Navigation system and method of minimally invasive surgery

Abstract

The invention discloses a navigation system and method of a minimally invasive surgery. The navigation system comprises a composite endoscope body, a spatial positioning device and a surgery navigation server. The method comprises the steps that preoperative diagnostic images are subjected to three-dimensional model reconstruction and preoperative planning before navigation is performed; during the navigation, three-dimensional optical image signals and two-dimensional ultrasonic image signals of intraoperative organs and tissue are simultaneously acquired and three-dimensional reconstruction is performed, a three-dimensional model of the preoperative diagnostic images with preoperative planning information is subjected to organ and tissue deformation correction, and a three-dimensional optical model and a dynamic preoperative registration model are subjected to registration and fusion, so that the functions of optical navigation and ultrasonic navigation are simultaneously achieved, the intraoperative optical navigation can be switched to the intraoperative ultrasonic navigation continuously in real time, and a key position point, an optimum surgical entry point and an internal travel path of the intraoperative organs and tissue are continuously achieved in all dimensions from surfaces of organs and tissue to inner structure of organs and tissue. The navigation system and method of the minimally invasive surgery overcomes the defect of relatively single and discontinuous functions existing in the prior art, and is capable of lowering surgical risks.

Description

technical field [0001] The invention relates to a navigation system and method with a composite endoscope mirror body as a core device, and belongs to the technical field of medical ultrasonic electronic endoscope and surgical navigation. Background technique [0002] Minimally invasive surgery is one of the important development directions of surgery in the future. It has the advantages of less trauma, less pain, and faster recovery. However, in some operations (such as liver resection), doctors cannot observe the complex internal physiological structure of organs and tissues in real time and accurately. Structural imaging data (such as MRI / CT) are combined with intraoperative images to form an image-guided surgical navigation method. [0003] There are several typical minimally invasive surgical navigation technologies in current surgical operations: intraoperative 3D ultrasound fusion preoperative CT / MRI navigation technology, intraoperative 3D optical fusion preoperati...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a minimally invasive surgery navigation system and method, thereby overcoming the relatively single and discontinuous defect of the intraoperative navigation function existing in the prior art

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