Augmented reality navigation method and system for transendoscopic retrograde cholangiopancreatography

Abstract

The invention relates to an augmented reality navigation method and system for transendoscopic retrograde cholangiopancreatography. The method comprises the following steps: S1, carrying out three-dimensional scanning on the trunk of a patient through a medical scanning device before an operation, segmenting a preoperative surface geometric model of the duodenum from an obtained three-dimensional image, and constructing a preoperative biomechanical model of the duodenum based on the preoperative surface geometric model; S2, in an initial stage of an operation, allowing an endoscope to move back and forth in a duodenum area at a proper speed for one time, and constructing an intraoperative three-dimensional contour of the duodenum; S3, performing non-rigid registration on the intraoperative three-dimensional contour of the duodenum and the preoperative biomechanical model; and S4, realizing augmented reality navigation based on the real-time projection of the pose of the endoscope provided by the NDI electromagnetic positioning equipment. According to the navigation method provided by the invention, a clear pancreaticobiliary duct trend can be provided for a scalpel holding physician in an operation, and harmful effects of auxiliary X-rays and contrast agents on a human body are reduced.

Description

technical field [0001] The invention relates to the fields of augmented / mixed reality and medical engineering, and in particular to an augmented reality navigation method and system for endoscopic retrograde cholangiopancreatography. Background technique [0002] Since the beginning of this century, with the rapid development of computer technology, computer-aided surgery (Computer-aidedSurgery, CAS) has emerged as a new discipline, and in recent years has become a medical science, computer science, radiology, biomechanics, mechanics It is a new interdisciplinary research field that integrates many disciplines such as computer science, materials science, and robotics. Among them, the intraoperative navigation technology is an important part of CAS. It is of great significance to the accuracy of the surgeon's operation, the safety of the operation, and the rapid recovery after the operation. It promotes the individualization and precision of modern medical technology. Develo...

AI Technical Summary

Problems solved by technology

In Endoscopic Retrograde Cholangio-pancreatography (ERCP) surgery, the surgeon cannot see the direction of the pancreaticobiliary duct outside the intestinal wall through the endoscope, and needs to use contrast agents and X-ray machines to continuously perform X-rays are used to confirm and adjust the position of the wire. However, toxic contrast agents and long-term exposure to X-ray environments are harmful to both patients and doctors

Therefore, the path of the pancreaticobiliary duct in ERCP is unclear, and the auxiliary X-rays and contrast agents are harmful to the human body, which has become an urgent problem to be solved.

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