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WO2025001654A1 - Robot cathéter et son procédé d'enregistrement - Google Patents

Robot cathéter et son procédé d'enregistrement Download PDF

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Publication number
WO2025001654A1
WO2025001654A1 PCT/CN2024/094916 CN2024094916W WO2025001654A1 WO 2025001654 A1 WO2025001654 A1 WO 2025001654A1 CN 2024094916 W CN2024094916 W CN 2024094916W WO 2025001654 A1 WO2025001654 A1 WO 2025001654A1
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WIPO (PCT)
Prior art keywords
point cloud
catheter
anatomical model
model
anatomical
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PCT/CN2024/094916
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English (en)
Chinese (zh)
Inventor
陈家兴
高元倩
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Shenzhen Edge Medical Co Ltd
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Shenzhen Edge Medical Co Ltd
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Publication of WO2025001654A1 publication Critical patent/WO2025001654A1/fr
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • G06T7/344—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving models
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels

Definitions

  • the present application relates to the technical field of medical devices, and in particular to a catheter robot and a registration method thereof.
  • Minimally invasive medical technology intends to reduce the amount of tissue damaged during medical procedures to reduce patient recovery time, discomfort, and harmful side effects.
  • Such minimally invasive technology can be performed through natural orifices in the anatomical structure or through one or more surgical incisions.
  • the anatomical structure is a bronchus
  • the currently commonly used lung medical surgery is to use bronchoscopic technology, the process of which is to insert the medical device through the patient's natural cavity or through one or more minimally invasive surgical incisions, rely on the camera at the front end of the bronchoscope, and reach the target tissue location, that is, the lesion location, with the cooperation of the intraoperative navigation system.
  • anatomical model (virtual bronchial 3D model) based on the patient's preoperative CT images.
  • the CT images taken before the operation are the shape of the patient's bronchi at a certain moment, and during the operation, the patient's bronchi are easily affected by breathing, and their size and shape will change dynamically.
  • the movement of the catheter will also squeeze the bronchi, causing the bronchi to bend and other deformations.
  • Breathing can cause contraction and relaxation of the bronchi, movement deviation of the lesions, especially When the lesion is located outside the bronchus and the patient's breathing amplitude is large, the chance of success will be reduced if the puncture biopsy is still performed along the planned route.
  • the existing technologies do not comprehensively consider the impact of breathing and instruments on the shape of the bronchus. If there is a large difference between the anatomical model and the actual anatomical structure, it will affect the doctor's judgment on the direction and distance between the catheter and the target tissue, and have a significant impact on the success rate of the operation.
  • the anatomical model can better reflect the actual state of the patient's anatomical structure and improve the success rate of the operation.
  • the present application provides a catheter robot, the catheter robot comprising:
  • a first sensor disposed on the catheter, for sensing the position of the distal end of the catheter
  • a second sensor disposed on the patient's body surface, for acquiring body surface data of the patient
  • a control device coupled to the first sensor and configured to:
  • acquiring a third anatomical model associated with the breathing coefficient or, based on the breathing coefficient and the second anatomical model, acquiring a third anatomical model associated with the breathing coefficient;
  • model point cloud includes a plurality of skeleton points of a pipeline centerline of the third anatomical model and/or a plurality of vertices of a pipeline wall;
  • the simulation path point cloud is registered with the model point cloud.
  • a catheter robot is characterized by comprising:
  • a first sensor disposed on the catheter, for sensing the position of the distal end of the catheter
  • a second sensor disposed on the patient's body surface, for acquiring body surface data of the patient
  • a control device coupled to the first sensor and configured to:
  • a third anatomical model associated with the breathing coefficient is obtained; or, based on the breathing coefficient and the second anatomical model, a third anatomical model associated with the breathing coefficient is obtained.
  • the present application provides a catheter robot registration method, comprising:
  • acquiring a third anatomical model associated with the breathing coefficient or, based on the breathing coefficient and the second anatomical model, acquiring a third anatomical model associated with the breathing coefficient;
  • model point cloud includes a plurality of skeleton points of a pipeline centerline of the third anatomical model and/or a plurality of vertices of a pipeline wall;
  • the simulation path point cloud is registered with the model point cloud.
  • the present application provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and the computer program is configured to be loaded and executed by a processor to implement the steps of the method described in any of the above embodiments.
  • the present application can obtain a dynamic and accurate anatomical model on the one hand, and can improve the accuracy of the registration algorithm, so that the position of the catheter end displayed on the anatomical model is closer to the actual position.
  • the higher accuracy is beneficial to judge the distance between the catheter end and/or the instrument end (such as a biopsy needle) and the target tissue (for example, a lesion), reduce the number of DR or CBCT shots during surgery, and reduce the radiation intake of doctors and patients.
  • the present application can also accurately know the shape of the catheter and the anatomical structure in real time, provide guidance for the subsequent movement direction of the catheter, better adjust the angle of the catheter, align the center of the target tissue, and improve the success rate of the operation.
  • FIG1 is a schematic diagram of the structure of a catheter robot provided in one embodiment of the present application.
  • FIG2 is a schematic diagram of the structure of a catheter device and a power unit provided in one embodiment of the present application;
  • FIG3 is a schematic flow chart of a registration method for a catheter robot according to an embodiment of the present invention.
  • FIG4 is a schematic diagram of the position of a second sensor on the patient's body surface provided by an embodiment of the present application.
  • FIG5 is a schematic diagram of a respiratory coefficient obtained by using EM data of at least one respiratory cycle sensed by a second sensor according to an embodiment of the application;
  • FIG6 is a schematic diagram of a process of obtaining a third anatomical model associated with a respiratory coefficient according to an embodiment of the application
  • FIG7 is a schematic diagram of geodesics of a first anatomical model provided by an embodiment of the present application.
  • FIG8 is a schematic diagram showing a comparison of effects of obtaining a third anatomical model after contracting the first anatomical model in the first state according to an embodiment of the application;
  • FIG9 is a schematic diagram of an affine transformation process of the first anatomical model as a whole provided by an embodiment of the present application.
  • FIG10 is a schematic diagram of a deduplication processing effect of a path point cloud at the end of a catheter provided in an embodiment of the application;
  • FIG11 is a schematic diagram of a process of registering a simulation path point cloud with a model point cloud according to an embodiment of the present application
  • FIG12 is a schematic diagram showing a comparison effect of deleting a simulated path point cloud belonging to the first area and retaining a simulated path point cloud belonging to the second area provided by an embodiment of the present application;
  • FIG. 13-14 are schematic diagrams showing the comparison effect of using the second transformation matrix to align the simulated path point cloud and the model point cloud according to an embodiment of the present application;
  • FIG15 is a simplified schematic diagram of a user interface operated by a doctor provided in an embodiment of the present application.
  • FIG. 16 is a schematic diagram showing the principle of a control device for a catheter robot provided in one embodiment of the present application.
  • distal and proximal used in this application are directional words, which are commonly used terms in the field of interventional medical devices, where “distal” means the end close to the patient during surgery and “proximal” means the end away from the patient during surgery.
  • first/second and the like used in this application represent a component and a class of more than two components with common characteristics.
  • FIG1 shows a catheter system 1000 provided in an embodiment of the present application.
  • the catheter system 1000 includes an imaging cart 100, a trolley 200 and a main controller 300 respectively connected to the imaging cart 100, a catheter instrument 400 that can be coupled to the trolley 200, a sensor system 500 connected to the trolley 200, and a control device 600 for realizing control between the catheter instrument 400, the main controller 300, the sensor system 500 and the imaging cart 100.
  • the main controller 300 can be connected to the trolley 200 by wire or wirelessly.
  • the control instruction can be triggered by operating the main controller 300, and the catheter instrument 400 can be controlled to advance, retract, bend and turn, etc. through the drive of the trolley 200.
  • the trolley 200 can usually be moved to the side of the operating table to engage the catheter instrument 400 and control the catheter instrument 400 to move vertically, horizontally, or non-vertically and non-horizontally under the control command, thereby providing a better preoperative preparation angle for the operation of the catheter instrument 400.
  • the control command can be a command triggered by the operator by operating the main controller 300, or a command triggered by the operator directly clicking or pressing a button set on the trolley 200. Of course, in other embodiments, the control command can also be voice control. Control or instructions triggered by force feedback mechanism.
  • the trolley 200 may include a base 210, a sliding seat body 220 that can be lifted and moved along the base 210, and two mechanical arms 230 fixedly connected to the sliding seat body 220.
  • the mechanical arm 230 may include a plurality of arm segments connected at a joint, and the plurality of arm segments provide the mechanical arm 230 with a plurality of degrees of freedom, for example, seven degrees of freedom corresponding to seven arm segments.
  • a power unit (not shown in the figure) is installed at the end of the mechanical arm 230, and the power unit of the mechanical arm 230 is used to engage the catheter instrument 400, and under the driving action of the power unit, the end of the catheter instrument 400 is controlled to bend and turn accordingly.
  • the two mechanical arms 230 may be structures that are completely the same or partially the same, one mechanical arm 230 is used to engage the inner catheter instrument 410, and the other mechanical arm 230 is used to engage the outer catheter instrument 420.
  • the outer catheter device 420 may be installed first, and when the outer catheter device 420 is installed, the catheter of the inner catheter device 410 is inserted into the catheter of the outer catheter device 420 .
  • the sensor system 500 has one or more subsystems for receiving information about the catheter device 400.
  • the subsystems may include: a position sensor system, a shape sensor system for determining the position, orientation, speed, velocity, pose and/or shape of the tip of the catheter device 400 and/or along one or more segments of the catheter that may constitute the catheter device 400; and/or a visualization system for capturing images from the tip of the catheter device 400.
  • the imaging vehicle 100 may be provided with a display system 110 and a flushing system (not shown in the figure), etc.
  • the display system 110 is used to display images of the surgical site and the catheter instrument 400 generated by the subsystem of the sensor system 500. Real-time images of the surgical site and the catheter instrument 400 captured by the visualization system may also be displayed. Images of the surgical site recorded before or during surgery may also be presented using image data from imaging techniques such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound, etc.
  • CT computed tomography
  • MRI magnetic resonance imaging
  • OCT optical coherence tomography
  • ultrasound etc.
  • the preoperative or intraoperative image data may be presented as a two-dimensional, three-dimensional, or four-dimensional (such as time-based or rate-based information) image and/or presented as an image from a model created based on a preoperative or intraoperative image data set, and a virtual navigation image may also be displayed.
  • a virtual navigation image the actual position of the catheter instrument 400 is registered with the preoperative image to present a virtual image of the catheter instrument 400 in the surgical site to the operator from the outside.
  • the control device 600 includes at least one memory and at least one processor. It is understandable that The control device 600 can be integrated into the trolley 200 or the imaging trolley 100, or can be independently provided.
  • the control device 600 can support wireless communication protocols such as IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, and wireless telemetry.
  • the control device 600 can transmit a signal indicating one or more of the catheter devices 400 moved by the power unit.
  • the catheter device 400 can extend to a surgical site in the body through an opening of a natural cavity of the patient or a surgical incision.
  • control device 600 may include a mechanical control system (not shown in the figure) and an image processing system (not shown in the figure), wherein the mechanical control system is used to control the movement of the catheter instrument 400, and therefore, can be integrated into the trolley 200.
  • the image processing system is used for virtual navigation path planning, and therefore, can be integrated into the imaging vehicle 100.
  • the various subsystems of the control device 600 are not limited to the specific situations listed above, and can also be reasonably set according to actual conditions. Among them, the image processing system can image the surgical site based on the image of the surgical site recorded before or during the operation, using the above imaging technology.
  • the image processing system can also convert the recorded image into a two-dimensional or three-dimensional composite image of a part or the entire anatomical organ or segment by software used in combination with manual input.
  • the sensor system 500 can be used to calculate the position of the catheter instrument 400 relative to the patient's anatomical structure, which can be used to generate an external tracking image and an internal virtual image of the patient's anatomical structure, so as to realize the actual position of the catheter instrument 400 and the preoperative image registration, so that the virtual image of the catheter instrument 400 in the surgical site can be presented to the operator from the outside.
  • the structures of the inner catheter device 410 and the outer catheter device 420 are substantially the same, and they respectively have a slender and flexible inner catheter 41 and an outer catheter 42, wherein the diameter of the outer catheter 42 is slightly larger than the inner catheter 41, so that the inner catheter 41 can pass through the outer catheter 42 and provide a certain support for the inner catheter 41, so that the inner catheter 41 can reach the target position in the patient's body, so as to facilitate operations such as tissue or cell sampling from the target position.
  • Certain movements of the main controller 300 may cause corresponding movements of the catheter device 400.
  • the movement of the direction lever of the main controller 300 may be mapped to the corresponding pitch movement of the end of the catheter device 400; when the operator operates the direction lever of the main controller 300 to move left or right, the movement of the direction lever of the main controller 300 may be mapped to the corresponding yaw movement of the end of the catheter device 400.
  • the main controller 300 may control the end of the catheter device 400 to move within a 360° spatial range.
  • FIG2 shows a catheter device 400 provided in an embodiment of the present application.
  • the catheter device 400 is configured to engage with the power unit 240 of the mechanical arm 230, and the catheter device 400 includes an instrument box 45 configured to engage with the power unit 240 and a catheter 48 connected to the instrument box 45.
  • the "engagement" refers to a state in which when the instrument box 45 is installed in the power unit 240, the driving force of the power unit 240 can be transmitted to the instrument box 45 and the catheter 48 can move normally. For example, under the driving force of the power unit 240, the end of the catheter 48 can be bent and turned.
  • the end in the present application may also be referred to as the distal end, which refers to the end away from the instrument box 45 ; the front end may also be referred to as the proximal end, which refers to the end close to the instrument box 45 .
  • the processor of the control device 600 is configured to perform the following steps to implement the catheter robot registration method provided in an embodiment of the present application. As shown in FIG3 , the catheter robot registration method includes:
  • Step S11 acquiring a first medical image of the anatomical structure of the patient in a first state and generating a first anatomical model, and acquiring a second medical image of the anatomical structure of the patient in a second state and generating a second anatomical model.
  • the doctor needs to obtain medical images of the patient's anatomical structure through CT, MRI, OCT or ultrasound scanning (or photography) before the operation, where the anatomical structure can be a natural cavity such as bronchi, urinary tracts, (cardio) blood vessels and intestines.
  • a first medical CT image of the patient in a first state before surgery and a second medical CT image in a second state are obtained, wherein the first state includes the patient's inhalation state, and the second state includes the patient's exhalation state.
  • the first state includes the patient's inhalation state
  • the second state includes the patient's exhalation state.
  • the second state is the patient's full exhalation state
  • the second medical CT image in the exhalation phase is taken, and the patient needs to exhale all the gas in the body and then hold his breath until the CT image is completed.
  • the first medical image is segmented and reconstructed to obtain a first anatomical model
  • the second medical image is segmented and reconstructed to obtain a second anatomical model.
  • the patient's medical image can be segmented by segmentation algorithms such as region growing and convolutional neural networks to segment out the bronchi of the lungs, and then the segmented image can be reconstructed into a three-dimensional model by a moving cube algorithm.
  • a first anatomical model and a second anatomical model are obtained.
  • the three-dimensional model includes a three-dimensional mesh model, a point cloud model, etc.
  • the three-dimensional mesh model is a set of vertices, edges and faces to represent the shape of a three-dimensional body, and usually contains geometric information and topological information.
  • the first anatomical model and the second anatomical model include a pipeline centerline.
  • a centerline extraction algorithm is used to extract the pipeline centerline from the first anatomical model and the second anatomical model.
  • the pipeline centerline is the centerline of the anatomical model, which can also be called the skeleton of the anatomical model. It is a curve used to describe some geometric features of the anatomical model. It is located in the middle of the anatomical model and has the same topological structure as the anatomical model. Its width is generally a single pixel.
  • the pipeline centerline is a three-dimensional curve.
  • the pipeline centerline is often stored and used in the form of multiple three-dimensional points.
  • the pipeline centerline includes these three-dimensional points, which can be called skeleton points.
  • the set of skeleton points can be called a skeleton point set or a skeleton point cloud.
  • the pipeline centerline can provide the information required for intraoperative navigation.
  • its data volume is significantly reduced, and it is more convenient to process, which is conducive to real-time navigation.
  • Step S12 acquiring body surface data sensed by a second sensor disposed on the patient's body surface, and determining the respiratory coefficient of the current state based on the body surface data.
  • the catheter robot includes a catheter, and the catheter is provided with a first sensor for acquiring the position of the catheter tip.
  • the first sensor may include a position sensor and/or a shape sensor.
  • a position sensor can be a component in an electromagnetic positioning system.
  • the electromagnetic positioning system can further include a magnetic field generating component and a magnetic field detecting component.
  • the magnetic field generating component is used to generate a magnetic field
  • the position sensor is an EM sensor (i.e., an electromagnetic sensor).
  • the position sensor will cause a change in the magnetic field in the magnetic field.
  • the magnetic field detecting component can detect the change in the magnetic field and thus detect the position of the position sensor relative to the magnetic field/magnetic field generating component.
  • the position of the end of the catheter relative to the magnetic field/magnetic field generating component can be calculated.
  • the position of the end of the catheter in the world coordinate system i.e., the actual path point, can be calculated.
  • a shape sensor can be used to obtain a path point cloud of the end of a catheter inserted into an anatomical structure.
  • the shape sensor can include an optical fiber aligned with the catheter, and a fiber optic bend sensor formed by the optical fiber can provide feedback on the shape of the catheter, based on which the position of the catheter end relative to the base of the shape sensor can be calculated.
  • the position of the catheter tip in the world coordinate system, that is, the actual path point, can be calculated by combining the position of the shape sensor base in the world coordinate system.
  • the catheter robot also includes a second sensor configured on the patient's body surface, and the second sensors are at least three, for obtaining the patient's body surface data.
  • the second sensor can generally be a position sensor or a posture sensor, which is usually non-invasively and stably arranged on the patient's body surface corresponding to the anatomical structure, that is, the second sensor is generally exposed on the patient's body surface.
  • the second sensor can be selected not only from EM sensors, but also from optical positioning sensors.
  • the second sensor in the middle of the main bronchus actually measures the respiratory amplitude of the front end of the main bronchus, and its amplitude is relatively small, while the second sensors on the left and right sides of the bronchial end are mainly used to measure the respiratory amplitude of the left and right lung ends.
  • the amplitude of the diaphragm movement at the lower end of the lung segment is the largest during breathing.
  • the second sensor is arranged at a position point in the patient's body surface that does not change much in the middle of the main bronchus of the lung, and a position point on the left and right sides of the bronchial end that changes greatly.
  • the anatomical structure changes in six dimensions: up and down, left and right, and front and back.
  • the more sensors there are the richer the respiratory state changes obtained, that is, the more second sensors there are, the more areas of the patient's body surface are covered, and the more accurate the respiratory movement of the anatomical structure is sensed.
  • at least three second sensors are arranged on the surface of the patient's chest.
  • one second sensor can be arranged in the middle of the patient's chest, and the other two second sensors can be arranged in the area of the patient's chest corresponding to the 7th rib on the left, and in the area of the patient's chest corresponding to the 7th rib on the right.
  • the second sensors need to be fixed with tape to avoid slipping during the operation.
  • step S12 of determining the breathing coefficient in the current state can be implemented by the following steps:
  • the sampling period for obtaining the patient's body surface data includes at least one breathing cycle.
  • the sampling period may include at least one breathing cycle, such as one, two or more, and the duration of a normal breathing cycle is usually 3 to 5 seconds.
  • the area includes a first area, a second area, and a third area.
  • the first area includes the area of the figure enclosed by the second sensor in the first state
  • the second area includes the area of the figure enclosed by the second sensor in the second state.
  • the third area is the area S of the figure enclosed by the second sensor in the current state.
  • the first area is the maximum area S max enclosed by the second sensor; when the second state is a complete exhalation state, the second area is the minimum area S min enclosed by the second sensor.
  • the breathing coefficient in the current state is determined.
  • the positions of the three second sensors are P1 (X1, Y1, Z1), P2 (X2, Y2, Z2), and P1 (X3, Y3, Z3), and the distances between the second sensors, that is, the side lengths A, B, and C, are calculated.
  • the breathing coefficient F in the current state is determined according to the maximum area S max , the minimum area S min , and the area S of the figure enclosed by the second sensor in the current state:
  • Fmax in formula (4) represents the maximum value of the designed breathing coefficient
  • Fmin represents the minimum value of the designed breathing coefficient
  • the breathing coefficient F is:
  • the respiratory coefficient is designed in the range of [-1,1], and the horizontal axis represents the number of EM data acquired by the second sensor in real time as the breathing duration or breathing cycle changes.
  • the vertical axis represents from top to bottom: the area of the figure enclosed by the second sensor, the area slope, and the respiratory coefficient.
  • the area of the figure enclosed by the second sensor represents the area size of the figure enclosed by the second sensor as the patient's breathing state changes; the area slope represents the rate of change of the area; and the respiratory coefficient represents the different breathing states of the patient.
  • the present application uses the respiratory coefficient F to intuitively and quickly determine the patient's respiratory state at this time, and enable or prohibit the movement of the catheter in the anatomical structure based on the respiratory state.
  • the respiratory coefficient F is a positive value, it means that the human chest cavity is in the inhalation state in the first state, the chest cavity is full and the bronchi are in a diastolic state. The larger the value, the fuller it is, and the movement of the catheter in the anatomical structure is enabled; or, when the respiratory coefficient F is a negative value, the patient's respiratory state is determined to be an exhalation state, and the movement of the catheter in the anatomical structure is prohibited.
  • the patient's respiratory state is determined based on the respiratory coefficient F, and a prompt is generated based on the respiratory state to indicate whether the movement of the catheter in the anatomical structure is allowed.
  • the respiratory coefficient F is a positive value
  • the patient's respiratory state is determined to be an inhalation state, and a prompt is generated to allow the movement of the catheter in the anatomical structure; or, when the respiratory coefficient F is a negative value, the patient's respiratory state is determined to be an exhalation state, and a prompt is generated to prohibit the movement of the catheter in the anatomical structure.
  • the visualization system assisting the doctor in operating can detect that the surgical instrument (e.g., a needle) at the end of the catheter has reached the vicinity of the target tissue location and that the patient is in an inhalation state.
  • the system allows the doctor to be prompted to perform a percutaneous puncture operation, and it is safer to perform the puncture when the patient is in an inhalation state.
  • the respiratory coefficient is a negative value, it indicates that the human chest cavity is in an exhalation state in the second state, and the chest cavity and bronchi are in a contracted state. The system allows the doctor to be prompted to prohibit the operation.
  • the first anatomical model corresponds to a respiratory coefficient of 1
  • the second anatomical model corresponds to a respiratory coefficient of -1. Since the first anatomical model of the fully inhaled state and the second anatomical model of the fully exhaled state have been acquired based on the first medical image and the second medical image before the operation, and other respiratory coefficients, for example, are 0, it is necessary to acquire a third anatomical model associated with a respiratory coefficient of 0 through affine transformation based on the first anatomical model or the second anatomical model in the first state or the second state.
  • the respiratory coefficient in the previous state is actually calculated.
  • the first anatomical model or the second anatomical model associated with the classic breathing coefficient is selected for display.
  • the breathing coefficient in the previous state is calculated to be 0.9
  • the first anatomical model with a breathing coefficient of 1 is selected for display.
  • the affine transformation in this application is based on the scaling and translation of the first anatomical model in the first state to obtain a third anatomical model associated with different respiratory coefficients.
  • step S13 obtaining a third anatomical model associated with the breathing coefficient, as shown in FIG6 , may include:
  • the first geodesic distance (Geodesic Distance) from the main carina point to the end point of the lower lobe in the first anatomical model and the second geodesic distance from the main carina point to the end point of the lower lobe in the second anatomical model are calculated respectively.
  • the main carina point refers to the bifurcation point of the left and right bronchi
  • the end point of the lower lobe refers to the point in the bronchial model that is closest to the human diaphragm.
  • the geodesic distance is the shortest path distance from the main carina point to the end point of the lower lobe along the mesh surface in the first anatomical model; in another embodiment, when the first anatomical model is a three-dimensional point cloud model, it is necessary to use all points in the three-dimensional point cloud to construct a surface structure similar to a mesh, and then calculate the geodesic distance by finding the shortest path from the main carina point to the end point of the lower lobe in the graph.
  • the first anatomical model or the second anatomical model includes the target tissue, as shown in Figure 7.
  • the target tissue 20 is exactly at the end point of the lower lobe.
  • S132 Determine a maximum shrinkage ratio of the first anatomical model or the second anatomical model according to the first geodesic distance and the second geodesic distance.
  • GDIn a first geodesic distance of the first anatomical model in the first state before surgery.
  • the scaling ratio Shrink of the first anatomical model or the second anatomical model is determined according to the breathing coefficient F and the maximum shrinkage ratio ShrinkMax of the model.
  • the calculation formula is:
  • the affine transformation is based on the first anatomical model of the patient in the first state, that is, based on the first anatomical model in the fully inhaled state, scaling and translation are performed.
  • Shrink is equal to ShrinkMax, which is about 0.76, that is, based on the first anatomical model in the fully inhaled state, the affine transformation is used to shrink proportionally at a shrinkage ratio of 0.76 to obtain the third anatomical model in the fully exhaled state.
  • the left figure is a second anatomical model 63 obtained based on the second medical image in the second state (fully exhaled state) before the operation
  • the right figure is a third anatomical model 64 obtained after shrinking at a shrinkage ratio of 0.76 based on the first anatomical model in the first state (fully inhaled state) through affine transformation, and the third anatomical model 64 is in the fully exhaled state.
  • the third anatomical model 64 and the second anatomical model 63 are substantially the same in size and length of the bronchial trunk.
  • the third anatomical model 64 retains the shape of the terminal branch bronchus well, solving the problem that the second medical CT image in the expiratory phase is often unable to segment the bronchial terminal due to unclear imaging (container effect, it is difficult to image small bronchi).
  • the complete and clearly structured terminal branch bronchus is of great help in improving navigation accuracy, and can better determine whether the path taken by the catheter is correct.
  • the scaling of the first anatomical model or the second anatomical model can be performed by applying an affine matrix
  • the transformation is realized by multiplying the scaling matrix S to obtain the third anatomical model.
  • S represents a scaling matrix
  • T1 represents a first translation matrix
  • T2 represents a second translation matrix
  • step S133 as shown in FIG9 , taking the first anatomical model as an example, the overall affine transformation process of the first anatomical model, that is, the scaling process, is:
  • the centroid can also be called the centroid, that is, the center of the shape, and its coordinates can be the average coordinates of all skeleton points constituting the pipeline centerline. Since the pipeline centerline is obtained by processing the medical image, its density can be considered to be uniform, so the centroid of the pipeline centerline is also the centroid.
  • the anatomical model is a three-dimensional mesh model
  • the first centroid can be obtained by calculating the average coordinate values of all vertices in the first anatomical model
  • the second centroid can be obtained by calculating the average coordinate values of all vertices in the second anatomical model.
  • the coordinate origin of the first medical CT image is in the upper left corner, the x-axis is horizontal to the right, and the y-axis is horizontal to the bottom, while the first anatomical model image is in the lower right area of the coordinate system.
  • the vertices are moved toward the coordinate origin of the first medical image, and the first centroid is used as the standard for translation, so that the first centroid of the first anatomical model is just moved to the origin, so that the first centroid coincides with the coordinate origin.
  • the value of the first centroid moved to the origin is the value that all vertices in the first anatomical model need to be translated.
  • the coordinate value of the first centroid of the first anatomical model is (Ox, Oy, Oz).
  • the coordinate value of the centroid of the first anatomical model coincides with the coordinate value of the origin (0, 0, 0).
  • the first anatomical model is proportionally scaled based on the scaling ratio, that is, Sx, Sy, and Sz are all equal to Shrink, indicating that the scaling ratios of the first anatomical model in three directions are the same, that is, geometric scaling.
  • the scaling matrix S is the product of the scaling ratio Shrink and the unit matrix.
  • the scaling of the second anatomical model may refer to the overall scaling process of the first anatomical model, which will not be described in detail here.
  • S134 Translate the scaled first anatomical model or the second anatomical model to obtain a third anatomical model associated with the breathing coefficient.
  • the first anatomical model or the second anatomical model includes the target tissue.
  • the motion offset vector between the first anatomical model and the second anatomical model can be determined based on the first center of mass and the second center of mass, and the motion offset vector includes the size and direction of the translation.
  • the step of obtaining the motion offset vector includes: obtaining a first centroid of the first anatomical model and a second centroid of the second anatomical model
  • the second center of mass of the first anatomical model and the second anatomical model are determined according to the first center of mass and the second center of mass.
  • the first center of mass of the first anatomical model (inhalation model) in the first state is calculated as CentroidIn(Xn,Yn,Zn)
  • the second center of mass of the first anatomical model (respiratory model) in the second state is calculated as CentroidEx(Xm,Ym,Zm)
  • the vector Move that the target tissue and the scaled first anatomical model or the second anatomical model need to translate as a whole can be calculated.
  • the calculation formula is as follows:
  • the scaled first anatomical model or the second anatomical model is translated according to the translation vector Move to obtain a third anatomical model associated with the respiratory coefficient in the current state.
  • the third anatomical model associated with the breathing coefficient in the current state can be obtained through the above steps S131 to S134.
  • the above steps S11 to S13 can be applied to the urinary catheter robot to perform supracostal percutaneous nephroscopic puncture under the guidance of CT images.
  • the above steps S11 to S13 can be applied to the urinary catheter robot to perform supracostal percutaneous nephroscopic puncture under the guidance of CT images.
  • percutaneous nephroscopic puncture is usually required, and the puncture needle is inserted into the target renal calyx through the skin. Puncture is divided into supracostal puncture and subcostal puncture. The biggest challenge of supracostal puncture is that puncture and expansion can easily cause damage to the pleura and adjacent organs (liver, pancreas).
  • the distance between the pleura and organs such as the diaphragm and the renal calyx is different.
  • the pleura In the inhalation state, the pleura is at the lowest position and closest to the kidney. At this time, the risk of pleural and lung lobe damage during intercostal puncture is also the highest. Therefore, percutaneous nephroscopic puncture on the ribs is usually performed during the exhalation stage. Calculating and judging the patient's real-time respiratory state and calculating the distance between the pleura and the kidney are very important to improve the safety of the puncture.
  • the urinary catheter robot performs supracostal percutaneous nephroscopic puncture under the guidance of the CT image. Due to the influence of breathing, the scaling of the anatomical structure (organs such as the pleura and diaphragm) may include the following steps:
  • a medical image such as a CT image
  • Organs and tissues such as the pleura, diaphragm, kidneys, and ureters can be segmented from the CT image and reconstructed into a three-dimensional model.
  • a first sensor is provided in the catheter, which is in the world coordinate system.
  • the catheter moves through the ureter into the renal calyx, and the electromagnetic data at the end of the catheter is collected to obtain the movement path of the catheter, and the CT image and the world coordinate system are aligned.
  • the aligned data are the movement path of the catheter and the three-dimensional model of the ureter in the CT image (including the center line of the pipeline).
  • the three-dimensional spatial relationship between the puncture needle and the organ tissue can be displayed in real time in the CT image space, and the spatial relationship such as the distance between the puncture needle and tissues such as the pleura can be calculated in the CT image space.
  • the respiratory status is determined based on the respiratory coefficient F. If the respiratory coefficient is less than 0, that is, the patient is in an exhalation state, the operating software prompts the doctor to perform the percutaneous puncture operation; if the patient's respiratory coefficient is greater than 0, that is, the patient is in an inhalation state, the operating software prompts the doctor to suspend the operation.
  • the operating software will prompt the doctor in real time the distance between the puncture needle and the pleura and kidney. If the puncture needle is too close to the pleura, such as less than 5 mm, the software will prompt the doctor to suspend the operation, thereby improving the safety and accuracy of the puncture during the operation.
  • the method of the present application eliminates the influence of anatomical structure caused by breathing, and can be applied to a urinary catheter robot to perform supracostal percutaneous nephroscopic puncture under the guidance of CT images.
  • step S13 the method further includes:
  • Step S14 obtaining a plurality of actual path points sensed by the first sensor in the anatomical structure, and obtaining a simulated path point cloud based on the plurality of actual path points.
  • the first sensor acquires and stores a plurality of actual path points of the catheter tip in the anatomical structure
  • the movement state of the catheter during intraoperative navigation movement includes the shape of the catheter and the position of the catheter end.
  • the EM (electromagnetic) data of the catheter end is sensed in real time by the first sensor, and the EM data can also be called an actual path point.
  • An actual path point reflects the position of the catheter end/instrument end when the first sensor feedbacks.
  • the actual path points obtained by multiple feedbacks from the same first sensor are arranged according to the feedback time to obtain the movement path of the catheter end and/or the instrument end.
  • the set of these actual path points can be called a path point set or a path point cloud.
  • the first transformation matrix can be a transformation matrix between the world coordinate system and the anatomical model.
  • the actual path points can be transformed from the world coordinate system to the coordinate system of the anatomical model to obtain the simulated path points. That is, according to the first transformation matrix, the simulated path points of the catheter corresponding to the actual path points in the first anatomical model or the second anatomical model are obtained, and then based on multiple simulated path points, a simulated path point cloud can be obtained.
  • the simulated path points reflect the position of the catheter end/instrument end in the first anatomical model. Combined with the display parameters of the surgical site, the position of the catheter end/instrument end in the displayed surgical site can be obtained, thereby integrating the display of the surgical site with the catheter/instrument therein to achieve intraoperative navigation.
  • Obtain a target path point cloud for the planned path where the planned path is the navigation path for the catheter to reach the target tissue, and the target path point cloud includes multiple target path points.
  • the process of data deduplication includes: collecting the simulated path point cloud at the end of the catheter through the first sensor, finding the matching points in the target path point cloud, and the simulated path point cloud includes multiple simulated path point subsets; if there is any simulated path point subset that matches the same matching point on the planned path, then taking the average operation on this simulated path point subset to obtain a valid simulated path point cloud.
  • a simulated path point subset at the end of the catheter is point Q 1 (X1, Y1, Z1) and point Q 2 (X2, Y2, Z2)
  • the left figure is a simulated path point cloud 60 of repeated movement of the catheter
  • the right figure is a valid simulated path point cloud.
  • the effective simulation path point cloud 61 is the catheter motion path after deduplication, and the shape of the catheter can be simulated through the catheter motion path.
  • the simulated path point cloud at the end of the catheter is collected by the first sensor, and the shape of the catheter can be fitted in real time based on the sampling algorithm of space and time.
  • Step S15 obtaining a model point cloud, wherein the model point cloud includes a plurality of skeleton points of the pipeline centerline of the third anatomical model and/or a plurality of vertices of the pipeline wall.
  • a model point cloud is obtained from the third anatomical model, wherein the model point cloud includes a plurality of skeleton points of the pipeline centerline of the third anatomical model and/or a plurality of vertices of the pipeline wall.
  • the skeleton points can be obtained, for example, by first extracting the pipeline centerline from the third anatomical model and then discretizing the pipeline centerline to obtain the skeleton points.
  • the vertices of the pipeline wall can be obtained, for example, by first extracting the pipeline wall from the third anatomical model and then discretizing the pipeline wall to obtain the vertices of the pipeline wall.
  • Step S16 registering the simulation path point cloud and the model point cloud.
  • step S16 as shown in FIG11 , registering the simulation path point cloud with the model point cloud includes:
  • the bronchus includes a first region and a second region, the first region includes a main bronchus region, and the second region includes a terminal branch bronchus region.
  • the entire third anatomical model can be divided into zones, with tubes with a diameter greater than 5 mm being divided into the first zone, and tubes with a diameter less than 5 mm being divided into the second zone.
  • the method for identifying whether the simulated path point cloud of the catheter end belongs to the first region or the second region is: determining the matching point of the simulated path point cloud of the catheter end and the third anatomical model, if the corresponding matching point on the third anatomical model belongs to the main bronchial region, then the simulated path point cloud of the catheter end belongs to the first region.
  • the left figure shows the effective simulated path point cloud 61 after deduplication of the simulated path point cloud 60 of the catheter
  • the effective simulated path point cloud 61 includes the effective simulated path point cloud 611 of the first region and the effective simulated path point cloud 612 of the second region
  • the right figure shows the effective simulated path point cloud 612 of the second region after deleting the effective simulated path point cloud 611 of the catheter belonging to the first region.
  • the ICP algorithm is used to determine the second transformation matrix between the model point cloud and the simulation path point cloud. It is the Iterative Closest Point (ICP) algorithm in point cloud registration. Its core idea is to minimize the distance between two point sets and make the two point sets close to each other through iteration. The following is a brief introduction to the principle of ICP.
  • the basic method of ICP includes two steps: 1. Match point clouds Q and P to find the corresponding point pairs between them; 2. Calculate the transformation matrix between point clouds Q and P based on the corresponding point pairs.
  • a corresponding point pair consists of two points, one from point cloud P and the other from point cloud Q. These two points are each other's matching points, and these two points are considered to be corresponding, that is, the two points are essentially equivalent.
  • ICP will match according to the principle of the closest distance (generally Euclidean distance), that is, for each point in point cloud P, find the point closest to it in point cloud Q as its matching point. Then calculate a transformation matrix based on these point pairs. After completing a round of calculations, ICP will determine whether the iteration stop condition is met. If not, the transformation matrix obtained by this round of calculations is used to transform and update point cloud P, and then point cloud Q and the transformed point cloud P are used to repeat the above process until the iteration stops.
  • the closest distance generally Euclidean distance
  • the default condition for stopping the iteration is that the difference in error between the previous and next iterations is less than 0.01, but sometimes the difference between point clouds is so large that the convergence condition cannot be met, so it is necessary to set an upper limit on the number of iterations, for example, it can be set to 500.
  • the model point cloud P of the third anatomical model is matched with the simulated path point cloud Q of the catheter, and the ICP algorithm can be used to determine the second transformation matrix MatrixBrToTube between the model point cloud and the simulated path point cloud.
  • the second region is easily deformed by the compression of the catheter because of its small diameter, softness and similar shape to the catheter, while the first region is less affected by the movement of the catheter. Therefore, it is allowed to only obtain the second transformation matrix between the simulated path point cloud of the second region and the model point cloud of the second region, and align the simulated path point cloud of the second region with the model point cloud of the second region so that the model point cloud of the second region coincides with the simulated path point cloud of the second region.
  • the model point cloud 614 of the second area in the model, the model point cloud 614 includes multiple skeleton points 613 of the pipeline centerline.
  • the effective simulation path point cloud 612 of the second area in the catheter deviates from the multiple skeleton points 613 of the pipeline centerline of the second area in the third anatomical model.
  • the second transformation matrix MatrixBrToTube to rigidly transform the multiple skeleton points 613 of the pipeline centerline of the second area in the third anatomical model, that is, in the three-dimensional model, each vertex of the second area in the third anatomical model is translated and rotated using the second transformation matrix MatrixBrToTube.
  • the multiple skeleton points 613 of the pipeline centerline of the second area in the third anatomical model basically coincide with the effective simulation path point cloud 612 of the second area of the catheter.
  • the effective simulation path point cloud 612 of the second area of the catheter deviates from the model point cloud 614 of the second area in the third anatomical model.
  • the model point cloud 614 of the second region in the third anatomical model is transformed according to the second transformation matrix MatrixBrToTube, as shown in the right figure of Figure 14, the effective simulation path point cloud 612 of the second region of the catheter is basically within the second region of the third anatomical model, that is, the model point cloud of the second region in the third anatomical model is basically overlapped with the simulation path point cloud of the second region in the catheter.
  • the third anatomical model can better reflect the real state of the patient's anatomical structure.
  • the present application can obtain a dynamic and accurate third anatomical model by eliminating the influence of breathing and the movement of the catheter on the anatomical structure and the target tissue.
  • the doctor can also know the shape of the catheter and the anatomical structure accurately in real time, so that the third anatomical model can better reflect the actual state of the patient's anatomical structure and improve the success rate of the operation.
  • the third anatomical model of the present application can replace part of the DR image, assist the doctor in judging the distance between the catheter and the target tissue, reduce the number of DR or CBCT shots, and reduce the amount of radiation intake by the patient.
  • the third anatomical model of the present application can also provide guidance for the movement direction of the subsequent catheter, better adjust the angle of the catheter, align the center of the target tissue, and improve the success rate of the operation.
  • the present application introduces a breathing coefficient F to represent the patient's breathing state: based on the area measured by the second sensor, the area is dynamically converted into a breathing coefficient in the interval [-1,1] in real time, where -1 represents the second state of complete exhalation, and 1 represents the second state of complete inhalation.
  • the degree of inhalation or exhalation can be represented by the coefficient.
  • the present application eliminates the effects of breathing and catheter movement on anatomical structures and target tissues.
  • the position of the catheter end and/or the instrument end displayed on the third anatomical model is closer to the actual position. Higher accuracy is helpful in determining whether the catheter end or the instrument end (such as a biopsy needle) has reached the lesion, reducing the number of DR or CBCT scans during surgery and reducing the radiation intake of doctors and patients.
  • the shape of the catheter and the anatomical structure can be accurately known in real time, providing guidance for the movement direction of the subsequent catheter, better adjusting the angle of the catheter, aligning the center of the target tissue, and improving the success rate of the operation.
  • the second sensor only needs to set three universal electromagnetic sensors; and in terms of inferring the shape of the catheter, only one electromagnetic sensor needs to be set at the end of the catheter, which reduces the hardware facility cost compared to the shape perception in the prior art.
  • FIG15 is a user interface 800 schematic diagram of a doctor guiding the end of the catheter inserted into the bronchus and/or the end of the instrument to move to the target tissue through a visualization system.
  • the user interface 800 can display a camera view window 810, a local anatomical model view 820, a global anatomical model view 830, an indicator window 840, and a control window 850.
  • the camera view window 810 displays the camera data captured by the visualization system of the medical device.
  • the camera data may include a camera image field of view or camera video data captured by a stereo camera or a monoscopic camera mounted on an endoscope at the end of a catheter.
  • One or more indicator windows 840 can display the current operation prompt and screen recording button, and can also display the status of the catheter, such as displaying the inner bend angle or outer bend angle information of the catheter, and prompting the doctor to perform the surgical operation or pause the surgical operation.
  • the control window 850 may display the status of each device connection, such as the operating handle, catheter, magnetic navigation, suction, flushing, and locked or activated status.
  • the local anatomical model view 820 displays the local solution corresponding to the catheter tip.
  • the local anatomical model image can be used to simulate the field of view image of the endoscope.
  • the local anatomical model can be a local virtual bronchial model
  • the virtual visualization system can generate virtual bronchial model image data using, for example, preoperative CT images.
  • the virtual bronchial model image data can display the real-time position of the catheter inside the patient's bronchus.
  • the global anatomical model view 830 shows the doctor observing the complete anatomical model from a global perspective, for example, the doctor can observe the position of the catheter in the bronchial model from the overall bronchial model.
  • the catheter device and the person and the method for improving registration of the present application can achieve the real-time transformation of the end posture of the third anatomical model in the global anatomical model view 830 during the intraoperative navigation process according to the different respiratory states of the patient, so that the third anatomical model better reflects the real state of the patient's anatomical structure and improves the success rate of the operation.
  • FIG. 15 depicts five simultaneously viewable windows on a single screen, it should be understood that the user interface 800 may display an appropriate number of windows according to user needs.
  • the present application also provides a control device for a catheter robot.
  • the control device 600 includes: a processor 70, a memory 71, a bus 72 and a communication interface 73, wherein the processor 70, the communication interface 73 and the memory 71 are connected via the bus 72; the memory 71 stores computer program instructions that can be executed by the processor 70, and when the processor 70 executes the computer program instructions, it can specifically execute the relevant steps in the above method embodiment.
  • the memory 71 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage.
  • RAM random access memory
  • non-volatile memory such as at least one disk storage.
  • the communication connection between the device network element and at least one other network element is realized through at least one communication interface 73 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.
  • the bus 72 may be an ISA bus, a PCI bus, or an EISA bus, etc.
  • the bus may be divided into an address bus, a data bus, a control bus, etc.
  • the memory 71 is used to store programs, and the processor 70 executes the programs after receiving the execution instructions.
  • the alignment method of the catheter robot disclosed in any of the embodiments of the present application may be applied to the processor 70, or implemented by the processor 70.
  • the processor 70 may be a general-purpose processor, including a central processing unit (CPU). It may be a CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.
  • CPU central processing unit
  • NP network processor
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • a general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.
  • the one or more processors included in the control device may be processors of the same type, such as one or more CPUs, or one or more GPUs; or they may be processors of different types, such as one or more CPUs and one or more GPUs.
  • control device of the catheter robot provided in the embodiment of the present application and the alignment method of the catheter robot provided in the embodiment of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, operated or implemented therein.
  • the present application also provides a computer-readable storage medium corresponding to the registration method of the catheter robot provided in the above-mentioned embodiment, on which computer program instructions are stored, and when the computer program instructions are executed by the processor, the registration method of the catheter robot provided in any of the above-mentioned embodiments will be implemented.
  • examples of the computer-readable storage medium may include, but are not limited to, optical disks, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical and magnetic storage media, which will not be repeated here.
  • the computer-readable storage medium provided in the above-mentioned embodiment of the present application and the catheter robot registration method provided in the embodiment of the present application are based on the same inventive concept and have the same beneficial effects as the method adopted, run or implemented by the application program stored therein.
  • An embodiment of the present application provides a computer program product.
  • the computer program product runs on a mobile terminal
  • the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.
  • the technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example.
  • the above-mentioned function allocation can be completed by different functional units and modules based on needs, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.
  • the functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.
  • the disclosed devices/terminal equipment and methods can be implemented in other ways.
  • the device/terminal equipment embodiments described above are only schematic.
  • the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.
  • Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected based on actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.
  • the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program.
  • the computer program can be stored in a computer-readable storage medium.
  • the computer program is executed by the processor, it can implement the steps of the above-mentioned method embodiments.
  • the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form.
  • the computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory Random Access Memory (RAM), electric carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased based on the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, based on legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.
  • the term “if” can be interpreted as “when” or “uponce” or “in response to determining” or “in response to detecting” depending on the context.
  • the phrase “if it is determined” or “if the described condition or event is detected” can be interpreted as meaning “uponce it is determined” or “in response to determining” or “uponce the described condition or event is detected” or “in response to detecting the described condition or event” depending on the context.
  • references to "one embodiment” or “some embodiments” etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements “in one embodiment”, “in some embodiments”, “in some other embodiments”, “in some other embodiments”, etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean “one or more but not all embodiments", unless otherwise specifically emphasized in other ways.
  • the terms “including”, “comprising”, “having” and their variations all mean “including but not limited to”, unless otherwise specifically emphasized in other ways.

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Abstract

La présente invention concerne un robot cathéter et son procédé d'enregistrement, caractérisé par le fait que le procédé comprend : générer un premier modèle anatomique sur la base d'une première image médicale dans un premier état ; générer un deuxième modèle anatomique sur la base d'une deuxième image médicale dans un deuxième état ; acquérir des données de surface corporelle détectées par un deuxième capteur, et déterminer un coefficient respiratoire dans l'état actuel sur la base des données de surface corporelle ; sur la base du coefficient respiratoire et du premier modèle anatomique, acquérir un troisième modèle anatomique associé au coefficient respiratoire ; acquérir une pluralité de points de trajet réels détectés par un premier capteur dans une structure anatomique, et acquérir un nuage de points de trajet simulés sur la base de la pluralité de points de trajet réels ; acquérir un nuage de points de modèle, qui comprend une pluralité de points de squelette d'une ligne centrale de tube du troisième modèle anatomique et/ou des sommets d'une pluralité de parois de tube ; et enregistrer le nuage de points de trajet simulés et le nuage de points de modèle. Par conséquent, le troisième modèle anatomique reflète mieux l'état réel d'une structure anatomique d'un patient, ce qui permet d'augmenter le taux de réussite de la chirurgie.
PCT/CN2024/094916 2023-06-30 2024-05-23 Robot cathéter et son procédé d'enregistrement Pending WO2025001654A1 (fr)

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