Medical system

Abstract

This invention provides a medical system comprising an operating table, a magnetic navigation device, and a medical imaging device. The magnetic navigation device and the medical imaging device are respectively disposed beside the operating table, and the operating table is permissible for X-ray transmission by the medical imaging device. The magnetic navigation device is used to navigate a positioning medical tool to a lesion area along a medical path. The medical imaging device is used to scan the head region of the positioning medical tool to acquire medical images and reconstruct a two-dimensional image and / or a three-dimensional model of the head region of the positioning medical tool to confirm the surrounding conditions of the positioning medical tool and whether it has reached the correct position.

Description

Technical Field

[0001] This invention relates to the field of medical technology, and more particularly to a medical system. Background Technology

[0002] The diagnosis and treatment of pulmonary nodules are becoming increasingly important for the early detection and treatment of lung cancer. A more advanced diagnostic and treatment method involves using magnetic navigation equipment to plan a medical path through medical imaging, guiding the medical instruments to the lesion location via the natural airway, and then performing appropriate treatment.

[0003] However, the above lesion locations are only the lesion locations on the medical path planned by the magnetic navigation equipment based on previous medical images. With the patient's breathing movements and the possible deformation of soft tissues, it requires a relatively complex registration process. The actual shape and position of the trachea may not completely match the medical path, and the actual lesion location may deviate from the planned target location. Furthermore, the navigation of medical tools is only based on previous medical images for auxiliary judgment, which also leads to poor accuracy and effective navigation efficiency of magnetic navigation. Summary of the Invention

[0004] This invention provides a medical system for improving the accuracy and efficiency of delivering medical tools to the lesion site.

[0005] The medical system provided in this embodiment of the invention includes an operating console, a magnetic navigation device, and a medical imaging device;

[0006] The magnetic navigation device and the medical imaging device are respectively located next to the operating table, and the operating table is available for the transmission of X-rays from the medical imaging device;

[0007] The magnetic navigation device is used to navigate a positioning medical tool to the lesion area on the medical path according to the medical path;

[0008] The medical imaging device is used to scan the head region of the positioning medical tool to acquire medical images, and reconstruct a two-dimensional image and / or a three-dimensional model of the head region of the positioning medical tool to confirm the surrounding conditions of the positioning medical tool.

[0009] Furthermore, the medical imaging device includes an X-ray machine, which is used to image the head region of the positioning medical tool to acquire a two-dimensional image.

[0010] Furthermore, the medical imaging device includes a CT scanner, which is used to scan the head region of the positioning medical tool, acquire CT data of the scanned area, and reconstruct a two-dimensional image and a three-dimensional model of the head region of the positioning medical tool.

[0011] Furthermore, the magnetic navigation device includes a magnetic field generator disposed within the operating table and a positioning sensor disposed within the positioning medical tool;

[0012] The magnetic field generator is used to generate a positioning magnetic field to locate the position of the positioning sensor.

[0013] Furthermore, the medical imaging device is also used to scan the area around the positioning sensor obtained by the magnetic field generator to acquire medical images, and reconstruct two-dimensional images and / or three-dimensional models around the positioning location to confirm that the positioning medical tool has reached the actual lesion area.

[0014] Furthermore, the acquired medical images include images of the positioning sensor's location and images of the lesion area. The medical imaging device is used to adjust and optimize its own structure, parameters, and characteristics based on the imaging range of the images of the positioning sensor's location and the images of the lesion area, as well as the characteristics of the lesion area, to ensure clear imaging of the lesion area.

[0015] Furthermore, the system also includes a display module, which is used to fuse and display the two-dimensional images and / or three-dimensional models around the positioning location reconstructed by the medical imaging device with the two-dimensional images and / or three-dimensional models used to plan the medical path, so as to calibrate the positioning of the positioning sensor and the medical path.

[0016] Furthermore, the magnetic field generator is a flat-plate generator, which can move within the operating table.

[0017] Furthermore, the magnetic field generator is a hollow frame structure generator, and the hollow structure of the frame structure generator allows for the transmission of X-rays from the medical imaging device.

[0018] Furthermore, a column is provided below the operating table, and the column is a liftable structure.

[0019] Furthermore, the operating platform can move relative to the column within the plane of the platform surface.

[0020] Furthermore, the medical imaging device includes an X-ray tube for emitting X-rays and an imaging module for receiving the X-rays, with the X-ray tube and the imaging module located on opposite sides of the operating table.

[0021] Furthermore, the medical imaging device also includes a C-shaped arm that moves relative to the operating table, with the two ends of the C-shaped arm respectively used to set the X-ray tube and the imaging module.

[0022] Furthermore, the medical imaging device also includes a robotic arm, one end of which is connected to the C-arm to move the C-arm relative to the operating table.

[0023] Furthermore, it also includes a base, the other end of the robotic arm is connected to the base, and the operating table is disposed on the base.

[0024] Furthermore, the medical imaging device also includes an O-arm, which is fitted around the operating table and moves relative to the operating table. The X-ray tube and the imaging module are located inside the O-arm and are positioned opposite each other.

[0025] Furthermore, it also includes a slide rail, which is located below the operating table, and the O-arm is located on the slide rail and can move relative to the operating table along the length direction of the operating table.

[0026] In this embodiment of the invention, a magnetic navigation device and a medical imaging device are arranged next to the operating table. The operating table is available for X-ray transmission by the medical imaging device. The magnetic navigation device guides the positioning medical tool to the lesion area of ​​the target medical path according to the medical path. During the navigation process, the medical imaging device can scan the head area of ​​the positioning medical tool to obtain corresponding medical images and reconstruct a two-dimensional image and / or three-dimensional model of the head area of ​​the positioning medical tool to confirm the surrounding conditions of the positioning medical tool, and thus confirm whether the positioning medical tool is correctly moving along the navigation path and whether it has reached the actual lesion area. If the actual position of the positioning medical tool deviates from the medical path, the positioning is calibrated and compensated through medical imaging to improve the accuracy of magnetic navigation. At the same time, the two-dimensional image and / or three-dimensional model of the head area of ​​the positioning medical tool reconstructed during the navigation process can provide real-time auxiliary judgment for the navigation action to ensure that the positioning medical tool is on the optimal path to reach the actual lesion area, so that the positioning medical tool can quickly reach the actual lesion area and improve the effective navigation efficiency of magnetic navigation. Attached Figure Description

[0027] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0028] Figure 1 A three-dimensional structural diagram of a medical system provided in an embodiment of the present invention;

[0029] Figure 2 This is another three-dimensional structural diagram of a medical system provided in an embodiment of the present invention;

[0030] Figure 3aA three-dimensional structural diagram of an operating console for a medical system provided in an embodiment of the present invention;

[0031] Figure 3b This is another three-dimensional structural schematic diagram of the operating console of a medical system provided in an embodiment of the present invention;

[0032] Figure 4 This is another three-dimensional structural schematic diagram of the operating console of a medical system provided in an embodiment of the present invention;

[0033] Figure 5 A structural block diagram of a medical imaging device for a medical system provided in an embodiment of the present invention;

[0034] Figure 6 A three-dimensional structural schematic diagram of a medical imaging device for a medical system provided in an embodiment of the present invention;

[0035] Figure 7a This is another three-dimensional structural diagram of a medical system provided in an embodiment of the present invention;

[0036] Figure 7b This is a three-dimensional structural diagram of a medical system in its storage state, provided as an embodiment of the present invention.

[0037] Figure 7c This is a three-dimensional structural diagram of a medical system in use, provided as an embodiment of the present invention.

[0038] Figure 8 Another three-dimensional structural schematic diagram of a medical imaging device for a medical system provided in an embodiment of the present invention;

[0039] Figure 9a This is another three-dimensional structural diagram of a medical system provided in an embodiment of the present invention;

[0040] Figure 9b This is another three-dimensional structural diagram of a medical system provided in an embodiment of the present invention. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0042] This invention provides a medical system that, based on a three-dimensional model of the bronchial tree and a three-dimensional model of the pulmonary vessels reconstructed from CT data, combines path navigation based on positioning sensors with medical tools to provide an accessible channel for some special lesion locations, such as lesions in the periphery of the lung that cannot be reached by bronchoscopy or lesions without obvious natural airways, enabling medical tools to reach these lesion locations and providing conditions for the treatment of these lesions.

[0043] In the following embodiments of the present invention, positioning sensors are involved, such as positioning sensors disposed on positioning catheters, positioning sensors disposed on biopsy tools, etc. First, the positioning sensors involved in the various embodiments of the present invention will be described in detail:

[0044] These positioning sensors employ the principle of electromagnetic navigation, unlike the ordinary principle of magnetic navigation. Magnetic navigation relies on an external magnetic field to attract or repel permanent magnets within the ablation catheter, influencing the orientation of medical devices entering the body. The positioning sensor in this embodiment primarily works by outputting current to an external control system in response to the magnetic field of its surrounding space, allowing the control system to locate the corresponding catheter. Specifically, the positioning sensor and control system are connected via wired or wireless means. The control system includes a magnetic field generator to produce a magnetic field within a defined positioning space; the positioning sensor itself is non-magnetic, and a coil within it senses the magnetic field generated by the generator. The magnetic field generator produces a varying magnetic field within the positioning space, ensuring that the magnetic field characteristics at each point within the space are unique. The coil in the positioning sensor generates current in the varying magnetic field, which is collected and transmitted to the control system as a signal. The control system analyzes the signal to determine the precise position and orientation of the corresponding catheter.

[0045] Figure 1 This is a three-dimensional structural diagram of a medical system provided in an embodiment of the present invention. The medical system includes an operating console 10, a magnetic navigation device 20, and a medical imaging device 30.

[0046] The magnetic navigation device 20 and the medical imaging device 30 are respectively located next to the operating table 10, and the operating table 10 is available for the transmission of X-rays from the medical imaging device 30.

[0047] Here, the operating table 10 includes, but is not limited to, an operating table in an operating room, or a patient bed in a ward, etc. The medical imaging device 30 includes, but is not limited to, a CT scanner, or an X-ray machine, etc. Where conditions permit, it can refer to any medical imaging device used to image a part or the whole body of a patient. Its imaging type includes, but is not limited to, two-dimensional images. The medical imaging device 30 can emit corresponding medical rays, including, but not limited to, X-rays. The operating table 10 allows the rays of the medical imaging device 30 to pass through, and has the function of not affecting the imaging effect of the medical imaging device 30.

[0048] The magnetic navigation device 20 is used to navigate the positioning medical tool 40 to the lesion area on the medical path according to the medical path.

[0049] Here, the magnetic navigation device 20 includes a path planning module, used to determine the target lesion area to be reached based on medical imaging data, mainly referring to the three-dimensional model of the bronchial tree and the three-dimensional model of the pulmonary vessels reconstructed from CT data, and to plan a navigation path from the main carina through the natural airway to the target point. Alternatively, it can be a navigation path from the main carina through the natural airway to the puncture starting point and a puncture path from the puncture starting point to the puncture target point. These paths constitute a medical path to the lesion area through the natural cavities. In addition, the shape and structure of the magnetic navigation device 20 are not specifically limited in this embodiment of the invention, and the shape, structure and placement of the magnetic navigation device 20 in the accompanying drawings of this embodiment are merely illustrative.

[0050] Specifically, the magnetic navigation device 20 first reconstructs a corresponding three-dimensional model based on the medical imaging data of the patient's whole body or lesion area obtained in advance. The lesion area generally refers to the organ with lesions, such as CT data. This three-dimensional model mainly plans the user path and determines the location of the lesion. It can be called a navigation three-dimensional model to plan a medical path to the lesion area through natural cavities. Then, according to the medical path, the positioning medical tool 40 is navigated to the lesion area on the medical path. The positioning medical tool 40 refers to a medical tool with positioning function, such as biopsy, puncture, treatment and other medical tools. Specifically, it can be a guidewire, catheter, cell forceps, biopsy needle, dilation balloon, ablation catheter, etc.

[0051] Here, the positioning medical tool 40 is connected to or is part of the magnetic navigation device 20. For example, the magnetic navigation device 20 has a conveying mechanism similar to a robotic arm. The conveying mechanism is connected to the positioning medical tool 40. The conveying mechanism drives the positioning medical tool 40 into the patient's body according to the medical path and reaches the lesion area under the control of the magnetic navigation device 20. This lesion area usually refers to the lesion area of ​​the target of the medical path. The above describes the case where the positioning medical tool 40 is delivered into the patient's body through the conveying mechanism. In other embodiments, the positioning medical tool 40 can also be delivered into the patient's body by a propulsion device based on the doctor's experience. The doctor manually controls the propulsion device with the help of the display device of the magnetic navigation device 20, so that the propulsion device drives the positioning medical tool 40 to move according to the medical path and reach the lesion area. Of course, this lesion area usually refers to the lesion area of ​​the target of the medical path.

[0052] The medical imaging device 30 is used to scan the area around the head of the positioning medical tool 40 to acquire medical images, and reconstruct a two-dimensional image and / or a three-dimensional model of the area around the head of the positioning medical tool 40 to confirm the surrounding conditions of the positioning medical tool 40.

[0053] Specifically, during the process of the magnetic navigation device 20 navigating the positioning medical tool 40 to the lesion area on the medical path according to the medical path, the medical imaging device 30 located next to the operating table 10 scans the area around the head of the positioning medical tool 40 to obtain medical images. This can be done by irradiating the body part of the patient's body in the head area of ​​the positioning medical tool 40 with a CT scanner or an X-ray machine to obtain corresponding medical images, and then reconstructing a two-dimensional image and / or a three-dimensional model of the head area of ​​the positioning medical tool 40. For example, the head area of ​​the positioning medical tool 40 can be scanned with a CT scanner to obtain corresponding CT data, and then the two-dimensional image and three-dimensional model of the head area of ​​the positioning medical tool 40 can be reconstructed using these CT data; or the head area of ​​the positioning medical tool 40 can be photographed with an X-ray machine to obtain corresponding X-ray images, and then the two-dimensional image of the head area of ​​the positioning medical tool 40 can be obtained by adjusting the X-ray images, or the three-dimensional model of the head area of ​​the positioning medical tool 40 can be further reconstructed.

[0054] Here, the purpose of reconstructing the two-dimensional image and / or three-dimensional model of the head region of the positioning medical tool 40 is to confirm the surrounding conditions of the positioning medical tool 40. This is because the medical path navigated by the magnetic navigation device 20 is planned based on the patient's previous medical images. Factors such as the patient's breathing movements and organ deformation may affect the actual lesion location. That is, the magnetic navigation device 20 may not be accurate in navigating the positioning medical tool 40 to the lesion location on the medical path. At this time, the two-dimensional image and / or three-dimensional model can be used to determine whether the head of the positioning medical tool 40 is moving along the correct path and whether it has reached the actual lesion area. If it has reached the vicinity of the actual lesion area, the positioning medical tool 40 can be controlled. Perform the corresponding treatment operation; if it is found that the head of the positioning medical tool 40 has not reached the actual lesion area, and the path to the location is replanned based on the specific position of the head of the positioning medical tool 40 and the lesion position on the two-dimensional image and / or three-dimensional model, such as correcting and compensating the positioning, path or three-dimensional model, and controlling the positioning medical tool 40 to move to the accurate lesion position according to the corrected position and navigation path, so as to perform further treatment operations.

[0055] It should be noted here that the reconstruction of two-dimensional images and / or three-dimensional models obtained through X-ray imaging involves two algorithms. One algorithm integrates the two-dimensional images with information such as the medical path and navigation three-dimensional model and displays them in the same window to clearly show the situation of the head end area of ​​the positioning medical tool 40. The other algorithm further reconstructs the three-dimensional image of the head end area of ​​the positioning medical tool 40 from the two-dimensional X-ray images and corrects the positioning or navigation path with the newly reconstructed three-dimensional model.

[0056] It is conceivable that, during the process of the magnetic navigation device 20 navigating the positioning medical tool 40 according to the medical path, the medical imaging device 30 may scan or photograph the head region of the positioning medical tool 40 in real time, or as needed, to acquire corresponding real-time medical images. To reduce radiation exposure to the patient, scanning or photographing is generally only performed when necessary. Furthermore, to ensure the quality of the scanning or photographing, the positioning medical tool 40 needs to remain stationary, and a two-dimensional image and / or three-dimensional model of the head region of the positioning medical tool 40 needs to be reconstructed to confirm whether the medical path deviates from the actual location of the lesion. Here, determining whether it deviates from the actual location of the lesion refers to whether the head of the medical tool 40 deviates from the medical path. If the actual location of the natural cavity (bronchus) or lesion deviates from the intended location, it can be corrected in a timely manner. This is generally done by compensating for deviations in the position of the medical tool tip based on real-time medical imaging and reconstruction models, or correcting the registration, or correcting the shape of the medical path / tracheal tree and the position of the target point. If deviations occur, they can be corrected in a timely manner so that the positioning medical tool 40 always stays on the actual path to the actual lesion location. This allows the positioning medical tool 40 to quickly and accurately reach the actual lesion location for further treatment operations, complete the diagnosis and treatment of the lesion, improve the accuracy and efficiency of lesion treatment, and reduce the time that the treatment tool spends in the patient's body, thus reducing the patient's discomfort or pain during diagnosis and treatment.

[0057] Furthermore, the medical imaging device 30 includes an X-ray machine, which is used to image the head region of the positioning medical tool 40 to acquire a two-dimensional image.

[0058] Specifically, the medical imaging device 30 is an X-ray machine located next to the operating table 10. The X-ray machine generates rays that pass through a portion of the patient's body on the operating table 10. These rays primarily pass through the area surrounding the head of the positioning medical tool 40, and then image the area. This imaging includes, but is not limited to, digital imaging, and acquires a two-dimensional image of that area. Further, the two-dimensional image can be matched to a navigation three-dimensional model using an algorithm, or the two-dimensional image can be reconstructed into a three-dimensional model of the imaging area using an algorithm. Here, the condition of the head region of the positioning medical tool 40 can be displayed on the two-dimensional image (and / or the reconstructed three-dimensional model), such as the relative positional relationship between the medical tool and body tissues and bones, or the relative positional relationship with the actual lesion area. This relative positional relationship includes both distance and direction.

[0059] The image of the head region of the positioning medical tool 40 obtained above can be used to understand the condition of the head region of the positioning medical tool 40 and accurately determine whether the positioning medical tool 40 has deviated from the path to the actual lesion location; or confirm whether the head region of the positioning medical tool 40 has reached the actual lesion region and whether the direction of the head region of the positioning medical tool 40 is aligned with the actual lesion region.

[0060] In addition, the medical imaging device 30 also includes a CT scanner, which is used to scan the head region of the positioning medical tool 40, acquire CT data of the scanned area, and reconstruct two-dimensional images and three-dimensional models of the head region of the positioning medical tool 40.

[0061] Specifically, the medical imaging device 30 mentioned above is an X-ray machine. In other preferred embodiments of the present invention, the medical imaging device 30 can also be a CT scanner, which is a computed tomography (CT) scanner. It can scan a certain part of the patient's body on the operating table at a certain thickness using X-rays. Specifically, it can scan a certain range of body area around the head of the positioning medical tool 40 to generate corresponding medical images. Then, based on these medical images, a three-dimensional model of the head area of ​​the positioning medical tool 40 is reconstructed. This three-dimensional model can more clearly grasp the condition of the head of the positioning medical tool 40 than a two-dimensional image, thereby more accurately determining whether the positioning medical tool 40 has deviated from the path to the actual lesion location; or accurately confirming whether the head of the positioning medical tool 40 has reached the actual lesion area, and more clearly determining whether the direction of the head of the positioning medical tool 40 is aligned with the actual lesion area.

[0062] Furthermore, please combine Figure 2 The diagram below shows another three-dimensional structure of a medical system provided in an embodiment of the present invention. The magnetic navigation device 20 includes a magnetic field generator 210 disposed in the operating table 10 and a positioning sensor 220 disposed in the positioning medical tool 40. The magnetic field generator 210 is used to generate a positioning magnetic field to locate the positioning sensor 220.

[0063] Specifically, the magnetic field generator 210 is located inside the operating table 10. The magnetic field generator 210 emits a positioning magnetic field towards the bed surface. When the patient lies on the operating table 10, the affected area of ​​the body is located within the positioning magnetic field. Since the patient is generally under general anesthesia on the operating table 10, the relative position of the affected area within the positioning magnetic field is fixed. Because the positioning magnetic field has its own coordinate system, called the magnetic field coordinate system, the relative position of the affected area within the magnetic field coordinate system is fixed. The position and orientation of the positioning medical tool 40 within the patient's body can be represented by the position coordinates of the head of the positioning medical tool 40 within the magnetic field coordinate system. Specifically, the positioning magnetic field can affect the positioning medical tool 40. The positioning sensor 220 inside the positioning medical tool 40 is used for position positioning. Since the positioning sensor 220 is located at the head end of the positioning medical tool 40, the position coordinates of the positioning sensor 220 in the magnetic field coordinate system can be obtained by positioning the positioning sensor 220, thereby obtaining the position and orientation of the positioning medical tool 40 in the patient's body; or the positioning sensor 220 is located inside the positioning medical tool 40 and its relative position to the head is known. The position coordinates of the head end of the positioning medical tool 40 in the magnetic field coordinate system can be obtained by conversion, thereby obtaining the position and orientation of the positioning medical tool 40 in the patient's body.

[0064] Furthermore, the medical imaging device 30 is also used to scan the area around the positioning position of the positioning sensor 220 obtained by the magnetic field generator 210 to acquire medical images, and reconstruct two-dimensional images and / or three-dimensional models around the positioning position to confirm that the positioning medical tool 40 has reached the actual lesion area.

[0065] Specifically, the positioning medical tool 40, equipped with the positioning sensor 220, is inserted into the patient's body by a doctor or by a magnetic navigation device 20. The positioning medical tool 40 is then guided to the lesion area along the medical path. At this time, the medical imaging device 30 scans a certain range around the positioning position of the positioning sensor 220 within the magnetic field generator 210, i.e., the position of the positioning coordinates of the positioning sensor 220 in the magnetic field coordinate system, to acquire corresponding medical images. Based on the acquired medical images, a two-dimensional image and / or three-dimensional model of the area surrounding the positioning position is reconstructed. The reconstructed two-dimensional image and / or three-dimensional model includes an image or model of the head portion of the positioning medical tool 40, which can determine the position and orientation of the head portion of the positioning medical tool 40. It may also include the patient's actual lesion and its location. If the tip of the positioning medical tool in the image or model has entered the patient's actual lesion, it can be confirmed that the positioning medical tool 40 has reached the actual lesion area. Furthermore, the relative positional relationship between the tip of the positioning medical tool 40 and the lesion area can be obtained, mainly referring to the distance, relative direction, and orientation of the tip of the positioning medical tool 40. If the tip of the positioning medical tool in the image or model has entered but not entered the patient's actual lesion, it indicates that the positioning medical tool 40 has not yet reached the actual lesion area, and the actual lesion area may not be on the medical path. In this case, it is necessary to readjust the medical path or correct the positioning position based on the two-dimensional image and / or three-dimensional model so that the magnetic navigation device 20 can navigate the positioning medical tool 40 to the actual lesion area. This may require expanding the scanning range of the medical imaging device 30 to obtain a larger range of two-dimensional images and / or three-dimensional models to ensure coverage of the actual lesion area.

[0066] It should be noted here that, referring to the above description, the reconstruction of two-dimensional images and / or three-dimensional models based on the medical images is determined by the type of medical images acquired by the medical imaging device 30 and the reconstruction algorithm, that is, by the specific type of the medical imaging device 30.

[0067] Furthermore, the medical images acquired above include images of the positioning position of the positioning sensor 220 and images of the lesion area. The medical imaging device 30 is used to adjust and optimize its own structure, parameters, and characteristics based on the imaging range of the images of the positioning position of the positioning sensor 220 and the images of the lesion area, as well as the characteristics of the lesion area, to ensure clear imaging of the lesion area.

[0068] Specifically, the medical imaging device 30 scans the area surrounding the positioning location of the positioning sensor 220 obtained by the magnetic field generator 210, and the acquired medical images can cover a certain range, including the image of the positioning location of the positioning sensor 220 and the image of the lesion area. However, the image of the lesion area is inevitably not clear enough. In particular, for traditional X-ray equipment, due to its versatility and need to adapt to different working conditions (such as orthopedics, cardiology, etc.), for lesions with small density differences, such as inflammation and nodules (which are close to the density of normal tissue), the acquired images may only show indistinct shadows or be indistinguishable. Small CT scanners, due to structural limitations (power, heat dissipation, imaging capabilities, etc.), may also fail to clearly distinguish the outline, location, and size of lesions with small density differences from the surrounding normal tissue. The structure and imaging module design of the medical imaging device 30 are optimized for lesions with small density differences. Furthermore, after navigating the positioning medical tool 40 to the lesion area along the medical path, the medical imaging device 30 acquires medical images of the area surrounding the positioning sensor 220. These images include a portion of the positioning medical tool 40's image, i.e., the image of the positioning sensor 220's positioning position, and the image of the lesion area. At this point, the medical imaging device 30 can optimize and adjust the parameters and characteristics of the acquired medical images based on the imaging range of the acquired images and the characteristics of the lesion. This improves image quality, addressing the problem that traditional medical imaging equipment cannot clearly image lesions with small differences in density from surrounding tissues. Moreover, the parameters and characteristics of the medical imaging device 30 can be further optimized and adjusted based on the imaging results of the previous medical image, resulting in a second clear imaging process, thereby distinguishing the outline, location, and size of the lesion area.

[0069] Additionally, it should be noted that the medical imaging device 30 can reconstruct a two-dimensional image or a three-dimensional model of the head region of the positioning medical tool 40 according to actual needs. However, in order to ensure the accuracy of the determination of the movement path of the positioning medical tool 40 after entering the patient's body, in a preferred embodiment, the medical system further includes a display module (not shown in the figure). The medical imaging device 30 will simultaneously reconstruct a two-dimensional image and / or a three-dimensional model of the head region of the positioning medical tool 40. The two-dimensional image and / or the three-dimensional model will also be used when planning the medical path, i.e., the navigation two-dimensional image and / or the three-dimensional model mentioned above before navigation. The display module is used to fuse and display the two acquired two-dimensional images and / or the three-dimensional models. That is, the position and features of the two acquired two-dimensional images and / or the three-dimensional models are matched and aligned on the display module and displayed simultaneously in one view for clear observation, so as to calibrate the positioning sensor 220 and the medical path.

[0070] Please combine Figure 3a and Figure 3b In one feasible embodiment of the present invention, the magnetic field generator 210 is a flat plate generator 2101, which can move within the operating table 10.

[0071] Specifically, the flat-panel generator 2101 is disposed within the operating table 10 and can move freely within the operating table 10. For example, a slide rail (not shown in the figure) is provided inside the operating table 10 along its length. The flat-panel generator 2101 is positioned on two opposite sides of the slide rail, allowing it to move freely within the operating table 10. When scanning or imaging is to be performed by the medical imaging device 30, to prevent the magnetic field emitted by the magnetic field generator 210 from interfering with the radiation emitted by the medical imaging device 30, the flat-panel generator 2101 can be temporarily moved outside the scanning or imaging range of the medical imaging device 30 to ensure that the medical images acquired by the medical imaging device 30 are clear and accurate.

[0072] Additionally, please combine Figure 4 In another feasible embodiment of the present invention, the magnetic field generator 210 is a hollow frame structure generator 2012, and the hollow structure of the frame structure generator 2102 is used for the transmission of X-rays from the medical imaging device 30.

[0073] Specifically, the hollow frame structure generator 2012 includes two magnetic field generators arranged opposite each other and a connecting structure connecting the two ends of the magnetic field generators. The two ends are connected to form a hollow frame structure. Here, the connecting structure is made of a material that is transmissible to the X-rays of the medical imaging device 30, including but not limited to carbon fiber or plastic. The hollow structure allows the X-rays of the medical imaging device 30 to pass through, so that the X-ray transmission is not affected when the medical imaging device 30 needs to scan or take pictures of the patient. Thus, while the magnetic navigation device 20 is working, the medical imaging device 30 can also acquire the corresponding medical images without interfering with each other, thereby improving the working efficiency of the medical system.

[0074] Furthermore, please combine Figure 3a , Figure 3b as well as Figure 4 In other preferred embodiments of the present invention, a column 110 is provided below the operating table 10, and the column 110 is a liftable structure.

[0075] Specifically, the column 110 serves to support the operating table 10. The column 110 with a liftable structure includes, but is not limited to, a hydraulic lifting structure. The column 110 allows the table surface of the operating table 10 to move vertically, as shown by the arrow in the figure, to accommodate various operating heights and improve the applicability of the medical system.

[0076] Furthermore, in other preferred embodiments of the present invention, the operating table 10 is movable relative to the column 110 in the plane of the table surface.

[0077] Specifically, the plane containing the surface of the operating table 10 can move relative to the top of the column 110. It should be emphasized that this movement can be reciprocating along the length of the operating table 10, as shown by the arrow in the figure, or it can move arbitrarily within the plane containing the surface of the operating table 10, such as rotating the plane containing the surface of the operating table 10 relative to the top of the column 110. This design takes into account that patients undergoing diagnosis and treatment on the operating table 10 generally require general anesthesia, meaning there is no relative position between the operating table 10 and the patient. If the area being photographed or scanned by the medical imaging device 30 changes, only the position of the operating table 10 needs to be moved to change the area being photographed or scanned without waking the patient, thus improving the diagnostic and treatment efficiency of the medical system.

[0078] Additionally, please refer to Figure 5The above is a structural block diagram of a medical imaging device for a medical system provided in an embodiment of the present invention. The medical imaging device 30 includes an X-ray tube 310 for emitting X-rays and an imaging module 320 for receiving the X-rays. The X-ray tube 310 and the imaging module 320 are located on opposite sides of the operating table 10.

[0079] Here, the X-ray tube 310 emits X-rays that cover the imaging range of the imaging module 320. The X-ray tube 310 and the imaging module 320 are arranged opposite each other and are respectively arranged on both sides of the operating table 10, so that the rays emitted from the X-ray tube 310 can pass through the patient's body located on the operating table 10 and reach the imaging module 320, and be imaged in the imaging module 320 to obtain medical images of the part of the patient located on the operating table 10 where the rays have passed.

[0080] The medical imaging device 30 further includes a reconstruction module and a display module. The reconstruction module is used to reconstruct two-dimensional images and / or three-dimensional models based on the acquired medical images. The display module is used to display the two-dimensional images and / or three-dimensional models accordingly.

[0081] Furthermore, please combine Figure 6 In one feasible embodiment of the present invention, the medical imaging device 30 further includes a C-shaped arm 330 that moves relative to the operating table 10, and the two ends of the C-shaped arm 330 are respectively used to set the X-ray tube 310 and the imaging module 320.

[0082] Here, the two ends of the C-shaped arm 330 are the X-ray tube 310 and the imaging module 320, respectively, and the C-shaped opening faces the operating table 10. The movement of the C-shaped arm 330 relative to the operating table 10 means that the opening of the C-shaped arm 330 can move along the length of the operating table 10, or it can mean that the opening of the C-shaped arm 330 can rotate around the operating table 10, so that the imaging or scanning range of the medical imaging device 30 covers the entire operating table 10 and its various directions, and can capture medical images at appropriate angles as needed, thereby improving the user experience of the medical system.

[0083] Additionally, please combine Figure 7a In other preferred embodiments of the present invention, the medical imaging device further includes a robotic arm 340, one end of which is connected to the C-shaped arm 330 to move the C-shaped arm 330 relative to the operating table 10. If the medical imaging device 30 is a CT scanner, the robotic arm 340 can also rotate the C-shaped arm 330 relative to the center line of the C-shaped arm arc, with a rotation angle greater than 180 degrees, to complete a CT scan.

[0084] In addition, the opening of the C-shaped arm 330 mentioned above can rotate around the operating table 10 in the following two ways:

[0085] 1. The robotic arm 340 is stationary, and the C-shaped arm 330 has an arc-shaped slide rail. The C-shaped arm 330 is driven to rotate along the slide rail by the mechanism connecting the robotic arm 340 and the C-shaped arm 330, thereby completing the rotation of the opening of the C-shaped arm 330 around the operating table 10. This design structure can ensure that the robotic arm 340 can realize the rotation requirement of the C-shaped arm 330 around the operating table 10 within a small range of motion.

[0086] 2. The robotic arm 340 is fixedly connected to the C-shaped arm 330. The robotic arm 340 drives the C-shaped arm 330 to achieve the rotational movement of the C-shaped arm 330 relative to the operating table 10. This design structure is simple, and at the same time, it can meet the rotational requirements of the C-shaped arm 330 around the operating table 10.

[0087] Furthermore, the medical system also includes a base 50, the other end of the robotic arm 340 is connected to the base 50, and the operating table 10 is disposed on the base 50.

[0088] Specifically, the base 50 serves as a support platform for all components of the entire medical system. The operating table 10, the magnetic navigation device 20, and the medical imaging device 30 are respectively mounted on the base 50. Here, the operating table 10 is mounted on the base 50 via the column 110; the magnetic navigation device 20 may be mounted on the base 50 via a frame or other structure; and the medical imaging device 30 is mounted on the base via the robotic arm 340 and the C-shaped arm 330. Specifically, one end of the robotic arm 340 is connected to the arc-shaped top of the C-shaped arm 330, and the other end of the robotic arm 340 is connected to the base 50.

[0089] A robotic arm is a mechatronic device that mimics the functions of a human arm, wrist, and hand. It can move any object or tool according to time-varying spatial poses (position and orientation) to fulfill specific industrial production requirements. Here, the robotic arm 340 consists of multiple servo motors and joints. The rotation of the servo motors changes the position and orientation of the C-arm 330, thereby extending the X-ray tube 310 and the imaging module 320 to any position on the operating table 10. This allows for the rapid imaging of a specific part of the patient's body on the operating table 10. Figure 7cAs shown, the system can then reconstruct two-dimensional images and / or three-dimensional models of the affected area based on the acquired medical images, effectively improving the efficiency of the medical system.

[0090] Furthermore, when the medical imaging device 30 is not in use, the C-shaped arm 330 can be quickly retracted under the operating table 10 by the action of the robotic arm 340, such as... Figure 7a As shown, this ensures that it does not affect the operation of other devices in the medical system, further enhancing the user experience of the medical system during the diagnosis and treatment process.

[0091] Furthermore, please combine Figure 8 In another feasible embodiment of the present invention, the medical imaging device 30 further includes an O-arm 350, which is sleeved on the operating table 10 and moves relative to the operating table 10. The X-ray tube 310 and the imaging module 320 are disposed inside the O-arm 350 and are positioned opposite each other.

[0092] Specifically, the O-arm 350 is an annular structure that is looped around the operating table 10. The annular structure includes, but is not limited to, a perfect circular annular structure. The X-ray tube 310 and the imaging module 320 are respectively disposed inside the O-arm 350, and their positions are located at both ends of the same diameter of the perfect circular annular structure, so that the positions of the X-ray tube 310 and the imaging module 320 are opposite to each other. The movement of the O-arm 350 relative to the operating table 10 refers to two aspects: firstly, the O-arm 350 can move along the length of the operating table 10; secondly, the O-arm 350, or the X-ray tube 310 and the imaging module 320 inside the O-arm 350, can rotate around the surface of the operating table 10. For example, if a circular track is provided inside the O-arm 350, and the X-ray tube 310 and the imaging module 320 are respectively mounted on the circular track, the movement of the X-ray tube 310 and the imaging module 320 on the circular track allows the O-arm 350, or the X-ray tube 310 and the imaging module 320 inside the O-arm 350, to rotate around the surface of the operating table 10. This enables the medical imaging device 30 to capture or scan the entire operating table 10 and its various directions, allowing for the capture of medical images at appropriate angles as needed, thus improving the user experience of the medical system.

[0093] Additionally, please combine Figure 9a and Figure 9bThe operating table 10 also includes a slide rail 120, which is located below the operating table 10. The O-arm 350 is located on the slide rail 120 and can move relative to the operating table 10 along the length direction of the operating table 10.

[0094] Specifically, two columns 110 are provided below the operating table 10, with their bottoms respectively located at both ends of the operating table 10 and on the base 50, thus supporting the operating table 10. A slide rail 120 is located below the operating table 10 and its two ends are connected to the two columns 110. The bottom of the O-arm 350 is located on the slide rail 120, and its top is suspended above the operating table 10. The O-arm 350 can reciprocate along the length of the operating table 10, and the X-ray tube 310 and imaging module 320 inside the O-arm 350 can rotate around the table surface of the operating table 10, allowing the X-ray tube 310 and imaging module 320 to reach the operating table 10. The system can quickly image a specific part of the patient's body at any position on the operating table 10, and reconstruct a two-dimensional image and / or three-dimensional model of that part based on the acquired medical image, effectively improving the efficiency of the medical system.

[0095] Furthermore, in practical use, the spatial coordinates located by the magnetic navigation device 20 and the image coordinates of the medical imaging device 30 are associated in a unified overall coordinate system. Here, the image coordinates of the medical imaging device 30 can be replaced by or converted from the movement coordinates of the robotic arm 340 or the O-arm 350. After the magnetic navigation device 20 locates and obtains a position, it converts it to the overall coordinate system and moves the robotic arm 340 or the O-arm 350 to the position corresponding to that coordinate system coordinate, ensuring that the image range scanned or captured by the medical imaging device 30 covers the location coordinates and a certain surrounding area.

[0096] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0097] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0098] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0099] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0100] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0101] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0102] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0103] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0104] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0105] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A medical system, characterized in that: It includes an operating table, a magnetic navigation device, and a medical imaging device; The magnetic navigation device and the medical imaging device are respectively arranged beside the operating table, and the operating table can be used for the radiation of the medical imaging device to be transmitted; The magnetic navigation device is used to navigate the positioning medical tool to the lesion area on the medical path according to the medical path; The medical imaging device is used to scan the head end area of ​​the positioning medical tool during navigation to the lesion area on the medical path to obtain medical images, and reconstruct a two-dimensional image and / or a three-dimensional model of the head end area of ​​the positioning medical tool to confirm the surrounding conditions of the positioning medical tool.

2. The system according to claim 1, characterized in that The medical imaging device comprises an X-ray machine, and the X-ray machine is used to image the head end area of ​​the positioning medical tool to obtain a two-dimensional image.

3. The system according to claim 1, characterized in that The medical imaging device comprises a CT machine, which is used to scan the head end area of ​​the positioning medical tool, obtain CT data of the scanned area and reconstruct a two-dimensional image and a three-dimensional model of the head end area of ​​the positioning medical tool.

4. The system according to claim 1, characterized in that The magnetic navigation device includes a magnetic field generator disposed in the operating table and a positioning sensor disposed in the positioning medical tool; The magnetic field generator is used to generate a positioning magnetic field to locate the position of the positioning sensor.

5. The system according to claim 4, characterized in that The medical imaging device is also used to scan the area around the positioning position of the positioning sensor obtained by the magnetic field generator to obtain medical images, and reconstruct a two-dimensional image and / or a three-dimensional model around the positioning position to confirm that the positioning medical tool has reached the actual lesion area.

6. The system according to claim 5, characterized in that The acquired medical images include images of the positioning position of the positioning sensor and images of the lesion area. The medical imaging device is used to adjust and optimize its own structure, parameters and characteristics according to the imaging range of the images of the positioning position of the positioning sensor and the image of the lesion area and the characteristics of the lesion area to ensure clear imaging of the lesion area.

7. The system according to claim 5, characterized in that It also includes a display module, which is used to fuse and display the two-dimensional image and / or three-dimensional model around the positioning position reconstructed by the medical imaging device and the two-dimensional image and / or three-dimensional model used for planning the medical path, so as to calibrate the positioning of the positioning sensor and the medical path.

8. The system according to any one of claims 4 to 7, characterized in that: The magnetic field generator is a flat plate generator, and the flat plate generator can move in the operating table.

9. The system according to any one of claims 4 to 7, characterized in that: The magnetic field generator is a hollow frame structure generator, and the hollow structure of the frame structure generator is used for the radiation of the medical imaging device to transmit.

10. The system according to claim 1, characterized in that A column is arranged below the operating table, and the column is a liftable structure.

11. The system according to claim 10, characterized in that The operating table can move relative to the column within the plane where the table top is located.

12. The system according to any one of claims 1 to 5, characterized in that: The medical imaging device comprises an X-ray tube for emitting X-rays and an imaging module for receiving the X-rays, and the X-ray tube and the imaging module are separated on two sides of the operating table.

13. The system according to claim 12, characterized in that The medical imaging device further comprises a C-shaped arm which moves relative to the operating table, and two ends of the C-shaped arm are respectively used to set the X-ray tube and the imaging module.

14. The system according to claim 13, characterized in that The medical imaging device further comprises a mechanical arm, one end of which is connected to the C-shaped arm to drive the C-shaped arm to move relative to the operating table.

15. The system according to claim 14, characterized in that It also includes a base, the other end of the mechanical arm is connected to the base, and the operating table is arranged on the base.

16. The system according to claim 12, characterized in that The medical imaging device further comprises an O-shaped arm, which is sleeved on the operating table and moves relative to the operating table. The X-ray tube and the imaging module are arranged inside the O-shaped arm and are arranged in opposite positions.

17. The system according to claim 16, characterized in that It also includes a slide rail, which is arranged below the operating table. The O-shaped arm is arranged on the slide rail and can move relative to the operating table along the length direction of the operating table.

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