CN103971574B - Ultrasonic guidance tumor puncture training simulation system - Google Patents

Abstract

The invention discloses an ultrasound-guided tumor puncture training simulation system, which includes an elastic prosthesis; a simulated ultrasonic probe; a simulated puncture needle; The information is sent to the image guidance module; the preoperative CT image module; and the image guidance module, including a processing module, a registration module, a real-time CT slice image module, a simulated ultrasound image module, a display module and a fusion module, wherein, in the registration Afterwards, the simulated puncture needle is inserted into the prosthesis to perform a simulated puncture operation. Because the present invention adopts the simulated ultrasonic probe and the simulated puncture needle, the cost of the simulated system is greatly reduced, and the requirement of complex skill training can be met in a low-cost manner.

Description

Ultrasound-guided tumor puncture training simulation system

technical field

The invention relates to the field of medical technology, in particular to an ultrasound-guided tumor puncture training simulation system.

Background technique

Ultrasound (US)-guided tumor puncture technology has been widely used in the field of tumor therapy. The puncture operation requires the skilled skills of the doctor, especially the high requirement for hand-eye coordination. Therefore, it is necessary to develop various training methods to strengthen the hand-eye coordination ability of doctors. Currently, there are several simulation systems used to perform preoperative planning and intraoperative simulation. However, these systems all require the use of ultrasound machines, and the simulation is performed in the operating room. On the one hand, the ultrasound machine is very expensive. On the other hand, the simulation in the operating room will be affected by many non-technical factors, making the simulation effect unsatisfactory. . Moreover, the current simulation system can only be used to train needle placement skills, and cannot meet the requirements of more complex skill training, such as selecting the optimal puncture path, needle insertion angle, and needle insertion depth. Therefore, there is an urgent need for a low-cost simulation system that can satisfy complex skill training outside the operating room.

Contents of the invention

The technical problem to be solved by the embodiments of the present invention is to provide an ultrasound-guided tumor puncture training simulation system so as to meet the needs of complex skill training in a low-cost manner.

In order to solve the above technical problems, the present invention provides an ultrasound-guided tumor puncture training simulation system, including: an elastic prosthesis, which simulates the structure of the patient; a simulated ultrasonic probe, which can move on the prosthesis to simulate scanning in real time; simulate puncture Needle, which can be inserted into the prosthesis to perform simulated puncture surgery; electromagnetic tracking equipment, which obtains the position and direction information of the simulated ultrasonic probe and simulated puncture needle, and transmits the information to the image guidance module; preoperative CT image module, which reads and displaying preoperative CT images of patients; and an image guidance module. The image guidance module includes: a processing module, which will reconstruct a 3D image model from the preoperative CT image; a registration module, which will register the preoperative CT image and the elastic prosthesis; a real-time CT section image module, which will be used after the registration , as the simulated ultrasonic probe moves on the prosthesis, the preoperative CT image generates real-time CT slice images according to the position and direction of the simulated ultrasonic probe; the simulated ultrasonic image module generates corresponding simulated ultrasonic images from the real-time CT slice images A display module, which displays real-time CT slice images, simulated ultrasound images and 3D image models, and a fusion module, which fuses and displays the real-time puncture path of the simulated puncture needle on the real-time CT slice images, simulated ultrasound according to the position and direction of the simulated puncture needle On the image and 3D image model, the puncture path shows the insertion point, insertion angle, insertion depth and ablation field of the simulated puncture needle. After said registration, a simulated puncture needle is inserted into the prosthesis to perform a simulated puncture procedure.

Preferably, the electromagnetic tracking device includes an electromagnetic field generator, a sensor, a sensor interface unit and a control unit, the control unit controls the electromagnetic field generator and the sensor, and the sensor acquires position and orientation information of the simulated ultrasonic probe and the simulated puncture needle.

As a further preference, the sensor is a 6-DOF sensor.

Preferably, the simulated ultrasonic probe selects at least three marker points in the prosthesis, uses the image guidance module to select at least three corresponding marker points in the patient's preoperative CT image, and the registration module uses an algorithm to align these marker points Unified in the same coordinate system to enable registration of the preoperative CT image and the elastic prosthesis.

As a further preference, the algorithm includes an iterative closest point algorithm.

Preferably, the image guidance module further includes a preoperative planning module, which saves the pre-puncture path of the simulated puncture needle inserted into the elastic prosthesis planned on the preoperative CT image and/or 3D image model.

Preferably, the image guidance module further includes an intraoperative observation module, which simultaneously displays the pre-puncture path and the real-time puncture path of the simulated puncture needle on real-time CT slice images, simulated ultrasound images and 3D image models.

Preferably, the image guidance module further includes a postoperative evaluation module, which analyzes whether the tumor is completely ablated based on the tumor data and the ablation field data.

Preferably, the simulated ultrasonic probe and simulated puncture needle are composed of a handle of a somatosensory game machine.

Because the present invention adopts the simulated ultrasonic probe and the simulated puncture needle, the cost of the simulated system is greatly reduced, and the requirement of complex skill training can be met in a low-cost manner.

Description of drawings

FIG. 1 is a schematic structural diagram of an ultrasound-guided tumor puncture training simulation system according to an embodiment of the present invention.

Figure 2 is a schematic diagram of the preoperative CT image and the 3D image model reconstructed from the preoperative CT image. The upper left image is the preoperative CT image, and the other images are various 3D image models. The upper right image schematically shows the tumor, liver, The surface rendering of important vascular structures, the lower left figure schematically shows the surface rendering of tumors and important vascular structures, and the lower right figure schematically shows the surface rendering of bones, tumors, and important vascular structures.

Figure 3 is a schematic diagram of preoperative planning using a 3D image model, illustrating the insertion of two puncture needles to completely ablate a tumor.

Figure 4 is a schematic diagram of the real-time puncture path fusion of the simulated puncture needle displayed on the real-time CT slice image, simulated ultrasound image and 3D image model. The real-time puncture path fusion of the simulated puncture needle is displayed on the real-time CT slice image, and the lower right picture shows the real-time puncture path fusion of the simulated puncture needle displayed on the simulated ultrasound image.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

FIG. 1 is a schematic structural diagram of an ultrasound-guided tumor puncture training simulation system according to an embodiment of the present invention. As shown in Figure 1, the ultrasound-guided tumor puncture training simulation system of the present invention includes: an elastic prosthesis 1, which simulates the structure of the patient; a simulated ultrasonic probe 2, which can move on the prosthesis 1 to simulate scanning in real time; a simulated puncture needle 3. It can be inserted into the prosthesis 1 to perform a simulated puncture operation; the electromagnetic tracking device obtains the position and direction information of the simulated ultrasonic probe 2 and the simulated puncture needle 3, and transmits the information to the image guidance module; the preoperative CT image module, It reads and displays preoperative CT images of patients; and an image guidance module.

Image guidance modules include:

The processing module will reconstruct a 3D image model from the preoperative CT image, as shown in Figure 2, which schematically shows various 3D image models reconstructed from the preoperative CT image, and the upper right figure schematically shows the tumor The surface rendering of , liver, and important vascular structures, the lower left figure schematically shows the surface rendering of tumors and important vascular structures, and the lower right figure schematically shows the surface rendering of bones, tumors, and important vascular structures;

A registration module, which registers the preoperative CT image and the elastic prosthesis 1; a real-time CT section image module, which moves on the prosthesis 1 with the simulated ultrasonic probe 2 after the registration, and is controlled by the preoperative CT The image generates a real-time CT section image according to the position and direction of the simulated ultrasonic probe 2;

A simulated ultrasonic image module, which generates a corresponding simulated ultrasonic image from a real-time CT section image;

A display module, which displays real-time CT slice images, simulated ultrasound images and 3D image models; and

The fusion module, which fuses and displays the real-time puncture path of the simulated puncture needle 3 on the real-time CT slice image, simulated ultrasound image and 3D image model according to the position and direction of the simulated puncture needle 3, the puncture path shows the insertion point of the simulated puncture 3, Insertion angle, insertion depth, and ablation field. Figure 4 is a schematic diagram of the real-time puncture path fusion of the simulated puncture needle displayed on the real-time CT slice image, simulated ultrasound image and 3D image model. The real-time puncture path fusion of the simulated puncture needle is displayed on the real-time CT slice image, and the lower right picture shows the real-time puncture path fusion of the simulated puncture needle displayed on the simulated ultrasound image;

After the registration, the simulated puncture needle 3 is inserted into the prosthesis 1 to perform a simulated puncture operation.

Because the present invention adopts the simulated ultrasonic probe 2 and the simulated puncture needle 3, the cost of the simulated system is greatly reduced, and the need for complex skill training can be met in a low-cost manner. Specifically, the present invention does not need to use a real ultrasonic device like the prior art, but uses a simulated ultrasonic probe 2 and a simulated puncture needle 3 . The function of the simulated ultrasonic probe 2 is only to simulate the moving mode of the ultrasonic probe, and no other functions are required. The function of the simulated puncture needle 3 is only to simulate the insertion mode of the puncture needle, and no other functions are required. The electromagnetic tracking device only needs to obtain the position and direction information of the simulated ultrasound probe 2 and the simulated puncture needle 3 , without other information. During the whole process, there is no need to obtain real ultrasound images, but only corresponding simulated ultrasound images need to be generated from real-time CT slice images, which greatly reduces the cost of the system.

The electromagnetic tracking device may include an electromagnetic field generator, a sensor, a sensor interface unit and a control unit, the control unit controls the electromagnetic field generator and the sensor, and the sensor acquires position and orientation information of the simulated ultrasound probe 2 and the simulated puncture needle 3 . The sensor can be various sensors, such as a 6-degree-of-freedom sensor.

The image guidance module allows doctors to perform various operations on the 3D image model, such as hiding, visualization, selection, measurement, movement, etc., so as to observe the complex relationship between anatomical structures more intuitively. For example, through the image guidance module, the volume of the tumor, the maximum diameter, the minimum distance between the tumor and the surrounding blood vessels, etc. can be calculated and observed.

Image registration must be performed prior to puncture surgery. The configuration module can realize this function. For example, the simulated ultrasonic probe 2 selects at least three marker points in the prosthesis 1, uses the image guidance module to select at least three corresponding marker points in the patient's preoperative CT image, and the registration module uses an algorithm to unify these marker points The preoperative CT image and the elastic prosthesis 1 are registered in the same coordinate system. After registration, as the simulated ultrasonic probe 2 moves on the prosthesis 1, real-time CT slice images are displayed according to the position and direction of the simulated ultrasonic probe 2 . The algorithm may include various suitable algorithms, preferably an iterative nearest point algorithm.

The image guidance module may also include a preoperative planning module, which saves the pre-puncture path of the simulated puncture needle 3 inserted into the elastic prosthesis 1 planned on the preoperative CT image and/or 3D image model. As shown in FIG. 3 , which shows a schematic diagram of preoperative planning using a 3D image model, illustrating the insertion of two puncture needles to completely ablate a tumor.

The image guidance module may also include an intraoperative observation module, which simultaneously displays the pre-puncture path and the real-time puncture path of the simulated puncture needle 3 on the real-time CT slice image, the simulated ultrasound image and the 3D image model. In this way, intraoperative observation can be performed conveniently. When the real-time puncture path is different from the pre-puncture path, the doctor can change the real-time puncture path of the simulated puncture needle 3 in time through operation.

The image guidance module may also include a postoperative evaluation module, which analyzes whether the tumor is completely ablated based on the tumor data and the ablation field data.

The simulated ultrasonic probe 2 and the simulated puncture needle 3 can be composed of various suitable devices that can realize the purpose of the present invention. The inventors have found that the simulated ultrasonic probe 2 and simulated puncture needle 3 formed by the handle of the somatosensory game machine can greatly reduce the cost of the simulated system.

Certainly, what is described above is a preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, some improvements and modifications can also be made without departing from the principles of the present invention. These improvements and modifications It is also regarded as the protection scope of the present invention.

Claims (6)

1. An ultrasound-guided tumor puncture training simulation system, characterized in that it comprises: an elastic prosthesis, which mimics the structure of the patient; A simulated ultrasound probe that can be moved over the prosthesis to simulate scanning in real time; A simulated puncture needle, which can be inserted into the prosthesis to perform a simulated puncture operation; An electromagnetic tracking device, which acquires position and direction information of the simulated ultrasonic probe and the simulated puncture needle, and transmits the information to the image guidance module; a preoperative CT image module, which reads and displays the patient's preoperative CT image; and Image-guided modules, including: The processing module will reconstruct a 3D image model from the preoperative CT image; a registration module, which registers the preoperative CT image and the elastic prosthesis; A real-time CT slice image module, after the registration, as the simulated ultrasound probe moves on the prosthesis, a real-time CT slice image is generated from the preoperative CT image according to the position and direction of the simulated ultrasound probe; A simulated ultrasonic image module, which generates a corresponding simulated ultrasonic image from a real-time CT section image; A display module, which displays real-time CT slice images, simulated ultrasound images and 3D image models, and Fusion module, which fuses and displays the real-time puncture path of the simulated puncture needle on the real-time CT slice image, simulated ultrasound image and 3D image model according to the position and direction of the simulated puncture needle, and the puncture path shows the insertion point and insertion angle of the simulated puncture needle , insertion depth and ablation field, Wherein, after the registration, a simulated puncture needle is inserted into the prosthesis to perform a simulated puncture operation, the simulated ultrasonic probe selects at least three marker points in the prosthesis, and the image guidance module is used to select the corresponding marker points in the patient's preoperative CT image At least three marker points, the registration module uses an algorithm to unify these marker points in the same coordinate system so that the preoperative CT image and the elastic prosthesis are registered; The image guidance module also includes a preoperative planning module, which saves the pre-puncture path of the simulated puncture needle inserted into the elastic prosthesis planned on the preoperative CT image and/or 3D image model; The image guidance module also includes an intraoperative observation module, which simultaneously displays the pre-puncture path and real-time puncture path of the simulated puncture needle on the real-time CT section image, simulated ultrasound image and 3D image model. 2. The ultrasound-guided tumor puncture training simulation system according to claim 1, wherein the electromagnetic tracking device includes an electromagnetic field generator, a sensor, a sensor interface unit and a control unit, the control unit controls the electromagnetic field generator and the sensor, and the sensor Obtain the position and orientation information of the simulated ultrasound probe and the simulated puncture needle. 3. The ultrasound-guided tumor puncture training simulation system according to claim 2, wherein the sensor is a 6-DOF sensor. 4. The ultrasound-guided tumor puncture training simulation system according to claim 1, wherein the algorithm comprises an iterative approach algorithm. 5 . The ultrasound-guided tumor puncture training simulation system according to claim 1 , wherein the image guidance module further includes a postoperative evaluation module, which analyzes whether the tumor is completely ablated based on the tumor data and the ablation field data. 6. The ultrasound-guided tumor puncture training simulation system according to claim 1, wherein the simulated ultrasound probe and the simulated puncture needle are composed of a handle of a somatosensory game machine.