A Visualization External Ventricular Drainage Surgery System Based on Augmented Reality Display

Abstract

The present invention relates to a visualization ventricular drainage surgery system based on augmented reality display, including a drainage tube and an image reconstruction subsystem. The drainage tube includes an external flexible tube and an internal rigid tube inserted and installed in the external flexible tube. The head end of the internal rigid tube is provided with a first camera and a light source device, and the tail end is provided with a positioning mark, which can realize the whole-process visualization of the placement process of the ventricular drainage tube. In particular, doctors can adjust the surgical operation in a timely manner by intuitively observing the puncture depth, angle and distance from the target point during the operation process, greatly reducing the dependence of ventricular drainage on doctors' clinical experience, significantly improving the accuracy of young doctors in completing related surgeries, and effectively reducing the number of punctures, thereby reducing the damage to the normal brain tissue of patients.

Description

Technical Field

[0001] The present invention relates to the technical fields of neurosurgical instruments and medical devices, and particularly to a visualization external ventricular drainage surgery system based on augmented reality display. Background Art

[0002] External ventricular drainage puncture, also known as external ventricular drainage, is a neurosurgical operation mainly used for draining the contents of the ventricles to achieve the purpose of reducing intracranial pressure and alleviating the condition. The main operation process of external ventricular drainage puncture includes inserting a drainage tube (external ventricular drainage tube) from the body surface into the ventricle, thereby realizing the process of external drainage of cerebrospinal fluid in the ventricle. External ventricular drainage is the most basic and commonly used surgical method in neurosurgery. As a key measure for releasing cerebrospinal fluid and reducing intracranial pressure, it is commonly used in hemorrhagic cerebrovascular diseases, hydrocephalus, brain trauma, and the perioperative period of complex intracranial tumors.

[0003] In the key operation step of placing the external ventricular drainage tube in the traditional external ventricular drainage puncture, a "blind puncture" operation is required, that is, the physician performs the operation by relying on experience, touch, combined with preoperative medical images and the assistance of surface anatomy structures, which has a very high dependence on the physician's technical level. In particular, when the ventricle volume of the patient is small, it will cause difficulties in puncture. Especially, young doctors often need to puncture repeatedly in the case of lack of experience, which will bring unnecessary brain tissue damage to the patient. In extreme cases, the drainage tube may even be wrongly punctured into the opposite side of the ventricle; in addition, when the external ventricular drainage tube is used for other cystic lesions such as intracranial hematoma and abscess, the puncture may puncture into an old hematoma cavity, and a small amount of cerebrospinal fluid is drained, mistakenly believing that the operation is successful. The tube is blocked quickly after the operation, greatly reducing the surgical effect.

[0004] To solve the problems of the traditional technical solution, the prior art has made targeted improvements. For example, the utility model patent with the publication number CN220110243U and the name of "an external ventricular drainage tube with a front-end detection function" discloses an external ventricular drainage tube including a forward detection probe, a circumferential detection probe, and a signal cable for connecting the forward detection probe and the circumferential detection probe to a diagnostic instrument. By connecting the detection probe to an ultrasonic diagnostic instrument through the signal cable, during the process of placing the external ventricular drainage tube, the detection probe emits and receives ultrasonic waves to the outer circumference of the front end of the external ventricular drainage tube, and a two-dimensional image or a three-dimensional image of the brain tissue within a certain distance from the outer circumference of the front end of the external ventricular drainage tube is displayed on the screen of the ultrasonic diagnostic instrument, thereby helping the physician to perform a safer, more accurate, and more efficient ventricular puncture and catheterization operation.

[0005] However, cerebrospinal fluid is mainly secreted by the choroid plexus in the cerebral ventricles. Therefore, the cerebral ventricles are an environment filled with cerebrospinal fluid. In the prior art, the detection during the placement of an external ventricular drainage tube is mainly achieved through ultrasonic waves. Inevitably, it will be interfered by the liquid with respect to ultrasonic waves, resulting in extremely limited actual detection effects. Especially when treating intracranial hematomas or other cystic diseases, the hematoma or other liquid-filled cystic lesions will cause great interference to ultrasonic detection, and even lead to the failure of the operation due to the interference.

[0006] Thus, it can be seen that the prior art cannot accurately control the placement position and puncture path of the drainage tube, cannot select the best puncture point before the operation, nor can it adjust the puncture point during the operation. It can only evaluate the success of the operation by whether cerebrospinal fluid can be drained through puncture; the postoperative imaging examination can only evaluate the puncture position and cannot perform the auxiliary function for the intraoperative operation. Summary of the Invention

[0007] To solve the deficiencies of the prior art, the present invention proposes a visualization external ventricular drainage surgery system based on augmented reality display, which can realize the whole-process visualization of the placement process of the external ventricular drainage tube. In particular, doctors can directly observe the puncture depth, angle and distance from the target point during the operation process and adjust the surgical operation in a timely manner, greatly reducing the dependence of the external ventricular drainage surgery on doctors' clinical experience, significantly improving the accuracy of young doctors in completing relevant surgeries, and effectively reducing the number of punctures, thereby reducing the damage to the normal brain tissue of patients.

[0008] To achieve the above objectives, the technical solutions adopted by the present invention include:

[0009] A visualization external ventricular drainage surgery system based on augmented reality display, characterized in that it includes a drainage tube and an image reconstruction subsystem;

[0010] The drainage tube includes an external flexible tube and an internal rigid tube inserted and installed in the external flexible tube. The internal rigid tube can freely insert and withdraw relative to the external flexible tube.

[0011] The internal rigid tube includes a head end inserted into the external flexible tube and a tail end exposed outside the external flexible tube. The head end is provided with a first camera and a light source device, and the tail end is provided with a positioning mark;

[0012] The image reconstruction subsystem includes a processing host, a second camera, a first data line interface, and a second data line interface that are data-connected to the processing host. The second camera correspondingly tracks the displacement parameters of the positioning identifier in a preset coordinate system. The first data line interface is connected to the first camera and receives the real-time video data collected by the first camera. The second data line interface receives preoperative image data. The processing host generates a real-time surgical image based on the real-time video data, the preoperative image data, and the displacement parameters collected by the second camera.

[0013] Further, the positioning identifier includes a positioning QR code identifier;

[0014] The second camera includes a binocular depth camera that correspondingly tracks the positioning QR code identifier.

[0015] Further, the internal rigid tube is a hollow tube structure provided with a hollow cavity. The first camera and the light source device are arranged with connection lines through the hollow cavity and are wired-connected to the image reconstruction subsystem.

[0016] Further, the connection line is wired-connected to the image reconstruction subsystem through a USB interface and can be disconnected.

[0017] The beneficial effects of the present invention are as follows:

[0018] By using the visualization ventriculostomy system based on augmented reality display of the present invention, the whole process visualization of the placement process of the ventriculostomy tube can be realized. In particular, doctors can directly observe the puncture depth, angle, and distance from the target point during the operation process and adjust the surgical operation in a timely manner, greatly reducing the dependence on doctors' clinical experience in ventriculostomy, significantly improving the accuracy of young doctors in completing relevant operations, and effectively reducing the number of punctures, thereby reducing the damage to the patient's normal brain tissue. By applying the visualization ventriculostomy system of the present invention, it is possible to support the recording of the puncture process of each operation, analyze the data of all successful puncture processes to establish a model, thereby helping to realize the formulation of an individualized optimal puncture path using the patient's preoperative images, and the surgical record process can be used for medical education and even medical research. Description of the Drawings

[0019] Figure 1 It is a schematic diagram of the physical object of the ventriculostomy tube in the prior art.

[0020] Figure 2 It is a schematic diagram of the overall preferred embodiment of the visualization ventriculostomy system based on augmented reality display of the present invention.

[0021] Figure 3 It is a schematic diagram of the drainage tube structure of the preferred embodiment of the present invention.

[0022] Description of the drawing reference numerals: 1 - drainage tube, 11 - external hose, 12 - internal rigid tube, 121 - first camera, 122 - light source device, 123 - positioning mark, 2 - image reconstruction subsystem, 31 - soft drainage tube, 32 - internal metal tube. Detailed implementation

[0023] For a clearer understanding of the content of the present invention, it will be described in detail in conjunction with the drawings and embodiments.

[0024] As Figure 1 shown is a physical schematic diagram of a conventional external ventricular drainage tube under the prior art, having a typical structure under the prior art. Among them, it includes an external soft drainage tube 31 and an internal metal tube 32 inserted into the soft drainage tube 31, forming a puncture needle structure. In actual use, the internal metal tube 32 has rigidity to ensure that the external soft drainage tube 31 does not deform during ventricular puncture. After the puncture is in place, the internal metal tube 32 can be pulled out from the soft drainage tube 31 through the circular ring structure at the end of the internal metal tube 32.

[0025] As Figure 2 and Figure 3 shown is a schematic structural diagram of a preferred embodiment of the visualization external ventricular drainage surgery system based on augmented reality display of the present invention. In the main structure, it includes a drainage tube 1 and an image reconstruction subsystem 2 for image processing and display. Among them, the external shape of the drainage tube 1 is similar to that of the prior art, including an external hose 11 (corresponding to the soft drainage tube 131 of the prior art) and an internal rigid tube 32 (corresponding to the internal metal tube 32 of the prior art) inserted and installed in the external hose 11. At the same time, it is easy to understand that the internal rigid tube 32 can be freely inserted and withdrawn relative to the external hose 11 to meet the necessary surgical operation requirements.

[0026] Specifically, the internal rigid tube 32 of the present invention is a hollow tube structure with a hollow cavity. At the head end inserted into the external hose 11, a first camera 121 and a light source device 122 are provided. Corresponding connecting lines are arranged in the hollow cavity to achieve a wired connection with the image reconstruction subsystem 2 for data transmission and power supply (including driving the light source device 122 to provide light). Preferably, the connecting line and the image reconstruction subsystem 2 are connected by a USB interface in a detachable wired manner, so that the internal rigid tube 32 can be completely independent of the image reconstruction subsystem 2, facilitating the design and manufacture of the internal rigid tube 32 as a reusable instrument that can be disinfected after surgery. Of course, it is easy to understand that through a data interface with wide applicability (such as a USB interface), the first camera 121 and the light source device 122 can be conveniently connected to other related devices, such as a portable display screen, etc., to achieve more extended functions. Preferably, the surface of the first camera 121 can be made of a material with the property of not easily adhering to blood, or a surface treatment layer of a related material with such property is added, such as a hydrophobic material, so as to avoid repeatedly cleaning the camera during the operation.

[0027] Additionally, in order to achieve an augmented reality display effect to provide more accurate real-time image support for the surgery, a positioning mark 123 is specifically provided at the tail end of the internal rigid tube 32 (the part not inserted into the external hose 11) for calibrating the depth position of the drainage tube 1 extending into the brain. Preferably, the positioning mark 123 can be selected as a positioning QR code mark for supporting the binocular depth camera to identify and track the position. Preferably, the overall external structure and dimensions of the internal rigid tube 32 can match the internal metal tube 32 of the prior art, so that the internal rigid tube 32 and the system of the present invention can be conveniently popularized and applied to existing equipment.

[0028] The image reconstruction subsystem 2 includes a processing host, a second camera, a first data line interface, and a second data line interface that are data-connected to the processing host. Among them, the image host can select a computer host with necessary processing capabilities and be equipped with a corresponding display device, such as a naked-eye 3D display screen or a head-mounted AR glasses, etc., for displaying the processed surgical support images. The second camera corresponds to tracking the displacement parameters of the positioning mark 123 in a preset coordinate system. Preferably, the second camera includes a binocular depth camera corresponding to tracking the positioning QR code mark. The first data line interface is connected to the first camera 121 and receives the real-time video data collected by the first camera 121. Preferably, the first data line interface can be selected as a USB-compatible data interface. The second data line interface is connected to the preoperative image examination device and receives preoperative image data, such as the patient's preoperative medical imaging examination results (MRI).

[0029] When actually applying the above visualization external ventricular drainage surgery system based on augmented reality display, the specific operation steps may include:

[0030] For three-dimensional reconstruction, first, the preoperative images are read through the second data line interface of the image reconstruction subsystem 2 and three-dimensional reconstruction is performed.

[0031] For rigid sheath positioning, the binocular depth camera (the second camera) mounted on the image reconstruction subsystem 2 is used to directionally track the QR code positioning mark at the end of the internal rigid tube 32 of the drainage tube 1, so as to calibrate the real position of the end of the drainage tube 1 and verify it, realize intraoperative positioning and tracking of the position of the drainage tube 1, plan the surgical route in real time, and calculate the distance between the tip of the drainage tube 1 and the target point.

[0032] For puncture point positioning, preoperative planning is carried out according to the information seen in the patient's preoperative cranial imaging images, the best puncture method and position are selected, and the operation is started after positioning according to the planned puncture point to expose the puncture point.

[0033] For image fusion, the real-time video data (real-time image information) captured by the camera at the tip of the drainage tube 1 (the first camera 121) is fused with the three-dimensional reconstruction image of the preoperative image, so as to form a real-time three-dimensional image of the operation.

[0034] For naked-eye three-dimensional display, the real-time image fused by the image reconstruction subsystem 2 is transmitted to the naked-eye three-dimensional display screen, and the naked-eye three-dimensional display process can be completed without wearing any three-dimensional display device, realizing the whole process visualization of the entire external ventricular drainage puncture operation. Not only can the intracranial structure be observed through the camera at the front end of the drainage tube 1, but also the whole operation process can be observed by using an external three-dimensional display. And during the operation, the puncture angle can be adjusted in time according to the real pose relationship between the real position of the drainage tube 1 and the best puncture target on the naked-eye three-dimensional display to realize the best surgical process planning.

[0035] For catheter placement of the drainage tube 1, the internal rigid tube 32 is placed inside the external flexible tube 11, and puncture is performed at the determined puncture point. The puncture angle and depth are adjusted in real time according to the three-dimensional image based on augmented reality displayed on the naked-eye three-dimensional display screen, and the target point is reached smoothly.

[0036] For fixing the drainage tube 1, accurate puncture can be realized with the whole process visualization after the above steps. After the puncture is completed and the operator is satisfied with the position, the drainage tube 1 can be fixed. At the same time, after withdrawing the internal rigid tube 32, the external ventricular drainage tube 1 (the external flexible tube 11) and the external drainage catheter are connected by using a Luer connector, and the operation process can be completed.

[0037] Preferably, after the operation is completed, the connection line of the internal rigid tube 32 can be disconnected, and the internal rigid tube 32 can be disinfected separately to realize repeated use and reduce the clinical use cost.

[0038] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A visual external ventricular drainage surgery system based on augmented reality display, characterized in that: Includes drainage tube and image reconstruction subsystem; The drainage tube comprises an external hose and an internal rigid tube inserted and installed in the external hose, the internal rigid tube can be freely inserted and withdrawn relative to the external hose, and the internal rigid tube is a hollow tube structure with a hollow cavity; The internal rigid tube includes a head end inserted into the external hose and a tail end exposed outside the external hose, the head end is provided with a first camera and a light source device, and the lens surface of the first camera has a hydrophobic material; the tail end is provided with a QR code positioning mark; The image reconstruction subsystem includes a processing host and a second camera connected to the processing host data, a first data line interface and a second data line interface, the second camera includes a binocular depth camera, and the binocular depth camera tracks the displacement parameters of the QR code in real time; the first data line interface is connected to the first camera and receives the real-time video data collected by the first camera, the second data line interface receives the preoperative MRI image data, the second camera tracks the displacement parameters of the positioning mark in the preset coordinate system, collects the real-time video data captured by the first camera at the head end of the drainage tube and fuses it with the three-dimensional reconstructed image of the preoperative image to form a real-time three-dimensional image of the operation, and adjusts the puncture angle according to the real position relationship between the drainage tube position and the best puncture target on the naked eye three-dimensional display during the operation; The processing host selects a computer host with necessary processing capabilities and is equipped with a corresponding naked-eye three-dimensional display screen. The second camera binocular depth camera corresponds to the displacement parameters of the tracking positioning mark in the preset coordinate system. The first data line interface is connected to the first camera and receives the real-time video data collected by the first camera. The real-time video data captured by the first camera at the head end of the drainage tube is collected and merged with the three-dimensional reconstructed image of the preoperative image to form a real-time three-dimensional image of the operation. The puncture angle and depth are adjusted in real time according to the three-dimensional image displayed on the naked-eye three-dimensional display screen based on augmented reality to successfully reach the target point. The second camera installed in the image reconstruction subsystem is used to directionally track the QR code positioning mark on the end of the internal rigid tube of the drainage tube, calibrate and verify the actual position of the end of the drainage tube, locate and track the position of the drainage tube, and calibrate the depth of the drainage tube inserted into the brain; the real-time image information captured by the first camera is collected and fused with the three-dimensional reconstructed image of the preoperative image to form a real-time three-dimensional image of the operation; the real-time image fused by the image reconstruction subsystem is transmitted to the naked-eye three-dimensional display screen.

2. The visual external ventricular drainage surgery system according to claim 1, characterized in that: The internal rigid tube is a hollow tube structure provided with a hollow cavity, and the first camera and the light source device are wiredly connected to the image reconstruction subsystem via connecting lines arranged in the hollow cavity.

3. The visual external ventricular drainage surgery system according to claim 2, characterized in that: The connecting line is disconnectably connected to the image reconstruction subsystem via a USB interface.

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