying coordinates of the marker ball in a navigation coordinate system by using a three-dimensional navigation tracking system, and sequencing;
s5, solving a rigid body transformation matrix between two coordinate systems according to the two groups of coordinates;
s6, planning a puncture path in the three-dimensional image, and representing the puncture path by a straight line;
s7, acquiring current mechanical arm posture data and tracer pose data, and calculating the target positioning posture of the mechanical arm according to the coordinates of the marker ball in a navigation coordinate system, the relation matrix of the tracer and the tail end of the mechanical arm, the relation matrix of the puncture needle and the tracer and a puncture path;
s8, after the mechanical arm moves to a target positioning posture, the puncture needle pushes the target object;
s9, recording the coordinates of the marker ball in real time in the puncture process, calculating a deformation field according to the change of the coordinates and an interpolation function, performing interpolation deformation on the three-dimensional image by using the deformation field, and overlapping and displaying the position of the puncture needle in the deformation image in real time;
s10, stopping the movement of the puncture needle after the puncture needle reaches the target position.
2. The method according to claim 1, characterized in that said scanning of the target object and marker sphere in step S2 is performed in a three-dimensional image, preferably a three-dimensional Computed Tomography (CT) image; the three-dimensional medical image may be a three-dimensional Magnetic Resonance (MR) image, a three-dimensional B-mode image, or the like.
3. The method according to claim 1, wherein in step S4, the three-dimensional navigation tracking system is preferably an infrared optical navigation system, and is capable of capturing the marker ball and tracer in the field of view in real time to obtain the three-dimensional space coordinates and space posture thereof; the three-dimensional navigation system can be any three-dimensional navigation system based on physical principles, such as a visible light optical navigation system, a laser navigation system, a magnetic navigation system, an electric navigation system and the like.
4. The method according to claims 1-3, wherein the marker ball preferably comprises a solid metal ball inside, and the outer surface of the metal ball is provided with a layer of reflective material, so that the three-dimensional coordinates of the center of the ball in the image coordinate system can be identified in the CT image, and can also be identified by an infrared optical navigation system, and the three-dimensional coordinates of the marker ball in the navigation coordinate system can be calculated; the marker ball also has a base for mounting on a target object.
5. The method according to claim 1, wherein the relation matrix between the tracer and the end of the robot arm in step S7 is a coordinate system of a flange established at the end of the robot arm, a coordinate system of the tracer established on the tracer, and a transformation matrix between the two coordinate systems; the conversion matrix is obtained by calibrating a three-dimensional coordinate instrument;
the relationship matrix of the puncture needle and the tracer is a conversion matrix between a puncture needle coordinate system established at the needle point of the puncture needle and the tracer coordinate system; the conversion matrix is obtained by calibrating a three-dimensional coordinate instrument.
6. The method according to claim 1, wherein the calculating the target positioning posture of the robot arm in step S7 comprises:
converting the puncture path in an image coordinate system into the navigation coordinate system according to the rigid body transformation matrix, and then establishing a target coordinate system by using two endpoint coordinates of the puncture path and an origin of the navigation coordinate system; and aligning the puncture needle coordinate system with the target coordinate system, and calculating the target positioning posture of the mechanical arm.
7. The method of claim 1, wherein the calculating a deformation field in step S9 comprises:
recording three-dimensional coordinates of all marker balls in the navigation coordinate system before puncture; recording three-dimensional coordinates of all the marker balls in the navigation coordinate system in real time during puncture; calculating the change between the two groups of coordinates in real time, and calculating a deformation field by combining an interpolation function;
the interpolation function is preferably a B-spline difference function, and may alternatively be a thin-plate spline interpolation function, a polynomial interpolation function, or the like.
8. The system for realizing the soft tissue puncture navigation and positioning method of claim 1 is characterized by comprising a three-dimensional navigation tracking device, a mechanical arm, a plurality of marker balls, a tracer, a propelling mechanism, a puncture needle, an image acquisition device and an upper computer;
the tracer and the puncture needle are arranged on the propelling mechanism, and the propelling mechanism is arranged at the tail end of the mechanical arm;
the propelling mechanism consists of a slide rail, a stepping motor, a screw rod and a puncture needle mounting seat; the stepping motor rotates to drive the screw rod to rotate, the screw rod changes the rotation into linear motion on the sliding rail, a moving part of the sliding rail is connected with the puncture needle mounting seat, and the puncture needle is mounted on the puncture needle mounting seat and can be rapidly mounted and dismounted;
the image acquisition device, preferably a CT scanning device, is configured to acquire a three-dimensional image and send the three-dimensional image to the upper computer, wherein a field of view of the image acquisition device includes: the target object and a marker ball mounted on the target object;
the three-dimensional navigation tracking equipment is preferably an infrared optical navigation system and is used for acquiring coordinates of all the marker balls in a navigation coordinate system and position and pose data of the tracer in the navigation coordinate system and sending the coordinate data and the position and pose data to the upper computer;
the upper computer realizes the method steps of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211427816.3A CN115721415A (en) | 2022-11-15 | 2022-11-15 | Soft tissue puncture navigation positioning method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211427816.3A CN115721415A (en) | 2022-11-15 | 2022-11-15 | Soft tissue puncture navigation positioning method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115721415A true CN115721415A (en) | 2023-03-03 |
Family
ID=85295816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211427816.3A Pending CN115721415A (en) | 2022-11-15 | 2022-11-15 | Soft tissue puncture navigation positioning method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115721415A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116019558A (en) * | 2023-03-07 | 2023-04-28 | 内蒙古精劢医疗科技有限公司 | Electromagnetic navigation puncture robot system and positioning method thereof |
| CN116236278A (en) * | 2023-05-08 | 2023-06-09 | 江苏省人民医院（南京医科大学第一附属医院） | Bone tunnel establishment system |
| CN117204951A (en) * | 2023-09-22 | 2023-12-12 | 上海睿触科技有限公司 | Operation positioning navigation equipment based on X-rays and positioning realization method thereof |
| CN117598787A (en) * | 2024-01-08 | 2024-02-27 | 上海卓昕医疗科技有限公司 | Medical instrument navigation method, device, equipment and medium based on medical image |
| CN117598787B (en) * | 2024-01-08 | 2024-07-09 | 上海卓昕医疗科技有限公司 | Medical instrument navigation device, equipment and medium based on medical image |
-
2022
- 2022-11-15 CN CN202211427816.3A patent/CN115721415A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116019558A (en) * | 2023-03-07 | 2023-04-28 | 内蒙古精劢医疗科技有限公司 | Electromagnetic navigation puncture robot system and positioning method thereof |
| CN116019558B (en) * | 2023-03-07 | 2023-10-17 | 内蒙古精劢医疗科技有限公司 | Electromagnetic navigation puncture robot system and positioning method thereof |
| CN116236278A (en) * | 2023-05-08 | 2023-06-09 | 江苏省人民医院（南京医科大学第一附属医院） | Bone tunnel establishment system |
| CN116236278B (en) * | 2023-05-08 | 2023-07-18 | 江苏省人民医院（南京医科大学第一附属医院） | Bone tunnel establishment system |
| CN117204951A (en) * | 2023-09-22 | 2023-12-12 | 上海睿触科技有限公司 | Operation positioning navigation equipment based on X-rays and positioning realization method thereof |
| CN117204951B (en) * | 2023-09-22 | 2024-04-30 | 上海睿触科技有限公司 | Operation positioning navigation equipment based on X-rays and positioning realization method thereof |
| CN117598787A (en) * | 2024-01-08 | 2024-02-27 | 上海卓昕医疗科技有限公司 | Medical instrument navigation method, device, equipment and medium based on medical image |
| CN117598787B (en) * | 2024-01-08 | 2024-07-09 | 上海卓昕医疗科技有限公司 | Medical instrument navigation device, equipment and medium based on medical image |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110946654B (en) | Bone surgery navigation system based on multimode image fusion | |
| CN115721415A (en) | Soft tissue puncture navigation positioning method and system | |
| CN114041875B (en) | Integrated operation positioning navigation system | |
| JP6828047B2 (en) | Posture estimation and calibration system and method for fluoroscopic imaging system in image-guided surgery | |
| Huang et al. | Fully automatic three-dimensional ultrasound imaging based on conventional B-scan | |
| CN107468350B (en) | Special calibrator for three-dimensional image, operation positioning system and positioning method | |
| JP4822634B2 (en) | A method for obtaining coordinate transformation for guidance of an object | |
| CN101474075B (en) | Navigation system of minimal invasive surgery | |
| JP4340345B2 (en) | Frameless stereotactic surgery device | |
| CN107106241B (en) | System for navigating to surgical instruments | |
| JP2966089B2 (en) | Interactive device for local surgery inside heterogeneous tissue | |
| CN112220557B (en) | Operation navigation and robot arm device for craniocerebral puncture and positioning method | |
| CN101862205A (en) | Intraoperative tissue tracking method combined with preoperative image | |
| CN113316429A (en) | System and method for registration and navigation between coordinate systems | |
| CN1668254A (en) | Medical device positioning system and method | |
| CN1925793A (en) | System for guiding a medical instrument in a patient body | |
| EP1259160A2 (en) | Apparatus and methods for medical interventions | |
| CN208573801U (en) | Surgical robot system | |
| CN112043382A (en) | Surgical navigation system and use method thereof | |
| CN111603205A (en) | Three-dimensional image reconstruction and positioning analysis system used in CT (computed tomography) cabin of puncture surgical robot | |
| CN108670305A (en) | Breast automatic scanning device | |
| Bø et al. | Versatile robotic probe calibration for position tracking in ultrasound imaging | |
| CN113855239A (en) | Guide wire navigation system and method in vascular interventional operation | |
| Li et al. | A framework for fast automatic robot ultrasound calibration | |
| CN205849553U (en) | A kind of location of operation scale |
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 |