阅读说明：本技术 血肿抽取系统、导航系统及血肿边界判断方法 (Hematoma extraction system, navigation system and hematoma boundary judgment method ) 是由 邓永兵 陈鹏 马渝 张颖 刘阳 王杨灵犀 梁译丹 于 2021-10-08 设计创作，主要内容包括：本发明属于医疗器械技术领域,具体公开了一种血肿抽取系统、导航系统及血肿边界判断方法,该血肿抽取系统包括导航单元,抽取单元和控制单元,导航单元获取真实病患图像以及术前影像三维重建的虚拟图像,导航单元识别并跟踪抽取单元的轨迹并在可视化三维图形进行显示,抽取单元具有抓取爪部,在爪部设置有用于区分脑部血肿与脑组织的感应部件,感应部件与导航单元连接,脑部血肿与脑组织的边界信息被输入导航单元并融合修正三维重建的虚拟图像,控制单元与抽取单元的控制端连接,根据感应部件的信息自主或者人工控制爪部的张开范围和大小。采用本技术方案,利用各单元配合,完成血肿清除,保证不损伤血肿周边脑组织。(The invention belongs to the technical field of medical instruments, and particularly discloses a hematoma extraction system, a navigation system and a hematoma boundary judgment method. By adopting the technical scheme, the hematoma is cleared by utilizing the matching of all units, and the peripheral brain tissue of the hematoma is ensured not to be damaged.)

1. The hematoma extraction system is characterized by comprising a navigation unit, an extraction unit and a control unit;

the navigation unit acquires a real patient image and a virtual image of preoperative image three-dimensional reconstruction, matches, positions and fuses the two images, aligns the two coordinate systems and displays the images as a visual three-dimensional graph, and identifies and tracks the track of the extraction unit and displays the track on the visual three-dimensional graph;

the extraction unit is provided with a grabbing claw part, an induction component for distinguishing the cerebral hematoma from the cerebral tissue is arranged at the boundary position of the claw part, the output end of the induction component is connected with the navigation unit, and the boundary information of the cerebral hematoma and the cerebral tissue is input into the navigation unit and fused and corrected with the three-dimensional reconstructed virtual image;

the output end of the control unit is connected with the control end of the extraction unit, and the control unit receives the information output by the induction component and the navigation unit and autonomously or manually controls the opening range and size of the claw part according to the received information.

2. The hematoma extraction system of claim 1, wherein the extraction unit comprises an outer tube, an insertion tube, and a guide wire, the insertion tube is sleeved in the outer tube, a plurality of axially extending channels are provided in the insertion tube, the guide wire is inserted in the corresponding channels, a claw is provided at the front end of the guide wire, the claw is linear when located in the channel and claw-shaped when extending out of the channel, and the outer tube is communicated with a negative pressure extraction mechanism.

3. The hematoma aspiration system of claim 2 wherein the jaw of the guidewire is of a memory material.

4. The hematoma aspiration system of claim 3 wherein the pawl of the guidewire is provided with a burr or a hook.

5. The hematoma extraction system of claim 1, wherein the sensing component employs a color sensor or a density sensor.

6. The hematoma extraction system of claim 5, wherein the color sensor is configured to collect color information of the anterior tissue during the procedure, convert the corresponding color information into data suitable for display, and input the data to the navigation unit;

the method comprises the steps that surface feature points of a hematoma image and a brain tissue image on a visual three-dimensional image are obtained through an image recognition technology, a navigation unit slices the visual three-dimensional image, the surface feature points of each slice are projected on an imaging plane, the initial position of a grabbing claw part is set as the central point of a coordinate system of the imaging plane, when hematoma color information is changed into brain tissue color information, distance information and angle information of movement of the grabbing claw part are checked, therefore, boundary position coordinates of hematoma and brain tissue are converted, and the projected image boundary coordinates of the visual three-dimensional image are corrected through the boundary position coordinate information.

7. The hematoma extraction system of claim 5, wherein the density sensor is configured to collect density information of the anterior tissue during the procedure and convert the corresponding density information into data suitable for display for input to the navigation unit;

the method comprises the steps of obtaining surface feature points of a hematoma image and a brain tissue image on a visual three-dimensional image through an image recognition technology, slicing the visual three-dimensional image of a navigation unit, projecting the surface feature points of each slice on an imaging plane, setting the initial position of a grabbing claw part as a central point of a coordinate system of the imaging plane, and checking distance information and angle information of the movement of the grabbing claw part when a density sensor is not contacted with the hematoma any more, so that boundary position coordinates of the hematoma and the brain tissue are converted, and the image boundary coordinates projected by the visual three-dimensional image are corrected through boundary position coordinate information.

8. The hematoma extraction system according to claim 6 or 7, wherein after the plurality of boundary coordinates are measured, if the distance between the measured plurality of boundary coordinates and the nearest point of the original three-dimensional graph does not exceed a threshold value, the boundary coordinates are preferably smoothed, and if the fitted smooth interface does not exceed the original three-dimensional graph interface, the smooth interface is used to replace the three-dimensional graph interface at the corresponding position; if the smooth interface obtained by fitting has an area exceeding the original three-dimensional graphical interface, the exceeding part still displays the originally obtained three-dimensional graphical interface;

if the distance between some boundary coordinates and the nearest point of the original three-dimensional graph exceeds a threshold value, a reminding signal is sent out through the control unit, and the part of the guide wire claw is controlled to retract.

9. A navigation system comprising a virtual scene generator, a user head pose tracker, a user position tracker and a display, the virtual scene generator constructing a three-dimensional map of the brain of a patient by means of the navigation unit of any one of claims 1 to 8, the user head pose tracker and the user position tracker being adapted to determine the overall position of the user, the outputs of the virtual scene generator, the user head pose tracker and the user position tracker being connected to the display.

10. A hematoma boundary judgment method, characterized in that, the navigation unit of any one of claims 1 to 8 is used for real-time image acquisition, partial image information is selected as an anchor point, and the anchor point is tracked and positioned;

matching the real patient image feature points and the preoperative image three-dimensional reconstructed virtual image surface feature points through an image recognition technology, and on the basis of the mapping relation between the matching points, performing topological transformation on the virtual image to further realize registration of the virtual image and the real patient image;

acquiring distinguishing information of a cerebral hematoma and a cerebral tissue acquired by the sensing part according to any one of claims 1 to 8, determining a real characteristic part, and calculating parameter information of the part in an established world coordinate system, wherein in the operation process, under the guidance of the navigation system according to claim 9, the coordinate parameter information of the virtual image characteristic part is modified to be consistent with the coordinate parameter information of the real characteristic part, so that the virtual-real fusion can be realized, and the hematoma boundary can be displayed.

Technical Field

The invention belongs to the technical field of medical instruments, and relates to a hematoma extracting system, a navigation system and a hematoma boundary judging method.

Background

Cerebral hemorrhage is one of the most important diseases threatening human life in the global scope, and has the characteristics of high disability rate, high death rate and high economic burden. At present, hematoma is removed clinically by adopting a craniotomy mode, and the craniotomy mode has the defects of large operative wound, high death rate and disability rate, high requirements on medical equipment conditions in the craniotomy hematoma removal operation, high cost and great pain of patients and strict requirements on the body conditions of the patients, and is easy to cause damage to important nerve structures in the brain particularly in deep hematoma treatment.

Therefore, the Chinese patent discloses an endoscope hematoma removal operation series kit, wherein the authorization publication number is CN209253063U, the endoscope hematoma removal operation series kit comprises an opening frame and a placing and withdrawing cylinder, the opening frame comprises a hollow tube body and claw parts arranged at the end part of the tube body, the claw parts are in a folding state and a unfolding state, the claw parts are in a folding state when being positioned in a through cavity, the claw parts are in a unfolding state when being positioned outside the through cavity of the withdrawing cylinder to form a working space for wrapping a blood tumor, and the working space is communicated with the tube body so that an operation instrument enters the working space through the tube body to treat the blood tumor.

However, the above structure has the following problems: the endoscope has small operation space and limited visual field, the kit can not be accurately unfolded inside the hematoma block and can not completely catch the hematoma, and the claw part can also damage brain tissues around the hematoma block when being unfolded to cause secondary bleeding.

Disclosure of Invention

The invention aims to provide a hematoma extraction system, a navigation system and a hematoma boundary judgment method, which can be used for removing hematoma and simultaneously ensuring that the peripheral brain tissue of the hematoma is not damaged.

In order to achieve the purpose, the basic scheme of the invention is as follows: a hematoma extraction system comprises a navigation unit, an extraction unit and a control unit;

the navigation unit acquires a real patient image and a virtual image of preoperative image three-dimensional reconstruction, matches, positions and fuses the two images, aligns the two coordinate systems and displays the images as a visual three-dimensional graph, and identifies and tracks the track of the extraction unit and displays the track on the visual three-dimensional graph;

the extraction unit is provided with a grabbing claw part, an induction component for distinguishing the cerebral hematoma from the cerebral tissue is arranged at the boundary position of the claw part, the output end of the induction component is connected with the navigation unit, and the boundary information of the cerebral hematoma and the cerebral tissue is input into the navigation unit and fused and corrected with the three-dimensional reconstructed virtual image;

the output end of the control unit is connected with the control end of the extraction unit, and the control unit receives the information output by the induction component and the navigation unit and autonomously or manually controls the opening range and size of the claw part according to the received information.

The working principle and the beneficial effects of the basic scheme are as follows: the real patient image which is actually observed is matched, positioned and fused with the virtual tissue which is three-dimensionally reconstructed by the preoperative image, the two coordinate systems are aligned and displayed as graphs, real-time three-dimensional visual positioning in the operation is realized, and the method is favorable for determining the position of hematoma and subsequent operation. The distinguishing information of the cerebral hematoma and the cerebral tissue is obtained through the induction part of the extraction unit, the virtual image is optimized, and the characteristic distinguishing of the cerebral hematoma and the cerebral tissue on the image is more obvious. Therefore, when the control unit acquires information and controls the claw part to extract hematoma, the hematoma can be more accurately positioned, the hematoma extraction is facilitated, and the brain tissue around the hematoma is prevented from being accidentally injured.

Furthermore, the extraction unit comprises an outer tube, an insertion tube and a guide wire, the insertion tube is sleeved in the outer tube, a plurality of axially extending channels are arranged in the insertion tube, the guide wire is inserted in the corresponding channels, claw parts are arranged at the front ends of the guide wires, the claw parts are linear when being positioned in the channels and claw-shaped when extending out of the channels, and the outer tube is communicated with a negative pressure extraction mechanism.

When the operation is carried out, the outer tube and the insertion tube are inserted into the hematoma block together, then the guide wires are extended out one by one, the claw parts are inserted into the hematoma block, after all the guide wires are extended forward to the right position, the insertion tube is pulled backwards, the guide wires are driven by the insertion tube to move synchronously, and the hematoma block grabbed by the claw parts is driven to enter the outer tube, so that the hematoma block is damaged. Then the negative pressure suction mechanism is started to connect the outer tube with negative pressure, and the residual hematoma block is sucked out under the action of the negative pressure.

Further, the claw part of the guide wire is made of a memory material.

The claw part of the guide wire can be limited by the channel in the channel to keep a linear state, and the claw part of the guide wire can be restored to a claw shape due to the characteristics of the memory material after extending out of the channel.

Furthermore, burrs or hooks are arranged on the claw parts of the guide wires.

Therefore, the guide wire is more favorable for grabbing hematoma through the burrs or the hooks on the guide wire.

Further, the sensing component adopts a color sensor or a density sensor.

The color sensor and the density sensor have simple structures and are beneficial to installation and use.

Furthermore, the color sensor is used for collecting color information of the front tissue in the advancing process, converting the corresponding color information into data suitable for display and inputting the data into the navigation unit;

the method comprises the steps that surface feature points of a hematoma image and a brain tissue image on a visual three-dimensional image are obtained through an image recognition technology, a navigation unit slices the visual three-dimensional image, the surface feature points of each slice are projected on an imaging plane, the initial position of a grabbing claw part is set as the central point of a coordinate system of the imaging plane, when hematoma color information is changed into brain tissue color information, distance information and angle information of movement of the grabbing claw part are checked, therefore, boundary position coordinates of hematoma and brain tissue are converted, and the projected image boundary coordinates of the visual three-dimensional image are corrected through the boundary position coordinate information.

And the color sensor is utilized to convert the image boundary information of the brain tissue and the hematoma, so that the subsequent removal of the hematoma is facilitated, and the operation accuracy is improved.

Furthermore, the density sensor is used for acquiring density information of the front tissue in the advancing process, converting the corresponding density information into data suitable for display and inputting the data into the navigation unit;

the method comprises the steps of obtaining surface feature points of a hematoma image and a brain tissue image on a visual three-dimensional image through an image recognition technology, slicing the visual three-dimensional image of a navigation unit, projecting the surface feature points of each slice on an imaging plane, setting the initial position of a grabbing claw part as a central point of a coordinate system of the imaging plane, and checking distance information and angle information of the movement of the grabbing claw part when a density sensor is not contacted with the hematoma any more, so that boundary position coordinates of the hematoma and the brain tissue are converted, and the image boundary coordinates projected by the visual three-dimensional image are corrected through boundary position coordinate information.

The density sensor is utilized to convert image boundary information of the brain tissue and the hematoma, so that subsequent hematoma removal is facilitated, and the operation accuracy is improved.

Further, after a plurality of boundary coordinates are measured, if the distance between the measured boundary coordinates and the nearest point of the original three-dimensional graph does not exceed a threshold value, the boundary coordinates are preferably smoothed, and if the smoothed interface obtained by fitting does not exceed the original three-dimensional graph interface, the three-dimensional graph interface at the corresponding position is replaced by the smoothed interface; if the smooth interface obtained by fitting has an area exceeding the original three-dimensional graphical interface, the exceeding part still displays the originally obtained three-dimensional graphical interface;

if the distance between some boundary coordinates and the nearest point of the original three-dimensional graph exceeds a threshold value, a reminding signal is sent out through the control unit, and the part of the guide wire claw is controlled to retract.

Therefore, the three-dimensional graph is corrected, the operation is simple, and the operation is facilitated.

The invention also provides a navigation system, which comprises a virtual scene generator, a user head posture tracker, a user position tracker and a display, wherein the virtual scene generator constructs a brain three-dimensional graph of a patient through the navigation unit, the user head posture tracker and the user position tracker are used for determining the integral position of the user, and the output ends of the virtual scene generator, the user head posture tracker and the user position tracker are all connected with the display.

The navigation system is used for matching, positioning and fusing the actually observed real patient image and the preoperative image three-dimensional reconstructed virtual tissue, aligning the two coordinate systems and displaying the two coordinate systems as graphs, so that real-time three-dimensional visual positioning in the operation is realized, and accurate surgical operation navigation is realized.

The invention also provides a hematoma boundary judgment method, which comprises the steps of collecting images in real time through the navigation unit, selecting partial image information as anchor points, and tracking and positioning the anchor points;

matching the real patient image feature points and the preoperative image three-dimensional reconstructed virtual image surface feature points through an image recognition technology, and on the basis of the mapping relation between the matching points, performing topological transformation on the virtual image to further realize registration of the virtual image and the real patient image;

the distinguishing information of the cerebral hematoma and the cerebral tissue acquired by the induction part is acquired, the real characteristic part is determined, the parameter information of the part in the established world coordinate system is calculated, and in the operation process, the virtual image characteristic part modifies the coordinate parameter information of the part under the guidance of the navigation system of the invention to ensure that the virtual image characteristic part is consistent with the real characteristic part coordinate parameter information, so that the virtual-real fusion can be realized, and the hematoma boundary is displayed.

By using the method, the distinguishing information of the brain hematoma and the brain tissue acquired by the induction component is fused with the three-dimensional graph, so that the accurate display of the hematoma boundary is realized, the implementation of a hematoma extraction operation is facilitated, and the brain tissue is prevented from being damaged.

Drawings

FIG. 1 is a schematic flow diagram of a hematoma extraction system of the present invention;

fig. 2 is a schematic view of the structure of the drawing unit of the hematoma drawing system of the present invention.

Reference numerals in the drawings of the specification include: an outer tube 1, an insertion tube 2, a guide wire 3, and a claw 4.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.

As shown in fig. 1, the present invention discloses a hematoma extracting system, which comprises a navigation unit, an extracting unit and a control unit, wherein the extracting unit is used for catching a hematoma and pulling out the hematoma, or destroying a hematoma structure to break a large hematoma, so as to more conveniently suck the hematoma.

Based on a mixed reality technology, a navigation unit acquires a real patient image and a virtual image of preoperative image three-dimensional reconstruction, the two images are matched, positioned and fused, two coordinate systems are aligned and displayed as a visual three-dimensional graph, and the navigation unit identifies, tracks the track of an extraction unit and displays the track on the visual three-dimensional graph.

The extraction unit is provided with a grabbing claw part, an induction component used for distinguishing the cerebral hematoma and the brain tissue is arranged at the boundary position of the claw part, the output end of the induction component is electrically connected with the navigation unit, and the boundary information of the cerebral hematoma and the brain tissue is input into the navigation unit and fused and corrected with the three-dimensional reconstructed virtual image.

The output end of the control unit is electrically connected with the control end of the extraction unit, and the control unit receives the information output by the induction component and the navigation unit and autonomously or manually controls the opening range and the size of the claw part according to the received information.

In a preferred mode of this scheme, as shown in fig. 2, the extraction unit includes an outer tube, an insertion tube, and a guide wire, the insertion tube is sleeved in the outer tube, a plurality of axially extending channels are provided in the insertion tube, the guide wire is inserted into the corresponding channels, a claw portion is provided at the front end of the guide wire, the claw portion is linear when located in the channels, and is claw-shaped when extending out of the channels, and the outer tube is communicated with a negative pressure extraction mechanism.

Preferably, the claw part of the guide wire is made of a memory material, so that the claw part of the guide wire can be limited by the channel in the channel to keep a linear state, and can be restored to a claw shape due to the characteristics of the memory material after extending out of the channel. More preferably, burrs or hooks are fixedly arranged on the claw part of the guide wire, and the burrs or hooks are used for grabbing the hematoma, so that the claw part drives the hematoma to move more stably. The control end of the negative pressure extraction mechanism can be electrically connected with the control signal output end of the control unit, and the control claw is controlled by software programming to start the negative pressure extraction mechanism after the hematoma is grabbed, so that the hematoma is sucked; or the electric connection control button is used for manual control.

When the device works, the outer tube and the insertion tube (the guide wires are in a straightened state and are retracted into the channel) are inserted into the hematoma block together, then the guide wires extend out one by one, the claw parts are inserted into the hematoma block, and the guide wires are independently controlled, so that different guide wires have the same or different extending amounts, and the control is more flexible. The jaw portion is able to grasp a portion of the hematoma while simultaneously segmenting a larger volume of the hematoma. Under the navigation action of the induction component and the navigation unit arranged at the front end of the claw part, the claw part is prevented from penetrating out of the boundary of the hematoma block. When all the guide wires extend forwards to the proper position, the guide wires and the insertion tube are relatively fixed, the insertion tube is pulled backwards, and the claw parts of the guide wires are driven by the insertion tube to synchronously move, so that hematoma blocks grabbed by the claw parts are driven to enter the outer tube. And then starting the negative pressure suction mechanism to connect the outer tube with negative pressure, and sucking out the residual hematoma block under the action of the negative pressure.

In a preferred mode of the scheme, the sensing part adopts a color sensor or a density sensor, and can be flexibly selected according to use requirements.

When the color sensor is used, the color sensor is used for collecting color information of the front tissue in the advancing process, converting the corresponding color information into data suitable for display and inputting the data into the navigation unit. The method comprises the steps of obtaining surface feature points of a hematoma image and a brain tissue image on a visual three-dimensional image through an image recognition technology, slicing the visual three-dimensional image through a navigation unit (each slice carries distance information with a projection plane), and projecting the surface feature points of each slice in an imaging plane coordinate system, for example, the existing three-dimensional stereo image slice projection technology is adopted. The points in the world coordinate system of the three-dimensional graph are projected on an imaging plane, and need to be converted into a camera coordinate system,

P_c＝R*P_W+T

wherein, P_wIs a point in the world coordinate system (the world coordinate system is also called the real or real world coordinate system, which is the absolute coordinate of the objective world, and the general three-dimensional scene is represented by this coordinate system), P_CIs the camera coordinate system (with the optical center of the camera as the origin, Z)_cThe axis is coincident with the optical axis and perpendicular to the imaging plane, and the shooting direction is positive, X_c、Y_cAxis parallel to x, y axis of the image physical coordinate system), T ═ T (T)_x，T_y，T_z) Is a translation vector that translates the origin of the world coordinate system to the origin of the camera coordinate system, and R ═ R (α, β, γ) is a rotation matrix.

And then projecting the three-dimensional space point from the camera coordinate system to an imaging plane coordinate system.

The initial position of the grabbing claw part is set as the central point of the imaging plane coordinate system, and the surface characteristic point is converted into a coordinate point corresponding to the imaging plane. After the image is projected to an imaging plane, the projected image may be distorted and needs to be corrected, when hematoma color information is changed into brain tissue color information, distance information and angle information of the movement of the grabbing claw part are checked, so that boundary position coordinates of hematoma and brain tissue are converted, and the boundary position coordinates of the image projected by the visual three-dimensional graph are corrected through the boundary position coordinate information.

When the density sensor is used, the density sensor is used for acquiring density information of the tissues in front in the advancing process, converting the corresponding density information into data suitable for display and inputting the data into the navigation unit. The method comprises the steps of obtaining surface feature points of a hematoma image and a brain tissue image on a visual three-dimensional image through an image recognition technology, projecting the surface feature points of the visual three-dimensional graph of a navigation unit into an imaging plane coordinate system, setting an initial position of a grabbing claw part as a central point of the imaging plane coordinate system, and converting the surface feature points into coordinate points corresponding to an imaging plane in the same way as the operation of the color sensor. After the image is projected to an imaging plane, the projected image may be distorted and needs to be corrected, and when the density sensor is not in contact with the hematoma any more, the distance information of the movement of the grabbing claw part is checked, so that the boundary position coordinates of the hematoma and the brain tissue are converted, and the boundary coordinates of the image projected by the visual three-dimensional graph are corrected by the boundary position coordinate information.

In the process of correcting the image boundary coordinates of the visual three-dimensional graph by using the boundary position coordinate information, after a plurality of boundary coordinates are measured, if the distances between the measured boundary coordinates and the nearest point of the original three-dimensional graph do not exceed a threshold value, the boundary coordinates are preferably smoothed (namely, a fitting curved surface is obtained by fitting the obtained boundary coordinates), and if the fitted smooth interface does not exceed the original three-dimensional graph interface, the smooth interface is used for replacing the three-dimensional graph interface at the corresponding position; and if the area of the smooth interface obtained by fitting exceeds the original three-dimensional graphical interface, the exceeded area still displays the originally obtained three-dimensional graphical interface.

If the distance between some boundary coordinates and the nearest point of the original three-dimensional graph exceeds a threshold value, a reminding signal is sent out through the control unit, the part of the guide wire claw is controlled to retract, and a doctor can be reminded to rebuild the visualized three-dimensional graph again.

In a preferred embodiment of the present invention, the passage is inclined from an edge of one end of the insertion tube to a central axis of the other end of the insertion tube. The inserting pipe is located at the center of the outer pipe, a gap is formed between the inner wall of the outer pipe and the outer wall of the inserting pipe, and any end of the inserting pipe is provided with an extending end. Therefore, when the guide wire is controlled to extend out of the channel, a claw-shaped structure is naturally formed, and the use is facilitated.

The invention also provides a navigation system, which comprises a virtual scene generator, a user head posture tracker, a user position tracker and a display, wherein the virtual scene generator constructs a brain three-dimensional graph of a patient through the navigation unit, the user head posture tracker and the user position tracker are used for determining the integral position of the user, and the output ends of the virtual scene generator, the user head posture tracker and the user position tracker are electrically connected with the display.

The invention also provides a hematoma boundary judgment method, which is characterized in that the navigation unit is used for acquiring images in real time, partial image information is selected as an anchor point, and the anchor point is tracked and positioned. The image recognition technology is used for matching the real patient image feature points and the preoperative image three-dimensional reconstructed virtual image surface feature points, and the registration of the virtual image and the real patient image is realized by performing topological transformation on the virtual image on the basis of the mapping relation between the matching points.

The distinguishing information of the cerebral hematoma and the cerebral tissue acquired by the induction part is acquired, the real characteristic part is determined, the parameter information of the part in the established world coordinate system is calculated, and in the operation process, the virtual image characteristic part modifies the coordinate parameter information of the part under the guidance of the navigation system of the invention to ensure that the virtual image characteristic part is consistent with the real characteristic part coordinate parameter information, so that the virtual-real fusion can be realized, and the hematoma boundary is displayed.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.