Intraoperative information fusion method for ultrasonic images and aspiration biopsy needles under optical positioning

Abstract

The invention discloses an intraoperative information fusion method for ultrasonic images and aspiration biopsy needles under optical positioning. The method comprises steps as follows: intraoperative real-time ultrasonic images are collected by an ultrasonic image collection system; real-time spatial pose information of the aspiration biopsy needles for the operation is acquired by an optical tracking system; the intraoperative real-time ultrasonic images and the real-time spatial pose information are fused by an image processing work station; a real-time fusion result is displayed in a three-dimensional virtual environment, and accordingly, a relative position relation between the guided aspiration biopsy needles and ultrasonic image planes is reflected. According to the method, the relative position relation between the guided aspiration biopsy needles and the ultrasonic images in the three-dimensional space can be accurately reflected, operation guidance is performed through combination of pose information of the aspiration biopsy needles and intraoperative image information, the relative position relation of the aspiration biopsy needles and a focus is assisted in visualization in the three-dimensional virtual environment, and convenience and safety of the operation are improved.

Description

technical field [0001] The invention relates to the technical field of medical operations, in particular to an intraoperative information fusion method of an ultrasonic image under optical positioning and a puncture biopsy needle. Background technique [0002] For ultrasound-guided percutaneous interventional surgery, there are often problems of insufficient surgical field of view and relatively single intraoperative information. The operation is difficult and the accuracy of the operation is difficult to guarantee. Therefore, doctors need to have complete anatomical knowledge and fine surgery Equipment operation level. During surgical operations, doctors usually can only perform surgical operations by observing intraoperative medical images, but cannot obtain detailed pose information of surgical instruments relative to the observed medical images. They can only make judgments based on intraoperative images and clinical experience. On the one hand, the safety cannot be gua...

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Problems solved by technology

[0005] For the existing navigation surgery, MRI, CT and other imaging equipment are usually used to obtain the three-dimensional environment of the operating space (such as patent CN104739512A), but they do not have real-time imaging functions. Therefore, it is necessary to ensure that after the preoperative imaging, the surgical The relative positional relationship of patients etc. cannot be changed

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