Medical system

Abstract

An embodiment of the present invention provides a medical system, which includes an operating table, a magnetic navigation device, a medical imaging device and an optical positioning device; the magnetic navigation device is used to navigate a positioning medical tool to a lesion area on the medical path according to a medical path; the optical positioning device includes an imaging module and at least three first markers arranged on the medical imaging device, and the optical positioning device is used to obtain the position of the medical imaging device relative to the imaging module according to the imaging of the at least three first markers by the imaging module; the medical imaging device is used to scan and obtain images of the head end area of ​​the positioning medical tool according to the position of the medical imaging device relative to the imaging module, 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 and whether it has reached the correct position.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to a medical system. Background Art

[0002] The diagnosis and treatment of lung nodules have become increasingly important for the early detection and treatment of lung cancer. The most advanced diagnostic and treatment method is that magnetic navigation equipment plans a medical path from the natural airway to the lesion through medical imaging, and navigates the medical tool to the lesion along this medical path, and then performs corresponding treatment on the lesion.

[0003] However, the above lesion locations are only the lesion locations on the medical path planned by the magnetic navigation device through previous medical images. Accompanied by the patient's breathing movements and possible deformation of the organs as soft tissues, a relatively complex registration process is required. The actual tracheal shape and position may not completely match the medical path, and the actual lesion location may deviate from the planned target position. In addition, in the process of navigating the medical tools, only previous medical images are used for auxiliary judgment, which also leads to poor accuracy and effective navigation efficiency of magnetic navigation. Summary of the invention

[0004] An embodiment of the present invention provides a medical system for improving the accuracy and efficiency of delivering medical tools to a lesion location.

[0005] An embodiment of the present invention provides a medical system, which includes an operating table, a magnetic navigation device, a medical imaging device, and an optical positioning device;

[0006] 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;

[0007] The optical positioning device comprises an imaging module and at least three first markers arranged on the medical imaging device, and the optical positioning device is used to obtain the position of the medical imaging device relative to the imaging module according to the imaging of the at least three first markers by the imaging module;

[0008] The medical imaging device is used to scan the head end area of ​​the positioning medical tool to obtain images according to the position of the medical imaging device relative to the imaging module, 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.

[0009] Furthermore, the imaging module is fixedly connected to the operating table, and the position of the imaging module relative to the operating table is known.

[0010] Furthermore, the optical positioning device also includes at least three second markers arranged on the operating table, and the optical positioning device is used to obtain the position of the imaging module relative to the operating table based on the imaging of the at least three second markers by the imaging module.

[0011] Furthermore, the medical imaging device includes 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.

[0012] Furthermore, the medical imaging device includes 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.

[0013] Furthermore, the imaging module includes at least two cameras with fixed relative positions, and the shooting range of the cameras covers the at least three first markers.

[0014] Furthermore, at least two of the cameras are infrared cameras.

[0015] Further, the magnetic navigation device includes a magnetic field generator disposed in the operating table and a positioning sensor disposed in the positioning medical tool;

[0016] The magnetic field generator is used to generate a positioning magnetic field to locate the position of the positioning sensor.

[0017] Furthermore, the medical imaging device is also used to scan the surroundings of 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.

[0018] Furthermore, the acquired medical images include images of the positioning position of the positioning sensor and images of the lesion area, and 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.

[0019] Furthermore, the medical system 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.

[0020] Furthermore, the magnetic field generator is a flat plate generator, and the flat plate generator can be moved within the operating table.

[0021] Furthermore, the magnetic field generator is a hollow frame structure generator, and the hollow structure of the frame structure generator is used for the transmission of rays of the medical imaging device.

[0022] Furthermore, a column is provided under the operating table, and the column is a liftable structure.

[0023] Furthermore, the operating table can move relative to the column within the plane where the table top is located.

[0024] Furthermore, 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.

[0025] Furthermore, the medical imaging device also includes a C-shaped arm that 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.

[0026] Furthermore, the at least three first markers are respectively arranged at different positions of the C-shaped arm.

[0027] In an embodiment of the present invention, the imaging module of the optical positioning device obtains the position of the medical imaging device relative to the imaging module by imaging at least three first markers provided on the medical imaging device, and the magnetic navigation device obtains the position of the head end of the positioning medical tool and navigates the positioning medical tool to the lesion area of ​​the medical path target according to the medical path. During the navigation process, the medical imaging device moves according to the position of the medical imaging device relative to the imaging module to scan the head end area of ​​the positioning medical tool to obtain an image, and reconstructs 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, and then 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, calibration compensation for positioning is performed 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 end area of ​​the positioning medical tool reconstructed during the navigation process can be used in real time to assist in the navigation action to ensure that the positioning medical tool is on the best path to reach the actual lesion area, so that the positioning medical tool can quickly reach the actual lesion area, thereby improving the effective navigation efficiency of magnetic navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0029] Figure 1 A schematic diagram of a three-dimensional structure of a medical system provided by an embodiment of the present invention;

[0030] Figure 2 Another schematic diagram of a three-dimensional structure of a medical system provided by an embodiment of the present invention;

[0031] Figure 3 Another schematic diagram of a three-dimensional structure of a medical system provided by an embodiment of the present invention;

[0032] Figure 4a A schematic diagram of a three-dimensional structure of an operating table of a medical system provided by an embodiment of the present invention;

[0033] Figure 4b Another schematic diagram of the three-dimensional structure of an operating table of a medical system provided by an embodiment of the present invention;

[0034] Figure 5 Another schematic diagram of the three-dimensional structure of an operating table of a medical system provided by an embodiment of the present invention;

[0035] Figure 6 A structural block diagram of a medical imaging device of a medical system provided by an embodiment of the present invention;

[0036] Figure 7 A schematic diagram of a three-dimensional structure of a medical imaging device of a medical system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] An embodiment of the present invention provides a medical system that combines path navigation based on positioning sensors with medical tools on the basis of a three-dimensional model of the bronchial tree and a three-dimensional model of the pulmonary blood vessels reconstructed from CT data, thereby providing an accessible channel for some special lesion locations, such as lesion locations in the periphery of the lung that cannot be reached by a bronchoscope or lesions that have no obvious natural airway access, so that medical tools can reach these lesion locations and provide conditions for the treatment of these lesion locations.

[0039] 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 embodiments of the present invention are introduced and described:

[0040] These positioning sensors use the principle of electromagnetic navigation, which is different from the ordinary magnetic navigation principle. The principle of magnetic navigation is mainly to rely on the external magnetic field to attract or repel the permanent magnet in the ablation catheter to affect the direction of the medical device entering the body. The working principle of the positioning sensor in the embodiment of the present invention is mainly to output current to the external control system in response to the magnetic field in the space where it is located, so that the control system can locate the position of the corresponding catheter. In detail, the positioning sensor and the control system are connected (signal) by wire or wireless means. The control system includes a magnetic field generator for generating a magnetic field in a certain range of positioning space; the positioning sensor itself is not magnetic, and the coil in the positioning sensor is used to sense the magnetic field generated by the magnetic field generator. Among them, the magnetic field generator generates a changing magnetic field in a certain range of positioning space, and ensures that the magnetic field characteristics of each point in the positioning space are unique. The coil in the positioning sensor generates a current in the changing magnetic field, and after collecting and generating a signal, it is transmitted to the control system, and the control system analyzes the signal to determine the precise position and direction of the corresponding catheter.

[0041] Figure 1 A three-dimensional structural diagram of a medical system provided in an embodiment of the present invention, wherein the medical system comprises an operating table 10 , a magnetic navigation device 20 , a medical imaging device 30 and an optical positioning device 40 .

[0042] The magnetic navigation device 20 is used to navigate the positioning medical tool 50 to the lesion area on the medical path according to the medical path; the optical positioning device 40 includes an imaging module 410 and at least three first markers 420 arranged on the medical imaging device 30, and the optical positioning device 40 is used to obtain the position of the medical imaging device 30 relative to the imaging module 410 based on the imaging of the at least three first markers 420 by the imaging module 410; the medical imaging device 30 is used to move according to the position of the medical imaging device 30 relative to the imaging module 410 to scan the head end area of ​​the positioning medical tool 50 to obtain an image, and reconstruct a two-dimensional image and / or a three-dimensional model of the head end area of ​​the positioning medical tool 50 to confirm the surrounding conditions of the positioning medical tool 50.

[0043] Among them, the magnetic navigation device 20 and the medical imaging device 30 are respectively arranged next to the operating table 10, and the operating table 10 can be used for the radiation transmission of the medical imaging device 30. The optical positioning device 40 is not specifically limited here, and it is only necessary to ensure that its working range can cover the operating table 10 and the medical imaging device 30.

[0044] Here, the operating table 10 includes but is not limited to an operating table in an operating room, or a bed for patient diagnosis and treatment, etc. The medical imaging device 30 includes but is not limited to a CT machine, or an X-ray machine, etc. If conditions permit, it can generally refer to all medical imaging devices for imaging the patient's local or whole body, and its imaging type includes but is not limited to two-dimensional images. The medical imaging device 30 here can emit corresponding medical rays, including but not limited to X-rays. The operating table 10 here can allow the rays of the medical imaging device 30 to be transmitted, and has the effect of not affecting the imaging effect of the medical imaging device 30.

[0045] The magnetic navigation device 20 includes a path planning module, which is 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 intrapulmonary blood vessels reconstructed by CT data, and plan a navigation path from the main carina through the natural airway to the target point, which can also 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 cavity. In addition, the embodiments of the present invention and the present invention do not make specific limitations on the shape and structure of the magnetic navigation device 20. The shape, structure and placement position of the magnetic navigation device 20 in the drawings in the specification of the embodiments of the present invention are merely schematic.

[0046] Specifically, the magnetic navigation device 20 first reconstructs a corresponding three-dimensional model based on the medical imaging data of the whole body or the lesion area obtained in advance by the patient, where the lesion area generally refers to the organ where the lesion exists, such as CT data. The three-dimensional model here is mainly used for user path planning and determination of the lesion location, which can be called a navigation three-dimensional model, to plan a medical path through a natural cavity to reach the lesion area, and then navigates the positioning medical tool 50 to the lesion area on the medical path according to the medical path. The positioning medical tool 50 here refers to a medical tool with a positioning function, such as biopsy, puncture, treatment and other medical tools, which can specifically be a guide wire, catheter, cell forceps, biopsy needle, dilation balloon, ablation catheter, etc.

[0047] Here, the positioning medical tool 50 is connected to the magnetic navigation device 20, or is a part of the magnetic navigation device 20, such as the magnetic navigation device 20 has a conveying mechanism similar to a robotic arm, the conveying mechanism is connected to the positioning medical tool 50, the conveying mechanism drives the positioning medical tool 50 into the patient's body according to the medical pathway, and reaches the lesion area under the control of the magnetic navigation device 20, and this lesion area usually refers to the lesion area of ​​the medical path target; the above gives the situation of conveying the positioning medical tool 50 into the patient's body through the conveying mechanism. In other embodiments, the positioning medical tool 50 can also be delivered to the patient's body through a propulsion device by the operation of a physician. The physician 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 50 to move according to the medical pathway, and then reaches the lesion area. Of course, this lesion area usually refers to the lesion area of ​​the medical path target.

[0048] The optical positioning device 40 specifically includes at least three first markers 420 arranged on the medical imaging device 30 and the imaging module 410 for imaging the first markers 420. The imaging module 410 here includes but is not limited to a camera. The first marker 420 can be an object that can be photographed by the camera. The reason why the number of the first markers 420 is limited to at least three here is that the shape of the medical imaging device 30 is fixed. The first markers 420 are set at at least three different positions on the medical imaging device 30, and these first markers 420 are imaged by the imaging module 410. These first markers 420 are used as identification features to calibrate and identify the position of the medical imaging device 30, that is, the C-arm shape, position and imaging range of the medical imaging device 30 can be clearly defined. During use, the image analysis technology can be used to obtain the position of the medical imaging device 30 relative to the imaging module 410.

[0049] Here, the imaging module 410 specifically includes at least two cameras with determined relative positions, and the shooting range of the cameras covers the at least three first markers 420. Specifically, the imaging module 410 here is composed of at least two cameras, that is, at least binocular cameras, and the relative positions between the cameras are determined, and each camera can capture the at least three first markers 420, that is, the shooting range of each camera at least covers the at least three first markers 420. Here, the position of the imaging module 410 relative to the at least three first markers 420 can be calculated by combining the differences in the pixels on the images of the markers 420 captured by each camera and the differences in the positions (directions and distances) between each camera, that is, the position of the medical imaging device 30 relative to the imaging module 410 can be obtained.

[0050] In addition, in other preferred embodiments of the present invention, in order to expand the application of the camera so that it can be used in conditions with poor lighting and obtain high-quality images to improve the accuracy of the acquired relative position relationship, while also avoiding interference with the patient on the operating table 10 when the camera is shooting, at least two of the cameras are infrared cameras.

[0051] After obtaining the position of the medical imaging device 30 relative to the imaging module 410, the medical imaging device 30 will move according to the obtained relative position relationship. It should be emphasized here that the relative position between the imaging module 410 and the operating table 10 is determined, that is, the position of the medical imaging device 30 relative to the imaging module 410 mentioned above can be converted into the position of the medical imaging device 30 relative to the operating table 10. Specifically, the medical imaging device 30 is moved to a shooting range covering the head end area of ​​the positioning medical tool 50, and then the head end area of ​​the positioning medical tool 50 is scanned to obtain corresponding images, and then the two-dimensional image and / or three-dimensional model of the head end area of ​​the positioning medical tool 50 is reconstructed, such as by irradiating and scanning the head end area of ​​the positioning medical tool 50 by the CT machine to obtain corresponding CT data, and then reconstructing the two-dimensional image and three-dimensional model of the head end area of ​​the positioning medical tool 50 through these CT data; or by shooting the head end area of ​​the positioning medical tool 50 by an X-ray machine to obtain corresponding X-ray images, and then obtaining the two-dimensional image of the head end area of ​​the positioning medical tool 50 through the X-ray image processing, or further reconstructing the three-dimensional model of the head end area of ​​the positioning medical tool 40.

[0052] Here, the purpose of reconstructing the two-dimensional image and / or three-dimensional model of the head end area of ​​the positioning medical tool 50 is to confirm the surrounding conditions of the positioning medical tool 50. This is because the medical path navigated by the magnetic navigation device 20 is planned based on the patient's previous medical images. The patient's respiratory movements, organ deformation and other factors may affect the actual lesion location, that is, the magnetic navigation device 20 navigates the positioning medical tool 50 to the lesion location on the medical path according to the medical path, which is not necessarily accurate. At this time, the two-dimensional image and / or three-dimensional model can be used to judge whether the head end of the positioning medical tool 50 is Whether it is moving along the correct path, and further whether it has reached the actual lesion area. If it has reached the actual lesion area, the positioning medical tool 50 can be controlled to perform corresponding treatment operations; if it is found that the head end of the positioning medical tool 50 has not reached the actual lesion area, and according to the specific position of the head end of the positioning medical tool 50 combined with the lesion position on the two-dimensional image and / or the three-dimensional model, the path to reach the position is re-planned, such as correcting and compensating the positioning, path or three-dimensional model, and the positioning medical tool 50 is controlled to move to the accurate lesion position according to the corrected position and navigation path, so as to perform further treatment operations.

[0053] It should be pointed out here that the reconstruction of the two-dimensional image and / or three-dimensional model obtained by X-ray imaging involves two algorithms, one of which is to fuse the two-dimensional image with the medical path and the navigation three-dimensional model and display them in the same window to clearly display the situation of the head end area of ​​the positioning medical tool 50; the other is to

[0054] The two-dimensional X-ray image is further reconstructed into a three-dimensional image of the head end area of ​​the positioning medical tool 50 through an algorithm, and the positioning or navigation path is corrected with the newly reconstructed three-dimensional model.

[0055] It is conceivable that, during the process in which the magnetic navigation device 20 navigates the positioning medical tool 50 along the medical path, the medical imaging device 30 may scan or photograph the head end area of ​​the positioning medical tool 50 in real time according to its relative position with the optical positioning device 40, or may scan or photograph the head end area of ​​the positioning medical tool 50 when needed to obtain corresponding real-time medical images. In order to reduce radiation to the patient, scanning or photographing is generally performed only when necessary, and in order to ensure the quality of scanning or photographing, it is necessary to keep the positioning medical tool 50 still and reconstruct a two-dimensional image and / or a three-dimensional model of the head end area of ​​the positioning medical tool 50 to confirm whether the medical path deviates from the actual position of the lesion. The judgment here as to whether it deviates from the actual position of the lesion refers to whether the head end of the medical tool 50 If the actual position of the lesion deviates from the natural cavity (bronchus) that the medical path should pass through or the lesion, it can be corrected in time. Here, the offset compensation of the head end position of the medical tool is generally performed based on real-time medical images and reconstruction models, or the alignment is corrected, or the shape of the medical path / tracheal tree and the position of the target point are corrected). If a deviation occurs, it can be corrected in time so that the positioning medical tool 50 always remains on the actual path to the actual lesion location, so that the positioning medical tool 50 can 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 intervenes in the patient's body, reducing the discomfort or pain of the patient during diagnosis and treatment.

[0056] In addition, it should be pointed out that the medical imaging device 30 can reconstruct the two-dimensional image or three-dimensional model of the head end area of ​​the positioning medical tool 50 according to actual needs. However, in order to ensure the correctness of judging the moving path of the positioning medical tool 50 after entering the patient's body, in a preferred embodiment, the medical imaging device 30 will simultaneously reconstruct the two-dimensional image and three-dimensional model of the head end area of ​​the positioning medical tool 50, and match and fuse them with the navigation three-dimensional model reconstructed by the aforementioned CT, and calibrate the positioning or medical path.

[0057] Furthermore, in one embodiment of the present invention, the imaging module 410 is fixedly connected to the operating table 10 , and the position of the imaging module 410 relative to the operating table 10 is known.

[0058] Specifically, the imaging module 410 is fixedly connected to the operating table 10 through a connecting rod, and the relative position between the two is known, that is, the position, direction and distance of the imaging module 410 relative to the operating table 10 are known. The first marker 420 on the medical imaging device 30 is imaged and photographed by the imaging module 410 to obtain the relative position relationship of the medical imaging device 30 relative to the imaging module 410. Because the relative position between the imaging module 410 and the operating table 10 is known, it can be converted into the position relationship of the medical imaging device 30 relative to the operating table 10, that is, the position relationship of the medical imaging device 30 and its imaging range relative to the operating table 10 and the patient on the operating table 10, so as to guide the medical imaging device 30 to move so as to scan the head end area of ​​the positioning medical tool 50 to obtain the corresponding image.

[0059] Also, please refer to Figure 2 , which is another three-dimensional structural schematic diagram of a medical system provided in an embodiment of the present invention, the optical positioning device 40 also includes at least three second markers 430 arranged on the operating table 10, and the optical positioning device 40 is used to obtain the position of the imaging module 410 relative to the operating table 10 based on the imaging of the at least three second markers 430 by the imaging module 410. Here, the imaging module 410 can be set at any position where the operating table 10 and the medical imaging device 30 can be photographed, specifically, at any position where the first marker 420 and the second marker 430 can be photographed. As shown in the figure, the imaging module 410 is set on a bracket, standing next to the operating table 10, and separated from the operating table 10; at least three second markers 430 are set on the operating table 10. Like the medical imaging device 30 mentioned above, the shape of the operating table 10 is fixed, and its specific shape can be obtained by photographing at least three second markers 430 thereon, and the relative position relationship of the imaging module 410 with respect to the operating table 10 can be obtained by using image analysis technology.

[0060] Combined with the positional relationship of the imaging module 410 relative to the medical imaging device 30 obtained above, the positional relationship between the medical imaging device 30 and the operating table 10 can be calculated, that is, the positional relationship between the medical imaging device 30 and the patient on the operating table 10, and then the medical imaging device 30 can be guided to move so as to scan the head end area of ​​the positioning medical tool 50 to obtain the corresponding image.

[0061] Furthermore, the medical imaging device 30 includes an X-ray machine, and the X-ray machine is used to image the head end area of ​​the positioning medical tool 50 to obtain a two-dimensional image.

[0062] Specifically, the medical imaging device 30 is an X-ray machine arranged next to the operating table 10, and the X-ray machine can generate rays that pass through a certain part of the patient's body on the operating table 10. The rays here mainly pass through the area around the head end of the positioning medical tool 50, and then perform imaging. The imaging here includes but is not limited to digital imaging, and obtains the corresponding two-dimensional image of the area. Further, the two-dimensional image can be matched to the navigation three-dimensional model through an algorithm, or the two-dimensional image can be reconstructed into a three-dimensional model of the imaging area through an algorithm. Here, the condition of the head end area of ​​the positioning medical tool 50 can be displayed on the two-dimensional image (and / or the reconstructed three-dimensional model), such as the relative position relationship between the medical tool and the body tissue and bones, or the relative position relationship with the actual lesion area, and the relative position relationship here includes distance and direction.

[0063] Through the image of the head end area of ​​the positioning medical tool 50 obtained as above, the condition of the head end of the positioning medical tool 50 can be grasped, and it can be accurately determined whether the positioning medical tool 50 deviates from the path to the actual lesion location; or it can be confirmed whether the head end of the positioning medical tool 50 has almost reached the actual lesion area, and the direction of the head end of the positioning medical tool 50 has been aligned with the actual lesion area.

[0064] In addition, the medical imaging device 30 also includes a CT machine, which is used to scan the head end area of ​​the positioning medical tool 50, 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 50.

[0065] 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 machine, which is a computer X-ray tomography machine. It can scan a part of the patient's body on the operating table according to a layer of a certain thickness through rays. Specifically, it can scan a body area within a certain range around the head end of the positioning medical tool 50 to generate corresponding medical images, and then reconstruct a three-dimensional model of the head end area of ​​the positioning medical tool 50 based on these medical images. The three-dimensional model here can more clearly grasp the condition of the head end of the positioning medical tool 50 than the two-dimensional image, so as to more accurately judge whether the positioning medical tool 50 deviates from the path to the actual lesion location; or accurately confirm whether the head end of the positioning medical tool 50 has almost reached the actual lesion area, and more clearly judge whether the head end direction of the positioning medical tool 50 is aligned with the actual lesion area.

[0066] Furthermore, please combine Figure 3 , is another three-dimensional structural schematic diagram of a medical system provided in an embodiment of the present invention, the magnetic navigation device 20 includes a magnetic field generator 210 arranged in the operating table 10 and a positioning sensor 220 arranged in the positioning medical tool 50, and the magnetic field generator 210 is used to generate a positioning magnetic field to locate the position of the positioning sensor 220.

[0067] Specifically, the magnetic field generator 210 is arranged in the operating table 10, and the magnetic field generator 210 will emit a positioning magnetic field in the direction of the bed surface. When the patient lies on the operating table 10, the body of the patient in the lesion area is located in the positioning magnetic field, and because the patient is generally in a state of general anesthesia on the operating table 10, that is, the relative position of the lesion area in the positioning magnetic field is fixed. Since the positioning magnetic field has its own coordinate system, it is called a magnetic field coordinate system, that is, the relative position of the lesion area in the magnetic field coordinate system is fixed, and the position and direction of the positioning medical tool 50 in the patient's body can be represented by the position coordinates of the head of the positioning medical tool 50 in the magnetic field coordinate system. Specifically, The positioning magnetic field can locate the positioning sensor 220 in the positioning medical tool 50. Since the positioning sensor 220 is arranged at the head end of the positioning medical tool 50, that is, by locating the positioning sensor 220 and obtaining the corresponding position coordinates in the magnetic field coordinate system, the position and direction of the positioning medical tool 50 in the patient's body can be obtained; or the positioning sensor 220 is arranged inside the positioning medical tool 50 and the relative position between it and the head is known, and the position coordinates of the head end of the positioning medical tool 50 in the magnetic field coordinate system are obtained by conversion, thereby obtaining the position and direction of the positioning medical tool 50 in the patient's body.

[0068] Furthermore, the medical imaging device 30 is also used to scan the surroundings of the positioning position of the positioning sensor 220 obtained by the magnetic field generator 210 to obtain medical images, and reconstruct a two-dimensional image and / or a three-dimensional model around the positioning position to confirm the surrounding conditions of the positioning medical tool 50 and whether it has reached the actual lesion area.

[0069] Specifically, the positioning medical tool 50 with the positioning sensor 220 is delivered into the patient's body by the doctor or by the magnetic navigation device 20, and the positioning medical tool 50 is navigated to the lesion area on the medical path according to the medical path. At this time, the medical imaging device 30 scans the positioning position of the positioning sensor 220 in the magnetic field generator 210, that is, a certain range around the position of the positioning coordinates of the positioning sensor 220 in the magnetic field coordinate system, obtains the corresponding medical image, and reconstructs a two-dimensional image and / or a three-dimensional model around the positioning position based on the acquired medical image. The reconstructed two-dimensional image and / or three-dimensional model here includes an image or model of the head end of the positioning medical tool 50, which can certainly determine the position and orientation of the head end of the positioning medical tool 50, and may also include the patient's actual lesion and the natural cavity (bronchus) where it is located. If the head end of the positioning medical tool in this image or model has entered the same If the positioning medical tool 50 is located at the actual lesion area of ​​the patient, it can be confirmed that the positioning medical tool 50 has reached the actual lesion area, and the relative position relationship between the head end of the positioning medical tool 50 and the lesion area can be further obtained, which mainly refers to the distance, relative direction and orientation of the head end of the positioning medical tool 50 and the actual lesion area; if the head end of the positioning medical tool in this image or model has not entered the actual lesion of the patient, it indicates that the positioning medical tool 50 has not reached the actual lesion area, and the actual lesion area may no longer be on the medical path. At this time, it is necessary to readjust the medical path or correct the positioning position according to the two-dimensional image and / or three-dimensional model, so that the magnetic navigation device 20 can navigate the positioning medical tool 50 to the actual lesion area. At this time, it may be necessary to expand the scanning range of the medical imaging device 30, and then obtain a larger range of two-dimensional images and / or three-dimensional models to ensure that the actual lesion area is covered.

[0070] It should be pointed out here that, referring to the above description, the reconstruction of the two-dimensional image and / or three-dimensional model based on the medical image is determined by the type of medical image acquired by the medical imaging device 30 and the reconstruction algorithm, that is, it is determined by the specific type of the medical imaging device 30.

[0071] 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 according to the imaging range of the image of the positioning position of the positioning sensor 220 and the image of the lesion area and the characteristics of the lesion area to ensure clear imaging of the lesion area.

[0072] Specifically, the medical imaging device 30 scans the area around the positioning position of the positioning sensor 220 obtained by the magnetic field generator 210 to obtain medical images that can cover a certain range, including the image of the positioning position of the positioning sensor 220 and the image of the lesion area. At this time, the image of the lesion area is bound to be unclear, especially for traditional X-ray equipment, due to the versatility of the equipment, it needs to adapt to different working conditions (such as orthopedics, heart, etc.). For lesions with small density differences such as inflammation, nodules, etc. (closer to normal tissue density), the images that may be obtained can only show unclear shadows or cannot be distinguished; and the images obtained and reconstructed by small CT may not be able to clearly distinguish the lesions with small density differences from the surrounding normal tissues (contours, positions, sizes) due to structural limitations (power, heat dissipation and other factors). The structure and imaging module design of the medical imaging device 30 are optimized for lesions with small density differences. And when the positioning medical tool 50 is navigated to the lesion area on the medical path according to the medical path, the medical image acquired by the medical imaging device 30 for the area around the positioning position of the positioning sensor 220 will include an image of a part of the positioning medical tool 50, that is, an image of the positioning position of the positioning sensor 220 and an image of the lesion area. At this time, the medical imaging device 30 can optimize and adjust the parameters and characteristics when acquiring the medical image according to the imaging range of the above acquired image and the characteristics of the lesion, so that it can improve the image quality for the problem that traditional medical imaging equipment cannot clearly image the lesion with a small difference in density from the surrounding tissue. Furthermore, the parameters and characteristics of the medical imaging device 30 can be optimized and adjusted again according to the imaging results of the previous medical image and a second clear imaging can be performed to distinguish the outline, position, and size of the lesion area.

[0073] In addition, it should be pointed out that the medical imaging device 30 can reconstruct the two-dimensional image or three-dimensional model of the head end area of ​​the positioning medical tool 50 according to actual needs. However, in order to ensure the correctness of the movement path of the positioning medical tool 50 after entering the patient's body, in a preferred embodiment, the medical system also includes a display module (not shown in the figure), and the medical imaging device 30 will simultaneously reconstruct the two-dimensional image and / or three-dimensional model of the head end area of ​​the positioning medical tool 50, and the two-dimensional image and / or three-dimensional model will also be used accordingly when planning the medical path, that is, the navigation two-dimensional image and / or three-dimensional model mentioned above before navigation, and the display module is used to fuse and display the two-dimensional images and / or three-dimensional models obtained twice, that is, the positions and features of the two-dimensional images and / or three-dimensional models obtained twice are matched and aligned on the display module, and are simultaneously displayed in one view for clear observation, so as to calibrate the positioning of the positioning sensor 220 and the medical path.

[0074] Please combine Figure 4a and Figure 4b In a feasible implementation of the embodiment of the present invention, the magnetic field generator 210 is a flat-plate generator 2101 , and the flat-plate generator can be moved within the operating table 10 .

[0075] Specifically, the flat-plate generator 2101 is arranged in the operating table 10 and can move freely in the operating table 10. For example, a slide rail (not shown in the figure) is arranged inside the operating table 10 along the length direction thereof, and two opposite sides of the flat-plate generator 2101 are respectively arranged on the slide rails, so that the flat-plate generator 2101 can move freely in the operating table 10. When scanning or photographing is to be performed by the medical imaging device 30, in order to prevent the magnetic field emitted by the magnetic field generator 210 from interfering with the medical imaging device 30, or to prevent the magnetic field generator 210 from blocking the rays of the medical imaging device 30 and reducing the image quality, the flat-plate generator 2101 can be temporarily moved out of the scanning or photographing range of the medical imaging device 30 to ensure that the medical image acquired by the medical imaging device 30 is clear and accurate.

[0076] In addition, please combine Figure 5 In another feasible implementation of the 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 radiation transmission of the medical imaging device 30.

[0077] Specifically, the hollow frame structure generator 2012 includes two magnetic field generators arranged opposite to each other and a connecting structure connecting the two ends of the two magnetic field generators, which are connected end to end into a hollow frame structure. Here, the connecting structure is made of a material that is transmissive to the radiation of the medical imaging device 30, including but not limited to carbon fiber or plastic, etc. The hollow structure here can allow the radiation of the medical imaging device 30 to pass through, and does not affect its radiation transmission when the medical imaging device 30 needs to scan or shoot the patient, so that while the magnetic navigation device 20 is working, the medical imaging device 30 can also obtain corresponding medical images, and the two do not interfere with each other, thereby improving the working efficiency of the medical system.

[0078] Furthermore, please combine Figure 4a , Figure 4b as well as Figure 5 In other preferred embodiments of the present invention, a column 110 is provided under the operating table 10, and the column 110 is a liftable structure.

[0079] Specifically, the column 110 serves to support the operating table 10. The column 110 of the liftable structure includes but is not limited to a hydraulic lifting structure. Through the column 110, the table top of the operating table 10 can be moved in the vertical direction, as shown in the direction of the arrow in the figure, to adapt to a variety of different operating heights and improve the applicability of the medical system.

[0080] Furthermore, in other preferred embodiments of the present invention, the operating table 10 can move relative to the column 110 within the plane where the table top is located.

[0081] Specifically, the plane where the table top of the operating table 10 is located can move at the top of the column 110. It should be emphasized here that it can be reciprocated along the length direction of the operating table 10, as shown in the direction of the arrow in the figure, or it can be arbitrarily moved within the plane where the table top of the operating table 10 is located, such as the plane where the table top of the operating table 10 is located rotated relative to the top of the column 110. This design takes into account that patients who are diagnosed and treated on the operating table 10 generally need to undergo general anesthesia, that is, there will be no relative position between the operating table 10 and the patient. If the part of the patient that is photographed or scanned by the medical imaging device 30 changes, at this time, only the position of the operating table 10 needs to be moved to achieve the change of the part of the patient that is photographed or scanned, without waking up the patient, thereby improving the diagnosis and treatment efficiency of the medical system.

[0082] Also, please refer to Figure 6, is a structural block diagram of a medical imaging device of 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 separated on both sides of the operating table 10, and it is not limited to the X-ray tube 310 or the imaging module 320 above the operating table.

[0083] Here, the X-ray tube 310 emits X-rays covering the imaging range of the imaging module 320. The X-ray tube 310 and the imaging module 320 are arranged relative to 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 body of the patient located on the operating table 10 and then reach the imaging module 320, and be imaged in the imaging module 320 to obtain a medical image of the part of the patient located on the operating table 10 that is passed by the rays.

[0084] The medical imaging device 30 further includes a reconstruction module and a display module. The reconstruction module is used to reconstruct a two-dimensional image and / or a three-dimensional model based on the acquired medical image; and the display module is used to display the two-dimensional image and / or the three-dimensional model accordingly.

[0085] Furthermore, please combine Figure 7 In a feasible implementation of the embodiment of the present invention, the medical imaging device 30 also 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.

[0086] 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. Here, 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 or width direction of the operating table 10, or it can mean that the opening of the C-shaped arm 330 rotates around the operating table 10, so that the shooting or scanning range of the medical imaging device 30 covers the entire operating table 10 and all directions thereof, and medical images of appropriate angles can be taken as needed, thereby improving the user experience of the medical system.

[0087] In addition, in order to facilitate the imaging module 410 to more accurately determine the shape of the medical imaging device 30 so as to obtain the position of the medical imaging device 30 relative to the imaging module 410 through image analysis technology, the at least three first markers are generally set at different positions of the C-arm 320, that is, by calibrating and identifying the C-arm 320 with at least three different key points of the C-arm 320 as identification features, the specific shape of the C-arm 320 with a relatively fixed shape can be obtained. Since the positions of other components of the medical imaging device 30 (the X-ray tube 310 and the imaging module 320) on the C-arm 320 are relatively determined, the shape, position and imaging range of the entire medical imaging device 30 can be obtained, and then the relative position relationship between the medical imaging device 30 and the imaging module 410 can be obtained by using image analysis technology.

[0088] Furthermore, in order to further verify the acquired shape of the medical imaging device 30, the first marker 420 may be set on the X-ray tube 310 and / or the imaging module 320, and imaged by the imaging module 410 to verify the acquired shape.

[0089] Furthermore, it is mentioned above that at least three second markers 430 are set on the operating table 10, the imaging module 410 is used to image them, and the positional relationship between the operating table 10 and the imaging module 410 is obtained by using image analysis technology. It is also necessary to restrict the second marker 430 here, that is, at least three second markers 430 are respectively set at different positions of the operating table 10. The specific reasons can be referred to the description of the setting position of the first marker 420 in the above embodiment, which will not be repeated here.

[0090] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented 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.

[0091] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0092] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0093] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0094] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0095] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0096] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules 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 technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0097] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0098] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0099] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in 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, a medical imaging device, and an optical positioning device; 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 optical positioning device comprises an imaging module and at least three first markers arranged on the medical imaging device, and the optical positioning device is used to obtain the position of the medical imaging device relative to the imaging module according to the imaging of the at least three first markers by the imaging module; The medical imaging device is used to scan the head end area of ​​the positioning medical tool to obtain images according to the position of the medical imaging device relative to the imaging module, 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 imaging module is fixedly connected to the operating table, and the position of the imaging module relative to the operating table is known.

3. The system according to claim 1, characterized in that The optical positioning device also includes at least three second markers arranged on the operating table, and the optical positioning device is used to obtain the position of the imaging module relative to the operating table based on the imaging of the at least three second markers by the imaging module.

4. 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.

5. 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.

6. The system according to claim 1, characterized in that The imaging module includes at least two cameras with fixed relative positions, and the shooting range of the cameras covers the at least three first markers.

7. The system according to claim 6, characterized in that At least two of the cameras are infrared cameras.

8. 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.

9. The system according to claim 8, 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.

10. The system according to claim 9, 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.

11. The system according to claim 9, 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.

12. The system according to any one of claims 8 to 11, characterized in that: The magnetic field generator is a flat plate generator, and the flat plate generator can move in the operating table.

13. The system according to any one of claims 8 to 11, 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.

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

15. The system according to claim 14, characterized in that The operating table can move relative to the column within the plane where the table top is located.

16. The system according to any one of claims 1 to 9, 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.

17. The system according to claim 16, 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.

18. The system according to claim 17, characterized in that The at least three first markers are respectively arranged at different positions of the C-shaped arm.

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