Liver operation navigation method and system based on structural light scanning
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A technology of surgical navigation and structured light, which is applied in the field of surgical navigation, can solve problems such as difficulty for doctors, increased surgical risk, and easy deformation, and achieve the effect of less time, scientific nature, and reduced surgical space requirements
Inactive Publication Date: 2019-09-17
SUZHOU UNIV
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However, due to the deformability and softness of the liver itself, the position of the lesion confirmed in the preoperative CT will change with the r...
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Embodiment 1
[0043] Such as figure 1 As shown, the liver surgery navigation method based on structured light scanning in Embodiment 1 of the present invention, the method includes the following steps:
[0044] S1. Reconstruct the three-dimensional image of the liver surface of the patient according to the CT image before operation, find out the focus point, and plan the operation path;
[0045] Among them, the three-dimensional image of the patient's liver surface is reconstructed according to the CT image before operation, which specifically includes: marking the patient's liver, performing a CT scan on the marked liver, and performing three-dimensional reconstruction on the slice data obtained by the CT scan.
[0046] S2. Project coded structured light onto the liver surface of the patient during the operation, scan the liver surface of the patient in real time, collect scanning information in real time, reconstruct the liver surface of the patient in real time, and display the reconstru...
Embodiment 2
[0055] A liver surgery navigation system based on structured light scanning, which includes:
[0056]The first reconstruction module is used to reconstruct the three-dimensional image of the patient's liver surface before operation according to the CT image;
[0057] Among them, the three-dimensional image of the patient's liver surface is reconstructed according to the CT image before operation, which specifically includes: marking the patient's liver, performing a CT scan on the marked liver, and performing three-dimensional reconstruction on the slice data obtained by the CT scan.
[0058] The path planning module is used to find out the lesion point according to the above-mentioned three-dimensional image, and plan the operation path;
[0059] The projection module is used to project coded structured light to the surface of the patient's liver during the operation, and scan the surface of the patient's liver in real time;
[0060] Preferably, the projection module is a pr...
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Abstract
The invention discloses a liver operation navigation method and system based on structural light scanning. The method comprises the following steps: reconstructing a three-dimensional image of a liver surface of a patient before an operation according to CT images, finding a focus point, and planning an operation path; projecting coded structural light to the liver surface of the patient in the operation, scanning the liver surface of the patient in real time, acquiring scanning information in real time, reconstructing the liver surface of the patient in real time, and displaying a reconstructed three-dimensional image on a 3D display; registering the pre-operative CT reconstructed three-dimensional image and the intra-operative real-time reconstructed three-dimensional image to find out the accurate position of the focus point; outputting the registration parameters through real-time registration in the operation, correcting the pre-operation operation path planning in real time, and displaying the real-time corrected operation path on a 3D display; and acquiring the position information of a surgical instrument and the liver of the patient in real time during the operation so as to correct the position of the surgical instrument in real time. The method has the advantages of strong stability, high accuracy and real-time performance.
Description
technical field [0001] The invention relates to the technical field of surgical navigation, in particular to a liver surgical navigation method and system based on structured light scanning. Background technique [0002] Liver tumor resection is currently a routine operation for the treatment of liver lesions. This operation requires doctors to find the focus of the tumor and remove it. While removing the tumor, the liver is a relatively important organ of the human body, and the arteries are densely distributed in it. , veins, blood vessels and other internal tissues of the liver itself, most of these tissues are often invisible during the operation, doctors should try to avoid touching these tissues during the operation, which may cause miscutting, so this type of operation is extremely dangerous , the difficulty is higher, and a slight mistake will not only lead to the failure of the operation, but may even lead to the loss of the patient's life. Clinical studies have sh...
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