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Lesion positioning and navigation method and device

A positioning navigation and magnetic positioning technology, applied in the field of positioning and navigation, can solve the problems of small lesion positioning accuracy deviation, lack of path navigation function, and affect clinical biopsy results, so as to avoid surgical trauma, reduce ionizing radiation damage, and shorten surgery the effect of time

Active Publication Date: 2021-09-24
融和医疗科技(浙江)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] However, electromagnetic navigation technology also has certain limitations. First, before the interventional instruments of electromagnetic navigation enter enough pulmonary bronchial branches, because there are not enough matching marked points, the real-time dynamic navigation trajectory cannot be compared with the static CT pulmonary bronchus. The three-dimensional anatomical map is matched, leading to the interventional instrument navigation in the early stage of the operation is still in the state of exploration, and does not have the role of path navigation
Secondly, because the matching accuracy of CT three-dimensional anatomical map and dynamic navigation is directly related to the selection of dynamic annotation points, there is a matching deviation, which will lead to deviations in the positioning accuracy of small lesions and affect clinical biopsy results.
Thirdly, real-time interventional devices will be affected by the respiratory movement of the lungs to form motion artifacts, and the navigation trajectory of dynamic interventional devices cannot be completely integrated with the static three-dimensional anatomical map of the lungs and bronchus, resulting in navigation reaching the lesion, and It is difficult to accurately implement diagnosis and treatment methods on the lesion site

Method used

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  • Lesion positioning and navigation method and device

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Experimental program
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Effect test

Embodiment 1

[0049] A method for lesion location and navigation, comprising the following steps:

[0050] step one:

[0051] Fix the sensor module A on the patient's body surface or around the patient, the sensor module A contains several virtual magnetic positioning electrodes A 1 , some of which are used to collect positioning data, and the other several are used to collect patient's respiratory activity data.

[0052] The fixing method of the sensor module A is an adhesive type, or a wearable type, or a bracket type. The optimal way is a combination of several methods. The virtual magnetic positioning electrodes used to collect positioning data can be bracket-type, which can ensure that the position of the magnetic positioning electrodes remains unchanged, and also ensure that the positional relationship between the magnetic positioning electrodes and the patient is consistent. Change. The virtual magnetic positioning electrodes used to collect the patient's respiratory activity data...

Embodiment 2

[0083] The present invention also discloses a lesion location and navigation device, which includes a magnetic positioning electrode, a CT / MRI scanning mechanism, a magnetic generation module, an interventional device, and a processor, capable of realizing the lesion location and navigation method described in Embodiment 1.

Embodiment 3

[0085] A device for lesion location and navigation, comprising

[0086] (1) Virtual magnetic positioning electrode A 1 , for fixing on the patient's body surface or around the patient. Several of them are used to collect positioning data, and the other several are used to collect patient's respiratory activity data. The fixing method adopts paste type, or wearable type, or bracket type. The optimal way is a combination of several methods. The magnetic positioning electrodes used to collect positioning data can be bracket-type, which can ensure that the position of the magnetic positioning electrodes remains unchanged, and also ensure that the positional relationship between the magnetic positioning electrodes and the patient remains unchanged. . The magnetic positioning electrodes used to collect the patient's respiratory activity data can be sticky, and one of the magnetic positioning electrodes can be fixed on the patient's abdomen, so as to ensure that the magnetic positio...

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Abstract

The invention discloses a lesion positioning and navigation method and device. The navigation method comprises the following steps: fixing a virtual magnetic positioning electrode on the body surface of a patient or around the patient; taking the peripheral region of the lesion, the lesion part and the virtual magnetic positioning electrode as a whole to carry out CT / MRI scanning; performing image processing on the CT / MRI image through a three-dimensional processing module to generate a three-dimensional virtual model; marking a lesion part through a three-dimensional processing module, and planning a navigation path from a path entrance to a lesion model; fixing the real-time magnetic positioning electrode on the body surface of the patient or around the patient, and forming a three-dimensional model of the real-time magnetic positioning electrode in the three-dimensional navigation scene; fusing and registering the virtual magnetic positioning electrode and the real-time magnetic positioning electrode in a coordinate system; connecting the interventional instrument provided with the magnetic positioning electrode with a three-dimensional positioning module, three-dimensional coordinates of the interventional instrument are obtained through the three-dimensional positioning module, a three-dimensional model of the interventional instrument is displayed in a three-dimensional navigation scene, and real-time navigation is achieved.

Description

technical field [0001] The invention relates to the technical field of positioning and navigation, in particular to a method and device for lesion positioning and navigation. Background technique [0002] In the medical field, small lesions (such as small lesions in the peripheral area of ​​the lung) have always been difficult to locate and reach. Currently, there are many ways to observe, biopsy, and treat the lesions. Surgical thoracotomy or thoracoscopic approach. Secondly, ionizing radiation imaging technology is used to assist in the positioning and navigation of interventional devices, such as X-ray images, CT imaging, etc. The third is the interventional video method through the bronchoscope. Finally, in recent years, electromagnetic navigation technology has been used to dynamically locate and navigate interventional devices. [0003] Traditional surgical thoracotomy is more traumatic to patients, and the complications and postoperative adverse events may be more ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/20A61B34/10G06T7/00G06T7/73G06T19/00
CPCA61B34/20A61B34/10G06T7/0012G06T19/003G06T7/73A61B2034/2051A61B2034/101A61B2034/105G06T2207/10081G06T2207/10088G06T2207/30061G06T2207/30096
Inventor 杨勇
Owner 融和医疗科技(浙江)有限公司
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