Magnetic resonance imaging guided interventional operation system and method

Abstract

The embodiment of the invention provides a magnetic resonance imaging guided interventional operation system which is characterized in that the system comprises a magnetic resonance imaging device and an AR device, and the AR device comprises a camera, a processor and an AR terminal; the camera is used for acquiring a physical image of a real surgical field of view of a target object, and the camera is arranged in a magnetic resonance hole of the magnetic resonance imaging device; the magnetic resonance imaging device is used for acquiring a magnetic resonance image of a region of interest of a target object; the processor is used for generating a target fusion image based on the physical image and the magnetic resonance image of the real surgical field; and the AR terminal is used for acquiring the target fusion image and presenting the target fusion image to the user to guide the interventional operation.

Description

Technical Field

[0001] The present specification relates to the field of medical device technology, and in particular to a magnetic resonance imaging-guided interventional surgery system and method. Background Art

[0002] MRI-guided Interventional Surgery is a method that uses magnetic resonance imaging technology to guide interventional surgery. Its advantages include high resolution, non-invasiveness, and real-time imaging. At present, MRI-guided interventional surgery still faces great technical challenges. For example, the surgical field of view and operating space are limited. When the patient enters the magnet, it is difficult for the doctor to insert his hand into the aperture to operate beside the equipment, and it is difficult to observe the patient's condition. For another example, the imaging sequence during the operation generates noise, which affects the doctor's comfort during the operation and affects the outcome of the operation. For another example, the need to go in and out of the bed back and forth, image first, then operate, and then confirm the image repeatedly affects the operation time.

[0003] Therefore, it is desirable to propose a magnetic resonance imaging-guided interventional surgery system and method that can improve the doctor's field of view during surgery while eliminating or reducing the interference of noise generated by real-time magnetic resonance imaging on the doctor's surgery. Summary of the invention

[0004] One of the embodiments of this specification provides a magnetic resonance imaging guided interventional surgery system. The system includes: a magnetic resonance imaging device and an AR device, the AR device includes a camera, a processor and an AR terminal; the camera is used to obtain a physical image of the real surgical field of the target object, and the camera is set in the magnetic resonance hole of the magnetic resonance imaging device; the magnetic resonance imaging device is used to obtain a magnetic resonance image of the target object's area of ​​interest; the processor is used to generate a target fusion image based on the physical image and the magnetic resonance image of the real surgical field; and the AR terminal is used to obtain the target fusion image and present it to the user to guide the interventional surgery.

[0005] In some embodiments, the processing device is further used to obtain a noise sequence generated by the magnetic resonance imaging device during the imaging process, and determine a noise reduction sound sequence based on the noise sequence; the AR terminal is further used to generate a sound wave signal of the noise reduction sound sequence.

[0006] In some embodiments, the processor is further used to: obtain scanning parameters of the target object, determine a noise sequence based on the scanning parameters; determine a noise reduction sound sequence based on the noise sequence; wherein the frequency spectrum of the noise reduction sound sequence and the noise sequence are the same and the phase is opposite; the scanning parameters include device parameters and scanning setting parameters.

[0007] In some embodiments, the system also includes an indication information acquisition device, a robotic arm and a robotic arm controller; the indication information acquisition device is used to acquire indication information from a user instructing the robotic arm to perform interventional surgery; the robotic arm is used to perform interventional surgery on a target object; and the robotic arm controller is used to control the robotic arm to perform interventional surgery on the target object based on the indication information.

[0008] In some embodiments, the camera includes a plurality of cameras disposed in the magnetic resonance hole, and the visual detection areas of the plurality of cameras cover the entire lower area of ​​the magnetic resonance hole.

[0009] In some embodiments, the system further includes a treatment device, and the processor is further configured to: in response to the interventional procedure proceeding to a target stage, control the treatment device to treat the target object.

[0010] One of the embodiments of the present specification provides a method for magnetic resonance imaging-guided interventional surgery, the method comprising: obtaining a physical image of a real surgical field of view of a target object based on a camera, the camera being arranged in a magnetic resonance hole of a magnetic resonance imaging device; obtaining a magnetic resonance image of a region of interest of the target object based on the magnetic resonance imaging device; generating a target fusion image based on the physical image of the real surgical field and the magnetic resonance image; obtaining the target fusion image through an AR terminal and presenting it to a user to guide the interventional surgery.

[0011] In some embodiments, the method also includes: acquiring a noise sequence generated by the magnetic resonance imaging device during the imaging process, and determining a noise reduction sound sequence based on the noise sequence; and generating a sound wave signal with the noise reduction sound sequence through the AR terminal.

[0012] In some embodiments, a noise sequence generated by a magnetic resonance imaging device during an imaging process is acquired, and a noise sequence is determined based on the noise sequence; based on the noise sequence, determining a noise reduction sound sequence includes: acquiring scanning parameters of the target object, and determining the noise reduction sound sequence based on the scanning parameters; wherein the frequency spectrum of the noise reduction sound sequence and the noise sequence are the same, and the phases are opposite; the scanning parameters include device parameters and scanning setting parameters.

[0013] One of the embodiments of the present specification provides a computer-readable storage medium, which stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes a magnetic resonance imaging-guided interventional surgery method.

[0014] Interventional surgery can be divided into vascular interventional techniques and non-vascular interventional techniques. For example, coronary angiography, thrombolysis and stent placement for the treatment of angina pectoris and acute myocardial infarction are typical vascular interventional treatment techniques. For another example, percutaneous puncture biopsy, radiofrequency ablation, argon-helium knife, radioactive particle implantation, etc. for liver cancer, lung cancer and other tumors are non-vascular interventional techniques.

[0015] At present, magnetic resonance-guided interventional surgery still faces technical problems such as limited surgical field of view and operating space, high noise, and low efficiency caused by moving in and out of the bed. In response to the problems of limited surgical field of view and operating space, doctors can adopt appropriate postures and surgical operation techniques to ensure that the surgical field of view is maximized. In response to the noise problem, the generation and impact of noise can be reduced by controlling the working mode and parameters of the MRI equipment. For example, a mute sequence can be used. At the same time, during the operation, the surgeon can use equipment such as noise-reducing headphones and earplugs to reduce the impact of noise on the surgical operation. The above methods are difficult to solve the current technical problems. For example, even if the doctor can adopt appropriate postures and surgical operation techniques, there will still be problems that some areas cannot be seen or operated. For another example, earplugs and traditional noise-reducing headphones reduce the noise generated by magnetic resonance imaging while also reducing the sound of the surrounding environment, making it impossible for doctors to hear or hear the voices of patients, other doctors and / or nurses, causing unnecessary dangers.

[0016] In order to solve the above problems, the present invention integrates the physical image of the real surgical field of view with the magnetic resonance image and displays it in front of the doctor through the AR terminal, thereby improving the doctor's field of view during surgery and greatly improving the accuracy of surgical control. There is no need to go in and out of the bed or check the external display screen back and forth, which is highly efficient. At the same time, by generating a sound wave signal of a noise reduction sound sequence, the noise generated by the real-time magnetic resonance imaging can be eliminated or reduced to interfere with the doctor's surgery without reducing the sound of the surrounding environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0018] Figure 1 is a schematic diagram of an application scenario of a magnetic resonance imaging guided interventional surgery system according to some embodiments of this specification;

[0019] Figure 2 is a module diagram of a magnetic resonance imaging guided interventional surgery system according to some embodiments of this specification;

[0020] Figure 3 An exemplary flow chart of an MRI-guided interventional procedure according to some embodiments of this specification;

[0021] Figure 4 is an exemplary schematic diagram of a noise spectrum diagram without noise reduction and a noise spectrum diagram after active and / or passive noise reduction according to some embodiments of this specification;

[0022] Figure 5 is an exemplary schematic diagram of an interventional procedure guided by magnetic resonance imaging according to some embodiments of the present specification;

[0023] Figure 6 is an exemplary schematic diagram of an interventional procedure guided by magnetic resonance imaging according to some embodiments of the present specification. DETAILED DESCRIPTION

[0024] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0025] It should be understood that the "system", "device", "unit" and / or "module" used herein are a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0026] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0027] Flowcharts are used in this specification to illustrate the operations performed by the system according to the embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed precisely in order. Instead, the steps may be processed in reverse order or simultaneously. At the same time, other operations may also be added to these processes, or one or more operations may be removed from these processes.

[0028] Figure 1 1 is a schematic diagram of an application scenario 100 of an interventional surgery system guided by magnetic resonance imaging according to some embodiments of the present specification. In some embodiments, the application scenario 100 of the interventional surgery system guided by magnetic resonance imaging may include a magnetic resonance imaging device 110 and an AR device 120. In some embodiments, the application scenario 100 of the interventional surgery system guided by magnetic resonance imaging may also include an indication information acquisition device, a robot arm, a robot arm controller, a treatment device, a storage device, Bluetooth, a network and / or a user terminal (not shown in the figure).

[0029] Figure 1 The magnetic resonance imaging device 110 in the figure is a top perspective view. The magnetic resonance imaging device 110 can be used to scan a target object (e.g., a patient). In some embodiments, the magnetic resonance imaging device 110 can obtain a magnetic resonance image of a region of interest of the target object. In some embodiments, the magnetic resonance imaging device 110 may include a medical imaging device, a combination of a medical imaging device and an interventional medical device, and the like. An exemplary medical imaging device may include a magnetic resonance imaging (MRI) scanner. An exemplary interventional medical device may include a radiotherapy (RT) device, an ultrasound therapy device, a thermal therapy device, a surgical intervention device, and the like, or a combination thereof.

[0030] In some embodiments, the magnetic resonance imaging device 110 may include a magnetic resonance bore 111 , also known as a magnetic resonance imaging scanning cavity.

[0031] The bed can enter the magnetic resonance bore 111 so as to perform a nuclear magnetic resonance scan on the target object lying on the bed. In some embodiments, a camera can be set in the magnetic resonance bore 111. For more description of the magnetic resonance imaging device 110 and the magnetic resonance bore 111, please refer to Figure 3 Description.

[0032] In some embodiments, the AR device 120 may include a camera 121 , a processor 122 , and an AR terminal 123 .

[0033] The camera 121 can be used to obtain a physical image of the real surgical field of the target object. For example, the camera 121 may include a structured light depth camera, a time-of-flight depth camera, a binocular stereo camera, etc. For another example, in addition to the structured light depth camera, the time-of-flight depth camera, and the binocular stereo camera, the camera 121 may also be other image acquisition devices. Among them, the physical image of the real surgical field may include a depth image (i.e., a three-dimensional image). In some embodiments, the camera 121 may be disposed in the magnetic resonance bore 111 of the magnetic resonance imaging device 110. In some embodiments, the camera 121 may include a plurality of cameras (for example, 2, 3, 4, etc.) disposed in the magnetic resonance bore 111, and the visual detection areas of the plurality of cameras cover the entire lower area of ​​the magnetic resonance bore. Among them, the lower area of ​​the magnetic resonance bore refers to the area below the camera within the magnetic resonance bore. For example, as Figure 1As shown, the multiple cameras may include two symmetrically arranged on both sides of the central axis on the left side of the top of the magnetic resonance hole 111, and two symmetrically arranged on both sides of the central axis on the right side of the top of the magnetic resonance hole 111. In some embodiments, the camera 121 can be rotated, and the shooting angle of the camera 121 can be adjusted to ensure that the visual detection area of ​​the multiple cameras covers the entire lower area of ​​the magnetic resonance hole. In some embodiments, the camera 121 can also be installed in other ways. For example, the camera 121 can be installed on a camera electric lifting bracket set at the top of the magnetic resonance hole 111, which is not limited here. For more information about the camera 121, see Figure 3 and its related description.

[0034] The processor 122 can process data and / or information obtained from other devices or system components. The processor 122 can execute program instructions based on these data, information and / or processing results to perform one or more functions described in this specification. For example, the processor 122 can generate a target fusion image based on the physical image and magnetic resonance image of the real surgical field, and determine a noise reduction sound sequence based on the noise sequence to control the AR terminal to obtain the target fusion image and present it to the user (e.g., a doctor) to guide the interventional surgery, while generating a sound wave signal of the noise reduction sound sequence to reduce noise.

[0035] In some embodiments, the processor 122 may include one or more sub-processing devices (e.g., a single-core processing device or a multi-core multi-core processing device). By way of example only, the processor 122 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), an application-specific instruction processor (ASIP), a graphics processing unit (GPU), a physical processing unit (PPU), a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic device (PLD), a controller, a microcontroller unit, a reduced instruction set computer (RISC), a microprocessor, etc., or any combination thereof.

[0036] The AR terminal 123 can be used to obtain the target fusion image and present it to the user to guide the interventional surgery, while generating a sound wave signal of a noise reduction sound sequence to reduce noise. In some embodiments, the AR terminal 123 may include a three-dimensional visual display device. In some embodiments, the three-dimensional visual display device may include a virtual reality helmet, virtual reality glasses, virtual reality goggles, augmented reality helmets, augmented reality glasses, augmented reality goggles, etc. or any combination thereof. The three-dimensional visual display device can achieve different effects such as virtual reality (VR), augmented reality (AR), and mixed reality (MR).

[0037] In some embodiments, the AR terminal 123 can obtain the target fusion image from the processor 122 and present it to the user to guide the interventional surgery. For example, the user can view the target fusion image via a head-mounted display device and perform the interventional surgery based on the target image. In some embodiments, the processor 122 can be part of the AR terminal 123.

[0038] In some embodiments, the application scenario 100 of the magnetic resonance imaging-guided interventional surgery system may also include some or more other devices. For example, when the interventional surgery is performed using a robotic arm, the application scenario 100 of the magnetic resonance imaging-guided interventional surgery system may also include an indication information acquisition device, a robotic arm, and a robotic arm controller. For another example, the application scenario 100 of the magnetic resonance imaging-guided interventional surgery system may also include a treatment device, a storage device, Bluetooth, a network, and / or a user terminal (not shown in the figure). The network may include any suitable wired or wireless network that can facilitate information and / or data exchange. For example, the processor 122 and the camera may transmit information and / or data via Bluetooth and / or a network.

[0039] The indication information acquisition device can be used to obtain the indication information of the user instructing the robot arm to perform interventional surgery. In some embodiments, the indication information acquisition device may include a position tracker, a data glove, a 3D input device (e.g., a 3D mouse), a motion capture device, an eye tracker, a force feedback device, and other interactive devices. In some embodiments, the user can send information related to magnetic resonance imaging-guided interventional surgery to the processor 122 via the indication information acquisition device. For example, the user can instruct the robot arm to perform interventional surgery via the indication information acquisition device. For another example, the user can send an instruction to perform magnetic resonance imaging-guided interventional surgery to the processor 122 via the indication information acquisition device.

[0040] The robotic arm can be used to perform interventional surgery on a target object. The robotic arm refers to an instrument that provides support for the user to perform magnetic resonance imaging guided interventional surgery. For example, the robotic arm can include an operating surgical robot, a positioning surgical robot, etc.

[0041] The robot arm controller can be used to control the robot arm to perform interventional surgery on the target object based on the indication information. The robot arm controller can be a part of the processor 122, or the robot arm controller and the processor 122 can be two independent components.

[0042] A therapeutic device refers to a device that can treat a target object. In some embodiments, the therapeutic device may include an ablation device, a stent, an embolic device, etc. Taking percutaneous ablation of a tumor as an example, the therapeutic device is an ablation device, which is a device that can enter the patient's body tissue to perform ablation treatment on the patient's lesion. For example, thermal ablation needles, cryoablation needles, chemical ablation needles, and other devices. In some embodiments, the ablation device is provided with an ablation needle for entering the patient's lesion area to ablate the lesion.

[0043] The storage device may store data, instructions, and / or any other information. In some embodiments, the storage device may store data and / or instructions related to magnetic resonance imaging-guided interventional surgery. For example, the storage device may store a physical image and a magnetic resonance image of a real surgical field of view. As another example, the storage device may store instructions for processing a physical image and a magnetic resonance image of a real surgical field of view to generate a target fused image.

[0044] In some embodiments, the storage device may be connected to a network so as to communicate with one or more other components (e.g., camera 121, AR terminal 123, etc.) in the application scenario 100 of the magnetic resonance imaging guided interventional surgery system. One or more components of the application scenario 100 of the magnetic resonance imaging guided interventional surgery system may access data or instructions stored in the storage device through the network. In some embodiments, the storage device may be part of the processor 122.

[0045] In some embodiments, the user can also interact with the magnetic resonance imaging guided interventional surgery system via other user terminals (not shown) in addition to the indication information acquisition device. Exemplary user terminals may include mobile devices, tablet computers, laptop computers, etc., or any combination thereof.

[0046] Figure 2 200 is a module diagram of an MRI-guided interventional surgery system according to some embodiments of the present specification.

[0047] In some embodiments, the module diagram 200 of the magnetic resonance imaging guided interventional surgery system may include a first acquisition module 210, a second acquisition module 220, a generation module 230, and a guidance module 240. In some embodiments, the module diagram 200 of the magnetic resonance imaging guided interventional surgery system may also include a determination module 250, a generation module 260, and a control module 270.

[0048] The first acquisition module 210 may be used to acquire a physical image of a real surgical field of view of a target object based on a camera, where the camera is disposed in a magnetic resonance bore of a magnetic resonance imaging device.

[0049] In some embodiments, the camera includes a plurality of cameras disposed in the magnetic resonance hole, and the visual detection areas of the plurality of cameras cover the entire lower area of ​​the magnetic resonance hole.

[0050] The second acquisition module 220 may be configured to acquire a magnetic resonance image of a region of interest of a target object based on a magnetic resonance imaging device.

[0051] The generation module 230 may be used to generate a target fusion image based on the physical image and the magnetic resonance image of the actual surgical field.

[0052] The guidance module 240 may be used to acquire a target fusion image and present the image to a user to guide an interventional procedure.

[0053] The determination module 250 may be used to obtain a noise sequence generated by the magnetic resonance imaging device during an imaging process, and determine a noise reduction sound sequence based on the noise sequence.

[0054] In some embodiments, a noise sequence generated by a magnetic resonance imaging device during an imaging process is acquired, and a noise reduction sound sequence is determined based on the noise sequence, including: acquiring scanning parameters of a target object, and determining the noise sequence based on the scanning parameters; determining the noise reduction sound sequence based on the noise sequence; wherein the frequency spectrum of the noise reduction sound sequence and the noise sequence are the same, and the phases are opposite; and the scanning parameters include device parameters and scanning setting parameters.

[0055] The generating module 260 may be configured to generate a sound wave signal of the noise reduction sound sequence.

[0056] The control module 270 may be configured to control the treatment device to treat the target object in response to the intervention procedure reaching a target stage.

[0057] In some embodiments, the indication information acquisition device is used to acquire indication information from a user instructing a robotic arm to perform interventional surgery; the robotic arm is used to perform interventional surgery on a target object; and the robotic arm controller is used to control the robotic arm to perform interventional surgery on the target object based on the indication information.

[0058] For more details about the first acquisition module 210, the second acquisition module 220, the generation module 230, the guidance module 240, the determination module 250, the generation module 260 and the control module 270, see Figure 3-Figure 6 and its related description.

[0059] It should be understood that Figure 2The system and its modules shown can be implemented in various ways. It should be noted that the above description of the magnetic resonance imaging guided interventional surgery system and its modules is only for the convenience of description and cannot limit this specification to the scope of the embodiments. It is understandable that for those skilled in the art, after understanding the principle of the system, it is possible to arbitrarily combine the modules or form a subsystem to connect with other modules without deviating from this principle. In some embodiments, Figure 2 The first acquisition module 210, the second acquisition module 220, the generation module 230, the guidance module 240, the determination module 250, the generation module 260 and the control module 270 disclosed in the specification can be different modules in a system, or one module can realize the functions of two or more modules mentioned above. For example, each module can share a storage module, or each module can have its own storage module. Such variations are all within the protection scope of this specification.

[0060] Figure 3 FIG. 1 is an exemplary flow chart of an interventional procedure guided by magnetic resonance imaging according to some embodiments of the present specification. Figure 3 As shown, process 300 includes the following steps. In some embodiments, Figure 3 One or more operations of the process 300 shown may be performed in Figure 1 The magnetic resonance imaging guided interventional surgery system is implemented in the application scenario 100 shown. For example, Figure 3 The process 300 shown may be stored in a storage device in the form of instructions and called and / or executed by the processor 122 .

[0061] Step 310, obtaining a physical image of the actual surgical field of the target object based on the camera. In some embodiments, step 310 may be performed by the first acquisition module 210. In some embodiments, the camera is disposed in a magnetic resonance bore of a magnetic resonance imaging device.

[0062] The target subjects are patients who are to undergo MRI-guided interventional procedures.

[0063] The physical image of the real surgical field refers to an image that can cover the real surgical area of ​​the target object. In some embodiments, the physical image of the real surgical field may include a depth image (three-dimensional image).

[0064] A camera refers to a device that can obtain a surface image of the real surgical field of view of the target object. In some embodiments, the camera may include a structured light depth camera, a time-of-flight depth camera, a binocular stereo camera, and the like. Taking a binocular stereo camera as an example, the binocular camera may include a projector and two detectors. The projector may project a certain pattern of structured light (e.g., infrared light) onto the surface of an object in the space where the target object is located. The structured light is reflected on the surface of the object in the space where the target object is located and then received by the detector, thereby obtaining a physical image of the real surgical field of view modulated by the surface shape of the object in the space where the target object is located. The structured light emitted by the projector may include any other form of structured light, such as stripe structured light, dot structured light, checkerboard structured light, etc. In some embodiments, the camera may include only one projector and one detector. In some embodiments, the camera may include one projector and two detectors. In some embodiments, the camera may also include other types of depth cameras, which are not limited here.

[0065] In some embodiments, the camera may include multiple cameras disposed in the magnetic resonance hole, and the visual detection areas of the multiple cameras cover the entire lower area of ​​the magnetic resonance hole. In some embodiments, the number of cameras may be adjusted according to actual conditions, for example, it may be 2, 3, 4, 5, etc. The structures of different cameras may be the same or different. Multiple cameras may be arranged at equal intervals or at unequal intervals at the top of the magnetic resonance hole 111.

[0066] By setting up multiple cameras, a more comprehensive physical image of the target object's real surgical field of view can be obtained, which gives the doctor a more comprehensive field of view during surgery and greatly improves the accuracy of surgical control.

[0067] In some embodiments, multiple cameras can respectively obtain surface data (e.g., three-dimensional images) of a portion of the lower region of the magnetic resonance hole within their shooting regions, and these surface data can be fused to generate surface data of the lower region of the entire magnetic resonance hole. In some embodiments, the positions of multiple cameras can be set so that all the shooting regions of the multiple cameras can be combined to include the lower region of the entire magnetic resonance hole. In some embodiments, in order to obtain complete surface data of the lower region of the magnetic resonance hole, the shooting regions between adjacent cameras can be set to have a partial overlapping region. The processor can fuse (e.g., splice) the surface data of a portion of the lower region of the magnetic resonance hole captured by multiple cameras according to the overlapping region to generate complete surface data of the lower region of the magnetic resonance hole. Thus, when performing magnetic resonance imaging-guided interventional surgery, the camera can obtain a physical image of the actual surgical field of view of the target object in the magnetic resonance hole.

[0068] Step 320 , obtaining a magnetic resonance image of the region of interest of the target object based on the magnetic resonance imaging device. In some embodiments, step 320 may be performed by the second acquisition module 220 .

[0069] The region of interest refers to the area that is focused on during MRI-guided interventional procedures.

[0070] A magnetic resonance image refers to an image of a region of interest of a target object acquired by a magnetic resonance imaging device. In some embodiments, the magnetic resonance image may be a three-dimensional medical image.

[0071] In some embodiments, the user can determine the location of the target object's region of interest based on the type of magnetic resonance imaging-guided interventional surgery, and then the processor can control the magnetic resonance imaging device to image the target object's region of interest to obtain a magnetic resonance image of the target object's region of interest.

[0072] Step 330 , based on the physical image of the actual surgical field and the magnetic resonance image, generate a target fusion image. In some embodiments, step 330 may be performed by the generation module 230 .

[0073] The target fused image refers to an image generated by fusing (eg, stitching) the physical image of the real surgical field and the magnetic resonance image. In some embodiments, the target fused image may be a three-dimensional image.

[0074] In some embodiments, the processor may combine the physical image of the real surgical field and the magnetic resonance image to obtain a target fused image. For example, the processor may perform point cloud stitching of the physical image of the real surgical field and the magnetic resonance image to obtain a target fused image. Point cloud stitching mainly achieves the fusion of the physical image of the real surgical field and the magnetic resonance image through coordinate system alignment, point cloud registration and point cloud fusion.

[0075] Step 340 , the target fusion image is acquired through the AR terminal and presented to the user to guide the interventional surgery. In some embodiments, step 340 may be performed by the guidance module 240 .

[0076] In some embodiments, Figure 5 As shown, after the target fusion image is acquired by the AR terminal 123 and presented to the user, the user can perform the interventional surgery with his own hands under the guidance of the target fusion image. In some embodiments, in order to facilitate the user to perform the interventional surgery, a large-aperture, short-cavity magnetic resonance imaging device 110 can be selected to perform magnetic resonance imaging-guided interventional surgery to avoid the situation where the user's hands cannot reach the position required for operation due to the aperture being too small and / or the cavity being too long.

[0077] In some embodiments, Figure 6As shown, after the target fusion image is acquired by the AR terminal 123 and presented to the user, the user can perform interventional surgery via the robot arm 132 under the guidance of the target fusion image. At this time, the magnetic resonance imaging guided interventional surgery system may also include an indication information acquisition device 131, a robot arm 132 and a robot arm controller 133. Among them, the indication information acquisition device 131 is used to acquire the indication information of the user instructing the robot arm 132 to perform interventional surgery; the robot arm 132 is used to perform interventional surgery on the target object; and the robot arm controller 133 is used to control the robot arm 132 to perform interventional surgery on the target object based on the indication information. The user can input an instruction to instruct the robot arm 132 to perform interventional surgery on the target object via the indication information acquisition device 131, and then the robot arm controller 133 retrieves the indication information in the indication information acquisition device 131, and controls the robot arm 132 to perform interventional surgery on the target object.

[0078] It should be noted that: Figure 5-Figure 6 In the figure, 110 is a magnetic resonance imaging device, 111 is a magnetic resonance hole, 120 is an AR device, 121 is a camera, 122 is a processor, 123 is an AR terminal, 131 is an indication information acquisition device, 132 is a robot arm, and 133 is a robot arm controller.

[0079] Performing interventional surgery with a robotic arm avoids the situation where doctors have difficulty operating due to a small aperture.

[0080] In some embodiments, the processor may further implement steps 350 - 360 .

[0081] Step 350 , obtaining a noise sequence generated by the magnetic resonance imaging device during the imaging process, and determining a noise reduction sound sequence based on the noise sequence. In some embodiments, step 350 may be performed by the determination module 250 .

[0082] Magnetic resonance imaging is a method of producing images by using the resonance of atomic nuclei in a magnetic field. During the MRI process, the high-speed switching of the current in the gradient magnetic field coil will cause noise. Noise sequence refers to the sound sequence of noise generated during the MRI process. For example, Figure 4 As shown, the spectrum diagram with the legend “noise” refers to the noise spectrum diagram without noise reduction, that is, the spectrum diagram of the noise sequence.

[0083] A noise reduction sound sequence is a sound sequence that can be used to reduce the noise generated during magnetic resonance imaging. The noise reduction sound sequence has the same frequency spectrum as the noise sequence, but has opposite phases.

[0084] In some embodiments, the processor may obtain scanning parameters of the target object, determine a noise sequence based on the scanning parameters, and determine a noise reduction sound sequence based on the noise sequence.

[0085] Scan parameters may include device parameters and scan setting parameters, wherein device parameters refer to inherent parameters of the device itself, and scan setting parameters refer to parameters set by the user according to actual conditions.

[0086] In some embodiments, the processor may retrieve data from a storage device to determine device parameters, and obtain scanning setting parameters input by a user into a user terminal through a network and / or Bluetooth.

[0087] In some embodiments, since the device parameters and the setting parameters of the scan are the determining factors of the noise sequence, the processor can organize the device parameters, the setting parameters of the scan and the noise sequence into a data comparison table, and determine the noise sequence based on the data comparison table. For example, after the processor obtains the scanning parameters of the target object, the processor can generate a corresponding noise sequence based on the data comparison table. Among them, the noise sequence in the data comparison table can be based on the processor obtaining the noise received by the microphone in the absence of the sound of the surrounding environment (that is, only the noise generated by the magnetic resonance imaging), and calculating and processing the noise to detect the noise sequence.

[0088] In some embodiments, the processor may generate a sound sequence having the same frequency spectrum as the noise sequence and opposite phase, and determine the sound sequence as the noise reduction sound sequence.

[0089] Step 360 , generating a sound wave signal having a noise reduction sound sequence through the AR terminal. In some embodiments, step 360 may be performed by the generating module 260 .

[0090] In some embodiments, the processor may control the speaker of the AR terminal to generate a sound wave signal having a noise reduction sound sequence to reduce noise.

[0091] Through the principle of sound wave superposition and cancellation, that is, when two sound waves with the same spectrum but opposite phases meet, they will interfere with each other. The sound waves with opposite phases will form peaks and troughs to cancel each other out, causing the sound to weaken or disappear.

[0092] Traditional noise reduction headphones reduce noise by detecting and receiving noise, calculating and processing noise, and reacting to cancel noise. This method uses a microphone to receive noise, feeds back to the chip to calculate and process the noise, and then gives a reverse sound wave signal, and sends a reverse sound wave through a speaker to cancel the noise. Among them, the reverse sound wave is determined based on all noises (including the noise generated by nuclear magnetic resonance imaging and the sound of the surrounding environment). While reducing the noise generated by nuclear magnetic resonance imaging, it also reduces the sound of the surrounding environment, making it impossible for doctors to hear or hear the voices of patients, other doctors and / or nurses, causing unnecessary danger. Among them, the sound of the surrounding environment refers to sounds other than the noise generated by nuclear magnetic resonance imaging, for example, the voices of patients, other doctors and / or nurses, the prompt sound of the instrument, etc. In some embodiments of this specification, the noise reduction sound sequence that cancels the noise is determined based on the noise sequence generated by nuclear magnetic resonance imaging, and the noise sequence is determined based on the scanning parameters and has nothing to do with the sound of the surrounding environment. Therefore, only the noise generated by nuclear magnetic resonance imaging is reduced, and the sound of the surrounding environment is not reduced.

[0093] Figure 4 It is an exemplary schematic diagram of a noise spectrum diagram without noise reduction and a noise spectrum diagram after active and / or passive noise reduction as shown in some embodiments of this specification, and is a spectrum diagram with frequency as the horizontal axis and sound pressure level as the vertical axis. Among them, the spectrum diagram with the legend "active + passive" refers to the noise spectrum diagram after active noise reduction (i.e., the sound wave signal of the noise reduction sound sequence is generated by the AR terminal to reduce noise) and passive noise reduction (i.e., the physical sound insulation of the AR terminal itself to isolate the external noise from the ear), the spectrum diagram with the legend "passive" refers to the noise spectrum diagram after passive noise reduction; the spectrum diagram with the legend "noise" refers to the noise spectrum diagram without noise reduction. It can be seen from the figure that the noise intensity after only passive noise reduction will be lower than the noise intensity without noise reduction, and the noise intensity after active noise reduction and passive noise reduction is lower than the noise intensity after passive noise reduction. Therefore, active noise reduction can achieve the purpose of noise reduction to a certain extent.

[0094] In some embodiments, step 340 and step 360 may be performed simultaneously, that is, the processor may control the AR terminal to acquire the target fusion image and present it to the user to guide the interventional surgery, while generating a sound wave signal with a noise reduction sound sequence through the AR terminal to reduce noise.

[0095] In some embodiments, the processor may also implement step 370 .

[0096] Step 370 , in response to the interventional procedure proceeding to the target stage, controlling the treatment device to treat the target object. In some embodiments, step 370 may be performed by the control module 270 .

[0097] The target stage refers to the stage at which the treatment device can treat the target object. For example, taking percutaneous puncture ablation of a tumor as an example, the target stage can be when the puncture needle reaches the target position of the tumor.

[0098] In some embodiments, the user can determine whether the interventional surgery has reached the target stage through the target fusion image presented by the AR terminal. For example, taking percutaneous puncture ablation of a tumor as an example, when the user finds that the puncture needle in the target fusion image reaches the target position of the tumor, it can be determined that the interventional surgery has reached the target stage.

[0099] For the selection and design of surgical instruments and devices, non-magnetic materials and structures can be used to avoid interference with MRI imaging and ensure that the surgical instruments and devices can be clearly seen under MRI imaging, thereby improving the surgical field of view and operation accuracy.

[0100] In some embodiments, the robot arm or the user can control the treatment device to treat the target object. For example, taking percutaneous puncture ablation of a tumor as an example, in response to the puncture needle reaching the target location of the tumor, the robot arm or the user can control the ablation electrode set at the needle tip of the ablation needle to transmit ablation energy to the lesion according to the ablation power for ablation treatment (for example, thermal ablation treatment, cold ablation treatment, chemical ablation, etc.). The ablation energy refers to the energy that can cause destructive damage to the cells of the lesion and cause them to die when acting on the lesion.

[0101] By integrating the physical image of the real surgical field with the magnetic resonance image and displaying it in front of the user through the AR terminal, the user's field of view during surgery is improved, the accuracy of surgical control is greatly improved, and there is no need to go in and out of the bed or check the external display screen back and forth, which is more efficient. At the same time, by generating a sound wave signal of a noise reduction sound sequence, the noise generated by the real-time magnetic resonance imaging can be eliminated or reduced to interfere with the user's surgery without reducing the sound of the surrounding environment.

[0102] It should be noted that the above description of the process magnetic resonance imaging guided interventional surgery is only for example and explanation, and does not limit the scope of application of this specification. For those skilled in the art, various modifications and changes can be made to the process magnetic resonance imaging guided interventional surgery under the guidance of this specification. However, these modifications and changes are still within the scope of this specification. In some embodiments, steps 310-340 can be applied not only to magnetic resonance imaging devices, but also to other devices. For example, a computed tomography (CT) scanner, a positron emission tomography (PET) scanner, and the like. In some embodiments, steps 350-360 can be omitted, that is, only the target fusion image is obtained through the AR terminal and presented to the user to guide the interventional surgery, and the AR terminal does not generate a sound wave signal with a noise reduction sound sequence to reduce noise. In some embodiments, step 370 can be omitted.

[0103] In some embodiments, the computer-readable storage medium stores computer instructions. When the computer reads the computer instructions in the storage medium, the computer executes the magnetic resonance imaging-guided interventional surgery method.

[0104] The beneficial effects that may be brought about by the embodiments of this specification include but are not limited to: (1) By setting up multiple cameras, a more comprehensive physical image of the real surgical field of view of the target object can be obtained, so that the doctor's field of view during surgery is more comprehensive and the accuracy of surgical control is greatly improved. (2) Interventional surgery is performed by a robot arm, which avoids the situation where the doctor is inconvenient to operate due to the small aperture. (3) In some embodiments of this specification, the noise reduction sound sequence that offsets the noise is determined based on the noise sequence generated by the nuclear magnetic resonance imaging, and the noise sequence is determined based on the scanning parameters and has nothing to do with the sound of the surrounding environment. Therefore, only the noise generated by the nuclear magnetic resonance imaging is reduced, and the sound of the surrounding environment is not reduced. (4) By integrating the physical image of the real surgical field of view with the magnetic resonance image and displaying it in front of the user through the AR terminal, the user's field of view during surgery is improved, the accuracy of surgical control is greatly improved, and there is no need to go in and out of the bed or check the external display screen back and forth, which is more efficient. At the same time, by generating the sound wave signal of the noise reduction sound sequence, the interference of the noise generated by the real-time magnetic resonance imaging on the user's surgery is eliminated or reduced, and the sound of the surrounding environment is not reduced.

[0105] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to this specification. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

[0106] At the same time, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of this specification can be appropriately combined.

[0107] In addition, unless explicitly stated in the claims, the order of the processing elements and sequences described in this specification, the use of alphanumeric characters, or the use of other names are not intended to limit the order of the processes and methods of this specification. Although the above disclosure discusses some invention embodiments that are currently considered useful through various examples, it should be understood that such details are only for illustrative purposes, and the attached claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the essence and scope of the embodiments of this specification. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

[0108] Similarly, it should be noted that in order to simplify the description disclosed in this specification and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this specification, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the subject matter of this specification are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0109] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of this specification are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0110] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, etc., cited in this specification is hereby incorporated by reference in its entirety. Except for application history documents that are inconsistent with or conflicting with the contents of this specification, documents that limit the broadest scope of the claims of this specification (currently or later attached to this specification) are also excluded. It should be noted that if the descriptions, definitions, and / or use of terms in the materials attached to this specification are inconsistent or conflicting with the contents described in this specification, the descriptions, definitions, and / or use of terms in this specification shall prevail.

[0111] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A magnetic resonance imaging guided interventional surgery system, characterized in that: The system includes a magnetic resonance imaging device and an AR device, wherein the AR device includes a camera, a processor and an AR terminal; The camera is used to obtain a physical image of a real surgical field of view of a target object, and the camera is arranged in a magnetic resonance bore of the magnetic resonance imaging device; The magnetic resonance imaging device is used to obtain a magnetic resonance image of a region of interest of the target object; The processor is used to generate a target fusion image based on the physical image of the real surgical field and the magnetic resonance image; as well as The AR terminal is used to acquire the target fusion image and present it to the user to guide the interventional surgery.

2. The system according to claim 1, characterized in that The processing device is further used to obtain a noise sequence generated by the magnetic resonance imaging device during the imaging process, and determine a noise reduction sound sequence based on the noise sequence; The AR terminal is further used to generate a sound wave signal of the noise reduction sound sequence.

3. The system according to claim 2, characterized in that The processor is further configured to: Acquiring scanning parameters of the target object, and determining the noise sequence based on the scanning parameters; Based on the noise sequence, determining the noise reduction sound sequence; The frequency spectrum of the noise reduction sound sequence and the noise sequence are the same, but the phases are opposite; and the scanning parameters include device parameters and scanning setting parameters.

4. The system according to claim 1, characterized in that The system also includes an indication information acquisition device, a robot arm, and a robot arm controller; The instruction information acquisition device is used to acquire instruction information of the user instructing the robot arm to perform the interventional surgery; The robot arm is used to perform the interventional surgery on the target object; The robot arm controller is used to control the robot arm to perform the interventional surgery on the target object based on the indication information.

5. The system according to claim 1, wherein: The camera comprises a plurality of cameras arranged in the magnetic resonance hole, and the visual detection areas of the plurality of cameras cover the entire lower area of ​​the magnetic resonance hole.

6. The system according to claim 1, characterized in that The system also includes a treatment device, and the processor is further configured to: In response to the interventional procedure proceeding to a target stage, the treatment device is controlled to treat the target object.

7. A magnetic resonance imaging guided interventional surgery method, characterized in that: The method comprises: Acquiring a physical image of a real surgical field of view of a target object based on a camera, wherein the camera is disposed in a magnetic resonance bore of the magnetic resonance imaging device; Acquiring a magnetic resonance image of a region of interest of the target object based on a magnetic resonance imaging device; generating a target fusion image based on the physical image of the real surgical field and the magnetic resonance image; The target fused image is acquired through an AR terminal and presented to the user to guide the interventional surgery.

8. The method according to claim 7, characterized in that The method further comprises: Acquire a noise sequence generated by the magnetic resonance imaging device during an imaging process, and determine a noise reduction sound sequence based on the noise sequence; A sound wave signal having a noise reduction sound sequence is generated through the AR terminal.

9. The method according to claim 8, characterized in that The acquiring of a noise sequence generated by the magnetic resonance imaging device during an imaging process and determining a noise reduction sound sequence based on the noise sequence comprises: Acquiring scanning parameters of the target object, and determining the noise sequence based on the scanning parameters; Based on the noise sequence, determining the noise reduction sound sequence; The frequency spectrum of the noise reduction sound sequence and the noise sequence are the same, but the phases are opposite; and the scanning parameters include device parameters and scanning setting parameters.

10. A computer-readable storage medium storing computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the magnetic resonance imaging-guided interventional surgery method according to any one of claims 7 to 9.

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