An endoscopic surgery navigation system

Abstract

The application relates to an endoscopic surgery navigation system, which comprises an endoscope, an infrared optical position measuring instrument and a navigation terminal, the navigation terminal is connected with the infrared optical position measuring instrument; the endoscope comprises a mirror body and an insertion tube, a plurality of light emitting devices are inlaid on the outer surface of the mirror body, and the light emitting devices are used for emitting infrared light; the infrared optical position measuring instrument is used for obtaining the positions of the light emitting devices according to the infrared light and sending the positions to the navigation terminal; and the navigation terminal is used for obtaining the first tip position information of the insertion tube according to the positions of the light emitting devices. The application simplifies the optical tracking device in the traditional endoscopic surgery navigation system, uses the light emitting device capable of actively emitting infrared light to replace the structure of the reflecting ball and the reference value, reduces the influence of the optical tracking device on the operation of the doctor, and can significantly reduce the use threshold of the spine endoscopic surgery based on optical navigation.

Description

Technical Field

[0001] This application relates to the field of endoscopic technology, and in particular to an endoscopic surgical navigation system. Background Technology

[0002] Spinal endoscopy is a minimally invasive surgical technique that uses an endoscopic system and related instruments to perform diagnostic and therapeutic procedures in the spinal region. It leverages the clear field of vision and precise manipulation channels provided by the endoscopic system to achieve accurate treatment of spinal diseases.

[0003] An endoscopic system typically includes a light source, an endoscope, and a terminal. The light source is a cold light source used to illuminate the tip of the endoscope. The endoscope is used to acquire intraoperative images in real time. The terminal includes a processor and a display. The processor is used to process the intraoperative images, and the display is used to show the processed intraoperative images.

[0004] An endoscopic surgical navigation system is a device that assists in spinal endoscopic surgery. Through image fusion and real-time tracking technology, it provides more precise navigation for the procedure. Traditional endoscopic surgical navigation systems rely on optical tracking devices, which include an infrared optical positioner, a reference frame mounted on the endoscope, and a reflector ball. The infrared optical positioner needs to actively emit infrared light and receive the infrared light reflected back by the reflector ball. By determining the position of the reflector ball, the spinal endoscope is positioned and tracked, thus providing navigation information.

[0005] To ensure accurate identification of each reflector sphere by the infrared optical positioning instrument, the reflectors are relatively large. Furthermore, due to the uneven reflective surfaces of the spheres, multiple reflectors need to be spatially dispersed to avoid mutual obstruction or signal interference. This necessitates a large reference frame to support the dispersed reflectors. The large reference frame and reflectors can hinder the surgeon's operation, requiring extensive training to adapt. This results in a high barrier to entry for optically guided spinal endoscopy, and the associated surgical instruments are difficult to miniaturize, making them unsuitable for use in space-constrained environments. Summary of the Invention

[0006] To address the aforementioned technical problems, this application provides an endoscopic surgical navigation system, comprising an endoscope, an infrared optical positioner, and a navigation terminal, wherein the navigation terminal is connected to the infrared optical positioner; the endoscope includes a body and an insertion tube, and a plurality of light-emitting devices are embedded in the outer surface of the body, the light-emitting devices being used to emit infrared light; the infrared optical positioner is used to obtain the position of the light-emitting devices based on the infrared light and send it to the navigation terminal; the navigation terminal is used to obtain the position information of the first tip of the insertion tube based on the position of the light-emitting devices.

[0007] In one embodiment, the endoscopic surgical navigation system further includes an electromagnetic generator, and the navigation terminal is connected to the electromagnetic generator to drive the electromagnetic generator to generate a magnetic field;

[0008] The tip of the insertion tube is equipped with an electromagnetic sensor, which is connected to the navigation terminal and is used to detect changes in the magnetic field and output a first electrical signal to the navigation terminal.

[0009] The navigation terminal is also used to obtain the position information of the second tip of the insertion tube based on the first electrical signal.

[0010] In one embodiment, the insertion tube is provided with an optical lens, the lens body is provided with an image sensor, and the image sensor is connected to the navigation terminal;

[0011] The optical lens is used to focus the light in front of the tip of the insertion tube onto the image sensor, and the image sensor is used to output a second electrical signal to the navigation terminal based on the light.

[0012] The navigation terminal is also used to output a real-time image of the front of the tip of the insertion tube according to the second electrical signal.

[0013] In one embodiment, the navigation terminal is further configured to display a lesion marker in the real-time image based on the tip location information and the lesion location information.

[0014] In one embodiment, the mirror body is connected to the navigation terminal via a cable;

[0015] The cable includes at least one of the following: a first power supply core of the light-emitting device, a second power supply and a first signal core of the electromagnetic sensor, and a third power supply core and a second signal core of the image sensor.

[0016] In one embodiment, the endoscopic surgical navigation system further includes a light-guiding optical fiber and a cold light source, wherein the cold light source is disposed in the navigation terminal;

[0017] One end of the optical fiber is located at the tip of the insertion tube, and the other end is connected to the cold light source via the insertion tube, the mirror body, and the cable, for transmitting the illumination light generated by the cold light source to the tip of the insertion tube.

[0018] In one embodiment, at least a portion of the light-emitting device protrudes from the outer surface of the mirror body.

[0019] In one embodiment, the light-emitting devices are three-dimensionally distributed on the outer surface of the mirror body;

[0020] In one embodiment, the light-emitting device is an infrared LED bead.

[0021] In one embodiment, the navigation terminal is further configured to obtain a three-dimensional model of the target site and a three-dimensional model of the lesion based on preoperative image data, and output a three-dimensional navigation screen based on the three-dimensional model of the target site, the three-dimensional model of the lesion, the preset model of the insertion tube, the first tip position information and / or the second tip position information. The three-dimensional navigation screen is used to present a three-dimensional image including the target site, the tip of the insertion tube and the lesion.

[0022] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of this application.

[0023] The beneficial effects of the aforementioned endoscopic surgical navigation system include: simplifying the optical tracking device in traditional endoscopic surgical navigation systems by replacing the reflector ball and reference frame structure with a light-emitting device that actively emits infrared light. Multiple light-emitting devices on the outer surface of the endoscope actively emit infrared light. After receiving the infrared light, the infrared optical positioner determines the position of the light-emitting device and sends it to the navigation terminal. The navigation terminal obtains the position information of the first tip of the insertion tube based on the position of the light-emitting device, so as to perform optical tracking on the tip of the insertion tube, thereby realizing optical navigation. This reduces the impact of the optical tracking device on the doctor's operation and can significantly lower the threshold for using optical navigation-based spinal endoscopic surgery. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the endoscope structure in one embodiment;

[0025] Figure 2 This is a schematic diagram of a three-dimensional model of an endoscope in one embodiment;

[0026] Figure 3 This is a schematic diagram of the components of an endoscopic surgical navigation system in one embodiment. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0028] It should be noted that the illustrations provided in this embodiment are merely schematic representations of the basic concept of this application. The figures only show components relevant to this application and are not drawn according to the actual number, shape, and size of components in implementation. In actual implementation, the form, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex. The structures, proportions, sizes, etc., shown in the accompanying drawings are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the implementation conditions of this application. Therefore, they have no substantial technical significance. Any modification to the structure, change in the proportional relationship, or adjustment of the size, without affecting the effect and purpose that this application can produce, should still fall within the scope of the technical content disclosed in this application. At the same time, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are only for clarity of description and are not intended to limit the scope of implementation of this application. Changes or adjustments in their relative relationships, without substantially altering the technical content, should also be considered within the scope of implementation of this application.

[0029] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the document does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0030] As illustrated herein, unless the context clearly indicates otherwise, words such as “a,” “an,” “an,” and / or “the” do not specifically refer to the singular and may also include the plural. Generally speaking, the terms “comprising” and “including” only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0031] The definitions used herein, such as the terms “having,” “may have,” “comprising,” or “may include,” indicate the presence of the corresponding function, operation, element, etc., and do not limit the presence of one or more other functions, operations, elements, etc. Furthermore, it should be understood that the terms “comprising” or “having” as used herein indicate the presence of the features, figures, steps, operations, elements, components, or combinations thereof described in the specification, without excluding the presence or addition of one or more other features, figures, steps, operations, elements, components, or combinations thereof.

[0032] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not constitute unnecessary limitations due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0033] The endoscopic surgical navigation system provided in this application includes an endoscope, an infrared optical positioner, and a navigation terminal, wherein the navigation terminal is connected to the infrared optical positioner.

[0034] In one embodiment, such as Figure 1 As shown, the endoscope provided in this application includes a body 10 and an insertion tube 20. The outer surface of the body 10 is inlaid with a plurality of light-emitting devices 11, which are used to actively emit infrared light.

[0035] The infrared optical positioner is used to obtain the position of the light-emitting device 11 based on infrared light and send it to the navigation terminal. The navigation terminal is used to obtain the position information of the first tip of the insertion tube 20 based on the position of the light-emitting device 11, so as to perform optical tracking on the tip of the insertion tube 20 and thus realize optical navigation.

[0036] For example, an infrared optical position measuring instrument is equipped with multiple receivers. It can detect the infrared light from the same light-emitting device and the signal time difference or phase difference between different receivers, and calculate the position of the light-emitting device by combining geometric relationships.

[0037] For example, an infrared optical positioning instrument is equipped with a binocular camera, which consists of two synchronized infrared sensitive cameras. The two cameras are used to take pictures separately. For each light-emitting device that is photographed, two different imaging point coordinates can be obtained. Based on the two imaging point coordinates, the baseline distance between the two cameras, the focal length, and the calibrated intrinsic and extrinsic parameter matrix, the world coordinates of the light-emitting device can be calculated.

[0038] Since the geometric shape formed by every three or four light-emitting devices in space is unique, these geometric shapes are pre-stored in the navigation terminal. The navigation terminal can determine the geometric shape formed by the positions of three or more light-emitting devices and compare it with the pre-stored preset geometric image to determine which specific light-emitting devices have been captured. The navigation terminal also stores the positional relationship between each light-emitting device and the tip of the insertion tube. After determining the captured light-emitting devices, the first tip position information of the insertion tube 20 can be calculated by combining the specific spatial position of the light-emitting devices. Since this embodiment uses the same method as existing optical surgical navigation schemes for calculating the tip position, it will not be described in detail here.

[0039] In this embodiment, the optical tracking device in the traditional endoscopic surgical navigation system is simplified. A light-emitting device 11 that can actively emit infrared light is used to replace the structure of the reflector ball and reference frame, reducing the impact of the optical tracking device on the doctor's operation. This can significantly lower the threshold for using spinal endoscopic surgery based on optical navigation.

[0040] In one embodiment, at least a portion of the light-emitting device 11 protrudes from the outer surface of the mirror body 10, which can improve the propagation efficiency and uniformity of infrared light while reducing the occupation and interference of internal space.

[0041] In one embodiment, multiple light-emitting devices 11 are three-dimensionally distributed on the outer surface of the mirror body 10, such as... Figure 2 As shown, multiple light-emitting devices 11 are unevenly distributed on the outer surface of the mirror body, which can form an intermittent arrangement, so that the infrared optical positioner can receive three or more infrared lights from any angle, improving the anti-blocking capability of the optical tracking device, and thus improving the stability of optical navigation.

[0042] In one embodiment, the light-emitting device 11 is an infrared LED (Light Emitting Diode) lamp bead, which can actively emit infrared light with high and uniform brightness, making it easy for the infrared optical positioning instrument to identify, thereby improving the identification capability of the infrared optical positioning instrument and thus improving navigation accuracy.

[0043] In one embodiment, the endoscopic surgical navigation system further includes an electromagnetic generator, and the navigation terminal is connected to the electromagnetic generator to drive the electromagnetic generator to generate a magnetic field.

[0044] The tip of the insertion tube 20 is also equipped with an electromagnetic sensor 21. The electromagnetic sensor 21 is connected to the navigation terminal and is used to detect changes in the magnetic field and output a first electrical signal to the navigation terminal. The navigation terminal is also used to obtain the second tip position information of the insertion tube 20 based on the first electrical signal, so as to perform electromagnetic tracking on the tip of the insertion tube 20 and thus realize electromagnetic navigation.

[0045] For example, see Figure 3 The endoscopic surgical navigation system includes an electromagnetic generator 100, a navigation terminal 200, an endoscope 300, and an infrared optical positioner 400. The navigation terminal 200 is connected to the electromagnetic sensors 21 in the electromagnetic generator 100, the navigation terminal 200, and the endoscope 300.

[0046] Infrared light is actively emitted by the light-emitting device 11 on the endoscope 300. After receiving the infrared light, the infrared optical positioner 400 determines the specific position of the corresponding light-emitting device 11 based on the infrared light and sends it to the navigation terminal 200. Based on the specific positions of three or more light-emitting devices 11, the navigation terminal can further determine the position information of the first tip of the insertion tube 20 to achieve optical tracking.

[0047] The electromagnetic generator 100 is placed next to the target surgical site. The navigation terminal 200 drives the electromagnetic generator 100 to generate a magnetic field of known strength and direction by controlling the magnitude and frequency of the current input to the electromagnetic generator 100. As the insertion tube 20 is inserted into the human body, its tip enters the electromagnetic induction range covered by the electromagnetic generator 100. When the electromagnetic sensor 21 moves within the electromagnetic induction range, it causes changes in the magnetic field. The electromagnetic sensor 21 can capture these changes and convert them into electrical signals. Based on these electrical signals, the navigation terminal 200 can obtain the position information of the second tip of the insertion tube 20 to achieve electromagnetic tracking.

[0048] In this embodiment, both the optical tracker (light-emitting device 11) and the electromagnetic tracker (electromagnetic sensor 21) are integrated into the endoscope 300. This not only improves navigation accuracy but also allows for seamless transition to electromagnetic navigation when the light-emitting device 11 is accidentally blocked, causing optical navigation to fail, thereby further improving the stability of endoscopic surgical navigation.

[0049] Typically, endoscopic surgical navigation systems also include an optical imaging module to acquire real-time images in front of the tip of the insertion tube 20. The optical imaging module includes an optical lens and an image sensor. Since image sensors are generally quite large, they can be housed within the endoscope body 10 to minimize the diameter of the insertion tube 20 and reduce the size of the surgical opening for the patient.

[0050] In one embodiment, the insertion tube 20 is provided with an optical lens 23, and the lens body 10 is provided with an image sensor 12, which is connected to the navigation terminal 200.

[0051] The optical lens 23 may include multiple lenses. The optical lens 23 is used to focus the light in front of the tip of the insertion tube 20 onto the image sensor 12. The image sensor 12 is used to output a second electrical signal to the navigation terminal 200 according to the light. The navigation terminal 200 is also used to output a real-time image in front of the tip of the insertion tube 20 according to the second electrical signal.

[0052] For example, the navigation terminal 200 includes a navigation host and a display. The navigation host is used to determine the tip position information of the insertion tube 20 based on optical tracking and electromagnetic tracking, and outputs a real-time image of the front of the tip of the insertion tube 20 through the display according to the received second electrical signal.

[0053] Based on this, doctors can not only determine the real-time position of the tip of the endoscope 300 insertion tube 20 in the human body, but also obtain information on important tissues such as blood vessels and nerves based on the real-time image in front of the tip of the insertion tube 20, which facilitates the doctor's judgment in surgical operations.

[0054] Traditional endoscopes and endoscopic surgical navigation systems are independent of each other, usually requiring doctors to visualize the location of the lesion in a real-time view, which heavily tests the doctor's experience and skills. To provide more navigation information, in one embodiment, the navigation terminal 200 is also used to display lesion markers in the real-time view based on tip location information and lesion location information.

[0055] In this embodiment, in addition to providing the doctor with a real-time view of the tip of the insertion tube 20, the lesion marker is also displayed on the screen based on the lesion location information determined before the operation, providing the doctor with the specific location of the lesion, which can guide the doctor directly to the lesion, solve the defect that the target point cannot be visualized under the endoscopic view, and further improve the accuracy of surgical navigation.

[0056] In another embodiment, the navigation terminal 200 is also used to obtain a three-dimensional model of the target site and a three-dimensional model of the lesion based on preoperative image data, and output a three-dimensional navigation screen based on the three-dimensional model of the target site, the three-dimensional model of the lesion, the preset model of the insertion tube 20, the first tip position information and / or the second tip position information. The three-dimensional navigation screen is used to present a three-dimensional image including the target site, the tip of the insertion tube 20 and the lesion.

[0057] Preoperative imaging data can include multimodal imaging data of the patient's target area, such as CT (Computed Tomography), MRI (Magnetic Resonance Imaging), X-ray, and ultrasound. Three-dimensional reconstruction based on preoperative imaging data can generate a three-dimensional model of the anatomical structure of the target area and lesion.

[0058] Based on the three-dimensional model of the anatomical structure of the target site and lesion, and the preset model of the insertion tube 20, a three-dimensional navigation screen can be output through the display to present the target site, the tip of the insertion tube 20, and the lesion through three-dimensional images.

[0059] In addition, since the light-emitting device 11 usually requires a power supply to emit infrared light, the electromagnetic sensor 21 and the image sensor 12 not only need a power supply, but also need to transmit signals to the navigation terminal 200. A composite cable can be used to connect them to the navigation terminal 200.

[0060] That is, in one embodiment, the endoscope 300 further includes a cable for connecting the endoscope body 10 and the navigation terminal 200. The cable includes at least one of the following: a first power supply core of the light-emitting device 11, a second power supply and a first signal core of the electromagnetic sensor 21, and a third power supply core and a second signal core of the image sensor 12.

[0061] For example, the first power supply wire of the light-emitting device 11, the second power supply and first signal wire of the electromagnetic sensor 21, and the third power supply wire and second signal wire of the image sensor 12 are integrated into a composite cable. The navigation terminal 200 includes a navigation host and a display, and the navigation host is provided with a connection port for connecting the composite cable.

[0062] Based on this, not only can the navigation terminal 200 directly supply power to the light-emitting device 11, the electromagnetic sensor 21, and the image sensor 12, but it can also output signals.

[0063] When using an endoscope 300, a cold light source is usually required to illuminate the surgical field. Traditional endoscopes have a beam guide interface on the endoscope body, which is a key component connecting the endoscope to the cold light source. However, the interface is usually quite large, resulting in a larger overall size of the endoscope, which can also affect the surgeon's operation to some extent.

[0064] That is, in one embodiment, the endoscopic surgical navigation system further includes a light guide fiber 22 and a cold light source, the cold light source being disposed in the navigation terminal 200.

[0065] One end of the optical fiber 22 is located at the tip of the insertion tube 20, and the other end is connected to the cold light source via the insertion tube 20, the mirror body 10 and the cable, so as to transmit the illumination light generated by the cold light source to the tip of the insertion tube 20.

[0066] In this embodiment, the traditional beam guide interface is eliminated, and the optical fiber 22 is directly integrated into the cable. The cold light source in the navigation terminal 200 provides illumination for the tip of the insertion tube 20, which not only improves the integration of the endoscope 300, but also further optimizes the volume of the endoscope 300 and reduces its weight, making it easier for doctors to operate.

[0067] Based on the above, light-emitting devices 11, image sensors 12, electromagnetic sensors 21, optical fibers 22, and optical lenses 23 can be integrated into the endoscope. This highly integrated approach reduces the number of external devices, shrinks the overall size of the endoscope, reduces the impact on the surgeon's operation, facilitates the miniaturization of surgical instruments, and allows the endoscope to be used in environments with limited space.

[0068] Furthermore, the light-emitting device 11, image sensor 12, and electromagnetic sensor 21 in the endoscope 300 can be connected to the navigation terminal 200 through a composite cable, thereby integrating the endoscope with the endoscopic surgical navigation system to realize an optical-magnetic integrated endoscopic surgical navigation system, improving the stability and accuracy of navigation, and lowering the threshold for using endoscopic surgery.

[0069] Alternatively, the cold light source can be directly integrated into the navigation terminal 200, and the optical fiber can be integrated into the composite cable, eliminating the traditional beam guide interface on the endoscope, which can further reduce the size of the endoscope 300.

[0070] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0071] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An endoscopic surgical navigation system, characterized in that, It includes an endoscope, an infrared optical positioner, and a navigation terminal, wherein the navigation terminal is connected to the infrared optical positioner; The endoscope includes a body and an insertion tube. Multiple light-emitting devices are embedded on the outer surface of the body, and the light-emitting devices are used to emit infrared light. The infrared optical positioner is used to determine the position of the light-emitting device based on the infrared light and send it to the navigation terminal; The navigation terminal is used to obtain the position information of the first tip of the insertion tube based on the position of the light-emitting device.

2. The endoscopic surgical navigation system as described in claim 1, characterized in that, It also includes an electromagnetic generator, which is connected to the navigation terminal and used to drive the electromagnetic generator to generate a magnetic field; The tip of the insertion tube is equipped with an electromagnetic sensor, which is connected to the navigation terminal and is used to detect changes in the magnetic field and output a first electrical signal to the navigation terminal. The navigation terminal is also used to obtain the position information of the second tip of the insertion tube based on the first electrical signal.

3. The endoscopic surgical navigation system as described in claim 1, characterized in that, The insertion tube is equipped with an optical lens, and the lens body is equipped with an image sensor, which is connected to the navigation terminal; The optical lens is used to focus the light in front of the tip of the insertion tube onto the image sensor, and the image sensor is used to output a second electrical signal to the navigation terminal based on the light. The navigation terminal is also used to output a real-time image of the front of the tip of the insertion tube according to the second electrical signal.

4. The endoscopic surgical navigation system as described in claim 3, characterized in that, The navigation terminal is also used to display lesion markers in the real-time image based on the tip location information and lesion location information.

5. The endoscopic surgical navigation system as described in claim 1, characterized in that, The mirror body is connected to the navigation terminal via a cable; The cable includes at least one of the following: a first power supply core of the light-emitting device, a second power supply and a first signal core of the electromagnetic sensor, and a third power supply core and a second signal core of the image sensor.

6. The endoscopic surgical navigation system as described in claim 5, characterized in that, It also includes optical fiber and cold light source, wherein the cold light source is disposed in the navigation terminal; One end of the optical fiber is located at the tip of the insertion tube, and the other end is connected to the cold light source via the insertion tube, the mirror body, and the cable, for transmitting the illumination light generated by the cold light source to the tip of the insertion tube.

7. The endoscopic surgical navigation system as described in claim 1, characterized in that, At least a portion of the light-emitting device protrudes from the outer surface of the mirror body.

8. The endoscopic surgical navigation system as described in claim 1, characterized in that, The light-emitting devices are distributed three-dimensionally on the outer surface of the mirror.

9. The endoscopic surgical navigation system as described in claim 1, characterized in that, The light-emitting device is an infrared LED lamp bead.

10. The endoscopic surgical navigation system as described in claim 2, characterized in that, The navigation terminal is also used to obtain a three-dimensional model of the target site and a three-dimensional model of the lesion based on preoperative image data, and output a three-dimensional navigation screen based on the three-dimensional model of the target site, the three-dimensional model of the lesion, the preset model of the insertion tube, the first tip position information and / or the second tip position information. The three-dimensional navigation screen is used to present a three-dimensional image including the target site, the tip of the insertion tube and the lesion.

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