Kidney puncture navigation system based on ultrasonic three-dimensional reconstruction

Abstract

The invention provides a kidney puncture navigation system based on ultrasonic three-dimensional reconstruction, which comprises an ultrasonic three-dimensional reconstruction module and a kidney puncture navigation module, the ultrasonic three-dimensional reconstruction module is used for performing three-dimensional reconstruction on the ultrasonic two-dimensional image of the kidney; and the renal puncture navigation module tracks the puncture path of the puncture needle in real time according to the ultrasonic three-dimensional reconstruction model in combination with an electromagnetic locator. The problem that the two-dimensional ultrasound cannot track the puncture needle in real time easily in the puncture process is solved, the success rate of puncture is increased, and the risk and difficulty of kidney puncture are reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to a renal puncture navigation system based on ultrasonic three-dimensional reconstruction. Background Art

[0002] As a medical auxiliary positioning device, surgical navigation can provide doctors with accurate intraoperative positioning, effectively making up for the shortcomings of traditional surgical methods and improving the quality of surgery. From the clinical application, it can be seen that the core of surgical navigation is to use images to locate and guide surgical instruments.

[0003] Although ultrasound imaging technology has developed from one-dimensional to two-dimensional, two-dimensional ultrasound imaging still has some limitations. First, two-dimensional images are flat, while human organs are three-dimensional. Due to the limitations of the human body structure, it is difficult to obtain two-dimensional ultrasound images of certain parts, which limits the accuracy of diagnosis to a certain extent.

[0004] In renal puncture surgery, it is often difficult for a two-dimensional ultrasound section to fully capture the complete echo of the puncture needle in the human body. If the needle tip is not imaged, it is easy to cause inaccurate puncture and cause unnecessary harm to the patient.

[0005] 3D reconstruction technology reconstructs 2D images into 3D images, allowing doctors to process them on computers. This method can display 2D cross-sectional images in any direction and position without restriction. On this basis, combined with a trackable biopsy needle, it can locate and navigate the path of the puncture needle that is not easy to fully visualize under the 2D ultrasound section. Summary of the invention

[0006] The purpose of the present invention is to provide a renal puncture navigation system based on ultrasonic three-dimensional reconstruction. Through ultrasonic three-dimensional reconstruction and real-time positioning of the puncture needle, the problem that two-dimensional ultrasound is difficult to track the puncture needle in real time during renal puncture is solved, the success rate of puncture is improved, and the risk and difficulty of renal puncture are reduced.

[0007] To achieve the above object, the present invention provides a renal puncture navigation system based on ultrasound three-dimensional reconstruction, comprising: an ultrasound three-dimensional reconstruction module and a renal puncture navigation module;

[0008] The ultrasonic three-dimensional reconstruction module is used to perform three-dimensional reconstruction of the ultrasonic two-dimensional image of the kidney;

[0009] Optionally, the ultrasonic three-dimensional reconstruction module includes an ultrasonic probe and an ultrasonic sensor;

[0010] The ultrasonic probe is used to obtain ultrasonic two-dimensional images;

[0011] The ultrasonic sensor is fixed at a specified position of the ultrasonic probe and is used to obtain the position of the ultrasonic probe in the world coordinate system;

[0012] The renal puncture navigation module is used to track the puncture path of the puncture needle in real time based on the ultrasonic three-dimensional reconstruction model in combination with the electromagnetic locator;

[0013] Optionally, the renal puncture navigation module includes: an electromagnetic locator, a reference frame, a puncture needle, and a puncture needle sensor;

[0014] The electromagnetic locator is used to locate the reference frame, the ultrasonic sensor, and the puncture needle sensor;

[0015] The reference frame is used to establish a world coordinate system, is placed on the patient's body, and remains relatively still with the patient;

[0016] The puncture needle is used for renal puncture;

[0017] The puncture needle sensor is fixed at a designated position of the puncture needle and is used to obtain the position of the puncture needle in the world coordinate system.

[0018] The ultrasonic three-dimensional reconstruction method is: using an ultrasonic probe to obtain multiple ultrasonic images of the kidney, and using a weighted average method to perform three-dimensional reconstruction. The specific steps are as follows:

[0019] (1) Fix the ultrasound probe, manually select a region of interest, and roughly outline the area to be reconstructed;

[0020] (2) Scanning multiple two-dimensional ultrasound images of the kidney using an ultrasound probe and simultaneously recording the position of the ultrasound probe sensor in the world coordinate system;

[0021] (3) Traverse each 2D ultrasound image and calculate the voxel position that should be filled in the world coordinate system for the pixels in the region of interest;

[0022] (4) Traverse each voxel. If it corresponds to multiple pixels, calculate the weighted average of the voxels based on the Euclidean distance from the spatial position of the pixel to the center of the voxel in the world coordinate system;

[0023] (5) If there are gaps in the voxels, a dilation operation is performed to fill the gaps.

[0024] The guidance method during renal puncture is as follows: during the puncture under ultrasound guidance, the ultrasound sensor is positioned by an electromagnetic locator to calculate the three-dimensional reconstructed cross-sectional data information corresponding to the current ultrasound plane; during the puncture of the puncture needle, the puncture needle sensor is positioned by an electromagnetic locator to calculate the spatial position of the puncture needle tip and the end, and then the relative position of the puncture needle and the cross-sectional data, as well as the projection of the puncture needle on the cross-section, are calculated.

[0025] Optionally, the method for obtaining ultrasound three-dimensional reconstruction cross-sectional information is:

[0026] (1) Calculate the spatial position of each pixel on the 3D reconstructed section corresponding to the current ultrasound plane by using the electromagnetic locator to locate the ultrasound sensor and the transformation relationship between the ultrasound image and the ultrasound sensor;

[0027] (2) Extract the value corresponding to each pixel from the voxel field to form a two-dimensional image. If the thickness of the ultrasound is greater than a threshold, usually the length of one side of the voxel, then take the average of multiple images of the corresponding thickness and remap them into a two-dimensional image for display.

[0028] Optionally, the method for obtaining the relative position of the puncture needle and the cross-sectional data is:

[0029] (1) The spatial position of the puncture needle tip and the end is calculated by positioning the puncture needle sensor with an electromagnetic locator and the transformation relationship between the puncture needle tip and the end to the puncture needle sensor;

[0030] (2) Using the spatial positions of the needle tip and end and the spatial position of the 3D reconstructed section, calculate the relative position of the needle and the section, as well as the projection of the needle on the section.

[0031] Optionally, the transformation relationship between the ultrasound image and the world coordinate system is: reference2us_image =T reference2locator *T locator2us_sensor *T us_sensor2us_image ;

[0032] Among them, T us_sensor2us_image is the transformation relationship between the ultrasonic image and the ultrasonic sensor. The ultrasonic sensor is fixed at the specified position of the ultrasonic probe. us_sensor2us_image Remain unchanged; T locator2us_sensor It is the transformation relationship between the ultrasonic sensor and the electromagnetic locator, which is obtained through real-time positioning and tracking by the electromagnetic locator.

[0033] Optionally, the transformation relationships between the puncture needle tip and the puncture needle end and the world coordinate system are T reference2needle_tip =T reference2locator *T locator2needle_sensor *T needle_sensor2needle_tip ,

[0034] T reference2needle_tail =T reference2locator *T locator2needle_sensor *T needle_sensor2needle_tail ;

[0035] Among them, T needle_sensor2needle_tip is the transformation relationship from the puncture needle tip to the puncture needle sensor, T needle_sensor2needle_tailis the transformation relationship from the end of the puncture needle to the puncture needle sensor. The puncture needle sensor is fixed at the specified position of the puncture needle. needle_sensor2needle_tip and T needle_sensor2needle_tail Remain unchanged; T locator2needle_sensor is the transformation relationship between the puncture needle sensor and the electromagnetic locator, which is obtained through real-time positioning and tracking by the electromagnetic locator; T reference2locator The transformation relationship between the world coordinate system established for the reference frame and the electromagnetic locator is obtained through real-time positioning and tracking by the electromagnetic locator.

[0036] Compared with the prior art, the present invention has the following advantages and technical effects:

[0037] The present invention provides a renal puncture navigation system based on ultrasonic three-dimensional reconstruction, which combines ultrasonic three-dimensional reconstruction technology with renal puncture navigation technology based on electromagnetic locator to realize a renal puncture navigation system based on ultrasonic three-dimensional reconstruction, thereby helping doctors to clearly track the puncture path during the puncture process, solving the problem that two-dimensional ultrasound is difficult to track the puncture needle in real time, improving the success rate of puncture, and reducing the risk and difficulty of renal puncture. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0039] Figure 1 Schematic diagram of the structure of a renal puncture navigation system based on ultrasonic three-dimensional reconstruction according to an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of the workflow of a renal puncture navigation system based on ultrasonic three-dimensional reconstruction according to an embodiment of the present invention;

[0041] Figure 3 It is a schematic diagram of an ultrasonic cross-section reconstruction method of a renal puncture navigation system based on ultrasonic three-dimensional reconstruction according to an embodiment of the present invention;

[0042] Figure 4 It is a schematic diagram of a method for calculating the relative relationship between the puncture needle and the ultrasound cross section in a renal puncture navigation system based on ultrasound three-dimensional reconstruction according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0044] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here. Example

[0045] like Figure 1 As shown, this embodiment provides a renal puncture navigation system based on ultrasound three-dimensional reconstruction, including an ultrasound three-dimensional reconstruction module and a renal puncture navigation module;

[0046] The ultrasonic three-dimensional reconstruction module includes an ultrasonic probe and an ultrasonic sensor; the ultrasonic probe is used to obtain ultrasonic two-dimensional images; the ultrasonic sensor is fixed at a specified position of the ultrasonic probe and is used to obtain the position of the ultrasonic probe in the world coordinate system.

[0047] In this embodiment, an ultrasound probe is used to acquire multiple ultrasound images of the kidney, and the position of the ultrasound probe sensor in the world coordinate system is recorded at the same time; on the premise that the outline of the kidney is selected as the region of interest, each ultrasound image is traversed and the voxel positions that should be filled in the pixels in the region of interest in the world coordinate system are calculated; each voxel is traversed and the voxel is assigned a value using a weighted average method; if there is a gap in the middle of the voxel, the gap is filled by a dilation operation.

[0048] The renal puncture navigation module includes an electromagnetic locator, a reference frame, a puncture needle, and a puncture needle sensor; the electromagnetic locator is used to locate the reference frame, ultrasonic sensor, and puncture needle sensor; the reference frame is used to establish a world coordinate system, is placed on the patient's body, and remains relatively still with the patient; the puncture needle is used for renal puncture; the puncture needle sensor is fixed at a specified position of the puncture needle and is used to obtain the position of the puncture needle in the world coordinate system.

[0049] In this embodiment, the puncture path of the puncture needle is tracked in real time based on the ultrasound three-dimensional reconstruction model and the electromagnetic locator. During the puncture under ultrasound guidance, the electromagnetic locator locates the ultrasound sensor and calculates the three-dimensional reconstructed section data information corresponding to the current ultrasound plane; during the puncture of the puncture needle, the electromagnetic locator locates the puncture needle sensor and calculates the spatial position of the puncture needle tip and end, and then calculates the relative position of the puncture needle and the section data, as well as the projection of the puncture needle on the section.

[0050] Further, such as Figure 3As shown in the figure, the method for obtaining ultrasound 3D reconstruction section information is as follows: the spatial position of each pixel on the 3D reconstruction section corresponding to the current ultrasound plane is calculated by positioning the ultrasound sensor with an electromagnetic locator and the transformation relationship between the ultrasound image and the ultrasound sensor; the value corresponding to each pixel is extracted from the voxel field to form a 2D image. If the thickness of the ultrasound is greater than a threshold, usually the length of one side of the voxel is taken, then the average value of multiple images of the corresponding thickness is taken and remapped into a 2D image for display. Figure 4 As shown, the method for obtaining the relative position of the puncture needle and the cross-sectional data is as follows: the spatial position of the puncture needle tip and the end is calculated by positioning the puncture needle sensor by an electromagnetic locator and the transformation relationship between the puncture needle tip and the end to the puncture needle sensor; the relative position of the puncture needle and the cross-sectional area, as well as the projection of the puncture needle on the cross-sectional area, are calculated using the spatial position of the puncture needle tip and the end and the spatial position of the three-dimensionally reconstructed cross-sectional area.

[0051] The transformation relationship between the ultrasonic image and the world coordinate system is: reference2us_image =T reference2locator *T locator2us_sensor *T us_sensor2us_image ;

[0052] Among them, T us_sensor2us_image is the transformation relationship between the ultrasonic image and the ultrasonic sensor. The ultrasonic sensor is fixed at the specified position of the ultrasonic probe. us_sensor2us_image Remain unchanged; T locator2us_sensor It is the transformation relationship between the ultrasonic sensor and the electromagnetic locator, which is obtained through real-time positioning and tracking by the electromagnetic locator.

[0053] The transformation relationship between the puncture needle tip and the puncture needle end and the world coordinate system is T reference2needle_tip =T reference2locator *T locator2needle_sensor *T needle_sensor2needle_tip ,

[0054] T reference2needle_tail =T reference2locator *T locator2needle_sensor *T needle_sensor2needle_tail ;

[0055] Among them, T needle_sensor2needle_tip is the transformation relationship from the puncture needle tip to the puncture needle sensor, T needle_sensor2needle_tail is the transformation relationship from the end of the puncture needle to the puncture needle sensor. The puncture needle sensor is fixed at the specified position of the puncture needle. needle_sensor2needle_tip and T needle_sensor2needle_tail Remain unchanged; T locator2needle_sensor is the transformation relationship between the puncture needle sensor and the electromagnetic locator, which is obtained through real-time positioning and tracking by the electromagnetic locator; T reference2locatorThe transformation relationship between the world coordinate system established for the reference frame and the electromagnetic locator is obtained through real-time positioning and tracking by the electromagnetic locator.

[0056] like Figure 2 As shown, this embodiment provides a workflow of a renal puncture navigation system based on ultrasound three-dimensional reconstruction;

[0057] Fix the electromagnetic locator and start it, install the ultrasound sensor and puncture needle sensor at the designated positions on the ultrasound probe and puncture needle respectively; install the reference frame on the patient and establish a world coordinate system; verify the accuracy of the positioning of the ultrasound probe and puncture needle through the verification points on the reference frame; perform two-dimensional ultrasound imaging of the body through the ultrasound probe, and obtain the spatial position of the ultrasound image in the world coordinate system through the electromagnetic locator; use multiple two-dimensional ultrasound images to perform three-dimensional reconstruction of the kidney; use the puncture needle to perform puncture surgery on the kidney, and simultaneously perform imaging through the ultrasound probe, and the system displays the three-dimensional reconstructed cross-sectional information corresponding to the ultrasound image; the projection trajectory of the puncture needle is displayed on the cross-sectional image to guide the doctor to perform the puncture; optionally, during the puncture process, the system displays cross-sectional information perpendicular to the puncture needle to help the doctor make a judgment.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A renal puncture navigation system based on ultrasonic three-dimensional reconstruction, characterized in that: Including ultrasound 3D reconstruction module and renal puncture navigation module: The ultrasonic three-dimensional reconstruction module is used to perform three-dimensional reconstruction of the ultrasonic two-dimensional image of the kidney; The renal puncture navigation module is used to track the puncture path of the puncture needle in real time based on the ultrasonic three-dimensional reconstruction model in combination with an electromagnetic locator.

2. The renal puncture navigation system based on ultrasound three-dimensional reconstruction according to claim 1, characterized in that: The ultrasonic three-dimensional reconstruction module includes: an ultrasonic probe and an ultrasonic sensor; The ultrasonic probe is used to obtain ultrasonic two-dimensional images; The ultrasonic sensor is fixed at a specified position of the ultrasonic probe and is used to obtain the position of the ultrasonic probe in the world coordinate system.

3. The renal puncture navigation system based on ultrasound three-dimensional reconstruction according to claim 1, characterized in that: The renal puncture navigation module includes: an electromagnetic locator, a reference frame, a puncture needle, and a puncture needle sensor; The electromagnetic locator is used to locate the reference frame, the ultrasonic sensor, and the puncture needle sensor; The reference frame is used to establish a world coordinate system, is placed on the patient's body, and remains relatively still with the patient; The puncture needle is used for renal puncture; The puncture needle sensor is fixed at a designated position of the puncture needle and is used to obtain the position of the puncture needle in the world coordinate system.

4. The renal puncture navigation system based on ultrasonic three-dimensional reconstruction according to claim 2, characterized in that: The ultrasound three-dimensional reconstruction method is: use an ultrasound probe to obtain multiple ultrasound images of the kidney, and use the weighted average method to perform three-dimensional reconstruction. The specific steps are as follows: (1) Fix the ultrasound probe, manually select a region of interest, and roughly outline the area to be reconstructed; (2) Scanning multiple two-dimensional ultrasound images of the kidney using an ultrasound probe and simultaneously recording the position of the ultrasound probe sensor in the world coordinate system; (3) Traverse each 2D ultrasound image and calculate the voxel position that should be filled in the world coordinate system for the pixels in the region of interest; (4) Traverse each voxel. If it corresponds to multiple pixels, calculate the weighted average of the voxels based on the Euclidean distance from the spatial position of the pixel to the center of the voxel in the world coordinate system; (5) If there are gaps in the voxels, a dilation operation is performed to fill the gaps.

5. The renal puncture navigation system based on ultrasound three-dimensional reconstruction according to claim 3, characterized in that: The guidance method during renal puncture is as follows: during the puncture under ultrasound guidance, the ultrasound sensor is positioned by an electromagnetic locator to calculate the three-dimensional reconstructed cross-sectional data information corresponding to the current ultrasound plane; during the puncture of the puncture needle, the puncture needle sensor is positioned by an electromagnetic locator to calculate the spatial position of the puncture needle tip and the end, and then the relative position of the puncture needle and the cross-sectional data, as well as the projection of the puncture needle on the cross-section, are calculated.

6. The renal puncture navigation system based on ultrasound three-dimensional reconstruction according to claim 5, characterized in that: Method for obtaining ultrasound three-dimensional reconstruction cross-sectional information: (1) Calculate the spatial position of each pixel on the 3D reconstructed section corresponding to the current ultrasound plane by using the electromagnetic locator to locate the ultrasound sensor and the transformation relationship between the ultrasound image and the ultrasound sensor; (2) Extract the value corresponding to each pixel from the voxel field to form a two-dimensional image. If the thickness of the ultrasound is greater than a threshold, usually the length of one side of the voxel, then take the average of multiple images of the corresponding thickness and remap them into a two-dimensional image for display.

7. The renal puncture navigation system based on ultrasound three-dimensional reconstruction according to claim 5, characterized in that: Method for obtaining the relative position of the puncture needle and cross-section data: (1) The spatial position of the puncture needle tip and the end is calculated by positioning the puncture needle sensor with an electromagnetic locator and the transformation relationship between the puncture needle tip and the end to the puncture needle sensor; (2) Using the spatial positions of the needle tip and end and the spatial position of the 3D reconstructed section, calculate the relative position of the needle and the section, as well as the projection of the needle on the section.

8. The renal puncture navigation system based on ultrasonic three-dimensional reconstruction according to claims 3 and 4, characterized in that: The transformation relationship between ultrasonic image and ultrasonic sensor is T us_sensor2us_image , the ultrasonic sensor is fixed at the specified position of the ultrasonic probe, so T us_sensor2us_image remain unchanged; The transformation relationship from the puncture needle tip to the puncture needle sensor is T needle_sensor2needle_tip , the transformation relationship from the end of the puncture needle to the puncture needle sensor is T needle_sensor2needle_tail , the puncture needle sensor is fixed at the specified position of the puncture needle, so T needle_sensor2needle_tip and T needle_sensor2needle_tail remain unchanged; The transformation relationship between the ultrasonic sensor and the electromagnetic locator is T locator2us_sensor , obtained through real-time positioning and tracking by electromagnetic locator; The transformation relationship between the puncture needle sensor and the electromagnetic locator is T locator2needle_sensor , obtained through real-time positioning and tracking by electromagnetic locator; The transformation relationship between the world coordinate system established by the reference frame and the electromagnetic locator is T reference2locator , obtained through real-time positioning and tracking by electromagnetic locator; The transformation relationship between the ultrasound image and the world coordinate system is T reference2us_image =T reference2locator *T locator2us_sensor *T us_sensor2us_image ; The transformation relationships between the puncture needle tip and the puncture needle end and the world coordinate system are T reference2needle_tip =T reference2locator *T locator2needle_sensor *T needle_sensor2needle_tip , T reference2needle_tail =T reference2locator *T locator2needle_sensor *T needle_sensor2needle_tail 。

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