Catheter positioning method, interventional operation system, electronic equipment and storage medium

Abstract

The invention provides a catheter positioning method, an interventional operation system, electronic equipment and a storage medium. The catheter positioning method comprises the following steps: acquiring a current frame real endoscopic image acquired by an image acquisition device in a target organ; acquiring a feature vector of the current frame of real endoscopic image; searching feature vectors matched with the feature vectors of the current frame of real endoscopic image in a pre-acquired feature vector set; and acquiring the current pose of the tail end of the catheter according to the pose corresponding to the virtual endoscopic image corresponding to the matched feature vector in the feature vector set. The method does not need to depend on other positioning equipment, such as an electromagnetic positioning system, so that the constraint conditions of the interventional operation system on the environment and the patient can be effectively reduced, and the application range of the interventional operation system is expanded.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a catheter positioning method, an interventional operation system, electronic equipment and a storage medium. Background technique [0002] Minimally invasive interventional technology is under the guidance of preoperative medical imaging (such as CT) and intraoperative imaging technology (such as medical electronic endoscopy, minimally invasive interventional magnetic resonance, ultrasound imaging), and inserts devices or drugs into the Diseased tissue, surgical procedure for its diagnosis or treatment. Minimally invasive interventional technology has been widely used in the world due to its advantages of less bleeding, less trauma, fewer complications, safety and reliability, and quick postoperative recovery. Catheter is the most important tool in interventional technology. With the guidance of image navigation, doctors can remotely move the catheter to the lesion position ...

AI Technical Summary

Problems solved by technology

However, in the process of traditional catheter surgery, it is difficult to manually operate the catheter to stretch or bend inside the human body, and the manual control of the catheter movement is likely to cause harm to the patient due to poor movement accuracy, and the safety is low

In addition, the movement of the catheter is manually controlled, and the movement accuracy and surgical effect of the catheter are determined by the experience and ability of the operator, and the surgical effect varies greatly.

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