Pulmonary nodule intraoperative positioning system, method, electronic device and storage medium

Abstract

The present disclosure provides a system and method for intraoperative localization of lung nodules, comprising: a three-dimensional reconstruction module for performing three-dimensional reconstruction of a patient's preoperative lung tissue CT image to generate a first three-dimensional model of the lung tissue before collapse, wherein the first three-dimensional model includes the location information of the lung nodule; a laparoscope imaging module for performing a three-dimensional panoramic scan of the patient's intraoperative lung tissue after collapse within the cavity to obtain a three-dimensional panoramic image, segmenting the three-dimensional panoramic image to generate a second three-dimensional model of the collapsed lung tissue; a registration module for registering the first three-dimensional model and the second three-dimensional model to generate a lung nodule location region containing a certain error; and an elastic imaging module for determining the actual location of the lung nodule based on the lung nodule location region. This system and method for intraoperative localization of lung nodules can achieve non-destructive intraoperative localization with high positioning speed and no risk of complications.

Description

Technical Field

[0001] The present disclosure relates to the field of medical device technology, and in particular to a system, method, electronic device, and storage medium for intraoperative localization of a lung nodule. Background Art

[0002] The significant increase in the detection rate of small pulmonary nodules has led to a significant increase in the number of thoracic surgery procedures. Consequently, pulmonary nodule resection, which accounts for the largest number of thoracic surgery procedures, has consumed a significant amount of hospital surgical resources. Wedge resection of pulmonary nodules, in particular, accounts for approximately one-third or more of all pulmonary nodule resections. Because small pulmonary nodules are difficult to see on the lung surface, assisting in their localization is particularly important.

[0003] Currently, the commonly used methods for locating lung nodules include: inserting fingers into the chest cavity through a minimally invasive interface during surgery to touch or slide instruments to locate the nodules. This method has a low positioning success rate; percutaneous puncture assisted positioning under the guidance of Computed Tomography (CT). This method has high positioning accuracy, but has a certain risk of surgical complications and is difficult to implement in hospitals with a large number of surgeries; assisted positioning under bronchoscopy. In addition to being expensive, this method has high requirements for anesthesia and must be performed by very experienced doctors. It is currently difficult to promote it in clinical practice; positioning using ultrasound equipment. This method is not suitable for locating lung nodules. Before the complete collapse of the lung lobe during surgery, a large amount of air exists in the alveoli, which will seriously affect the ultrasound diagnosis effect. In addition, it is usually difficult for the patient's lung lobe to quickly achieve complete collapse during surgery, so ultrasound equipment is not suitable for use in locating lung nodules. Summary of the Invention

[0004] In response to the above technical problems, the present disclosure provides a system, method, electronic device and storage medium for intraoperative localization of pulmonary nodules, which are used to at least partially solve the above technical problems.

[0005] Based on this, the first aspect of the embodiment of the present disclosure provides an intraoperative positioning system for lung nodules, including: a three-dimensional reconstruction module, used to perform three-dimensional reconstruction of the patient's preoperative lung tissue CT image, and generate a first three-dimensional model of the lung tissue before collapse, wherein the first three-dimensional model includes the position information of the lung nodule; a laparoscopic imaging module, used to perform a three-dimensional panoramic scan of the patient's lung tissue after collapse in the cavity during surgery, obtain a three-dimensional panoramic image, segment the three-dimensional panoramic image, and generate a second three-dimensional model of the collapsed lung tissue; a registration module, used to align the first three-dimensional model and the second three-dimensional model, and generate a lung nodule position area containing a certain error; an elastic imaging module, used to determine the actual position of the lung nodule based on the lung nodule position area.

[0006] According to an embodiment of the present disclosure, the registration module is used to align the first three-dimensional model and the second three-dimensional model, including: mapping the position information of the lung nodules in the first three-dimensional model to the second three-dimensional model according to the collapse law of the tissue, and generating a lung nodule location area in the second three-dimensional model.

[0007] According to an embodiment of the present disclosure, the elastic imaging module includes: a palpation instrument for pressing different positions in the patient's lung lobe corresponding to the area where the lung nodule is located; a pressure sensor array, provided at the end of the palpation instrument, including sensor units arranged in an array, and different sensor units are used to detect pressure values at different positions; a signal processing unit, used to determine the actual position of the nodule based on the pressure values at different positions.

[0008] According to an embodiment of the present disclosure, the signal processing unit is used to determine the actual position of the nodule based on the pressure values at different positions, including: generating an elastic imaging image based on the pressure values at different positions; determining the actual position of the lung nodule based on the elastic imaging image, wherein the position where the pressure value is greater than a preset threshold is the actual position of the lung nodule.

[0009] According to an embodiment of the present disclosure, it also includes: an endoscope for collecting surgical field images in the patient's chest cavity; an image system host for processing the surgical field images; a display device for displaying the processed surgical field images; wherein the palpation instrument is also used to press different positions in the patient's lung lobes corresponding to the lung nodule location area based on the processed surgical field images.

[0010] According to an embodiment of the present disclosure, it also includes: an energy tool for marking lung nodules according to their actual locations; the endoscope is also used to track the markings through video images, and to draw an ideal cutting edge in the processed surgical field image in combination with the cutting edge width determined before the operation.

[0011] A second aspect of the disclosed embodiments provides a method for intraoperative localization of lung nodules, comprising: performing three-dimensional reconstruction on a patient's preoperative lung tissue CT image to generate a first three-dimensional model of the lung tissue before collapse, wherein the first three-dimensional model includes location information of the lung nodule; performing a three-dimensional panoramic scan on the patient's lung tissue after collapse in the intraoperative cavity to obtain a three-dimensional panoramic image, segmenting the three-dimensional panoramic image to generate a second three-dimensional model of the collapsed lung tissue; aligning the first three-dimensional model and the second three-dimensional model to generate a lung nodule location area containing a certain error; and determining the actual location of the lung nodule based on the lung nodule location area.

[0012] A third aspect of the present disclosure provides an electronic device, including: one or more processors; a memory for storing one or more programs;

[0013] When one or more programs are executed by one or more processors, the one or more processors implement a method for locating a lung nodule during surgery.

[0014] A fourth aspect of the embodiments of the present disclosure provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement a method for intraoperative localization of a lung nodule.

[0015] The intraoperative pulmonary nodule localization system, method, electronic device, and storage medium provided by the embodiments of the present disclosure have at least the following beneficial effects:

[0016] Through CT three-dimensional reconstruction, intraoperative three-dimensional panoramic scanning model mapping, sensor palpation and multiple mode fusion positioning, and multiple mode cross-verification, intraoperative non-destructive positioning is achieved with fast positioning speed and no risk of complications. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0018] Figure 1 The following schematically shows the structural components of the intraoperative localization system for lung nodules provided in some embodiments of the present disclosure.

[0019] Figure 2 The following schematically shows the structural components of the intraoperative localization system for lung nodules provided in some other embodiments of the present disclosure.

[0020] Figure 3 The flowchart of the intraoperative localization method of lung nodules provided by an embodiment of the present disclosure is schematically shown.

[0021] Figure 4 A block diagram of an electronic device suitable for implementing the above-described method according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0022] To make the objectives, technical solutions, and advantages of the present disclosure more clearly understood, the present disclosure is further described below in conjunction with specific embodiments and with reference to the accompanying drawings. It is apparent that the embodiments described are only a portion of the embodiments of the present disclosure, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present disclosure without inventive effort are intended to fall within the scope of protection of the present disclosure.

[0023] The terms used herein are intended only to describe specific embodiments and are not intended to limit the present disclosure. The terms "comprise," "include," and the like as used herein indicate the presence of the described characteristic images, steps, operations, and / or components, but do not preclude the presence or addition of one or more other characteristic images, steps, operations, or components.

[0024] In this disclosure, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections, or communication; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0025] In the description of the present disclosure, it should be understood that the terms "longitudinal", "length", "circumferential", "front", "rear", "left", "right", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the subsystem or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0026] Throughout the drawings, identical elements are denoted by identical or similar reference numerals. Conventional structures or configurations are omitted where they may obscure the understanding of this disclosure. The shapes, sizes, and positional relationships of components in the drawings do not reflect actual size, proportion, or positional relationships. In addition, in the claims, any reference signs placed between parentheses should not be construed as limitations of the claims.

[0027] Similarly, in order to streamline the present disclosure and aid in understanding one or more of the various disclosed aspects, in the above description of the exemplary embodiments of the present disclosure, the various characteristic images of the present disclosure are sometimes grouped together into a single embodiment, figure, or description thereof. Descriptions with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" and the like mean that the specific characteristic images, structures, materials, or features described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific characteristic images, structures, materials, or features described may be combined in an appropriate manner in any one or more embodiments or examples.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical feature images indicated. Therefore, a feature image defined as "first" or "second" may explicitly or implicitly include one or more of the feature images. In the description of this disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0029] Figure 1 The following schematically shows the structural components of a system for intraoperative localization of lung nodules provided in one embodiment of the present disclosure.

[0030] like Figure 1 As shown, the intraoperative localization system for lung nodules includes a three-dimensional reconstruction module, a laparoscopic imaging module, a registration module and an elastic imaging module.

[0031] The three-dimensional reconstruction module is used to perform three-dimensional reconstruction on the patient's preoperative lung tissue CT image to generate a first three-dimensional model of the lung tissue before collapse, wherein the first three-dimensional model includes location information of the lung nodules.

[0032] The laparoscopic imaging module is used to perform a three-dimensional panoramic scan of the collapsed lung tissue in the patient's cavity during surgery to obtain a three-dimensional panoramic image, segment the three-dimensional panoramic image, and generate a second three-dimensional model of the collapsed lung tissue.

[0033] The registration module is used to register the first three-dimensional model and the second three-dimensional model to generate a lung nodule location area containing a certain error.

[0034] The elastic imaging module is used to determine the actual location of the lung nodule based on the lung nodule location area.

[0035] It should be understood that CT three-dimensional reconstruction can provide doctors with a three-dimensional visual static lung tissue model (before collapse) containing precise location information of lung nodules, that is, the first three-dimensional model, and segment the lung lobes, lung segments, trachea, arteries and veins, and lung nodules, which can assist doctors in understanding the anatomical characteristics of the area where the lung nodules are located, as well as intuitively understand the location of the nodules and the relative positional relationship between the nodules and the surrounding blood vessels and trachea. Intraoperative three-dimensional scanning generates a three-dimensional model of the collapsed lung tissue in the chest cavity (a second three-dimensional model), aligns the first three-dimensional model of the lung tissue before collapse with the second three-dimensional model after collapse, and obtains a three-dimensional model of the collapsed lung tissue containing nodule location information with errors. Using the principle of elastic imaging and referring to the three-dimensional model of the collapsed lung tissue, a palpation instrument is used to perform palpation and pressing on the lung tissue near the lung nodule to generate an elastic imaging distribution map of the area where the nodule is located and determine the location of the nodule.

[0036] Among them, aligning the first three-dimensional model of lung tissue before collapse with the second three-dimensional model after collapse includes: mapping the position information of the lung nodules in the first three-dimensional model to the second three-dimensional model according to the collapse law of the lung tissue, and generating the lung nodule position area in the second three-dimensional model.

[0037] Figure 2 The following schematically shows the structural components of the intraoperative localization system for lung nodules provided in some other embodiments of the present disclosure.

[0038] like Figure 2As shown, the intraoperative localization system for pulmonary nodules may include a system main control unit, an image system host, an endoscope, a palpation instrument, a pressure sensor array, a display device, and the like. The system main control unit may be integrated with three-dimensional reconstruction software to form a three-dimensional reconstruction module, may be integrated with three-dimensional scanning software to form a laparoscopic image module, may be integrated with registration software to form a registration module, and may be integrated with signal processing software to form a signal processing unit. It should be understood that the three-dimensional reconstruction module, the laparoscopic image module, the registration module, and the signal processing unit may also be implemented in hardware, and this disclosure does not limit this. The endoscope may be a binocular endoscope.

[0039] In an embodiment of the present disclosure, a palpation instrument, a pressure sensor array, and a signal processing module constitute an elastic imaging module. The palpation instrument is used to press different locations in the patient's lung lobe corresponding to the location of the pulmonary nodule. The pressure sensor array is provided at the end of the palpation instrument and includes sensor units arranged in an array, with different sensor units being used to detect pressure values at different locations. The signal processing unit is used to determine the actual location of the nodule based on the pressure values at different locations.

[0040] In an embodiment of the present disclosure, an endoscope is used to capture an image of the surgical field within a patient's chest cavity. An imaging system host is used to process the surgical field image. A display device is used to display the processed surgical field image. A palpation instrument, based on the processed surgical field image, presses different locations within the patient's lung lobe corresponding to the location of the pulmonary nodule.

[0041] In the disclosed embodiment, the intraoperative pulmonary nodule localization system may further include an energy tool for marking the pulmonary nodule based on its actual location. The endoscope is further configured to track the marking using video images and, in combination with the preoperatively determined margin width, to delineate an ideal resection margin in the processed surgical field image.

[0042] Based on the positioning system described above, the positioning process can be:

[0043] First, the patient's preoperative lung tissue CT image is imported into the positioning system. The 3D reconstruction module inside the system's main control unit generates a first 3D model of the lungs based on the CT image, and segments the lung lobes, lung segments, trachea, arteries and veins, and lung nodules. The first 3D model contains precise lung nodule location information, which helps doctors understand the patient's lung anatomical characteristics.

[0044] Next, after the thoracotomy, the lung collapses. The surgeon inserts an endoscope into the minimally invasive incision. The endoscope captures images of the surgical field within the chest cavity and transmits them to the imaging system host. The image is processed by the imaging system host and then transmitted to the display device. The surgeon observes the processed images provided by the thoracoscope and performs adhesion separation and lobectomy on the patient's lungs. The surgeon then performs a 3D panoramic scan of the lung tissue using the endoscope. The imaging system host transmits the panoramic scan image to the laparoscopic imaging module within the system's main control unit, generating a 3D panoramic image of the chest cavity. This image is then segmented to create a second 3D model of the collapsed lung tissue.

[0045] Next, the registration module aligns the preoperative first three-dimensional model with the intraoperative second three-dimensional model, maps the lung nodule position in the preoperative first three-dimensional model to the intraoperative second three-dimensional model based on the lung collapse law, generates a lung nodule position area with a certain error in the collapsed first three-dimensional model, and displays the area in the second three-dimensional model.

[0046] Next, comparing with the area delineated in the second three-dimensional model and observing the surgical field image provided by the endoscope, the palpation instrument is used to explore the chest cavity and press the position of the lung lobe corresponding to the area delineated in the second three-dimensional model. The end of the palpation instrument is integrated with a pressure sensor array. When the palpation instrument is used to press the lung lobe, the pressure change data collected by the pressure sensor array will be transmitted to the signal processing unit of the system main control unit. When the pressure sensor array is pressed to the location of the lung nodule, different sensor units on the sensor array will feedback different pressure values. The pressure value at the nodule location is higher. The signal processing unit will generate an elastic imaging image according to the different pressure values feedback from different sensor units. The doctor will finally confirm the location of the nodule based on the elastic imaging image generated by palpation.

[0047] Finally, an energy tool is used to burn a mark on the surface of the lung lobe where the nodule is located. The binocular endoscope identifies the mark and tracks the mark through video image. Based on the cutting margin width determined by the preoperative doctor's diagnosis, the ideal cutting margin is drawn at the nodule mark in the surgical field image to complete the surgical task planning.

[0048] Based on the same inventive concept, the disclosed embodiment also provides a method for intraoperative localization of lung nodules.

[0049] Figure 3 The flowchart of the intraoperative localization method of lung nodules provided by an embodiment of the present disclosure is schematically shown.

[0050] like Figure 3 As shown, the intraoperative pulmonary nodule positioning method may include, for example, operations S301 to S304.

[0051] In operation S301 , a preoperative CT image of the patient's lung tissue is three-dimensionally reconstructed to generate a first three-dimensional model of the lung tissue before collapse, wherein the first three-dimensional model includes position information of the lung nodules.

[0052] In operation S302 , a three-dimensional panoramic scan is performed on the collapsed lung tissue of the patient during surgery to obtain a three-dimensional panoramic image, and the three-dimensional panoramic image is segmented to generate a second three-dimensional model of the collapsed lung tissue.

[0053] In operation S303 , the first three-dimensional model and the second three-dimensional model are registered to generate a lung nodule location region containing a certain error.

[0054] In operation S304 , the actual position of the lung nodule is determined according to the lung nodule position region.

[0055] It should be noted that the intraoperative localization method for lung nodules in the embodiment of the present disclosure corresponds to the intraoperative localization device for lung nodules applied and operated in the embodiment of the present disclosure, and their specific implementation details and the technical effects brought about are also the same, which will not be repeated here.

[0056] Figure 4 A block diagram of an electronic device suitable for implementing the above-described method according to an embodiment of the present disclosure is schematically shown. Figure 4 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0057] like Figure 4 As shown, the electronic device 400 according to an embodiment of the present disclosure includes a processor 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage part 408 into a random access memory (RAM) 403. The processor 401 may, for example, include a general-purpose microprocessor (e.g., a CP∪), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 401 may also include an onboard memory for caching purposes. The processor 401 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0058] Various programs and data required for the operation of the electronic device 400 are stored in the RAM 403. The processor 401, ROM 402, and RAM 403 are connected to each other via a bus 404. The processor 401 executes the various operations of the method flow according to the embodiment of the present disclosure by executing the programs in the ROM 402 and / or RAM 403. It should be noted that the programs may also be stored in one or more memories other than the ROM 402 and RAM 403. The processor 401 may also execute the various operations of the method flow according to the embodiment of the present disclosure by executing the programs stored in one or more memories.

[0059] According to an embodiment of the present disclosure, electronic device 400 may further include an input / output (I / O) interface 405, which is also connected to bus 404. Electronic device 400 may further include one or more of the following components connected to I / O interface 405: an input portion 406 including a keyboard, a mouse, etc.; an output portion 407 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and speakers; a storage portion 408 including a hard disk; and a communication portion 409 including a network interface card such as a LAN card or a modem. Communication portion 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to I / O interface 405 as needed. Removable media 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed in drive 410 as needed, so that computer programs read therefrom can be installed into storage portion 408 as needed.

[0060] According to an embodiment of the present disclosure, the method flow according to an embodiment of the present disclosure can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 409, and / or installed from the removable medium 411. When the computer program is executed by the processor 401, the above-mentioned functions defined in the system of the embodiment of the present disclosure are executed. According to an embodiment of the present disclosure, the system, device, apparatus, module, unit, etc. described above can be implemented by a computer program module.

[0061] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments, or may exist independently and not be incorporated into the device / apparatus / system. The computer-readable storage medium carries one or more programs, and when executed, implements the method according to the embodiments of the present disclosure.

[0062] According to an embodiment of the present disclosure, a computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include, but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0063] For example, according to an embodiment of the present disclosure, the computer-readable storage medium may include the ROM 402 and / or the RAM 403 described above and / or one or more memories other than the ROM 402 and the RAM 403 .

[0064] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram may represent a module, program segment, or portion of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the boxes may occur in an order different from that marked in the accompanying drawings. For example, two boxes shown in succession may actually be executed substantially in parallel, or they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, as well as the combination of boxes in the block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or may be implemented using a combination of dedicated hardware and computer instructions. It will be understood by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or coupled in various ways, even if such combinations or couplings are not explicitly described in the present disclosure. In particular, without departing from the spirit and teachings of the present disclosure, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or coupled in various ways, and all such combinations and / or couplings fall within the scope of the present disclosure.

[0065] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present disclosure. It should be understood that the above are only specific embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A pulmonary nodule intraoperative localization system, characterized in that: include: a three-dimensional reconstruction module, configured to perform three-dimensional reconstruction of a patient's preoperative lung tissue CT image to generate a first three-dimensional model of the lung tissue before collapse, wherein the first three-dimensional model includes location information of the lung nodules; a laparoscope imaging module, configured to perform a three-dimensional panoramic scan of the collapsed lung tissue within the patient's cavity during surgery to obtain a three-dimensional panoramic image, segment the three-dimensional panoramic image, and generate a second three-dimensional model of the collapsed lung tissue; a registration module, configured to register the first three-dimensional model and the second three-dimensional model to generate a lung nodule location region containing a certain error; Elastography module, including: A palpation instrument for pressing different locations in the patient's lung lobe in an area corresponding to the location of the lung nodule; A pressure sensor array is provided at the end of the palpation instrument, comprising sensor units arranged in an array, wherein different sensor units are used to detect pressure values at different positions; A signal processing unit is used to determine the actual position of the pulmonary nodule according to the pressure values at different positions.

2. The intraoperative pulmonary nodule positioning system according to claim 1, characterized in that: The registration module is configured to register the first three-dimensional model and the second three-dimensional model, including: According to the collapse law of tissue, the position information of the lung nodule in the first three-dimensional model is mapped to the second three-dimensional model, and the lung nodule position area is generated in the second three-dimensional model.

3. The intraoperative pulmonary nodule positioning system according to claim 1, characterized in that: The signal processing unit is configured to determine the actual position of the nodule according to the pressure values at different positions, including: Generate an elastic imaging map based on the pressure values at different locations; The actual position of the pulmonary nodule is determined according to the elastic imaging image, wherein the position where the pressure value is greater than a preset threshold is the actual position of the pulmonary nodule.

4. The intraoperative pulmonary nodule positioning system according to claim 1, characterized in that: Also includes: an endoscope, used for acquiring an image of the surgical field in the patient's chest cavity; An image system host, used for processing the surgical field image; A display device for displaying the processed surgical field image; The palpation instrument is further used to press different positions in the patient's lung lobe corresponding to the lung nodule location area based on the processed surgical field image.

5. The intraoperative pulmonary nodule positioning system according to claim 4, characterized in that: Also includes: an energy tool for marking the pulmonary nodule according to the actual location of the pulmonary nodule; The endoscope is further used to perform video image tracking on the marker, and to draw an ideal cutting edge in the surgical field image after the treatment in combination with the cutting edge width determined before the operation.

Images