Interventional puncture positioning and navigation method and system combining MRI system and depth camera

Abstract

The present application discloses an interventional puncture positioning and navigation method and system combining an MRI system and a depth camera. The method comprises: acquiring first MRI data of a surgical area of a patient according to a preset time interval, and obtaining a reconstructed MRI image according to the first MRI data; and acquiring first RGBD data of a puncture needle in real time, and obtaining the real-time relative position of the front end of the puncture needle in the reconstructed MRI image according to the first RGBD data. The present application fulfills the functions of real-time navigation and intraoperative guidance, so that a surgeon or surgical robot can acquire accurate anatomic information of the patient at any time during surgery and thus can position and operate a surgical tool more accurately.

Description

Interventional puncture positioning, navigation method and system combining MRI system and depth camera

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411068410.X entitled "Interventional puncture navigation method and system combining MRI system and depth camera" filed on August 6, 2024, the entire disclosure of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of magnetic resonance, and particularly relates to an interventional puncture positioning and navigation method and system combining an MRI system and a depth camera. BACKGROUND

[0004] With the gradual expansion of the demand and requirements for real-time navigation interventional surgery systems, accurate navigation and interventional operation and high-definition real-time surgery scene display are crucial for improving surgery effect and reducing complication risk.

[0005] The existing technologies in the market currently use CT, ultrasound or single MRI (Magnetic Resonance Imaging) technology to obtain images in the patient's body in real time, and only perform interventional surgery according to the images in the patient's body. CT scanning exposes the patient to a high dose of radiation, and the long surgery process is harmful to the patient's body, and CT is not good at imaging soft tissues, which limits its application in various surgeries; ultrasound imaging has poor depth and poor imaging quality, which is not conducive to clear and accurate interventional surgery.

[0006] Although MRI scanning is also limited to some surgery situations, has high requirements for the operating environment, and has a speed limit in principle, it is difficult to achieve real-time imaging like ultrasound in principle, has poor real-time performance, and has poor navigation effect. However, MRI does not use ionizing radiation, and there is no radiation risk for long surgery, and MRI has much better imaging clarity than CT, X-ray and ultrasound in soft tissues, and has better contrast between soft tissues and hard tissues, and is suitable for interventional surgery of the liver, brain and joints. In addition, the existing technologies mostly use two-dimensional ordinary cameras to capture the surgery scene, and the display effect is single.

[0007] Therefore, there is a need for an interventional puncture positioning and navigation system and method that can solve the problems of poor real-time effect, poor imaging effect and low precision of existing navigation interventional surgery.

[0008] SUMMARY

[0009] To solve the technical problems in the background art, the present application proposes an interventional puncture positioning method and system combining an MRI system and a depth camera.

[0010] In a first aspect, the present application proposes an interventional puncture positioning method combining an MRI system and a depth camera, comprising:

[0011] acquiring first MRI data of a patient's surgical area at a preset time interval, and obtaining a reconstructed MRI image according to the first MRI data;

[0012] acquiring first RGBD data of the puncture needle in real time, obtaining first real-time data of the tail end of the puncture needle according to the first RGBD data of the puncture needle, and obtaining second real-time data of the front end of the puncture needle according to the first real-time data of the tail end of the puncture needle and the pre-stored structure data of the puncture needle;

[0013] simulating a model of the puncture needle according to the pre-stored structure data of the puncture needle, obtaining a preliminary position of the front end of the puncture needle in the reconstructed MRI image according to the reconstructed MRI image, and superimposing the model of the puncture needle into the reconstructed MRI image according to the second real-time data and the preliminary position of the front end of the puncture needle in the reconstructed MRI image, to obtain a real-time relative position of the front end of the puncture needle in the reconstructed MRI image.

[0014] The first MRI data is specifically under-sampled MRI data, and the reconstructed MRI image is obtained according to the first MRI data, specifically including: performing deep learning reconstruction on the first MRI data as under-sampled MRI data to obtain a deep learning reconstructed MRI image.

[0015] After obtaining the real-time relative position of the front end of the puncture needle in the reconstructed MRI image, the real-time relative position of the front end of the puncture needle in the reconstructed MRI image is further displayed.

[0016] The first RGBD data of the puncture needle is acquired in real time, specifically including: acquiring first RGBD data of the patient's surgical area and the puncture needle in real time, and after acquiring the first RGBD data of the patient's surgical area and the puncture needle, the first RGBD data is further three-dimensionally reconstructed to obtain a three-dimensional point cloud model, a real-time surgical scene is simulated according to the three-dimensional point cloud model, and the real-time surgical scene is displayed.

[0017] Before displaying the real-time surgical scene, the model of the puncture needle is further superimposed in the real-time surgical scene.

[0018] The first MRI data of the surgical region of the patient is acquired according to a preset time interval, and before the reconstructed MRI image is obtained according to the first MRI data, the method further comprises: acquiring third RGBD data of the puncture needle within a preset time range before each preset time interval; and determining, according to the third RGBD data of the puncture needle, a scanning parameter of a scanning layer of the MRI used to acquire the corresponding first MRI data.

[0019] The first MRI data of the surgical region of the patient is acquired according to a preset time interval, and the reconstructed MRI image is obtained according to the first MRI data, and specifically comprises: acquiring the first MRI data of the surgical region of the patient according to the preset time interval and the scanning parameter corresponding to the preset time interval, and obtaining the reconstructed MRI image according to the first MRI data.

[0020] The first MRI data of the surgical region of the patient is acquired according to a preset time interval, and before the reconstructed MRI image is obtained according to the first MRI data, the method further comprises: acquiring second MRI data of a magnetic resonance scanning region corresponding to the surgical region of the patient and second RGBD data of a puncture needle mounting region and the magnetic resonance scanning region corresponding to the puncture needle; and registering the second MRI data and the second RGBD data.

[0021] After the second MRI data and the second RGBD data are registered, the method further comprises: suspending the puncture needle in the magnetic resonance scanning region corresponding to the surgical region of the patient; acquiring positioning MRI data of a layer where a front end of the puncture needle is located; and reconstructing the positioning MRI data to obtain a reconstructed positioning MRI image.

[0022] It is judged whether the reconstructed positioning MRI image meets a preset imaging quality.

[0023] If not, the first parameter of the magnetic resonance scanning is adjusted, and the scanning is re-performed until the reconstructed positioning MRI image meets the preset imaging quality; wherein the first parameter comprises: a layer thickness of the scanning, a layer spacing of the scanning, a repetition time of the scanning, and an echo time of the scanning.

[0024] If yes, it is judged whether the front end of the puncture needle is displayed in the reconstructed positioning MRI image; if not, the second parameter of the magnetic resonance scanning is adjusted and the scanning is re-performed until the puncture needle image meeting the preset requirement is displayed in the reconstructed positioning MRI image; wherein the second parameter comprises: a magnetic resonance scanning positioning frame offset; and if yes, the interventional puncture operation is performed.

[0025] In a second aspect, the present application provides an interventional puncture navigation method combined with an MRI system and a depth camera, comprising:

[0026] According to the interventional puncture positioning method described above, the second real-time data of the front end of the puncture needle and the real-time relative position of the front end of the puncture needle in the reconstructed MRI image are obtained.

[0027] According to the second real-time data of the front end of the puncture needle and the real-time relative position of the front end of the puncture needle in the reconstructed MRI image, interventional puncture navigation is performed.

[0028] Before obtaining the second real-time data of the front end of the puncture needle and the real-time relative position of the front end of the puncture needle in the reconstructed MRI image, the method further comprises: performing a complete sequence scan on the surgical area of the patient to obtain preoperative MRI data; obtaining a preoperative reconstructed MRI image according to the preoperative MRI data;

[0029] According to the second real-time data of the front end of the puncture needle and the real-time relative position of the front end of the puncture needle in the reconstructed MRI image, interventional puncture navigation is performed, specifically comprising: superimposing the model of the puncture needle into the preoperative reconstructed MRI image according to the second real-time data of the front end of the puncture needle, the real-time relative position of the front end of the puncture needle in the reconstructed MRI image and the preoperative reconstructed MRI image; and performing interventional puncture navigation according to the real-time position of the model of the puncture needle superimposed into the preoperative reconstructed MRI image.

[0030] After obtaining the preoperative reconstructed MRI image according to the preoperative MRI data, the method further comprises: performing preoperative planning according to the preoperative reconstructed MRI image to obtain a preoperative planning path;

[0031] According to the real-time position of the model of the puncture needle superimposed into the preoperative reconstructed MRI image, interventional puncture navigation is performed, specifically comprising: displaying the preoperative planning path in the preoperative reconstructed MRI image; determining whether the front end of the puncture needle is on the preoperative planning path according to the real-time relative position of the front end of the puncture needle in the preoperative reconstructed MRI image and the preoperative planning path; and if so, performing color change display on the part of the preoperative planning path corresponding to the front end of the puncture needle.

[0032] The method further comprises: displaying the distance of the front end of the puncture needle from the lesion in the preoperative reconstructed MRI image, the distance of the front end of the puncture needle from the preoperative planning path, and a direction indicating arrow.

[0033] In a third aspect, the present application provides an interventional puncture positioning system combined with an MRI system and a depth camera, comprising:

[0034] The magnetic resonance scanning module is configured to acquire first MRI data of the surgical area of the patient at a preset time interval;

[0035] The imaging module is configured to obtain a reconstructed MRI image according to the first MRI data;

[0036] The depth camera module is configured to acquire first RGBD data of the puncture needle in real time;

[0037] The positioning module is configured to obtain first real-time data of the tail end of the puncture needle according to the first RGBD data, obtain second real-time data of the front end of the puncture needle according to the first real-time data of the tail end of the puncture needle and the pre-stored structural data of the puncture needle, simulate a model of the puncture needle according to the pre-stored structural data of the puncture needle, obtain a preliminary position of the front end of the puncture needle in the reconstructed MRI image according to the reconstructed MRI image, and superimpose the model of the puncture needle into the reconstructed MRI image according to the second real-time data and the preliminary position of the front end of the puncture needle in the reconstructed MRI image, so as to obtain a real-time relative position of the front end of the puncture needle in the reconstructed MRI image.

[0038] The first MRI data is specifically under-sampled MRI data, and the imaging module is configured to perform deep learning reconstruction on the first MRI data as the under-sampled MRI data to obtain a reconstructed MRI image by deep learning.

[0039] The positioning system further includes a display module configured to display the real-time relative position of the front end of the puncture needle in the reconstructed MRI image.

[0040] The depth camera module is configured to obtain first RGBD data of the patient's surgical region and the puncture needle in real time.

[0041] The positioning module is configured to perform three-dimensional reconstruction on the first RGBD data of the puncture needle to obtain a three-dimensional point cloud model, and simulate a real-time surgical scene according to the three-dimensional point cloud model.

[0042] The display module is configured to display the real-time surgical scene.

[0043] The positioning module is configured to superimpose the model of the puncture needle in the real-time surgical scene in real time.

[0044] The depth camera module is configured to obtain third RGBD data of the puncture needle within a preset time range before each preset time interval.

[0045] The positioning module is configured to determine scanning parameters of a scanning layer of an MRI used to obtain corresponding first MRI data according to the third RGBD data of the puncture needle.

[0046] The magnetic resonance scanning module is configured to obtain first MRI data of the patient's surgical region according to the preset time interval and the scanning parameters corresponding to the preset time interval, and obtain a reconstructed MRI image according to the first MRI data.

[0047] The magnetic resonance scanning module is configured to obtain second MRI data of a magnetic resonance scanning region corresponding to the patient's surgical region.

[0048] The depth camera module is configured to obtain second RGBD data of a puncture needle installation region and the magnetic resonance scanning region corresponding to the puncture needle.

[0049] The positioning module is configured to register the second MRI data and the second RGBD data.

[0050] The magnetic resonance scanning module comprises a magnetic resonance imaging device, the magnetic resonance imaging device comprises a magnetic resonance bed body and an open magnetic resonance coil for wrapping a surgical region of a patient, and the open magnetic resonance coil is placed on the magnetic resonance bed body; and the depth camera module comprises a depth camera installed on a shell of the magnetic resonance imaging device.

[0051] In a third aspect, the application provides an interventional puncture navigation system combined with an MRI system and a depth camera, comprising a navigation module and the interventional puncture positioning system described above.

[0052] The navigation module is configured to perform interventional puncture navigation according to the second real-time data of the front end of the puncture needle and the real-time relative position of the front end of the puncture needle in the reconstructed MRI image.

[0053] The magnetic resonance scanning module is configured to perform a complete sequence scan on the surgical region of the patient before obtaining the first MRI data of the surgical region of the patient and obtaining the reconstructed MRI image according to the first MRI data.

[0054] The imaging module is configured to obtain a preoperative reconstructed MRI image according to the preoperative MRI data.

[0055] The navigation module is configured to superimpose a model of the puncture needle into the preoperative reconstructed MRI image according to the preoperative reconstructed MRI image, the reconstructed MRI image, the second real-time data and the preliminary position of the front end of the puncture needle in the reconstructed MRI image; and perform interventional puncture navigation according to the real-time position of the model of the puncture needle superimposed into the preoperative reconstructed MRI image.

[0056] The navigation module is configured to perform preoperative planning according to the preoperative reconstructed MRI image to obtain a preoperative planning path before performing interventional puncture navigation according to the real-time position of the model of the puncture needle superimposed into the preoperative reconstructed MRI image, and determine whether the front end of the puncture needle is on the preoperative planning path according to the real-time relative position of the front end of the puncture needle in the preoperative reconstructed MRI image and the preoperative planning path.

[0057] The display module is configured to display the preoperative planning path in the preoperative reconstructed MRI image, and display a portion corresponding to the front end of the puncture needle on the preoperative planning path in a color different from the color of the preoperative planning path when the positioning module determines that the front end of the puncture needle is on the preoperative planning path.

[0058] The display module is configured to display the distance of the front end of the puncture needle from a lesion in the preoperative reconstructed MRI image, the distance of the front end of the puncture needle from the preoperative planning path and a directional arrow when displaying the preoperative planning path in the preoperative reconstructed MRI image.

[0059] In the interventional puncture process, the first RGBD data of the puncture needle and the first MRI data of the patient operation area are acquired, and real-time relative position information of the lesion in the patient operation area and the front end of the puncture needle is obtained according to the first RGBD data and the first MRI data, so that the subsequent doctor or surgical robot can perform interventional puncture according to the real-time relative position information.

[0060] Since MRI is radiation-free, it is friendly to the patient's body and suitable for long-time interventional surgery process. Its multi-parameter imaging is beneficial to the analysis and surgery of different types of lesion areas, and the depth camera can accurately locate the second position information of the front end of the puncture needle in the patient operation area. In this application, the interventional puncture positioning and navigation method and system combining the MRI system and the depth camera are proposed, which obtains the real-time relative position information of the lesion in the patient operation area and the front end of the puncture needle according to the first RGBD data and the first MRI data, so as to facilitate the intraoperative real-time navigation and intraoperative guidance function, so that the doctor or surgical robot can obtain accurate patient anatomical structure information at any time during the operation process, and can more accurately position and operate the surgical tool, which is beneficial to the guidance and adjustment of others, thereby improving the efficiency and success rate of the operation. BRIEF DESCRIPTION OF DRAWINGS

[0061] FIG. 1 is a flowchart of a puncture needle position positioning method combining an MRI system and a depth camera in an embodiment of the present application.

[0062] FIG. 2 is a structural diagram of an interventional puncture positioning system combining an MRI system and a depth camera in an embodiment of the present application.

[0063] FIG. 3 is a structural diagram of an open magnetic resonance coil and a navigation handle support in an embodiment of the present application.

[0064] FIG. 4 is a use scenario diagram of a depth camera module in an embodiment of the present application. DETAILED DESCRIPTION

[0065] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0066] First of all, it needs to be known that MRI represents magnetic resonance imaging. Among them, the depth camera represents a kind of camera that uses depth sensing technology to capture three-dimensional data of objects or scenes. The depth camera can measure the distance from the camera to each point in the scene, so that a three-dimensional model and reconstruction can be generated. RGBD data (R: red, G: green, B: blue, D: depth) is generated by the RGB camera and depth sensor of the depth camera. Among them, the RGB image provides color information of the scene, and the depth image provides distance information of each pixel in the scene to the camera, that is, depth information. The patient surgery area represents the area where the patient will perform the interventional puncture surgery, including the lesion and the area around the lesion.

[0067] In a first aspect, with reference to FIG. 1, the embodiments of the present application propose an interventional puncture positioning method combined with an MRI system and a depth camera, applied in a system comprising an MRI system and a depth camera, comprising:

[0068] acquire first MRI data of the patient surgery area at a preset time interval; obtain a reconstructed MRI image according to the first MRI data; acquire first RGBD data of the puncture needle in real time; and obtain the real-time relative position of the front end of the puncture needle in the reconstructed MRI image according to the first RGBD data.

[0069] In the interventional puncture process, the present application acquires first MRI data of the patient surgery area at a preset interval, and obtains a reconstructed MRI image according to the first MRI data; and acquires first RGBD data of the puncture needle in real time, and obtains the real-time relative position of the front end of the puncture needle in the reconstructed MRI image according to the first RGBD data.

[0070] Since MRI is radiation-free, it is friendly to the patient's body and suitable for long interventional surgery process. Its multi-parameter imaging is beneficial to the analysis and surgery of different types of lesion areas, and the depth camera 3 can accurately locate the second position information of the front end of the puncture needle in the patient surgery area. Therefore, based on the combination of the MRI system and the depth camera 3, the present application can obtain the real-time relative position of the front end of the puncture needle in the reconstructed MRI image, so that the doctor or the surgical robot can obtain accurate patient anatomy information at any time during the surgery process. It is convenient for the doctor or the surgical robot to more accurately position and operate the surgical tool during the continuous puncture process, realizes the functions of intraoperative real-time navigation and intraoperative guidance, is beneficial to the guidance and timely adjustment of others, and thus improves the efficiency and success rate of the surgery.

[0071] In the embodiments of the present application, in order to obtain the real-time relative position of the front end of the puncture needle in the reconstructed MRI image, the real-time relative position of the front end of the puncture needle in the reconstructed MRI image is obtained according to the first RGBD data, which specifically comprises:

[0072] According to the first real-time data of the tail end of the puncture needle and the pre-stored structure data of the puncture needle, the second real-time data of the front end of the puncture needle is obtained.

[0073] According to the second real-time data and the pre-stored structure data of the puncture needle, the puncture needle is simulated and superimposed into the reconstructed MRI image to obtain the real-time relative position of the front end of the puncture needle in the reconstructed MRI image.

[0074] In the embodiment of the present application, according to the second real-time data and the pre-stored structure data of the puncture needle, the puncture needle is simulated and superimposed into the reconstructed MRI image to obtain the real-time relative position of the front end of the puncture needle in the reconstructed MRI image, specifically comprising: simulating a model of the puncture needle according to the pre-stored structure data of the puncture needle, and superimposing the model of the puncture needle into the reconstructed MRI image according to the second real-time data to obtain the real-time relative position of the front end of the puncture needle in the reconstructed MRI image.

[0075] In the embodiment of the present application, the model of the puncture needle is superimposed into the reconstructed MRI image according to the second real-time data to obtain the real-time relative position of the front end of the puncture needle in the reconstructed MRI image, specifically comprising: obtaining a preliminary position of the front end of the puncture needle in the reconstructed MRI image according to the reconstructed MRI image; and superimposing the model of the puncture needle into the reconstructed MRI image according to the second real-time data and the preliminary position of the front end of the puncture needle in the reconstructed MRI image to obtain the real-time relative position of the front end of the puncture needle in the reconstructed MRI image.

[0076] Since the lesion position and the preliminary position of the front end of the puncture needle can be determined in the reconstructed MRI image, the preliminary position of the front end of the puncture needle is the real-time position actually scanned by the magnetic resonance device, which is different from the simulated puncture needle that must be scanned when the needle enters or is about to enter the patient's body. The depth camera of the present application can capture the first RGBD data of the tail end of the puncture needle, so as to simulate the data of the front end of the puncture needle in real time.

[0077] Therefore, in the embodiment, the preliminary position of the front end of the puncture needle in the reconstructed MRI image can be obtained according to the reconstructed MRI image, the puncture needle is preliminarily positioned, and then the puncture needle is simulated and superimposed into the reconstructed MRI image according to the second real-time data and the preliminary position of the front end of the puncture needle in the reconstructed MRI image, so as to accurately obtain the real-time relative position of the front end of the puncture needle in the reconstructed MRI image, which jointly ensures the accuracy of the superimposed position.

[0078] In the embodiment of the present application, the present application proposes an interventional puncture positioning method combining an MRI system and a depth camera, comprising:

[0079] acquire first MRI data of a surgical region of a patient according to a preset time interval; obtain a reconstructed MRI image according to the first MRI data; acquire first RGBD data of the puncture needle in real time; obtain first real-time data of a tail end of the puncture needle according to the first RGBD data; obtain second real-time data of a front end of the puncture needle according to the first real-time data of the tail end of the puncture needle and pre-stored structure data of the puncture needle;

[0080] simulate a model of the puncture needle according to the pre-stored structure data of the puncture needle; obtain a preliminary position of the front end of the puncture needle in the reconstructed MRI image according to the reconstructed MRI image; superimpose the model of the puncture needle into the reconstructed MRI image according to the second real-time data and the preliminary position of the front end of the puncture needle in the reconstructed MRI image, to obtain a real-time relative position of the front end of the puncture needle in the reconstructed MRI image.

[0081] The model of the puncture needle in the embodiment of the application is a three-dimensional model, which can superimpose the three-dimensional model of the puncture needle into the reconstructed MRI image, and can observe the position and orientation of the front end of the puncture needle inside the surgical region of the patient from multiple angles and multiple dimensions, thereby facilitating the subsequent puncture of the doctor. Of course, in the specific implementation process, the model of the puncture needle can also be a two-dimensional model.

[0082] When performing magnetic resonance scanning, if full sampling is used to collect images, that is, the MRI system collects each pixel information in turn according to rows and columns on the specified section, the collection time will be very long. In order to solve this problem, in the embodiment, the surgical region of the patient in the operation is subjected to magnetic resonance undersampling scanning to obtain undersampling MRI data, and the undersampling MRI data is used as the first MRI data, that is, the first MRI data in the embodiment is specifically the undersampling MRI data.

[0083] Although the magnetic resonance undersampling scanning technology accelerates the sampling speed, the undersampling MRI data obtained by the magnetic resonance undersampling scanning is an aliasing artifact image. In order to be able to convert the undersampling aliasing artifact image into a full sampling reconstructed image, therefore, in the embodiment, the reconstructed MRI image is obtained according to the first MRI data, specifically including: performing deep learning reconstruction on the first MRI data which is the undersampling MRI data to obtain a deep learning reconstructed MRI image.

[0084] In the embodiment, after obtaining the real-time relative position of the front end of the puncture needle in the reconstructed MRI image according to the first RGBD data, the real-time relative position of the front end of the puncture needle in the reconstructed MRI image is displayed, so that the doctor can perform subsequent puncture according to the displayed real-time relative position of the front end of the puncture needle in the reconstructed MRI image during the puncture process, and the accuracy of the puncture is improved.

[0085] In this embodiment, the first RGBD data of the puncture needle is acquired in real time, specifically including: acquiring the first RGBD data of the patient's operation area and the puncture needle in real time. This embodiment is thus configured, facilitating subsequent simulation of a real-time operation scene according to the first RGBD data, acquisition of real-time relative position information from multiple dimensions and multiple angles, and more accurate intervention puncture by the doctor.

[0086] In this embodiment, after acquiring the first RGBD data of the patient's operation area and the puncture needle in real time, further including: performing three-dimensional reconstruction on the first RGBD data to obtain a three-dimensional point cloud model; and simulating a real-time operation scene according to the three-dimensional point cloud model.

[0087] This embodiment is thus configured to acquire real-time relative position information from multiple angles and multiple dimensions, so that the doctor can observe the puncture needle in the intervention puncture process from multiple dimensions and multiple angles, and the doctor can perform more accurate intervention puncture.

[0088] In order to facilitate the remote end to clearly understand the operation scene, in this embodiment, after simulating the real-time operation scene according to the three-dimensional point cloud model, further including: displaying the real-time operation scene.

[0089] Compared with the traditional two-dimensional image display of the operation scene, the use of the three-dimensional point cloud to simulate and display the real-time operation scene in this embodiment can provide stronger spatial perception effect, and this embodiment supports user manipulation of the displayed real-time operation scene, such as clicking, rotating, zooming in, zooming out, and dragging, in order to clearly display a specified area for the user. Of course, this embodiment can also display the real-time operation scene as a two-dimensional image to provide multi-dimensional operation area display.

[0090] In a specific embodiment, before displaying the real-time operation scene, further including: superimposing a model of the puncture needle in the real-time operation scene in real time.

[0091] In this embodiment, before acquiring the first MRI data of the patient's operation area according to the preset time interval and obtaining the reconstructed MRI image according to the first MRI data, further including: acquiring third RGBD data of the puncture needle within a preset time range before each preset time interval; determining a scanning parameter of a scanning layer of MRI used to acquire the corresponding first MRI data according to the third RGBD data of the puncture needle;

[0092] In this embodiment, before acquiring the first MRI data of the patient's operation area according to the preset time interval and obtaining the reconstructed MRI image according to the first MRI data, further including: acquiring third RGBD data of the puncture needle within a preset time range before each preset time interval; determining a scanning parameter of a scanning layer of MRI used to acquire the corresponding first MRI data according to the third RGBD data of the puncture needle;

[0093] The MRI can scan the scanning layer corresponding to the MRI according to the preset time interval to obtain the first MRI data of the surgical region of the patient, so that the MRI can always follow the plane in which the puncture needle is located, that is, the puncture needle can be scanned and displayed at all times after the puncture needle enters the patient's body, especially during the undersampling scanning process. The scanning parameters include: azimuth, number of layers, layer spacing, and layer thickness.

[0094] In order to improve the accuracy of real-time relative position information in the intervention puncture process, registration needs to be performed before the intervention puncture. Therefore, in the embodiment, the first MRI data of the surgical region of the patient is obtained, and before the reconstructed MRI image is obtained according to the first MRI data, the method further includes: obtaining second MRI data of a magnetic resonance scanning region corresponding to the surgical region of the patient and second RGBD data of a puncture needle installation region corresponding to the puncture needle and the magnetic resonance scanning region; and registering the second MRI data and the second RGBD data.

[0095] In actual application, the imaging quality of the reconstructed MRI image can affect the doctor's interpretation of the image and diagnosis of the lesion. In order to solve this problem, in one specific embodiment, after the second MRI data and the second RGBD data are registered, the method further includes: obtaining positioning MRI data of the magnetic resonance scanning region corresponding to the surgical region of the patient; reconstructing the positioning MRI data to obtain a reconstructed positioning MRI image; determining whether the reconstructed positioning MRI image meets a preset imaging quality; if not, adjusting the parameters of the magnetic resonance scanning; and if yes, performing the intervention puncture operation.

[0096] However, since the magnetic resonance scanning is performed layer by layer (section), if the scanned layer is the layer in which the puncture needle is located, the artifact of the puncture needle can be displayed on the MRI image after scanning. In order to obtain the first MRI data as the scanning data of the layer in which the puncture needle is located, in another specific embodiment, after the second MRI data and the second RGBD data are registered, the method further includes: suspending the puncture needle in the magnetic resonance scanning region corresponding to the surgical region of the patient; obtaining positioning MRI data of the layer in which the front end of the puncture needle is located; and reconstructing the positioning MRI data to obtain a reconstructed positioning MRI image.

[0097] determining whether the reconstructed positioning MRI image meets a preset imaging quality;

[0098] if not, adjusting the first parameters of the magnetic resonance scanning, and rescan until the reconstructed positioning MRI image meets the preset imaging quality; wherein the first parameters include: layer thickness of scanning, layer spacing of scanning, repetition time (TR value) of scanning, and echo time (TE value) of scanning.

[0099] If yes, it is judged whether the front end of the puncture needle is displayed in the reconstructed positioning MRI image; if no, the second parameter of the magnetic resonance scan is adjusted, and the scan is re-performed until the image of the puncture needle meeting the preset requirement is displayed in the reconstructed positioning MRI image; wherein the second parameter includes: a magnetic resonance scan positioning frame offset; if yes, the interventional puncture operation is performed.

[0100] It should be noted that before registration, the interventional puncture tool needs to be prepared, the position of the depth camera 3 used to acquire the first RGBD data and the second RGBD data is manually calibrated so that it can capture the position of the patient's operation area and can recognize the feature points (coordinate points) of the magnetic resonance scanner; and the patient is positioned and the magnetic field center frequency of the open magnetic resonance imaging instrument 1 is corrected to ensure that the scan position encoding center is the magnetic field center.

[0101] In a second aspect, the embodiments of the present application provide an interventional puncture navigation method combined with an MRI system and a depth camera, comprising:

[0102] By using the interventional puncture navigation method combined with the MRI system and the depth camera of the first aspect, the second real-time data of the front end of the puncture needle and the real-time relative position of the front end of the puncture needle in the reconstructed MRI image are obtained; and according to the second real-time data of the front end of the puncture needle and the real-time relative position of the front end of the puncture needle in the reconstructed MRI image, the interventional puncture navigation is performed.

[0103] In order to facilitate intraoperative comparison and navigation, before obtaining the second real-time data of the front end of the puncture needle and the real-time relative position of the front end of the puncture needle in the reconstructed MRI image by using the interventional puncture navigation method combined with the MRI system and the depth camera of any one of the first aspect, the embodiments of the present application further comprise: performing a complete sequence scan on the patient's operation area to obtain preoperative MRI data; and obtaining a preoperative reconstructed MRI image according to the preoperative MRI data.

[0104] According to the second real-time data of the front end of the puncture needle and the real-time relative position of the front end of the puncture needle in the reconstructed MRI image, the interventional puncture navigation is performed, specifically comprising:

[0105] According to the second real-time data of the front end of the puncture needle, the real-time relative position of the front end of the puncture needle in the reconstructed MRI image and the preoperative reconstructed MRI image, the model of the puncture needle is superimposed into the preoperative reconstructed MRI image; and according to the real-time position of the model of the puncture needle superimposed into the preoperative reconstructed MRI image, the interventional puncture navigation is performed.

[0106] The embodiment obtains clear and complete preoperative reconstruction MRI images by performing complete sequence scanning on the surgical area of the patient for a long time, and the preoperative reconstruction MRI images can be displayed as two-dimensional images or three-dimensional images according to selection, so that the model of the puncture needle can be superimposed into the preoperative reconstruction MRI images; and the interventional puncture navigation is performed according to the real-time position of the model of the puncture needle superimposed into the preoperative reconstruction MRI images.

[0107] In the embodiment, after obtaining the preoperative reconstruction MRI images according to the preoperative MRI data, the method further includes: performing preoperative planning according to the preoperative reconstruction MRI images to obtain a preoperative planning path;

[0108] The interventional puncture navigation according to the real-time position of the model of the puncture needle superimposed into the preoperative reconstruction MRI images specifically includes: displaying the preoperative planning path in the preoperative reconstruction MRI images; judging whether the front end of the puncture needle is on the preoperative planning path according to the real-time relative position of the front end of the puncture needle in the preoperative reconstruction MRI images and the preoperative planning path; and if yes, performing color change display on the part of the preoperative planning path corresponding to the front end of the puncture needle.

[0109] In this way, the doctor or the surgical robot can quickly judge whether the operation is performed according to the preoperative planning path, which is beneficial to the subsequent correct operation of the doctor or the surgical robot.

[0110] In a further embodiment, the displaying of the preoperative planning path in the preoperative reconstruction MRI images further includes: displaying the distance of the front end of the puncture needle from the lesion in the preoperative reconstruction MRI images, the distance of the front end of the puncture needle from the preoperative planning path, and a direction indicating arrow, so as to facilitate the interventional puncture navigation and guide the doctor to operate.

[0111] In a specific embodiment, the interventional puncture can be performed by the intelligent mechanical mechanism such as the robot or the mechanical arm according to the distance of the front end of the puncture needle from the lesion in the preoperative reconstruction MRI images, the distance of the front end of the puncture needle from the preoperative planning path, and the direction indicating arrow.

[0112] In a third aspect, the embodiment of the present application proposes an interventional puncture positioning system combined with an MRI system and a depth camera, which includes:

[0113] The magnetic resonance scanning module is configured to acquire first MRI data of a surgical area of a patient at a preset time interval;

[0114] The imaging module is configured to obtain a reconstruction MRI image according to the first MRI data;

[0115] The depth camera module is configured to acquire first RGBD data of the puncture needle in real time;

[0116] The positioning module is configured to obtain a real-time relative position of the front end of the puncture needle in the reconstructed MRI image according to the first RGBD data.

[0117] Since the depth camera 3 can take pictures at a high speed and in real time, and the magnetic resonance scanning module can only scan at preset intervals and cannot perform real-time magnetic resonance scanning, the first MRI data of the surgical region of the patient is obtained by the magnetic resonance scanning module at preset time intervals, the reconstructed MRI image is obtained by the imaging module according to the first MRI data, and the first RGBD data of the puncture needle is obtained in real time by the depth camera module; and the real-time relative position of the front end of the puncture needle in the reconstructed MRI image is obtained by the positioning and navigation module according to the first RGBD data, that is, the real-time image of the front end of the puncture needle in the patient's body is reconstructed, the functions of real-time navigation and intraoperative guidance are realized, the doctor can obtain accurate anatomical structure information of the patient at any time during the operation, can more accurately position and operate the surgical tool, is conducive to the guidance and operation of others and timely adjustment, and thus the efficiency and success rate of the operation are improved.

[0118] It can be understood that the magnetic resonance scanning module and the imaging module form a magnetic resonance imaging system MRI.

[0119] In order to obtain the real-time relative position of the front end of the puncture needle in the reconstructed MRI image, the positioning module is specifically configured to:

[0120] obtain first real-time data of the tail end of the puncture needle according to the first RGBD data of the puncture needle, and obtain second real-time data of the front end of the puncture needle according to the first real-time data of the tail end of the puncture needle and the pre-stored structure data of the puncture needle;

[0121] simulate and superimpose the puncture needle into the reconstructed MRI image according to the second real-time data and the pre-stored structure data of the puncture needle, to obtain the real-time relative position of the front end of the puncture needle in the reconstructed MRI image.

[0122] In this embodiment, the positioning module simulates and superimposes the puncture needle into the reconstructed MRI image according to the second real-time data and the pre-stored structure data of the puncture needle, to obtain the real-time relative position of the front end of the puncture needle in the reconstructed MRI image, and specifically includes: a model of the puncture needle is simulated according to the pre-stored structure data of the puncture needle, and the model of the puncture needle is superimposed into the reconstructed MRI image according to the second real-time data, to obtain the real-time relative position of the front end of the puncture needle in the reconstructed MRI image.

[0123] Specifically, the model of the puncture needle in this embodiment is a three-dimensional model, which can superimpose the three-dimensional model of the puncture needle onto the reconstructed MRI image, facilitate subsequent acquisition of the real-time relative position of the front end of the puncture needle in the reconstructed MRI image in three-dimensional state from multiple angles and multiple dimensions, and facilitate subsequent puncture.

[0124] The positioning and navigation module in the embodiment supports adding and configuring multiple puncture needle models, and can superimpose the puncture needle models on the preoperative reconstructed MRI image, the reconstructed MRI image and the real-time surgery scene, so as to realize the synchronous display and update of the puncture needle on the preoperative reconstructed MRI image, the reconstructed MRI image and the real-time surgery scene in real time.

[0125] It should be noted that since the reconstructed MRI image corresponds to the image of the patient's surgery area, the part displayed in the reconstructed MRI image may only be the part of the puncture needle punctured into the patient's body, and the model simulated and superimposed on the reconstructed MRI image may also be only the front end part of the puncture needle.

[0126] Since the lesion position and the preliminary position of the front end of the puncture needle can be determined in the reconstructed MRI image, in order to improve the accuracy of the real-time relative position of the front end of the puncture needle in the reconstructed MRI image, in the embodiment, the positioning module superimposes the model of the puncture needle into the reconstructed MRI image according to the second real-time data to obtain the real-time relative position of the front end of the puncture needle in the reconstructed MRI image, and specifically includes: obtaining the preliminary position of the front end of the puncture needle in the reconstructed MRI image according to the reconstructed MRI image; and simulating and superimposing the puncture needle into the reconstructed MRI image according to the second real-time data and the preliminary position of the front end of the puncture needle in the reconstructed MRI image, to obtain the real-time relative position of the front end of the puncture needle in the reconstructed MRI image.

[0127] In the process of manual puncture by the doctor, in order to facilitate the doctor to clearly and intuitively understand the real-time relative positions of the patient's surgery area and the front end of the puncture needle in the puncture process, and to more accurately position and operate the surgical tool subsequently, in the embodiment, the positioning system further includes a display module, which is configured to display the real-time relative position of the front end of the puncture needle in the reconstructed MRI image.

[0128] In the embodiment of the present application, the present application proposes an interventional puncture positioning system combining an MRI system and a depth camera, which includes:

[0129] The magnetic resonance scanning module is configured to acquire first MRI data of the patient's surgery area at a preset time interval;

[0130] The imaging module is configured to obtain a reconstructed MRI image according to the first MRI data;

[0131] The depth camera module is configured to acquire first RGBD data of the puncture needle in real time;

[0132] The positioning module is configured to obtain first real-time data of the tail end of the puncture needle according to the first RGBD data, obtain second real-time data of the front end of the puncture needle according to the first real-time data of the tail end of the puncture needle and the pre-stored structural data of the puncture needle, simulate a model of the puncture needle according to the pre-stored structural data of the puncture needle, obtain a preliminary position of the front end of the puncture needle in the reconstructed MRI image according to the reconstructed MRI image, and superimpose the model of the puncture needle into the reconstructed MRI image according to the second real-time data and the preliminary position of the front end of the puncture needle in the reconstructed MRI image, so as to obtain a real-time relative position of the front end of the puncture needle in the reconstructed MRI image.

[0133] In this embodiment, the positioning module can be a computer program, software, application or the like for performing the above-mentioned processing, and each function can be realized by different sub-modules.

[0134] In this embodiment, the first MRI data is specifically under-sampled MRI data. The magnetic resonance scanning module in this embodiment performs magnetic resonance under-sampling scanning on the surgical region of the patient to obtain under-sampled MRI data, and takes the under-sampled MRI data as the first MRI data, thereby solving the problem of too long acquisition time caused by full sampling and effectively accelerating the sampling speed.

[0135] In this embodiment, the imaging module is configured to obtain a reconstructed MRI image according to the first MRI data, and specifically includes that the imaging module is configured to perform deep learning reconstruction on the first MRI data which is under-sampled MRI data, to obtain a deep learning reconstructed MRI image.

[0136] This embodiment can convert the under-sampled aliasing artifact image into a full-sampled reconstructed image by performing deep learning reconstruction on the under-sampled MRI data, so as to obtain a high-quality three-dimensional reconstructed image.

[0137] In this embodiment, the depth camera module is configured to obtain first RGBD data of the puncture needle in real time, and specifically includes that the depth camera module is configured to obtain first RGBD data of the surgical region of the patient and the puncture needle in real time.

[0138] In this embodiment, the first RGBD data of the surgical region of the patient and the puncture needle is obtained by the depth camera module, and the first RGBD data can be three-dimensionally reconstructed by the positioning module to obtain a three-dimensional point cloud model, so that a real-time surgical scene can be simulated according to the three-dimensional point cloud model, real-time relative position information can be obtained from multiple angles and multiple dimensions, and interventional puncture can be more accurately performed.

[0139] In order to obtain real-time relative position information from multiple angles and multiple dimensions, so that the doctor can observe the puncture needle in the interventional puncture process from multiple dimensions and multiple angles, and it is beneficial for the doctor to more accurately perform interventional puncture, in the embodiment, the positioning module is configured to perform three-dimensional reconstruction on the first RGBD data to obtain a three-dimensional point cloud model; and simulate a real-time surgery scene according to the three-dimensional point cloud model.

[0140] In order to facilitate the doctor in the operation and the doctor at the remote end to timely and intuitively understand the surgery scene, in the embodiment, the display module is configured to display the real-time surgery scene.

[0141] In specific embodiments, the depth camera module is configured to obtain third RGBD data of the puncture needle within a preset time range before each preset time interval.

[0142] The positioning module is configured to determine, according to the third RGBD data of the puncture needle, a scanning parameter of a scanning layer of an MRI used to obtain corresponding first MRI data.

[0143] The magnetic resonance scanning module is configured to obtain first MRI data of a surgery region of a patient according to a preset time interval and a scanning parameter corresponding to the preset time interval, and obtain a reconstructed MRI image according to the first MRI data.

[0144] In the embodiment, the magnetic resonance scanning module is configured to obtain second MRI data of a magnetic resonance scanning region corresponding to the surgery region of the patient; the depth camera module is configured to obtain second RGBD data of a puncture needle installation region and the magnetic resonance scanning region corresponding to the puncture needle; and the positioning module is configured to register the second MRI data and the second RGBD data.

[0145] The embodiment can register the second MRI data and the second RGBD data before the interventional puncture, and can improve the accuracy of real-time relative position information in the subsequent interventional puncture process.

[0146] In the embodiment, the magnetic resonance scanning module is configured to obtain positioning MRI data of a magnetic resonance scanning region corresponding to the surgery region of the patient after the registration module registers the second MRI data and the second RGBD data; and the imaging module is configured to reconstruct the positioning MRI data to obtain a reconstructed positioning MRI image.

[0147] The positioning module is configured to determine whether the reconstructed positioning MRI image meets a preset imaging quality; if not, adjust the parameters of the magnetic resonance scanning module; and if yes, simulate the preset time interval and the scanning speed according to the moving speed of the puncture needle to obtain a preset time interval and a scanning speed matched with the moving speed of the puncture needle.

[0148] The implementation example is thus arranged, so that the reconstructed positioning MRI image can meet the preset imaging quality, and the imaging quality does not affect the interpretation of the image by the doctor and the diagnosis of the lesion.

[0149] As shown in FIGS. 2-4, the magnetic resonance scanning module comprises a magnetic resonance imaging instrument 2, the magnetic resonance imaging instrument 2 comprises an open magnetic resonance coil 4 for wrapping a surgical area of a patient and a magnetic resonance bed body 6, a navigation handle support 5 and a navigation handle installed on the navigation handle support 5 are arranged on the open magnetic resonance coil 4, the navigation handle is used for installing a puncture needle, and the open magnetic resonance coil 4 is placed on the magnetic resonance bed body 6; the depth camera module comprises a depth camera 3 installed on a shell of the magnetic resonance imaging instrument 2; and the display module comprises a display 1.

[0150] Specifically, a universal joint with a locking mechanism is connected between the navigation handles, so as to facilitate the universal rotation of the navigation handles at a small amplitude, and adjust the orientation of the puncture needle. The navigation handle support 5 can be installed on the open magnetic resonance coil 4 in a clamping, bolt and hole or other manner.

[0151] The navigation handle 7 is a hollow cylinder, the hollow part can accommodate the puncture needle 8 and allow the puncture needle 8 to move along the axial direction thereof; the navigation handle 7 is provided with coordinate marking points, and the coordinate marking points are provided with patterns as feature points for identification by the depth camera 3.

[0152] The open magnetic resonance coil 4 in the embodiment is a cylindrical frame structure, the navigation handle support 5 is detachably installed on the open magnetic resonance coil 4, and the installation position of the navigation handle support 5 on the open magnetic resonance coil 4 is adjustable, so that the navigation handle support 5 can be installed at any position of the open magnetic resonance coil 4.

[0153] It should be understood that, due to the limitation of the MRI equipment, the original magnetic resonance equipment has a narrow patient scanning area, and the coil is closed. The open magnetic resonance coil 4 in the embodiment can be used for human joints, abdomen, head and other parts, and ensures the development and implementation of the interventional surgery.

[0154] In a fourth aspect, the application further provides an interventional puncture navigation system combined with an MRI system and a depth camera, comprising a navigation module and the interventional puncture positioning system combined with the MRI system and the depth camera in the third aspect; the navigation module is used for performing interventional puncture navigation according to the second real-time data of the front end of the puncture needle and the real-time relative position of the front end of the puncture needle in the reconstructed MRI image.

[0155] The application can perform real-time navigation during surgery, which is beneficial to guide the doctor to operate.

[0156] In the embodiment, the magnetic resonance scanning module is configured to perform a complete sequence scan on the surgical region of the patient to obtain preoperative MRI data before acquiring first MRI data of the surgical region of the patient and obtaining a reconstructed MRI image according to the first MRI data;

[0157] The imaging module is further configured to obtain a preoperative reconstructed MRI image according to the preoperative MRI data.

[0158] The navigation module is configured to superimpose a model of the puncture needle into the preoperative reconstructed MRI image according to the preoperative reconstructed MRI image, the reconstructed MRI image, the second real-time data, and the preliminary position of the front end of the puncture needle in the reconstructed MRI image, and perform interventional puncture navigation according to the real-time position of the model of the puncture needle superimposed into the preoperative reconstructed MRI image.

[0159] In order to facilitate the doctor to operate, in a further embodiment, the navigation module is further configured to perform preoperative planning according to the preoperative reconstructed MRI image to obtain a preoperative planning path before performing interventional puncture navigation according to the real-time position of the model of the puncture needle superimposed into the preoperative reconstructed MRI image, and determine whether the front end of the puncture needle is on the preoperative planning path according to the real-time relative position of the front end of the puncture needle in the preoperative reconstructed MRI image and the preoperative planning path.

[0160] The display module is further configured to display the preoperative planning path in the preoperative reconstructed MRI image, and display a portion corresponding to the front end of the puncture needle on the preoperative planning path in a color different from the color of the preoperative planning path when the navigation determines that the front end of the puncture needle is on the preoperative planning path.

[0161] In a further embodiment, the display module, when displaying the preoperative planning path in the preoperative reconstructed MRI image, is further configured to display a distance of the front end of the puncture needle from a lesion in the preoperative reconstructed MRI image, a distance of the front end of the puncture needle from the preoperative planning path, and a direction indication arrow.

[0162] In this way, the embodiment can facilitate the doctor or the surgical robot to operate according to the displayed distance of the front end of the puncture needle from the lesion in the preoperative reconstructed MRI image, the distance of the front end of the puncture needle from the preoperative planning path, and the direction indication arrow.

[0163] In the embodiment, the navigation module can be a computer program, software, application, etc. that performs the above-mentioned processing, and each function can be implemented by different sub-modules.

[0164] The above description is only the preferred embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can make equivalent replacements or changes to the technical solution and the application concept of the present application within the technical scope disclosed by the present application, which should be covered by the protection scope of the present application.

Claims

1. An interventional puncture positioning method combining an MRI system and a depth camera, characterized in that, The application comprises the following steps: acquiring first MRI data of a patient's operation area at a preset time interval, and obtaining a reconstructed MRI image according to the first MRI data; acquiring first RGBD data of a puncture needle in real time; obtaining first real-time data of a tail end of the puncture needle according to the first RGBD data of the puncture needle, and obtaining second real-time data of a front end of the puncture needle according to the first real-time data of the tail end of the puncture needle and pre-stored structure data of the puncture needle; simulating a model of the puncture needle according to the pre-stored structure data of the puncture needle, and obtaining a preliminary position of the front end of the puncture needle in the reconstructed MRI image according to the reconstructed MRI image; superimposing the model of the puncture needle into the reconstructed MRI image according to the second real-time data and the preliminary position of the front end of the puncture needle in the reconstructed MRI image, and obtaining a real-time relative position of the front end of the puncture needle in the reconstructed MRI image.

2. The method of claim 1, wherein, The first MRI data is specifically undersampled MRI data. The reconstructed MRI image obtained according to the first MRI data specifically comprises the following steps: performing deep learning reconstruction on the first MRI data as the undersampled MRI data to obtain a deep learning reconstructed MRI image.

3. The method of claim 1, wherein, After obtaining the real-time relative position of the front end of the puncture needle in the reconstructed MRI image, the method further comprises the following step: displaying the real-time relative position of the front end of the puncture needle in the reconstructed MRI image.

4. The method of claim 1, wherein, The first RGBD data of the puncture needle is acquired in real time, specifically comprising the following step: acquiring first RGBD data of the patient's operation area and the puncture needle in real time. After acquiring the first RGBD data of the patient's operation area and the puncture needle, the method further comprises the following steps: performing three-dimensional reconstruction on the first RGBD data to obtain a three-dimensional point cloud model; simulating a real-time operation scene according to the three-dimensional point cloud model; and displaying the real-time operation scene.

5. The method of claim 4, wherein, Before displaying the real-time operation scene, the method further comprises the following step: superimposing the model of the puncture needle into the real-time operation scene in real time.

6. The method of claim 1, wherein, Before acquiring the first MRI data of the patient's operation area at a preset time interval and obtaining a reconstructed MRI image according to the first MRI data, the method further comprises the following step: acquiring third RGBD data of the puncture needle within a preset time range before each preset time interval; and determining scanning parameters of a scanning layer of an MRI used for acquiring corresponding first MRI data according to the third RGBD data of the puncture needle. The first MRI data of the patient's operation area is acquired at a preset time interval, and a reconstructed MRI image is obtained according to the first MRI data, specifically comprising the following steps: acquiring the first MRI data of the patient's operation area at a preset time interval and according to scanning parameters corresponding to the preset time interval, and obtaining the reconstructed MRI image according to the first MRI data.

7. The method of claim 1, wherein, Before acquiring the first MRI data of the patient's operation area at a preset time interval and obtaining a reconstructed MRI image according to the first MRI data, the method further comprises the following steps: acquiring second MRI data of a magnetic resonance scanning area corresponding to the patient's operation area and second RGBD data of a puncture needle installation area and the magnetic resonance scanning area corresponding to the puncture needle; and registering the second MRI data and the second RGBD data.

8. The method of claim 7, wherein, After the second MRI data and the second RGBD data are registered, further comprising: suspending the puncture needle in a magnetic resonance scanning region corresponding to the surgical region of the patient; obtaining positioning MRI data of a layer where a front end of the puncture needle is located; and reconstructing the positioning MRI data to obtain a reconstructed positioning MRI image; determining whether the reconstructed positioning MRI image meets a preset imaging quality; if not, adjusting a first parameter of the magnetic resonance scanning, and rescan until the reconstructed positioning MRI image meets the preset imaging quality; wherein the first parameter includes: a layer thickness of the scanning, a layer spacing of the scanning, a repetition time of the scanning, and an echo time of the scanning; if yes, determining whether the front end of the puncture needle is displayed in the reconstructed positioning MRI image; if not, adjusting a second parameter of the magnetic resonance scanning and rescan until the reconstructed positioning MRI image displays a puncture needle image meeting a preset requirement; wherein the second parameter includes: a magnetic resonance scanning positioning frame offset; and if yes, performing the interventional puncture operation.

9. An interventional puncture navigation method combining an MRI system and a depth camera, characterized by, The method comprises: The interventional puncture positioning method according to claim 1 obtains second real-time data of the front end of the puncture needle and real-time relative positions of the front end of the puncture needle in the reconstructed MRI image; The interventional puncture navigation is performed according to the second real-time data of the front end of the puncture needle and the real-time relative positions of the front end of the puncture needle in the reconstructed MRI image.

10. The method of intervention puncture navigation in conjunction with an MRI system and a depth camera according to claim 9, wherein, Before the second real-time data of the front end of the puncture needle and the real-time relative positions of the front end of the puncture needle in the reconstructed MRI image are obtained, the method further comprises: performing a complete sequence scanning on the surgical region of the patient to obtain preoperative MRI data; and obtaining a preoperative reconstructed MRI image according to the preoperative MRI data; The interventional puncture navigation is performed according to the second real-time data of the front end of the puncture needle and the real-time relative positions of the front end of the puncture needle in the reconstructed MRI image, specifically comprising: superimposing a model of the puncture needle into the preoperative reconstructed MRI image according to the second real-time data of the front end of the puncture needle, the real-time relative positions of the front end of the puncture needle in the reconstructed MRI image, and the preoperative reconstructed MRI image; and performing the interventional puncture navigation according to the real-time position of the model of the puncture needle superimposed into the preoperative reconstructed MRI image.

11. The method of intervention puncture navigation in conjunction with an MRI system and a depth camera according to claim 10, wherein, After the preoperative reconstructed MRI image is obtained according to the preoperative MRI data, the method further comprises: performing preoperative planning according to the preoperative reconstructed MRI image to obtain a preoperative planning path; The interventional puncture navigation is performed according to the real-time position of the model of the puncture needle superimposed into the preoperative reconstructed MRI image, specifically comprising: displaying the preoperative planning path in the preoperative reconstructed MRI image; determining whether the front end of the puncture needle is on the preoperative planning path according to the real-time relative positions of the front end of the puncture needle in the preoperative reconstructed MRI image and the preoperative planning path; and if yes, performing color change display on a part of the preoperative planning path corresponding to the front end of the puncture needle.

12. The method of intervention puncture navigation in conjunction with an MRI system and a depth camera of claim 11, wherein, The preoperative planning path is displayed in the preoperative reconstructed MRI image, further comprising: displaying a distance of the front end of the puncture needle from a lesion in the preoperative reconstructed MRI image, a distance of the front end of the puncture needle from the preoperative planning path, and a direction indication arrow.

13. An interventional puncture positioning system combining an MRI system and a depth camera, characterized in that, The method comprises: The magnetic resonance scanning module is configured to obtain first MRI data of a surgical region of a patient at a preset time interval; an imaging module configured to obtain a reconstructed MRI image according to the first MRI data; a depth camera module configured to obtain first RGBD data of the puncture needle in real time; a positioning module configured to obtain first real-time data of a tail end of the puncture needle according to the first RGBD data, to obtain second real-time data of a head end of the puncture needle according to the first real-time data of the tail end of the puncture needle and pre-stored structural data of the puncture needle, to simulate a model of the puncture needle according to the pre-stored structural data of the puncture needle, to obtain a preliminary position of the head end of the puncture needle in the reconstructed MRI image according to the reconstructed MRI image, and to superimpose the model of the puncture needle into the reconstructed MRI image according to the second real-time data and the preliminary position of the head end of the puncture needle in the reconstructed MRI image, so as to obtain a real-time relative position of the head end of the puncture needle in the reconstructed MRI image.

14. The interventional puncture positioning system combined with an MRI system and a depth camera according to claim 13, characterized in that, The first MRI data is specifically under-sampled MRI data, and the imaging module is configured to perform deep learning reconstruction on the first MRI data as under-sampled MRI data, so as to obtain a deep learning reconstructed MRI image.

15. The interventional puncture positioning system combined with an MRI system and a depth camera according to claim 13, characterized in that, The positioning system further comprises a display module configured to display the real-time relative position of the head end of the puncture needle in the reconstructed MRI image.

16. The interventional puncture positioning system combined with an MRI system and a depth camera according to claim 15, characterized in that, The depth camera module is configured to obtain first RGBD data of a surgical region of a patient and the puncture needle in real time. The positioning module is configured to perform three-dimensional reconstruction on the first RGBD data of the puncture needle, so as to obtain a three-dimensional point cloud model, and to simulate a real-time surgical scene according to the three-dimensional point cloud model. The display module is configured to display the real-time surgical scene.

17. The interventional puncture positioning system combined with an MRI system and a depth camera according to claim 16, characterized in that, The positioning module is configured to superimpose the model of the puncture needle into the real-time surgical scene in real time.

18. The interventional puncture positioning system combined with an MRI system and a depth camera according to claim 13, characterized in that, The depth camera module is configured to obtain third RGBD data of the puncture needle within a preset time range before each preset time interval. The positioning module is configured to determine scanning parameters of a scanning layer of an MRI used for obtaining corresponding first MRI data according to the third RGBD data of the puncture needle. The magnetic resonance scanning module is configured to obtain first MRI data of a surgical region of a patient according to a preset time interval and scanning parameters corresponding to the preset time interval, and to obtain a reconstructed MRI image according to the first MRI data.

19. The interventional puncture positioning system combined with an MRI system and a depth camera according to claim 13, characterized in that, The magnetic resonance scanning module is configured to obtain second MRI data of a magnetic resonance scanning region corresponding to the surgical region of the patient. The depth camera module is configured to obtain second RGBD data of a puncture needle installation region and the magnetic resonance scanning region corresponding to the puncture needle. The positioning module is configured to register the second MRI data and the second RGBD data.

20. The interventional puncture positioning system combined with an MRI system and a depth camera according to claim 13, characterized in that, The magnetic resonance scanning module comprises a magnetic resonance imaging instrument, and the magnetic resonance imaging instrument comprises a magnetic resonance bed body and an open magnetic resonance coil used for wrapping the surgical region of the patient, the open magnetic resonance coil being placed on the magnetic resonance bed body; the depth camera module comprises a depth camera installed on a shell of the magnetic resonance imaging instrument.

21. An interventional puncture navigation system combining an MRI system and a depth camera, characterized in that, The system comprises a navigation module and the interventional puncture positioning system of claim 13. The navigation module is configured to perform interventional puncture navigation according to the second real-time data of the head end of the puncture needle and the real-time relative position of the head end of the puncture needle in the reconstructed MRI image.

22. The interventional puncture navigation system combined with an MRI system and a depth camera according to claim 21, characterized in that, The magnetic resonance scanning module is configured to perform a complete sequence scan on the surgical region of the patient to obtain preoperative MRI data before obtaining first MRI data of the surgical region of the patient and obtaining a reconstructed MRI image according to the first MRI data; The imaging module is configured to obtain a preoperative reconstructed MRI image according to the preoperative MRI data; The navigation module is configured to superimpose a model of the puncture needle into the preoperative reconstructed MRI image according to the preoperative reconstructed MRI image, the reconstructed MRI image, the second real-time data, and a preliminary position of the front end of the puncture needle in the reconstructed MRI image, and perform interventional puncture navigation according to a real-time position of the model of the puncture needle superimposed into the preoperative reconstructed MRI image.

23. The interventional puncture navigation system combined with an MRI system and a depth camera according to claim 22, characterized in that, The navigation module is configured to perform preoperative planning according to the preoperative reconstructed MRI image to obtain a preoperative planning path before performing interventional puncture navigation according to the real-time position of the model of the puncture needle superimposed into the preoperative reconstructed MRI image, and determine whether the front end of the puncture needle is on the preoperative planning path according to a real-time relative position of the front end of the puncture needle in the preoperative reconstructed MRI image and the preoperative planning path. The display module is configured to display the preoperative planning path in the preoperative reconstructed MRI image, and display a portion corresponding to the front end of the puncture needle on the preoperative planning path in a color different from other portions of the preoperative planning path when the positioning module determines that the front end of the puncture needle is on the preoperative planning path.

24. The interventional puncture navigation system combined with an MRI system and a depth camera according to claim 23, characterized in that, The display module is configured to display a distance of the front end of the puncture needle from a lesion in the preoperative reconstructed MRI image, a distance of the front end of the puncture needle from the preoperative planning path, and a directional arrow when displaying the preoperative planning path in the preoperative reconstructed MRI image.

Images