CN106063726A - Puncture navigation system and air navigation aid thereof in real time - Google Patents

Abstract

The invention discloses a real-time puncture navigation system, which includes: a puncture needle; a host computer displaying a puncture navigation space based on a multimodal image fused with preoperative magnetic resonance images and intraoperative ultrasound images; Probe and ultrasonic imaging equipment, the ultrasonic probe sends the collected ultrasonic data to the ultrasonic imaging equipment for processing, then outputs the intraoperative ultrasonic image for display and sends it to the host computer; the spatial registration device, which has a magnetic locator and a calibration phantom, magnetic positioning The instrument receiver is fixed on the ultrasonic probe through the probe fixture; the corresponding position between the magnetic localizer receiver and the intraoperative ultrasonic image plane is calibrated by the phantom; the magnetic localizer receiver collects the spatial position of the ultrasonic probe to obtain the intraoperative ultrasonic image plane Spatial location; augmented reality glasses connected to host computer and puncture needle. The present invention does not need a specific ultrasonic probe and imaging equipment, is not limited to a specific puncture site, and has high convenience and accuracy of puncture navigation.

Description

Real-time puncture navigation system and its navigation method

technical field

The invention relates to the field of medical instruments, and more specifically, the invention relates to a real-time puncture navigation system and a navigation method thereof.

Background technique

With the development of medical technology, minimally invasive diagnosis and treatment have been more and more widely used in clinical practice, such as biopsy of prostate cancer and ablation of liver lesions. However, due to the deep location and small size of the lesion, usually the puncture through the body surface cannot accurately locate the position, depth and direction of the puncture, which will cause problems such as misdiagnosis and missed diagnosis. At present, ultrasound imaging is the most widely used intraoperative real-time imaging method for puncture guidance. It has the advantages of simple operation and good real-time performance, but its disadvantages are low resolution, high image noise, low tissue and organ differentiation, and a single imaging method. Magnetic resonance imaging has high resolution and can provide a variety of imaging methods, with a high degree of differentiation of organs and tissues. However, magnetic resonance imaging takes a long time and requires high magnetic field compatibility, so it is not suitable for intraoperative navigation and real-time imaging. At present, a few foreign manufacturers have provided puncture solutions based on multimodal image fusion of ultrasound imaging and magnetic resonance imaging, but they are basically integrated in hardware devices and expensive; When navigating during puncture surgery, the surgical effect is highly dependent on the doctor's experience and imaging cognitive ability, and it cannot provide more intuitive puncture navigation, so it is difficult to promote related technologies.

Contents of the invention

Aiming at the deficiencies in the above-mentioned technologies, the present invention provides a real-time puncture navigation system, which fuses multimodal image data based on ultrasound imaging and magnetic resonance imaging and displays them in the same coordinate system for puncture needle navigation without specific ultrasound Probes and imaging devices are not limited to specific puncture sites, improving the convenience and accuracy of puncture navigation.

In order to realize these purposes and other advantages according to the present invention, the present invention realizes through the following technical solutions:

The real-time puncture navigation system of the present invention includes:

Puncture needle, for puncture;

The upper computer, which displays the puncture navigation space based on the fusion of preoperative magnetic resonance images and intraoperative ultrasound images;

An ultrasonic detection device, which includes an ultrasonic probe and an ultrasonic imaging device, the ultrasonic probe sends the collected ultrasonic data to the ultrasonic imaging device for processing and then outputs an intraoperative ultrasonic image for display, and the ultrasonic imaging device sends the intraoperative ultrasonic The image is sent to the host computer for display; and,

A space registration device, which has a magnetic locator and a calibration phantom, the calibration phantom calibrates the corresponding position of the magnetic locator receiver and the intraoperative ultrasound image plane; the magnetic locator receiver collects the The spatial position of the ultrasonic probe further obtains the spatial position of the intraoperative ultrasonic image plane.

Preferably, it also includes: augmented reality glasses respectively connected to the host computer and the puncture needle, the augmented reality glasses will be based on the puncture navigation space formed by intraoperative ultrasound images and preoperative magnetic resonance images under the three-dimensional model It is displayed after being fused and registered with the puncture real space of the puncture needle.

Preferably, the ultrasonic detection device further includes an ultrasonic data acquisition card, and the ultrasonic imaging device sends the intraoperative ultrasonic image to the host computer for display through the ultrasonic data acquisition card.

Preferably, the magnetic locator receiver is fixed on the ultrasonic probe through a probe fixture.

A real-time puncture navigation method, comprising the following steps:

Perform a preoperative magnetic resonance scan on the patient, output the preoperative magnetic resonance image to the host computer, and the host computer divides the preoperative magnetic resonance image into the puncture target area of the target tissue and organ;

After the ultrasonic probe sends the collected ultrasonic data to the ultrasonic imaging device for processing, the intraoperative ultrasonic image is output to the host computer, and the spatial position of the ultrasonic probe is compared with the plane of the intraoperative ultrasonic image displayed on the upper computer. The spatial position is registered;

After the puncture target area of the preoperative magnetic resonance image is registered with the spatial position of the intraoperative ultrasound image, real-time puncture navigation of the puncture needle is performed.

Preferably, registering the spatial position of the ultrasonic probe with the spatial position of the intraoperative ultrasonic image plane displayed on the host computer specifically includes the following steps:

The magnetic locator receiver is fixed on the ultrasonic probe through a probe fixture;

The calibration phantom calibrates the corresponding position of the magnetic localizer receiver and the intraoperative ultrasound image plane;

The magnetic locator receiver collects the spatial position of the ultrasonic probe to obtain the spatial position of the intraoperative ultrasonic image plane.

Preferably, the puncture target area of the preoperative magnetic resonance image is registered with the spatial position of the intraoperative ultrasound image, specifically including the following steps:

In the spatial coordinates of the three-dimensional model, record the spatial coordinate transformation of the calibration phantom to calibrate the corresponding position of the magnetic locator receiver and the intraoperative ultrasound image plane;

Selecting at least three pairs of anatomical landmarks in the puncture target area of the preoperative magnetic resonance image and the intraoperative ultrasound image respectively;

The host computer performs conversion according to the spatial coordinate transformation and the at least three pairs of anatomical landmark points to obtain the spatial coordinate transformation of the puncture target area of the preoperative magnetic resonance image and the intraoperative ultrasonic image storage.

Preferably, it also includes the fusion display of virtual puncture and real puncture, which includes the following steps:

Wearing augmented reality glasses connected to the host computer and the puncture needle respectively, the puncture navigation space based on the intraoperative ultrasound image and the preoperative magnetic resonance image under the three-dimensional model is fused and registered with the puncture reality space of the puncture needle Displayed through the augmented reality glasses.

The present invention at least includes the following beneficial effects:

1) The real-time puncture navigation system provided by the present invention, through the spatial registration device, registers the spatial position of the ultrasonic probe with the spatial position of the intraoperative ultrasonic image plane displayed on the host computer, and aligns the puncture target position of the preoperative magnetic resonance image The spatial position registration of the region and the intraoperative ultrasound image realizes the fusion of multimodal image data based on ultrasound imaging and magnetic resonance imaging and displays them in the same coordinate system for puncture needle navigation, without specific ultrasound probes and imaging equipment, and is not limited It is suitable for specific puncture sites, has a wide range of applications, reduces procurement costs, and improves the convenience and accuracy of puncture navigation;

2) The augmented reality glasses will display the puncture navigation space formed based on the intraoperative ultrasound image and the preoperative magnetic resonance image under the 3D model and the puncture real space of the puncture needle, and then display it, that is, to match the virtual puncture space with the real puncture space. Accurate display, intuitive display, reduces the dependence of the effect of puncture surgery on the surgeon's experience and ability, and can generally and effectively improve the accuracy of puncture;

3) Through the conversion of the host computer according to the spatial coordinate transformation and at least three pairs of anatomical landmark points, the puncture target area of the preoperative magnetic resonance image and the spatial coordinate transformation and storage of the intraoperative ultrasound image are obtained, which improves the preoperative magnetic resonance imaging. The registration accuracy of the puncture target area of the image and the spatial position of the intraoperative ultrasound image.

Other advantages, objectives and features of the present invention will partly be embodied through the following descriptions, and partly will be understood by those skilled in the art through the study and practice of the present invention.

Description of drawings

Fig. 1 is a schematic diagram of a real-time puncture navigation system according to the present invention;

Fig. 2 is a flow chart of the navigation method of real-time puncture according to the present invention;

Fig. 3 is a flow chart of registering the spatial position of the ultrasonic probe and the spatial position of the intraoperative ultrasonic image plane according to the present invention;

Fig. 4 is a flow chart of the spatial position registration of the puncture target area of the preoperative magnetic resonance image and the intraoperative ultrasound image according to the present invention.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

It should be understood that terms such as "having", "comprising" and "including" as used herein do not entail the presence or addition of one or more other elements or combinations thereof.

Example 1

The present invention provides a real-time puncture navigation system, as shown in Figure 1, comprising:

Puncture needle 10, used for puncture;

The host computer 20, which displays the puncture navigation space based on the fusion of preoperative magnetic resonance images and intraoperative ultrasound images;

Ultrasonic detection device 30, it comprises ultrasonic probe 31 and ultrasonic imaging device 32, and ultrasonic probe 31 sends the ultrasonic data collected to ultrasonic imaging device 32 to process and output intraoperative ultrasonic image for display, and ultrasonic imaging device 32 sends intraoperative ultrasonic image To the upper computer 20 display; and,

The spatial registration device 40 has a magnetic locator 41 and a calibration phantom 42, the calibration phantom 42 calibrates the corresponding position of the magnetic locator receiver 411 and the intraoperative ultrasound image plane; the magnetic locator receiver 411 collects the ultrasonic probe 31 The spatial position further obtains the spatial position of the intraoperative ultrasound image plane.

In the above-mentioned embodiment, the spatial position of the ultrasonic probe 31 is registered with the spatial position of the intraoperative ultrasonic image plane displayed on the host computer 20 through the spatial registration device 40, and the puncture target area of the preoperative magnetic resonance image is aligned with the spatial position of the intraoperative ultrasonic image plane displayed on the host computer 20. The spatial position registration of intraoperative ultrasonic images realizes the spatial position registration of the puncture target area of the preoperative magnetic resonance image and the ultrasonic probe 31, that is, realizes the fusion of multimodal image data based on ultrasonic imaging and magnetic resonance imaging. Displayed in the coordinate system, it provides navigation for the real-time puncture of the puncture needle 10, does not require specific ultrasound probes and imaging equipment, and reduces the cost of purchasing medical structures such as specific ultrasound probes and imaging equipment; it is not limited to specific puncture sites, and is not subject to puncture Influenced by factors such as the size of the site, puncture position, puncture depth, and puncture direction, it has a wide range of applications, high puncture accuracy, and convenient puncture.

In the above embodiment, the ultrasonic detection device 30 further includes an ultrasonic data acquisition card 33 , and the ultrasonic imaging device 32 sends intraoperative ultrasonic images to the host computer 20 for display through the ultrasonic data acquisition card 33 .

In the above embodiments, the magnetic locator receiver 411 of the magnetic locator 41 is fixed on the ultrasonic probe 31 through a probe fixture.

In order to display the puncture navigation space formed based on the intraoperative ultrasound image and the preoperative magnetic resonance image under the three-dimensional model and the puncture real space of the puncture needle 10 after fusion and registration, that is, to register and display the virtual puncture space and the real puncture space, As a preferred embodiment of the present invention, the real-time puncture navigation system also includes augmented reality glasses 50 respectively connected to the host computer 20 and the puncture needle 10, and the augmented reality glasses 50 will be based on intraoperative ultrasound images and preoperative magnetic resonance images The formed puncture navigation space is fused and registered with the puncture real space of the puncture needle 10 , and the display is more intuitive, which reduces the dependence of the puncture operation effect on the surgeon's experience and ability, and can generally and effectively improve the accuracy of puncture.

Example 2

The present invention provides a method for real-time puncture navigation using the real-time puncture navigation system of the present invention, as shown in Figure 2, comprising the following steps:

S10, performing a preoperative magnetic resonance scan on the patient, outputting the preoperative magnetic resonance image to the host computer 20, and the host computer 20 segments the preoperative magnetic resonance image into a puncture target area of the target tissue and organ;

S20, after the ultrasound probe 31 sends the collected ultrasound data to the ultrasound imaging device 32 for processing, the intraoperative ultrasound image is output to the host computer 20, and the spatial position of the ultrasound probe 31 is compared with the spatial position of the intraoperative ultrasound image plane displayed on the host computer 20 for registration;

S30 , after registering the puncture target area of the preoperative magnetic resonance image with the spatial position of the intraoperative ultrasound image, real-time puncture navigation of the puncture needle 10 is performed.

In the above method steps, by registering the spatial position of the ultrasonic probe 31 with the spatial position of the intraoperative ultrasonic image plane, and segmenting the preoperative magnetic resonance image, the puncture target area of the target tissue and organ is aligned with the spatial position of the intraoperative ultrasonic image. Accurate, so as to realize the registration of the puncture target area of the preoperative magnetic resonance image and the ultrasonic probe 31 spatial position, provide navigation for the real-time puncture of the puncture needle 10, without the need for specific ultrasonic probes and imaging equipment, and reduce the purchase of specific ultrasonic probes and imaging The cost of medical structures such as equipment; it is not limited to a specific puncture site, and is not affected by factors such as the size of the puncture site, puncture position, puncture depth, and puncture direction. It has a wide range of applications, high puncture accuracy, and convenient puncture.

Wherein, as shown in FIG. 3, step S20 specifically includes the following steps:

S21, the magnetic locator receiver 411 is fixed on the ultrasonic probe 31 through the probe fixture;

S22, calibrate the phantom 42 to calibrate the corresponding position of the magnetic locator receiver 411 and the intraoperative ultrasound image plane;

S23, the magnetic locator receiver 411 acquires the spatial position of the ultrasonic probe 31 to obtain the spatial position of the intraoperative ultrasonic image plane.

In the above method steps, the magnetic locator receiver 411 is fixed on the ultrasonic probe 31 through the probe fixture, and the calibration phantom 42 calibrates the corresponding position of the magnetic locator receiver 411 and the ultrasound image plane in the operation, thereby realizing the space of the ultrasonic probe 31. The position corresponds to the spatial position of the intraoperative ultrasound image screen.

In order to improve the accuracy of spatial position registration between the puncture target area of the preoperative magnetic resonance image and the intraoperative ultrasound image, further, as shown in FIG. 4 , step S30 specifically includes the following steps:

S31, in the spatial coordinates of the three-dimensional model, record the spatial coordinate transformation of the calibration phantom 42 calibration magnetic locator receiver 411 and the corresponding position of the intraoperative ultrasound image plane;

S32, selecting at least three pairs of anatomical landmarks in the puncture target area of the preoperative magnetic resonance image and the intraoperative ultrasound image respectively;

S33, the host computer 20 performs conversion according to the spatial coordinate transformation and at least three pairs of anatomical landmarks, and obtains and stores the spatial coordinate transformation between the puncture target area of the preoperative magnetic resonance image and the intraoperative ultrasound image.

In the steps of the above method, at least three pairs of anatomical landmark point pairs are selected from the puncture target area of the preoperative magnetic resonance image and the intraoperative ultrasound image, and the upper computer 20 converts the at least three pairs of anatomical landmark point pairs and spatial coordinates to convert the operation Spatial coordinate transformation between the puncture target area of the preoperative magnetic resonance image and the intraoperative ultrasound image, and then realize the spatial position registration of the puncture target area of the preoperative magnetic resonance image and the intraoperative ultrasound image; and at least three pairs of anatomical landmarks The selection of point pairs is beneficial to improve the accuracy of spatial position registration between the puncture target area of the preoperative magnetic resonance image and the intraoperative ultrasound image.

In order to display the puncture navigation space formed based on the intraoperative ultrasound image and the preoperative magnetic resonance image under the three-dimensional model and the puncture real space of the puncture needle 10 after fusion and registration, as shown in FIG. 2 , the real-time puncture navigation method also includes steps : S40, fusion display of virtual puncture and real puncture, specifically referring to wearing augmented reality glasses 50 respectively connected to host computer 20 and puncture needle 10, based on intraoperative ultrasound images and preoperative magnetic resonance images under a three-dimensional model The puncture navigation space is fused and registered with the puncture real space of the puncture needle 10 and displayed through the augmented reality glasses 50 .

In the above method steps, when the doctor wears the augmented reality glasses 50 to perform the puncture operation, the real-time fusion of the puncture target area of the preoperative magnetic resonance image and the intraoperative ultrasound image can be seen through the patient's skin surface, the position of the virtual puncture needle, The depth and direction are consistent with the position, depth and direction of the real puncture needle. When the real puncture enters the skin, the virtual puncture needle will fuse the puncture target area of the preoperative magnetic resonance image with the intraoperative ultrasound image. The navigation screen continues to be displayed intuitively, which reduces the dependence of the effect of puncture surgery on the experience and ability of the surgeon. According to the position, depth and direction of the virtual puncture needle 10, as well as the puncture navigation space of the intraoperative ultrasound image and the preoperative magnetic resonance image under the three-dimensional model, the doctor can complete the realistic puncture needle fusion and registration. 10 The operation of puncturing the puncture target area.

Although embodiments of the present invention have been disclosed above, it is not limited to the applications set forth in the specification and examples. It can be fully applied to various fields suitable for the present invention. Additional modifications can be readily effected by those skilled in the art. Therefore, the invention should not be limited to the specific details and examples shown and described herein, without departing from the general concept defined by the claims and their equivalents.

Claims (8)

1. a real-time puncture navigation system, it is characterised in that including:

Puncture needle, is used for puncturing；

Host computer, it shows the puncture navigation space blended based on preoperative magnetic resonance image (MRI) and intraoperative ultrasound image；

Ultrasonic sensor, it includes that the ultrasound data of collection is sent out by ultrasonic probe and supersonic imaging apparatus, described ultrasonic probe Giving output intraoperative ultrasound image after described supersonic imaging apparatus processes to show, described supersonic imaging apparatus is by described art Ultrasonoscopy sends extremely described host computer and shows；And,

Spatial registration device, it has magnetic orientator and nominal volume mould, the described nominal volume mould described magnetic orientator receptor of demarcation Correspondence position with the described intraoperative ultrasound plane of delineation；Described magnetic orientator receptor gathers the locus of described ultrasonic probe And then obtain the locus of the described intraoperative ultrasound plane of delineation.

2. puncture navigation system in real time as claimed in claim 1, it is characterised in that also include: be connected respectively to described upper The augmented reality glasses of machine and described puncture needle, described augmented reality glasses are by based under intraoperative ultrasound image and threedimensional model The puncture navigation space that preoperative magnetic resonance image (MRI) is formed shows after the puncture realistic space fusion registration of described puncture needle.

3. puncture navigation system in real time as claimed in claim 1, it is characterised in that described ultrasonic sensor also includes ultrasonic Data collecting card, described intraoperative ultrasound image is sent to described by described supersonic imaging apparatus by described ultrasound data acquisition card Host computer shows.

4. puncture navigation system in real time as claimed in claim 1, it is characterised in that described magnetic orientator receptor is by probe Fixture is fixed on described ultrasonic probe.

5. using the method that the navigation system of puncture in real time as described in claim 1-4 punctures navigation in real time, it is special Levy and be, comprise the following steps:

Patient being carried out preoperative magnetic resonance imaging, exports preoperative magnetic resonance image (MRI) extremely described host computer, described host computer is to described Preoperative Magnetic Resonance Image Segmentation goes out the puncture target target site area of destination organization organ；

After the ultrasound data of collection is sent to the process of described supersonic imaging apparatus by described ultrasonic probe, export intraoperative ultrasound image To described host computer, by described ultrasonic probe locus and the space of the described intraoperative ultrasound plane of delineation of display on host computer Position registrates；

After the locus of the puncture target target site area of described preoperative magnetic resonance image (MRI) with described intraoperative ultrasound image is registrated, Navigation is punctured in real time for described puncture needle.

6. the as claimed in claim 5 air navigation aid punctured in real time, it is characterised in that by described ultrasonic probe locus with On host computer, the locus of the described intraoperative ultrasound plane of delineation of display registrates, and specifically includes following steps:

Described magnetic orientator receptor is fixed on described ultrasonic probe by probe gripper；

Described nominal volume mould demarcates the correspondence position of described magnetic orientator receptor and the described intraoperative ultrasound plane of delineation；

Described magnetic orientator receptor gathers the locus of described ultrasonic probe and then obtains the described intraoperative ultrasound plane of delineation Locus.

7. the air navigation aid punctured in real time as claimed in claim 6, it is characterised in that the puncture of described preoperative magnetic resonance image (MRI) The locus registration of target target site area and described intraoperative ultrasound image, specifically includes following steps:

In the space coordinates of threedimensional model, record described nominal volume mould and demarcate in described magnetic orientator receptor and described art super The space coordinate transformation of acoustic image plane correspondence position；

At least three are chosen respectively in the puncture target target site area of described preoperative magnetic resonance image (MRI) and described intraoperative ultrasound image To anatomic landmark point pair；

Described host computer to converting, draws described according to described space coordinate transformation and described at least three pairs of anatomic landmarks point The puncture target target site area of preoperative magnetic resonance image (MRI) and the space coordinate transformation of described intraoperative ultrasound image also store.

8. the air navigation aid punctured in real time as claimed in claim 5, it is characterised in that also include that virtual puncture and reality puncture Fusion show, it comprises the following steps:

Wear the augmented reality glasses being connected respectively to described host computer and described puncture needle, based on intraoperative ultrasound image and three-dimensional The puncture navigation space of the preoperative magnetic resonance image (MRI) under model is passed through after the puncture realistic space fusion registration of described puncture needle Described augmented reality glasses show.