Ultrasound surgery assisted navigation system based on binocular vision

Abstract

The invention discloses an ultrasonic surgery auxiliary navigation system based on binocular vision, and belongs to the field of vision positioning technology. According to the invention, on the basis of the binocular vision positioning technology, a binocular vision positioning device and an ultrasonic probe are fixed together by a coordinate system calibration device, meanwhile points under the world coordinate system are subjected to imaging, coordinates of the imaging in the respective coordinate systems are calculated, then the transformational relation of the respective coordinate systems is calculated, and surgical instruments and foci are fused by the transformational relation in the same three-dimensional coordinate system for display in an image work station. The technical scheme of the invention overcomes the problems of conventionally, a puncture intervention surgery cannot be guided continuously in real time and the operation is not flexible and convenient enough, the surgery auxiliary guidance is carried out by using the positioning device based on machine vision and by an image processing algorithm, and the whole system has the advantages of high speed, high precision, small occupation space and so forth.

Description

technical field [0001] The invention belongs to the field of machine vision, and more particularly relates to an ultrasonic surgery-assisted navigation system based on binocular vision. Background technique [0002] Ultrasound-guided interventional puncture surgery has very important applications in clinical operations for the treatment of various diseases. It can effectively improve surgical accuracy, shorten operation time, and reduce surgical wounds and complications. Today's mainstream puncture surgery methods rely on ultrasound image guidance, but this method also has many limitations. First of all, this method is only suitable for surgical instruments that can be imaged under ultrasound, and many traditional surgical instruments cannot be imaged under ultrasound. Second, the ultrasonic imaging area is limited and is a two-dimensional plane, so the surgical instrument can only be observed in the ultrasonic image after the surgical instrument enters the ultrasonic imagin...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the above defects or improvement needs of the prior art, the present invention provides a binocular vision-based ultrasonic surgical assisted navigation system, which aims to use a coordinate system calibration device to integrate the binocular vision positioning device and The ultrasonic probes are fixed together, and the points in the world coordinate system are imaged at the same time, and the coordinates of the imaging in their respective coordinate systems are calculated, and then the conversion relationship of the respective coordinate systems is calculated, and the surgical instrument and the lesion are fused in the same three-dimensional by the conversion relationship. In the coordinate system and displayed on the image workstation, the technical solution of the present invention overcomes the problems that the traditional puncture and interventional surgery guidance cannot be continuous in real time and the operation is not flexible enough

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