阅读说明：本技术 一种基于vr场景的激光消融导航系统及其方法 (Laser ablation navigation system based on VR scene and method thereof ) 是由 张潇 翟文国 于 2020-05-07 设计创作，主要内容包括：本发明公开了一种基于VR场景的激光消融导航系统及其方法,该消融导航系统包括导航工作站、激光能量输出设备、CT扫描装置、VR设备、消融针,所述导航工作站分别与CT扫描装置、激光能量输出设备以及VR设备电性连接,所述消融针与激光能量输出设备电性连接,所述激光能量输出设备向导航工作站传输消融针空间坐标,所述CT扫描装置对病人进行扫描并向导航工作站中传输病变位置的空间坐标,所述导航工作站对消融针空间坐标以及病变位置的空间坐标进行整合并向VR设备中传输坐标数据,本发明科学合理,使用安全方便,VR设备通过工作站获取数据,VR设备对消融针在人体中的位置进行三维显示,方便医务人员掌握真实数据。(The invention discloses a laser ablation navigation system based on VR scene and a method thereof, the ablation navigation system comprises a navigation workstation, a laser energy output device, a CT scanning device, VR equipment and an ablation needle, the navigation workstation is respectively electrically connected with the CT scanning device, the laser energy output device and the VR equipment, the ablation needle is electrically connected with the laser energy output device, the laser energy output device transmits the spatial coordinates of the ablation needle to the navigation workstation, the CT scanning device scans a patient and transmits the spatial coordinates of a lesion position to the navigation workstation, the navigation workstation integrates the spatial coordinates of the ablation needle and the spatial coordinates of the lesion position and transmits coordinate data to the VR equipment, the invention is scientific and reasonable, the use is safe and convenient, the VR equipment acquires data through the workstation, and the VR equipment three-dimensionally displays the position of the ablation needle in a human body, the medical staff can conveniently master the real data.)

1. A laser ablation navigation system based on VR scene is characterized in that: the ablation navigation system comprises a navigation workstation, laser energy output equipment, a CT scanning device, VR equipment and an ablation needle;

the navigation workstation is respectively electrically connected with the CT scanning device, the laser energy output equipment and the VR equipment, and the laser energy output equipment is electrically connected with the ablation needle;

the CT scanning device scans a patient and transmits a plurality of groups of medical image data to a navigation workstation, the laser energy output equipment transmits a spatial coordinate of an ablation needle to the navigation workstation, the laser energy output equipment inputs laser energy with different powers into the ablation needle, the navigation workstation processes a plurality of groups of medical images and establishes a three-dimensional image, the navigation workstation integrates the spatial coordinate of the ablation needle and the three-dimensional image and transmits the integrated spatial coordinate and the three-dimensional image to VR equipment, and the VR equipment displays a three-dimensional position image of the ablation needle in the body of the patient according to the spatial coordinate and the three-dimensional image.

2. The VR scene based laser ablation navigation system of claim 1, wherein:

the ablation navigation system further comprises an electromagnetic field generator;

the laser energy output equipment comprises a plurality of groups of laser generators, a controller and an electromagnetic positioning system;

the electromagnetic field generator is electrically connected with the controller, the controller is electrically connected with a plurality of groups of laser generators, the controller is electrically connected with the navigation workstation, the electromagnetic positioning system is electrically connected with the controller, and the laser generators are electrically connected with the ablation needle;

the laser generator sends laser energy with different powers to the ablation needle, and the electromagnetic field generator releases an electromagnetic field for the electromagnetic positioning system to position the ablation needle.

3. The VR scene based laser ablation navigation system of claim 2, wherein: the top of melting the needle is provided with electromagnetic positioning sensor, melts the inside a plurality of groups optic fibre that is provided with of needle, a plurality of groups the one end of optic fibre runs through melting the needle casing, a plurality of groups the other end and the laser generator of optic fibre are connected, electromagnetic positioning sensor and electromagnetic positioning system electric connection, electromagnetic positioning sensor will melt the real-time position transmission of needle in the patient body to the electromagnetic positioning system.

4. A laser ablation navigation method based on VR scene is characterized in that: the laser ablation method comprises the following steps:

step1, the CT scanning device scans the patient to generate a plurality of groups of medical images, the tumor position is calibrated in the medical images, and the CT scanning device transmits the medical images to the navigation workstation;

step2, the electromagnetic generator releases an electromagnetic field to the patient, the laser energy output device collects data of a three-dimensional space coordinate system formed by the patient in the electromagnetic field, and the laser energy output device transmits the data to the navigation workstation;

step3, injecting the ablation needle into the patient, and transmitting the real-time position of the ablation needle in the patient to a navigation workstation by using laser energy output equipment;

step4, the navigation workstation performs data processing on the medical image and establishes a three-dimensional image, the navigation workstation performs data integration on the three-dimensional image and a three-dimensional space coordinate system, and the navigation workstation transmits the integrated three-dimensional image and the real-time coordinate data of the ablation needle to VR equipment;

step5, VR device displays the real-time position of the ablation needle in the three-dimensional image.

5. The VR scene-based laser ablation navigation method of claim 4, wherein:

the specific steps of Step1 are as follows: the CT scanning device scans a patient comprehensively, generates a plurality of groups of two-dimensional medical images in the scanning process, positions the position of the patient lesion in the plurality of groups of medical images, and transmits the plurality of groups of medical image data to the navigation workstation;

the specific steps of Step2 are as follows: the electromagnetic field generator releases an electromagnetic field to a patient to enable the patient in the electromagnetic field to form a three-dimensional space coordinate system, the electromagnetic field generator collects data of the three-dimensional space coordinate system and transmits the data to the controller, and the laser energy output device transmits the data of the three-dimensional space coordinate system to the navigation workstation through the controller;

the specific steps of Step3 are as follows: the ablation needle is injected into a patient body through the injection device, the real-time position of the ablation needle in the patient body is transmitted to the electromagnetic positioning system through the electromagnetic positioning sensor, the electromagnetic positioning system carries out three-dimensional positioning on the real-time position of the ablation needle in the patient body through the electromagnetic positioning sensor and transmits position data to the controller, and the controller transmits the three-dimensional space coordinate coefficient data and the three-dimensional positioning position data to the navigation workstation.

6. The VR scene-based laser ablation navigation method of claim 4, wherein:

the specific steps of Step4 are as follows: the navigation workstation establishes a space coordinate set T ═ X, Y, Z | (X) of lesion positions according to a plurality of groups of medical image data transmitted by the CT scanning device₁，Y₁，Z₁)，(X₂，Y₂，Z₂)，…，(X_n，Y_n，Z_n) Wherein X represents a position of the tumor in a left-right direction in the human body, Y represents a position of the tumor in an up-down direction in the human body, and Z represents a position of the tumor in an anteroposterior direction in the human body, (X)₁，Y₁，Z₁)、(X₂，Y₂，Z₂) And to (X)_n，Y_n，Z_n) The three-dimensional medical images are transmitted to VR equipment through a navigation workstation, and the three-dimensional medical images are transmitted to the VR equipment.

7. The VR scene-based laser ablation navigation method of claim 6, wherein:

the navigation workstation identifies, segments and reconstructs a plurality of groups of medical image data transmitted by the CT scanning device, the navigation workstation calculates the shape of a tumor and the thickness of each position of the tumor when processing the medical images, the navigation workstation calculates the output power of each laser generator again according to the shape and the thickness of the tumor, and the navigation workstation enables the laser generator to transmit laser energy with different powers into the ablation needle through the controller.

8. The VR scene-based laser ablation navigation method of claim 6, wherein:

step4 further comprises the following steps: the navigation workstation establishes a space coordinate set J (x, y, z) of the ablation needle in the human body according to the three-dimensional position positioning transmitted by the controller₁，y₁，z₁)，(x₁，y₁，z₁)，···，(x_n，y_n，z_n) Wherein x represents a position of the ablation needle in a left-right direction in the human body, y represents a position of the ablation needle in a top-bottom direction in the human body, and z represents a position of the ablation needle in a front-back direction in the human body, (x)₁，y₁，z₁)、(x₁，y₁，z₁) And to (x)_n，y_n，z_n) The real-time position of the ablation needle in the human body is represented, and the navigation workstation compares the set T with the set J to realize navigation of the position of the ablation needle in the human body.

9. The VR scene based laser ablation navigation method of claim 8, wherein: and the navigation workstation performs data integration on the three-dimensional medical image and the three-dimensional space coordinate system, and transmits the integrated three-dimensional medical image and the real-time position data of the ablation needle to VR equipment.

10. The VR scene-based laser ablation navigation method of claim 4, wherein:

the specific steps of Step5 are as follows: the VR equipment displays the three-dimensional medical image transmitted by the guide workstation, meanwhile, the VR equipment changes and displays the three-dimensional medical image in real time according to the real-time position data of the ablation needle, and the VR equipment displays the relative position between the ablation needle and the tumor clearly in the three-dimensional image.

Technical Field

The invention relates to the technical field of laser ablation navigation, in particular to a laser ablation navigation system based on a VR scene and a method thereof.

Background

The ablation operation is a minimally invasive operation, an ablation needle is implanted into a human body, a doctor cannot observe the advancing condition of the ablation needle in the human body, and the currently common method is to track the advancing path of the ablation needle in real time through a B-mode ultrasound image, however, the B-mode ultrasound image is generally low in resolution and is a planar image, the advancing condition of the ablation needle and the relative position relationship between the ablation needle and a focus and surrounding tissues are difficult to observe in a three-dimensional scene, and the operation is in a semi-blind state.

The existing ablation operation planning and navigation system is based on plane graphic display or plane display after three-dimensional reconstruction; the display technology has the defects that only the two-dimensional position relation of the focus and the surrounding tissues can be displayed, and the three-dimensional depth and other relative position relations are not generated; when an ablation plan and navigation are made, the three-dimensional position relation cannot be accurately positioned, and great difficulty is brought in the actual operation process.

Therefore, a laser ablation navigation system based on VR scene and a method thereof are needed to solve the above problems.

Disclosure of Invention

The invention aims to provide a laser ablation navigation system based on a VR scene and a method thereof, so as to solve the problems in the prior art.

In order to achieve the purpose, the invention provides the following technical scheme: a laser ablation navigation system based on VR scene comprises a navigation workstation, a laser energy output device, a CT scanning device, VR equipment and an ablation needle, wherein the navigation workstation is respectively electrically connected with the CT scanning device, the laser energy output device and the VR equipment, the laser energy output device is electrically connected with the ablation needle, the CT scanning device scans a patient and transmits a plurality of groups of medical image data to the navigation workstation, the laser energy output device transmits the spatial coordinates of the ablation needle to the navigation workstation, the laser energy output device inputs laser energy with different powers to the ablation needle, the navigation workstation processes a plurality of groups of medical images and establishes a three-dimensional image, the navigation workstation integrates the spatial coordinates and the three-dimensional image of the ablation needle and transmits the integrated spatial coordinates and the three-dimensional image to the VR equipment, and the VR equipment displays the three-dimensional position shadow of the ablation needle in the body of the patient according to the spatial coordinates and the three-dimensional image Like this. The CT scanning device carries out three-dimensional scanning on a human body of a patient and generates a three-dimensional space coordinate system, the CT scanning device calibrates the three-dimensional space coordinate of a lesion tumor, the laser energy output equipment obtains the three-dimensional space coordinate of the laser ablation device in the human body and the three-dimensional space coordinate system formed by the human body under an electromagnetic field through the electromagnetic field, the navigation workstation carries out three-dimensional reconstruction on a medical image scanned by the CT scanning device, two groups of three-dimensional space coordinate systems are integrated into a three-dimensional image, a navigation workstation transmits the integrated three-dimensional image data to VR equipment, the VR equipment acquires the three-dimensional image data through the workstation, the VR equipment three-dimensionally displays the position of a laser ablation device, namely an ablation needle, in a human body, by knowing the position of the ablation needle in the human body in real time, the medical staff can conveniently master real data and carry out laser ablation on the lesion tumor.

The ablation navigation system further comprises an electromagnetic field generator; laser energy output equipment includes a plurality of groups laser generator, controller and electromagnetic positioning system, electromagnetic field generator and controller electric connection, electromagnetic field generator melts the position release electromagnetic field of needle for the electromagnetic positioning system location, controller and a plurality of groups laser generator electric connection, controller and navigation workstation electric connection, electromagnetic positioning system and controller electric connection, laser generator with melt needle electric connection, laser generator sends the laser energy of different power to melting in the needle.

The top of melting the needle is provided with electromagnetic positioning sensor, melts the inside a plurality of groups optic fibre that is provided with of needle, a plurality of groups the one end of optic fibre runs through melting the needle casing, a plurality of groups the other end and the laser generator of optic fibre are connected, electromagnetic positioning sensor and electromagnetic positioning system electric connection, electromagnetic positioning sensor will melt the real-time position transmission of needle in the patient body to the electromagnetic positioning system. The optical fiber is connected with the laser generator, the laser generator transmits laser energy to the optical fiber, the optical fiber transmits the laser energy and generates an energy domain at the tail end of the optical fiber, the electromagnetic positioning sensor is connected with the electromagnetic positioning system, the electromagnetic positioning sensor moves in an electromagnetic field released by the electromagnetic field generator, the electromagnetic positioning sensor uploads the position of the ablation needle in a human body in real time, and the ablation needle carries out laser ablation on tumors through the energy domain formed at the tail end of the optical fiber.

A laser ablation navigation method based on a VR scene comprises the following steps:

step1, the CT scanning device scans the patient to generate a plurality of groups of medical images, the tumor position is calibrated in the medical images, and the CT scanning device transmits the medical images to the navigation workstation;

step2, the electromagnetic generator releases an electromagnetic field to the patient, the laser energy output device collects data of a three-dimensional space coordinate system formed by the patient in the electromagnetic field, and the laser energy output device transmits the data to the navigation workstation;

step3, injecting the ablation needle into the patient, and transmitting the real-time position of the ablation needle in the patient to a navigation workstation by using laser energy output equipment;

step4, the navigation workstation performs data processing on the medical image and establishes a three-dimensional image, the navigation workstation performs data integration on the three-dimensional image and a three-dimensional space coordinate system, and the navigation workstation transmits the integrated three-dimensional image and the real-time coordinate data of the ablation needle to VR equipment;

step5, VR device displays the real-time position of the ablation needle in the three-dimensional image.

The specific steps of Step1 are as follows: the CT scanning device scans a patient comprehensively, generates a plurality of groups of two-dimensional medical images in the scanning process, positions the position of the patient lesion in the plurality of groups of medical images, and transmits the plurality of groups of medical image data to the navigation workstation;

the specific steps of Step2 are as follows: the electromagnetic field generator releases an electromagnetic field to a patient to enable the patient in the electromagnetic field to form a three-dimensional space coordinate system, the electromagnetic field generator collects data of the three-dimensional space coordinate system and transmits the data to the controller, and the laser energy output device transmits the data of the three-dimensional space coordinate system to the navigation workstation through the controller;

the specific steps of Step3 are as follows: the ablation needle is injected into a patient body through the injection device, the real-time position of the ablation needle in the patient body is transmitted to the electromagnetic positioning system through the electromagnetic positioning sensor, the electromagnetic positioning system carries out three-dimensional positioning on the real-time position of the ablation needle in the patient body through the electromagnetic positioning sensor and transmits position data to the controller, and the controller transmits the three-dimensional space coordinate coefficient data and the three-dimensional positioning position data to the navigation workstation.

The specific steps of Step4 are as follows: the navigation workstation establishes a space coordinate set T ═ X, Y, Z | (X) of lesion positions according to a plurality of groups of medical image data transmitted by the CT scanning device₁，Y₁，Z₁)，(X₂，Y₂，Z₂)，…，(X_n，Y_n，Z_n) Wherein X represents a position of the tumor in a left-right direction in the human body, Y represents a position of the tumor in an up-down direction in the human body, and Z represents a position of the tumor in an anteroposterior direction in the human body, (X)₁，Y₁，Z₁)、(X₂，Y₂，Z₂) And to (X)_n，Y_n，Z_n) The three-dimensional medical images are transmitted to VR equipment through a navigation workstation, and the three-dimensional medical images are transmitted to the VR equipment.

The navigation workstation identifies, segments and reconstructs a plurality of groups of medical image data transmitted by the CT scanning device, the navigation workstation calculates the shape of a tumor and the thickness of each position of the tumor when processing the medical images, the navigation workstation calculates the output power of each laser generator again according to the shape and the thickness of the tumor, and the navigation workstation enables the laser generator to transmit laser energy with different powers into the ablation needle through the controller.

Step4 further comprises the following steps: the navigation workstation establishes a space coordinate set J (x, y, z) of the ablation needle in the human body according to the three-dimensional position positioning transmitted by the controller₁，y₁，z₁)，(x₁，y₁，z₁)，···，(x_n，y_n，z_n) Wherein x represents a position of the ablation needle in a left-right direction in the human body, y represents a position of the ablation needle in a top-bottom direction in the human body, and z represents a position of the ablation needle in a front-back direction in the human body, (x)₁，y₁，z₁)、(x₁，y₁，z₁) And to (x)_n，y_n，z_n) The real-time position of the ablation needle in the human body is represented, and the navigation workstation compares the set T with the set J to realize navigation of the position of the ablation needle in the human body.

And the navigation workstation performs data integration on the three-dimensional medical image and the three-dimensional space coordinate system, and transmits the integrated three-dimensional medical image and the real-time position data of the ablation needle to VR equipment.

The specific steps of Step5 are as follows: the VR equipment displays the three-dimensional medical image transmitted by the guide workstation, meanwhile, the VR equipment changes and displays the three-dimensional medical image in real time according to the real-time position data of the ablation needle, and the VR equipment displays the relative position between the ablation needle and the tumor clearly in the three-dimensional image.

Compared with the prior art, the invention has the beneficial effects that:

1. in the process of carrying out laser ablation operation on liver cancer, a navigation workstation firstly processes and calibrates CT, MR and other images of a patient, and then carries out identification and segmentation and three-dimensional reconstruction on organs and focuses; the workstation is connected electromagnetic positioning sensor, implements the space coordinate information transmission to the workstation that will melt the needle, and the workstation carries out the conversion to the coordinate and converts the space coordinate under the VR scene into, and the workstation transmits image information and melting needle space information simultaneously to VR equipment this moment, melts the motion of advancing of needle in the human body and turns into the motion under the virtual scene of VR, and the doctor just can be clear see that melt the needle and advance the condition under the motion of human body under the VR scene.

2. The laser ablation navigation system enables medical staff to judge the relative position relation between the ablation needle and the focus more accurately in actual operation, the ablation needle can be implanted more accurately in the operation process, and medical accidents in the ablation operation process are reduced; the reduction under the three-dimensional scene of the whole process is realized through VR equipment, and the method has the characteristics of real time, three-dimensional and accuracy and is very convenient for navigation operation in the operation process.

Drawings

FIG. 1 is a flowchart of a laser ablation navigation method based on a VR scene according to the present invention;

FIG. 2 is a schematic diagram of an overall structure of a laser ablation navigation system based on a VR scene according to the present invention;

FIG. 3 is a schematic structural diagram of a laser energy output device of a VR scene based laser ablation navigation system according to the present invention;

fig. 4 is a schematic structural diagram of an ablation needle of a laser ablation navigation system based on a VR scene.

The reference numbers are as follows: 1. an ablation needle; 2. an optical fiber; 3. an electromagnetic positioning sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.