Optical navigation positioning system based on CT (computed tomography) registration results and navigation method thereby

Abstract

Disclosed are an optical navigation positioning system based on CT (computed tomography) registration results and a navigation method thereby. The system comprises a preoperative CT image guide input module, an image segmentation module, a body surface initial-registration module, a preoperative CT image and intraoperative two-dimensional ultrasound image module and an intraoperative navigation module. By combining virtual reality and intraoperative ultrasound, intraoperative positioning errors caused by factors such as breathing are compensated, and accordingly a target point for coronary artery bypass grafting is accurately positioned and navigated. Cardiac and coronary vessel tree in preoperative cardiac CT image data is manually segmented and reconstructed, an augmented virtual reality environment integrating endoscope and virtual endoscope is built by the aid of optical navigation apparatus and CT-ultrasound-based intraoperative registration error correction, and accordingly the target point of coronary artery bypass grafting is accurately positioned and navigated.

Description

Technical field [0001] The invention relates to a system and method in the technical field of information processing, in particular to a navigation positioning system and a navigation method based on intraoperative ultrasound and preoperative CT registration results for assisting coronary artery bypass surgery. Background technique [0002] In recent years, the incidence of cardiovascular disease in my country has increased year by year, and coronary heart disease is the most common cardiovascular disease. Among the treatment methods for coronary heart disease, coronary artery bypass grafting is the most important and mature treatment method besides drug treatment and interventional treatment. However, traditional coronary artery bypass surgery requires a median sternum incision, and if necessary, extracorporeal circulation is needed to complete the operation. It includes shortcomings such as large incision, slow recovery, and many complications. As a new type of treatment, nav...

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Problems solved by technology

However, this method uses a magnetic locator, and the magnetic locator is subject to various interferences such as venues, equipment, and other instruments during use, and errors are prone to occur

At the same time, the ultrasonic information of the three-dimensional reconstruction will cause image distortion. Using the image information to guide the operation may cause deviation, and the amount of information generated is limited, so it cannot be used for some more delicate and complicated operations, such as the precise operation of cardiac surgery.

[0008] It can be seen that although the robot-assisted treatment system has begun to be used in clinical treatment, its development in surgical target positioning is not perfect, and many clinical problems still need to be solved

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