Image navigation and registration system and related devices for abdominal surgical intervention

Abstract

The invention discloses an image guided registration system for abdominal surgery interventional operation, and a related device. An image guided registration method for the abdominal surgery interventional operation comprises the steps that firstly, the registration result of a physical space and a preoperative image space is obtained; then abdominal characteristic point sets corresponding to abdominal surface images when a patient is in different respiration states are obtained, a depth camera is utilized to conduct corresponding processing on the abdominal surface images and preoperative abdominal surface images, and thus multiple intraoperative characteristic point sets and multiple preoperative abdominal characteristic point sets are obtained; and finally, according to the registration result of the physical space and the preoperative image space, a reference system of the intraoperative characteristic point sets is transformed into an intraoperative image space, in the intraoperative image space, deformable registration is conducted on the intraoperative characteristic point sets and the multiple abdominal characteristic point sets, thus the purpose of real-time registrationof the intraoperative image space of the patient in the different respiration states and the physical space is achieved during operation, and the precision of image registration in the abdominal surgery interventional operation process is improved.

Description

technical field [0001] The present application relates to the technical field of image processing, and more specifically, to an image navigation and registration system and related devices for abdominal surgical intervention. Background technique [0002] The Image Guided System (Image Guided System) refers to a system that scans medical images through medical imaging equipment, thereby providing image guidance for doctors in the operation process of patients. Through this system, doctors can obtain the internal structure and physiological information of the patient's body during the treatment process, so that they can accurately judge the current treatment status (such as the position of the treatment device in the patient's body, the dynamic size of the ablation area of ​​the lesion, and whether there is a problem due to puncture failure). leading to internal bleeding, etc.). Compared with the traditional non-image-guided surgical method, the image navigation system is co...

AI Technical Summary

Problems solved by technology

However, for soft tissue surgical navigation in the abdomen such as the liver and lungs, due to the influence of the patient's respiratory movement, the position of the soft tissue and the lesion will be shifted during the operation. Not only does it need to register the preoperative image space and the surgical physical space, The pre-operative image space and the intra-operative image space are also registered

[0004] At present, most of the solutions for image navigation registration in abdominal surgery are to allow the patient to breathe steadily or to manually select marker points combined with reference frames to correct the positional deviation of soft tissues and lesions due to respiratory movement. Higher, and requires extensive experience of doctors, and the accuracy cannot be guaranteed

Some techniques use the method of external markers, by attaching a series of external markers on the surface of the body to perform preoperative and intraoperative image registration to eliminate the offset caused by breathing movement, this method requires the markers to always be attached to the human body The surface may affect the selection of the needle insertion point during the doctor's operation, and the relative position to the human body surface must not change, otherwise registration must be performed again, and the registration accuracy is difficult to be guaranteed due to the influence of the number of marker points

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