CN100594839C - Real-time tracking and positioning device - Google Patents

Abstract

The invention provides a real-time tracking and positioning device. The device is combined with a human body focus based on an electromagnetic induction principle and a graphic image processing technology, is suitable for dynamic calibration and real-time tracking of internal organs and focuses of a human body, and tracks a focus area in real time in interventional therapy and external irradiation of a medical accelerator, a cobalt 60 machine and a gamma knife. N (N is more than or equal to 1) micro coils are implanted into a focus area of a human body, a patient and the micro coils are scanned in the focus area under CT, and a three-dimensional model of the focus area with N marking points is reconstructed through the processing of computer graphic image software. The computer uses the output signal of the micro coil to establish a dynamic space coordinate system in operation, and a CT three-dimensional reconstruction model is fused into the space. The three-dimensional model of the patient and N dynamic marking points of the focus area moving along with the human body appear on the screen. Another micro-coil is arranged at the front end of the surgical tool, and the position of the tool in the body of the patient can be tracked in real time. The method is a new technical application of combining the computer image virtual technology and the real focal zone.

Description

A real-time tracking and positioning device

technical field

The present invention proposes a real-time tracking and positioning device, which is based on the principle of electromagnetic induction, the combination of graphics and image processing technology and human lesions, and is especially suitable for dynamic calibration and real-time tracking and positioning of human internal organ lesions. The focus area is tracked in real time during the external irradiation of cobalt 60 machine and gamma knife.

Background technique

At present, γ-rays and X-ray external irradiation are used to treat malignant tumors. Gold particles are implanted in the lesion area of the patient, and the marked points of the lesion area are displayed under CT. During the treatment, the movement of the marked points is tracked by the digital X-ray machine, and then the signal is input to the treatment equipment for tracking and positioning. This is the most advanced real-time positioning and tracking system of Variant in the United States. This technology adds a digital X-ray machine; the gold particles implanted in the patient's body cannot be removed; the normal tissue of the patient is irradiated by the X-rays of the digital X-ray machine.

In interventional cardiovascular and cerebrovascular surgery, after-installation radiotherapy and other operations, the C-arm X-ray machine is used to track the front end of the surgical tool in the patient's body. Cause medical staff and patients to receive unnecessary X-ray radiation.

In the United States, prostate cancer is treated with interventional therapy and particle implantation, and B-ultrasound is used to track and locate. Some of the domestic use of interventional therapy seed implantation uses B-ultrasound tracking and positioning, and some use CT to correct the seed implantation process. Using B-ultrasound for real-time tracking and positioning, because most of the B-ultrasound images are blurred, and the high-definition 4-dimensional B-ultrasound is expensive. On the other hand, the B-ultrasound probe seriously interferes with the particle implantation in interventional therapy. The particle implantation procedure under CT is not real-time tracking and positioning, but the calibration during the particle implantation procedure. CT is a diagnostic device, the price is several million yuan, and the operation time takes 2 to 3 hours, which increases the pain and cost of the patient.

Contents of the invention

The unit of the present invention is composed of a microcoil, an A/D conversion amplifier, a multi-channel signal processor, a magnetic field generator, a puncture needle, graphics and image processing software, and a computer, and the N (N≥1 ) a micro-coil implanted into the lesion area of the human body, the patient scans the lesion area together with the micro-coil under CT, and there is a 2-dimensional static picture of the lesion area with the micro-coil marking points on the CT picture. Through computer and graphic image software, 3D reconstruction of human body model, organ model and static 3D image of lesion target area with N micro-coil marking points.

In the operation treatment room, the output line of the micro-coil is connected to the computer. Under the action of the magnetic field, the patient's human body model, organ model, lesion target area and N in the target area are displayed on the computer screen. , Dynamic marking points of gastrointestinal motility. Another set of micro-coils is placed on the front end of the surgical instrument or interventional therapy tool, and the dynamic marking of the front end of the surgical instrument or interventional therapy tool in the patient's body will be displayed on the monitor to track the target position. This is the combination of the virtual technology of computer imaging and the real target area of the patient's lesion. It is the application of new tracking and positioning technology based on physical perception such as vision and motion, and the treatment process is visualized throughout the process.

Description of drawings

With reference to accompanying drawing, this real-time tracking positioning device has the following components to form: microcoil (1): A/D conversion amplifier (2); Multiplex signal processor (3); Magnetic field generator (4); Computer (5) ; display (6); graphic image processing software (7); puncture needle (8); marking point (9); lesion target area (10).

The microcoil (1) has a diameter of less than 0.8mm and a length of about 4mm, generates an induced current under a special magnetic field, and has an output flexible wire. The A/D conversion amplifier (2) amplifies the analog signal input by the micro-coil and converts it into a digital signal output. The multi-channel signal processor (3) can receive and process the input signals of the 8-way A/D conversion amplifiers (2), and then input them to the computer (5) through the connector. The magnetic field generator (4) is a multi-coil magnetic field generating device according to a certain geometric distribution, and is enclosed in a cuboid. Connected to a 220V power supply, a 3D magnetic field can be generated. Computer (5) CPU>=2GHz, memory>=2GB, hard disk>=80GB, graphics card: 3D acceleration, video memory 128MB. The monitor (6) is larger than 17 "liquid crystal display, 1600X1200X80Hz. Graphical image software (7) is input into the computer according to the patient's 2-dimensional image CT film, and the 3-dimensional form of the human body model, organ model and lesion target area is displayed on the monitor. The puncture needle (8) be used for microcoil implantation in the body surgical instrument. Marking point (9) is the microcoil implanted in the human body, shows the mark that can be identified on the CT picture or on the monitor. The lesion target area (10) is Tumor or other diseased tissue in a patient.

Detailed ways

The output flexible wire of the miniature coil (1) is connected to the A/D conversion amplifier (2) through the connector, and then connected to the multi-channel signal processor (3) through the output wire, and then connected to the computer (5) through the output wire connector. The magnetic field generator (4) is connected to a 220V power supply to generate a 3-dimensional magnetic field. Under the action of the 3-dimensional magnetic field, the microcoil (1) generates an induced current, which is input to the multi-channel signal processor through the A/D conversion amplifier (2) (3) Input it into the computer (5) at last, and the 5 degrees of freedom and coordinate points of the microcoil (1) can be displayed on the display (6).

Use a puncture needle (8) to implant N (N ≥ 1) microcoils (1) with output flexible wires into the lesion area (10) of the human body, and the output flexible wires of the microcoils (1) stay on the patient's body surface In addition, use medical adhesive tape to paste and fix on the patient's body surface. The patient and the microcoil (1) scan the lesion area (10) under the CT machine, and the 2-dimensional static picture of the lesion target area (10) with the microcoil (1) marking point (9) on the CT picture, the 2 The three-dimensional static picture is input to the computer (5), and through the processing of the computer (5) and graphic image software (7), the human body model, the organ model and the marked points with N microcoils (1) are displayed on the display (6). (9) Static 3D image of the lesion target area (10).

In the operation treatment room, the output line of the microcoil (1) outside the body surface of the patient is connected to the A/D conversion amplifier (2) through the connector, and under the effect of the magnetic field generator (4), the display (6) The patient's human body model, organ model, lesion target area (10) and N dynamic marking points (9) in the target area that follow human breathing, heart beating, and gastrointestinal peristalsis are displayed. Place another group of micro-coils (1) on the front end of the surgical instrument or interventional treatment tool, and the dynamic marking points (9) of the front end of the surgical instrument or interventional treatment tool in the patient's body will be displayed on the display (6), for Track target location.

Claims (2)

1, a kind of real-time tracing positioning apparatus, it is characterized in that: comprise successively several miniature coils (1), A/D switching amplifier (2), multiple signals processor (3), computer (5), the display (6) that connect, and magnetic field generator (4), puncture needle (8);

To have N miniature coils (1) the implant into body focal zone (10) of exporting flexible cord with puncture needle (8), N 〉=1 wherein, the output flexible cord of miniature coils (1) is stayed outside patient's the body surface; The patient does the scanning of focal zone (10) under the CT machine together with miniature coils (1), have the 2 dimension static images that miniature coils (1) indicates the focus target area (10) of point (9) on the CT picture, 2 dimension static images are inputed to computer (5), by the processing of computer (5) and graph image software (7), on display (6), demonstrate anthropometric dummy, organ model and have the static 3 d image in focus target area (10) that N miniature coils (1) indicates point (9);

The output flexible cord of the outer miniature coils (1) of the body surface of staying the patient is connected to A/D switching amplifier (2) by connector to be connected to multiple signals processor (3) by output lead again and to be connected to computer (5) by the output lead connector again, under the effect of magnetic field generator (4), show in patient's anthropometric dummy, organ model, focus target area (10) and the target area N dynamic sign point (9) on the display (6) with the beating of human body respiration, heart, enterogastric peristalsis;

Other one group of miniature coils (1) is placed the front end of operating theater instruments or interventional therapy instrument, can show the dynamic sign point (9) at front end position in patient's body of operating theater instruments or interventional therapy instrument on the display (6), in order to tracking position of object.

2, a kind of real-time tracing positioning apparatus according to claim 1 is characterized in that:

Described miniature coils (1) diameter is less than 0.8mm, and the about 4mm of length produces faradic current after the match a dedicated magnetic, has the output flexible cord;

Described A/D switching amplifier (2) is to be transformed into digital signal output after the analogue signal of miniature coils input is amplified;

Described multiple signals processor (3) inputs to computer (5) by connector after can receiving and handling 8 road A/D switching amplifier (2) input signals again;

It is the field generator for magnetic of a multi-thread circle according to certain geometric distribution for a described magnetic field generator (4), is enclosed in the cuboid; It connects the 220V power supply, can produce one 3 dimension magnetic field;

Described computer (5) CPU＞=2GHz, internal memory＞=2GB, hard disk＞=80GB, video card: 3D quickens, video memory 128MB;

Described display (6) is greater than 17 cun liquid crystal displays, 1600 * 1200 * 80Hz;

Described graph image software (7) is according to patient's 2 dimension image CT sheets, and the input computer shows 3 of anthropometric dummy, organ model and focus target area at display and ties up forms;

Described puncture needle (8) is to be used for operation tool that miniature coils is implanted;

Described sign point (9) is the miniature coils in the implant into body, is demonstrating the labelling that can discern on the CT picture or on the display;

Described focus target area (10) is the intravital tumor of patient or other pathological tissues.

Images