CN-122005026-A - Positioning system and positioning method for head puncture drainage assistance

CN122005026ACN 122005026 ACN122005026 ACN 122005026ACN-122005026-A

Abstract

The invention provides a positioning system and a positioning method for head puncture drainage assistance, wherein the system comprises an image processing module, a trackable instrument module, a positioning instrument module, an AR module, a positioning instrument module, a positioning device module and a drainage tube placement channel, wherein the image processing module is used for reconstructing a three-dimensional model according to a lesion structure and a surface skin structure, the trackable instrument module is used for providing a real-time tracked object and a first virtual channel arranged at the central vertical position of the tracked object, the top of the positioning instrument module is fixedly provided with a marker, a second virtual channel is arranged at the central vertical position of the marker, the AR module is used for registering and positioning the head of a patient and the three-dimensional model in real time, the position of the tracked object at the central position of the three-dimensional model is identified on the basis, the position relation between the virtual channel and the lesion structure is obtained, the virtual needle point is obtained, the position relation between the virtual channel and the lesion structure is obtained, and the drainage tube placement channel is obtained. The invention has simple structure, unchanged flow and low cost, and is suitable for popularization.

Inventors

ZHAO YIYANG
SHU XUJUN
SUN YIRUI
YANG GUODONG

Assignees

医视际(扬州)医疗科技发展有限公司

Dates

Publication Date: 20260512
Application Date: 20260403

Claims (10)

1. The positioning system for head puncture drainage assistance is characterized by comprising an image processing module, a data transmission module, an AR module, a traceable instrument module and a positioning instrument module, wherein: the image processing module is used for reconstructing and obtaining a three-dimensional model for head puncture simulation according to the lesion structure and the superficial skin structure; The data transmission module is used for transmitting the three-dimensional model to the AR module; The trackable instrument module is configured to provide a real-time tracked object Q2 and a first virtual channel disposed at a central vertical position of the tracked object Q2, as an entity marker of the AR module for obtaining a virtual needle insertion point, where the virtual needle insertion point is used for obtaining a drainage hole subsequently as a central point; The positioning instrument module is used for being installed in the drainage hole, a marker Q3 is fixed at the top of the positioning instrument module, a second virtual channel is arranged in the center vertical position of the marker Q3, and the positioning instrument module is used as an entity marker for acquiring a drainage tube placement channel by the AR module; The AR module is used for registering and positioning the head of a patient with the three-dimensional model in real time, identifying a tracked object Q2 provided by the trackable instrument module on the basis of registering and positioning, acquiring a position relationship between the first virtual channel and the pathological change structure by adjusting the gesture of the first virtual channel in real time to acquire a virtual needle insertion point, tracking a marker Q3 on the positioning instrument module, and acquiring a position relationship between the second virtual channel and the pathological change structure by adjusting the gesture of the second virtual channel in real time to acquire a drainage tube placement channel to realize auxiliary positioning of head puncture drainage.
2. The positioning system for head puncture drainage assistance according to claim 1, wherein the image processing module comprises: a data image acquisition unit for acquiring preoperative CT or MRI image data; The structure labeling unit is used for labeling a lesion structure and a superficial skin structure in the image data, wherein a lesion structure labeling result is formed by manual sketching; extracting the complete head region of the patient through threshold strength and connectivity analysis, removing irrelevant background and air regions in a scanning visual field, and connecting to obtain a complete surface skin structure labeling result; And the model construction unit is used for reconstructing the labeling result into a three-dimensional model.
3. The positioning system for head puncture drainage assistance according to claim 1, wherein the trackable instrument module includes a hand-held portion, the tracker Q2 is mounted to an end portion of the hand-held portion, and the posture of the trackable instrument module is adjusted by adjusting the hand-held portion, wherein: The tracked object Q2 is used as an image mark capable of successfully identifying and tracking, and a two-dimensional code or any two-dimensional image containing obvious characteristics is adopted; the method comprises the steps of pre-storing a two-dimensional digital image of a tracked object Q2 in an AR module, extracting feature points by scanning an image mark of the tracked object Q2 and using a SIFT algorithm, comparing the captured feature points with the pre-stored two-dimensional digital image in the AR module, calculating a 6-DoF gesture of the image mark in a three-dimensional space after the matching is successful, rendering a 3D model of a first virtual channel according to the calculated 6-DoF gesture, and realizing real-time tracking of the tracked object Q2 and pose updating of the first virtual channel by scanning the image mark of the tracked object Q2 in real time and calculating the 6-DoF gesture.
4. The positioning system for head puncture drainage assistance according to claim 1, wherein the positioning instrument module comprises a base and a superstructure movably or lockingly mounted on the base, the top end of the superstructure fixing the marker Q3, wherein: The marker Q3 is used as an image marker capable of successfully identifying and tracking, and a two-dimensional code or any two-dimensional image containing obvious characteristics is adopted; the method comprises the steps of pre-storing a two-dimensional digital image of a marker Q3 in an AR module, extracting feature points by scanning an image mark of the tracked object Q3 and using a SIFT algorithm, comparing the captured feature points with the pre-stored two-dimensional digital image in the AR module, calculating a 6-DoF gesture of the image mark in a three-dimensional space after the matching is successful, rendering a 3D model of a second virtual channel according to the calculated 6-DoF gesture, and realizing real-time tracking of the marker Q3 and pose updating of the second virtual channel by scanning the tracked object Q3 in real time and calculating the 6-DoF gesture.
5. The positioning system for head puncture drainage assistance according to claim 4, further comprising a circular groove arranged at the center of the top of the base, wherein the top structure comprises a fixed block and an attitude adjusting rod, the top of the attitude adjusting rod is fixedly connected with the fixed block, the bottom of the attitude adjusting rod is provided with a ball head and is rotatably and adaptively arranged in the circular groove, and an adjustable fixing part is further arranged between the attitude adjusting rod and the base; Wherein: the fixing part comprises a threaded hole positioned on the side surface of the base and a jackscrew arranged in the threaded hole, and when the posture adjusting rod is adjusted to a specified position, the jackscrew is rotated to press the ball head, so that locking is realized.
6. The positioning system for head puncture drainage assistance of claim 1, wherein the AR module comprises a depth camera, an RGB camera, a registration positioning unit, a virtual needle point generation unit, and a drainage tube placement channel generation unit, wherein: The depth camera and the RGB camera are used for simultaneously punching cards, and the depth camera and the RGB camera are respectively used for acquiring head point cloud data of a patient and identifying each image mark; the registration positioning unit is used for acquiring head point cloud data of a patient by utilizing the depth camera, registering the head of the patient with the three-dimensional model and positioning the head of the patient in real time; The virtual needle insertion point generating unit is configured to identify a tracked object Q2 provided by the trackable instrument module by using the RGB camera and form a first virtual channel vertically at a central position of the tracked object Q2, and obtain a position relationship between the first virtual channel and the lesion structure by adjusting a posture of the trackable instrument module in real time, so as to obtain a virtual needle insertion point; The drainage tube placement channel generating unit is used for tracking a marker Q3 on the positioning instrument module by using the RGB camera and forming a second virtual channel at the center position of the marker Q3 vertically, and acquiring the position relationship between the second virtual channel and a lesion structure by adjusting the gesture of the positioning instrument module in real time to obtain the drainage tube placement channel.
7. The positioning system for head puncture drainage assistance according to claim 6, wherein the registration positioning unit further comprises: The registration subunit is used for scanning the head skin of the patient by using the depth camera to obtain head skin point cloud data of the patient, registering a superficial skin structure in the three-dimensional model with the point cloud data, and recording the coordinate position of the head skin data after registration as P1; The positioning subunit is used for pasting a marker Q1 near the incision of the head of the patient, identifying the marker Q1 by using an RGB camera, establishing a 3D coordinate system A1 by taking the center of an identification picture as an origin, recording the position of P1 in the 3D coordinate system A1 as P1, updating the coordinate position of the three-dimensional model to P1 as long as the marker Q1 is identified, and realizing registration and real-time positioning between the head of the patient and the three-dimensional model.
8. The positioning system for head puncture drainage assistance according to claim 6, wherein the virtual needle insertion point generation unit further comprises: The first position relation acquisition subunit is used for tracking the tracked object Q2 in real time by utilizing an RGB camera, and displaying a first virtual channel at the center position vertical to the tracked object Q2; And the needle insertion point generation subunit is used for recording the current contact point t1 between the first virtual channel and the superficial skin structure when the first virtual channel reaches the center of the lesion structure or the center of the long axis, and taking the contact point t1 as a virtual needle insertion point.
9. The positioning system for head puncture drainage assistance according to claim 6, wherein the drainage tube placement channel generating unit further comprises: The second position relation acquisition subunit is used for tracking the fixed marker Q3 by utilizing an RGB camera and displaying a second virtual channel at the center position vertical to the marker Q3; and the drainage tube placement channel generation subunit is used for marking that the current second virtual channel can reach the lesion center when the virtual channel reaches the lesion center or the long axis center, locking the upper structure of the positioning instrument device and forming a drainage tube placement channel along the center position of the marker Q3.
10. A positioning method for head puncture drainage assistance, comprising: Reconstructing to obtain a three-dimensional model for head puncture simulation according to the lesion structure and the superficial skin structure; registering and positioning the head of the patient with the three-dimensional model in real time; providing a real-time tracking object Q2 and a first virtual channel arranged on the central vertical position of the tracking object Q2; On the basis of registration and positioning, identifying the tracked object Q2, and acquiring the position relationship between the first virtual channel and the pathological change structure by adjusting the gesture of the first virtual channel in real time to obtain a virtual needle insertion point, wherein the virtual needle insertion point is used as a center point for subsequently obtaining a drainage hole; A positioning instrument is adopted and is used for being placed in a drainage hole subsequently, a marker Q3 is fixed at the top of the positioning instrument, and a second virtual channel is arranged at the central vertical position of the marker Q3; Tracking a marker Q3 on the positioning instrument, and acquiring the position relationship between the second virtual channel and the pathological change structure by adjusting the gesture of the second virtual channel in real time to acquire a drainage tube placement channel so as to realize head puncture drainage auxiliary positioning.

Description

Positioning system and positioning method for head puncture drainage assistance Technical Field The invention relates to the technical fields of medical instruments, medical image navigation and computer vision, in particular to a positioning system and a positioning method for head puncture drainage assistance. Background In the common puncture operation of neurosurgery, the positioning modes including ventricular puncture drainage, stereotactic biopsy, cerebral hematoma puncture drainage, cerebral abscess puncture drainage and the like are key to ensuring the safety and success of the operation. Particularly in cerebral hemorrhage puncture operation, not only is the requirement on positioning accuracy provided, but also quick and accurate positioning is an important premise for ensuring gold operation time. The main stream positioning modes of the existing brain puncture operation comprise traditional frame type stereotactic and frameless nerve navigation, wherein the frame type stereotactic needs to fix a rigid frame on the head of a patient, and is calibrated in image scanning, coordinates are calculated and the like, and under the condition of emergency treatment, the time consumed by the frame fixing and the coordinates calculating process can delay rescuing acute cerebral hemorrhage. Frameless nerve navigation requires the operation of optical camera erection, neurosurgical head frame fixation, registration of preoperative imaging data with the actual head position of the patient, and the like, and also requires a long time. With the development of surgical robot technology in recent years, robots suitable for brain puncture surgery have been partially developed, and the puncture robots solve the problems of positioning accuracy and puncture stability to a great extent, but have low popularity due to high selling price. Disclosure of Invention The invention aims at the defects in the prior art and provides a positioning system and a positioning method for head puncture drainage assistance. According to a first aspect of the invention, a positioning system for head puncture drainage assistance is provided, comprising an image processing module, a data transmission module, an AR module, a trackable instrument module and a positioning instrument module, wherein: the image processing module is used for reconstructing and obtaining a three-dimensional model for head puncture simulation according to the lesion structure and the superficial skin structure; The data transmission module is used for transmitting the three-dimensional model to the AR module; The trackable instrument module is configured to provide a real-time tracked object Q2 and a first virtual channel disposed at a central vertical position of the tracked object Q2, as an entity marker of the AR module for obtaining a virtual needle insertion point, where the virtual needle insertion point is used for obtaining a drainage hole subsequently as a central point; The positioning instrument module is used for being installed in the drainage hole, a marker Q3 is fixed at the top of the positioning instrument module, a second virtual channel is arranged in the center vertical position of the marker Q3, and the positioning instrument module is used as an entity marker for acquiring a drainage tube placement channel by the AR module; The AR module is used for registering and positioning the head of a patient with the three-dimensional model in real time, identifying a tracked object Q2 provided by the trackable instrument module on the basis of registering and positioning, acquiring a position relationship between the first virtual channel and the pathological change structure by adjusting the gesture of the first virtual channel in real time to acquire a virtual needle insertion point, tracking a marker Q3 on the positioning instrument module, and acquiring a position relationship between the second virtual channel and the pathological change structure by adjusting the gesture of the second virtual channel in real time to acquire a drainage tube placement channel to realize auxiliary positioning of head puncture drainage. Preferably, the image processing module includes: a data image acquisition unit for acquiring preoperative CT or MRI image data; The structure labeling unit is used for labeling a lesion structure and a superficial skin structure in the image data, wherein a lesion structure labeling result is formed by manual sketching; extracting the complete head region of the patient through threshold strength and connectivity analysis, removing irrelevant background and air regions in a scanning visual field, and connecting to obtain a complete surface skin structure labeling result; And the model construction unit is used for reconstructing the labeling result into a three-dimensional model. Preferably, the trackable instrument module comprises a hand-held part, wherein the tracker Q2 is installed at one end of the hand-held part, and the pos