WO2025112078A1 - Method and system for navigation in intraspinal puncture based on mixed reality technology - Google Patents

Abstract

Provided are a method and system for navigation in intraspinal puncture based on mixed reality technology. The method comprises: step S1: receiving a click operation on a skin surface (10) in a three-dimensional image to give a collision point (a), wherein the three-dimensional image is formed by three-dimensional reconstruction based on mixed reality technology; step S2: generating a ray from the collision point (a) to a target point (b) in the spinal canal in the three-dimensional image, and detecting whether the ray collides with a bone (20) or a blood vessel before reaching the target point (b), and when it is detected that the ray does not collide with the bone (20) or the blood vessel before reaching the target point (b), determining that the collision point is an optimal needle insertion point; and S3: when the optimal needle insertion point is present, generating a visual navigation path from the optimal needle insertion point to the target point. The method and system provide a fast, real-time, accurate, and minimally invasive navigation scheme for intraspinal puncture.

Description

A navigation method and system for intraspinal puncture based on mixed reality technology Technical Field

The present invention relates to the field of digital medical technology, and in particular to navigation technology in spinal canal puncture.

Background Art

At present, most spinal punctures are performed blindly, relying on the doctor's understanding of the anatomical structure and experience to touch and locate. When encountering elderly patients with lumbar degenerative changes such as bone hyperplasia, puncture will be difficult or even fail. In recent years, studies have used traditional two-dimensional plane images (X-RAY, ultrasound, etc.) for puncture, which has been proven to improve the success rate of puncture. However, on the one hand, the operating doctor may face the risk of radiation contamination. At the same time, there are also problems such as non-intuitive touch positioning, large variability in mark positioning, and interrupted operation and repeated positioning.

Summary of the invention

In order to overcome the above technical defects, the first aspect of the present invention provides a navigation method for spinal puncture based on mixed reality technology, which comprises:

Step S1: receiving a click operation on the skin surface of a three-dimensional image to obtain a collision point, wherein the three-dimensional image is three-dimensionally reconstructed based on mixed reality technology;

Step S2: draw a ray from the collision point to the target point in the spinal canal inside the three-dimensional image, and detect whether the ray collides with bones or blood vessels before reaching the target point; when it is detected that the ray does not collide with bones or blood vessels before reaching the target point, the collision point is determined to be the best needle insertion point;

Step S3: When there is an optimal needle insertion point, a visual navigation path from the optimal needle insertion point to the target point is generated.

Furthermore, in step S2, when it is detected that the ray collides with bones or blood vessels before reaching the target point, the method further includes:

Step S4: determining that the collision point is invalid;

Step S5: finding the direction vector from the collision point to the target point as a reference vector;

Step S6: With the target point as the center, find 100 to 500 points near the reference vector whose angles with the reference vector are 0 to The vector of degree 1 is used as a candidate vector;

Step S7: Calculate the position point on the skin surface of the three-dimensional image corresponding to the candidate vector as a candidate needle insertion point;

Step S8: Make a ray from the candidate needle insertion point to the target point in the spinal canal inside the three-dimensional image, and detect whether the ray collides with bones or blood vessels before reaching the target point;

Step S9: when the best needle insertion point has not been found after 100 to 500 ray detections are completed, the angle between the candidate vector and the reference vector is further enlarged by 1 degree, and then steps S5 to S8 are repeated, and so on, and the maximum angle between the candidate vector and the reference vector does not exceed 5 degrees;

Step S10: When it is detected that the ray does not collide with bones or blood vessels before reaching the target point, the candidate needle insertion point corresponding to the ray is determined to be the optimal needle insertion point.

Further, in step S8, when it is detected that the ray does not collide with bones or blood vessels before reaching the target point, the collision point is determined to be the best needle insertion point.

Further, in step S9, when the angle between the candidate vector and the reference vector is 5 degrees and the best needle insertion point still cannot be found, it is determined that there is no best needle insertion point.

A second aspect of the present application provides a navigation system for intraspinal puncture based on mixed reality technology, which comprises:

A collision point acquisition module, the collision point acquisition module is used to receive a click operation on the skin surface of a three-dimensional image to obtain a collision point, the three-dimensional image is three-dimensionally reconstructed based on mixed reality technology;

A ray detection module, which is used to make a ray from the collision point to the target point in the spinal canal inside the three-dimensional image, and detect whether the ray collides with bones or blood vessels before reaching the target point; when it is detected that the ray does not collide with bones or blood vessels before reaching the target point, the collision point is determined to be the best needle insertion point;

A navigation path generation module is used to generate a visual navigation path from the optimal needle insertion point to the target point when there is an optimal needle insertion point.

Furthermore, when it is detected that the ray collides with bones or blood vessels before reaching the target point, the ray detection module is further used to:

(1) Determine that the collision point is invalid;

(2) finding the direction vector from the collision point to the target point as a reference vector;

(3) With the target point as the center, find 100 to 500 vectors near the reference vector whose angles with the reference vector are 0 to 1 degree as candidate vectors;

(4) calculating the position point corresponding to the candidate vector on the skin surface of the three-dimensional image as the candidate needle insertion point;

(5) Passing a ray from the candidate needle insertion point to the target point in the spinal canal located inside the three-dimensional image to detect whether the ray hits bones or blood vessels before reaching the target point;

(6) If the best needle insertion point has not been found after 100 to 500 ray detections, the candidate vector and the reference vector are compared. The angle between the candidate vector and the reference vector is further enlarged by 1 degree, and then steps (2) to (5) are repeated, and so on, and the maximum angle between the candidate vector and the reference vector does not exceed 5 degrees;

(7) When it is detected that the ray does not collide with bones or blood vessels before reaching the target point, the candidate needle insertion point corresponding to the ray is determined to be the optimal needle insertion point.

Furthermore, the ray detection module is also used for: when the angle between the candidate vector and the reference vector is 5 degrees, and the best needle insertion point still cannot be found, it is determined that there is no best needle insertion point.

The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the above-mentioned navigation method for intraspinal puncture based on mixed reality technology.

Compared with the prior art, the above technical solution has the following beneficial effects:

The technical solution of the present application uses mixed reality technology to virtually reconstruct the real lesion into a 1:1 restored and adapted stereoscopic image that can be directly viewed, and through a precise algorithm, it can identify the position of the hand in one second and calculate the navigation path of the puncture in seconds, thereby providing an extremely fast, real-time, accurate and minimally invasive surgical navigation solution for puncture surgery. The technical solution of the present application integrates the technical advantages of 1:1 three-dimensional lesion reconstruction, 1-second virtual-real adaptation (using the Unity engine, with underlying optimization, batch processing technology, multi-threading support, lightweight components, and about 30 algorithms can be executed in 1 second) and millimeter-level tracking navigation (100-500 rays will be emitted within each degree, taking 100 rays as an example, the arc length corresponding to 1 degree is about 0.017 mm), helping the operator to make preoperative plans, enabling doctors to see through, understand and accurately identify surgical targets, optimize personalized intraoperative real-time decision-making, improve surgical quality and efficiency, and reduce radiation damage to doctors. It is especially suitable for navigation of puncture surgeries in departments such as pain, anesthesia, interventional, neurosurgery, and orthopedics.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a flow chart of a navigation method for intraspinal puncture based on mixed reality technology in one embodiment of the present application;

FIG2 is a schematic diagram showing that the ray starting from the collision point does not collide with bones or blood vessels before reaching the target point. In this case, the collision point is the optimal needle insertion point;

FIG3 is a schematic diagram showing that a ray starting from a collision point collides with a bone or a blood vessel before reaching a target point. In this case, the collision point is invalid.

FIG. 4 is a schematic diagram showing the principle of searching for candidate needle insertion points when the collision point is detected to be invalid.

Reference numerals:

10-skin surface of three-dimensional image; 20-bone; a-collision point; b-target point; c-calculation area.

DETAILED DESCRIPTION

The advantages of the present invention are further described below in conjunction with the accompanying drawings and specific embodiments. Those skilled in the art should understand that the following specific description is illustrative rather than restrictive, and should not be used to limit the scope of protection of the present invention.

This embodiment provides a navigation method for spinal puncture based on mixed reality technology, as shown below:

Step 1: Obtain a CT image of the patient.

Step 2: Perform professional three-dimensional reconstruction and add targets within its specified area.

The method of obtaining three-dimensional images based on CT images is as follows:

1. Import the DICOM file into the MIMICS software. 2. Extract template: Select the threshold of the part to be extracted (the threshold is different for each part with different density, there is no fixed threshold, it depends on the density). According to the image situation, the selected part needs to be within the threshold range, such as the threshold of bone is generally (226,2976). The extracted part will be displayed on the image 3. Cropping: The extracted template usually comes with some unnecessary tissue structures. At this time, you need to use the cropping tool to crop the unnecessary parts. You can modify it directly on the image, or you can crop it on the previewed 3D model. 4. Solidification: The extracted template is just a superposition of layers. Only by solidifying the template can you get a solid model that can be exported. Select the template that needs to be solidified and click Calculate Part. In this option, set the effect after solidification, such as model quality, smoothness, and gap size. After setting the parameters, click OK to generate the required entity at Object. For example: Skin is a soft tissue, but when selecting, basically select all, export the whole, use the cropping tool, cut out the required part and then use the grid to generate, remove impurities, and then copy the required skin, remove the new skin required area, delete all the unnecessary areas, and the remaining is the skin part. 4. Target addition: Targets are added using 3D balls in the analysis bar tool of MIMICS. In the three-dimensional view, place balls at the required parts. The placed balls can be adjusted to the required position by moving. Right-click to view the ball properties, set the size and color of the ball, etc. 5. STL file export: Save the extracted model and the placed targets by exporting STL files. During the extraction process, the solid model and the added balls need to be extracted separately, and the name of each part should be marked during the extraction.

The above method can virtually reconstruct the real lesion into a 1:1 restored and adapted stereoscopic image that can be directly viewed through.

Step 3: Upload the STL file to the mixed reality glasses. Preferably, the mixed reality glasses of this embodiment use the Unity engine, which has bottom-level optimization, batch processing technology, multi-threading support, and lightweight components. The algorithm can be executed about 30 times in 1 second, thereby achieving a 1-second virtual-real adaptation effect.

Step 4: Open the intraspinal puncture navigation software installed in the mixed reality smart glasses. For example, the mixed reality smart glasses include a memory, a processor, and a computer program stored in the memory and executable on the processor (i.e., The intraspinal puncture navigation software corresponding to the intraspinal puncture navigation method based on mixed reality technology of the present application) is implemented when the computer program is executed by the processor. The intraspinal puncture navigation method based on mixed reality technology of the present application (i.e., the following steps 4.1 to 4.3) is shown in FIG1:

Step 4.1: Receive a click operation on the surface of the 3D image skin 10 to obtain a collision point a.

Specifically, the position of the hand in space is captured in one second by the camera on the mixed reality glasses, and a position point where the finger clicks on the skin in the stereoscopic image is captured, which is the collision point a.

Step 4.2: Draw a ray from the collision point a to the target point b in the spinal canal inside the three-dimensional image, and detect whether the ray collides with bones or blood vessels before reaching the target point b (the ray detection is sent from point a to point b to determine whether it intersects with the levels of other organs).

When it is detected that the ray does not collide with bones or blood vessels before reaching the target point b, the collision point a is determined to be the best needle insertion point. Figure 2 is a three-dimensional image reconstructed by mixed reality technology and can be directly viewed, where 10 is the skin surface of the three-dimensional image, 20 is the bone, a is the collision point, and b is the target (target b is pre-determined by the doctor in the surgical area on the tube cone). In this figure, the ray emitted from a does not collide with bones or blood vessels before reaching b, so a is determined to be the best needle insertion point.

When it is detected that the ray hits a bone or a blood vessel before reaching the target b, the following steps are further performed:

(1) The collision point a is determined to be invalid. As shown in FIG3 , the ray emitted from a collides with the bone before reaching b. Therefore, the current collision point a is determined to be invalid.

(2) Find the direction vector from the collision point a to the target point b (the direction from the needle insertion point a to the target point b, that is, the ab vector) as a reference vector;

(3) With the target point b as the center, 100 rays in the calculation area c near the reference vector whose angle with the reference vector is 1 degree are selected as candidate vectors, as shown in FIG4 ;

100 rays will be emitted within each 1 degree angle range, and the corresponding arc length of 1 degree is about 0.017 mm. Therefore, the technical solution of the present application can realize millimeter-level tracking and navigation.

(4) calculating the position point on the surface of the three-dimensional image skin 10 corresponding to the candidate vector as a candidate needle insertion point;

(5) A ray is drawn from the candidate needle insertion point to the target point b located in the spinal canal inside the three-dimensional image to detect whether the ray collides with bones or blood vessels before reaching the target point b; when it is detected that the ray does not collide with bones or blood vessels before reaching the target point b, the collision point a is determined to be the optimal needle insertion point;

(6) When the best insertion point has not been found after 100 ray detections, the angle between the candidate vector and the reference vector is further enlarged by 1 degree, and then the same method is repeated, and so on. The maximum angle between the candidate vector and the reference vector does not exceed 5 degrees. When the angle between the candidate vector and the reference vector is 5 degrees and the best insertion point is still not found, it is judged that there is no best insertion point. When it is detected that the ray does not collide with the bone before reaching the target point b, or blood vessels, the candidate needle insertion point corresponding to the ray is determined to be the optimal needle insertion point.

Step 4.3: When there is an optimal needle entry point, a visual navigation path from the optimal needle entry point to the target point b is generated.

The visual navigation path is generated by an algorithm, which controls the length of zooming in and out to achieve the effect of a path.

It should be noted that the embodiments of the present invention have better practicability and do not impose any form of limitation on the present invention. Any technician familiar with the field may use the technical content disclosed above to change or modify it into an equivalent effective embodiment. However, any modification or equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims (8)

A navigation method for intraspinal puncture based on mixed reality technology, characterized by comprising: Step S1: receiving a click operation on the skin surface of a three-dimensional image to obtain a collision point, wherein the three-dimensional image is three-dimensionally reconstructed based on mixed reality technology; Step S2: draw a ray from the collision point to the target point in the spinal canal inside the three-dimensional image, and detect whether the ray collides with bones or blood vessels before reaching the target point; when it is detected that the ray does not collide with bones or blood vessels before reaching the target point, the collision point is determined to be the best needle insertion point; Step S3: When there is an optimal needle insertion point, a visual navigation path from the optimal needle insertion point to the target point is generated. The navigation method for intraspinal puncture based on mixed reality technology according to claim 1 is characterized in that, in step S2, when it is detected that the ray collides with a bone or a blood vessel before reaching the target, it further comprises: Step S4: determining that the collision point is invalid; Step S5: finding the direction vector from the collision point to the target point as a reference vector; Step S6: Taking the target point as the center of the circle, find 100 to 500 vectors near the reference vector whose angles with the reference vector are 0 to 1 degree as candidate vectors; Step S7: Calculate the position point on the skin surface of the three-dimensional image corresponding to the candidate vector as a candidate needle insertion point; Step S8: Make a ray from the candidate needle insertion point to the target point in the spinal canal inside the three-dimensional image, and detect whether the ray collides with bones or blood vessels before reaching the target point; Step S9: when the best needle insertion point has not been found after 100 to 500 ray detections are completed, the angle between the candidate vector and the reference vector is further enlarged by 1 degree, and then steps S5 to S8 are repeated, and so on, and the maximum angle between the candidate vector and the reference vector does not exceed 5 degrees; Step S10: When it is detected that the ray does not collide with bones or blood vessels before reaching the target point, the candidate needle insertion point corresponding to the ray is determined to be the optimal needle insertion point. The navigation method for intraspinal puncture based on mixed reality technology as described in claim 2 is characterized in that, in step S8, when it is detected that the ray does not collide with bones or blood vessels before reaching the target point, the collision point is judged to be the optimal needle insertion point. The navigation method for intraspinal puncture based on mixed reality technology as described in claim 2 is characterized in that in step S9, when the angle between the candidate vector and the reference vector is 5 degrees, the optimal needle insertion point still cannot be found, it is judged that there is no optimal needle insertion point. A navigation system for intraspinal puncture based on mixed reality technology, characterized by comprising: A collision point acquisition module, the collision point acquisition module is used to receive a click operation on the skin surface of a three-dimensional image to obtain a collision point, the three-dimensional image is three-dimensionally reconstructed based on mixed reality technology; A ray detection module, which is used to make a ray from the collision point to the target point in the spinal canal inside the three-dimensional image, and detect whether the ray collides with bones or blood vessels before reaching the target point; when it is detected that the ray does not collide with bones or blood vessels before reaching the target point, the collision point is determined to be the best needle insertion point; A navigation path generation module is used to generate a visual navigation path from the optimal needle insertion point to the target point when there is an optimal needle insertion point. The navigation system for intraspinal puncture based on mixed reality technology according to claim 5, characterized in that when it is detected that the ray collides with a bone or a blood vessel before reaching the target, the ray detection module is further used to: (1) Determine that the collision point is invalid; (2) finding the direction vector from the collision point to the target point as a reference vector; (3) With the target point as the center, find 100 to 500 vectors near the reference vector whose angles with the reference vector are 0 to 1 degree as candidate vectors; (4) calculating the position point corresponding to the candidate vector on the skin surface of the three-dimensional image as the candidate needle insertion point; (5) Passing a ray from the candidate needle insertion point to the target point in the spinal canal located inside the three-dimensional image to detect whether the ray hits bones or blood vessels before reaching the target point; (6) When the best needle insertion point has not been found after 100 to 500 ray detections are completed, the angle between the candidate vector and the reference vector is further increased by 1 degree, and then steps (2) to (5) are repeated, and so on. The maximum angle between the candidate vector and the reference vector does not exceed 5 degrees. (7) When it is detected that the ray does not collide with bones or blood vessels before reaching the target point, the candidate needle insertion point corresponding to the ray is determined to be the optimal needle insertion point. The navigation system for intraspinal puncture based on mixed reality technology as described in claim 6 is characterized in that the detection ray module is also used for: when the angle between the candidate vector and the reference vector is 5 degrees, and the best needle insertion point still cannot be found, it is judged that there is no best needle insertion point. An electronic device, characterized in that it includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the navigation method for intraspinal puncture based on mixed reality technology as described in any one of claims 1 to 4 is implemented.