Pulmonary nodule positioning device and method under navigation

Abstract

The invention discloses a pulmonary nodule positioning device and method under navigation, and the device comprises a navigation system module which is used for collecting the computed tomography data of a target object, carrying out the three-dimensional reconstruction of bronchus, and planning a target path to lead to a target focus position; the bronchoscope navigation module comprises a bronchoscope and a navigation control module, and the navigation control module is used for guiding the bronchoscope to advance along the target path until the tail end of the bronchoscope reaches the target focus position; the light-guide fiber is arranged in a forceps pipeline of the bronchoscope, the outer surface of the light-guide fiber is wrapped with a light-proof material, the tail end of the light-guide fiber can emit light to generate a light spot, and the light spot is used for marking the position of a target focus; the cold light source control module is used for controlling the light-emitting state of the light-guide fiber; and the thoracoscope display module is used for observing light spots on the pleura surface of the target object so as to determine a target focus position, so that a focus resection operation is performed on the target focus position. According to the invention, the efficiency, precision and safety of pulmonary nodule positioning can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field related to pulmonary nodule localization, and particularly to a navigation-based pulmonary nodule localization device and method. Background Art

[0002] The incidence and mortality rates of lung cancer rank first among all cancers. According to statistics, lung cancer accounted for 17.9% of the newly detected cancers in 2020, and the mortality rate of lung cancer accounted for 27.3% of all cancer deaths in China. Since early-stage lung cancer is latent and not easily detected, and 80% of lung cancers are found to be in the middle and late stages in clinical practice, how to detect and treat lung cancer as early as possible is crucial for improving the survival rate of lung cancer patients. Through clinical research and analysis, the cure rate of early-stage lung adenocarcinoma is nearly 100%, and the success rate of cure is also very high when the diameter of pulmonary nodules ≤ 10 mm. Currently, early detection of in-situ lung cancer nodules is the key. Since pulmonary nodules are difficult to see on the lung surface, the success rate of locating the lesion by finger touch or by sliding the instrument during the operation is only 30%. Some patients have to convert to thoracotomy or even fail the operation due to inaccurate positioning. Therefore, preoperative pulmonary nodule localization is particularly important.

[0003] Currently, the pulmonary nodule assisted localization techniques can be classified according to different approaches: CT-guided percutaneous puncture assisted localization method, and electromagnetic / virtual navigation bronchoscope trans-airway assisted localization method. However, both have the problems of "unstable positioning accuracy" and "higher complication risk"; at the same time, the technical operation is complex, the equipment requirements are high, and there are time window limitations for some markers, making it difficult to form a gold standard that is both safe, accurate and easy to popularize clinically. In the future, there is an urgent need to develop a comprehensive localization technology that combines high precision, low complication, simple operation and moderate cost. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides a navigation-based pulmonary nodule localization device, which can improve the efficiency, accuracy and safety of pulmonary nodule localization.

[0005] The present invention also provides a navigation-based pulmonary nodule localization method.

[0006] According to the navigation-based pulmonary nodule localization device of the first aspect embodiment of the present invention, the device includes: A navigation system module, configured to collect computed tomography data of a target object, perform three-dimensional reconstruction of the bronchus according to the computed tomography data, and plan a target path to lead to the target lesion position; A bronchoscope navigation module, including a bronchoscope and a navigation control module electrically connected to the navigation system module, where the navigation control module is configured to guide the bronchoscope to travel along the target path until the end of the bronchoscope reaches the target lesion position; An optical fiber is disposed in the forceps channel of the bronchoscope. An outer surface of the optical fiber is wrapped with a light-impermeable material. A terminal end of the optical fiber is capable of emitting light to generate a light spot, and the light spot is used to mark a position of the target lesion. A cold light source control module is electrically connected to the optical fiber, and the cold light source control module is configured to control a light-emitting state of the optical fiber. A thoracoscope display module is configured to observe the light spot on a pleural surface of the target object to determine the position of the target lesion, so as to perform a lesion resection operation on the position of the target lesion.

[0007] The navigation-assisted pulmonary nodule localization device according to an embodiment of the present invention has at least the following beneficial effects: By acquiring computed tomography data of a target object through a navigation system module, three-dimensional reconstruction of the bronchus can be performed and a target path can be planned to lead to the position of the target lesion. The bronchoscope together with the optical fiber is inserted into the bronchial duct of the target object, and the bronchoscope together with the optical fiber is guided along the target path until the terminal end of the optical fiber reaches the position of the target lesion through a navigation control module, so that the terminal end of the optical fiber can generate a light spot to mark the position of the target lesion. Then, the light spot on the pleural surface of the target object is observed through the thoracoscope display module, so as to perform a lesion resection operation on the position of the target lesion. The navigation-assisted pulmonary nodule localization device according to the embodiment of the present invention can improve the efficiency and accuracy of pulmonary nodule localization, reduce the trauma and complication risks of the target object, improve safety, and the localization and surgical processes can be continuously completed, so that the preoperative waiting time of the target object can be shortened and the treatment efficiency can be improved.

[0008] According to some embodiments of the present invention, the light-impermeable material is made of nylon elastomer.

[0009] According to some embodiments of the present invention, the light-impermeable material is made of Teflon.

[0010] According to some embodiments of the present invention, the cold light source control module includes a light opening / closing control module and a brightness adjustment module. The light opening / closing control module is configured to control the terminal end of the optical fiber to generate the light spot, and the brightness adjustment module is configured to adjust the brightness of the light spot.

[0011] According to some embodiments of the present invention, the cold light source control module further includes a light-emitting timing control module, and the light-emitting timing control module is configured to adjust the light-emitting timing of the light spot.

[0012] According to some embodiments of the present invention, the navigation control module includes a first navigation module and a second navigation module. The first navigation module is configured to guide the bronchoscope together with the optical fiber along the target path until the end of the bronchoscope reaches a predetermined airway branch, which is close to the target lesion location. The second navigation module is configured to guide the optical fiber to advance until the end of the optical fiber reaches the target lesion location. Wherein, the distance between the end of the bronchoscope and the target lesion location is greater than the distance between the end of the optical fiber and the target lesion location.

[0013] A navigation-assisted pulmonary nodule localization method according to an embodiment of the second aspect of the present invention is applied to the navigation-assisted pulmonary nodule localization device as described in the embodiment of the first aspect above. The method includes: Obtain the computed tomography data of the target object through the navigation system module, perform three-dimensional reconstruction of the bronchus based on the computed tomography data, and plan the target path to lead to the target lesion location. Insert the bronchoscope together with the optical fiber into the bronchial tract of the target object, and guide the bronchoscope together with the optical fiber along the target path through the navigation control module until the end of the optical fiber reaches the target lesion location. Withdraw the bronchoscope, leave the end of the optical fiber in the bronchial tract, and fix the head end of the optical fiber. Wherein, the head end of the optical fiber is outside the bronchial tract. Activate the cold light source control module so that the end of the optical fiber generates the light spot. Observe the light spot on the pleural surface of the target object through the thoracoscope display module to determine the target lesion location, and thus perform a lesion resection operation on the target lesion location.

[0014] The navigation-assisted pulmonary nodule localization method according to the embodiment of the present invention has at least the following beneficial effects: By obtaining the computed tomography data of the target object through the navigation system module, three-dimensional reconstruction of the bronchus can be performed and a target path can be planned to lead to the target lesion location. The bronchoscope together with the optical fiber is inserted into the bronchial tract of the target object, and the navigation control module is used to guide the bronchoscope together with the optical fiber to travel along the target path until the end of the optical fiber reaches the target lesion location. The end of the optical fiber can be made to generate a light spot to mark the target lesion location, and then the light spot on the pleural surface of the target object can be observed through the thoracoscope display module, so as to perform a lesion resection operation on the target lesion location. The navigation-based pulmonary nodule positioning device according to the embodiments of the present invention can improve the efficiency and accuracy of pulmonary nodule positioning, reduce the trauma and complication risks of the target object, improve safety, and the positioning and surgical processes can be completed continuously, which can shorten the preoperative waiting time of the target object and improve the treatment efficiency.

[0015] According to some embodiments of the present invention, the cold light source control module includes a light opening and closing control module and a brightness adjustment module; Starting the cold light source control module to cause the end of the optical fiber to generate the light spot includes: Starting the light opening and closing control module to control the end of the optical fiber to generate the light spot; Adjusting the brightness of the light spot to a preset brightness through the brightness adjustment module.

[0016] According to some embodiments of the present invention, the cold light source control module further includes a light emission timing control module. After starting the light opening and closing control module to control the end of the optical fiber to generate the light spot, it further includes: Adjusting the light emission timing of the light spot to a preset light emission timing through the light emission timing control module.

[0017] According to some embodiments of the present invention, the navigation control module includes a first navigation module and a second navigation module; Guiding the bronchoscope together with the optical fiber to travel along the target path until the end of the optical fiber reaches the target lesion location through the navigation control module includes: Guiding the bronchoscope together with the optical fiber to travel along the target path until the end of the bronchoscope reaches a predetermined airway branch through the first navigation module, and the predetermined airway branch is close to the target lesion location; Guiding the optical fiber to advance until the end of the optical fiber reaches the target lesion location through the second navigation module; wherein, the distance between the end of the bronchoscope and the target lesion location is greater than the distance between the end of the optical fiber and the target lesion location.

[0018] Other features and advantages of the present invention will be set forth in the following description, and in part will be obvious from the description, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, where: Figure 1 is a system block diagram of a navigation sub - pulmonary nodule localization device according to an embodiment of the present invention; Figure 2 is a flowchart of a navigation sub - pulmonary nodule localization method according to an embodiment of the present invention.

[0020] Reference numerals: Navigation system module 100; Bronchoscope navigation module 200, bronchoscope 210, navigation control module 220, first navigation module 221, second navigation module 222; Optical fiber 300; Cold light source control module 400, light opening and closing control module 410, brightness adjustment module 420, light emission timing control module 430; Thoracoscope display module 500. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0022] In the description of the present invention, if the first, second, etc. are described, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0023] In the description of the present invention, it should be understood that the orientation descriptions such as up, down, etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0024] In the description of the present invention, it should be noted that unless otherwise clearly defined, words such as setting, installation, connection, etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0025] The existing CT-guided percutaneous puncture assisted positioning method mainly realizes the positioning of pulmonary nodules by injecting positioning markers into the lungs through percutaneous puncture under real-time CT guidance. The positioning markers used include Hookwire positioning hooks, coils, methylene blue, lipiodol, iodine-containing contrast agents, etc.

[0026] Hookwire positioning hook: First, determine the position of the pulmonary nodule through high-resolution CT (HRCT) scan, then select the puncture approach, and then insert the Hookwire trocar through the skin into the lung tissue. After repeating the CT scan to confirm that the Hookwire is in the target position, advance it inward by 3-5 mm, turn the bevel of the sleeve tip towards the lesion, release the metal wire and withdraw the trocar, and the front metal hook unfolds and is fixed around the nodule. After confirming that the metal hook is well anchored and fixed, bend the metal wire loosely against the skin and bandage it for fixation. Video-assisted thoracoscopic surgery should be performed within 1-2 hours. However, the easy displacement and even detachment of the metal wire are the main reasons for the failure of Hookwire positioning. Secondly, common complications such as pneumothorax, bleeding, and pain are likely to occur after positioning.

[0027] Coil: The operation method is basically the same as the Hookwire positioning method. The needle insertion approach is determined by preoperative CT scan, and the positioning position should be <1 cm away from the nodule. After repeating the CT scan to confirm that the needle insertion position is correct, release the coil into the lung. Because of its non-barbed design, it relies on the friction between the coil and the lung tissue to ensure reliable fixation. There are currently two commonly used coil positioning methods: one is to position the coil in the lung, and the other is to position the tail of the coil outside the visceral pleura.

[0028] Methylene blue: Aqueous methylene blue solution appears blue in an oxidizing environment and is often used as a chemical indicator, dye, biological stain, and drug. This dye can not only quickly identify the area covered by the target nodule but also has no effect on the grasping and palpation of instruments. Preliminary positioning is completed through CT simulation before surgery. After anesthesia, methylene blue is injected around the lesion according to the puncture site, angle, and depth marked before surgery. After successful positioning, the patient is transferred to the operating room for surgery, and the surgery is completed under thoracoscopy according to the dyeing positioning. However, in actual operation, methylene blue still has some deficiencies. On the one hand, the diffusion rate of methylene blue is fast, and clinicians often require thoracoscopic surgery within 3 hours after injection for positioning, which has a certain impact on the surgical arrangement and connection. On the other hand, its characteristics of easy diffusion and interference make the positioning area on the lung surface larger, resulting in an enlarged range of lung resection.

[0029] Iodized oil and iodine-containing contrast agent: Iodized oil is an inexpensive and easily accessible contrast agent. After being injected into the body, it can absorb more X-rays than surrounding tissues, resulting in more satisfactory imaging. At the same time, it is excreted faster than barium in the body and has a short retention time. The diffusion rate of iodized oil is slower than that of methylene blue, the developed area shows stability, and the positioning accuracy is high. At the same time, it has a relatively long retention time in the lungs, and there is a relatively generous connection time between the positioning room and the operating room. Although iodized oil angiography has many advantages, there are also some deficiencies in the clinical application process. For example, there may be a risk of pulmonary artery embolism, and some reports suggest that this method is prone to cause inflammatory reactions in the positioned tissues and even pneumonia. Since iodized oil positioning requires the surgeon to operate under X-ray fluoroscopy, this also limits the use of iodized oil positioning in clinical practice. In addition, patients with hyperthyroidism, thyroid tumors, severe heart, liver, and lung diseases, acute bronchitis, and fever should also be used with caution.

[0030] The existing electromagnetic / virtual navigation bronchoscopy trans-airway assisted positioning method is to import the data obtained from high-resolution thin-layer chest CT without interval scanning into the navigation system, perform three-dimensional reconstruction and simulate the situation inside the bronchus to obtain a dynamic reconstruction image of the actual cavity. Before the operation, according to the dynamic reconstruction image, a bronchoscope operation path is formulated to accurately calibrate the pulmonary lesions, and real-time guidance is carried out. According to information such as the size, location, distance from the pleura, and surrounding blood vessels of the lesions, a positioning marker is injected into the lung through the bronchial path to achieve the positioning of pulmonary nodules. The positioning markers used include methylene blue, H-marker, etc.

[0031] Methylene blue: The patient is placed under general anesthesia in the operating room, and an endotracheal tube is inserted. Bronchoscope operation is performed through the endotracheal tube. Under the real-time guidance of electromagnetic / virtual navigation bronchoscopy, a microcatheter is led to the lesion or the bronchus near the pleura close to the lesion through the forceps channel of the bronchoscope. An appropriate amount of dye is injected through the microcatheter, and then 20 - 40 ml of air is injected. Through the diffusion function of the dye, the pleura near the lesion (referring to the visceral pleura or interlobar pleura) is stained. After the operation is completed, thoracoscopic surgery is performed. During the operation, the method of lesion resection under thoracoscopy (wedge resection, segmentectomy, or lobectomy) is determined according to the characteristics such as the staining of the pleura and the depth of the lesion in the chest CT.

[0032] H-marker: The method is similar to that of methylene blue dye, except that a metal marker (H-marker) is implanted into the lung through the bronchus to achieve the positioning of pulmonary nodules. A sheath is led to the lesion or the bronchus near the pleura close to the lesion through the forceps channel of the bronchoscope, and the H-marker is pushed out from the sheath and released into the distal bronchus. Once the H-marker is released, it will immediately pop open into a spherical shape, making it easier to locate the nodule by touch during the operation.

[0033] In summary, the CT-guided percutaneous puncture-assisted localization method has disadvantages such as easy displacement or shedding of markers, relatively high risk of complications, and large limitations of markers. The electromagnetic / virtual navigation bronchoscopy trans-airway-assisted localization method has disadvantages such as high requirements for equipment and technology and large limitations of markers.

[0034] To solve the above problems, an embodiment of the present invention proposes a navigation-based pulmonary nodule localization device, which can improve the efficiency and accuracy of pulmonary nodule localization, reduce the trauma and complication risk of the target object, improve safety, and the localization and surgical processes can be continuously completed, which can shorten the preoperative waiting time of the target object and improve the treatment efficiency.

[0035] In the existing pulmonary small nodule localization techniques, the CT-guided percutaneous puncture method and the navigation bronchoscopy metal marker implantation method are currently commonly used clinical methods, but there are obvious limitations. The comprehensive localization scheme of "bronchoscope navigation + optical fiber marker + thoracoscope display" proposed by the present invention has significant improvements and obvious advantages compared with them: (1) Compared with CT-guided percutaneous puncture localization, the present invention combines navigation path planning, optical localization, and real-time thoracoscopic observation through the airway approach, completely avoiding the common complication risks caused by percutaneous puncture (such as pneumothorax, pulmonary hemorrhage, pleural pain, etc.), and significantly improving the safety and comfort of patients. In addition, the solution of the present invention avoids the risks of easy shedding, displacement of metal markers (such as Hookwire, coil) or causing foreign body reactions in the lung, and does not require the use of easily diffusible methylene blue dye or iodized oil contrast agent with inflammatory risks, completely avoiding many drawbacks of traditional methods.

[0036] (2) Compared with the method of implanting metal markers (such as H-marker) by electromagnetic navigation bronchoscopy, the present invention uses an optical fiber to achieve real-time light-emitting localization, avoiding the risk of foreign body reactions caused by implanting metal markers, and does not require additional surgical implantation and removal operations. The localization process is streamlined and real-time, reducing the complexity of preoperative preparation. At the same time, through real-time light spot indication, the thoracoscope can directly and accurately observe the position of the target lesion during the operation, greatly improving the accuracy and convenience of intraoperative localization, and solving the problems of poor localization timeliness and insufficient localization accuracy existing in the existing methods.

[0037] (3) The present invention innovatively uses a navigation system to achieve precise bronchoscope guidance, cooperates with an optical fiber with controllable light emission intensity and timing for lesion marking, and combines real-time thoracoscopic observation technology to form an integrated continuous operation process from localization to surgical resection, significantly shortening the preoperative waiting and preparation time, improving the efficiency of medical operations, and reducing the preoperative anxiety and intraoperative trauma of patients.

[0038] In summary, the present invention breaks through the technical bottlenecks existing in the existing pulmonary nodule localization techniques, such as high complication risks, easy displacement or shedding of markers, complex localization processes and insufficient accuracy, and provides a new comprehensive pulmonary nodule localization solution with high precision, low risk, simple operation and moderate cost.

[0039] The following will combine Figure 1 to clearly and completely describe the navigated pulmonary nodule localization device according to the embodiments of the present invention. Obviously, the following described embodiments are some embodiments of the present invention, not all embodiments.

[0040] Figure 1 is a system block diagram of the navigated pulmonary nodule localization device according to an embodiment of the present invention.

[0041] The navigated pulmonary nodule localization device according to the first aspect embodiment of the present invention includes a navigation system module 100, a bronchoscope navigation module 200, an optical fiber 300, a cold light source control module 400, and a thoracoscope display module 500.

[0042] The navigation system module 100 is configured to collect computed tomography data of a target object, perform three-dimensional bronchial reconstruction based on the computed tomography data, and plan a target path to reach the target lesion location; The bronchoscope navigation module 200 includes a bronchoscope 210 and a navigation control module 220 electrically connected to the navigation system module 100. The navigation control module 220 is configured to guide the bronchoscope 210 to travel along the target path until the end of the bronchoscope 210 reaches the target lesion location; The optical fiber 300 is disposed in the forceps channel of the bronchoscope 210. The outer surface of the optical fiber 300 is wrapped with a light-impermeable material. The end of the optical fiber 300 can emit light to generate a light spot, and the light spot is used to mark the target lesion location; The cold light source control module 400 is electrically connected to the optical fiber 300. The cold light source control module 400 is configured to control the light-emitting state of the optical fiber 300; The thoracoscope display module 500 is configured to observe the light spot on the pleural surface of the target object to determine the target lesion location, so as to perform a lesion resection operation on the target lesion location.

[0043] In some embodiments, the computed tomography data is high-resolution computed tomography (CT) data. The navigation system module 100 performs three-dimensional bronchial reconstruction based on the CT data and automatically generates a target path with an accuracy of no more than 3 mm to reach the target lesion location.

[0044] In some embodiments, the bronchoscope 210 is an ultra-thin bronchoscope with a diameter not greater than 2.8 mm. The navigation control module 220 can track in real time and precisely control the bronchoscope 210 to travel along the target path until the end of the bronchoscope 210 accurately reaches the target lesion location.

[0045] In some embodiments, the diameter of the optical fiber 300 is less than 1 mm, and it can extend into the forceps channel of the bronchoscope 210 and enter the bronchial duct of the target subject together with the bronchoscope 210. The outer surface of the optical fiber 300 is wrapped with a single-layer or double-layer light-impermeable material, and only the end can emit light, ensuring that no scattered light is generated during transmission in the bronchial duct, and only the light spot indicates the target lesion location. The end of the optical fiber 300 can emit cold light with a wavelength of 550 nm to 600 nm, and the light intensity is adjustable within the range of 0.5 mW to 5 mW. Experiments show that its positioning accuracy can be stably maintained within 1 mm to 3 mm to accurately generate a light spot with a controllable size for real-time marking of the target lesion location. The optical fiber 300 is for single use to effectively avoid the risk of cross-infection.

[0046] The navigation control module 220 uses electromagnetic / virtual navigation technology to guide the bronchoscope 210 to travel along the target path until the end of the bronchoscope 210 reaches the target lesion location. The specific principle is the prior art known to those skilled in the art and will not be elaborated here.

[0047] The cold light source control module 400 includes a cold light source and an adapter. The cold light source and the adapter are connected to the optical fiber 300 to control the light-emitting state of the optical fiber 300, realizing a seamless connection between the external cold light source and the in-vivo transmission system.

[0048] The thoracoscope display module 500 can clearly observe the position of the light spot on the pleural surface of the target subject in real time to determine the precise location of the target lesion, so as to guide the accurate resection of the target lesion during the operation.

[0049] The specific positioning process is as follows: Obtain the computed tomography data of the target subject through the navigation system module 100, perform three-dimensional reconstruction of the bronchus based on the computed tomography data, and plan the target path to lead to the target lesion location; Insert the bronchoscope 210 together with the optical fiber 300 into the bronchial duct of the target subject, and guide the bronchoscope 210 together with the optical fiber 300 to travel along the target path through the navigation control module 220 until the end of the optical fiber 300 reaches the target lesion location; Withdraw the bronchoscope 210, leave the end of the optical fiber 300 in the bronchial duct, and fix the head end of the optical fiber 300; among them, the head end of the optical fiber 300 is outside the bronchial duct. Start the cold light source control module 400 to generate a light spot at the end of the optical fiber 300; The light spot on the pleural surface of the target object is observed through the thoracoscope display module 500 to determine the target lesion location, so as to perform lesion resection surgery on the target lesion location.

[0050] It will be appreciated that lesion resection surgery includes, but is not limited to, wedge resection, segmentectomy, and lobectomy.

[0051] The navigation-based pulmonary nodule localization device of this embodiment combines augmented reality technology with a navigation system to achieve real-time display of the intrabronchial (airway) and intrapulmonary pathways overlaid with the target lesion location. This assists the surgeon in precisely manipulating the optical fiber 300, ensuring that it reaches the pleura near the lesion. When the external cold light source is activated, the corresponding light spot of the lesion can be clearly observed under the thoracoscope, providing the surgeon with intuitive and precise positioning, thereby improving both efficiency and accuracy.

[0052] The navigation-assisted pulmonary nodule localization device of the present invention seamlessly integrates bronchoscopic navigation, fiberoptic transmission, and thoracoscopic surgery within a single workflow, ensuring that positioning and surgery can be completed continuously within the same room, shortening the waiting time for the target patient. By eliminating the need for marker injection or implantation, the present invention simplifies the entire localization process, shortening preoperative preparation and operation time, while also avoiding potential displacement issues caused by prolonged waiting times after marker injection. This not only improves surgical efficiency but also ensures accurate and real-time lesion localization.

[0053] Traditional CT-guided localization typically requires the injection of dye or the implantation of metal markers (such as hook-wires or microcoils). These procedures not only increase trauma and discomfort to the subject but also pose risks of complications such as dye diffusion, marker displacement or dislodgment, pneumothorax, bleeding, and allergic reactions. The present invention, however, utilizes only optical fiber 300 to transmit light directly to the lesion, eliminating the need for additional injection or implantation of external markers in the lungs. This significantly reduces procedural risks and the incidence of complications.

[0054] Traditional dyes or metal markers can sometimes interfere with pathological examinations, affecting diagnostic accuracy. However, this invention presents location information only as a light spot during surgery. Postoperative pathological specimens are unaffected by any exogenous substances, facilitating accurate interpretation of pathological findings.

[0055] The navigation-assisted pulmonary nodule localization device according to an embodiment of the present invention can obtain the computed tomography data of a target object through the navigation system module 100, perform three-dimensional reconstruction of the bronchus and plan a target path to reach the target lesion location. The bronchoscope 210 together with the optical fiber 300 is inserted into the bronchial tract of the target object, and the navigation control module 220 guides the bronchoscope 210 together with the optical fiber 300 to travel along the target path until the end of the optical fiber 300 reaches the target lesion location. The end of the optical fiber 300 can generate a light spot to mark the target lesion location, and then the light spot on the pleural surface of the target object can be observed through the thoracoscope display module 500, so as to perform a lesion resection operation on the target lesion location. The navigation-assisted pulmonary nodule localization device according to the embodiment of the present invention can improve the efficiency and accuracy of pulmonary nodule localization, reduce the trauma and complication risks of the target object, improve safety, and the localization and surgical processes can be completed continuously, which can shorten the preoperative waiting time of the target object and improve the treatment efficiency.

[0056] In some embodiments of the present invention, the light-impermeable material is a nylon elastomer. The nylon elastomer has a temperature resistance range of -40°C to 150°C, a friction coefficient less than 0.2, excellent resilience, is suitable for complex curved paths, and also has a certain hardness, which can keep the optical fiber 300 in a certain shape in the bronchus, so that the end of the optical fiber 300 can remain at the target lesion location.

[0057] In some embodiments of the present invention, the light-impermeable material is Teflon. The Teflon material has a temperature resistance range of -200°C to 260°C, a friction coefficient as low as 0.05, is moisture and corrosion resistant, is suitable for precise propulsion over a long distance, and also has a certain hardness, which can keep the optical fiber 300 in a certain shape in the bronchus, so that the end of the optical fiber 300 can remain at the target lesion location.

[0058] In some embodiments of the present invention, the cold light source control module 400 includes a light on / off control module 410 and a brightness adjustment module 420. The light on / off control module 410 is used to control the end of the optical fiber 300 to generate a light spot, and the brightness adjustment module 420 is used to adjust the brightness of the light spot.

[0059] Due to the influence of the ambient light, too low brightness may cause the display effect of the light spot to be not obvious, which will affect the localization effect of the target lesion location and thus affect the lesion resection surgical effect.

[0060] If the brightness is too high, it will cause discomfort to the eyes of the surgical operator and also affect the lesion resection surgical effect.

[0061] The brightness adjustment module 420 can adjust the brightness of the light spot in real time according to the physical differences of different patients, the intensity of the intraoperative ambient light, and the depth of the lesion. The brightness adjustment range is 0.5 mW to 5 mW. By adjusting the brightness of the light spot according to the actual situation through the brightness adjustment module 420, the adaptability of the navigation-assisted pulmonary nodule localization device according to the embodiment of the present invention can be better, and the localization effect of the target lesion position can be improved.

[0062] In some embodiments of the present invention, the cold light source control module 400 further includes a light emission timing control module 430, and the light emission timing control module 430 is used to adjust the light emission timing of the light spot.

[0063] In the actual operation process, although the light spot display can mark the position of the target lesion, continuous light emission may cause the surgical operator to be unable to accurately judge the resection range of the lesion resection surgery due to the size and light emission of the light spot. By adjusting the light emission timing of the light spot, the position of the target lesion can be accurately marked when it emits light, and the resection range of the lesion resection surgery can be accurately judged when it does not emit light. The light emission timing control module 430 can set the light emission frequency (pulse frequency range 1 Hz to 10 Hz), the duration (0.1 second to 2 seconds), and the interval time (0.5 second to 5 seconds) of the end of the optical fiber 300 to meet the positioning and observation requirements of different surgeries.

[0064] In some embodiments of the present invention, the navigation control module 220 includes a first navigation module 221 and a second navigation module 222. The first navigation module 221 is used to guide the bronchoscope 210 together with the optical fiber 300 to travel along the target path until the end of the bronchoscope 210 reaches a predetermined airway branch, and the predetermined airway branch is close to the target lesion position; the second navigation module 222 is used to guide the optical fiber 300 to advance until the end of the optical fiber 300 reaches the target lesion position; wherein, the distance between the end of the bronchoscope 210 and the target lesion position is greater than the distance between the end of the optical fiber 300 and the target lesion position.

[0065] It can be understood that the first navigation module 221 is used to guide the bronchoscope 210 to travel along the target path. When the optical fiber 300 is just placed in the forceps channel of the bronchoscope 210, the end of the optical fiber 300 does not extend out of the bronchoscope 210 to avoid unnecessary trauma to the bronchial tubes of the target object. After the end of the bronchoscope 210 reaches the predetermined airway branch near the target lesion position, the end of the optical fiber 300 is then pushed out of the bronchoscope 210, and by controlling the advancement distance and position of the optical fiber 300, the light spot can reach a position closer to the target lesion position, thereby achieving more accurate positioning.

[0066] Next, a specific embodiment will be used to illustrate the navigation-assisted pulmonary nodule localization device of the present invention.

[0067] After the position of the target lung nodule is confirmed by high-resolution CT scan of the patient, the navigation system plans an accurate path. The ultra-thin bronchoscope 210 enters the predetermined airway branch position near the target lesion under navigation control. Subsequently, under the precise control of the navigation control module 220, the optical fiber 300 is gradually advanced to the position opposite the pleura of the lesion, and the positioning error is controlled within 5 mm. After the cold light source is started, the set wavelength is 580 nm, the light intensity is 3 mW, the pulse frequency is 5 Hz, the light emission duration is 1 second, and the interval time is 1 second. The accurate positioning light spot is clearly observed through the thoracoscope, and the wedge resection surgery of the lung nodule is successfully completed.

[0068] The following will be combined with Figure 2 to clearly and completely describe the navigation-based lung nodule positioning method of the embodiments of the present invention. Obviously, the following described embodiments are part of the embodiments of the present invention, not all embodiments.

[0069] Reference Figure 2 , Figure 2 is a flowchart of the navigation-based lung nodule positioning method according to an embodiment of the present invention.

[0070] According to the navigation-based lung nodule positioning method of the second aspect embodiment of the present invention, applied to the navigation-based lung nodule positioning device as described in the first aspect embodiment above, the method includes: Obtain the computed tomography data of the target object through the navigation system module 100, perform three-dimensional bronchial reconstruction based on the computed tomography data, and plan a target path to lead to the target lesion position; Place the bronchoscope 210 together with the optical fiber 300 into the bronchial tract of the target object, and guide the bronchoscope 210 together with the optical fiber 300 along the target path through the navigation control module 220 until the end of the optical fiber 300 reaches the target lesion position; Withdraw the bronchoscope 210, leave the end of the optical fiber 300 in the bronchial tract, and fix the head end of the optical fiber 300; wherein, the head end of the optical fiber 300 is outside the bronchial tract; Start the cold light source control module 400 so that a light spot is generated at the end of the optical fiber 300; Observe the light spot on the pleural surface of the target object through the thoracoscope display module 500 to determine the target lesion position, so as to perform a lesion resection surgery on the target lesion position.

[0071] In some embodiments, the computed tomography data is high-resolution computed tomography (CT) data, and the navigation system module 100 performs three-dimensional bronchial reconstruction based on the CT data and automatically generates a target path with an accuracy of no more than 3 mm to lead to the target lesion position.

[0072] In some embodiments, the bronchoscope 210 is an ultra-thin bronchoscope with a diameter not greater than 2.8 mm. The navigation control module 220 can track in real time and precisely control the bronchoscope 210 to travel along the target path until the end of the bronchoscope 210 accurately reaches the target lesion location.

[0073] In some embodiments, the diameter of the optical fiber 300 is less than 1 mm, and it can extend into the forceps channel of the bronchoscope 210 and enter the bronchial tube of the target object together with the bronchoscope 210. The outer surface of the optical fiber 300 is wrapped with a single-layer or double-layer light-impermeable material, and only the end can emit light, ensuring that no scattered light is generated during transmission in the bronchial tube, and only the light spot indicates the target lesion location. The end of the optical fiber 300 can emit cold light with a wavelength of 550 nm to 600 nm, and the light intensity is adjustable within the range of 0.5 mW to 5 mW. Experiments show that its positioning accuracy can be stably maintained within 1 mm to 3 mm to accurately generate a light spot with a controllable size for real-time marking of the target lesion location. The optical fiber 300 is for single use to effectively avoid the risk of cross-infection.

[0074] The navigation control module 220 uses electromagnetic / virtual navigation technology to guide the bronchoscope 210 to travel along the target path until the end of the bronchoscope 210 reaches the target lesion location. Its specific principle is the prior art known to those skilled in the art and will not be elaborated here.

[0075] The cold light source control module 400 includes a cold light source and an adapter. The cold light source and the adapter are connected to the optical fiber 300 to control the light-emitting state of the optical fiber 300, realizing a seamless connection between the external cold light source and the in-vivo transmission system.

[0076] The thoracoscope display module 500 can clearly observe the position of the light spot on the pleural surface of the target object in real time to determine the accurate position of the target lesion, so as to guide the accurate resection of the target lesion during the operation.

[0077] Next, a specific embodiment is used to specifically illustrate the navigation-based lung nodule positioning method of the embodiments of the present invention.

[0078] Indications: Suitable for a patient with a pure ground-glass lung nodule with a diameter of 0.8 cm, located in the upper right lung, and the lesion is about 10 mm away from the visceral pleura.

[0079] Specific steps: (1) Preparation of items: Prepare an optical fiber 300 wrapped with a light-impermeable material with a diameter of 1 mm, sterile gauze, paraffin oil cotton balls, and alcohol gauze. Install the optical fiber 300 into the forceps channel of the ultra-thin bronchoscope 210 to ensure that the end of the optical fiber 300 does not protrude.

[0080] (2)Preoperative preparation: The patient underwent high-resolution CT examination to confirm the location of the target lesion, and the computed tomography scan data was imported into the navigation system for three-dimensional bronchial reconstruction and target path planning.

[0081] (3)Anesthesia and airway management: After general anesthesia, the patient underwent single-lumen tracheal intubation.

[0082] (4)Insertion of bronchoscope 210: The ultra-thin bronchoscope 210 together with the optical fiber 300 was inserted into the patient's bronchial tract (airway), and advanced along the planned target path with the assistance of real-time navigation under augmented reality.

[0083] (5)Navigation to the target: Under the guidance of the navigation system, the bronchoscope 210 reached the predetermined airway branch, and the optical fiber 300 was advanced to the vicinity of the target lesion or directly to the pleura near the lesion.

[0084] (6)Withdrawal of the instrument: After confirming the position of the end of the optical fiber 300, the bronchoscope 210 was withdrawn, and the end of the optical fiber 300 was left in the bronchus, with the head end outside the body and fixed.

[0085] (7)Thoracoscopic surgery: The patient was changed from the supine position to the lateral position, the extracorporeal cold light source was activated, and the light was transmitted through the optical fiber 300. A bright light spot located at the pleura corresponding to the lesion could be clearly seen under the thoracoscope.

[0086] (8)Lesion resection: According to the position of the light spot, the surgeon determined the resection range and performed pulmonary wedge resection.

[0087] (9)Postoperative treatment: After resection, the diseased tissue was removed and sent for pathological examination.

[0088] It should be noted that the target object mentioned in the present invention is the patient, and the surgical operators include but are not limited to surgeons and assistant doctors.

[0089] The navigation-based lung nodule localization device according to the embodiment of the present invention realizes the superposition of the internal path of the bronchial tract (airway), the internal path of the lung and the position of the target lesion in real time through the combination of augmented reality technology and the navigation system, assisting the surgical operator to accurately control the optical fiber 300 and ensuring that the optical fiber 300 accurately reaches the pleura near the lesion. When the extracorporeal cold light source is activated, the light spot corresponding to the lesion can be clearly observed under the thoracoscope, providing an intuitive and accurate positioning basis for the surgical operator and improving the efficiency and accuracy of positioning.

[0090] The navigation-based pulmonary nodule localization device according to the embodiments of the present invention tightly integrates bronchoscope navigation, optical fiber 300 transmission, and thoracoscopic surgery within the same process, ensuring that the localization and surgery are continuously completed in the same room, thereby shortening the waiting time of the target object. Since the present invention omits the steps of marker injection or implantation, the entire localization process is more convenient, the preoperative preparation and operation time are shortened, and at the same time, the displacement problem that may occur due to the long waiting time after the marker injection is avoided. This not only improves the surgical efficiency but also ensures the accuracy and real-time nature of the lesion localization.

[0091] Traditional CT-guided localization usually requires injecting dyes or implanting metal markers (such as Hook-wire or microcoils). These operations not only increase the trauma and discomfort of the target object but also pose risks of complications such as dye diffusion, marker displacement or detachment, pneumothorax, bleeding, and allergy. However, the present invention only uses the optical fiber 300 to directly transmit light to the lesion area without additionally injecting or implanting any foreign markers in the lung, thereby greatly reducing the operation risk and complication rate.

[0092] Traditional dyes or metal markers may sometimes cause interference in pathological examinations, affecting the diagnostic accuracy. However, the present invention only presents the localization information in the form of light points during the operation, and the postoperative pathological specimens will not be affected by any exogenous substances, which is conducive to the accurate judgment of the pathological results.

[0093] According to the navigation-based pulmonary nodule localization method of the embodiments of the present invention, computer tomography data of the target object is obtained through the navigation system module 100, three-dimensional bronchial reconstruction can be performed, and a target path can be planned to lead to the target lesion location. The bronchoscope 210 together with the optical fiber 300 is placed into the bronchial tract of the target object, and the bronchoscope 210 together with the optical fiber 300 is guided to travel along the target path until the end of the optical fiber 300 reaches the target lesion location through the navigation control module 220. The end of the optical fiber 300 can be made to generate a light point to mark the target lesion location, and then the light point on the pleural surface of the target object can be observed through the thoracoscopic display module 500, so as to perform a lesion resection operation on the target lesion location. The navigation-based pulmonary nodule localization device according to the embodiments of the present invention can improve the efficiency and accuracy of pulmonary nodule localization, reduce the trauma and complication risks of the target object, improve safety, and the localization and surgery processes can be continuously completed, which can shorten the preoperative waiting time of the target object and improve the treatment efficiency.

[0094] In some embodiments of the present invention, the cold light source control module 400 includes a light on / off control module 410 and a brightness adjustment module 420; Activating the cold light source control module 400 to cause the end of the optical fiber 300 to generate a light point includes: Activate the light opening and closing control module 410 to control the end of the optical fiber 300 to generate a light spot; Adjust the brightness of the light spot to a preset brightness through the brightness adjustment module 420.

[0095] Due to the influence of ambient light, too low brightness may cause the display effect of the light spot to be not obvious, which will affect the positioning effect of the target lesion location, and thus affect the effect of the lesion resection surgery.

[0096] If the brightness is too high, it will bring discomfort to the eyes of the surgical operator, and will also affect the effect of the lesion resection surgery.

[0097] The brightness adjustment module 420 can adjust the brightness of the light spot in real time according to the physical differences of different patients, the intensity of intraoperative ambient light, and the depth of the lesion. The brightness adjustment range is 0.5mW to 5mW. Adjusting the brightness of the light spot according to the actual situation through the brightness adjustment module 420 can make the navigation-based pulmonary nodule positioning device of the embodiment of the present invention more adaptable and improve the positioning effect of the target lesion location.

[0098] In some embodiments of the present invention, the cold light source control module 400 further includes a light emission timing control module 430. After activating the light opening and closing control module 410 to control the end of the optical fiber 300 to generate a light spot, it further includes: Adjust the light emission timing of the light spot to a preset light emission timing through the light emission timing control module 430.

[0099] In the actual operation process, although the light spot display can mark the target lesion location, continuous light emission may cause the surgical operator to be unable to accurately judge the resection range of the lesion resection surgery due to the size and light emission of the light spot. By adjusting the light emission timing of the light spot, it can accurately mark the target lesion location when emitting light and accurately judge the resection range of the lesion resection surgery when not emitting light. The light emission timing control module 430 can set the light emission frequency (pulse frequency range 1Hz to 10Hz), duration (0.1 second to 2 seconds), and interval time (0.5 second to 5 seconds) of the end of the optical fiber 300 to meet the positioning and observation requirements of different surgeries.

[0100] In some embodiments of the present invention, the navigation control module 220 includes a first navigation module 221 and a second navigation module 222; Guide the bronchoscope 210 together with the optical fiber 300 to travel along the target path until the end of the optical fiber 300 reaches the target lesion location through the navigation control module 220, including: Guide the bronchoscope 210 together with the optical fiber 300 to travel along the target path through the first navigation module 221 until the end of the bronchoscope 210 reaches a predetermined airway branch, and the predetermined airway branch is close to the target lesion location; The second navigation module 222 guides the advancement of the optical fiber 300 until the end of the optical fiber 300 reaches the target lesion location; wherein, the distance between the end of the bronchoscope 210 and the target lesion location is greater than the distance between the end of the optical fiber 300 and the target lesion location.

[0101] It can be understood that the first navigation module 221 is used to guide the bronchoscope 210 to travel along the target path. When the optical fiber 300 is initially placed in the forceps channel of the bronchoscope 210, the end of the optical fiber 300 does not extend outside the bronchoscope 210 to avoid unnecessary trauma to the bronchial tubes of the target subject. After the end of the bronchoscope 210 reaches a predetermined airway branch near the target lesion location, the end of the optical fiber 300 is then pushed outside the bronchoscope 210, and by controlling the advancement distance and position of the optical fiber 300, the light spot is made to reach a position closer to the target lesion location, thereby achieving more accurate positioning.

[0102] In addition, an embodiment of the present invention further provides a control device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor. The processor and the memory can be connected by a bus or other means.

[0103] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include high-speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely located relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above-mentioned network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0104] The non-transitory software programs and instructions required to implement the process of performing bronchial three-dimensional reconstruction based on computed tomography data and planning the target path in the above embodiments are stored in the memory, and when executed by the processor, perform the process of performing bronchial three-dimensional reconstruction based on computed tomography data and planning the target path in the above embodiments.

[0105] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0106] In addition, an embodiment of the present invention further provides a computer-readable storage medium storing computer-executable instructions, which are executed by a processor or a controller, for example, executed by the processor in the above embodiment, enabling the processor to execute the process of performing three-dimensional reconstruction of bronchi based on computed tomography data and planning a target path in the above embodiment.

[0107] Those of ordinary skill in the art can understand that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and their appropriate combinations. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include a computer storage medium (or a non-transitory medium) and a communication medium (or a transitory medium). As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory, or other memory technologies, CD-ROM, digital versatile disk (DVD), or other optical disk storage, magnetic cassette, tape, magnetic disk storage, or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as is well known to those of ordinary skill in the art, a communication medium typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and can include any information delivery medium.

[0108] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those of ordinary skill in the art.

Claims

1. A navigation-based pulmonary nodule localization device, characterized in that, The device includes: A navigation system module, configured to collect computed tomography data of a target object, perform three-dimensional reconstruction of the bronchus based on the computed tomography data, and plan a target path to reach the target lesion location; A bronchoscope navigation module, including a bronchoscope and a navigation control module electrically connected to the navigation system module, where the navigation control module is configured to guide the bronchoscope to travel along the target path until the end of the bronchoscope reaches the target lesion location; An optical fiber, disposed in the forceps channel of the bronchoscope, with an opaque material wrapped around the outer surface of the optical fiber, and the end of the optical fiber can emit light to generate a light spot, and the light spot is used to mark the target lesion location; A cold light source control module, electrically connected to the optical fiber, and the cold light source control module is configured to control the light-emitting state of the optical fiber; A thoracoscope display module, configured to observe the light spot on the pleural surface of the target object to determine the target lesion location, so as to perform a lesion resection operation on the target lesion location.

2. The navigation-based lower lung nodule localization device according to claim 1, wherein The opaque material is made of nylon elastomer.

3. The navigation-assisted pulmonary nodule localization device according to claim 1, wherein The opaque material is made of Teflon.

4. The navigation lower lobe pulmonary nodule positioning device according to claim 1, wherein The cold light source control module includes a light on / off control module and a brightness adjustment module, where the light on / off control module is configured to control the end of the optical fiber to generate the light spot, and the brightness adjustment module is configured to adjust the brightness of the light spot.

5. The navigation-assisted pulmonary nodule localization device according to claim 4, wherein, The cold light source control module further includes a light-emitting timing control module, and the light-emitting timing control module is configured to adjust the light-emitting timing of the light spot.

6. The navigation lower lung nodule localization device according to claim 1, wherein The navigation control module includes a first navigation module and a second navigation module. The first navigation module is configured to guide the bronchoscope together with the optical fiber to travel along the target path until the end of the bronchoscope reaches a predetermined airway branch, and the predetermined airway branch is close to the target lesion location; the second navigation module is configured to guide the optical fiber to advance until the end of the optical fiber reaches the target lesion location; wherein, the distance between the end of the bronchoscope and the target lesion location is greater than the distance between the end of the optical fiber and the target lesion location.

7. A method for localizing pulmonary nodules under navigation, characterized in that, Applied to the navigation-assisted pulmonary nodule localization device according to any one of claims 1 to 6, the method includes: Obtaining the computed tomography data of the target object through the navigation system module, performing three-dimensional reconstruction of the bronchus based on the computed tomography data, and planning the target path to reach the target lesion location; Inserting the bronchoscope together with the optical fiber into the bronchial tube of the target object, and guiding the bronchoscope together with the optical fiber to travel along the target path through the navigation control module until the end of the optical fiber reaches the target lesion location; Withdrawing the bronchoscope, leaving the end of the optical fiber in the bronchial tube, and fixing the head end of the optical fiber; wherein, the head end of the optical fiber is outside the bronchial tube; Starting the cold light source control module so that the end of the optical fiber generates the light spot; Observe the light spot on the pleural surface of the target object through the thoracoscope display module to determine the location of the target lesion, and thus perform a lesion resection operation on the location of the target lesion.

8. The navigation-based lower lung nodule localization method according to claim 7, wherein The cold light source control module includes a light on / off control module and a brightness adjustment module; Starting the cold light source control module to cause the end of the optical fiber to generate the light spot includes: Starting the light on / off control module to control the end of the optical fiber to generate the light spot; Adjust the brightness of the light spot to a preset brightness through the brightness adjustment module.

9. The navigation-based lower lung nodule localization method according to claim 8, wherein The cold light source control module further includes a light emission timing control module. After starting the light on / off control module to control the end of the optical fiber to generate the light spot, it further includes: Adjust the light emission timing of the light spot to a preset light emission timing through the light emission timing control module.

10. The navigation-based lower lung nodule localization method according to claim 7, wherein The navigation control module includes a first navigation module and a second navigation module; Guiding the bronchoscope together with the optical fiber along the target path until the end of the optical fiber reaches the location of the target lesion through the navigation control module includes: Guiding the bronchoscope together with the optical fiber along the target path through the first navigation module until the end of the bronchoscope reaches a predetermined airway branch, and the predetermined airway branch is close to the location of the target lesion; Guiding the optical fiber to advance through the second navigation module until the end of the optical fiber reaches the location of the target lesion; wherein, the distance between the end of the bronchoscope and the location of the target lesion is greater than the distance between the end of the optical fiber and the location of the target lesion.

Images