Area of computer aided puncture navigation system under a kind of infrared guiding and methodTechnical field
The present invention discloses the area of computer aided puncture navigation system and method under a kind of infrared guiding, native system in piercing process can real-time positioning puncture needle with puncture center, and monitoring process in a computer, thus the deviation between puncture needle and predefined puncture path can be obtained at once.
Background technology
In modern surgery operation, pin puncture is a kind of commonplace technology.Operator thrusts tissue or the organ of human body with puncture needle, completes the operation such as biopsy, local anaesthesia.This technology is widely used in the diagnosis and treatment to Organ and tissues such as Human Lung, kidney, spinal columns.
In puncturing operation, puncture precision is the key of operation success or failure, but the accuracy of puncture at present depends on experience and the technology of operator.Operator plays pin after can only probably determining puncture center and puncture path by medical scanning devices such as CT on image before surgery by rule of thumb.And the puncture center caused by the autonomous respiration of patient or heart beating etc. changes and human operational error directly can affect the accuracy of puncture position.And due to the limitation of current technology, the puncture path of operator's definition is all vertical substantially, and this just makes in some case, and puncture needle cannot avoid responsive organ or tissue, this brings inconvenience greatly and dangerous to puncture.
In view of the above problems, be necessary to find a kind of can monitor puncture needle and puncture center and puncture path in real time system or method solve problem.
Summary of the invention
For the deficiencies in the prior art, the technical problem that the present invention solves to monitor the position relationship of puncture needle and puncture center and predefined puncture path in real time, can and guide procedure by direct vision in a computer.System can cook up many alternative puncture paths automatically according to data, and operator rule of thumb therefrom selects suitable path, also can manually plan voluntarily.Meanwhile, the present invention has broken the single limitation of puncture path angle, can realize puncturing from arbitrarily angled.
For solving the problems of the technologies described above, technical scheme of the present invention is achieved in that
An area of computer aided puncture navigation system under infrared guiding, comprises puncture needle module, human body positioner module and monitoring display module.Puncture needle module comprises puncture needle and puncture needle positioning apparatus, and puncture needle positioning apparatus is fixed on puncture needle afterbody, the position registration of positioner can be utilized to calculate the three-dimensional position of puncture needle needle point and backshank, obtain the angle of puncture needle further; Human body positioner module comprises the positioner being fixed on body surface, and the positioner of body surface is used for the real-time three-dimensional position of reflection each tissue of inside of human body and organ, puncture center and puncture path indirectly; Monitoring display module comprises high accuracy infrared monitoring equipment and computer software, and high accuracy infrared monitoring equipment can take the positional information obtaining above-mentioned positioner, computer software can carry out showing, registration, calculating operation.
Present invention is disclosed the method for the area of computer aided puncture navigation under a kind of infrared guiding, comprise the steps:
S1: according to actual needs, fixes more than three positioners near the penetrating area on body surface;
In at least one embodiment of the present invention, positioner on described body surface is can by the infrared location bead of described high accuracy infrared monitoring recognition of devices, but the technical staff in described field is without the need to creative work, the location bead described in the replacement of other shape tag objects adopting other materials with obvious infrared signature to make just should be expected.Therefore similar technical scheme does not exceed scope disclosed in the present invention and claimed yet.
The quantity being arranged on the positioner of body surface be preferably three and more than, to ensure that the motion of the positioner detected fully can show the change of six-freedom degree in three dimensions (translation in three-dimensional system of coordinate on three directions and rotation).If adopted less than three positioners, positioning precision can be affected, even Wrong localization.Generally can select the positioner of more than three, in order to avoid occur because block the location error caused.
S2: by medical scanning system, obtains the image of puncture target area, reconstruction of three-dimensional Image model.To give a definition positioner, inside of human body sensitive organization organ and puncture target in first kind coordinate system, and obtained the information of the three-dimensional relative position relation between these parts by computer registration;
Define puncture path in a computer, center of namely puncturing enters the path of pin mark to body surface, and registration calculates the information of the three-dimensional relative position relation between body surface location device and puncture center and puncture path;
S3: select puncture needle model according to practical situation, internal system predefines multiple puncture needle type information, type information mainly refers to the information of three-dimensional position relation of the positioner that is fixed on puncture needle afterbody and puncture needle needle point, backshank;
Utilize infrared location system, real-time tracing is fixed on the positioner of puncture needle afterbody, its three-dimensional location coordinates is determined under Equations of The Second Kind coordinate system, the real-time three-dimensional position coordinates of needle point and backshank is calculated according to the real-time three-dimensional position registration of selected puncture needle model and positioner, and virtual display puncture needle on computers;
In at least one embodiment of the present invention, the described positioner being fixed on puncture needle afterbody is can by the infrared location bead of described high accuracy infrared monitoring recognition of devices, but the technical staff in described field is without the need to creative work, the location bead described in the replacement of other shape tag objects adopting other materials with obvious infrared signature to make just should be expected.Therefore similar technical scheme does not exceed scope disclosed in the present invention and claimed yet.
The quantity being fixed on the positioner of puncture needle afterbody is three, to ensure that the motion of the positioner detected fully can show the change of six-freedom degree in three dimensions (translation in three-dimensional system of coordinate on three directions rotates).If adopted less than three positioners, positioning precision can be affected, even Wrong localization.
S4: in piercing process, according to the positional information of the positioner of high accuracy infrared monitoring equipment real-time tracing, demonstrate the three-dimensional location coordinates of puncture center, puncture path and puncture needle in the mode of virtual reality in the threedimensional model rebuild, thus, operator intuitively can arrive the whole process of puncture;
S5: puncture needle arrives puncture center, and puncture completes.
Beneficial effect of the present invention is: can realize puncturing from arbitrarily angled, and having broken puncture path can only the limitation of vertical human body surface.Can to make rational planning for puncture path, effectively to avoid responsive Organ and tissue.Can monitor in real time piercing process, operator can learn the angular deviation between puncture needle and puncture path in real time, and the range deviation etc. between puncture needle needle point and puncture center, and revise in time, thus substantially increase accuracy and the safety of puncture.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet that the present invention applies in piercing process.
Left figure in Fig. 2 is the axonometric chart of puncture needle and positioner thereof, and right figure is the top view of puncture needle and positioner thereof.
Fig. 3 is the model schematic of computerized three-dimensional reconstruction.
Fig. 4 is human body location schematic diagram.
Fig. 5 is the schematic diagram of piercing process.
Fig. 6 is the total schematic diagram of lancing system.
Detailed description of the invention
In order to make the object, technical solutions and advantages of the present invention clearly, describe the present invention below in conjunction with the drawings and specific embodiments.
With reference to figure 2 ~ 6, be fixed on the positioner on puncture needle and the positioner on body surface is can by the infrared location bead of described high accuracy infrared monitoring recognition of devices.Infrared location bead surface covers the material that one deck can reflect most directs light.High accuracy infrared monitoring equipment is launched infrared light and is reflected by bead, and watch-dog receives the Infrared reflected, and analytical data calculates the three-dimensional location coordinates of bead, achieves the object of monitoring positioner.
With reference to figure 2, on puncture needle, the positioner support that is fixed is fixed on the afterbody of puncture needle, has pre-defined the puncture needle information of Multiple Type in computer.If the three-dimensional relative position relation of described puncture needle information spinner positioner and puncture needle needle point and backshank, therefore, the three-dimensional location coordinates of positioner and puncture needle type information on the puncture needle that computer can utilize high accuracy infrared monitoring device back, registration calculates the three-dimensional location coordinates of puncture needle needle point and backshank, further can obtain the angle of puncture needle.
Further, the three-dimensional coordinate of described " three-dimensional location coordinates of puncture needle " puncture needle backshank of calculating for registration and needle point.
With reference to figure 3, before operation starts, computer receives the scanogram of patient, rebuilds the threedimensional model of human body, show in a computer after analyzing and processing.Operator manually defines puncture center by rule of thumb in the three-dimensional model.
With reference to figure 4, computer cooks up several suitable puncture paths automatically according to the data received, and effectively avoids sensitive organization or organ.It is suitable that operator can therefrom select, also can according to obtained information manual definition puncture path in a computer.In this threedimensional model, different threshold values can be set and render the different tissue of human body, thus the accuracy of puncture path and puncture center can be determined intuitively.
Human body positioner has just been fixed on the human body surface of penetrating area before the scan, the positioner after computer reception scanogram in Automatic-searching scanogram.Calculate the three-dimensional relative position relation of body surface positioner and each tissue of inside of human body and organ, puncture center and puncture path according to scanogram registration, be denoted as initial three-dimensional relative position.
After operation starts, high accuracy infrared monitoring equipment can the three-dimensional location coordinates of real-time tracing body surface positioner.These coordinate informations are reached computer, and computer is according to the initial three-dimensional relative position of record, and registration calculates the real-time three-dimensional position of each tissue of inside of human body and organ, puncture center and puncture path.
With reference to figure 5, when puncture needle is from entering after pin mark enters human body, in the threedimensional model of computer, puncture process can be shown in real time.If deviation appears in puncture needle and puncture path, operator can learn from computer at once, and corrects in time.When the needle point of puncture needle arrives puncture center, puncture completes.