阅读说明：本技术 术中血管立体定位导航系统及方法 (Intraoperative blood vessel three-dimensional positioning navigation system and method ) 是由 姜陶然 李青峰 昝涛 于 2020-06-11 设计创作，主要内容包括：本发明提供一种术中血管立体定位导航系统及方法,术中血管立体定位导航系统包括：增强现实头戴式设备和配置于人体上的图形标记；所述增强现实头戴式设备通过定位所述图形标记向术区投影三维血管模型,并显示叠加投影于术区的三维血管模型,从而立体定位人体血管。本发明中,通过佩戴增强现实头戴式设备,术者直视术区,通过观察叠加投影在术区的三维血管模型,精确、立体定位血管,在该过程中术者无需在术区与显示器之间切换视野,且无需配备其他硬件,可有效减少手术室内污染风险。(The invention provides a three-dimensional positioning navigation system and a method for blood vessels in operation, wherein the three-dimensional positioning navigation system for blood vessels in operation comprises the following components: an augmented reality head-mounted device and a graphical marker configured on a human body; the augmented reality head-mounted device projects a three-dimensional blood vessel model to the operation area by positioning the graphic mark, and displays the three-dimensional blood vessel model projected in the operation area in an overlapping manner, so that the blood vessel of the human body is positioned in a three-dimensional manner. In the invention, the operator looks directly at the operation area by wearing the augmented reality head-mounted equipment, and accurately and stereoscopically positions the blood vessel by observing the three-dimensional blood vessel model projected on the operation area in an overlapping manner, so that the operator does not need to switch the visual field between the operation area and the display in the process, and does not need to be equipped with other hardware, thereby effectively reducing the pollution risk in the operation room.)

1. An intraoperative blood vessel stereotactic navigation system, characterized by: the method comprises the following steps:

an augmented reality head-mounted device and a graphical marker configured on a human body;

the augmented reality head-mounted device projects a three-dimensional blood vessel model to the operation area by positioning the graphic mark, and displays the three-dimensional blood vessel model projected in the operation area in an overlapping manner, so that the blood vessel of the human body is positioned in a three-dimensional manner.

2. The intraoperative vessel stereotactic navigation system of claim 1, wherein: the augmented reality head-mounted device includes:

a head-mounted device body; locate in the head-mounted device body:

the three-dimensional data module is used for receiving an imported three-dimensional blood vessel model used for simulating human tissue;

the camera module is used for capturing the graphic marks configured on the human body;

the positioning module is used for positioning the three-dimensional blood vessel model and the graphic mark;

the projection module is used for registering and projecting the three-dimensional blood vessel model to a position corresponding to the graphic mark according to the graphic mark;

and the display module comprises a semi-transparent lens, receives the projection of the projection module and displays the augmented reality image formed by combining the operation scene with the three-dimensional blood vessel model through the semi-transparent lens.

3. The intraoperative vessel stereotactic navigation system of claim 2, wherein: the three-dimensional data module includes:

the guiding-in unit is used for receiving a three-dimensional blood vessel model which is guided in and used for simulating human tissue;

and the model control unit is used for controlling and processing the three-dimensional blood vessel model.

4. The intraoperative vessel stereotactic navigation system of claim 3, wherein: and the manipulation processing of the three-dimensional blood vessel model comprises transparentization processing, rotation, amplification and acquisition of anatomical interpretation information.

5. The intraoperative vessel stereotactic navigation system of claim 2 or 3, wherein:

the camera module collects a human body position image configured with graphic marks through a camera;

the positioning module includes:

a capturing unit for capturing the graphic mark from the body part image;

the position calculation unit is used for calculating the relative position of the camera and the graphic mark and adjusting the position and the direction of the three-dimensional blood vessel model to be projected according to the relative position;

the projection module projects the three-dimensional vessel model to a location corresponding to the graphical marker.

6. The intraoperative vessel stereotactic navigation system of claim 1, wherein: the graphic mark is sewed on the human body, or fixed on the human body or around the human body through a fixing frame, or adhered on the surface of the skin of the human body by medical glue.

7. A three-dimensional positioning navigation method for blood vessels in operation is characterized in that: the method comprises the following steps:

the method comprises the steps of positioning a graphic mark configured on a human body through augmented reality head-mounted equipment, projecting a three-dimensional blood vessel model to an operation area position corresponding to the graphic mark, and displaying the three-dimensional blood vessel model projected in the operation area in an overlapping mode, so that the blood vessel of the human body is positioned in a three-dimensional mode.

8. The intraoperative vessel stereotactic navigation method of claim 7, characterized in that: the implementation mode of positioning the graphic mark configured on the human body through the augmented reality head-mounted equipment, projecting the three-dimensional blood vessel module to the position of the operation area corresponding to the graphic mark and displaying the three-dimensional blood vessel model projected in the operation area in an overlapping way comprises the following steps:

constructing a three-dimensional blood vessel model for simulating human body tissues, and registering the three-dimensional blood vessel model through AR three-dimensional blood vessel model processing software;

guiding the three-dimensional blood vessel model of the three-dimensional model after registration into an augmented reality head-mounted device;

capturing a graphic mark configured on a human body through the augmented reality head-mounted device, and projecting the three-dimensional blood vessel model to a position corresponding to the graphic mark in a registration manner according to the graphic mark;

and displaying an augmented reality image combining the operation scene and the three-dimensional blood vessel model through a semi-transparent lens of the augmented reality head-mounted equipment.

9. The intraoperative vessel stereotactic navigation method of claim 7, characterized in that: the intraoperative blood vessel stereotactic navigation method further comprises the following steps:

and carrying out transparency processing, rotation, amplification and control processing for obtaining anatomical interpretation information on the three-dimensional blood vessel model.

10. The intraoperative vessel stereotactic navigation method of claim 7, characterized in that: one specific implementation manner of the registration projection of the three-dimensional blood vessel model to the position corresponding to the graphic mark according to the graphic mark comprises the following steps:

acquiring a human body part image configured with graphic marks through a camera of the augmented reality head-mounted equipment;

capturing the graphical indicia from the image of the body part;

calculating the relative position of the camera and the graphic mark, and adjusting the position and the direction of the three-dimensional blood vessel model to be projected according to the relative position;

projecting the three-dimensional vessel model to a location corresponding to the graphical marker.

Technical Field

The invention relates to the technical field of medical instruments, in particular to the technical field of augmented reality head-mounted equipment.

Background

The important blood vessel positioning in the operation area is a necessary condition for reducing operation risks and improving operation success rate in a plurality of surgical operations, for example, the blood vessel positioning in a complex operation area in general surgery can reduce intraoperative hemorrhage; the blood vessel of the vascular surgery area is positioned, so that the operation position can be determined; the positioning of the skin flap blood vessel in the plastic repair surgery can reduce the risk of accidentally injuring the target blood vessel and the like. The existing blood vessel imaging method mainly focuses on preoperative blood vessel positioning, and the color Doppler ultrasound and CT angiography technologies are most common. The CT angiography can provide information such as vessel diameter, running and the like, can clearly display the relationship between a vessel and peripheral muscles, can obtain a three-dimensional vessel model by utilizing CT data to provide visual image data, and gradually becomes a gold standard for vessel imaging and positioning. But no matter what kind of preoperative blood vessel imaging information can not be matched with the patient accurately in the operation, and the blood vessel three-dimensional positioning in the operation is realized.

With the continuous development of computer-assisted surgery technology, a virtual reality technology for performing intraoperative navigation by obtaining an individualized three-dimensional blood vessel model through calculation of preoperative image data has been widely applied to a plurality of surgical subjects. Among them, Augmented Reality (AR) technology is one of the leading-edge visualization technologies today. It integrates computer-generated enhanced information (such as a patient-personalized three-dimensional model of a blood vessel) with the real world (such as a patient) around the user by means of display technology, interaction technology, sensing technology and computer graphics technology. While being presented to the user. The user can believe that the enhanced information is an organic component of the surrounding environment from the sense effect, and the sense feeling of the user is enhanced. At present, several research institutions apply augmented reality technology to intraoperative navigation, such as hepatobiliary pancreas surgery, neurosurgery, craniomaxillofacial surgery, and the like. The application of this technique to intraoperative vascular stereotactic mapping has been rarely reported. If the technique is applied to intra-operative blood vessel positioning, an operator can realize accurate blood vessel positioning by observing a three-dimensional blood vessel model which is accurately registered and superposed to the body of a patient. However, in the existing augmented reality navigation system, a real scene needs to be acquired through shooting by a high-definition camera, then data is input to a workstation, the data is combined with position information acquired by a positioning instrument for processing, and finally the data is output to a display to display an augmented image formed by fusing augmented information and the real scene. Therefore, hardware equipment such as a high-definition camera, a workstation, an infrared or electromagnetic positioning instrument, a two-dimensional display and the like is additionally required to be arranged in the operating room, and the equipment cannot be thoroughly sterilized and is large in size, so that the risk of pollution of the operating room is undoubtedly increased. On the other hand, infrared or electromagnetic positioning instruments are usually expensive, which increases the cost of the navigation system. If a hardware device can integrate the functions of camera shooting, data processing, display and the like, the space of hardware equipment in an operating room and the pollution risk are greatly reduced. If the technology of obtaining position information by using a positioning instrument can be abandoned, and other positioning methods with higher cost performance are used, the manufacturing cost of a positioning navigation system is greatly reduced, and the long-term popularization is facilitated.

Disclosure of Invention

In view of the above-mentioned defects of the prior art, an object of the present invention is to provide a system and a method for navigating a three-dimensional positioning of a blood vessel during an operation, which are used to solve the problems of inconvenient use and increased risk of the operation of the three-dimensional positioning navigation system of the blood vessel in the prior art.

To achieve the above and other related objects, the present invention provides an intraoperative vessel stereotactic navigation system, comprising: an augmented reality head-mounted device and a graphical marker configured on a human body; the augmented reality head-mounted device projects a three-dimensional blood vessel model to the operation area by positioning the graphic mark, and displays the three-dimensional blood vessel model projected in the operation area in an overlapping manner, so that the blood vessel of the human body is positioned in a three-dimensional manner.

In an embodiment of the present invention, the augmented reality head-mounted device includes: a head-mounted device body; locate in the head-mounted device body: the three-dimensional data module is used for receiving an imported three-dimensional blood vessel model used for simulating human tissue; the camera module is used for capturing the graphic marks configured on the human body; the positioning module is used for positioning the three-dimensional blood vessel model and the graphic mark; the projection module is used for registering and projecting the three-dimensional blood vessel model to a position corresponding to the graphic mark according to the graphic mark; and the display module comprises a semi-transparent lens, receives the projection of the camera projection module and displays the augmented reality image formed by combining the operation scene and the three-dimensional blood vessel model through the semi-transparent lens.

In an embodiment of the present invention, the three-dimensional data module includes: the guiding-in unit is used for receiving a three-dimensional blood vessel model which is guided in and used for simulating human tissue; and the model control unit is used for controlling and processing the three-dimensional blood vessel model.

In an embodiment of the present invention, the manipulation process performed on the three-dimensional blood vessel model includes a transparentization process, a rotation process, an enlargement process, and an obtaining process of anatomical interpretation information.

In an embodiment of the present invention, the camera module collects a human body image configured with graphic marks through a camera; the positioning module includes: a capturing unit for capturing the graphic mark from the body part image; the position calculation unit is used for calculating the relative position of the camera and the graphic mark and adjusting the position and the direction of the three-dimensional blood vessel model to be projected according to the relative position; the projection module projects the three-dimensional vessel model to the pair of graphical markers

In an embodiment of the present invention, the graphic mark is sewn on the human body, or fixed on or around the human body through a fixing frame; or adhering the medical glue to the surface of human skin.

The embodiment of the invention also provides an intraoperative blood vessel three-dimensional positioning navigation method, which comprises the following steps: the method comprises the steps of positioning a graphic mark configured on a human body through augmented reality head-mounted equipment, projecting a three-dimensional blood vessel model to an operation area position corresponding to the graphic mark, and displaying the three-dimensional blood vessel model projected in the operation area in an overlapping mode, so that the blood vessel of the human body is positioned in a three-dimensional mode.

In an embodiment of the present invention, an implementation manner of positioning a graphic marker configured on a human body through an augmented reality head-mounted device, projecting a three-dimensional blood vessel module to a position of an operation region corresponding to the graphic marker, and displaying a three-dimensional blood vessel model projected in an overlapping manner in the operation region includes: constructing a three-dimensional blood vessel model for simulating human body tissues, and registering the three-dimensional blood vessel model through AR three-dimensional blood vessel model processing software; guiding the registered three-dimensional blood vessel model into an augmented reality head-mounted device; capturing a graphic mark configured on a human body through the augmented reality head-mounted device, and projecting the three-dimensional blood vessel model to a position corresponding to the graphic mark in a registration manner according to the graphic mark; and displaying an augmented reality image combining the operation scene and the three-dimensional blood vessel model through a semi-transparent lens of the augmented reality head-mounted equipment.

In an embodiment of the present invention, the intraoperative vessel stereotactic navigation method further includes: and carrying out transparency processing, rotation, amplification and control processing for obtaining anatomical interpretation information on the three-dimensional blood vessel model.

In an embodiment of the present invention, a specific implementation manner of the registration projection of the three-dimensional blood vessel model to the position corresponding to the graphic mark according to the graphic mark includes: acquiring a human body part image configured with graphic marks through a camera of the augmented reality head-mounted equipment; capturing the graphical indicia from the image of the body part; calculating the relative position of the camera and the graphic mark, and adjusting the position and the direction of the three-dimensional blood vessel model to be projected according to the relative position; projecting the three-dimensional vessel model to a location corresponding to the graphical marker.

As described above, the intraoperative blood vessel stereotactic navigation system and method of the present invention have the following beneficial effects:

1. in the invention, by wearing the augmented reality head-mounted equipment, an operator can directly look at an operation area to obtain virtual-real combined blood vessel stereotactic navigation information without installing a positioning device on an operation instrument, and by observing a three-dimensional blood vessel model projected on the operation area in an overlapping manner, blood vessels can be accurately and stereotactic positioned, the operator does not need to switch visual fields between the operation area and a display in the process, and other hardware is not needed, so that the problems of poor intuitiveness and insufficient operation continuity of the navigation technology in the current operation are solved.

2. The invention uses the two-dimensional graphic mark to complete automatic registration without other registration equipment, and the registration method is simple and economic and has very high registration precision.

3. The invention is suitable for the head-mounted equipment for augmented reality and simultaneously has a three-dimensional data module, a positioning module, a projection module and a display module, and an operating room is not required to be equipped with other related hardware, so that the pollution risk in the operating room can be effectively reduced.

4. The invention can interact with the augmented reality head-mounted equipment in real time, and adjust the transparency, the size and the rotation angle of the model, thereby facilitating the observation of the model by an operator in the operation.

Drawings

Fig. 1 is a schematic structural diagram illustrating an overall principle of a navigation system for three-dimensional positioning of blood vessels during operation according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of an augmented reality headset according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a three-dimensional data module in an augmented reality head-mounted device according to an embodiment of the invention.

Fig. 4 is a schematic structural diagram illustrating an image projection module in an augmented reality head-mounted device according to an embodiment of the present invention.

Fig. 5 is a flowchart illustrating a method for navigating and positioning blood vessels during operation according to an embodiment of the present invention.

Fig. 6 is a flowchart illustrating a registration projection in the intraoperative vessel stereotactic navigation method according to an embodiment of the present invention.

Fig. 7 is a schematic diagram illustrating an implementation of the intraoperative vessel stereotactic navigation method according to an embodiment of the present invention.

Fig. 8 and 9 are diagrams illustrating an example of an application of an augmented reality headset according to an embodiment of the present invention.

Description of the element reference numerals

1 intraoperative blood vessel three-dimensional positioning navigation system

100 augmented reality head-mounted device

110 head-mounted equipment body

120 three-dimensional data module

121 lead-in unit

122 model manipulation unit

130 camera module

140 positioning module

141 capture unit

142 position calculating unit

150 projection module

160 display module

200 graphic mark

S100 to S400

S310 to S340

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.

Please refer to fig. 1 to 9. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.

The embodiment of the invention aims to provide a system and a method for three-dimensional positioning and navigation of blood vessels in an operation, which are used for solving the problems that the three-dimensional positioning and navigation system of the blood vessels in the prior art is inconvenient to use and increases operation risks. The blank of the intraoperative blood vessel stereotactic positioning is filled (the prior art can not realize intraoperative, stereotactic and positioning), the registration accuracy is high, the intraoperative navigation system in the embodiment overcomes the problems of poor intuition and insufficient operation continuity generally existing in the current navigation technology, a high position locator is not required to be arranged, the cost performance is high, and meanwhile, the risk of polluting an operating room is reduced.

The principle and implementation of the three-dimensional positioning navigation system and method for blood vessels during operation of the present embodiment will be described in detail below, so that those skilled in the art can understand the three-dimensional positioning navigation system and method for blood vessels during operation without creative labor.