Nasal bureau management electromagnetic navigation system based on virtual enhancement

Abstract

A nasal bureau tube electromagnetic navigation system based on virtual enhancement comprises a catheter, a guide wire, a positioning device, a camera and a host. And a tracking sensor is arranged on the guide wire. The positioning device comprises a positioning assembly. The positioning assembly comprises at least three positioning sensors. The three positioning sensors are matched with the tracking sensor to position the position of the tracking sensor in the human body. The camera obtains the body characteristics of the patient and transmits the body characteristics to the host. The virtual augmentation unit seamlessly fuses the advancing track of the tracking sensor and a virtual human body image together to form a visual motion track of the tracking sensor on the basis that the visual image of the body of the patient is obtained by using a virtual augmented reality technology according to the body characteristics of the patient. According to the electromagnetic navigation system, the insertion time of medical personnel can be greatly saved, the injury to a patient is reduced, and meanwhile, the technical requirements on the medical personnel can be reduced.

Description

Technical Field

[0001] This invention relates to the field of surgical instruments, and in particular to a virtual augmented electromagnetic navigation system for the nasal canal. Background Technology

[0002] As is well known, nasogastric tubes are inserted through the nose into a patient's stomach to deliver food and sustain life. They are typically used for comatose patients or those unable to feed themselves. However, the insertion of the nasogastric tube requires monitoring because the esophagus is complex, not a straight tube, and has several branches, such as the airway. It mainly consists of three sections: the cervical, thoracic, and abdominal segments, with a total length of approximately 25-30 cm. The esophagus's inner wall propels food into the stomach through peristalsis. There are three physiological narrowing points: the cricopharynx, the crossing of the aortic arch and the left main bronchus, and the diaphragmatic hiatus. At these narrowing points, the tip of the feeding tube can easily become blocked, preventing successful insertion.

[0003] Therefore, in existing technologies, nasogastric tube systems are equipped with calibrators. For example, patent number 202211536535.1, entitled "An Electromagnetic Nasogastric Tube Positioner with a Quick-Insertion Structure," includes a guidewire with a tracking sensor, a nasogastric tube, a reference calibrator equipped with a positioning sensor, a magnetic field generator, and a system host. The guidewire with the tracking sensor is connected to the system host, the reference calibrator with the positioning sensor is connected to the system host, and the magnetic field generator is connected to the system host. In this prior art, the nasogastric tube equipped with the tracking sensor is inserted into the patient's body. The magnetic field generator constructs a sensing area during the insertion of the nasogastric tube. The human-computer interaction software running in the system host calculates the real-time position of the tracking sensor on the guidewire in the nasogastric tube, thereby determining the position of the nasogastric tube in real time.

[0004] In the aforementioned technical solution, after the guidewire equipped with a tracking sensor is inserted into the human body, the tracking sensor in the guidewire and reference calibrator detects the local time-division alternating magnetic field signal and converts it into an analog voltage signal, which is transmitted to the electromagnetic navigation module through a connector on the main unit housing. The electromagnetic navigation module processes the data and sends the processing result to the main unit / power module. The main unit / power module displays the data processing result to clinical medical staff on a touch-sensitive human-machine interface display screen. However, in this prior art, the human-machine interface display screen can only simulate the approximate position of the guidewire, and in actual operation, medical staff need to constantly turn their heads to switch between the display screen and the human body, causing significant inconvenience. Furthermore, since the human-machine interface display screen can only simulate the approximate position of the guidewire, it requires highly experienced medical staff to operate, which is prone to errors. This not only leads to longer insertion times for the gastric tube, causing prolonged pain for the patient, but also strains medical resources, as the number of highly experienced medical staff is limited. Summary of the Invention

[0005] In view of this, the present invention provides a virtual-enhanced nasal local electromagnetic navigation system that solves the above problems.

[0006] A nasal intravesical electromagnetic navigation system based on virtual augmentation includes a catheter, a guidewire inserted in the catheter, a positioning device, a camera for acquiring patient body features, and a host connected to the guidewire and positioning device. A tracking sensor is mounted on the guidewire. The positioning device includes a positioning component. The positioning component includes at least three positioning sensors. The three positioning sensors cooperate with the tracking sensor to locate the position of the tracking sensor within the body. The camera acquires the patient's body features and transmits them to the host. The host includes an electromagnetic navigation module and a virtual augmentation unit. The electromagnetic navigation module calculates the position of the tracking sensor within the body based on the data returned by the positioning and tracking sensors. The virtual augmentation unit, based on the patient's body features and using augmented reality technology to obtain a visual image of the patient's body, seamlessly integrates the tracking sensor's trajectory with the virtual human image to form a visually intuitive motion trajectory of the tracking sensor.

[0007] Furthermore, the catheter is made of a flexible material.

[0008] Furthermore, the conductor is made of twisted-pair steel wire.

[0009] Furthermore, the tracking sensor is a signal receiver or a signal generator.

[0010] Furthermore, the positioning sensor is a signal receiver or a signal generator. When the tracking sensor is a signal receiver, the positioning sensor is a signal generator; when the tracking sensor is a signal generator, the positioning sensor is a signal receiver.

[0011] Furthermore, the positioning device also includes a bracket, and a shelf is provided on the bracket, and the positioning component is disposed on the shelf.

[0012] Furthermore, the virtual-enhanced nasal electromagnetic navigation system also includes a display device connected to the host computer to display the human image obtained by the virtual enhancement unit and the motion trajectory of the tracking sensor in the human image.

[0013] Furthermore, the virtual-enhanced nasal electromagnetic navigation system also includes a storage unit for storing the trajectory traversed by the laser head.

[0014] Compared with existing technologies, the nasal cannula electromagnetic navigation system based on virtual enhancement provided by this invention, by providing a bracket and a positioning component mounted on the bracket, allows the positioning component to perform measurements without being directly placed in a fixed position on the human body. This eliminates the need for disinfection of the positioning component after each use, thus reducing costs. Simultaneously, through the camera and the virtual enhancement unit loaded on the host, the position of the signal emitted by the tracking sensor mounted on the guidewire can be visually displayed on the human image. Medical personnel can also intuitively see the position of the tracking sensor on the human body, which not only greatly saves insertion time and reduces harm to the patient, but also lowers the technical requirements for medical personnel. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a nasal local electromagnetic navigation system based on virtual enhancement, provided by the present invention.

[0016] Figure 2 for Figure 1 A magnified view of a virtual-enhanced nasal local electromagnetic navigation system at point A.

[0017] Figure 3 for Figure 1 Another structural schematic diagram of the nasal local electromagnetic navigation system based on virtual enhancement.

[0018] Figure 4 for Figure 3 A magnified view of a virtual-enhanced nasal local electromagnetic navigation system at point A. Detailed Implementation

[0019] The following provides a more detailed description of specific embodiments of the present invention. It should be understood that the description of the embodiments of the present invention herein is not intended to limit the scope of protection of the present invention.

[0020] like Figures 1 to 4 The diagram shown is a structural schematic of the virtual-enhanced nasal cannula electromagnetic navigation system provided by the present invention. The virtual-enhanced nasal cannula electromagnetic navigation system includes a catheter 10, a guidewire 20 inserted into the catheter 10, a positioning device 30, a camera 40 for acquiring patient body features, and a host 50 connected to the guidewire 20 and the positioning device 30. It is understood that the virtual-enhanced nasal cannula electromagnetic navigation system also includes other functional modules, such as assembly components, electrical connection components, various software processing modules, etc., which are technologies well known to those skilled in the art and will not be described in detail here.

[0021] The catheter 10 itself is existing technology, such as the technical solution disclosed in patent number 201220272928.1, entitled "A Novel Internal Medicine Feeding Tube," which includes a tube head, tube, tube tail, feeding needle, etc., and is used to deliver nutrients. The catheter 10 is typically used to provide food to patients who cannot eat or are unable to eat.

[0022] The guidewire 20 is used to guide the catheter 10 into the patient's stomach. Since the catheters 10 are made of flexible materials, such as silicone, they are very soft; therefore, without the guidewire 20, the catheter 10 cannot be inserted into the body. The guidewire 20 is typically made of twisted stainless steel wire. After the catheter 10 is inserted into the designated position in the body under the guidance of the guidewire 20, the guidewire 20 can be withdrawn. The guidewire 20 itself is existing technology and will not be described in detail here. For positioning purposes, a tracking sensor 21 is provided at the end of the guidewire 20. The tracking sensor 21 can be a signal generator or a signal receiver. When the tracking sensor 21 is a signal generator, it can be a micro-coil wound around the guidewire 20. When the micro-coil is energized, it generates a magnetic field, which is captured by the positioning device 40, which then determines the position of the micro-coil. Since the magnetic field generated by the microcoil is directional, the positioning device 40 can also determine the direction of the magnetic field generated by the microcoil, thereby determining the direction of the guide wire 20. Because the tracking sensor 21 is typically located at the head of the guide wire 20, the direction of its magnetic field can be determined by setting the coil winding direction of the tracking sensor 21, thus determining the direction of the head of the guide wire 20. This helps medical personnel determine whether the insertion direction is correct. If incorrect, appropriate adjustments can be made. The microcoil may include a coil frame and an induction coil. The induction coil is tightly wound on the outer surface of the coil frame. Specifically, the induction coil can be tightly wound, improving the measurement sensitivity of the single-axis magnetic field induction coil. Under the requirement of determining the position of the single-axis magnetic field induction coil, the accuracy of single-point magnetic field measurement in space is improved. When the tracking sensor 21 is a signal receiver, it first receives the magnetic field signal from the signal generator. Therefore, the core hardware of the signal receiver includes an antenna, a data processing module, and a reference frequency synthesizer. It should also include an induction coil, the structure of which should be existing technology and will not be described in detail here.

[0023] The positioning device 30 includes a support 31 and a positioning component 32 mounted on the support 31. The support 31 may include a tripod or quadruped, and a platform 33 is mounted on the support 31. The tripod or quadruped of the support 31 is positioned above the patient, thereby spacing the platform 33 from the patient's body to facilitate the operation of the camera 40. The platform 33 is positioned above the tripod or quadruped and is used to mount or place the positioning component 32 and the camera 40.

[0024] The positioning component 32 includes three positioning sensors mounted on the platform 33. Each positioning sensor can be either a signal receiver or a signal generator. It is understood that when the tracking sensor on the guide wire 20 functions as a signal receiver, the positioning sensor also functions as a signal generator. Conversely, when the tracking sensor on the guide wire 20 functions as a signal generator, the positioning sensor also functions as a signal receiver. The three positioning sensors utilize the existing triangulation principle to calculate the three-dimensional coordinates of the signal emitted by the signal generator. This technology is widely used in satellite navigation for calculating the three-dimensional coordinates of a signal on the ground. It is conceivable that after the positioning component 32 receives the signal, it will transmit it back to the host computer 50, where the software installed on the host computer 50 will perform calculations to obtain the three-dimensional coordinates of the signal.

[0025] The camera 40 is used to capture images of the patient's body, especially the upper body, and to obtain the characteristics of the patient's entire body through the patient's body features, such as two nipples and a navel, thereby providing material for constructing a three-dimensional image that closely resembles the patient's body.

[0026] The host unit 50 is used not only to collect signals from the positioning device 30 and provide suitable power to the tracking sensor 21 mounted on the guidewire 20, but also to load a virtual augmentation unit 51 to construct a three-dimensional image of the patient's body. The host unit 50 includes an electromagnetic navigation module 52. The electromagnetic navigation module 52 itself is a prior art technology, such as the well-known GPS navigation system, which is an electromagnetic navigation system. However, the GPS navigation system uses satellites to detect electromagnetic signals emitted by ground-based devices, so it will not be described further here. The electromagnetic navigation module 52 processes the signal data from the positioning device 30 and sends the processing result to the main processing module. The main processing module then processes it and distributes it to different user modules, such as the display module. In this embodiment, the main processing module sends the processed structure to the virtual augmentation unit 51 to achieve instant visibility, which will be described in detail below in conjunction with the virtual augmentation unit 51. The host unit 50 also includes other hardware functional modules, such as a host circuit, an external power adapter and a system switch, as well as some software functional modules, such as motor drive software, analog display software, etc.

[0027] The virtual augmentation unit 51 uses augmented reality (AR) technology to obtain a visual image of the catheter 10 being inserted into the patient's body. Augmented reality, such as AR, is a technology that enables human-computer interaction by overlaying virtual information onto the real environment. Its core feature is expanding digital information based on the real environment, thereby seamlessly integrating virtual objects into the real scene through tracking and 3D registration technologies. This technology was formally named by Boeing scientists in the early 1990s; therefore, it is an existing technology and will not be elaborated upon further. In this embodiment, the patient's body characteristics are obtained through the camera 40 to acquire the real environment, and then the virtual augmentation unit 51 is used to overlay the virtual information of the human body onto this real environment, thereby forming a realistic human body.

[0028] During the insertion of the catheter 10 and guidewire 20 into the human body, the host computer 30 can calculate the trajectory of the guidewire 20 through the electromagnetic navigation module. Simultaneously, the main processing module sends the trajectory of the guidewire 20 to the virtual augmentation unit 31, which uses its tracking and 3D registration technologies to seamlessly integrate the trajectory with a virtual human body object. This information is then transmitted to a display device. The display device can then present the position, orientation, and insertion path of the catheter 20 to the doctor in an intuitive and easy-to-understand manner, allowing the doctor to monitor the catheter's status in real time and make more accurate operational decisions. The display device can be mounted on the platform 33 for convenient viewing by medical personnel.

[0029] Understandably, the virtual-enhanced nasal feeding tube electromagnetic navigation system may also include a storage unit 60, which can record the image information generated by the virtual enhancement unit 31 to create a record. Because human anatomy is not exactly the same, this recording helps with the next insertion of a nasogastric tube or feeding tube.

[0030] Compared with existing technologies, the nasal intranasal electromagnetic navigation system based on virtual enhancement provided by the present invention, by providing the bracket 31 and the positioning component 32 mounted on the bracket 31, allows the positioning component 32 to perform measurements without being directly placed in a fixed position on the human body. This eliminates the need for disinfection of the positioning component 32 after each use, thus reducing costs. Simultaneously, through the camera 40 and the virtual enhancement unit 51 loaded on the host 50, the position of the signal emitted by the tracking sensor 21 mounted on the guidewire 20 can be visually displayed on the human image. Medical personnel can also intuitively see the position of the tracking sensor 21 on the human body, thereby significantly saving insertion time for medical personnel, reducing harm to patients, and lowering the technical requirements for medical personnel.

[0031] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions or improvements within the spirit of the present invention are covered within the scope of the claims of the present invention.

Claims

1. A nasal local electromagnetic navigation system based on virtual enhancement, characterized in that: The virtual augmentation-based nasal cannula electromagnetic navigation system includes a catheter, a guidewire inserted in the catheter, a positioning device, a camera for acquiring patient body features, and a host connected to the guidewire and positioning device. A tracking sensor is mounted on the guidewire. The positioning device includes a positioning component comprising at least three positioning sensors. These three positioning sensors cooperate with the tracking sensor to locate the tracking sensor's position within the body. The camera acquires the patient's body features and transmits them to the host. The host includes an electromagnetic navigation module and a virtual augmentation unit. The electromagnetic navigation module calculates the tracking sensor's position within the body based on the data transmitted from the positioning and tracking sensors. The virtual augmentation unit, based on the patient's body features and using augmented reality technology to obtain a visual image of the patient's body, seamlessly integrates the tracking sensor's trajectory with the virtual human image to form a visually intuitive tracking sensor movement trajectory.

2. The nasal local electromagnetic navigation system based on virtual enhancement as described in claim 1, characterized in that: The catheter is made of a flexible material.

3. The nasal local electromagnetic navigation system based on virtual enhancement as described in claim 1, characterized in that: The conductor is made of twisted pair steel wire.

4. The nasal local electromagnetic navigation system based on virtual enhancement as described in claim 1, characterized in that: The tracking sensor is either a signal receiver or a signal generator.

5. The nasal local electromagnetic navigation system based on virtual enhancement as described in claim 4, characterized in that: The positioning sensor is either a signal receiver or a signal generator. When the tracking sensor is a signal receiver, the positioning sensor is a signal generator; when the tracking sensor is a signal generator, the positioning sensor is a signal receiver.

6. The nasal local electromagnetic navigation system based on virtual enhancement as described in claim 1, characterized in that: The positioning device also includes a bracket, on which a shelf is provided, and the positioning component is disposed on the shelf.

7. The nasal local electromagnetic navigation system based on virtual enhancement as described in claim 1, characterized in that: The virtual augmentation-based nasal local electromagnetic navigation system also includes a display device connected to the host computer to display the human image obtained by the virtual augmentation unit and the motion trajectory of the tracking sensor in the human image.

8. The nasal local electromagnetic navigation system based on virtual enhancement as described in claim 1, characterized in that: The virtual-enhanced nasal local electromagnetic navigation system also includes a storage unit for storing the trajectory of the laser head.

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