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CN-121694869-B - Interactive bronchoscope navigation system and method

CN121694869BCN 121694869 BCN121694869 BCN 121694869BCN-121694869-B

Abstract

The invention relates to an interactive bronchoscope navigation system and method, wherein the navigation system comprises a CT data acquisition module, a navigation data acquisition device, a digital bronchoscope generation module and a navigation data mapping module, wherein the CT data acquisition module is used for acquiring chest CT data of a patient, the navigation data acquisition device is used for simulating the insertion operation of a camera at the head end of an insertion tube of a bronchoscope based on the chest CT data and obtaining the insertion position data and the gesture data of the camera, the digital bronchoscope generation module is used for generating a digital bronchoscope based on the chest CT data, the navigation data mapping module is used for mapping the insertion position data and the gesture data of the camera into the digital bronchoscope, and the motion calculation of a virtual camera is carried out under the constraint of a digital airway lumen of the digital bronchoscope to obtain the gesture of the virtual camera in the digital airway lumen, so that the simulation operation is realized. The simulation operation of the bronchoscope can be realized, the operation scheme can be previewed on the digital airway of the patient before operation, the operation efficiency is improved, the operation risk is reduced, and the medical cost is saved.

Inventors

  • HOU GANG
  • DENG MINGMING
  • LIAO LIWEI

Assignees

  • 中日友好医院(中日友好临床医学研究所)

Dates

Publication Date
20260508
Application Date
20260213

Claims (9)

  1. 1. An interactive bronchoscope navigation system, comprising: A CT data acquisition module for acquiring chest CT data of a patient; A navigation data acquisition device for simulating an insertion operation of a camera at the insertion tube head end of a bronchoscope based on the chest CT data, and acquiring insertion position data and posture data of the camera; a digital bronchial tree generation module for generating a digital bronchial tree based on the chest CT data; The navigation data mapping module is used for mapping the insertion position data and the gesture data of the camera into the digital bronchial tree, and under the constraint of the digital airway lumen of the digital bronchial tree, the motion calculation of the virtual camera is carried out to obtain the pose of the virtual camera in the digital airway lumen, so that the simulation operation is realized; The navigation data acquisition device comprises a bronchoscope, a transparent operation catheter (5) and a camera (6) located above the transparent operation catheter (5), wherein an angle detection sensor is installed in a deflector rod (2) of the bronchoscope and used for collecting swinging angles of the deflector rod (2), a plurality of coding patterns are printed on the surface of an insertion tube (3) of the bronchoscope, a camera at the head end of the insertion tube (3) is inserted into the transparent operation catheter (5) and used for shooting pictures of the insertion tube (3) in the transparent operation catheter (5) after the camera at the head end of the insertion tube (3) is inserted into the transparent operation catheter (5), and insertion position data and gesture data of the camera at the head end of the insertion tube (3) are obtained based on the coding patterns in the pictures and the swinging angles of the deflector rod (2).
  2. 2. The interactive bronchoscope navigation system according to claim 1, characterized in that each of said coding patterns printed on the surface of said insertion tube (3) comprises a position identification from the head and a head rotation angle identification.
  3. 3. The interactive bronchoscope navigation system according to claim 2, characterized in that each of said coding patterns comprises a circumferential line (301) arranged around the circumference of said insertion tube (3) and four sets of numbers (302) and transverse lines (303) arranged at 90 ° intervals around the circumference of said insertion tube (3).
  4. 4. An interactive bronchoscope navigation system according to claim 3, characterized in that said coding pattern is printed on the surface of said insertion tube (3) with a printing ink mixed with a fluorescent agent.
  5. 5. The interactive bronchoscope navigation system according to claim 1, characterized in that said navigation data acquisition means further comprises a polarizer (7) and said polarizer (7) is mounted between said camera (6) and said transparent operating catheter (5).
  6. 6. The interactive bronchoscope navigation system of any of claims 1-5, wherein the digital bronchial tree generation module comprises: the airway segmentation sub-module is used for realizing segmentation of airways based on the chest CT data so as to extract airway binary images; the three-dimensional reconstruction sub-module is used for carrying out three-dimensional reconstruction based on the airway binary image so as to generate a three-dimensional visual model; the framework extraction submodule is used for extracting airway framework points in the three-dimensional visual model; And the tree structure construction submodule is used for organizing the airway skeleton points into a hierarchical structure through a multi-tree traversal algorithm so as to construct a digital bronchial tree of the tree structure.
  7. 7. The interactive bronchoscope navigation system of claim 6, wherein the airway segmentation sub-module employs a segmentation method based on deep learning to segment the airway to extract the airway binary image.
  8. 8. An interactive bronchoscope navigation method, characterized in that it employs the interactive bronchoscope navigation system according to any one of claims 1-7 and comprises the following steps: acquiring chest CT data of a patient by using the CT data acquisition module; simulating the insertion operation of a camera at the head end of an insertion tube of a bronchoscope by using the navigation data acquisition device based on the chest CT data so as to acquire the insertion position data and the gesture data of the camera; Generating a digital bronchial tree using the digital bronchial tree generation module based on the chest CT data; And mapping the insertion position data and the gesture data of the camera into the digital bronchial tree by utilizing the navigation data mapping module, and carrying out motion calculation of the virtual camera under the constraint of the digital airway lumen of the digital bronchial tree to obtain the pose of the virtual camera in the digital airway lumen so as to realize simulation operation.
  9. 9. The method of claim 8, wherein generating a digital bronchial tree using the digital bronchial tree generation module based on the chest CT data comprises: Based on the chest CT data, realizing the segmentation of the airway so as to extract an airway binary image; performing three-dimensional reconstruction based on the airway binary image to generate a three-dimensional visual model; extracting airway skeleton points in the three-dimensional visual model; And organizing the airway skeleton points into a hierarchical structure through a multi-tree traversal algorithm to construct a tree-structured digital bronchial tree.

Description

Interactive bronchoscope navigation system and method Technical Field The invention belongs to the technical field of medical simulation, relates to a bronchoscope navigation system and method, and particularly relates to an interactive bronchoscope navigation system and method. Background The virtual bronchoscope navigation can complete three-dimensional reconstruction of the airway and the blood vessel and path planning, and compared with CT hand-drawn navigation, the virtual bronchoscope navigation provides a more visual three-dimensional visualization scheme. However, the existing virtual bronchoscope navigation product can only complete the display of the operation path, and has no interactive operation. Because there is no interactive operation, the simulation operation of the bronchoscope cannot be realized. Therefore, on one hand, the operation scheme cannot be previewed on the digital airway of the patient before operation, the operation efficiency is reduced, the operation risk is improved, and on the other hand, the operation scheme cannot be previewed on the digital airway of the patient and the family members before operation, and the operation scheme and the condition of the patient cannot be known more simply, so that the operation center management burden of the patient is increased, and the satisfaction degree of the patient is reduced. In view of the technical shortcomings of the prior art, a need exists for an interactive bronchoscope navigation system and method. Disclosure of Invention Based on the problems in the prior art, the invention provides the interactive bronchoscope navigation system and the interactive bronchoscope navigation method, which can realize the simulation operation of the bronchoscope, so that the operation scheme can be previewed on the digital airway of the patient before the operation, further the operation efficiency is improved, the operation risk is reduced, and the medical cost is saved. In order to achieve the above object, the present invention provides the following technical solutions: an interactable bronchoscope navigation system comprising: A CT data acquisition module for acquiring chest CT data of a patient; A navigation data acquisition device for simulating an insertion operation of a camera at the insertion tube head end of a bronchoscope based on the chest CT data, and acquiring insertion position data and posture data of the camera; a digital bronchial tree generation module for generating a digital bronchial tree based on the chest CT data; The navigation data mapping module is used for mapping the insertion position data and the gesture data of the camera into the digital bronchial tree, and under the constraint of the digital airway lumen of the digital bronchial tree, the motion calculation of the virtual camera is carried out, so that the pose of the virtual camera in the digital airway lumen is obtained, and the simulation operation is realized. Preferably, the navigation data acquisition device comprises a bronchoscope, a transparent operation catheter and a camera positioned above the transparent operation catheter, wherein an angle detection sensor is installed in a deflector rod of the bronchoscope and used for acquiring the swinging angle of the deflector rod, a plurality of coding patterns are printed on the surface of an insertion tube of the bronchoscope, a camera at the head end of the insertion tube is inserted into the transparent operation catheter and is used for shooting a picture of the insertion tube in the transparent operation catheter after the camera at the head end of the insertion tube is inserted into the transparent operation catheter, so as to obtain the insertion position data and the gesture data of the camera at the head end of the insertion tube based on the coding patterns in the picture and the swinging angle of the deflector rod. Preferably, each of the coding patterns printed on the surface of the insertion tube includes a position mark from the head and a head rotation angle mark. Preferably, each of said coding patterns comprises a circumferential line arranged around the circumference of said insertion tube and four sets of digital and transverse line combinations arranged at 90 ° intervals around the circumference of said insertion tube. Preferably, the coding pattern is printed on the surface of the insertion tube using a printing ink mixed with a fluorescent agent. Preferably, the navigation data acquisition device further comprises a polarizer and the polarizer is mounted between the camera and the transparent operating catheter. Preferably, the digital bronchial tree generation module comprises: the airway segmentation sub-module is used for realizing segmentation of airways based on the chest CT data so as to extract airway binary images; the three-dimensional reconstruction sub-module is used for carrying out three-dimensional reconstruction based on the airway binary image so as to generate a th