CN108175502A - A kind of bronchoscope electromagnetic navigation system - Google Patents
A kind of bronchoscope electromagnetic navigation system Download PDFInfo
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- 210000000621 bronchi Anatomy 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims description 26
- 230000029058 respiratory gaseous exchange Effects 0.000 claims description 18
- 230000005672 electromagnetic field Effects 0.000 claims description 15
- 210000004072 lung Anatomy 0.000 claims description 15
- 230000002612 cardiopulmonary effect Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000002591 computed tomography Methods 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 230000003902 lesion Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000000241 respiratory effect Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 208000010496 Heart Arrest Diseases 0.000 description 1
- 208000019693 Lung disease Diseases 0.000 description 1
- 206010036790 Productive cough Diseases 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 238000013276 bronchoscopy Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 210000002919 epithelial cell Anatomy 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 230000023597 hemostasis Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001613 neoplastic effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 208000023504 respiratory system disease Diseases 0.000 description 1
- 210000003802 sputum Anatomy 0.000 description 1
- 208000024794 sputum Diseases 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/267—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/08—Measuring devices for evaluating the respiratory organs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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Abstract
The embodiment of the present application provides a kind of bronchoscope electromagnetic navigation system, including registration module, navigation module and display module, pass through location drawing picture of the bronchus that registration module matches in CT images, alignment sensor in navigation module gets the real-time location coordinates of bronchoscope, control unit in navigation module is according to real-time location coordinates and center line, the corresponding correct coordinates of real-time location coordinates are determined in location drawing picture, display module, to CT images, location drawing picture, real-time location coordinates and correct coordinates are shown, during being somebody's turn to do, pass through the correct registration and the accurate navigation of navigation module of registration module, realize the accurate electromagnetic navigation in bronchial tree.
Description
Technical field
The invention relates to electromagnetic navigation field more particularly to a kind of bronchoscope electromagnetic navigation systems.
Background technology
At present, bronchoscopy is one of important diagnosis and treatment means of respiratory disease, it can be to trachea-bronchial epithelial cell pipe
Chamber directly visually observes, while does biopsy, correctly diagnoses the illness；Bronchoscope can treat pulmonary disease, such as
Attract sputum, local hemostasis, neoplastic excision etc.；It can be with local administration to reach better therapeutic effect.When lesion position
It puts when need by multiple bronchial tree branch, only current bronchoscope image has been not enough to auxiliary doctor and determines
Up to the path of lesion so that surgical procedure difficulty increases.
Invention content
The embodiment of the present application provides a kind of bronchoscope electromagnetic navigation system, in the virtual three-dimensional bronchus of Computer display
Under the guidance of tree and current track and localization catheter position, judge to reach the path of lesion.
In a first aspect, the embodiment of the present application provides a kind of bronchoscope electromagnetic navigation system, including：Registration module, navigation
Module and display module, wherein,
The registration module is suffered from for matching described in pre-operative patients lung areas computer tomography CT image and art
The bronchi image of person's lung areas, to build location drawing picture of the patients bronchial in the CT images；
The navigation module includes：Navigation elements and control unit, wherein,
The navigation elements, are coupled to described control unit, can follow airway wall in the branch in the patient lungs region
It is moved in tracheae tree, setting alignment sensor in the navigation elements, the alignment sensor is used to obtain the airway wall
Real-time location coordinates；
Described control unit, for according to the real-time location coordinates and center line, being determined in the location drawing picture
Go out the corresponding correct coordinates of the real-time location coordinates, the center line is by any one bifurcation in the bronchial tree
Straight line, the center line is at least one；
The display module is coupled to the registration module and the navigation module, for showing CT images, described
Location drawing picture, the real-time location coordinates and the correct coordinates.
In a kind of possible realization method, above-mentioned bronchoscope electromagnetic navigation system further includes：
Respiration transducer is arranged in the airway wall and is coupled to the registration module, for obtaining the first data, institute
The first data are stated to include inscribing bronchial data during the patient at least two breathing；
The alignment sensor is further coupled to the registration module, and for obtaining the second data, second data are institute
Bronchial data are inscribed when stating patient respiratory；
The registration module, specifically for according to second data, first data being divided at least two classes, from institute
The corresponding error minimum data of raw image data that the CT images are determined at least two class data is stated, according to the error
The bronchi image in patient lungs region described in minimum data and art, position of the patients bronchial in the CT images
Image.
In a kind of possible realization method, described control unit, specifically for using center line correction algorithm by described in
Real-time location coordinates are to the distance of the center line line, and correction is projected on the center line, to determine the correct coordinates.
In a kind of possible realization method, above-mentioned bronchoscope electromagnetic navigation system further includes：Cardiopulmonary breathing detection
Instrument is coupled to described control unit, for detecting the breathing of the patient, heart beat cycle.
In a kind of possible realization method, the cardiopulmonary breathing detection instrument further includes recovery device, in the trouble
During person's cardiac arrest, the heart of the patient is accurately found, is sued and laboured to the patient.
In a kind of possible realization method, above-mentioned bronchoscope electromagnetic navigation system further includes：
Electromagnetic field emissions module for electromagnetic field to occur, is coupled to described control unit；
Described control unit is additionally operable to control the electromagnetic field emissions module that the electromagnetic field occurs.
In a kind of possible realization method, the navigation module is additionally operable to receive what the electromagnetic field emissions module was sent out
Electromagnetic wave, described control unit accurately include position of the navigation elements in the patient airway in the display mould
On block.
In a kind of possible realization method, the alignment sensor is optical sensor, 6DOF electromagnetic location senses
Device or ultrasonic sensor.
In a kind of possible realization method, the output signal of the alignment sensor is vision signal, picture signal or
Coordinate signal.
In a kind of possible realization method, the display module shows video image, still image or coordinate.
Bronchoscope electromagnetic navigation system provided by the embodiments of the present application, including registration module, navigation module and display mould
Block, by location drawing picture of the bronchus that registration module matches in CT images, the alignment sensor in navigation module obtains
To the real-time location coordinates of bronchoscope, control unit in navigation module is according to real-time location coordinates and center line, in place
It puts and the corresponding correct coordinates of real-time location coordinates is determined in image, display module, to CT images, location drawing picture, real time position
Coordinate and correct coordinates are shown, should during, by the correct registration and the accurate navigation of navigation module of registration module,
Realize the accurate electromagnetic navigation in bronchial tree.
Description of the drawings
Fig. 1 is the structure diagram of bronchoscope electromagnetic navigation system that one embodiment of the application provides；
Fig. 2 registration navigation schemes used in the application bronchoscope electromagnetic navigation system；
Fig. 3 is the register flow path figure of the application bronchoscope electromagnetic navigation system；
Fig. 4 is that the center line in the application bronchoscope electromagnetic navigation system navigation procedure corrects schematic diagram；
Fig. 5 is the structure diagram of bronchoscope electromagnetic navigation system that another embodiment of the application provides.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present application are clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical solution in the embodiment of the present application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those skilled in the art are not having
All other embodiments obtained under the premise of creative work are made, shall fall in the protection scope of this application.The following contents
For with reference to attached drawing and preferred embodiment, to specific embodiment, structure, feature and its effect according to the application specifically
It is bright.
Term " first ", " second ", " third " in the description and claims of this application and the attached drawing and "
The (if present)s such as four " are for distinguishing different objects rather than for describing particular order.In addition, term " comprising " and " tool
Have " and their random variation, it is intended that cover non-exclusive include.Such as contain series of steps or the mistake of unit
The step of journey, method, system, product or equipment are not limited to list or unit, but optionally further include and do not list
The step of or unit or optionally further include for other intrinsic steps of these processes, method, product or equipment or unit.
" embodiment " is referred in the application it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
It is contained at least one embodiment of the application.Each position in the description occur the phrase might not refer both to it is identical
Embodiment, nor the independent or alternative embodiment with other embodiment mutual exclusion.Those skilled in the art explicitly with it is hidden
Understand, embodiment described herein can be combined with other embodiment likes.
In addition, some vocabulary is such as used to censure specific components in specification and claims.Art technology
Personnel are, it is to be appreciated that hardware manufacturer may call same component with different names.This specification and claims are simultaneously
Not in a manner that the difference of title is used as and distinguishes component, but it is used as the criterion of differentiation with the difference of component functionally.
If being an open language in the "comprising" of specification in the whole text and claim mentioned in, thus should be construed to " include but
It is not limited to "." substantially " refer in receivable error range, those skilled in the art can be within a certain error range solution
Certainly the technical problem basically reaches the technique effect.In addition, " coupling " or " electric connection " word is herein comprising any straight
It connects and indirect electric property coupling means.Therefore, if it is described herein that a first device is coupled to second device, then described first is represented
Device can be directly electrically coupled to the second device or be indirectly coupled to second dress through other devices or coupling means
It puts.Specification subsequent descriptions are to implement the better embodiment of the application, and so description is the rule for illustrating the application
For the purpose of, it is not limited to scope of the present application.The protection domain of the application is when subject to appended claims institute defender.
The bronchoscope electromagnetic navigation system of the disclosure is suitable on the basis of the CT images of lung areas, coordinates branch gas
Pipe mirror carries out the navigation operation of bronchial path.
Fig. 1 is the structure diagram of bronchoscope electromagnetic navigation system that one embodiment of the application provides.As shown in Figure 1,
Bronchoscope electromagnetic navigation system 1 provided by the embodiments of the present application includes registration module 10, navigation module 20 and display module
30, wherein, registration module 10, for matching patient described in pre-operative patients lung areas computer tomography CT image and art
The bronchi image of lung areas, to build location drawing picture of the patients bronchial in the CT images；Navigation module 20
Including navigation elements 210 and control unit 220, wherein, navigation elements 210 are coupled to control unit 220, can be according to tracheae
Mirror moves in the bronchial tree in patient lungs region, and alignment sensor 2110, alignment sensor are provided in navigation elements 210
2110 are used to obtain the real-time location coordinates of airway wall, the gas which can get according to alignment sensor 2110
Pipe mirror is inserted into the depth of tracheae and goniometer calculates, and control unit 220 is real-time for being got according to alignment sensor 2110
Position coordinates and center line in location drawing picture of the bronchus matched in registration module 10 in CT images, determine real-time
The corresponding correct coordinates in position, wherein, center line be by any one bifurcation in bronchial tree straight line, normal conditions
System, center line are at least one, and display module 30 is coupled to registration module 10 and navigation module 20, and registration is imported for showing
The reality that alignment sensor in location drawing picture that CT images, the registration module 10 of module 10 match, navigation module 20 is got
When the position coordinates and correct coordinates finally determined of control unit 220.
Under normal conditions, due to the respiratory movement of patient and other reasons, registration navigation, meeting are carried out according to preoperative CT
Lead to deviation of navigating, for example in 4,5 grades of bronchuses, adopted by the supravasal alignment sensor of positioning in art mesobronchus mirror
The real-time location coordinates of collection are transformed into the location drawing picture that preoperative CT images are matched with bronchi image, find the real-time position
It puts in the location drawing picture that coordinate is not matched in CT images and bronchi image, i.e., not in bronchial tube chamber.At this point, electromagnetism
Navigation hint has arrived at lesion, and result from lesion also have with a certain distance from even due to deviation, by the path of navigation with reality
The path on border is inconsistent so that navigation fails, so that doctor judges by accident.Navigate deviation or failure the reason of generally just like
Lower three reasons：Reason one, registration matrix start (1-2 grades of bronchuses) inaccurately, and the later stage (4-5 grades of bronchuses) does not also carry out
Update；Reason two, tracheae lead to deformation due to the entrance of airway wall；Reason three, patient respiratory movement lead to deviation.These three are former
Because being the interactional and current existing insurmountable technical problem of method.
The bronchoscope electromagnetic navigation system that the embodiment of the present disclosure provides, using the register method after optimization, in addition center
The navigation mode of lines matching combines the alignment sensor being mounted on bronchoscope, such as optical sensor, 6DOF electromagnetic location
Sensor etc., the bronchoscope got are inserted into the accurate electromagnetic navigation in the real-time location coordinates realization bronchial tree of tracheae.
Further, the output signal of the alignment sensor 2110 is vision signal, picture signal or coordinate signal；Correspondingly, institute
It states display module 30 and shows video image, still image or coordinate.
The bronchoscope electromagnetic navigation system that the embodiment of the present disclosure provides, including registration module, navigation module and display mould
Block, by location drawing picture of the bronchus that registration module matches in CT images, the alignment sensor in navigation module obtains
To the real-time location coordinates of bronchoscope, control unit in navigation module is according to real-time location coordinates and center line, in place
It puts and the corresponding correct coordinates of real-time location coordinates is determined in image, display module, to CT images, location drawing picture, real time position
Coordinate and correct coordinates are shown, should during, by the correct registration and the accurate navigation of navigation module of registration module,
Realize the accurate electromagnetic navigation in bronchial tree.
Most important two big technology modules of electromagnetic navigation are：Registration (matches preoperative CT and art mesobronchus tree), navigation
(position of the bronchial tree obtained in real time in art is returned in the coordinate system in preoperative CT, for prompting current sensor institute
Which position of CT in the preoperative).The precision that the error of registration and navigation will determine electromagnetic navigation simultaneously.In the following, to the application reality
The registration process and navigation procedure for applying the bronchoscope electromagnetic navigation system of example offer are described in detail respectively.
First, registration process.
Fig. 2 registration navigation schemes used in the application bronchoscope electromagnetic navigation system, Fig. 3 are the application branch gas
The register flow path figure of pipe mirror electromagnetic navigation system.
Please refer to Fig. 2, in the embodiment of the present application, Patients with Lung described in 10 real-time update of registration module matching CT images and art
Location drawing picture that the bronchi image in portion region constructs, patients bronchial is in CT images, bronchoscope parameter are also real
When it is newer, alignment sensor obtains the real-time location coordinates of bronchoscope in real time, and navigation module 20 is precisely navigated.
Please refer to Fig. 1 again, in the embodiment of the present application, bronchoscope electromagnetic navigation system further includes respiration transducer 40 and sets
In the airway wall and the registration module is coupled to, for obtaining the first data, first data include the patient
Bronchial data are inscribed during at least two breathings；The alignment sensor 2110, is further coupled to the registration module, for obtaining
The second data are taken, second data inscribe bronchial data when being the patient respiratory；The registration module 10, it is specific to use
According to second data, first data are divided at least two classes, are determined from at least two class data described
The corresponding error minimum data of raw image data of CT images, the patient lungs according to the error minimum data and art
The bronchi image in region, location drawing picture of the patients bronchial in the CT images.
On the basis of above-mentioned Fig. 1, then Fig. 3 is please referred to, control unit 220 is according to respiration transducer 40 collected first
2110 collected data of alignment sensor are divided into 11 classes by data, such as the class data of the 0th class data in figure~the 10th,
Then registration module 10 finds the corresponding error minimum data of raw image data of CT images, CT figures from the 11 class data
In the class data of the raw image data of picture and the 0th class data~the 10th, it is denoted as error (0)~error respectively per the error of class data
(10).Assuming that in 11 data, the data of the corresponding error minimum of raw image data of CT images are K class data, wherein, 0
≤ K≤10, K are integer, the bronchi image in patient lungs region, the trouble according to the error minimum data and art
Location drawing picture of person's bronchus in the CT images.
In above-mentioned registration process, it is contemplated that the breathing moment of preoperative CT carries out the point sets at all breathing moment in art
Classification, a kind of point set for finding registration error minimum are registered as registration point set.
Secondly, navigation procedure.
In the embodiment of the present application, described control unit 220, specifically for using center line correction algorithm by the real-time position
Coordinate is put to the distance of the center line line, correction is projected on the center line, to determine the correct coordinates.Specifically,
Please refer to Fig. 4.
Fig. 4 is that the center line in the application bronchoscope electromagnetic navigation system navigation procedure corrects schematic diagram, please refers to figure
4：Since " root ", every solid line represents a center line, and P_BK represents k-th bifurcated point coordinates in bronchial tree, such as P_
B1 represents the 1st bifurcated point coordinates in bronchial tree, and P_B2 represents the 2nd bifurcated point coordinates in bronchial tree, and P_B3 represents branch
3rd bifurcated point coordinates in tracheae tree.
P_C：It is by being transformed into CT images and bronchial tree image after above-mentioned register flow path by alignment sensor coordinate
Coordinate under the location drawing picture coordinate system matched.In the embodiment of the present application, center line correction is that P_C is forgotten about it correct branch
On, while displacement on centerline is computed correctly out, the solid line in center line, that is, figure.Center line correction algorithm flow is as follows：
The maximum normal distance of step 1, setting P_C to center line：MD obtains the direction D_PC of P_C.Wherein, the value of MD
Equal to P_C to the distance of central axis point, there can be multiple, for example, P_C and 2 points of P_1, P_2, P_3 or P_4 in Fig. 4
The distance between, D_PC includes three-dimensional coordinate and three-dimensional.
Step 2, the distance for calculating P_C to P_N are less than or equal to point set (P_1, P_2 ... ..., P_N) the alternately point of MD
Collection, while calculate distance (P_C-P_1, P_C-P_2 ... ..., P_C-P_N).
Step 3, the direction for calculating point set (P_1, P_2 ... ... P_N), are denoted as (D1, D2 ... ..., DN).Wherein, P_1
Direction is the tangential direction by P_1, and the direction of P_2 is the tangential direction ... by P_2
The angle of step 4, the direction for calculating point set P_C and point set (P_1, P_2 ... ..., P_N) direction, is denoted as (D_1, D_
2 ... ..., D_N).
The centerline path distance of step 5, calculating point set (P_1, P_2 ... ..., P_N) to P_K, be denoted as (M1,
M2 ... ..., MN).
Step 6, constructions cost function：COST (P_H)=1/3 × (P_C_P_K/ (P_C-P_1+P_C-P_2+ ...+P_C-
P_N))+1/3×(D_K/(D_1+D_2+…+D_N)+1/3×(M1/(M1+M2+…+MN))。
Step 7, MIN (COST (P_H)) find minimum cost, record the point as P_H.
In the examples described above as can be seen that P_1 is the point that the minimum point of cost function is concentrated.We need to consider P_ now
Whether the displacement of 1 and P_K is correct.At this time, it would be desirable to by optical sensor (such as：The optics being attached on airway wall
Mouse sensor etc.) the shift length D that is inserted into of obtained airway wall verified, i.e.,：If D (P_1, P_K) is more than D, then P_1
+ (D (P_1, P_K)-D), otherwise P_1- (D (P_1, P_K)-D).
In above-mentioned navigation procedure, add in center line correction algorithm and reduce navigation error, meanwhile, using alignment sensor, such as
The real-time location coordinates of acquisition are carried out correction projection by optical sensor etc., so as to project to the correct position on center line.
Fig. 5 is the structure diagram of bronchoscope electromagnetic navigation system that another embodiment of the application provides.Please refer to figure
5, bronchoscope electromagnetic navigation system provided in this embodiment further includes on the basis of above-mentioned Fig. 1：Cardiopulmonary breathing detection instrument
50, described control unit is coupled to, for detecting the breathing of the patient, heart beat cycle.
Further, the cardiopulmonary breathing detection instrument 50, further includes recovery device, in patient heartbeats' all standing
When, the heart of the patient is accurately found, is sued and laboured to the patient.
Fig. 5 is please referred to again, and bronchoscope electromagnetic navigation system provided by the embodiments of the present application further includes：Electromagnetic field emissions
Module 60 for electromagnetic field to occur, is coupled to described control unit, and described control unit 220 is additionally operable to control the electromagnetic field
The electromagnetic field occurs for transmitting module 60.
Further, the navigation module 20 is additionally operable to receive the electromagnetic wave that the electromagnetic field emissions module 60 is sent out, institute
Control unit 220 is stated accurately to include position of the navigation elements 210 in the patient airway in the display module
On 30.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Aforementioned program can be stored in a computer read/write memory medium.The journey
Sequence when being executed, performs the step of including above-mentioned each method embodiment；And aforementioned storage medium includes：ROM, RAM, magnetic disc or
The various media that can store program code such as person's CD.
Finally it should be noted that：The above various embodiments is only to illustrate the technical solution of the application, rather than its limitations；To the greatest extent
Pipe is described in detail the application with reference to foregoing embodiments, it will be understood by those of ordinary skill in the art that：Its according to
Can so modify to the technical solution recorded in foregoing embodiments either to which part or all technical features into
Row equivalent replacement；And these modifications or replacement, each embodiment technology of the application that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of bronchoscope electromagnetic navigation system, which is characterized in that including：Registration module, navigation module and display module,
In,
The registration module, for matching Patients with Lung described in pre-operative patients lung areas computer tomography CT image and art
The bronchi image in portion region, to build location drawing picture of the patients bronchial in the CT images；
The navigation module includes：Navigation elements and control unit, wherein,
The navigation elements, are coupled to described control unit, can follow airway wall in the bronchus in the patient lungs region
It is moved in tree, setting alignment sensor in the navigation elements, the alignment sensor is used to obtain the real-time of the airway wall
Position coordinates；
Described control unit, for according to the real-time location coordinates and center line, institute to be determined in the location drawing picture
The corresponding correct coordinates of real-time location coordinates are stated, the center line is the straight of any one bifurcation in the process bronchial tree
Line, the center line are at least one；
The display module is coupled to the registration module and the navigation module, for showing the CT images, the position
Image, the real-time location coordinates and the correct coordinates.
2. system according to claim 1, which is characterized in that further include：
Respiration transducer is arranged in the airway wall and is coupled to the registration module, for obtaining the first data, described the
One data include inscribing bronchial data when the patient at least two breathes；
The alignment sensor is further coupled to the registration module, and for obtaining the second data, second data are the trouble
Person inscribes bronchial data when breathing；
The registration module, specifically for according to second data, first data are divided at least two classes, from it is described to
The corresponding error minimum data of raw image data of the CT images is determined in few two class data, according to error minimum
The bronchi image in patient lungs region described in data and art, the location drawing of the patients bronchial in the CT images
Picture.
3. system according to claim 1 or 2, which is characterized in that
Described control unit, specifically for using center line correction algorithm by the real-time location coordinates to the center line away from
From correction is projected on the center line, to determine the correct coordinates.
4. system according to claim 1 or 2, which is characterized in that further include：Cardiopulmonary breathing detection instrument is coupled to described
Control unit, for detecting the breathing of the patient, heart beat cycle.
5. system according to claim 4, which is characterized in that the cardiopulmonary breathing detection instrument further includes recovery device, uses
In in patient heartbeats' all standing, the heart of the patient is accurately found, is sued and laboured to the patient.
6. system according to claim 1 or 2, which is characterized in that further include：
Electromagnetic field emissions module for electromagnetic field to occur, is coupled to described control unit；
Described control unit is additionally operable to control the electromagnetic field emissions module that the electromagnetic field occurs.
7. system according to claim 6, which is characterized in that the navigation module is additionally operable to receive the electromagnetic field emissions
The electromagnetic wave that module is sent out, described control unit accurately include position of the navigation elements in the patient airway
On the display module.
8. system according to claim 1 or 2, which is characterized in that the alignment sensor is optical sensor, 6 freedom
Spend electromagnetic location sensor or ultrasonic sensor.
9. system according to claim 1 or 2, which is characterized in that the output signal of the alignment sensor is believed for video
Number, picture signal or coordinate signal.
10. system according to claim 1 or 2, which is characterized in that the display module shows video image, static map
Picture or coordinate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711229695.0A CN108175502B (en) | 2017-11-29 | 2017-11-29 | Bronchoscope electromagnetic navigation system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711229695.0A CN108175502B (en) | 2017-11-29 | 2017-11-29 | Bronchoscope electromagnetic navigation system |
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| Publication Number | Publication Date |
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| CN108175502A true CN108175502A (en) | 2018-06-19 |
| CN108175502B CN108175502B (en) | 2021-08-17 |
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| CN110313886A (en) * | 2019-08-02 | 2019-10-11 | 哈尔滨理工大学 | The intelligence of children's Fibrobronchoscopy checks and interventional therapy device |
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| CN114159163A (en) * | 2021-12-13 | 2022-03-11 | 南开大学 | Soft mirror-oriented magnetic navigation system and method |
| CN114255636A (en) * | 2020-09-21 | 2022-03-29 | 常州朗星医疗器械有限公司 | Bronchoscope teaching training model, system and teaching method thereof |
| CN116999166A (en) * | 2023-10-07 | 2023-11-07 | 杭州先奥科技有限公司 | Intraoperative map expansion method, storage medium and electromagnetic navigation bronchoscope system |
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