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Intraoperative tissue tracking method combined with preoperative image

An image and image technology, applied in the field of computer-assisted surgery, can solve the problems that cannot be realized, cannot reflect the deformation in the operation, etc.

Inactive Publication Date: 2010-10-20
FOURTH MILITARY MEDICAL UNIVERSITY
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Problems solved by technology

[0004] All current tracking methods involving tissue, except for CT / MRI equipment, most methods cannot reflect intraoperative deformation, but only reflect local characteristics, and cannot track intraoperative tissue deformation

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  • Intraoperative tissue tracking method combined with preoperative image

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Embodiment Construction

[0030] In the present invention, the intraoperative positioning system must be used in combination with the imaging system. During the operation, the intraoperative positioning system must continuously locate the spatial position and posture of the ultrasonic probe part and the endoscope lens part.

[0031] In order to reflect tissue deformation, the positioning system must be combined with preoperative and intraoperative images, such as figure 1 shown. In the present invention, electromagnetic or optical positioning methods can be used, and multiple electromagnetic and optical positioning systems can also be used simultaneously. In cases where one localization method (i.e., an optical or electromagnetic localization system), one intraoperative ultrasound, and one endoscopic system are used, a registration is required, such as figure 2 shown. The coordinate system of the preoperative patient image is registered with the coordinate system of the intraoperative positioning s...

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Abstract

The invention provides an intraoperative tissue tracking method combined with a preoperative image, which comprises the following sequential steps: the first step: preoperative preparation, including the steps of acquiring a space position of a marking point in the preoperative image and calibration of equipment; and the second step: deformation tracking of an intraoperative tissue, including 1, coordinate system registration which is one of main parts of the invention; and 2. tissue deformation and fusion display which is also one of the main parts of the invention. By using intraoperative real-time two-dimensional ultrasound image and endoscope image and intraoperative electromagnetic or optical positioning system and using algorithm analysis and geometric registration calculation, a tissue structure of an intraoperative interest tissue can be reflected in the image.

Description

technical field [0001] The invention belongs to the field of computer-aided surgery. In minimally invasive surgery, surgery is made more difficult due to tissue deformation, which cannot currently be tracked. The present invention combines preoperative and intraoperative images to provide an intraoperative tissue deformation tracking method. Background technique [0002] Computer-aided surgery (Computer-Aided Surgery, CAS) technology refers to the use of modern computer, optics, electromagnetic, three-dimensional imaging and other technical means to provide doctors who perform surgery with intuitive fusion of lesion information, key tissues or organs during the operation. It is a general term for computer technology that assists surgical procedures by navigating images of simulated surgical scenes, including surgical information and surgical instrument information. CAS technology has the advantages of increasing doctors' understanding of anatomical structures, reducing sur...

Claims

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Application Information

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IPC IPC(8): A61B8/00A61B1/00A61B5/00A61B6/03A61B5/055
Inventor 卢虹冰马宝秋史正星张国鹏焦纯
Owner FOURTH MILITARY MEDICAL UNIVERSITY
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