An automated marker-free guidewire method for vascular intervention robotic surgery

Abstract

The invention discloses an automatic unmarked guiding wire method in vascular intervention robot surgery, comprising the following steps: step 1, pre-segmenting and modeling the blood vessel part of the preoperative CT contrast image; step 2, extracting the center of the blood vessel line, establish a topology tree structure, and plan the intervention path; step 3, place the guide wire with a sensor on the front end at the starting point of the intervention during the operation, and the interventional robot device will push the guide wire to move and track its position in real time; step 4, Move the guide wire for a certain distance, select the position feature point, and register it with the passing blood vessel center position point to obtain the registration matrix; step 5, the guide wire continues to move, and update the registration matrix; step 6, repeat step 5, The registration matrix obtained each time is used to guide the position of the guide wire at the next moment until the guide wire reaches the intervention target point. This method has the advantages of automatic operation, high accuracy, good real-time performance, flexible application, and no need for human interaction.

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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