Automatic no-mark guide wire guiding method in vascular interventional robot surgery

Abstract

The invention discloses an automatic no-mark guide wire guiding method in vascular interventional robot surgery. The method includes the following steps of firstly, cutting out blood vessels in a preoperative CT contrastographic picture in advance, and conducting modeling; secondly, extracting blood vessel central lines, establishing a topological tree structure, and planning an interventional route; thirdly, placing a guide wire with a sensor bound at the front end at the interventional initial point in the surgery, pushing the guide wire to move by an interventional robot device, and tracking the position of the guide wire in real time; fourthly, making the guide wire move by a certain distance, selecting position feature points, and aligning the position feature points with blood vesselcentral position points where the guide wire passes to obtain aligning matrixes; fifthly, making the guide wire continue to move, and updating the aligning matrixes; sixthly, executing the fifth stepagain, making the aligning matrixes used for guiding the positions of the guide wire at the next moment until the guide wire reaches the interventional target point. The method has the advantages ofbeing automatic in operation, high in accuracy, good in real-time performance, flexible in application, free of man-machine interaction and the like.

Description

technical field [0001] The invention relates to the technical field of surgical navigation, in particular to an automatic marker-free guiding wire method in vascular intervention robot surgery. Background technique [0002] In recent years, the incidence of cardiovascular and cerebrovascular diseases has been increasing, and the most widely used treatment method is interventional surgery. However, there are also shortcomings in interventional surgery. For example, doctors and patients are easily affected by radiation, and the accuracy and success rate of interventional surgery depends on the doctor's experience. Therefore, more precise robotic surgery has begun to receive widespread attention from scholars at home and abroad. One of the more important issues is to associate the preoperative patient's image space with the intraoperative patient's actual space. After searching the existing technologies, it is found that the currently commonly used method is based on the regi...

AI Technical Summary

Problems solved by technology

In order to obtain good accuracy, doctors need to repeat and interact continuously, which takes a long time

The body surface landmarks are only located on the skin surface and cannot fully reflect the spatial relationship of blood vessels in the body.

However, based on the real-time automatic registration in the optical surgical navigation system, manual sampling is often required before the operation, and the sampling process is easily affected by subjective factors.

In addition, the sampling process will increase the length of the operation, and the optical surgical navigation instrument used is expensive and bulky, which also makes the surgical space more crowded and is not suitable for interventional surgery

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