Method, device, system, equipment and medium for determining position of bronchoscope

A technology for bronchoscopy and determining devices, applied in bronchoscopy, surgical navigation systems, neural learning methods, etc., can solve the problem that the navigation results are difficult to meet the needs, and achieve the effect of reducing the amount of data and improving processing efficiency

Active Publication Date: 2022-04-19
HANGZHOU BRONCUS MEDICAL CO LTD
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0004] The invention provides a method, device, system, equipment and medium for determining the position of a bronchoscope, so as to solve the problem that the navigation result is difficult to meet the demand

Method used

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  • Method, device, system, equipment and medium for determining position of bronchoscope
  • Method, device, system, equipment and medium for determining position of bronchoscope
  • Method, device, system, equipment and medium for determining position of bronchoscope

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other Embodiment approach

[0158] In other embodiments, the processing method of the commonly used graph convolutional network can also be applied to this to determine the corresponding relationship between edges and vertices, that is: the commonly used graph convolutional network is used as the second graph convolutional network; correspondingly, if using The commonly used graph convolutional network, then: when determining the corresponding relationship, the corresponding relationship between the edge and the vertex can be determined by classifying the vertices into the edge. For example: when training the common graph convolutional network, the virtual bronchial tree contained in the training sample The graph data of can be annotated with labels, which are used to mark the actual probability that any vertex (fork node) belongs to (ie corresponds to) each edge (lung segment); after training, this common graph convolutional network can be used to output The actual probability that any vertex of the data...

Embodiment approach

[0225] Regardless of the implementation mode, through the convolution of the first image convolutional network, the features of the image data can be extracted, which can better reflect the characteristics of the first image data and the second image data, and make the matching result more accurate.

[0226] The anti-deformation convolutional network may include:

[0227] The space transformation layer is configured to: obtain the first image data and the second image data, transform the first image data and / or the second image data, and obtain the first image data corresponding to the first image data. Image data to be convoluted, and second image data to be convolved corresponding to the second image data;

[0228] in:

[0229] If the first image data is transformed and the second image data is not transformed, then the first image data to be convoluted is the image data after the first image data transformation, and the second image data to be convoluted is the second imag...

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Abstract

The present invention provides a method, device, system, equipment and medium for determining the position of a bronchoscope. The method for determining the position of a bronchoscope includes: acquiring a virtual bronchial tree of a target object; identifying the bifurcation of the virtual bronchial tree of the target object node, and based on the identified bifurcation node, obtain the identification information of each lung segment and bifurcation node in the virtual bronchial tree of the target object; obtain the intraoperative image of the target object; by combining the intraoperative image with Matching the virtual slices of the virtual bronchus tree of the target object, determining the target virtual slices matching the intraoperative image; determining the corresponding Identification information of lung segments and bifurcation nodes, the determined identification information is used to characterize the current position of the bronchoscope in the target object.

Description

technical field [0001] The invention relates to the field of bronchoscopes, in particular to a method, device, system, equipment and medium for determining the position of a bronchoscope. Background technique [0002] Bronchoscope navigation refers to providing navigation guidance for actually taking video images during the operation by determining the position of the bronchoscope. [0003] However, in the existing related technology, when determining the position of the bronchoscope, it is not possible to accurately locate and describe which lung segment the bronchoscope is located in. It can be seen that in the prior art, the information fed back during navigation and positioning is relatively limited, and it is difficult to meet the needs of the bronchoscope. mirror navigation requirements. Contents of the invention [0004] The invention provides a method, device, system, equipment and medium for determining the position of a bronchoscope, so as to solve the problem t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/20A61B1/00A61B1/267G06N3/04G06N3/08G06T7/73
CPCA61B1/00147A61B1/2676A61B34/20G06T7/74G06N3/08A61B2034/2065G06T2207/20081G06T2207/20084G06T2207/30061G06N3/044G06N3/045
Inventor 李楠宇陈日清余坤璋刘润南徐宏苏晨晖
Owner HANGZHOU BRONCUS MEDICAL CO LTD
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