In vivo device positioning and tracking system based on ultrasonic positioning belt
A positioning tracking and positioning belt technology, applied in surgical navigation systems, medical science, surgery, etc., can solve the problems of intraoperative radiation price, electromagnetic tracking and positioning can not provide image information, volume and optical imaging can not be applied to internal positioning, etc., to achieve The effect of precise localization and shape estimation
Active Publication Date: 2021-05-11
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
The system can only be used for radiofrequency ablation surgery, and the equipment is more expensive
[0004] In the current tracking and positioning methods, the optical tracking and positioning method cannot be applied to in vivo positioning due to the limitations of volume and optical imaging.
The method of electromagnetic tracking and positioning cannot provide doctors with intraoperative image information, and it is wired, so magnetic compatibility needs to be considered
The image-guided positioning method has problems such as no three-dimensional position information, intraoperative radiation, or expensive positioning accuracy.
At present, there is no in vivo device tracking and positioning method and system that can provide intraoperative images, accurate three-dimensional positioning, no electromagnetic compatibility problems, ensure safety, and be used in minimally invasive interventional surgery.
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[0029] Such as figure 1 As shown, an in-vivo device positioning and tracking system based on an ultrasonic positioning belt includes: an ultrasonic positioning belt design module, a positioning belt signal mapping model building module, an initial discrimination module for an internal device position, an accurate calculation module for an internal device position, and real-time rendering of an internal device Display modules. The ultrasonic positioning zone design module based on the acoustic difference of materials will design an ultrasonic positioning zone, and its surface material presents a gradient distribution according to the difference in acoustic characteristics; the positioning zone signal mapping model building module will establish ultrasonic echo signals for the designed ultrasonic positioning zone The mapping model with each material on the positioning tape; the initial identification module of the device position in the body uses the calibrated ultrasonic probe ...
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The invention discloses an in-vivo device positioning and tracking system based on an ultrasonic positioning belt, which includes: an ultrasonic positioning belt design module, a positioning belt signal mapping model building module, an initial identification module for an internal device position, an accurate calculation module for an internal device position, and a real-time monitoring module for an internal device. Render the display module. The present invention utilizes the ultrasonic positioning band technology and combines the ultrasonic signal / image acquisition and analysis method to realize the precise positioning and shape estimation of multi-degree-of-freedom internal instruments without relying on intraoperative X-ray radiation imaging.
Description
technical field [0001] The invention relates to the technical field of internal space positioning, in particular to an internal device positioning and tracking system based on an ultrasonic positioning belt. Background technique [0002] Compared with traditional surgery, minimally invasive interventional surgery refers to the new technology of performing instrument intervention through the natural cavity or vascular network of the human body under image guidance, and performing surgery in the human body. Fast, is a new breakthrough in modern treatment. In minimally invasive interventional surgery, the precise tracking and positioning of interventional treatment equipment can improve guidance for doctors' operations, reduce intraoperative injuries, and improve surgical safety. [0003] Traditional spatial positioning technologies such as near-infrared optical positioning, based on the principle of binocular vision, use two cameras with near-infrared filters to shoot equipme...
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IPC IPC(8): A61B34/20
CPCA61B34/20A61B2034/2063
Inventor 陈芳张道强万鹏
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS