Navigation method and system for endoscope

Abstract

The invention provides a navigation method for an endoscope. The navigation method comprises the following steps of: generating a virtual three-dimensional model by utilizing data generated by CT (computed tomography) equipment for scanning a diagnosis body; calculating virtual coordinates of the endoscope, corresponding to the current actual coordinates of the endoscope in a coordinate system of the virtual three-dimensional model and obtaining a corresponding virtual observation direction of the endoscope in the coordinate system of the virtual three-dimensional model; taking intracavity images shot by a camera shooting assembly of the endoscope at the current actual coordinates and in the current actual observation direction as real position images, determining images corresponding to the virtual coordinates and the virtual observation direction in the virtual three-dimensional model and serving as virtual position images, comparing the real position images with the virtual position images to obtain a similarity result, and adjusting coordinate values of the virtual coordinates and direction value of the virtual observation direction, so that the coordinate system of the virtual three-dimensional model corresponds to an electromagnetic navigation coordinate system. By adopting the navigation method for the endoscope provided by the invention, the problem that coordinates and images in the electromagnetic navigation system and the virtual three-dimensional navigation system are not consistent when the two systems are combined and used can be solved.

Description

technical field [0001] The invention relates to the technical field of medical endoscopes, in particular to an endoscope navigation method and system. Background technique [0002] As a medical inspection tool, endoscope has the characteristics of small trauma, simple operation, and real image display. It has been used in many medical fields, such as in the respiratory system and gastrointestinal cavity. [0003] When using an endoscope, it is necessary to insert the endoscope into the human body from the oral cavity or nasal cavity, and enter different human organs with the assistance of the endoscope navigation system. The doctor observes the organs that need to be displayed according to the images captured by the endoscope, and then realizes functions such as organ lesions that cannot be displayed by X-rays. For example, ulcers in the stomach can be observed and the best treatment plan can be formulated accordingly. [0004] A common method in the prior art is to use an...

AI Technical Summary

Problems solved by technology

But this system also has problems: due to the complex situation in the cavity, sometimes the coordinates of the electromagnetic system and the coordinates in the virtual three-dimensional model cannot be completely consistent. Therefore, under certain circumstances, the image that can be observed on the real position coordinates in the electromagnetic system is inconsistent with the image observed under the virtual coordinates, and this image inconsistency will cause serious medical accidents

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