Muscle Puncture Navigation System Based On Ultrasound Image And Spatial Positioning

Muscle spasm after stroke is a common symptom of stroke.Its negative symptoms are decreased motor coordination,muscle weakness,etc.,and its positive symptoms are increased muscle tone.With the development of time,the patient gradually changes from negative symptoms to positive symptoms.If he is not treated in time,the patient's muscles will be in a state of tension for a long time,unable to make corresponding actions,and life is very inconvenient.At present,ultrasound image-guided drug injection is commonly used in clinic to treat muscle spasm after stroke.The doctor moves the patient's limb,observes the movement of the muscle in the ultrasound image to locate the target muscle,and uses the puncture needle to complete the drug injection.Ultrasound imaging has low definition and is difficult to read.There is no obvious contour of the muscle in the image,so it is difficult to locate the needle body and the target muscle in clinical puncture.In order to observe the relative position of the puncture needle tip and the target muscle,the puncture needle must be placed on the side of the ultrasound probe,as a result the puncture angle is limited.In the course of needle insertion,doctors rely on experience to determine whether the needle tip reaches the target muscle,which is highly dependent on experience.The result of these problems is that the success rate of puncture is low,and repeated puncture will aggravate the injury of the patient.In view of the shortcomings of muscle puncture in clinical practice,this article studies and designs a muscle puncture navigation system based on ultrasound images and optical positioning.The system uses the instrument registration technology to register the puncture needle,ultrasound probe,and ultrasound image to a unified world coordinate system,uses image processing technology to segment the moving target muscles in real time,and uses three-dimensional visual navigation technology to convert the surgical instruments and segmentation results into Display in form and update the position and posture in real time.Doctors can grasp the situation of surgical instruments and target muscles by observing the3 D visual navigation window.Device registration is the basis for completing the operation,and the registered device can realize the linkage effect of space and model.In this paper,the mathematical relationship between the needle tip,the tail and the positioning device is derived,and the conversion matrix is ??obtained through calculation to complete the registration;for the ultrasound probe,this paper uses the source point set in the image and the target point set in space to perform matching calculation,using singular value decomposition The conversion matrix completes the registration.This article analyzes the puncture process in the clinic,and uses the optical flow algorithm to segment the target muscle with morphological changes.First,the optical flow calculation is performed on the image to obtain the pixel-by-pixel offset value,the velocity empirical threshold is set to filter the noise points,and the density clustering is used to perform the secondary filtering to obtain the final result.Finally,the convex hull is drawn to obtain the segmentation result.This paper designs and implements two target muscle segmentation algorithms based on L-K(Lucas-Kanade)optical flow and convolutional neural network optical flow,which are deployed on low-performance platforms and high-performance platforms respectively.Integrate device registration results and target muscle segmentation results into self-developed positioning and navigation software for surgical navigation.The software's three-dimensional navigation window implements needle entry trajectory display,distance calculation,near-point projection,target muscle center point connection,and arrival The injection point feedback function guides the doctor to complete the operation.In order to verify whether the system meets the clinical requirements,this article conducted a live rabbit leg femoral muscle injection experiment.The drug is accurately injected into the target muscle.The experimental procedure is between 8 and 10 minutes,and the system runs steadily.Experimental results show that the system has certain clinical practicality.