A device for lesion location and navigation

Abstract

The invention discloses a lesion positioning and navigation device. The navigation method includes fixing a virtual magnetic positioning electrode on the patient's body surface or around the patient; performing CT / MRI scanning on the peripheral area of ​​the lesion, the lesion site and the virtual magnetic positioning electrode as a whole; The CT / MRI image is processed by the 3D processing module to generate a 3D virtual model; the lesion is marked by the 3D processing module, and the navigation path from the path entrance to the lesion model is planned; the real-time magnetic positioning electrode is fixed on the patient's body surface Or around the patient, a 3D model of real-time magnetic positioning electrodes is formed in the 3D navigation scene; the virtual magnetic positioning electrodes and real-time magnetic positioning electrodes are fused and registered in a coordinate system; the interventional instruments equipped with magnetic positioning electrodes and the 3D positioning module Connect, obtain the 3D coordinates of the interventional device through the 3D positioning module, display the 3D model of the interventional device in the 3D navigation scene, and realize real-time navigation.

Description

technical field [0001] The invention relates to the technical field of positioning and navigation, in particular to a lesion positioning and navigation device. 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 instruments. [0003] Traditional surgical thoracotomy is more traumatic to patients, and the complications and postoperative adverse events may be more serious. La...

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

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