A rapid navigation method and system for navigating a device to a target tissue location

Abstract

A rapid navigation method for navigating a device to a target tissue location: including: planning a path leading to the target tissue location within an anatomical structure, determining key nodes including bifurcations and target tissue locations, and corresponding image information; When the instrument needs to navigate to the target tissue position, the length information of the flexible body of the instrument protruding into the channel is used to preliminarily determine that the instrument reaches the key position related to each key node, and the endoscopic lens at the end of the flexible body is obtained in real time Collect the image information of the current key position, extract the feature information of the image where the key position is located, register the feature information with the virtual image information corresponding to the computer model, and match the channel information that the device needs to be routed at the current fork to guide the instrument through the channel. The ultrasonic probe can be further used for ultrasonic detection, and the ultrasonic image can be matched with the virtual image to obtain the channel to be routed or the position of the device at this moment. The invention performs comparisons of endoscopic or ultrasonic images related to several key nodes, and completes navigation more directly and effectively.

Description

technical field [0001] The invention relates to a virtual navigation method and system for navigating a device to a target tissue position, in particular to the technical field of using tools for navigation in the treatment of patients with lung diseases, and in particular to the tool navigation inside the patient's lungs. Background technique [0002] Image-guided surgery assists a surgeon in manipulating medical instruments to target tissue locations within a patient so that therapeutic and / or diagnostic medical procedures can be performed on the target. For guidance, the pose (ie, position and orientation) of the working end of the medical instrument may be tracked, and an image displayed along with or superimposed on the model of the anatomy associated with the target. For the convenience of description, the anatomical structure takes the lung as an example to illustrate how to navigate to the target tissue location (for example, biopsy or treatment site) through the cap...

AI Technical Summary

Problems solved by technology

[0012] The first purpose of the present invention is to provide a fast navigation method for navigating the device to the target tissue position, so as to solve the technical problems in the prior art that the cost is high, the calculation amount is large, the navigation speed is relatively slow, and the intraoperative process is easily affected

[0013] The second purpose of the present invention is to provide a fast navigation system for navigating the device to the target tissue position, so as to solve the technical problems in the prior art that the cost is high, the calculation amount is large, the navigation speed is relatively slow, and the intraoperative process is easily affected

Images