CN103371870A - Multimode image based surgical operation navigation system - Google Patents
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Abstract
The invention relates to a multimode image based surgical operation navigation system which comprises a preoperative image acquisition device, an ultrasonic scanning device, a multimode image registration device, an integrated endoscopic device and a postoperative evaluation device. The preoperative image acquisition device acquires a three-dimensional image, the ultrasonic scanning device acquires an ultrasonic image in real time, the multimode image registration device registers the three-dimensional image with the ultrasonic image to obtain a registered image, the integrated endoscopic device acquires current image information of an operational position during operation, and the multimode image registration device fuses the registered image and the current image information to obtain a fused image. The preoperative three-dimensional image, the intraoperative ultrasonic image and the intraoperative current image are fused, therefore, real-time image information which is accurate, reliable and rich in information content can be provided for doctors; meanwhile, by the aid of the postoperative evaluation device, bases are provided for subsequent disease diagnosis, tracking or operation implementation.
Description
[technical field]
The present invention relates to medical instruments field, relate in particular to a kind of surgical navigation systems based on multimode images.
[background technology]
Computed tomography (Computed Tomography, CT), nuclear magnetic resonance (Magnetic Resonance Imaging, MRI) and ultra sonic imaging (Ultrasound, US) be widely used in computer-aided diagnosis and Technology of surgery navigation with its characteristic and advantage separately.In traditional micro-wound surgical operation process, lack the accurate description to the focus three dimensional structure before the art, directly affected the levels of precision of planning before the art, viewing area in the art only limits to the human body exposed surface, can only rely on doctor's experience and Space Idea and supposition to go synthetic determination to judge the focus particular location, its safety and accuracy can be subject to subjective impact, and severe patient causes operative failure.
The surgical navigation instrument is under area of computer aided, view data is processed such as image segmentation, image registration fusion and three-dimensional reconstruction etc., again according to before doctor's clinical experience and the art to focal zone ill pathological characters and disease sites structural analysis, the planning operation pathway, formulate the operation plan of reasonable, quantitative and Wicresoft and assist the doctor to carry out operation technique in conjunction with stereotactic system, thereby effectively reduce wound, the raising treatment precision of operation, make early rehabilitation of patient, reduce the probability that other sequela of postoperative occur.
Surgical navigation systems of the prior art lacks a cover in conjunction with imaging compound detection navigation scheme in imaging before the art and the art, thereby can not provide accurately reliable, the abundant real-time imaging information of quantity of information for the doctor, and the quality of operation can't further promote.In addition, surgical navigator of the prior art is not open platform, software system and interface can only operate according to each producer's instrument Application standard, can not upgrade, and basically do not possess postoperative trace analysis evaluation function, therefore being necessary to set up one sets up image-guided opening and postoperative evaluation system, not only can be for medical personnel provide a postoperative historical data with reference to platform, can also provide one based on historical surgical data, be used to follow-up medical diagnosis on disease, tracking or operation to implement to provide the platform of foundation.
[summary of the invention]
The present invention is intended to solve above-mentioned problems of the prior art, proposes a kind of surgical navigation systems based on multimode images.
Described surgical navigation systems based on multimode images comprises: video capturing device, ultrasonic scanning device, multimode images registration apparatus, endoscope's integrating device, postoperative evaluation device before the art.Wherein, the front video capturing device of described art obtains the 3-dimensional image of the front diseased region of patient's art; The ultrasonic image of diseased region in the described ultrasonic scanning device Real-time Obtaining patient art; Described multimode images registration apparatus carries out the multimode registration with described 3-dimensional image and ultrasonic image, obtains the registration image; Described endoscope integrating device obtains the current image information of surgery location in the art, and described multimode images registration apparatus merges described registration image and current image information, obtains merging image; Described postoperative evaluation device carries out machine learning according to described registration image and fusion image information, sets up the disease forecasting model.
The surgical navigation systems based on multimode images that the present invention proposes has merged before the art the current image of surgery location in MRI/CT 3-dimensional image, intraoperative ultrasound image and the art, can be that the doctor provide more accurately reliable, the abundant real-time imaging information of quantity of information; Simultaneously the present invention also is provided for storing and analyzing the postoperative evaluation device of surgical data, and this apparatus for evaluating can carry out machine learning according to surgical data, thereby implements to provide foundation for follow-up medical diagnosis on disease, tracking or operation.
[description of drawings]
Fig. 1 is the surgical navigation systems structure chart based on multimode images of one embodiment of the invention.
Fig. 2 is the multimode images registration apparatus fundamental diagram of one embodiment of the invention.
[specific embodiment]
In order to make purpose of the present invention, technical scheme and advantage more clear, below in conjunction with specific embodiment and accompanying drawing, the present invention is described in further detail.Should be appreciated that specific embodiment described in the literary composition only in order to explaining technical scheme of the present invention, and not should be understood to limitation of the present invention.
The invention provides a kind of surgical navigation systems based on multimode images, be used to that the doctor provides in real time in the art, accurate diseased region image as a reference, thereby the guiding doctor implements operation.
As shown in Figure 1, in an embodiment of the present invention, described surgical navigation systems based on multimode images comprises video capturing device 100 before the art, ultrasonic scanning device 200, multimode images registration apparatus 300, endoscope's integrating device 400 and postoperative evaluation device 500.
Hereinafter will each ingredient and the operation principle thereof of described surgical navigation systems based on multimode images be described in further detail.
Video capturing device 100 usefulness Rhizoma Atractylodis Macrocephalae are front before the described art scans patient's diseased region, thereby obtains the 3-dimensional image of patient's diseased region.Wherein, video capturing device 100 includes but not limited to the medical scanning imaging devices such as MRI scanner, CT scanner before the described art.Preferably, video capturing device 100 carries out pretreatment based on the related algorithm of Digital Image Processing to the primary data that scanning obtains before the described art, then adopt the tissue/organ shape based on statistics, patient's diseased region tissue/organ is carried out three-dimensional reconstruction, the final accurately described 3-dimensional image that obtains.Described 3-dimensional image can be used for planning operation pathway, for example, can calculate optimum surgical safe zone by collision algorithm, realize deathtrap active dodge technology, in order to retrain the displacement of operating theater instruments in the art, avoid maloperation and injure normal structure organ or hyperamization tracheal rupture.
Described ultrasonic scanning device 200 is used for obtaining in real time the ultrasonic image of patient's art diseased region.Described multimode images registration apparatus 300 carries out the multimode registration with described 3-dimensional image and ultrasonic image, obtains the registration image.
Described 3-dimensional image and ultrasonic image are the medical image of different modalities, do not have association between the gray value of the corresponding voxel of the medical image of different modalities.Therefore, as shown in Figure 2, preferably, described multimode images registration apparatus 300 further comprises MODAL TRANSFORMATION OF A module 301 and registration module 302, described MODAL TRANSFORMATION OF A module 301 is converted to virtual ultrasonic image with described 3-dimensional image, 302 pairs of described virtual ultrasonic images of described registration module and described ultrasonic image carry out registration, obtain described registration image.Particularly, can be according to the Imaging physics characteristic attribute of two kinds of different modalities, employing is derived and modeling based on the mathematical theory of perceptron kernel function, draw the physical features attribute of two kinds of inherences between the modal data, and further derive transforming relationship between described 3-dimensional image and the ultrasonic image bimodal data, described 3-dimensional image is converted to virtual ultrasonic image, and then described virtual ultrasonic image and described ultrasonic image are carried out registration, obtain described registration image.
Described registration image combines the characteristics of described 3-dimensional image and ultrasonic image, and the advantage that has 3 D stereo and present has in real time reflected patient's diseased region situation more true and reliablely.
Preferably, described ultrasonic scanning device 200 comprises based on the mechanical arm of spinor theory and the ultrasound probe that is arranged at described mechanical arm tail end.Described mechanical arm based on spinor theory is the legerity type multi-joint mechanical arm, and it has movable advantage freely; Described mechanical arm is used for gripping described ultrasound probe.In operation, described ultrasound probe is pressed close to patient's diseased region, in order to obtain the ultrasonoscopy of patient's diseased region.
In operation, patient tends to cause organizing deformation or the skew of organ trace because of breathing, therefore in a preferred embodiment, described ultrasonic scanning device 200 can be adjusted itself and patient's relative position adaptively, in case because of press close to patient and maintenance fixedly pose dampen tissue of patient.Particularly, described ultrasonic scanning device 200 further comprises sensing module, command control module and mechanical arm control chamber.Described sensing module obtains the force data between described ultrasonic scanning device and the patient, when described force data during greater than a certain predetermined threshold value T, described command control module is sent control command to described mechanical arm control chamber, described mechanical arm control chamber is controlled described mechanical arm away from patient, prevents from dampening patient.The auxiliary doctor of mechanical arm among the present invention grips ultrasonic probe, also can adopt the direct kinematics matrix to extrapolate terminal ultrasonic probe location parameter, and by the demarcation of self-control nylon plane grid body Model realization probe, obtain the ultrasonoscopy space to the transformation relation of the front image data locus of art, so not only can obtain the accurate spatial positional information of ultrasonic probe according to known spatial alternation relation, also reduce working doctor intensity.
Except the ultrasonic image that uses described ultrasonic scanning device 200 Real-time Obtaining patient diseased regions, the doctor also need use endoscope's integrating device 400 to obtain the current image information of surgery location in the art in operation.In the prior art, that fujinon electronic video endoscope has is real-time, the characteristic of high imaging true to nature, it is widely used in micro-wound surgical operation, for the doctor provides the visual operation visual field, has simultaneously that wound is little, few intercurrent disease, recovery is fast and the lower operation of direct-view and the advantage such as safe and effective.But the medical image that endoscopic surgery obtains lacks stereovision, and the visual area is narrow and small.In the present invention, described endoscope integrating device 400 obtains after the current image information of surgery location in the art, and 300 pairs of described registration images of described multimode images registration apparatus and current image information further merge, and obtain merging image.Described fusion visual fusion the current image of surgery location in 3-dimensional image, intraoperative ultrasound image and the art before the art, can implement reference for the doctor provide more accurately reliably image information to be used for operation.
Preferably, described endoscope integrating device 400 also comprises localizer, described endoscope integrating device 400 and ultrasonic scanning device 200 are equipped with the optical markings thing, and described localizer obtains the position of described endoscope integrating device 400 in described ultrasonic image according to described optical markings thing.Particularly, described localizer is fixed as object of reference, and its coordinate position is known.In operation, real-time displacement all may occur in described endoscope integrating device 400 and ultrasonic scanning device 200, by described localizer obtain respectively described endoscope integrating device 400 with respect to the positional information of described localizer and described ultrasonic scanning device 200 with respect to the positional information of described localizer, obtain described endoscope integrating device 400 positions with respect to described ultrasonic scanning device 200 thereby convert.The described fusion image that comprises described endoscope integrating device 400 images may further be the doctor provides more accurate reliably image information to be used for operation enforcement reference.
Preferably, described endoscope integrating device 400 is the narrow-band spectrum imaging endoscope integrating device based on CMOS.Adopt this endoscope integrating device except can obtaining the lesions position accurate information, also can by remove in conjunction with healthy and strong method for adaptive image enhancement in the image fuzzy, correct illumination information and improve image resolution ratio, solve noise in the optical imagery, fuzzy, reflective, the problem such as illumination is not enough.For example utilize this texture of the resident criterion in edge and anisotropy broadcast algorithm Recovery image, and introduce Smoothing Constraint and solve total variance problem in the image repair, finally can obtain 3 D anatomy structure is corresponding in the true visual field Overlapping display and fuse information.
Preferably, described postoperative evaluation device 500 can be based on the data inventory analysis platform of cloud computing.Described postoperative evaluation device 500 comprises memorizer and data processor, the described registration image of described memory stores and fusion image, described data processor is set up described disease forecasting model by machine learning, for follow-up medical diagnosis on disease or operation implement to provide foundation.Further preferably, described data processor carries out machine learning based on support vector machine principle or neural network theory.Postoperative evaluation device among the present invention is distributed in a large amount of image datas and surgical parameters in the virtual cloud, realizes the highly effective and safe storage of image data and at a high speed dynamically read-write.Employing can be by setting up the Based on Probability Statistic analysis models based on the data analysis statistics of cloud platform, image to operation process on the image data of postoperative and the cloud platform is analyzed, for the doctor follows the tracks of assessment to patient's rear situation of performing the operation comprehensively, simultaneously also for providing reference data and teaching resource for image-guided operation clinically.Also can develop a cover entire run in the Web client software based on above-mentioned principle, the service of enjoying the cloud platform resource is provided for non-programming user.
The surgical navigation systems based on multimode images that the present invention proposes combines the separately advantage of the current image of surgery location in MRI/CT 3-dimensional image before the art, intraoperative ultrasound image and the art, and its fusion obtained merging image, for being used for operation, the real-time imaging information that the doctor provides more accurately reliably, quantity of information is abundant implements reference, can realize: in piercing process, in conjunction with locating and tracking system, employing guarantees to realize best operation pathway based on feature point tracking in the body of two ultrasonic orthogonal images in the art and puncture needle location; In process of expansion, in conjunction with the method for visualizing of augmented reality, research convergent divergent channel real-time positioning and early warning; In operative process, take endoscope's localization method and augmented reality based on optics and electromagnetism hybrid location determination technology, finally realize the complete three-dimensional real-time navigation of operation process.
In addition, the present invention also is provided for storing and analyzing the postoperative evaluation device of surgical data, and this apparatus for evaluating can carry out machine learning according to surgical data, thereby implements to provide foundation for follow-up medical diagnosis on disease, tracking or operation.
Although the present invention is described with reference to current preferred embodiments; but those skilled in the art will be understood that; above-mentioned preferred embodiments only is used for explaining and illustrating technical scheme of the present invention; and be not to limit protection scope of the present invention; any within the spirit and principles in the present invention scope; any modification of doing, equivalent replacement, distortion, improvement etc. all should be included within the claim protection domain of the present invention.
Claims (10)
1. surgical navigation systems based on multimode images comprises: video capturing device, ultrasonic scanning device, multimode images registration apparatus, endoscope's integrating device, postoperative evaluation device before the art, wherein,
Video capturing device obtains the 3-dimensional image of the front diseased region of patient's art before the described art;
The ultrasonic image of diseased region in the described ultrasonic scanning device Real-time Obtaining patient art;
Described multimode images registration apparatus carries out the multimode registration with described 3-dimensional image and ultrasonic image, obtains the registration image;
Described endoscope integrating device obtains the current image information of surgery location in the art, and described multimode images registration apparatus merges described registration image and current image information, obtains merging image;
Described postoperative evaluation device carries out machine learning according to described registration image and fusion image information, sets up the disease forecasting model.
2. the surgical navigation systems based on multimode images according to claim 1 is characterized in that, video capturing device is MRI scanner or CT scanner before the described art.
3. the surgical navigation systems based on multimode images according to claim 1, it is characterized in that, described multimode images registration apparatus comprises MODAL TRANSFORMATION OF A module and registration module, described MODAL TRANSFORMATION OF A module is converted to virtual ultrasonic image with described 3-dimensional image, described registration module is carried out registration to described virtual ultrasonic image and described ultrasonic image, obtains described registration image.
4. the surgical navigation systems based on multimode images according to claim 1 is characterized in that, described postoperative evaluation device is the data inventory analysis platform based on cloud computing.
5. the surgical navigation systems based on multimode images according to claim 4, it is characterized in that, described postoperative evaluation device comprises memorizer and data processor, the described registration image of described memory stores and fusion image, described data processor is set up described disease forecasting model by machine learning.
6. the surgical navigation systems based on multimode images according to claim 5 is characterized in that, described data processor carries out machine learning based on support vector machine principle or neural network theory.
7. the surgical navigation systems based on multimode images according to claim 1 is characterized in that, described ultrasonic scanning device comprises based on the mechanical arm of spinor theory and the ultrasound probe that is positioned at described mechanical arm tail end.
8. the surgical navigation systems based on multimode images according to claim 7, it is characterized in that, described ultrasonic scanning device further comprises sensing module, command control module and mechanical arm control chamber, described sensing module obtains the force data between described ultrasonic scanning device and the patient, when described force data during greater than predetermined threshold value T, described command control module is sent control command to described mechanical arm control chamber, and described mechanical arm control chamber is controlled described mechanical arm away from patient.
9. the surgical navigation systems based on multimode images according to claim 1 is characterized in that, described endoscope integrating device is the narrow-band spectrum imaging endoscope integrating device based on CMOS.
10. the surgical navigation systems based on multimode images according to claim 9, it is characterized in that, described endoscope integrating device also comprises localizer, described endoscope integrating device and ultrasonic scanning device are equipped with the optical markings thing, and described localizer obtains the described endoscope position of integrating device in described ultrasonic image according to described optical markings thing.
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