Intraoperative 2D-3D real-time ultrasound and hysteroscopy combined guidance surgical navigation method and system

Abstract

The present invention relates to the technical field of obstetrics and gynecology instruments or methods, and specifically discloses a method and system for intraoperative 2D / 3D real-time ultrasound combined with hysteroscopy-guided surgical navigation; the method includes: S1 intraoperative ultrasound examination, S2 coordinate filtering, S3 constructing a time-weighted coordinate mean, S4 calculating the navigation direction, and S5 lens AR navigation; by filtering the real-time coordinate parameters measured by the intraoperative ultrasound device, the present invention regards the points with a fluctuation amount less than the threshold value as stationary points, indicating that no significant coordinate change has occurred, improving the calculation accuracy and avoiding errors caused by individual parameter fluctuations in theory; compared with the technical method of directly setting a safety value for redundant navigation based on the fluctuation amounts in the X direction, Y direction, and Z direction, the present invention statistically analyzes the fluctuation amounts within a specific time interval, and by using the time of the stationary points as weighted parameters, improves the navigation accuracy, increases the resistance to error influence, and enhances the stability.

Description

Technical Field

[0001] The present invention relates to the technical field of obstetrics and gynecology instruments or methods, and specifically discloses a method and system for intraoperative 2D / 3D real-time ultrasound combined with hysteroscopy to guide surgical navigation. Background Art

[0002] Endoscopic technology, a modern minimally invasive surgical technique without incision, will increasingly replace traditional surgeries and is undergoing rapid changes. Among them, the application of endoscopic technology is of greater significance. The technical principle of endoscopic surgery is to convert the image of the part to be examined into a digital optical fiber signal through a cold light source lens, a fiber optic wire, an image transmission system, and a screen display system, using laser illumination. The image is transmitted through the optical fiber to the instrument display screen, and the image of the disease lesion point can be stored and reproduced.

[0003] Intraoperative ultrasound refers to the application of ultrasound for diagnosis and differential diagnosis during surgery. Intraoperative ultrasound can become the penetrating eyes and the remotely operating hands of surgeons. During surgery, a special-shaped ultrasound probe is directly contacted with the surface of the organ or lesion, excluding interference factors such as obesity, bone shadow, and gas, and reducing blind spots.

[0004] Currently, how to use intraoperative 2D / 3D ultrasound technology combined with hysteroscopy technology for precise navigation and surgery is an important research topic; relevant technologies have been disclosed in the prior art:

[0005] Chinese Patent with the authorization announcement number CN102266250B discloses an ultrasonic surgical navigation system; specifically, it is disclosed that it is used for real-time positioning and tracking of surgical instruments during surgery. The system includes an imaging system and a tracking and positioning system. The imaging system includes an ultrasound probe and an imaging workstation. The imaging workstation displays the image according to the real-time image obtained by the ultrasound probe during surgery, and obtains the position of the surgical instrument in the surgical image according to the tracking and positioning system. By fixing markers on the ultrasound probe and the surgical instrument, the locator obtains the coordinates of the ultrasound probe and the surgical instrument, and obtains the relative coordinate position of the surgical instrument relative to the ultrasound probe. Thus, during intraoperative ultrasound imaging, the navigation system can draw the relative position of the fan-shaped ultrasound patch and the surgical instrument in three-dimensional space according to the precise positioning information provided by the locator, and then guide the doctor for precise surgical navigation.

[0006] A Chinese patent application with the publication number CN116158849A discloses a vascular intervention surgery navigation system, method, electronic device, and readable storage medium; specifically, it discloses that: the navigation system includes an ultrasonic imaging device, an image acquisition device, and a controller; the image acquisition device is configured to acquire intraoperative patient pose images; the ultrasonic imaging device includes a robotic arm and an ultrasonic probe, and the ultrasonic probe is configured to acquire intraoperative vascular images; the controller is configured to: match the intraoperative patient pose images with the preoperative vascular images obtained to obtain the intraoperative position information of the target blood vessel; control the robotic arm to drive the ultrasonic probe to move to the starting ultrasonic observation position, and guide the surgical instrument to puncture into the target blood vessel according to the intraoperative vascular images collected by the ultrasonic probe at the starting ultrasonic observation position; and control the robotic arm to drive the ultrasonic probe to move according to the intraoperative vascular images collected by the ultrasonic probe.

[0007] A Chinese patent with the authorization announcement number CN110477972B discloses a hysteroscopic and laparoscopic myomectomy system; specifically, it discloses that: it includes a rigid hysteroscope and a light source host and a camera host connected thereto; the rigid hysteroscope includes a main endoscopic part and a hysteroscope sheath part connected to the main endoscopic part; a micro-ultrasonic probe part, an optical lens, a light guide fiber, and an operation channel outlet are provided at the end of the rigid endoscope. The feature of this system is to combine micro-ultrasonic technology and a rigid hysteroscope, add a micro-ultrasonic probe part to the structure of the rigid hysteroscope, and perform linear scanning and circular scanning by starting the micro-ultrasonic probe part to obtain the real situation of the uterine cavity, that is, to detect the pathological conditions between the uterine cavity and the uterine wall, and help doctors with diagnosis and treatment. This system has good stability, ensures that endoscopic images and ultrasonic images are more easily synchronized, improves the image quality of the lesion area, greatly improves the accuracy of diagnosis, and facilitates doctors to operate and obtain information on pathological changes in the uterine cavity and uterine wall.

[0008] However, the prior art represented by the above patent documents still has the following problems:

[0009] (1) The intraoperative 2D / 3D ultrasonic technology has the ability of real-time monitoring, but it will be affected by the pulling and deformation of the patient's tissues, the pulse, and the soft elastic deformation of the tissue in the visual field area caused by blood flow. The determination of the monitoring results depends on the operator's autonomous observation, and the automation and intelligent assistance effects are not good.

[0010] (2) The existing intraoperative 2D / 3D ultrasonic technology is relatively independent of the hysteroscope, and the operator needs to adjust the visual observation independently. The real-time auxiliary navigation performance is not good, and the operator constantly switches the visual field, which is easy to cause visual fatigue and target loss.

[0011] In the prior art, there is a technology that uses the shaking amount of the endoscope caused by fluctuations such as human pulse, blood flow, and body position change as an error amount for lens navigation. However, this navigation method has the problem that the error amount cannot be predicted, and it is easy to introduce a large deviation due to individual large-value error amounts, resulting in a decrease in navigation accuracy. Summary of the Invention

[0012] To achieve the object of the present invention, the present invention is realized through the following technical solutions:

[0013] A method for guiding surgical navigation by combining intraoperative 2D3D real-time ultrasound and hysteroscope, comprising the following steps:

[0014] S1. Intraoperative ultrasound examination; during the hysteroscopic surgery, use the intraoperative ultrasound device to examine the surgical area to obtain a set of lens coordinates and a set of surgical target point coordinates;

[0015] S2. Coordinate filtering; considering the human pulse and body deformation, filter the set of lens coordinates and the set of surgical target point coordinates, filter out the coordinate points with an offset amount less than the filtering threshold, but retain the time information of the filtered coordinate points;

[0016] S3. Constructing a time-weighted coordinate mean; for the filtered coordinate set, calculate the weighted values of the lens coordinates and the surgical target point coordinates with the dwell time as the weighting value;

[0017] S4. Calculating the navigation direction; based on the weighted three-coordinate parameters of the lens and the weighted three-coordinate parameters of the surgical target point, calculate the navigation direction of the endoscope lens;

[0018] S5. Lens AR navigation; based on the lens navigation direction of the endoscope, use AR technology to display navigation information within the endoscope field of view.

[0019] Further, step S1 specifically includes: during the hysteroscopic surgery, use the intraoperative ultrasound device to examine the surgical area to obtain the lens coordinates and the surgical target point coordinates at any moment, and construct a set of lens coordinates and a set of surgical target point coordinates , satisfying:

[0020] ; ;

[0021] ; ;

[0022] wherein, represents that at any sampling moment t, the lens X coordinate, lens Y coordinate, and lens Z coordinate determined according to the orthogonal three-axis coordinate system are respectively , and ; It is expressed that the X coordinate, Y coordinate, and Z coordinate of the i-th surgical target point determined by the orthogonal three-axis coordinate system at any sampling time t are respectively , and .

[0023] Furthermore, step S2 specifically includes:

[0024] Considering the human pulse and body deformation, filter the set of lens coordinates and the set of surgical target point coordinates to obtain the filtered lens coordinate set and the filtered surgical target point coordinate set ; specifically including:

[0025] S21. For the sampling times t and t + 1 of any two coordinate points, if their coordinates satisfy the following formula, the coordinates at sampling times t and t + 1 are regarded as stationary points:

[0026] ;

[0027] Among them, represents the lens X coordinate or the surgical target point X coordinate at sampling time t, , , , and similarly; is the filtering threshold;

[0028] S22. Establish a filtered coordinate set; construct the coordinate parameters and duration of continuous stationary points into a filtered coordinate set, including: the filtered lens coordinate set and the filtered surgical target point coordinate set , satisfying:

[0029] ;

[0030] ;

[0031] Among them, and respectively represent the n-th filtered coordinate of the lens and the residence time of the lens at this coordinate; and respectively represent the m-th filtered coordinate of the i-th surgical target point and the residence time of the surgical target point at this coordinate; N and M respectively represent the total number of filtered coordinates of the lens and the surgical target point.

[0032] Further, step S3 specifically includes: for the filtered coordinate set, calculating the weighted three - coordinate parameters of the lens with the dwell time as the weighting value and the weighted three - coordinate parameters of the surgical target point , satisfying:

[0033] ;

[0034] ;

[0035] ;

[0036] ;

[0037] wherein, respectively represent the time - weighted coordinate means of the lens in the X - coordinate, Y - coordinate, and Z - coordinate; respectively represent the time - weighted coordinate means of the i - th surgical target point in the X - coordinate, Y - coordinate, and Z - coordinate.

[0038] Further, step S4 specifically includes: based on the weighted three - coordinate parameters of the lens and the weighted three - coordinate parameters of the surgical target point , calculating the navigation direction for the lens of the endoscope;

[0039] The navigation direction is a vector , satisfying:

[0040] .

[0041] Further, in step S5, the navigation information is an arrow symbol pointing from the center point of the lens field of view to the weighted three - coordinate parameters of the surgical target point.

[0042] The present invention also provides an intraoperative 2D3D real - time ultrasound and hysteroscope combined guidance surgical navigation system for implementing the intraoperative 2D3D real - time ultrasound and hysteroscope combined guidance surgical navigation method, including a hysteroscopic surgical device, an intraoperative ultrasound device, a coordinate calculation module, and an AR navigation module; the coordinate calculation module is used to calculate the coordinate values of the lens and the surgical target point; the AR navigation module is used to display navigation assistance information to the surgeon in the surgical field through AR technology according to the navigation direction.

[0043] The beneficial effects of the present invention are:

[0044] (1) By filtering the real - time coordinate parameters measured by the intraoperative ultrasound device, the present invention regards the points with fluctuations less than the threshold value as stationary points, indicating that no significant coordinate changes have occurred, improving the calculation accuracy and avoiding errors caused by fluctuations in individual theoretical parameters.

[0045] (2) Compared with the technical method of manually setting a safety value for redundant navigation based directly on the fluctuation amounts in the X, Y, and Z directions, the present invention statistically analyzes the fluctuation amounts within a specific time interval, and by using the time of the stationary point as a weighting parameter, improves the navigation accuracy and increases the resistance to and stability against error effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic flowchart of the method of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] To deepen the understanding of the present invention, the following will further elaborate on the present invention in conjunction with embodiments. These embodiments are only used to explain the present invention and do not limit the protection scope of the present invention.

[0048] Embodiment 1

[0049] According to Figure 1 shown, this embodiment provides a method for intraoperative 2D3D real-time ultrasound combined with hysteroscopy-guided surgical navigation, including the following steps:

[0050] S1. Intraoperative ultrasound examination; during the hysteroscopic surgery, use the intraoperative ultrasound device to examine the surgical area to obtain the lens coordinates and the surgical target point coordinates at any moment, and construct a lens coordinate set and a surgical target point coordinate set , satisfying:

[0051] ; ;

[0052] ; ;

[0053] wherein, represents that at any sampling moment t, the lens X coordinate, lens Y coordinate, and lens Z coordinate determined according to the orthogonal three-axis coordinate system are respectively , and ; represents that for the i-th surgical target point at any sampling moment t, the surgical target point X coordinate, surgical target point Y coordinate, and surgical target point Z coordinate determined according to the orthogonal three-axis coordinate system are respectively , and ;

[0054] S2. Coordinate filtering; considering the human pulse and body deformation, for the lens coordinate set and the set of coordinates of the surgical target points Perform filtering to obtain the set of lens filtered coordinates and the set of filtered coordinates of the surgical target points ; Specifically including:

[0055] S21. For the sampling times t and t + 1 of any two coordinate points, if their coordinates satisfy the following formula, then consider the coordinates at sampling times t and t + 1 as stationary points:

[0056] ;

[0057] Wherein, represents the X coordinate of the lens or the X coordinate of the surgical target point at sampling time t, , , , and similarly;

[0058] S22. Establish a set of filtered coordinates; construct the coordinate parameters and duration of continuous stationary points into a set of filtered coordinates, including: the set of lens filtered coordinates and the set of filtered coordinates of the surgical target points , satisfying:

[0059] ;

[0060] ;

[0061] Wherein, and respectively represent the nth filtered coordinate of the lens and the residence time of the lens at this coordinate; and respectively represent the mth filtered coordinate of the ith surgical target point and the residence time of the surgical target point at this coordinate; N and M respectively represent the total number of filtered coordinates of the lens and the surgical target points;

[0062] S3. Construct the time-weighted coordinate mean value; for the set of filtered coordinates, calculate the weighted three coordinate parameters of the lens and the weighted three coordinate parameters of the surgical target points , satisfying:

[0063] ;

[0064] ;

[0065] ;

[0066] ;

[0067] Among them, respectively represent the time-weighted coordinate means of the lens in the X coordinate, Y coordinate, and Z coordinate; respectively represent the time-weighted coordinate means of the i-th surgical target point in the X coordinate, Y coordinate, and Z coordinate;

[0068] S4. Calculate the navigation direction; based on the weighted three-coordinate parameters of the lens and the weighted three-coordinate parameters of the surgical target point , calculate the navigation direction for the lens of the endoscope;

[0069] S5. Lens AR navigation; based on the navigation direction of the endoscope lens, display navigation information within the endoscope field of view using AR technology; the navigation information is an arrow symbol pointing from the center point of the lens field of view to the weighted three-coordinate parameters of the surgical target point .

[0070] Embodiment 2

[0071] This embodiment provides an intraoperative 2D3D real-time ultrasound and hysteroscope combined guidance surgical navigation system for implementing an intraoperative 2D3D real-time ultrasound and hysteroscope combined guidance surgical navigation method, including a hysteroscopic surgical device, an intraoperative ultrasound device, a coordinate calculation module, and an AR navigation module; the coordinate calculation module is used to calculate the coordinate values of the lens and the surgical target point; the AR navigation module is used to display navigation assistance information to the surgeon within the surgical field of view through AR technology according to the navigation direction.

[0072] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. An intraoperative 2D3D real-time ultrasound and hysteroscopy combined surgical navigation system, characterized by: It includes a hysteroscopic surgical device, an intraoperative ultrasound device, a coordinate calculation module, and an AR navigation module; the coordinate calculation module is used to calculate the coordinate values ​​of the lens and the surgical target point; the AR navigation module is used to display navigation auxiliary information to the surgeon through AR technology within the surgical field of view according to the navigation direction; The working method of the navigation system includes: Follow these steps: S1. Intraoperative ultrasound examination: During hysteroscopic surgery, the surgical area is examined using intraoperative ultrasound equipment to obtain a lens coordinate set and a surgical target point coordinate set; specifically including: During hysteroscopic surgery, intraoperative ultrasound equipment is used to examine the surgical area and obtain the lens coordinates at any time. and the coordinates of the surgical target point , construct the lens coordinate set And the surgical target point coordinate set ,satisfy: ； ； ； ； in, Indicates that at any sampling time t The X coordinate, Y coordinate and Z coordinate of the lens determined by the orthogonal three-axis coordinate system are , and ; Indicates i The surgical target point at any sampling time t The X coordinate, Y coordinate and Z coordinate of the surgical target point determined by the orthogonal three-axis coordinate system are respectively , and ; S2, coordinate filtering: taking into account the human pulse and body deformation, filtering the lens coordinate set and the surgical target point coordinate set, filtering out the coordinate points whose offset is less than the filtering threshold, but retaining the time information of the filtered coordinate points; specifically including: Taking into account the human pulse and body deformation, the lens coordinate set And the surgical target point coordinate set Filter to get the lens filter coordinate set And the surgical target point filtered coordinate set ; Specifically include: S21. For any two coordinate points at sampling times t and t+1, if their coordinates satisfy the following formula, the coordinates at sampling times t and t+1 are regarded as stationary points: ; in, represents the X coordinate of the lens or the X coordinate of the surgical target point at the sampling time t, , , , and Similarly; is the filtering threshold; S22, establish a filter coordinate set; construct the coordinate parameters and duration of the continuous static points into a filter coordinate set, including: lens filter coordinate set And the surgical target point filter point coordinate set ,satisfy: ; ； in, and They represent the nth filter coordinate of the lens and the residence time of the lens at the coordinate respectively; and denote the mth filtered coordinate of the ith surgical target point and the residence time of the surgical target point at the coordinate, respectively; N and M denote the total number of filtered coordinates of the lens and the surgical target point, respectively; S3, constructing a time-weighted coordinate mean; for the filter coordinate set, using the dwell time as a weighted value, calculating the weighted values ​​of the lens coordinates and the surgical target point coordinates; specifically including: For the filter coordinate set, the lens weighted three-coordinate parameters are calculated using the dwell time as the weighted value. and weighted three-coordinate parameters of the surgical target point ,satisfy: ; ； ； ； in, Respectively represent the time-weighted coordinate mean of the lens at the X coordinate, Y coordinate, and Z coordinate; Respectively represent the time-weighted coordinate means of the i-th surgical target point at the X coordinate, Y coordinate, and Z coordinate; S4, calculating the navigation direction; calculating the navigation direction of the endoscope lens based on the weighted three-coordinate parameters of the lens and the weighted three-coordinate parameters of the surgical target point; S5. Lens AR navigation: Based on the navigation direction of the endoscope lens, the navigation information is displayed in the endoscope field of view using AR technology.

2. According to claim 1, a 2D3D real-time ultrasound combined with hysteroscopy to guide surgery navigation system during surgery, characterized in that: In the working method of the navigation system, step S4 specifically includes: Based on lens weighted three-coordinate parameters and weighted three-coordinate parameters of the surgical target point , calculate the navigation direction of the endoscope lens; the navigation direction is a vector ,satisfy: 。 3. According to claim 2, the intraoperative 2D3D real-time ultrasound combined with hysteroscopy guided surgical navigation system is characterized by: In the working method of the navigation system, in step S5, the navigation information is the weighted three-coordinate parameters from the center point of the lens field of view to the surgical target point. Arrow symbol.

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