Human organ movement monitoring method, surgical navigation system and computer readable medium

1. A human organ movement monitoring method for monitoring movement of a human organ of a patient in a surgical process in real time, wherein a preoperative three-dimensional medical image of a treatment site of a patient whose body surface is fixed with two or more movement monitoring tools is obtained by a preoperative scanning prior to the surgery, the three-dimensional medical image having an associated image coordinate system, wherein the human organ movement monitoring method for monitoring the movement of the human organ of the patient is based on position and orientation of the two or more movement monitoring tools fixed on the patient's body surface and comprises the following steps:

obtaining a first position and orientation of each movement monitoring tool in the image coordinate system identified from the preoperative three-dimensional medical image;

in a state that the same movement monitoring tools are fixed on the body of the patient at the same position and orientation as in the preoperative scanning,

determining a second position and orientation of each movement monitoring tool in a positioning coordinate system in real time, wherein the positioning coordinate system is a coordinate system which is referenced in a process of positioning the position and orientation of a surgical tool;

calculating a coordinate transformation between the positioning coordinate system and the image coordinate system in real time based on the first position and orientation of each movement monitoring tool in the image coordinate system and the second position and orientation thereof in the positioning coordinate system;

calculating a plurality of overall errors of the coordinate transformation between the positioning coordinate system and the image coordinate system at a plurality of moments;

evaluating a movement degree of the human organ of the patient at the plurality of moments relative to a preoperative scanning moment based on the calculated overall errors of the coordinate transformation at the plurality of moments,

determining, from the plurality of moments, a moment when the overall error of coordinate transformation is smaller than a preset threshold;

determining a coordinate transformation matrix between the positioning coordinate system and the image coordinate system based on the first position and orientation of each movement monitoring tool in the image coordinate system and the second position and orientation thereof in the positioning coordinate system at the determined moment;

determining the position of the surgical tool in the image coordinate system based on the coordinate transformation matrix;

determining a timing for the surgical tool to intervene in a human focus based on the evaluated movement degree of the human organ at the plurality of moments relative to the preoperative three-dimensional scanning moment; and

reminding a surgeon of the timing,

wherein each movement monitoring tool is provided with at least four mark points capable of being tracked by a positioning device, in which any three arbitrary mark points are non-collinear, wherein the first position and orientation of the movement monitoring tools in the image coordinate system are identified by identifying the mark points of each movement monitoring tool in the three-dimensional medical image; and the second position and orientation of the movement monitoring tools in the positioning coordinate system are determined by tracking the mark points of each movement monitoring tool in the surgery through the positioning device.

2. The human organ movement monitoring method of claim 1 , wherein the human organ movement comprises various stages of a respiratory cycle of a lung.

3. The human organ movement monitoring method of claim 1 , further comprising:

combining the image of the surgical tool with the three-dimensional medical image at the determined position to obtain a combined image; and

displaying the combined image on a display device.

4. The human organ movement monitoring method of claim 1 , wherein the surgical tool is a puncture needle.

5. The human organ movement monitoring method of claim 1 , wherein the position and orientation of each movement monitoring tool fixed on the patient body are greatly influenced by the human organ movement.

6. The human organ movement monitoring method of claim 1 , wherein the positioning device is an electromagnetic tracker.

7. A surgical navigation system, comprising:

a positioning device for tracking position and orientation of a surgical tool and movement monitoring tools in a positioning coordinate system;

two or more movement monitoring tools, which are fixed on a patient's body surface, and the position and orientation of which in the positioning coordinate system are capable of being tracked by the positioning device for evaluating a movement state of a human organ of the patient;

a processor, and memory that stores instructions, wherein the instructions, when executed by the processor, perform: obtaining a preoperative three-dimensional medical image of a treatment site of the patient whose body surface is fixed with the movement monitoring tools, the three-dimensional medical image having an associated image coordinate system;

a surgical navigation workstation for registering and combining the preoperative three-dimensional medical image with an intraoperative surgical tool image and visually displaying the same on a connected display device to guide the surgical operation of a surgeon;

wherein the surgical navigation workstation further monitors the movement state of the human organ of the patient based on the position and orientation of the two or more movement monitoring tools fixed on the patient's body surface through the following operations:

identifying a first position and orientation of each of the movement monitoring tools in the image coordinate system from the preoperative three-dimensional medical image;

determining a second position and orientation of each of the movement monitoring tools in the positioning coordinate system in the surgery in real time;

calculating a coordinate transformation between the positioning coordinate system and the image coordinate system in real time based on the first position and orientation of the movement monitoring tools in the image coordinate system and the second position and orientation thereof in the positioning coordinate system;

calculating a plurality of overall errors of the coordinate transformation between the positioning coordinate system and the image coordinate system at a plurality of moments;

evaluating a movement degree of the human organ of the patient at the plurality of moments relative to a preoperative scanning moment based on the calculated overall errors of the coordinate transformation at the plurality of moments,

determining, from the plurality of moments, a moment when the overall error of coordinate transformation is smaller than a preset threshold;

determining a coordinate transformation matrix between the positioning coordinate system and the image coordinate system based on the first position and orientation of each movement monitoring tool in the image coordinate system and the second position and orientation thereof in the positioning coordinate system at the determined moment;

determining the position of the surgical tool in the image coordinate system based on the coordinate transformation matrix;

determining a timing for the surgical tool to intervene in a human focus based on the evaluated movement degree of the human organ at the plurality of moments relative to the preoperative three-dimensional scanning moment; and

reminding a surgeon of the timing,

wherein each movement monitoring tool is provided with at least four mark points capable of being tracked by a positioning device, in which any three arbitrary mark points are non-collinear, wherein the first position and orientation of the movement monitoring tools in the image coordinate system are identified by identifying the mark points of each movement monitoring tool in the three-dimensional medical image; and the second position and orientation of the movement monitoring tools in the positioning coordinate system are determined by tracking the mark points of each movement monitoring tool in the surgery through the positioning device.

8. The surgical navigation system of claim 7 , wherein the human organ movement comprises various stages of a respiratory cycle of a lung.

9. The surgical navigation system of claim 7 , wherein the surgical navigation workstation is further configured to:

combining the image of the surgical tool with the three-dimensional medical image at the determined position to obtain a combined image; and

displaying the combined image on a display device.

10. The surgical navigation system of claim 7 , wherein the surgical tool is a puncture needle.

11. The surgical navigation system of claim 7 , wherein the position and orientation of each movement monitoring tool fixed on the patient body are greatly influenced by the movement state of the human organ of the patient.

12. A non-transitory computer readable medium, on which a computer program is recorded, the computer program being used in combination with a surgical navigation system and executing the following operations for monitoring a movement state of a human organ of a patient based on position and orientation of two or more movement monitoring tools fixed on the patient's body surface, when being executed by a processing device:

obtaining a first position and orientation of each of the movement monitoring tools in an image coordinate system identified from a preoperative three-dimensional medical image, wherein the preoperative three-dimensional medical image is obtained by scanning a treatment site of a patient whose body surface is fixed with two or more movement monitoring tools prior to the surgery, the three-dimensional medical image having an associated image coordinate system;

in a state that the same movement monitoring tools are fixed on the body of the patient at the same position and orientation as in the preoperative scanning,

determining a second position and orientation of each of the movement monitoring tools in a positioning coordinate system in real time, wherein the positioning coordinate system is a coordinate system which is referenced in a process of positioning the position and orientation of a surgical tool;

calculating a coordinate transformation between the positioning coordinate system and the image coordinate system in real time based on the first position and orientation of the movement monitoring tools in the image coordinate system and the second position and orientation thereof in the positioning coordinate system;

calculating a plurality of overall errors of the coordinate transformation between the positioning coordinate system and the image coordinate system at a plurality of moments; and

evaluating a movement degree of the human organ of the patient at the plurality of moments relative to a preoperative scanning moment based on the calculated overall errors of coordinate transformation at the plurality of moments,

determining, from the plurality of moments, a moment when the overall error of coordinate transformation is smaller than a preset threshold;

determining a coordinate transformation matrix between the positioning coordinate system and the image coordinate system based on the first position and orientation of each movement monitoring tool in the image coordinate system and the second position and orientation thereof in the positioning coordinate system at the determined moment;

determining the position of the surgical tool in the image coordinate system based on the coordinate transformation matrix;

determining a timing for the surgical tool to intervene in a human focus based on the evaluated movement degree of the human organ at the plurality of moments relative to the preoperative three-dimensional scanning moment; and

reminding a surgeon of the timing,

wherein each movement monitoring tool is provided with at least four mark points capable of being tracked by a positioning device, in which any three arbitrary mark points are non-collinear, wherein the first position and orientation of the movement monitoring tools in the image coordinate system are identified by identifying the mark points of each movement monitoring tool in the three-dimensional medical image; and the second position and orientation of the movement monitoring tools in the positioning coordinate system are determined by tracking the mark points of each movement monitoring tool in the surgery through the positioning device.

13. The non-transitory computer readable medium of claim 12 , wherein the computer program further executes the following operations when being executed by the processing device:

combining, based on the position and orientation, the image of the surgical tool with the three-dimensional medical image, and displaying the combined image on a display device.

14. The non-transitory computer readable medium of claim 12 , wherein the human organ movement comprises various stages of a respiratory cycle of a lung.