Medical navigation control device and medical system

Abstract

The embodiment of the present application provides a medical navigation control device and a medical system, wherein the medical navigation control device comprises a transmitter, a receiver and an endoscope; the endoscope comprises an interventional catheter, an imaging unit arranged at one end of the interventional catheter and a catheter controller arranged at the other end of the interventional catheter; the transmitter is arranged on the catheter controller and is in communication connection with the receiver, and is used for sending a control signal; the receiver is connected with a medical navigation device, and is used for receiving the control signal sent by the transmitter, so as to control the medical navigation device. The medical navigation control device of the embodiment of the present application can enable a doctor to control the medical navigation device when operating the endoscope, and the doctor does not need to be assisted by others, so that the diagnosis and treatment efficiency is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of medical technology, and in particular to a medical navigation control device and a medical system. Background Technology

[0002] Due to the complexity of the human body's natural cavity structures, inexperienced doctors can easily enter incorrect cavity branches during interventional procedures, preventing them from reaching the target (lesion) site. To assist doctors in operating interventional instruments (such as endoscopes) to reach the target site more quickly and accurately, medical imaging and navigation systems can be used to help doctors determine the path (i.e., each branch) required to reach the target site. Commonly used navigation system products include virtual endoscopy systems and positioning navigation systems.

[0003] The virtual endoscopy system requires doctors to compare real-time images from the endoscope with images displayed on a computer screen. This allows doctors to determine the position of the endoscope tip and operate the computer software to display the next path or direction. The positioning and navigation system, building upon the virtual endoscopy, can acquire the real-time position and orientation of the endoscope tip. Once the position and orientation of the endoscope tip match the 3D structure reconstructed by CT, that is, by matching the body's natural cavity structures with the 3D structure reconstructed by CT, the CT-reconstructed 3D structure and planned path can be used to guide and prompt the doctor's actions.

[0004] During actual surgery using these auxiliary instruments, the surgeon needs to hold the endoscope with one hand without letting go. However, virtual endoscope systems or positioning and navigation systems are often placed at a certain distance from the surgeon, making it impossible for the surgeon operating the endoscope to operate it personally. Instead, they require the assistance of other personnel, which greatly reduces the efficiency of the surgery. Summary of the Invention

[0005] The present invention provides a medical navigation control device and a medical system to solve at least one technical problem existing in current interventional diagnosis and treatment.

[0006] In a first aspect, embodiments of the present invention provide a medical navigation control device, which includes a transmitter, a receiver, and an endoscope;

[0007] The endoscope includes an interventional catheter, an imaging unit located at one end of the interventional catheter, and a catheter controller located at the other end.

[0008] The transmitter is mounted on the conduit controller and is communicatively connected to the receiver for sending control signals;

[0009] The receiver is connected to the medical navigation device and is used to receive the control signal sent by the transmitter in order to control the medical navigation device.

[0010] Furthermore, the transmitter is connected to one end of the catheter controller that is connected to the interventional catheter, and includes a housing and a transmitter body;

[0011] The transmitter body is housed inside the housing, which is connected to the conduit controller, and a control area is provided on the surface of the housing.

[0012] Furthermore, the control area includes control buttons and / or control wheels located on the housing surface opposite to the conduit controller.

[0013] Furthermore, the housing has a groove on the side facing the catheter controller that is adapted to the shape of the catheter controller.

[0014] Furthermore, the groove position of the housing is made of a material with a high coefficient of friction or the groove is provided with anti-slip texture.

[0015] Furthermore, it also includes an elastic bandage for fixing the housing to the periphery of the catheter controller, with the two ends of the elastic bandage respectively connected to opposite sides of the housing.

[0016] Furthermore, one end of the elastic bandage is fixed to one side of the housing, and the other end of the elastic bandage is connected to a hook on the other side of the housing.

[0017] Furthermore, hooks are provided on both opposite sides of the housing, and the two ends of the elastic bandage are respectively connected to the hooks.

[0018] Furthermore, the transmitter body includes a first processor, a first communication module, a micro switch, and an encoder;

[0019] The micro switch is used to detect whether the control button is pressed, the encoder is used to detect whether the control roller rotates and the direction of rotation, and the first processor is used to detect the state of the micro switch and the encoder and generate the control signal to be transmitted to the first communication module, so that the first communication module can send it to the receiver.

[0020] Furthermore, the receiver includes a second processor, a second communication module, and a communication interface;

[0021] The second communication module is used to receive the control signal sent by the transmitter, and the second processor is used to process the control signal and transmit it to the medical navigation device through the communication interface.

[0022] Secondly, embodiments of the present invention also provide a medical system, comprising:

[0023] Medical navigation device;

[0024] The medical navigation control device described in any of the embodiments of the first aspect above;

[0025] The medical navigation control device is mounted on the endoscope, and is communicatively connected to the medical navigation device and controls the medical navigation device.

[0026] Furthermore, the medical navigation device includes a virtual endoscope system, which is used to generate virtual endoscopic images based on medical images, and the medical navigation control device is used to control the orientation rotation and / or size scaling of the virtual endoscopic images.

[0027] Furthermore, the medical navigation device includes a positioning navigation system, which is used to reconstruct the three-dimensional structure of the human body based on medical images and determine the intervention target and the virtual navigation path to the intervention target in the three-dimensional structure of the human body. The medical navigation control device is used to control the playback of the virtual navigation path and the positioning of a specific location.

[0028] In this embodiment of the invention, the medical navigation control device includes a transmitter, a receiver, and an endoscope. The endoscope includes an interventional catheter, an imaging unit at one end of the interventional catheter, and a catheter controller at the other end. The transmitter is mounted on the catheter controller and is communicatively connected to the receiver to send control signals. The receiver is connected to the medical navigation device and is used to receive the control signals sent by the transmitter to control the medical navigation device. In this way, the operating end of the endoscope and the control end of the medical navigation device are integrated together, allowing doctors to control the medical navigation device while operating the endoscope, without the need for assistance from others, which greatly improves the efficiency of diagnosis and treatment. Attached Figure Description

[0029] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0030] Figure 1 A structural block diagram of a medical system provided in an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of one side of the endoscope and transmitter of a medical navigation control device provided in an embodiment of the present invention;

[0032] Figure 3 This is another side view of the endoscope and transmitter of a medical navigation control device provided in an embodiment of the present invention;

[0033] Figure 4This is a schematic diagram of one side structure of the transmitter of a medical navigation control device provided in an embodiment of the present invention;

[0034] Figure 5 This is another side view of the endoscope and transmitter of a medical navigation control device provided in an embodiment of the present invention;

[0035] Figure 6 This is another side view of the transmitter of a medical navigation control device provided in an embodiment of the present invention;

[0036] Figure 7 This is a schematic diagram of one side structure of the endoscope-mounted transmitter of a medical navigation control device provided in an embodiment of the present invention;

[0037] Figure 8 This is another side view of the endoscope-mounted transmitter of a medical navigation control device provided in an embodiment of the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0039] Please refer to Figure 1 This is a structural block diagram of a medical system provided in an embodiment of the present invention. The medical system includes a transmitter 10, a receiver 20, and an endoscope 30. The endoscope 30 includes an interventional catheter 310, an imaging unit 330 disposed at one end of the interventional catheter 310, and a catheter controller 320 disposed at the other end. The transmitter 10 is disposed on the catheter controller 320 and is communicatively connected to the receiver 20 for transmitting control signals. The receiver 20 is connected to a medical navigation device 40 for receiving the control signals transmitted by the transmitter 10 to control the medical navigation device 40.

[0040] Specifically, please combine Figure 2 and Figure 3The endoscope 30 generally includes a handheld part and a tube part for intervening in the human body (not shown in the diagram due to its slender structure). The handheld part is shaped like a slender cone, a combination of cones with different inclinations at each end. The two ends of the interventional catheter 310 are the imaging unit 330 and the catheter controller 320, respectively. The imaging unit 330 is located at the distal end of the interventional catheter 310 and includes, but is not limited to, a medical camera. The catheter controller 320 is located at the proximal end of the interventional catheter 310 and can control the advance and retreat of the interventional catheter 310 and its internal instruments. In addition, above the handheld part of the endoscope 30, there is a forceps interface 340 of the interventional catheter 310, which is the entrance and exit point for instruments such as biopsy forceps / brushes.

[0041] The transmitter 10 is mounted on the catheter controller 320, meaning the two are integrated together. It is located at the proximal end of the interventional catheter 310, i.e., on the handheld part of the endoscope 30. It should be noted that the transmitter 10 and the receiver 20 are connected to communicate so that the control signals of the catheter controller 320 can be transmitted to the receiver 20. The specific communication connection methods include wireless connection methods such as Bluetooth and WiFi, or wired connection methods such as communication cables. In a preferred embodiment, the two are connected to communicate wirelessly.

[0042] The receiver 20 is located on the side of the medical navigation device 40. It is generally integrated with the medical navigation device 40 and receives control signals sent from the transmitter 10 through the communication connection method described above, so as to control the medical navigation device 40.

[0043] Thus, in practical applications, during the diagnosis and treatment of patients using the endoscope 30 and the medical navigation device 40, doctors can control the interventional catheter 310 to perform relevant interventional operations through the catheter controller 320 on the handheld part of the endoscope 30, and can also send corresponding control signals to the medical navigation device 40 through the transmitter 10 on the handheld part to control the medical navigation device 40 to assist doctors in determining the path that the interventional catheter 310 needs to take to reach the target (lesion) site. This allows doctors to simultaneously control the medical navigation device 40 while operating the endoscope 30, without the need for assistance from others, greatly improving the efficiency of diagnosis and treatment.

[0044] Furthermore, please combine Figure 4-6 The transmitter 10 is connected to one end of the catheter controller 320 that is connected to the interventional catheter 310, and includes a housing 110 and a transmitter body (not shown in the figure);

[0045] The transmitter body is located inside the housing 110, the housing 110 is connected to the conduit controller 320, and a control area 1101 is provided on the surface of the housing 110.

[0046] Specifically, the transmitter body is located inside the housing 110, and the housing 110 is connected above the conduit controller 320. The specific connection method includes, but is not limited to, a detachable connection. The control area 1101 is located on the surface of the housing 110. The user can operate the control area 1101 to generate control signals and send them to the receiver 20.

[0047] Furthermore, the control area 1101 includes control buttons and / or control wheels located on the housing surface 110 opposite to the conduit controller 320.

[0048] Specifically, the control buttons and the control roller are respectively arranged on the housing surface 110. One feasible implementation is that the housing surface 110 opposite to the conduit controller 320 is a bouncing housing, which forms the control buttons. These buttons can be used to control forward and / or backward movement. A roller can be provided in the middle of the bouncing housing to control the range of forward and backward movement. Other forms of control buttons can also be provided, such as those for controlling steering.

[0049] In addition, in other preferred embodiments of the present invention, the housing 110 is provided with a groove 1102 adapted to the shape of the catheter controller 320 on the side facing the catheter controller 320.

[0050] Specifically, in order to fix the transmitter 10 to the endoscope 30, a groove 1102 with bevels is provided on the back of the transmitter 10, that is, the side of the housing 110 facing the catheter controller 320, which is opposite to the control area 1101. In a feasible embodiment, the two bevels are at an angle of 60-150 degrees. During installation, the conical handle of the endoscope 30 (catheter controller 320) is inserted into the groove 1102 formed by the bevels to ensure stable and reliable installation of both.

[0051] Furthermore, in order to prevent the transmitter 10 from sliding on the endoscope 30 handle and increase the stability of the connection between the two, the groove 1102 of the housing 110 is made of a material with a high coefficient of friction or the groove 1102 is provided with anti-slip texture.

[0052] Additionally, please combine Figure 7 and Figure 8In other preferred embodiments of the present invention, the medical navigation control device further includes an elastic bandage 50 for fixing the housing 110 to the outer periphery of the catheter controller 320, with the two ends of the elastic bandage 50 respectively connected to opposite sides of the housing 110.

[0053] Specifically, the elastic bandage 50 spans across the groove 1102, and its two ends are respectively connected to the opposite sides of the housing 110. In this way, the elastic bandage 50 fixes the catheter controller 320 in the groove 1102 of the housing 110 through its elastic binding action, that is, fixes the housing 110 of the transmitter 10 to the outer periphery of the catheter controller 320.

[0054] Furthermore, in one feasible embodiment, one end of the elastic bandage 50 is fixed to one side of the housing 110, and the other end of the elastic bandage 50 is connected to a hook 1103 on the other side of the housing 110, such as... Figure 7 As shown.

[0055] Specifically, one end of the elastic bandage 50 is a fixed end and the other end is a free end. The fixed end is fixedly connected to one side of the housing 110, and the free end is detachably connected to the hook 1103 on the other side of the housing 110, bypassing the groove 1102. This allows for quick disassembly and installation between the transmitter 10 and the endoscope 30.

[0056] In another feasible embodiment, hooks 1103 are provided on opposite sides of the housing 110, and the two ends of the elastic bandage 50 are respectively connected to the hooks 1103, such as... Figure 8 As shown.

[0057] Specifically, both ends of the elastic bandage 50 are free ends, and the housing 110 on both sides of the groove 1102 is provided with opposing hooks 1103. During installation, the groove 1102 of the transmitter 10 is aligned with the catheter controller 320, and then the two ends of the elastic bandage 50 are respectively connected to the hooks 1103 on both sides of the housing 110, thus enabling quick disassembly and installation between the transmitter 10 and the endoscope 30.

[0058] Furthermore, in other preferred embodiments of the present invention, in order to improve the strength of the connection between the transmitter 10 and the endoscope 30, at least two elastic bandages 50 are generally provided along the length of the housing 110 of the transmitter 10.

[0059] Furthermore, the transmitter body includes a first processor, a first communication module, a micro switch, and an encoder. These components are respectively arranged on a circuit board within the housing 110. The micro switch detects whether the control button is pressed, the encoder detects whether the control wheel rotates and its direction of rotation, and the first processor detects the states of the micro switch and the encoder and generates a control signal that is transmitted to the first communication module for transmission to the receiver 20. Here, the first communication module includes an antenna for establishing a wireless communication connection with the receiver 20, facilitating the transmission of the control signal generated by the transmitter 10 to the receiver 20.

[0060] In addition, the transmitter 10 also includes a power source, which can be powered by a replaceable battery (i.e., a dry cell battery, such as 1-2 AA or AAA batteries); or by a built-in rechargeable lithium battery. In this case, a USB interface (such as a USB Type-C or Micro USB interface) needs to be added to the housing 110, and the circuitry needs to be equipped with a charging function to charge the battery.

[0061] Additionally, an indicator light is provided on the housing 110 to indicate the power-on / power-off status and power status (charging, low battery, etc.).

[0062] Furthermore, the receiver 20 includes a second processor, a second communication module, and a communication interface. These components are arranged on a circuit board electrically connected to the medical navigation device 40. The second communication module is used to receive the control signal sent by the transmitter 10, and the second processor is used to process the control signal and transmit it to the medical navigation device 40 through the communication interface so that the medical navigation device 40 can make a corresponding response.

[0063] Additionally, please combine Figure 1 This embodiment also provides a medical system, which includes any of the medical navigation control devices and medical navigation devices 40 described in the above embodiments. The medical navigation control device is mounted on the endoscope, and is communicatively connected to the medical navigation device 40 and controls the medical navigation device.

[0064] For details regarding the specific structure, function, and technical effects of the medical navigation control device, please refer to the description of the above embodiments; further elaboration will not be repeated here.

[0065] Furthermore, the medical navigation device 40 includes a virtual endoscope system, which is used to generate virtual endoscope images based on medical images, and the medical navigation control device is used to control the orientation rotation and / or size scaling of the virtual endoscope images.

[0066] Specifically, the medical images mentioned here include, but are not limited to, CT images. In use, a CT scan of the patient's treatment area (e.g., the lungs) is first performed to obtain CT images of the treatment area, which are then processed by a computer to generate corresponding virtual endoscopic images. During actual treatment, the doctor operating the endoscope rotates the handle, causing the endoscope itself to rotate. Therefore, the orientation of the image transmitted from the endoscope's front end is not consistent with the virtual endoscopic image. At some complex bifurcation points, the virtual endoscopic image, with its inconsistent orientation, often fails to provide clear guidance for the doctor and may even be misleading. In such cases, the medical navigation control device can control the orientation rotation and / or size scaling of the virtual endoscopic image, enabling the doctor to better match the endoscope's front end view with the virtual endoscopic image.

[0067] In addition, the medical navigation device 40 includes a positioning navigation system, which is used to reconstruct the three-dimensional structure of the human body based on medical images and determine the intervention target and the virtual navigation path to the intervention target in the three-dimensional structure of the human body. The medical navigation control device is used to control the playback of the virtual navigation path and the positioning of a specific location.

[0068] Specifically, the medical images mentioned here include, but are not limited to, CT images. In use, a CT scan of the patient's treatment area is first performed to obtain CT images of the treatment area (e.g., the lungs). Then, the CT images are imported into a computer to reconstruct the three-dimensional structure of the cavity (e.g., the bronchial tree), and the target and the path through the bronchi to reach the target are determined in the three-dimensional structure. Then, in the actual endoscopic diagnosis and treatment process, the doctor guides and assists the endoscopic diagnosis and treatment operation based on the CT images, three-dimensional structure, path and target displayed on the computer, as well as the corresponding prompts generated by the software. For example, the doctor can compare and determine the position of the endoscope tip and operate the computer software to display the next path or direction to be advanced.

[0069] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0070] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0071] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0072] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0073] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0074] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0075] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0076] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0077] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0078] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A medical navigation control device, characterized in that, Includes a transmitter, a receiver, and an endoscope; The endoscope includes an interventional catheter, an imaging unit located at one end of the interventional catheter, and a catheter controller located at the other end. The transmitter is mounted on the conduit controller and is communicatively connected to the receiver for sending control signals; The receiver is connected to the medical navigation device and is used to receive the control signal sent by the transmitter in order to control the medical navigation device. The transmitter is connected to one end of the catheter controller that is connected to the interventional catheter, and includes a housing and a transmitter body; The transmitter body is housed within the housing, which is connected to the catheter controller. A control area is provided on the surface of the housing, allowing the operator to control the medical navigation device while operating the endoscope, without the need for assistance from others.

2. The medical navigation control device according to claim 1, characterized in that, The control area includes control buttons and control wheels located on the housing surface opposite to the conduit controller.

3. The medical navigation control device according to claim 1, characterized in that, The housing has a groove on the side facing the catheter controller that is adapted to the shape of the catheter controller.

4. The medical navigation control device according to claim 3, characterized in that, The groove in the housing is made of a material with a high coefficient of friction or has anti-slip texture.

5. The medical navigation control device according to claim 1, characterized in that, It also includes an elastic bandage for fixing the housing to the periphery of the catheter controller, with the two ends of the elastic bandage respectively connected to opposite sides of the housing.

6. The medical navigation control device according to claim 5, characterized in that, One end of the elastic bandage is fixed to one side of the housing, and the other end of the elastic bandage is connected to a hook on the other side of the housing.

7. The medical navigation control device according to claim 5, characterized in that, Hooks are provided on both opposite sides of the housing, and the two ends of the elastic bandage are respectively connected to the hooks.

8. The medical navigation control device according to claim 2, characterized in that, The transmitter body includes a first processor, a first communication module, a micro switch, and an encoder; The micro switch is used to detect whether the control button is pressed, the encoder is used to detect whether the control roller rotates and the direction of rotation, and the first processor is used to detect the state of the micro switch and the encoder and generate the control signal to be transmitted to the first communication module, so that the first communication module can send it to the receiver.

9. The medical navigation control device according to claim 1, characterized in that, The receiver includes a second processor, a second communication module, and a communication interface; The second communication module is used to receive the control signal sent by the transmitter, and the second processor is used to process the control signal and transmit it to the medical navigation device through the communication interface.

10. A medical system, characterized in that, include: Medical navigation device; The medical navigation control device according to any one of claims 1-9; The medical navigation control device is communicatively connected to the medical navigation device and controls the medical navigation device.

11. The medical system according to claim 10, characterized in that, The medical navigation device includes a virtual endoscope system, which generates virtual endoscopic images based on medical images. The medical navigation control device controls the orientation rotation and / or size scaling of the virtual endoscopic images.

12. The medical system according to claim 10, characterized in that, The medical navigation device includes a positioning and navigation system, which is used to reconstruct the three-dimensional structure of the human body based on medical images and determine the intervention target and the virtual navigation path to the intervention target in the three-dimensional structure of the human body. The medical navigation control device is used to control the playback of the virtual navigation path and the positioning of specific locations.

Images