Operation monitoring system and method integrating ultrasound, binocular optics and CBCT

Abstract

The invention relates to the field of medical treatment, and discloses an operation monitoring system and method integrating ultrasonic, binocular optics and CBCT technologies. Existing binocular optical positioning has the limitation that only in-vitro tracking can be achieved. The system comprises an ultrasonic device, a binocular optical navigation device and a CBCT device. The CBCT device obtains a preoperative three-dimensional image, the ultrasonic device probe or patch is provided with an optical reflection marker, an in-vivo ultrasonic three-dimensional image is obtained and registered with the CBCT image, and in-vivo displacement is monitored; the binocular optical navigation monitors in-vitro displacement. The method comprises the following steps: acquiring preoperative CBCT, real-time ultrasonic and in-vitro optical three-dimensional images, guiding an ultrasonic probe or a patch to move and register by using the optical images, and determining the position of an ultrasonic signal. And once displacement exists in and out of the body, re-registration and updating positioning are carried out. The ultrasonic probe adopts a side-by-side multi-array mode, three-dimensional displacement can be recognized, and reregistration is carried out based on preoperative CT during large-amplitude displacement. Existing limitation is broken through, real-time tracking of the in-vivo operation area is achieved, the operation positioning accuracy is improved, and efficient operation development is assisted.

Description

Technical Field

[0001] The present invention relates to the medical field, and in particular to a surgery monitoring system and method integrating ultrasound, binocular optics and CBCT. Background Art

[0002] In modern medical surgery, accurate positioning and monitoring are key factors to ensure the success of the operation. With the continuous advancement of medical technology, a variety of positioning and monitoring technologies have emerged and play an important role in surgery.

[0003] Binocular optical positioning system has been widely used in the field of orthopedic surgery navigation / robotics and neurosurgery navigation / robotics due to its unique advantages. The system uses infrared light to illuminate the markers on the measuring body, performs triangulation based on the principle of light reflection, and then obtains the 3D coordinates of the markers to calculate the posture of the surgical instrument, and finally realizes real-time visual navigation. This technology improves the accuracy of surgery to a certain extent, allowing doctors to more intuitively understand the position and movement status of surgical instruments outside the body.

[0004] However, the binocular optical positioning system has obvious limitations. It can only infer the internal position through the position of external markers, and cannot directly accurately locate and monitor the surgical area in real time. When the patient's internal tissues are displaced due to factors such as breathing, heartbeat, and surgical operations, the binocular optical positioning system cannot detect this change in time, resulting in deviations in surgical positioning, which may affect the surgical effect and increase surgical risks.

[0005] Although ultrasound technology can image tissues in the body, it is difficult to accurately associate it with the overall anatomical structure in the surgical scene when used alone, and lacks accurate spatial positioning information. CBCT technology can provide high-resolution three-dimensional images and clearly present the anatomical structure in the body, but it cannot dynamically monitor changes during surgery in real time. Summary of the invention

[0006] The present invention provides a surgical monitoring system and method integrating ultrasound, binocular optics and CBCT. The present application aims to solve the deficiencies of existing surgical positioning and monitoring technologies, especially to overcome the limitation that binocular optics positioning can only track outside the body, and to achieve real-time and accurate tracking of the surgical area inside the body; at the same time, the advantages of ultrasound, binocular optics and CBCT technologies are integrated to provide a system and method that can accurately locate and monitor the internal and external conditions of the body in real time during the operation, thereby improving the safety and success rate of the operation.

[0007] On the one hand, the surgical monitoring system integrates ultrasound, binocular optics and CBCT.

[0008] CBCT instrument, used to obtain CBCT three-dimensional images of patients before surgery;

[0009] An ultrasound instrument, wherein a marker is provided on the ultrasound probe or ultrasound patch, and the ultrasound instrument is used to obtain an ultrasound three-dimensional image of the patient's body; the ultrasound three-dimensional image is used to align with the CBCT three-dimensional image; the ultrasound device can monitor in real time whether displacement occurs in the patient's body;

[0010] Binocular optical navigation system, which obtains the spatial coordinates of the patient's body and markers; it can monitor the displacement of the patient's body in real time;

[0011] Among them, the patient's external and internal displacements are recognized and monitored by binocular optical navigation system and three-dimensional images constructed by ultrasound respectively.

[0012] Furthermore, the marker has optical reflective properties; the marker is used for tracking by an optical tracker.

[0013] Furthermore, the ultrasound probe has multiple arrays arranged side by side, so that it has the ability to image anatomical structures in three-dimensional space; the probe with multiple rows of arrays can detect structural displacements within a plane and structural displacements perpendicular to the plane.

[0014] On the other hand, a surgical monitoring method integrating ultrasound, binocular optics and CBCT comprises the following steps:

[0015] Acquire the patient's preoperative CBCT three-dimensional image based on the CBCT instrument;

[0016] Acquire a real-time ultrasonic three-dimensional image of the surgical target location in the patient's body based on an ultrasonic instrument;

[0017] Based on the binocular optical positioning system, the ultrasound instrument is guided to align with the CBCT three-dimensional image; then, the global space coordinates of the ultrasound instrument and the surgical instrument are obtained based on the binocular optical positioning system; markers for binocular optical detection are set at the positions of the above-mentioned detection coordinates; based on the coordinates of the ultrasound instrument, the spatial coordinates of the patient's body can be obtained.

[0018] Furthermore, a marker is provided at the detection site of the ultrasonic instrument, and the marker has an optical reflection characteristic.

[0019] Furthermore, the ultrasonic three-dimensional image is obtained based on an ultrasonic probe or an ultrasonic patch being closely attached to the patient's skin surface.

[0020] Furthermore, the ultrasound probe has multiple arrays arranged side by side, so that it has the ability to image anatomical structures in three-dimensional space; the probe with multiple rows of arrays can detect structural displacements within a plane and can identify structural displacements perpendicular to the plane.

[0021] Beneficial effects:

[0022] Since the binocular optical positioning system monitors the patient's external body and the ultrasound instrument monitors the target area inside the patient's body, the patient's external and internal displacements are recognized and monitored by binocular optical navigation and three-dimensional images constructed by ultrasound respectively; after obvious displacement occurs outside the patient or inside the patient, the optical three-dimensional image is used to guide the movement of the ultrasound probe or ultrasound patch to achieve the alignment of the real-time ultrasound three-dimensional image with the CBCT image and update the surgical positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Logic diagram of a surgical monitoring method integrating ultrasound, binocular optics, and CBCT. DETAILED DESCRIPTION

[0024] In order to make the contents of the present invention more clearly understood, the technical solutions in the embodiments of the present invention are described clearly and completely.

[0025] Embodiment 1

[0026] The surgical monitoring method integrating ultrasound, binocular optics and CBCT comprises the following steps:

[0027] The patient's preoperative CBCT three-dimensional images were obtained based on the CBCT instrument.

[0028] A real-time ultrasonic three-dimensional image of the surgical target position in the patient's body is obtained based on an ultrasonic instrument, wherein the ultrasonic three-dimensional image is obtained based on an ultrasonic probe or an ultrasonic patch being closely attached to the patient's skin surface.

[0029] Based on the binocular optical positioning system, the ultrasound instrument is guided to align with the CBCT three-dimensional image; then, the global space coordinates of the ultrasound instrument and the surgical instrument are obtained based on the binocular optical positioning system; markers for binocular optical detection are set at the above-mentioned positions where the coordinates need to be detected; because the ultrasound instrument (ultrasound probe or ultrasound patch) is closely attached to the patient's skin surface as a whole, after the coordinates of the ultrasound instrument are obtained, the spatial coordinates of the patient's body can be obtained based on the coordinates of the ultrasound instrument.

[0030] In summary, since the binocular optical positioning system monitors the patient's external body and the ultrasound instrument monitors the target area inside the patient's body, the patient's external displacement and internal displacement are recognized and monitored by binocular optical navigation and three-dimensional images constructed by ultrasound respectively; after obvious displacement occurs outside the patient or inside the patient, the optical three-dimensional image is used to guide the movement of the ultrasound probe or ultrasound patch to achieve the registration of the real-time ultrasound three-dimensional image with the CBCT image and update the surgical positioning.

[0031] Embodiment 2

[0032] An integrated ultrasound, binocular optics and CBCT surgical monitoring system, including ultrasound equipment, binocular optics navigation equipment, and CBCT equipment;

[0033] CBCT instrument, used to obtain CBCT three-dimensional images of patients before surgery;

[0034] Ultrasonic instruments, whose ultrasonic probe or ultrasonic patch is provided with a marker, and the marker has an optical reflection characteristic. The marker is used for tracking by an optical tracker; the ultrasonic instrument is used to obtain an ultrasonic three-dimensional image in the patient's body; the ultrasonic three-dimensional image is used for registration with the CBCT three-dimensional image; the ultrasonic equipment can monitor in real time whether displacement occurs in the patient's body.

[0035] The binocular optical navigation system obtains the spatial coordinates of the patient's body and markers; it can monitor the displacement of the patient's body in real time.

[0036] Since binocular optical navigation monitors the patient's body outside the body and ultrasound monitors the patient's body inside the body, the patient's external displacement and internal displacement are recognized and monitored by binocular optical navigation and three-dimensional images constructed by ultrasound respectively; after obvious displacement occurs outside the patient or inside the body, the optical three-dimensional image is used to guide the movement of the ultrasound probe or ultrasound patch to achieve the registration of the real-time ultrasound three-dimensional image with the CBCT image and update the surgical positioning.

[0037] Embodiment 3

[0038] The ultrasonic probe has multiple arrays arranged side by side, so that it has the ability to image the anatomical structure in three-dimensional space. The probe with multiple arrays can not only detect the displacement of the structure in the plane, but also identify the displacement of the structure perpendicular to the plane.

[0039] When the ultrasound probe detects a large movement of the image content, it indicates a large intraoperative displacement. A new registration can be performed based on the information from the previous registration with the preoperative CT. In addition, the intraoperative displacement of the anatomical structure is usually accompanied by a large displacement of the ultrasound probe in the global coordinate system. The displacement of the probe can be detected by optical navigation.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A surgical monitoring system integrating ultrasound, binocular optics and CBCT, characterized in that: include: CBCT instrument, used to obtain CBCT three-dimensional images of patients before surgery; An ultrasound instrument, wherein a marker is provided on the ultrasound probe or ultrasound patch, and the ultrasound instrument is used to obtain an ultrasound three-dimensional image of the patient's body; the ultrasound three-dimensional image is used to align with the CBCT three-dimensional image; the ultrasound device can monitor in real time whether displacement occurs in the patient's body; Binocular optical navigation system, which obtains the spatial coordinates of the patient's body and markers; It can monitor the displacements occurring outside the patient's body in real time; Among them, the patient's external and internal displacements are recognized and monitored by binocular optical navigation system and three-dimensional images constructed by ultrasound respectively.

2. The surgical monitoring system integrating ultrasound, binocular optics and CBCT according to claim 1, characterized in that: The marker has optical reflective properties; the marker is used for tracking by an optical tracker.

3. The surgical monitoring system integrating ultrasound, binocular optics and CBCT according to claim 1, characterized in that: The ultrasonic probe has multiple arrays arranged side by side, so that it has the ability to image the anatomical structure in three-dimensional space; the probe with multiple rows of arrays can detect structural displacement within the plane and structural displacement perpendicular to the plane.

4. A surgical monitoring method integrating ultrasound, binocular optics and CBCT, characterized in that: The following steps are involved: Acquire the patient's preoperative CBCT three-dimensional image based on the CBCT instrument; Acquire a real-time ultrasonic three-dimensional image of the surgical target location in the patient's body based on an ultrasonic instrument; Based on the binocular optical positioning system, the ultrasound instrument is guided to align with the CBCT three-dimensional image; then, the global space coordinates of the ultrasound instrument and the surgical instrument are obtained based on the binocular optical positioning system; markers for binocular optical detection are set at the positions of the above-mentioned detection coordinates; based on the coordinates of the ultrasound instrument, the spatial coordinates of the patient's body can be obtained.

5. The surgical monitoring method integrating ultrasound, binocular optics and CBCT according to claim 4, characterized in that: A marker is provided at the detection site of the ultrasonic instrument, and the marker has optical reflection characteristics.

6. The surgical monitoring method integrating ultrasound, binocular optics and CBCT according to claim 4, characterized in that: The ultrasonic three-dimensional image is obtained based on an ultrasonic probe or an ultrasonic patch being closely attached to the patient's skin surface.

7. The surgical monitoring method integrating ultrasound, binocular optics and CBCT according to claim 4, characterized in that: The ultrasonic probe has multiple arrays arranged side by side, so that it has the ability to image the anatomical structure in three-dimensional space; the probe with multiple rows of arrays can detect structural displacement within a plane and can identify structural displacement perpendicular to the plane.

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