Intraoperative brain tissue drift real-time correction device and method based on terahertz waves

Abstract

The invention provides an intra-operative brain tissue drift real-time correction device and method based on terahertz waves, the position of the brain tissue of a patient can be detected in real time through the terahertz waves in an operation, a three-dimensional fusion image is generated in combination with a CT image, it is ensured that the position of the intra-operative brain tissue is consistent with the position of the brain tissue in the three-dimensional fusion image, and the accuracy of the brain tissue drift correction is improved. According to the method, the difference between the shape and position of the brain tissue in an operation and a preoperative image due to drift of the brain tissue caused by loss of cerebrospinal fluid in the operation is avoided, and the problem of deviation between operation and preoperative planning caused by drift of the brain tissue is solved, so that effective execution of an operation scheme is ensured, and the accuracy of operation navigation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of biomedical imaging technology, and in particular to a device and method for real-time correction of brain tissue drift during surgery based on terahertz waves. Background Art

[0002] The cranial nerve structure is complex, and neurosurgery requires a small operating space, high difficulty, and high risk, requiring the surgeon to have high surgical skills and experience. Multimodal image-guided surgical navigation can segment and model the lesions based on preoperative 3D medical images such as CT or MRI, accurately plan the location of the craniotomy incision on the scalp, and intraoperative navigation can help the surgeon determine the lesion site in real time.

[0003] However, in actual surgery, the loss of cerebrospinal fluid can cause brain tissue drift, resulting in differences in the shape and position of brain tissue during surgery and in preoperative images. Although the rigid transformation between organs during and before surgery is compensated after spatial posture calibration, the non-rigid transformation caused by the deformation displacement makes it impossible for the treatment plan and segmented tissue model planned on the preoperative image to match the actual situation during surgery, ultimately resulting in a large deviation between the surgical operation and the preoperative plan.

[0004] Terahertz (THz) waves, also known as T-rays, are electromagnetic waves with a frequency range of 0.1-10 THz. The THz band is located between microwaves and infrared waves, and is a key transition region from macroscopic electronics to microscopic optoelectronics. The unique physical properties of THz waves give THz technology broad application prospects. THz waves have good penetration and high spectral resolution, making them an ideal imaging method. In addition, there is a wealth of THz electromagnetic information in the body, which can be used to identify biological states through detection and characterization. However, existing medical equipment generally uses THz waves to detect samples, such as patent CN105510272A, which discloses a detection device for ischemic brain tissue based on THz wave transmission imaging. There is no equipment for detection and navigation during surgery. Summary of the invention

[0005] In view of this, the present invention aims to propose a real-time correction device and method for intraoperative brain tissue drift based on terahertz waves to solve the problem that in actual surgery, cerebrospinal fluid loss causes brain tissue drift, resulting in differences in the shape and position of intraoperative brain tissue from preoperative images, and ultimately leading to large deviations between surgical operations and preoperative planning.

[0006] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0007] A real-time correction device for intraoperative brain tissue drift based on terahertz waves, comprising:

[0008] A detector, the detector is used to detect brain tissue in real time during surgery, the detector includes a detection body, a first telescopic column is provided on the upper part of the detection body, a support portion is provided on the upper end of the first telescopic column, and the first telescopic column can be telescoped in the up-down direction relative to the detection body to adjust the position of the support portion in the up-down direction;

[0009] The front part of the support part is provided with a second telescopic column, the front part of the second telescopic column is provided with a rotating column, the first axis of the rotating column coincides with the second axis of the second telescopic column, the rotating column can rotate around the first axis, and the second telescopic column can be telescoped in the front-to-back direction relative to the support part to adjust the position of the rotating column in the front-to-back direction;

[0010] The front end of the rotating column is provided with an arc-shaped arm, and the rotating column can drive the arc-shaped arm to rotate around the first axis to adjust the position of the arc-shaped arm;

[0011] A detection probe is provided at the front end of the arc-shaped arm, and the detection probe can transmit terahertz waves to the brain tissue during surgery and receive the terahertz waves reflected by the brain tissue for detecting the brain tissue;

[0012] It also includes a console, which is equipped with a processor, a compensator and a controller. A display is arranged on the upper part of the console. The processor is used to generate a real-time image according to the terahertz wave received by the detection probe. The compensator is used to receive a CT image and a real-time image, and generate a three-dimensional fused image by combining the CT image and the real-time image. The display is used to display the three-dimensional fused image and to input operation information. The controller can control the working state of the detector and the console according to the input operation information.

[0013] The real-time correction device for intraoperative brain tissue drift based on terahertz waves described in the present application can detect the position of the patient's brain tissue in real time through terahertz waves during surgery, and generate a three-dimensional fusion image in combination with CT images, thereby ensuring that the position of the brain tissue during surgery is consistent with the position of the brain tissue in the three-dimensional fusion image, avoiding brain tissue drift due to cerebrospinal fluid loss during surgery, resulting in a difference between the shape and position of the brain tissue during surgery and the preoperative image, and solving the problem of deviation between surgical operations and preoperative planning caused by brain tissue drift, thereby ensuring the effective implementation of the surgical plan and improving the accuracy of surgical navigation.

[0014] Furthermore, the detection probe includes a transmitting module and a receiving module, the transmitting module is used to transmit terahertz waves to the brain tissue during detection, and the receiving module is used to receive the terahertz waves reflected back by the brain tissue.

[0015] The transmitting module and the receiving module are integrated on one probe, making the device more compact and easier to operate and install.

[0016] Furthermore, the transmitting module includes a plurality of transmitting probes, which can simultaneously transmit a plurality of groups of terahertz waves to the brain tissue, and the receiving module includes a plurality of receiving probes, which are used to receive the terahertz waves reflected back from the head.

[0017] By setting up multiple transmitting probes and receiving probes, more data can be obtained at one time, the detection efficiency can be improved, the total signal strength can be enhanced, and the signal-to-noise ratio can be improved, thereby improving the imaging quality.

[0018] Furthermore, the transmitting module is provided with a laser locator, which can emit laser for locating the position to be detected.

[0019] This setting greatly improves the efficiency of equipment adjustment.

[0020] Furthermore, a signal receiver is provided in the console, and the signal receiver is used to receive external CT image information.

[0021] By setting up a signal receiver, doctors do not need to leave the operating room to obtain or verify CT image information, saving time and labor costs and improving surgical efficiency.

[0022] Furthermore, the arc-shaped arm rotates at an angle of α, 0°≤α≤360°, and an angular velocity of W, 0≤W≤10rad / s.

[0023] The rotation range of 0° to 360° ensures full coverage of the patient's head and provides flexibility in detection. The wide range of angular speed allows for quick position adjustment, improves operational efficiency, and reduces time consumption during surgery or detection.

[0024] Furthermore, a first pulley is disposed at the lower end of the detector, and the first pulley is used for moving the detector. A second pulley is disposed at the lower end of the console, and the second pulley is used for moving the console.

[0025] The pulley design enables the detector and console to be moved flexibly, making it easy for doctors to adjust their positions to suit different surgical environments and patient needs.

[0026] Furthermore, the processor pre-processes the received terahertz wave, converts the pre-processed analog signal into a digital signal, and then compares the digital signal with the transmission signal of the terahertz wave to obtain the reflection and attenuation degree information of the brain tissue to the terahertz wave at different positions, and then uses the back-projection algorithm to generate a real-time image of the brain tissue, extracts the boundary information of the brain tissue from the generated real-time image, and calculates the offset between the brain tissue and the skull; the pre-processing includes filtering and amplification, the filtering is used to remove noise and interference in the terahertz wave and improve the signal-to-noise ratio of the signal, and the amplification is used to enhance the strength of the signal.

[0027] Through the filtering process, the noise and interference in the terahertz wave signal can be effectively removed, and the signal-to-noise ratio of the signal can be improved, which helps to generate clearer and more accurate real-time images of brain tissue. The amplification process enhances the strength of the signal, making it easier to extract effective image information in subsequent processing, improving the visualization of the image, and extracting the boundary information of the brain tissue from the real-time image. The offset between the brain tissue and the skull can be accurately calculated, which is crucial for real-time tracking and correction of the position of the brain tissue during surgery, and helps to reduce surgical errors caused by brain tissue drift.

[0028] Furthermore, the compensator fuses the real-time image and the CT image to generate a three-dimensional fused image according to the offset between the brain tissue and the skull, so that the position of the brain tissue in the three-dimensional fused image is consistent with the position of the actual brain tissue; the fusion process includes the steps of:

[0029] S1: Extract feature points from real-time images and CT images using the FAST algorithm;

[0030] S2: Use SIFT algorithm to match the feature points in the real-time image with those in the CT image;

[0031] S3: Calculate the geometric transformation between the real-time image and the CT image using the least squares method;

[0032] S4: Using the elastic deformation model to adjust the CT image to adapt to different deformations, resampling the deformed CT image to ensure that the real-time image and the CT image are accurately aligned in the same coordinate system;

[0033] S5: Superimpose the aligned real-time image and the CT image, and generate a three-dimensional fused image using a fusion algorithm.

[0034] Fusion processing combines the real-time nature of real-time images with the high definition and high resolution of CT images, so that the three-dimensional fused image not only contains the real-time position information of brain tissue, but also maintains the structural details of the preoperative image, improves the overall clarity and information content of the image, thereby reducing the deviation between surgical operations and preoperative planning, improving the accuracy and success rate of surgery, and providing doctors with more accurate navigation information.

[0035] The present application also provides a real-time correction method for intraoperative brain tissue drift, which is applied to the aforementioned real-time correction device for intraoperative brain tissue drift based on terahertz waves, and comprises the following steps:

[0036] Step 1: After the patient lies on the operating table, fix the patient's head with a fixator;

[0037] Step 2: Control the motion states of the first telescopic column, the second telescopic column and the rotating column, and adjust the position of the detection probe relative to the head;

[0038] Step 3: Use preoperative CT images to determine the location of brain lesions and craniotomy incision;

[0039] Step 4: Use the detection probe to emit terahertz waves to the patient's head to scan the head and obtain the initial position information of the brain tissue and skull;

[0040] Step 5: After the operation begins, the relative position between the brain tissue and the skull is detected in real time using terahertz waves to calculate the offset between the brain tissue and the skull;

[0041] Step 6: When the position of the brain tissue is detected to be offset, the real-time image and the CT image are fused once every t time interval to generate a new three-dimensional fused image;

[0042] Step 7: The display outputs the generated 3D fused image.

[0043] This real-time correction method combines the real-time nature of real-time images with the high definition and high resolution advantages of CT images by using real-time detection and dynamic adjustment. The three-dimensional fused image contains both the real-time position information of brain tissue and the structural details of preoperative images, thus improving the overall clarity and information content of the image, ensuring that doctors can accurately grasp the actual position of brain tissue during surgery and adjust the surgical plan in a timely manner.

[0044] Compared with the prior art, the device and method for real-time correction of brain tissue drift during surgery based on terahertz waves described in the present invention have the following advantages:

[0045] 1) It can detect the position of the patient's brain tissue in real time during surgery through terahertz waves, and generate a three-dimensional fusion image in combination with CT images to ensure that the position of the brain tissue during surgery is consistent with the position of the brain tissue in the three-dimensional fusion image, avoiding brain tissue drift caused by cerebrospinal fluid loss during surgery, resulting in differences in the shape and position of the brain tissue during surgery and preoperative images, thereby improving the accuracy of surgical navigation;

[0046] 2) Combining the real-time nature of real-time images with the high definition and high resolution of CT images, the three-dimensional fused image not only contains the real-time position information of brain tissue, but also maintains the structural details of preoperative images, improving the overall clarity and information content of the image, ensuring that doctors can accurately grasp the actual position of brain tissue during surgery and adjust the surgical plan in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a schematic structural diagram of a real-time correction device for intraoperative brain tissue drift based on terahertz waves according to an embodiment of the present invention;

[0048] Figure 2 for Figure 1 Schematic diagram of the structure of the detector;

[0049] Figure 3 for Figure 2 A schematic diagram of the structure of the second telescopic column;

[0050] Figure 4 for Figure 2 Schematic diagram of the structure of the rotating column.

[0051] Description of reference numerals:

[0052] 1. Detection body; 2. First telescopic column; 3. Support part; 4. Second telescopic column; 42. Second axis; 5. Rotating column; 51. First axis; 6. Arc arm; 7. Detection probe; 100. Detector; 101. First pulley; 200. Control console; 201. Display; 202. Second pulley; 300. Operating table; 301. Detection platform. DETAILED DESCRIPTION

[0053] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0054] Example 1

[0055] like Figure 1-4 As shown, a real-time correction device for intraoperative brain tissue drift based on terahertz waves comprises:

[0056] A detector 100, which is used to detect brain tissue in real time during surgery. The detector 100 includes a detection body 1, a first telescopic column 2 is provided on the upper part of the detection body 1, a support portion 3 is provided on the upper end of the first telescopic column 2, and the first telescopic column 2 can be telescoped in the vertical direction relative to the detection body 1 to adjust the position of the support portion 3 in the vertical direction;

[0057] The front part of the support part 3 is provided with a second telescopic column 4, and the front part of the second telescopic column 4 is provided with a rotating column 5, the first axis 51 of the rotating column 5 coincides with the second axis 42 of the second telescopic column 4, the rotating column 5 can rotate around the first axis 51, and the second telescopic column 4 can be telescoped in the front-to-back direction relative to the support part 3 to adjust the position of the rotating column 5 in the front-to-back direction;

[0058] The front end of the rotating column 5 is provided with an arc-shaped arm 6, and the rotating column 5 can drive the arc-shaped arm 6 to rotate around the first axis 51, so as to adjust the position of the arc-shaped arm 6;

[0059] A detection probe 7 is provided at the front end of the arc-shaped arm 6, and the detection probe 7 can emit terahertz waves to the brain tissue during surgery and receive the terahertz waves reflected by the brain tissue for detecting the brain tissue;

[0060] It also includes a console 200, which is provided with a processor, a compensator and a controller. A display 201 is provided on the upper part of the console 200. The processor is used to generate a real-time image according to the terahertz wave received by the detection probe 7. The compensator is used to receive a CT image and a real-time image, and generate a three-dimensional fused image by combining the CT image and the real-time image. The display 201 is used to display the three-dimensional fused image and to input operation information. The controller can control the working state of the detector 100 and the console 200 according to the input operation information.

[0061] The real-time correction device for intraoperative brain tissue drift based on terahertz waves described in the present application, through the combination of the first telescopic column 2, the second telescopic column 4 and the rotating column 5, the detection probe 7 can be flexibly adjusted in the up and down, front and back and rotation directions to adapt to different surgical needs and patient positions, and can detect the position of the patient's brain tissue in real time during surgery through terahertz waves, and generate a three-dimensional fusion image in combination with the CT image to ensure that the position of the brain tissue during surgery is consistent with the position of the brain tissue in the three-dimensional fusion image, avoid brain tissue drift due to cerebrospinal fluid loss during surgery, resulting in differences in the shape and position of the brain tissue during surgery and preoperative images, and solve the problem of deviation between surgical operations and preoperative planning caused by brain tissue drift, thereby ensuring the effective implementation of the surgical plan and improving the accuracy of surgical navigation.

[0062] As a preferred example of the present application, the detection probe 7 includes a transmitting module and a receiving module. The transmitting module is used to transmit terahertz waves to brain tissue during detection, and the receiving module is used to receive the terahertz waves reflected back by the brain tissue.

[0063] Specifically, the transmitting module and the receiving module are integrated on one probe, making the device more compact and easier to operate and install.

[0064] Preferably, a detection platform 301 is provided at one end of the operating table 300, and the detection platform 301 is provided with a fixture, and the fixture is used to fix the patient's head, and the detection platform 301 is located at the upper end of the detection probe. This arrangement can ensure that the patient's head remains stable during the operation, reduce the detection error caused by the movement of the head, and improve the accuracy of the operation.

[0065] As a preferred example of the present application, the transmitting module includes multiple transmitting probes, which can simultaneously transmit multiple groups of terahertz waves to brain tissue, and the receiving module includes multiple receiving probes for receiving the terahertz waves reflected back from the head.

[0066] Specifically, by setting up multiple transmitting probes and receiving probes, more data can be obtained at one time, the detection efficiency can be improved, the total signal strength can be enhanced, and the signal-to-noise ratio can be improved, thereby improving the imaging quality. Because the reflected waves can be received from different angles, more detailed brain tissue structure information can be provided, and the spatial resolution of imaging can be improved. The multi-probe design can also further optimize the penetration direction and angle of the beam and enhance the penetration ability of brain tissue.

[0067] Preferably, the transmitting probe has the characteristics of high precision and low noise, ensuring the stability of the terahertz wave.

[0068] As a preferred example of the present application, the transmitting module is provided with a laser locator, which can emit laser for locating the position to be detected.

[0069] Specifically, before the detection, the laser locator can help the operator to accurately move the detection probe 7 to the area to be detected. When the detection starts, the laser locator is automatically turned off. This setting greatly improves the efficiency of equipment adjustment.

[0070] As a preferred example of the present application, a signal receiver is disposed in the console 200, and the signal receiver is used to receive CT image information from the outside world.

[0071] Specifically, by setting up a signal receiver, doctors do not need to leave the operating room to obtain or verify CT image information, which saves time and labor costs and improves surgical efficiency.

[0072] As a preferred example of the present application, the arc-shaped arm 6 rotates at an angle α, 0°≤α≤360°, and an angular velocity W, 0≤W≤10rad / s.

[0073] Specifically, the rotation range of 0° to 360° ensures full coverage of the patient's head and provides flexibility in detection. The wide range of angular speed allows for quick position adjustment, improves operational efficiency, and reduces time consumption during surgery or detection.

[0074] As a preferred example of the present application, a first pulley 101 is disposed at the lower end of the detector 100 , and the first pulley 101 is used for moving the detector 100 . A second pulley 202 is disposed at the lower end of the console 200 , and the second pulley 202 is used for moving the console 200 .

[0075] Specifically, the design of the pulley enables the detector 100 and the console 200 to be flexibly moved, so that the doctor can adjust their positions to adapt to different surgical environments and patient needs.

[0076] As a preferred example of the present application, the processor preprocesses the received terahertz wave, converts the preprocessed analog signal into a digital signal, and then compares the digital signal with the transmission signal of the terahertz wave to obtain the reflection and attenuation degree information of the terahertz wave by the brain tissue at different positions, and then uses the back-projection algorithm to generate a real-time image of the brain tissue, extracts the boundary information of the brain tissue from the generated real-time image, and calculates the offset between the brain tissue and the skull; the preprocessing includes filtering and amplification, the filtering is used to remove noise and interference in the terahertz wave and improve the signal-to-noise ratio of the signal, and the amplification is used to enhance the strength of the signal.

[0077] Specifically, through the filtering process, the noise and interference in the terahertz wave signal can be effectively removed, and the signal-to-noise ratio of the signal can be improved, which helps to generate clearer and more accurate real-time images of brain tissue. The amplification process enhances the strength of the signal, making it easier to extract effective image information in subsequent processing, improving the visualization of the image, and extracting the boundary information of the brain tissue from the real-time image. The offset between the brain tissue and the skull can be accurately calculated, which is crucial for real-time tracking and correction of the position of the brain tissue during surgery, and helps to reduce surgical errors caused by brain tissue drift.

[0078] The amplitude of the received digital signal reflects the intensity of the reflected signal of the terahertz wave. By comparing the amplitude of the received signal with the amplitude of the transmitted signal, the reflection coefficient can be calculated. The reflection coefficient is the ratio of the reflected signal intensity to the incident signal intensity. During the propagation of the terahertz wave, the phase will change due to the different media. By analyzing the phase difference between the received signal and the transmitted signal, more details about the medium characteristics can be obtained. The attenuation degree of the terahertz wave can be obtained by comparing the amplitude difference between the transmitted signal and the received signal. Based on the analysis of the reflection coefficient, phase difference and attenuation degree of the terahertz wave, the structural characteristics of the brain tissue at different locations can be calculated.

[0079] The boundary information of brain tissue is extracted from the generated real-time image. This process usually involves image processing technology, such as edge detection algorithm (such as Canny edge detection). The boundary of brain tissue is determined by identifying the area with significant intensity change in the image. The processor will compare this information with the preoperative CT image, and calculate the distance between the boundary of brain tissue in the real-time image and the corresponding boundary in the CT image by the least squares method to obtain the offset between brain tissue and skull. These algorithms and back-projection algorithms are all existing technologies and will not be described in detail here.

[0080] As a preferred example of the present application, the compensator fuses the real-time image and the CT image according to the offset between the brain tissue and the skull to generate a three-dimensional fused image, so that the position of the brain tissue in the three-dimensional fused image is consistent with the actual brain tissue; the fusion process includes the steps of:

[0081] S1: Extract feature points from real-time images and CT images using the FAST algorithm;

[0082] S2: Use SIFT algorithm to match the feature points in the real-time image with those in the CT image;

[0083] S3: Calculate the geometric transformation between the real-time image and the CT image using the least squares method;

[0084] S4: Using the elastic deformation model to adjust the CT image to adapt to different deformations, resampling the deformed CT image to ensure that the real-time image and the CT image are accurately aligned in the same coordinate system;

[0085] S5: Superimpose the aligned real-time image and the CT image, and generate a three-dimensional fused image using a fusion algorithm.

[0086] Specifically, in S1, commonly used feature point extraction algorithms include Harris corner detection, FAST, SIFT (scale-invariant feature transform), etc. These algorithms can extract significant and stable feature points from images, which are suitable for subsequent matching and alignment; in S2, commonly used feature point matching algorithms include SIFT and SURF, which are powerful feature matching algorithms that can handle image features of different scales and rotations. Through these algorithms, real-time images can be effectively matched with feature points in CT images; in S3, commonly used geometric transformation algorithms include least squares and RANSAC , the transformation relationship between the real-time image and the CT image can be effectively calculated; in S4, the commonly used elastic deformation models include B-spline and thin plate spline, which can handle the non-rigid deformation in the image and adapt to the deformation of the brain tissue that may occur during the operation. The resampling process can ensure that the deformed CT image is spatially aligned with the real-time image; in S5, the three-dimensional fused image can be generated by weighted averaging, maximum projection and other algorithms. The fusion algorithm can combine the information of the real-time image and the CT image to generate a three-dimensional fused image with higher information content and clarity. The algorithms used in the fusion processing belong to the existing technology and will not be repeated here.

[0087] Fusion processing combines the real-time nature of real-time images with the high definition and high resolution of CT images, so that the three-dimensional fused image not only contains the real-time position information of brain tissue, but also maintains the structural details of the preoperative image, improves the overall clarity and information content of the image, thereby reducing the deviation between surgical operations and preoperative planning, improving the accuracy and success rate of surgery, and providing doctors with more accurate navigation information.

[0088] The present application also provides a real-time correction method for intraoperative brain tissue drift, which is applied to the aforementioned real-time correction device for intraoperative brain tissue drift based on terahertz waves, and comprises the following steps:

[0089] Step 1: After the patient lies on the operating table 300, the patient's head is fixed with a fixator;

[0090] Step 2: Control the motion states of the first telescopic column 2, the second telescopic column 4 and the rotating column 5, and adjust the position of the detection probe 7 relative to the head;

[0091] Step 3: Use preoperative CT images to determine the location of brain lesions and craniotomy incision;

[0092] Step 4: Use the detection probe 7 to transmit terahertz waves to the patient's head to scan the head and obtain initial position information of the brain tissue and the skull;

[0093] Step 5: After the operation begins, the relative position between the brain tissue and the skull is detected in real time using terahertz waves to calculate the offset between the brain tissue and the skull;

[0094] Step 6: When the position of the brain tissue is detected to be offset, the real-time image and the CT image are fused once every t time interval to generate a new three-dimensional fused image;

[0095] Step 7: the display 201 outputs the generated three-dimensional fusion image; wherein t is the interval between the generation of two adjacent three-dimensional fusion images, and the doctor can adjust t as needed.

[0096] Specifically, this real-time correction method combines the real-time nature of real-time images with the high definition and high resolution advantages of CT images by using real-time detection and dynamic adjustment, so that the three-dimensional fused image not only contains the real-time position information of brain tissue, but also maintains the structural details of the preoperative image, improves the overall clarity and information content of the image, and ensures that the doctor can accurately grasp the actual position of the brain tissue during the operation and adjust the surgical plan in time.

[0097] In summary, the real-time correction device and method for intraoperative brain tissue drift based on terahertz waves described in the present application have the following advantages: 1) It is capable of detecting the position of the patient's brain tissue in real time through terahertz waves during surgery, and generating a three-dimensional fusion image in combination with CT images, thereby ensuring that the position of the brain tissue during surgery is consistent with the position of the brain tissue in the three-dimensional fusion image, avoiding brain tissue drift due to cerebrospinal fluid loss during surgery, resulting in differences in the shape and position of the brain tissue during surgery and the preoperative image, and solving the problem of deviation between surgical operations and preoperative planning caused by brain tissue drift, thereby ensuring the effective implementation of the surgical plan and improving the accuracy of surgical navigation; 2) It combines the real-time nature of real-time images with the high definition and high resolution advantages of CT images, so that the three-dimensional fusion image not only contains the real-time position information of the brain tissue, but also maintains the structural details of the preoperative image, improves the overall clarity and information content of the image, and ensures that the doctor can accurately grasp the actual position of the brain tissue during surgery and adjust the surgical plan in time.

[0098] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A real-time correction device for intraoperative brain tissue drift based on terahertz waves, characterized in that: include: A detector (100), the detector (100) being used for detecting brain tissue in real time during surgery, the detector (100) comprising a detection body (1), a first telescopic column (2) being arranged on the upper part of the detection body (1), a support portion (3) being arranged on the upper end of the first telescopic column (2), the first telescopic column (2) being capable of telescoping in the vertical direction relative to the detection body (1) to adjust the position of the support portion (3) in the vertical direction; A second telescopic column (4) is arranged at the front of the support portion (3), and a rotating column (5) is arranged at the front of the second telescopic column (4); a first axis (51) of the rotating column (5) coincides with a second axis (42) of the second telescopic column (4); the rotating column (5) can rotate around the first axis (51); and the second telescopic column (4) can be telescoped in the front-rear direction relative to the support portion (3) to adjust the position of the rotating column (5) in the front-rear direction; The front end of the rotating column (5) is provided with an arc-shaped arm (6), and the rotating column (5) can drive the arc-shaped arm (6) to rotate around a first axis (51) to adjust the position of the arc-shaped arm (6); A detection probe (7) is provided at the front end of the arc-shaped arm (6), and the detection probe (7) is capable of transmitting terahertz waves to brain tissue during surgery and receiving terahertz waves reflected by the brain tissue, so as to detect the brain tissue; A console (200) is provided with a processor, a compensator and a controller. A display (201) is provided on the upper part of the console (200). The processor is used to generate a real-time image according to the terahertz wave received by the detection probe (7). The compensator is used to receive a CT image and a real-time image and generate a three-dimensional fused image by combining the CT image and the real-time image. The display (201) is used to display the three-dimensional fused image and to input operation information. The controller can control the working state of the detector (100) and the console (200) according to the input operation information.

2. The real-time correction device for intraoperative brain tissue drift based on terahertz waves according to claim 1, characterized in that: The detection probe (7) comprises a transmitting module and a receiving module, wherein the transmitting module is used to transmit terahertz waves to brain tissue during detection, and the receiving module is used to receive the terahertz waves reflected back by the brain tissue.

3. The real-time correction device for intraoperative brain tissue drift based on terahertz waves according to claim 2, characterized in that: The transmitting module includes a plurality of transmitting probes, which can simultaneously transmit a plurality of groups of terahertz waves to the brain tissue; the receiving module includes a plurality of receiving probes, which are used to receive the terahertz waves reflected back from the head.

4. The real-time correction device for intraoperative brain tissue drift based on terahertz waves according to claim 2, characterized in that: The transmitting module is provided with a laser locator, which can emit laser for locating a position to be detected.

5. The real-time correction device for intraoperative brain tissue drift based on terahertz waves according to claim 1, characterized in that: A signal receiver is arranged inside the console (200), and the signal receiver is used to receive CT image information from the outside world.

6. The real-time correction device for intraoperative brain tissue drift based on terahertz waves according to claim 1, characterized in that: The arc-shaped arm (6) rotates at an angle α, 0°≤α≤360°, and an angular velocity W, 0≤W≤10rad / s.

7. The real-time correction device for intraoperative brain tissue drift based on terahertz waves according to claim 1, characterized in that: A first pulley (101) is provided at the lower end of the detector (100), and the first pulley (101) is used for moving the detector (100). A second pulley (202) is provided at the lower end of the console (200), and the second pulley (202) is used for moving the console (200).

8. The real-time correction device for intraoperative brain tissue drift based on terahertz waves according to claim 1, characterized in that: The processor pre-processes the received terahertz wave, converts the pre-processed analog signal into a digital signal, compares the digital signal with the transmitted signal of the terahertz wave, obtains the reflection and attenuation degree information of the terahertz wave by the brain tissue at different positions, and then generates a real-time image of the brain tissue using a back-projection algorithm, extracts the boundary information of the brain tissue from the generated real-time image, and calculates the offset between the brain tissue and the skull; the pre-processing includes filtering and amplification, the filtering is used to remove noise and interference in the terahertz wave and improve the signal-to-noise ratio of the signal, and the amplification is used to enhance the strength of the signal.

9. The real-time correction device for intraoperative brain tissue drift based on terahertz waves according to claim 8, characterized in that: The compensator fuses the real-time image and the CT image according to the offset between the brain tissue and the skull to generate a three-dimensional fused image, so that the position of the brain tissue in the three-dimensional fused image is consistent with the actual brain tissue; the fusion process includes the steps of: S1: Extract feature points from real-time images and CT images using the FAST algorithm; S2: Use SIFT algorithm to match the feature points in the real-time image with those in the CT image; S3: Calculate the geometric transformation between the real-time image and the CT image using the least squares method; S4: Using the elastic deformation model to adjust the CT image to adapt to different deformations, resampling the deformed CT image to ensure that the real-time image and the CT image are accurately aligned in the same coordinate system; S5: Superimpose the aligned real-time image and the CT image, and generate a three-dimensional fused image using a fusion algorithm.

10. A method for real-time correction of brain tissue drift during surgery, applied to the device for real-time correction of brain tissue drift during surgery based on terahertz waves according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: After the patient lies on the operating table (300), the patient's head is fixed using a fixator; Step 2: Control the motion states of the first telescopic column (2), the second telescopic column (4) and the rotating column (5), and adjust the position of the detection probe (7) relative to the head; Step 3: Use preoperative CT images to determine the location of brain lesions and craniotomy incision; Step 4: using the detection probe (7) to emit terahertz waves to the patient's head to scan the head and obtain initial position information of the brain tissue and the skull; Step 5: After the operation begins, the relative position between the brain tissue and the skull is detected in real time using terahertz waves to calculate the offset between the brain tissue and the skull; Step 6: When the position of the brain tissue is detected to be offset, the real-time image and the CT image are fused once every t time interval to generate a new three-dimensional fused image; Step 7: The display (201) outputs the generated 3D fused image.

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