A neurosurgery visual surgical navigation method and system

Abstract

The present invention discloses a method and system for visual surgical navigation in neurosurgery. The present invention adopts a surgical navigation system to assist in positioning. The position of the lesion is first accurately found through software calculation and the size of the lesion is calculated. The doctor selects a suitable lesion puncture point and access point, and the computer intuitively gives the path and distance data from the access point to the lesion through multimodal 3D modeling; then the computer software system calculates and gives two visual virtual models at different angles. After completely overlapping with the real patient, the computer gives two prompt points at different angles, so that the drainage catheter of the puncture completely overlaps with the prompt points in two different directions, and the direction of the access can be accurately found. In this case, the position of the lesion, the position of the access point, and the value from the access point to the lesion point are determined, and the computer software system will give the access angle of the drainage catheter, so that accurate, intuitive and fast surgery can be performed.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing, and in particular to a neurosurgery visualization surgery navigation method and system. Background Art

[0002] As we all know, the minimally invasive surgical method with the least trauma in the treatment of hypertensive cerebral hemorrhage in neurosurgery is catheter aspiration, but it requires high positioning accuracy. At present, the positioning is mainly divided into: cube drawing positioning, 3D printing guide positioning, framed stereotactic system, neurosurgery navigation system and neurosurgery robot system.

[0003] Cube line drawing positioning: Using the principle of stereo positioning and a simple measuring ruler to draw lines for positioning, this type of technology lacks an accurate registration method, is easily disturbed, and is usually unreliable and has large errors. Positioning errors not only cause surgical failure, but also pose a huge risk of medical and doctor-patient conflicts. It can only be used as a stopgap measure in grassroots hospitals with poor hardware conditions. This type of method cannot meet high-precision requirements. For precise aspiration and drainage surgery for hypertensive cerebral hemorrhage, this method has extremely high requirements for the doctor's clinical experience and skills. After the catheter is placed, it is impossible to directly observe the hematoma to judge the accuracy of the drainage catheter placement.

[0004] 3D printed guide positioning: Utilizing three-dimensional reconstruction of surgical planning and design, printed guides and 3D printed models can meet the precision requirements of most minimally invasive surgeries for hypertensive cerebral hemorrhage. However, the 3D printed models take a long time to print, and doctors are required to perform cleaning and disinfection steps after printing. Patients have a long waiting time before surgery and the operation is cumbersome. Printed guide materials are mostly made of ABS, PLA and other materials, which cannot be sterilized at high temperatures. Doctors manually clean and scrub the guides in a short time, and cannot thoroughly clean and disinfect them, posing a safety hazard to the surgery. After placement, the hematoma cannot be directly observed to determine the accuracy of drainage catheter placement.

[0005] Framed stereotactic positioning: With extremely high positioning accuracy and reliability, the frame provides very stable support for surgical instruments, making it possible to achieve minimally invasive surgery. As the "gold standard" for precise positioning, it has become a widely accepted consensus in the industry, especially in the field of neurosurgery. Framed stereotactic systems are mainly used for functional surgeries, which are all local anesthesia surgeries for awake patients. The base ring system does not fully consider the operation needs of patients in a coma such as patients with diseases such as hypertensive cerebral hemorrhage. Before surgery, patients need to use 3 to 4 metal nails to fix their heads and wear framed base rings to establish coordinates after CT scanning. Patients and their families have a very poor experience. These bone nails increase the trauma and pain of patients, and the operation time is cumbersome. After the catheter is placed, it is impossible to directly observe the hematoma to judge the accuracy of the drainage catheter placement. At present, such products are expensive and have a very low cost performance.

[0006] Neurosurgery navigation does not follow the positioning principle of framed stereotactic positioning. Instead, it uses the body surface contour near the root of the nose or multiple artificial markers on the scalp to collect the position information of the above markers by laser non-contact or probe contact to achieve the registration of the head entity and the image virtual body. Although this method saves some preoperative preparation time, the intraoperative registration and positioning operations are time-consuming and cumbersome, and the problem of drift error cannot be solved. After the catheter is placed, the hematoma cannot be directly observed to determine the accuracy of the drainage catheter placement. At present, such products are expensive and have a very low cost performance.

[0007] The neurosurgical robot stereotactic system has a tendency to replace neuronavigation. It adds a robotic arm with adjustable angle, and the support for surgical instruments is better than navigation. It follows the same technical path of neuronavigation and still uses the body surface contour or scalp stickers for registration. In principle, its positioning should be consistent with neuronavigation. Domestic manufacturers improve registration accuracy by setting at least 4 (usually 5) metal bone screws on the skull as markers. If the skull screws fixed by the three-point head frame required during the operation are added, the total number of trauma points on the skull will reach 7 to 9, which is far more than the 3-4 trauma points of traditional framed stereotactic. These positioning bone screws not only increase the patient's trauma and pain, but may even contaminate the incision. After the catheter is placed, it is impossible to directly observe the hematoma to judge the accuracy of the drainage catheter placement. At present, such products are expensive and have a very low cost performance.

[0008] The current visual surgical navigation system has the problems of being difficult to operate and having inaccurate positioning. Summary of the invention

[0009] The present invention provides a neurosurgery visualization surgery navigation method and system to solve one of the technical problems recognized by the inventor.

[0010] The present invention provides a neurosurgery visualization surgery navigation method, the surgery navigation method comprising the following steps:

[0011] Obtain human head modeling data;

[0012] Importing data into the surgical navigation system to automatically generate a three-dimensional model of the human head, on which the locations of lesions and blood vessels are displayed;

[0013] A lesion point is selected at the patient's lesion site and an entry point is selected on the surface of the patient's skull. The surgical navigation system generates a straight needle path based on the principle of two points and one line.

[0014] The straight-line distance from the lesion to the entry point is calculated by the surgical navigation system;

[0015] Two cameras are respectively placed on both sides of the patient's head, and the two cameras send the collected human head image data to the surgical navigation system.

[0016] The surgical navigation system performs split-screen display, and the two screens are respectively a first-angle image and a second-angle image. The first-angle image and the second-angle image display a three-dimensional model of a human head, and the backgrounds of the first-angle image and the second-angle image correspond to image information captured by two cameras respectively.

[0017] The transparency of the three-dimensional model of the human head is changed, and the angle and size of the three-dimensional model of the human head are adjusted so that the three-dimensional model of the human head and the images of the human head captured in the first angle image and the second angle image overlap and the needle track is displayed.

[0018] Place one end of the drainage catheter at the entry point, adjust the angle of the drainage catheter so that the drainage catheter coincides with the needle track in the first-angle image and the second-angle image at the same time, and obtain the insertion angle of the drainage catheter.

[0019] Preferably, obtaining human head modeling data comprises the following steps:

[0020] Place a visualization patch on the patient's head at a location convenient for surgery;

[0021] Paste the imaging positioning block on the patient's head;

[0022] Scanning the patient's head by CT or MR to obtain CT or MR scan data;

[0023] The CT or MR scanning data is used to generate a three-dimensional model of the human head through modeling software to obtain modeling data.

[0024] Preferably, the developing positioning sticker is a triangular or rectangular structure.

[0025] Preferably, a rectangular coordinate system is provided on the surface of the developer positioning sticker, a positioning grid is drawn according to the rectangular coordinate system, and a reference line is provided at the center point of the positioning grid.

[0026] Preferably, the entry point corresponds to the position of one of the positioning grids.

[0027] Preferably, overlapping the three-dimensional model of the human head with the images of the human head captured in the first angle image and the second angle image comprises the following steps:

[0028] The imaging positioning block on the three-dimensional model of the human head and the imaging positioning block in the first angle image are made to coincide with each other through the operation of rotation and scaling;

[0029] When the developing positioning block on the three-dimensional model of the human head and the developing positioning block in the first-angle image are overlapped, the needle track is displayed in the first-angle image and the viewing angle is locked;

[0030] The imaging positioning block on the three-dimensional model of the human head is made to coincide with the imaging positioning block in the second angle image by rotating and scaling operations;

[0031] When the development positioning block on the three-dimensional model of the human head and the development positioning block in the second-angle image overlap, the needle track is displayed in the second-angle image and the viewing angle is locked.

[0032] Preferably, if the path of the needle track passes through a blood vessel, it will be displayed in the three-dimensional modeling of the human head, and the lesion point and the entry point are reselected.

[0033] A neurosurgery visualization surgery navigation system, wherein the neurosurgery visualization surgery navigation system is applied to the neurosurgery visualization surgery navigation method according to claim 1, comprising:

[0034] An image processing module is used to read the human head modeling data, generate a three-dimensional model of the human head, and display the location of lesions and blood vessels in the three-dimensional model of the human head;

[0035] A marking module, used for marking lesion points and entry points in the three-dimensional model of the human head;

[0036] A calculation module, used to calculate the straight-line distance between the lesion point and the entry point;

[0037] AR navigation module, enters AR navigation mode, and assists in obtaining the insertion angle of the drainage catheter.

[0038] Preferably, the AR navigation module includes:

[0039] There are two image acquisition units, which are used to capture images of the human head at different angles;

[0040] A screen splitting unit, receiving the human head image captured by the image acquisition unit and displaying it in split screens, wherein the two split screens are respectively a first angle image and a second angle image;

[0041] A locking unit, locking the viewing angles of the three-dimensional model of the human head in the first angle image and the second angle image;

[0042] The perspective unit changes the transparency of the three-dimensional model of the human head to show the location of lesions and blood vessels.

[0043] Preferably, it further comprises a one-key generation module, which automatically calculates and analyzes the lesion position and the angle of the entry point through the patient's CT data, and automatically generates the needle track.

[0044] The beneficial effects of the present invention are mainly as follows: the present invention uses a surgical navigation system to assist in positioning, first confirms the depth to which the drainage catheter needs to be inserted by calculating the distance between the lesion point and the entry point, and then determines the angle for inserting the drainage catheter by overlapping two different fixed viewing angles with the actual position of the drainage catheter. After determining the insertion angle and the insertion distance, the operation can be performed; the present invention shortens the waiting time for patients, does not require metal nails to be driven into the patient's head for positioning, and will not cause secondary damage to the patient. The price is cheaper than that of traditional navigation methods, and the cost performance is high.

[0045] The present invention determines the insertion angle of the drainage catheter by superimposing two different fixed viewing angles with the actual position of the drainage catheter, corrects the angle in different directions, and more clearly and accurately identifies the correct insertion angle of the drainage catheter.

[0046] It should be understood that both the foregoing general description and the following specific embodiments are for the purpose of example and illustration and do not necessarily limit the present invention. The accompanying drawings, which are incorporated into and constitute a part of the specification, illustrate the subject matter of the present invention. At the same time, the specification and the drawings are used to explain the principles of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 This is a flowchart of the steps of the visual surgical navigation method according to an embodiment of the present invention;

[0049] Figure 2 A flowchart of the steps of obtaining modeling data according to an embodiment of the present invention;

[0050] Figure 3 A flowchart of the steps for confirming the insertion angle of the drainage catheter according to an embodiment of the present invention;

[0051] Figure 4 It is a schematic diagram of the structure of the developing positioning sticker according to an embodiment of the present invention. DETAILED DESCRIPTION

[0052] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0053] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0054] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0055] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Example

[0056] like Figure 1-4 As shown, this embodiment provides a neurosurgery visualization surgery navigation method, the surgery navigation method comprising the following steps:

[0057] S1. Obtain human head modeling data.

[0058] Specifically, the patient's head is scanned by CT or MR to obtain DICOM data of the CT or MR scan, the DICOM data is imported into modeling software (such as 3D Slicer, OsiriX, Mimics, etc.), three-dimensional reconstruction is performed to obtain a three-dimensional modeling model of the human head, and the three-dimensional modeling model of the human head is saved to obtain human head modeling data.

[0059] S2. Importing the data into the surgical navigation system to automatically generate a three-dimensional model of the human head, and displaying the locations of lesions and blood vessels on the three-dimensional model of the human head.

[0060] Specifically, after obtaining the human head modeling data through step S1, the data is imported into the surgical navigation system, and the positions of lesions and blood vessels are displayed on the three-dimensional model of the human head through the surgical navigation system, and the surgical path is planned according to the positions of the lesions and blood vessels.

[0061] S3. Select a lesion point at the patient's lesion site and an entry point on the surface of the patient's skull. The surgical navigation system generates a straight needle path based on the principle of two points and one line.

[0062] Specifically, the doctor plans the operation based on the location of the lesion and blood vessels. First, a lesion point is selected at the location of the lesion, and then an entry point is selected on the surface of the patient's skull. After selecting the lesion point and the entry point, the surgical navigation system will generate a needle path based on these two points. If the needle path does not pass through blood vessels, it can be determined that the operation is feasible along this path.

[0063] S4. Calculate the straight-line distance from the lesion to the entry point through the surgical navigation system.

[0064] Specifically, a needle track is generated based on the lesion point and the entry point. The needle track is a straight line. It is only necessary to calculate the straight-line distance between the lesion point and the entry point to obtain the depth data of the drainage catheter that needs to be inserted into the patient's head during the operation.

[0065] S5. Two cameras are respectively arranged on both sides of the patient's head, and the two cameras send the collected human head image data to the surgical navigation system.

[0066] Specifically, the patient lies flat on the operating table, and two cameras are set above the operating table and moved to both sides of the patient's head, for example, one on the left and one directly above, or one on the right and one directly above, or one on each side, so that the two cameras can respectively capture video images of the patient's head at two angles. After adjusting the angles of the two cameras, they are fixed, and the images captured by the cameras are transmitted to the surgical navigation system for display.

[0067] S6. The surgical navigation system performs split-screen display, where the two screens are respectively a first-angle image and a second-angle image. The first-angle image and the second-angle image display a three-dimensional model of a human head. The backgrounds of the first-angle image and the second-angle image correspond to image information captured by two cameras, respectively.

[0068] Specifically, when navigation is selected in the surgical navigation system during the operation, the surgical navigation system will be divided into two screens, namely the first-angle image and the second-angle image. The background of the first-angle image corresponds to the picture taken by one of the cameras, and the background of the second-angle image corresponds to the image taken by the other camera. In addition, the three-dimensional model of the human head will be displayed in both the first-angle image and the second-angle image.

[0069] S7. Change the transparency of the three-dimensional model of the human head, adjust the angle and size of the three-dimensional model of the human head, make the three-dimensional model of the human head overlap with the human head image captured in the first angle image and the second angle image, and display the needle track.

[0070] Specifically, because the transparency of the three-dimensional human head model is adjusted in order to display the positions of lesions and blood vessels in the three-dimensional human head model when the needle track is generated, the skin and the like will not be displayed at this time. In order to facilitate subsequent operations, the transparency is first adjusted to display the skin and other tissues. The backgrounds of the first-angle image and the second-angle image are images of the patient's head at two different angles, respectively. By adjusting the angle and size of the three-dimensional human head model, the virtual model and the actual human head are overlapped. After the overlap is completed, the needle track formed in step S3 will be automatically displayed, and the direction of the needle track can be observed from different angles. At this time, the transparency of the three-dimensional human head model can be changed to display the positions of lesions, blood vessels, etc. again.

[0071] S8. Place one end of the drainage catheter at the entry point, adjust the angle of the drainage catheter so that the drainage catheter coincides with the needle track in the first angle image and the second angle image, and obtain the insertion angle of the drainage catheter.

[0072] Specifically, the drainage catheter is first placed at the entry point, and the camera is continuously shooting, so the dynamic image of the drainage catheter can be observed in the first-angle image and the second-angle image. When adjusting the drainage catheter, it can be seen whether the drainage catheter coincides with the needle track in the first-angle image and the second-angle image. If the drainage tube coincides with the needle track in both the first-angle image and the second-angle image, the correct insertion angle can be obtained. Once the insertion angle and insertion distance are determined, the operation can be performed.

[0073] Further, obtaining human head modeling data includes the following steps:

[0074] Place a visualization patch on the patient's head at a location convenient for surgery;

[0075] Paste the imaging positioning block on the patient's head;

[0076] Scanning the patient's head by CT or MR to obtain CT or MR scan data;

[0077] The CT or MR scanning data is used to generate a three-dimensional model of the human head through modeling software to obtain modeling data.

[0078] Specifically, a developing positioning strip is pasted on the patient's head at a position convenient for surgery. The developing positioning sticker is made of disposable developing material and can be developed during CT or MR scanning. The function of the developing positioning sticker is to facilitate the positioning of the entry point; a developing positioning block is pasted on the patient's head. The developing positioning block is made of disposable developing material and can be developed during CT or MR scanning. The developing positioning block is a block structure. During surgical navigation, the raised developing positioning block can facilitate the positioning overlap of the virtual three-dimensional human head model and the actual human head photographed by the camera. After the developing positioning block is pasted, the patient's head is scanned by CT or MR to obtain CT or MR scanning data, and then the CT or MR scanning data is generated into a three-dimensional human head model through modeling software to obtain modeling data.

[0079] Furthermore, the developer positioning sticker is a triangular or rectangular structure. A rectangular coordinate system is arranged on the surface of the developer positioning sticker, a positioning grid is drawn according to the rectangular coordinate system, and a reference line is arranged at the center point of the positioning grid.

[0080] Specifically, the triangular shape is easier to fit the forehead, and the surface of the developer positioning sticker is provided with a rectangular coordinate system, such as Figure 4 As shown, a positioning grid is drawn according to the rectangular coordinate system, the X-axis of the rectangular coordinate system is marked with letters, and the Y-axis is marked with numbers. A reference line is set at the center point of the positioning grid, and an opening for allowing a guide tube to pass through is opened at the center of the positioning grid. After the surgical navigation system selects the entry point, it can quickly locate according to the position corresponding to the development positioning sticker corresponding to the entry point, thereby improving the accuracy and efficiency of positioning. For example, an A3 positioning grid on one of the development positioning stickers is selected in the three-dimensional model of the human head. During the operation, it is only necessary to find the position of the A3 positioning grid on the development positioning sticker to find the entry point.

[0081] Furthermore, overlapping the three-dimensional model of the human head with the images of the human head captured in the first angle image and the second angle image comprises the following steps:

[0082] The imaging positioning block on the three-dimensional model of the human head and the imaging positioning block in the first angle image are made to coincide with each other through the operation of rotation and scaling;

[0083] When the developing positioning block on the three-dimensional model of the human head and the developing positioning block in the first-angle image are overlapped, the needle track is displayed in the first-angle image and the viewing angle is locked;

[0084] The imaging positioning block on the three-dimensional model of the human head is made to coincide with the imaging positioning block in the second angle image by rotating and scaling operations;

[0085] When the development positioning block on the three-dimensional model of the human head and the development positioning block in the second-angle image overlap, the needle track is displayed in the second-angle image and the viewing angle is locked.

[0086] A neurosurgery visualization surgery navigation system, comprising:

[0087] An image processing module is used to read the human head modeling data, generate a three-dimensional model of the human head, and display the location of lesions and blood vessels in the three-dimensional model of the human head;

[0088] A marking module, used for marking lesion points and entry points in the three-dimensional model of the human head;

[0089] A calculation module, used to calculate the straight-line distance between the lesion point and the entry point;

[0090] AR navigation module, enters AR navigation mode to assist in obtaining the insertion angle of the drainage catheter;

[0091] Specifically, the AR navigation module includes:

[0092] There are two image acquisition units, which are used to capture images of the human head at different angles;

[0093] A screen splitting unit, receiving the human head image captured by the image acquisition unit and displaying it in split screens, wherein the two split screens are respectively a first angle image and a second angle image;

[0094] A locking unit, locking the viewing angles of the three-dimensional model of the human head in the first angle image and the second angle image;

[0095] The perspective unit changes the transparency of the three-dimensional model of the human head to show the location of lesions and blood vessels.

[0096] In one embodiment, a one-key generation module is also included: by inputting the patient's CT data into the visual cranial surgery planning software, the one-key modeling function is activated, and the system will automatically calculate and analyze the lesion location and the angle of the entry point. It is fast and accurate, eliminating tedious operations.

[0097] Specifically, for doctors who are not very experienced, a one-click generation module can be used to automatically generate the needle track. The system automatically calculates the location of the lesion point and the entry point, so that the needle track formed avoids blood vessels and other locations, which is fast and accurate, and avoids tedious operations.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A neurosurgery visualization surgery navigation method, characterized in that: The surgical navigation method comprises the following steps: Obtain human head modeling data; The modeling data is imported into the surgical navigation system to automatically generate a three-dimensional model of the human head, and the location of the lesion and blood vessels is displayed on the three-dimensional model of the human head; A lesion point is selected at the patient's lesion site and an entry point is selected on the surface of the patient's skull. The surgical navigation system generates a straight needle path based on the principle of two points and one line. The straight-line distance from the lesion to the entry point is calculated by the surgical navigation system; Two cameras are respectively set on both sides of the patient's head, and the two cameras send the collected human head image data to the surgical navigation system; The surgical navigation system performs split-screen display, the two screens are respectively a first-angle image and a second-angle image, the first-angle image and the second-angle image display a three-dimensional model of a human head, and the backgrounds of the first-angle image and the second-angle image correspond to image information captured by two cameras respectively; Changing the transparency of the three-dimensional model of the human head, adjusting the angle and size of the three-dimensional model of the human head, making the three-dimensional model of the human head overlap with the human head images captured in the first angle image and the second angle image, and displaying the needle track; Place one end of the drainage catheter at the entry point, adjust the angle of the drainage catheter so that the drainage catheter coincides with the needle track in the first-angle image and the second-angle image at the same time, and obtain the insertion angle of the drainage catheter.

2. A neurosurgery visualization surgery navigation method according to claim 1, characterized in that: Obtaining human head modeling data includes the following steps: Place a visualization patch on the patient's head at a location convenient for surgery; Paste the imaging positioning block on the patient's head; Scanning the patient's head by CT or MR to obtain CT or MR scan data; The CT or MR scanning data is used to generate a three-dimensional model of the human head through modeling software to obtain modeling data.

3. A neurosurgery visualization surgery navigation method according to claim 2, characterized in that: The developing positioning sticker is a triangular or rectangular structure.

4. A neurosurgery visualization surgery navigation method according to claim 3, characterized in that: A rectangular coordinate system is arranged on the surface of the developer positioning sticker, a positioning grid is drawn according to the rectangular coordinate system, and a reference line is arranged at the center point of the positioning grid.

5. The neurosurgery visualization surgery navigation method according to claim 3, characterized in that: The entry point corresponds to the position of one of the positioning grids.

6. The neurosurgery visualization surgery navigation method according to claim 2, characterized in that: The three-dimensional model of the human head and the images of the human head captured in the first angle image and the second angle image overlap, comprising the following steps: The imaging positioning block on the three-dimensional model of the human head and the imaging positioning block in the first angle image are made to coincide with each other through the operation of rotation and scaling; When the developing positioning block on the three-dimensional model of the human head and the developing positioning block in the first-angle image are overlapped, the needle track is displayed in the first-angle image and the viewing angle is locked; The imaging positioning block on the three-dimensional model of the human head is made to coincide with the imaging positioning block in the second angle image by rotating and scaling operations; When the development positioning block on the three-dimensional model of the human head and the development positioning block in the second-angle image overlap, the needle track is displayed in the second-angle image and the viewing angle is locked.

7. The neurosurgery visualization surgery navigation method according to claim 1, characterized in that: If the path of the needle tract passes through a blood vessel, it will be shown in the 3D modeling of the human head, and the lesion point and the entry point will be reselected.

8. A neurosurgery visualization surgery navigation system, characterized in that: The neurosurgery visualization surgery navigation system is applied to the neurosurgery visualization surgery navigation method according to claim 1, comprising: An image processing module is used to read the human head modeling data, generate a three-dimensional model of the human head, and display the location of lesions and blood vessels in the three-dimensional model of the human head; A marking module, used for marking lesion points and entry points in the three-dimensional model of the human head; A calculation module, used to calculate the straight-line distance between the lesion point and the entry point; AR navigation module, enters AR navigation mode, and assists in obtaining the insertion angle of the drainage catheter.

9. The neurosurgery visualization surgery navigation system according to claim 8, characterized in that: The AR navigation module includes: There are two image acquisition units, which are used to capture images of the human head at different angles; A screen splitting unit, receiving the human head image captured by the image acquisition unit and displaying it in split screens, wherein the two split screens are respectively a first angle image and a second angle image; A locking unit, locking the viewing angles of the three-dimensional model of the human head in the first angle image and the second angle image; The perspective unit changes the transparency of the three-dimensional model of the human head to show the location of lesions and blood vessels.

10. The neurosurgery visualization surgery navigation system according to claim 8, characterized in that: It also includes a one-key generation module, which automatically calculates and analyzes the lesion position and the angle of the entry point through the patient's CT data, and automatically generates the needle track.

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