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CN120605046A - Ultrasound positioning system for brain tumor surgery - Google Patents

Ultrasound positioning system for brain tumor surgery

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Publication number
CN120605046A
CN120605046A CN202510989601.8A CN202510989601A CN120605046A CN 120605046 A CN120605046 A CN 120605046A CN 202510989601 A CN202510989601 A CN 202510989601A CN 120605046 A CN120605046 A CN 120605046A
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CN
China
Prior art keywords
coagulation forceps
positioning
coordinates
image
bipolar
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
Application number
CN202510989601.8A
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Chinese (zh)
Inventor
吕中华
吕鹏举
栾宽
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Harbin Medical University Daqing Branch
Original Assignee
Harbin Medical University Daqing Branch
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Filing date
Publication date
Application filed by Harbin Medical University Daqing Branch filed Critical Harbin Medical University Daqing Branch
Priority to CN202510989601.8A priority Critical patent/CN120605046A/en
Publication of CN120605046A publication Critical patent/CN120605046A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0833—Clinical applications involving detecting or locating foreign bodies or organic structures
    • A61B8/085—Clinical applications involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00321—Head or parts thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A61B2018/1462—Tweezers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound

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Abstract

An ultrasonic positioning system for brain tumor operation belongs to the technical field of medical appliances and solves the problems that the existing two-dimensional ultrasonic scanner has poor intuitiveness and cannot clearly display the space position of a bipolar electric coagulation forceps tip. The two-dimensional ultrasonic scanner acquires two-dimensional ultrasonic images in a brain operation process in real time, a handle of the two-dimensional ultrasonic scanner and a handle of the bipolar electric coagulation forceps are respectively and fixedly provided with a positioning rigid body, an infrared optical positioning instrument is used for spatially positioning the two-dimensional ultrasonic scanner and the bipolar electric coagulation forceps on the positioning rigid body, a bipolar electric coagulation forceps model is established by adopting a three-dimensional visualization technology based on the spatial position of an extension line of a bipolar electric coagulation forceps tip and the intersection point coordinates of the extension line of the bipolar electric coagulation forceps tip and a spatial region of the two-dimensional ultrasonic image, and a bipolar electric coagulation forceps tip and the spatial coordinates of the extension line of the bipolar electric coagulation forceps tip and the spatial region three-dimensional scene image of the two-dimensional ultrasonic image are established according to the spatial region coordinates of the two-dimensional ultrasonic image, and the three-dimensional scene image is displayed. The invention is suitable for ultrasonic positioning in operation.

Description

Ultrasonic positioning system for brain tumor operation
Technical Field
The invention belongs to the technical field of medical appliances.
Background
Brain tumor is a nervous system disease, seriously endangering human life and health. The most direct and effective method for treating brain tumors is neurosurgery, but the operation has high requirements on doctors, so that the doctors are required to accurately cut off focuses, and extra wounds on patients caused by the operation are reduced as much as possible. Traditional neurosurgery often depends on the operation experience of doctors, is difficult to accurately position and cut off focuses, and further easily causes deviation of operation routes, and brings additional injury to patients. The positioning technology of the intracranial focus is the basis of the operation of the neurosurgeon, and is related to the difficulty and the duration of the operation, the treatment effect after the operation, complications and the like. Inaccurate lesion localization can damage the brain function area and other intracranial vital tissues of the patient or cause incomplete resection of the tumor. Thus, accurate localization of intracranial lesions is an important issue in neurosurgery.
Various focus localization methods are based on neuroimaging. The common method is that a three-dimensional reconstruction image of an intracranial focus is formed by using a CT/MRI tomographic image before operation, and an extracranial positioning mark system is assisted to spatially position the focus. The main problem is that after craniotomy, the position of the brain in the skull is often drifted due to the loss of cerebrospinal fluid, and the result is that the three-dimensional coordinates of the tumor determined by the preoperative image are inaccurate, so that the positioning is failed, and the operation cannot be guided accurately.
The key technology of accurate excision of brain tumor is to accurately locate the spatial position of brain tumor. Currently, intraoperative ultrasound is often applied in brain tumor surgery. The ultrasonic has the advantages of small occupied space, capability of providing real-time imaging, capability of imaging brain tumor through ultrasonic, safety, no radiation and the like, and is widely used for intraoperative imaging. In particular, in brain tumor surgery, brain tumors can be imaged in real time using intraoperative ultrasound under brain drift conditions, and their location in the ultrasound image is determined.
Currently, clinically intraoperative ultrasound typically uses a two-dimensional ultrasound scanner. The following problems are mainly present:
1. the ultrasound image shows a cut surface of the brain tumor, and a doctor usually needs to reconstruct the shape of the brain tumor in the brain of the doctor, so that the geometric characteristics of the brain tumor are not intuitive.
2. The bipolar electric coagulation forceps for brain tumor resection can not accurately resect towards the tumor direction because the position and the direction of the front end of the bipolar electric coagulation forceps in the space can not be positioned, and can easily cause additional damage to normal brain tissues.
3. The bipolar electric coagulation forceps are not easy to distinguish on the ultrasonic image, so that doctors are difficult to judge the spatial position relation between the tumor section scanned by the ultrasonic image and the bipolar electric coagulation forceps, and the ultrasonic image guiding effect is reduced.
Disclosure of Invention
The invention aims to solve the problems that the existing two-dimensional ultrasonic scanner has poor intuitiveness and cannot clearly display the space position of a bipolar electric coagulation forceps tip, and provides an ultrasonic positioning system for brain tumor operation.
The invention relates to an ultrasonic positioning system for brain tumor surgery, which comprises a two-dimensional ultrasonic scanner, an infrared optical positioning instrument, a plurality of positioning rigid bodies, bipolar electric coagulation forceps, a processor and a display;
A positioning rigid body 1 and a positioning rigid body 2 are respectively and inherently arranged on a handle of the two-dimensional ultrasonic scanner and a handle of the bipolar coagulation forceps;
the two-dimensional ultrasonic scanner is used for acquiring two-dimensional ultrasonic images in the brain operation process in real time, wherein the two-dimensional ultrasonic images comprise brain tumor two-dimensional images;
the infrared optical positioning instrument is used for spatially positioning the positioning rigid body 1 and the positioning rigid body 2 and transmitting the spatially positioning information to the processor;
The processor acquires the spatial positions of the bipolar coagulation forceps tip and the handle according to the spatial position of the positioning rigid body 2, and also acquires the spatial transformation matrix of the ultrasonic image according to the position of the positioning rigid body 1 Acquiring space region coordinates of a two-dimensional ultrasonic image;
The processor acquires the space position of the extension line of the tip of the bipolar electric coagulation forceps according to the space positions of the tip of the bipolar electric coagulation forceps and the handle and the structure thereof, and calculates the intersection point coordinate of the extension line of the tip of the bipolar electric coagulation forceps and the space region of the two-dimensional ultrasonic image by utilizing the space region coordinate of the two-dimensional ultrasonic image and the space position of the extension line of the tip of the bipolar electric coagulation forceps;
The processor also adopts a three-dimensional visualization technology to establish a bipolar electric coagulation forceps model, establishes a bipolar electric coagulation forceps and a space region three-dimensional scene image of the two-dimensional ultrasonic image according to the space region coordinates of the two-dimensional ultrasonic image and the space coordinates of the bipolar electric coagulation forceps tip and the extension line thereof, and sends the three-dimensional scene image to a display in real time;
The display is used for displaying the three-dimensional scene image.
Further, in the present invention, the method for acquiring the coordinates of the spatial region of the two-dimensional ultrasound image comprises:
Scanning an object in space by using a two-dimensional ultrasonic scanner provided with a positioning rigid body 1, obtaining space coordinates and image coordinates of a plurality of points on the object, respectively and correspondingly bringing the space coordinates and the image coordinates of more than three points on the object into a formula I, establishing an equation system, and obtaining a space transformation matrix between the positioning rigid body 1 and an ultrasonic image ;
Equation one
Wherein, the Representing the image coordinates of points on the ultrasound image,Representing the spatial transformation matrix of the infrared optical positioner and the positioning rigid body 1; representing the spatial coordinates of the points;
and positioning the positioning rigid body 1 fixed on the handle of the two-dimensional ultrasonic scanner through an infrared optical positioning instrument, and acquiring the space region coordinates of the two-dimensional ultrasonic image by utilizing the positioning rigid body 1 to position and combine with the formula I.
Further, in the invention, the method for acquiring the tip position of the bipolar coagulation forceps and the space position of the handle thereof comprises the following steps:
Positioning a positioning rigid body 2 fixed on a handle of the bipolar electric coagulation forceps through an infrared optical positioning instrument, and acquiring the spatial position of the bipolar electric coagulation forceps tip relative to the steel body 2 by using a formula II;
Formula II
Wherein, the Representing the transformation matrix between the infrared optical positioner and the positioning rigid body 2,The spatial position of the positioning rigid body 2 is indicated,Representing the spatial position of the bipolar coagulation forceps tip relative to the steel body 2;
The straight line of the handle of the bipolar coagulation forceps is obtained through a formula III, and the straight line equation of the coordinates (x, y, z) of any point on the long axis of the bipolar coagulation forceps is as follows:
formula III
Further, in the invention, the method for acquiring the space position coordinates of the extension line of the bipolar electric coagulation forceps tip by utilizing the position of the bipolar electric coagulation forceps tip and the space position of the handle thereof comprises the following steps:
Equation four
Wherein ,vx=x2-x1,vy=y2-y1,vz=z2-z1,（x1,y1,z1） and (x 2,y2,z2) respectively represent coordinates of two points on a long axis straight line of the bipolar coagulation forceps, and t represents the slope of an extension line of the bipolar coagulation forceps.
Further, in the invention, the method for acquiring the intersection point when the extended line of the electric coagulation forceps is intersected with the space region of the two-dimensional ultrasonic image comprises the following steps:
Calculating space coordinate points of an upper left corner vertex, a lower left corner vertex, an upper right corner vertex and a lower right corner vertex of the ultrasonic image by using a formula I, wherein a connecting line of the upper left corner vertex and the lower right corner vertex is used as a bottom line, a connecting line of the upper right corner vertex and the lower right corner vertex is used as a right line, a vector of the bottom line is (v bx, vby, vbz), a vector of the right line is (v ex, vey, vez), and the bottom line and the right line of the ultrasonic image in space form a normal vector (v px, vpy, vpz) of an image plane:
Formula five
Then, the point French equation for the ultrasound image plane in space is:
Formula six
Wherein, (n x, ny, nz) represents the spatial coordinates of the vertex of the upper left corner of the ultrasound image, then equation four and equation six are combined:
Equation seven
And after solving t, carrying t into a formula IV to calculate the space coordinate of the intersection point when the extended line of the coagulation forceps intersects with the space region of the two-dimensional ultrasonic image.
Further, in the invention, the processor converts the coordinate of the intersection point of the extended line of the tip of the bipolar coagulation forceps and the space region of the two-dimensional ultrasonic image into the coordinate of the two-dimensional ultrasonic image, and the intersection point is in the marked two-dimensional ultrasonic image.
Further, in the invention, the formula for converting the coordinate of the intersection point of the extended line of the tip of the bipolar coagulation forceps and the space region of the two-dimensional ultrasonic image into the coordinate of the two-dimensional ultrasonic image is as follows:
Equation eight
Wherein, the And the coordinates of the intersection point of the extension line of the bipolar coagulation forceps and the space region of the two-dimensional ultrasonic image on the two-dimensional ultrasonic image are represented.
Compared with the preoperative three-dimensional image guided brain tumor operation method used today, the positioning method can acquire the relative spatial position of the focus in real time in operation, and avoid the defect of inaccurate preoperative three-dimensional image guiding caused by brain drift in operation. Compared with the method for guiding the operation by using X-ray or nuclear magnetic resonance images in the operation, the method is based on safe non-radiative and low-cost ultrasonic image guiding, and avoids the defects of ionization radiation of X-ray in the operation and high nuclear magnetic resonance imaging cost.
Compared with a two-dimensional ultrasonic image guided surgery method in operation, the method can intuitively display the spatial position relation between the ultrasonic image and the bipolar electric coagulation forceps based on the spatial positioning technology, and avoid the problems that the relation between the ultrasonic image and the bipolar electric coagulation forceps in brain tissue is not clear, the long-axis section of the bipolar electric coagulation forceps in brain tissue is not clear and the ultrasonic image plane and the long-axis coplanarity operation of the bipolar electric coagulation forceps are complicated when displayed under the ultrasonic image.
Drawings
FIG. 1 is a schematic view of the spatial localization of an image plane of an ultrasonic localization system for brain tumor surgery;
FIG. 2 is a cross point calibration model;
FIG. 3 is a positioning tool of an infrared positioner;
FIG. 4 is an ultrasound image of an intersection;
FIG. 5 is a physical view of a bipolar coagulation forceps with a positioning rigid body mounted;
fig. 6 is a three-dimensional scene image.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The first embodiment is specifically described with reference to fig. 1 to 6, and the ultrasonic positioning system for brain tumor surgery according to the present embodiment includes a two-dimensional ultrasonic scanner 1, an infrared optical positioning instrument 2, a plurality of positioning rigid bodies, bipolar coagulation forceps 3, a processor and a display;
The handle of the two-dimensional ultrasonic scanner 1 and the handle of the bipolar coagulation forceps 3 are respectively provided with a positioning rigid body 1 and a positioning rigid body 2;
the two-dimensional ultrasonic scanner 1 is used for acquiring two-dimensional ultrasonic images in the brain operation process in real time, wherein the two-dimensional ultrasonic images comprise brain tumor two-dimensional images;
the infrared optical positioning instrument 2 is used for spatially positioning the positioning rigid body 1 and the positioning rigid body 2, and transmitting the spatially positioning information to the processor;
The processor acquires the spatial positions of the tips of the bipolar coagulation forceps 3 and the handles according to the spatial positions of the positioning rigid body 2, and also acquires the spatial transformation matrix of the ultrasonic images according to the positions of the positioning rigid body 1 Acquiring space region coordinates of a two-dimensional ultrasonic image;
The processor acquires the space position of the extension line of the tip end of the bipolar electric coagulation forceps 3 according to the space positions of the tip end of the bipolar electric coagulation forceps 3 and the handle and the structure thereof, and calculates the intersection point coordinate of the extension line of the tip end of the bipolar electric coagulation forceps 3 and the space region of the two-dimensional ultrasonic image by utilizing the space region coordinate of the two-dimensional ultrasonic image and the space position of the extension line of the tip end of the bipolar electric coagulation forceps 3;
The processor also adopts a three-dimensional visualization technology to establish a bipolar electric coagulation forceps model, establishes a bipolar electric coagulation forceps and a space region three-dimensional scene image of the two-dimensional ultrasonic image according to the space region coordinates of the two-dimensional ultrasonic image and the space coordinates of the bipolar electric coagulation forceps tip and the extension line thereof, and sends the three-dimensional scene image to a display in real time;
The display is used for displaying the three-dimensional scene image.
Further, in the present embodiment, the method for acquiring the coordinates of the spatial region of the two-dimensional ultrasound image includes:
Scanning an object in space by using a two-dimensional ultrasonic scanner 1 provided with a positioning rigid body 1, obtaining space coordinates and image coordinates of a plurality of points on the object, respectively and correspondingly bringing the space coordinates and the image coordinates of more than three points on the object into a formula I, establishing an equation set, and obtaining a space transformation matrix between the positioning rigid body 1 and an ultrasonic image ;
Equation one
Wherein, the Representing the image coordinates of points on the ultrasound image,A space transformation matrix representing the infrared optical positioner 2 and the positioning rigid body 1; representing the spatial coordinates of the points;
The infrared optical positioning instrument 2 is used for positioning the positioning rigid body 1 fixed on the handle of the two-dimensional ultrasonic scanner 1, and the spatial region coordinates of the two-dimensional ultrasonic image are obtained by utilizing the positioning rigid body 1 to position and combine with the formula I.
Further, in the present embodiment, the method for obtaining the tip position of the bipolar coagulation forceps 3 and the spatial position of the handle thereof is as follows:
Positioning a positioning rigid body 2 fixed on a handle of the bipolar electric coagulation forceps 3 through an infrared optical positioning instrument 2, and acquiring the spatial position of the tip of the bipolar electric coagulation forceps 3 relative to the steel body 2 by using a formula II;
Formula II
Wherein, the Representing the transformation matrix between the infrared optical positioner and the positioning rigid body 2,The spatial position of the positioning rigid body 2 is indicated,The space position of the tip of the bipolar coagulation forceps 3 relative to the steel body 2 is shown;
The straight line of the handle of the bipolar coagulation forceps 3 is obtained through a formula III, and the straight line equation of the coordinates (x, y, z) of any point on the long axis of the bipolar coagulation forceps 3 is as follows:
formula III
Further, in this embodiment, the method for obtaining the spatial position coordinates of the extension line of the tip of the bipolar coagulation forceps 3 by using the position of the tip of the bipolar coagulation forceps 3 and the spatial position of the handle thereof is as follows:
Equation four
Wherein ,vx=x2-x1,vy=y2-y1,vz=z2-z1,（x1,y1,z1） and (x 2,y2,z2) respectively represent coordinates of two points on a long axis straight line of the bipolar coagulation forceps 3, and t represents the slope of an extension line of the bipolar coagulation forceps.
Further, in the present embodiment, the method for acquiring the intersection point when the extended line of the electric coagulation forceps intersects with the two-dimensional ultrasonic image space region is as follows:
Calculating space coordinate points of an upper left corner vertex, a lower left corner vertex, an upper right corner vertex and a lower right corner vertex of the ultrasonic image by using a formula I, wherein a connecting line of the upper left corner vertex and the lower right corner vertex is used as a bottom line, a connecting line of the upper right corner vertex and the lower right corner vertex is used as a right line, a vector of the bottom line is (v bx, vby, vbz), a vector of the right line is (v ex, vey, vez), and the bottom line and the right line of the ultrasonic image in space form a normal vector (v px, vpy, vpz) of an image plane:
Formula five
Then, the point French equation for the ultrasound image plane in space is:
Formula six
Wherein, (n x, ny, nz) represents the spatial coordinates of the vertex of the upper left corner of the ultrasound image, then equation four and equation six are combined:
Equation seven
And after solving t, carrying t into a formula IV to calculate the space coordinate of the intersection point when the extended line of the coagulation forceps intersects with the space region of the two-dimensional ultrasonic image.
Further, in the present embodiment, the processor converts the coordinates of the intersection point of the tip extension line of the bipolar coagulation forceps 3 and the spatial region of the two-dimensional ultrasound image into the coordinates of the two-dimensional ultrasound image, and marks the intersection point in the two-dimensional ultrasound image.
Further, in this embodiment, the formula for converting the coordinate of the intersection point of the extended line of the tip of the bipolar coagulation forceps and the spatial region of the two-dimensional ultrasound image into the coordinate of the two-dimensional ultrasound image is as follows:
Equation eight
Wherein, the And the coordinates of the intersection point of the extension line of the bipolar coagulation forceps and the space region of the two-dimensional ultrasonic image on the two-dimensional ultrasonic image are represented.
In the invention, the specific process in the specific implementation process is as follows:
1. the ultrasonic image space positioning method includes introducing infrared optical positioner to determine the space position of ultrasonic image, and the infrared optical positioner includes one positioning sensor and several positioning rigid bodies. The positioning sensor defines a spatial coordinate system. The ultrasound image defines an image coordinate system. To locate a point on an ultrasound image The invention installs the positioning rigid body 1 on the two-dimensional ultrasonic probe, because the infrared optical positioning instrument can give out the space coordinates of the positioning rigid body 1, namely the transformation matrix between the infrared optical positioning instrument and the positioning rigid body 1It is known that if the spatial transformation matrix between the rigid body 1 and the ultrasound image is locatedThe spatial position of the ultrasound image region can be estimated using the following method。
2. Ultrasonic probe calibration, namely, the ultrasonic probe calibration is to obtain a space transformation matrix between the positioning rigid body 1 and an ultrasonic image. The specific calibration method comprises the steps of using an ultrasonic probe provided with a positioning rigid body 1 to scan an object in a space, obtaining space coordinates and image coordinates of a plurality of points on the object, and finally calculating according to a formula (1). Since the equation set needs to be established, the number of points on the object is 3 or more.
The spatial coordinates of points on the object are obtained using a positioning tool provided by an infrared optical positioner. The tip coordinates of the positioning tool can be directly given by an infrared optical positioning instrument. Thus, the spatial coordinates of a point on the object can be obtained using the pointing device tip to touch the point.
The image coordinates of the points on the object are obtained by scanning the points by using an ultrasonic probe provided with a positioning rigid body 1, and the object is identified manually or automatically on the ultrasonic image. Since the ultrasound image itself constitutes the image coordinate system, the image coordinates of the object can be calculated.
After the calibration of the ultrasonic probe is completed, a space transformation matrix between the positioning rigid body 1 and the ultrasonic image can be obtained。
Since the display position of the point on the object on the ultrasound image is not limited, that is, any point on the ultrasound image satisfies the formula (1), the spatial position of any point on the ultrasound image, that is, the spatial position of the ultrasound image can be calculated by using the formula (1).
3. Space positioning of the bipolar electric coagulation forceps 3 in order to determine the space position of the bipolar electric coagulation forceps 3, a positioning rigid body 2 is arranged on the bipolar electric coagulation forceps 3. Since the infrared optical positioner can give the space coordinates of the positioning rigid body 2, namely the transformation matrix between the infrared optical positioner and the positioning rigid body 2Is known. For any point on the bipolar coagulation forceps 3, if the coordinates of the point in the local coordinate system of the positioning rigid body 2 are knownThe spatial position of the tip of the bipolar coagulation forceps 3 can be calculated by using the formula (2). The position of the tip of the bipolar electric coagulation forceps 3 relative to the steel body 2 is:
Typically bipolar coagulation forceps 3 comprise a tip and a long axis when closed. Therefore, in addition to locating the spatial position of the tip of the bipolar coagulation forceps 3, it is also necessary to know the direction of the long axis of the bipolar coagulation forceps 3. The long axis direction can be determined by the point of the center of the bipolar coagulation forceps 3 and some other point on the long axis, namely, two points in space determine a straight line. Let the coordinates of the point at the tip of the bipolar coagulation forceps 3 be (x 1, y1, z 1), and the coordinates of some other point on the long axis be (x 2, y2, z 2). Then the linear equation for any point (x, y, z) on the long axis of the bipolar forceps 3 is:
4. and the intersection point of the long-axis extension line of the bipolar electric coagulation forceps 3 and the ultrasonic image is that if the long-axis extension line of the bipolar electric coagulation forceps 3 is not parallel to the ultrasonic image plane, the intersection point is generated. The calculation steps of the intersection point are as follows:
(1) Writing a long axis linear equation in the space positioning of the bipolar electric coagulation forceps 3 into a parameter equation form, namely, crossing points of the forceps tip extension line and the ultrasonic image:
wherein ,vx=x2-x1,vy=y2-y1 ,vz=z2-z1,（x1,y1,z1） and (x 2, y2, z2) are two points on the long axis line of the bipolar coagulation forceps 3.
(2) After the vertex of the upper left corner of the ultrasonic image is transformed by the formula I, the spatial coordinate point is set as (n x, ny, nz). Three vertexes of the left lower corner, the right upper corner and the right lower corner of the ultrasonic image are transformed by a formula I to form three coordinate points in space, the vertexes of the left lower corner and the right lower corner form a bottom line, and the vertexes of the right upper corner and the right lower corner form a right edge line. Let the bottom line vector be (v bx, vby, vbz) and the right line vector be (v ex, vey, vez). Then the bottom line and the right line of the ultrasound image in space constitute the normal vector of the image plane, let the normal vector be (v px, vpy, vpz). Then there are:
then, the point French equation for the ultrasound image plane in space is:
Then the formulas are jointly available:
and after solving t, substituting the t into a formula corresponding to the intersection point of the forceps tip extension line and the ultrasonic image to calculate the space coordinate of the intersection point.
5. The calibration of the bipolar electric coagulation forceps 3 is that after the bipolar electric coagulation forceps 3 are provided with the positioning rigid body 2, the coordinate of a certain point on the bipolar electric coagulation forceps 3 under the local coordinate system of the positioning rigid body 2 is calculated through the calibration process. After calibration is completed, the point on the bipolar coagulation forceps 3 can calculate the coordinate of the point in the space coordinate system by using a formula II. The infrared optical positioning instrument not only provides the coordinates of the tip of the positioning tool under the space coordinate system, but also provides the coordinates of the tip of the positioning tool under the local coordinate system defined by a certain positioning rigid body, so that the coordinate system of the output coordinate value of the infrared optical positioning instrument is changed into the local coordinate system defined by the positioning rigid body 2 through the setting function of the infrared optical positioning instrument. At this time, the tip of a positioning tool (see fig. 3) using an infrared optical positioner touches the tip of the bipolar coagulation forceps 3, and the coordinate value of the tip of the positioning tool is recorded. Then, the coordinate value is the coordinate of the tip of the bipolar coagulation forceps 3 under the local coordinate system of the positioning rigid body 2, namely, the coordinate is in the formula II. Finally, changing the coordinate system of the output coordinate value of the infrared optical positioner into a space coordinate system, and positioning the transformation matrix between the rigid body 2 and the infrared optical positionerThe space coordinate of the tip of the bipolar coagulation forceps 3 can be calculated by using the formula II. The spatial coordinates of another point on the long axis of the bipolar forceps 3 are also obtained using the same method.
The space coordinates of the tip of the bipolar electric coagulation forceps 3 and the space coordinates of the other point on the long axis are obtained by the method of the long axis extension line of the bipolar electric coagulation forceps 3 and the ultrasonic image plane in real time.
Because the space position and the direction of the two-dimensional ultrasonic image and the bipolar electric coagulation forceps 3 can be obtained by the method in the space coordinate system, and the intersection point of the long axis extension line of the bipolar electric coagulation forceps 3 and the ultrasonic image plane can be calculated, the space position relationship of the ultrasonic image and the bipolar electric coagulation forceps 3 can be visualized, so that an operator can know the actual space position relationship of the ultrasonic image and the bipolar electric coagulation forceps 3, and the operator can use the bipolar electric coagulation forceps 3 at any angle in space and guide the ultrasonic image to finish operation. Specifically, a three-dimensional visual environment is established in a computer, the visual environment is based on a space coordinate system defined by an infrared optical positioning instrument, and an ultrasonic image and the bipolar coagulation forceps 3 are displayed in the visual environment according to the space position and the direction of the ultrasonic image and the bipolar coagulation forceps under the space coordinate system. Because the ultrasonic probe and the bipolar electric coagulation forceps 3 are respectively provided with the positioning rigid bodies, the infrared optical positioning instrument can provide real-time coordinates of each positioning rigid body, and therefore, the space positions and directions of the ultrasonic probe and the bipolar electric coagulation forceps 3 are calculated in real time. The ultrasonic image is acquired into a computer and displayed as a two-dimensional image according to the actual size, and the spatial position and the direction of the two-dimensional image are calculated to be the corresponding position in the visual environment by using a formula I. The three-dimensional size of the bipolar coagulation forceps 3 is measured, a three-dimensional model is built according to the actual size, and the corresponding position in the visual environment is calculated according to a formula II. Calculating the space coordinate of the intersection point of the extension line of the long axis of the bipolar electric coagulation forceps 3 and the ultrasonic image plane by using the method in the intersection point of the long axis extension line of the bipolar electric coagulation forceps 3 and the ultrasonic image planeCalculating the position point of the intersection point on the ultrasonic image by using a formula eight。
Wherein, the AndRespectively in the formula (1)AndIs a matrix of inverse of (a). On an ultrasound two-dimensional image, a dot is drawnA colored pattern in the center to indicate the spatial position that the bipolar coagulation forceps 3 finally reaches, moving in the long axis direction.
The invention uses the common ultrasound of the hospital to spatially locate the ultrasound image and the bipolar electric coagulation forceps 3 in the brain tumor operation, and displays the spatial position relationship between the two in real time, thereby guiding doctors to finish the operation. The specific implementation is as follows:
Configuring an environment;
The hardware requirement comprises a common computer, an image acquisition card, an ultrasonic scanner and an infrared optical positioning instrument;
software requirements are Windows, VTK or other visualization packages, VS2008 or other development tools.
Preparing data;
And acquiring an ultrasonic image output by the ultrasonic scanner in real time by using an image acquisition card, and transmitting the ultrasonic image into a computer. A three-dimensional model of the positioning sensor, the ultrasonic probe and the bipolar coagulation forceps 3 is established using VTK or other three-dimensional modeling software.
Calibrating an ultrasonic probe;
A positioning rigid body (positioning rigid body 1) using an infrared optical positioning instrument is mounted on an ultrasonic probe in a position which does not interfere with the use of the probe.
A calibration model with 6 intersections is created using a 3D printer or other means, as in fig. 2. The 6 intersections are required to be coplanar. The spatial coordinates of the 6 intersections were obtained using a positioning tool provided by an infrared optical positioner, as in fig. 3. The image coordinates of the 6 intersections are obtained by scanning the 6 points using an ultrasonic probe mounted with the positioning rigid body 1, and the 6 points can be clearly displayed on an ultrasonic image by manual adjustment, as shown in fig. 4. An ultrasound image is acquired and the object is identified manually or automatically on the ultrasound image. The image coordinates of each point are calculated on the image coordinate system. Finally, calculate through formula (1)。
Calibrating the bipolar coagulation forceps 3;
Here, for example, the bipolar coagulation forceps 3 are used, and the positioning rigid body 2 is mounted on the bipolar plate, as shown in fig. 5. The coordinate system for setting the output coordinate value of the infrared optical positioner is changed into a local coordinate system defined by the positioning rigid body 2. At this time, the coordinate value of the tip of the positioning tool is recorded by touching the tip of the folded bipolar plate with the tip of the positioning tool. The coordinate value is the coordinate of the tip of the bipolar coagulation forceps 3 under the local coordinate system of the positioning rigid body 2. Then, changing the coordinate system of the output coordinate value of the infrared optical positioner into a space coordinate system, and positioning the transformation matrix between the rigid body 2 and the infrared optical positioner The space coordinate of the tip of the bipolar coagulation forceps 3 can be calculated by using the formula II. Alternatively, the spatial coordinates of another point on the long axis of the dipole are obtained using the same method.
Three-dimensional navigation;
The program written by the invention reads in a bipolar model file (forceps. Vtk) and uses a certain color to render, and displays in a three-dimensional space, as shown in fig. 6.
The ultrasonic image acquired by the acquisition card is displayed in real time in a three-dimensional space by using a VTK function. The intersection point of the extension line of the long axis of the dipole and the two-dimensional ultrasonic image plane is calculated by the method of the invention, and the intersection point is displayed on the ultrasonic image by a square taking the intersection point as the center.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.

Claims (7)

1. The ultrasonic positioning system for brain tumor surgery is characterized by comprising a two-dimensional ultrasonic scanner (1), an infrared optical positioning instrument (2), a plurality of positioning rigid bodies, bipolar electric coagulation forceps (3), a processor and a display;
The handle of the two-dimensional ultrasonic scanner (1) and the handle of the bipolar coagulation forceps (3) are respectively and inherently provided with a positioning rigid body 1 and a positioning rigid body 2;
the two-dimensional ultrasonic scanner (1) is used for acquiring two-dimensional ultrasonic images in the brain operation process in real time, wherein the two-dimensional ultrasonic images comprise brain tumor two-dimensional images;
the infrared optical positioning instrument (2) is used for spatially positioning the positioning rigid body 1 and the positioning rigid body 2, and transmitting the spatially positioning information to the processor;
The processor acquires the spatial positions of the tips and the handles of the bipolar coagulation forceps (3) according to the spatial positions of the positioning rigid body 2, and also acquires the spatial transformation matrix of the ultrasonic image according to the positions of the positioning rigid body 1 Acquiring space region coordinates of a two-dimensional ultrasonic image;
The processor acquires the space position of the tip extension line of the bipolar electric coagulation forceps (3) according to the space positions of the tips of the bipolar electric coagulation forceps (3) and the handles and the structure thereof, and calculates the intersection point coordinate of the tip extension line of the bipolar electric coagulation forceps (3) and the space region of the two-dimensional ultrasonic image by utilizing the space region coordinate of the two-dimensional ultrasonic image and the space position of the tip extension line of the bipolar electric coagulation forceps (3);
The processor also adopts a three-dimensional visualization technology to establish a bipolar electric coagulation forceps model, establishes a bipolar electric coagulation forceps and a space region three-dimensional scene image of the two-dimensional ultrasonic image according to the space region coordinates of the two-dimensional ultrasonic image and the space coordinates of the bipolar electric coagulation forceps tip and the extension line thereof, and sends the three-dimensional scene image to a display in real time;
The display is used for displaying the three-dimensional scene image.
2. The ultrasonic positioning system for brain tumor surgery according to claim 1, wherein the method for acquiring the coordinates of the spatial region of the two-dimensional ultrasonic image comprises the following steps:
Scanning an object in space by using a two-dimensional ultrasonic scanner (1) provided with a positioning rigid body 1, obtaining space coordinates and image coordinates of a plurality of points on the object, respectively and correspondingly bringing the space coordinates and the image coordinates of more than three points on the object into a formula I, establishing an equation set, and obtaining a space transformation matrix between the positioning rigid body 1 and an ultrasonic image ;
Equation one
Wherein, the Representing the image coordinates of points on the ultrasound image,A space transformation matrix representing the infrared optical positioner (2) and the positioning rigid body 1; representing the spatial coordinates of the points;
the positioning rigid body 1 fixed on the handle of the two-dimensional ultrasonic scanner (1) is positioned by the infrared optical positioning instrument (2), and the space region coordinates of the two-dimensional ultrasonic image are obtained by utilizing the positioning rigid body 1 to combine the formula I.
3. The ultrasonic positioning system for brain tumor surgery according to claim 1 or 2, wherein the method for acquiring the tip position of the bipolar coagulation forceps (3) and the spatial position of the handle thereof is as follows:
Positioning a positioning rigid body 2 fixed on a handle of the bipolar electric coagulation forceps (3) through an infrared optical positioning instrument (2), and acquiring the spatial position of the tip of the bipolar electric coagulation forceps (3) relative to the steel body 2 by using a formula II;
Formula II
Wherein, the Representing the transformation matrix between the infrared optical positioner and the positioning rigid body 2,The spatial position of the positioning rigid body 2 is indicated,Representing the spatial position of the tip of the bipolar coagulation forceps (3) relative to the steel body 2;
the straight line of the handle of the bipolar coagulation forceps (3) is obtained through a formula III, and the straight line equation of the coordinates (x, y, z) of any point on the long axis of the bipolar coagulation forceps (3) is as follows:
And (3) a formula III.
4. The ultrasonic positioning system for brain tumor surgery according to claim 3, wherein the method for acquiring the spatial position coordinates of the tip extension line of the bipolar electric coagulation forceps (3) by using the tip position of the bipolar electric coagulation forceps (3) and the spatial position of the handle thereof comprises the following steps:
Equation four
Wherein ,vx=x2-x1,vy=y2-y1,vz=z2-z1,（x1,y1,z1） and (x 2,y2,z2) respectively represent coordinates of two points on a long axis straight line of the bipolar coagulation forceps (3), and t represents the slope of an extension line of the bipolar coagulation forceps.
5. The ultrasonic positioning system for brain tumor surgery according to claim 4, wherein the method for acquiring the intersection point when the extended line of the electric coagulation forceps intersects with the two-dimensional ultrasonic image space region is as follows:
Calculating space coordinate points of an upper left corner vertex, a lower left corner vertex, an upper right corner vertex and a lower right corner vertex of the ultrasonic image by using a formula I, wherein a connecting line of the upper left corner vertex and the lower right corner vertex is used as a bottom line, a connecting line of the upper right corner vertex and the lower right corner vertex is used as a right line, a vector of the bottom line is (v bx, vby, vbz), a vector of the right line is (v ex, vey, vez), and the bottom line and the right line of the ultrasonic image in space form a normal vector (v px, vpy, vpz) of an image plane:
Formula five
Then, the point French equation for the ultrasound image plane in space is:
Formula six
Wherein, (n x, ny, nz) represents the spatial coordinates of the vertex of the upper left corner of the ultrasound image, then equation four and equation six are combined:
Equation seven
And after solving t, carrying t into a formula IV to calculate the space coordinate of the intersection point when the extended line of the coagulation forceps intersects with the space region of the two-dimensional ultrasonic image.
6. The ultrasonic positioning system for brain tumor surgery according to claim 1, wherein the processor converts coordinates of an intersection point of a tip extension line of the bipolar coagulation forceps (3) and a spatial region of the two-dimensional ultrasonic image into coordinates of the two-dimensional ultrasonic image, and places the intersection point in the marked two-dimensional ultrasonic image.
7. The ultrasonic positioning system for brain tumor surgery according to claim 5, wherein the formula for converting the coordinates of the intersection point of the extension line of the tip of the bipolar coagulation forceps and the spatial region of the two-dimensional ultrasonic image into the coordinates of the two-dimensional ultrasonic image is as follows:
Equation eight
Wherein, the And the coordinates of the intersection point of the extension line of the bipolar coagulation forceps and the space region of the two-dimensional ultrasonic image on the two-dimensional ultrasonic image are represented.
CN202510989601.8A 2025-07-17 2025-07-17 Ultrasound positioning system for brain tumor surgery Pending CN120605046A (en)

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