| 摘要 |
The invention relates to a system and a method of navigation, with electromagnetic tracking, meant for assisting bronchoscopy medical procedures. The claimed system comprises an electromagnetic equipment for determining the position in space, consisting of a low intensity magnetic field generator () which is positioned in the vicinity of a patient during the investigation, so that the anatomical area of interest is comprised within the magnetic field volume, a control unit () which interprets the electric signals received from the sensors and transforms them in coordinates and rotation angles, a flexible navigation instrument () of tubular shape having an equal length and a diameter smaller than the diameter of the working channel of a bronchoscope () having an electromagnetic position sensor at the proximal end, in the vicinity of the biopsy forceps (), the electrical wires of said sensor being connected to a cable and a connector, passing through a tube and coming out through the distal end of the instrument (), where the tube is provided with a handle for manipulation, the instrument () being inserted into the working channel of the bronchoscope (), an active adhesive marker () meant to adhere on the patient's skin in the vicinity of the area of interest and a computer () on which a dedicated executable code is running and which is provided with two main screens. The claimed method of navigation is implemented by means of a computer program which makes a three-dimensional model of the patient's bronchial tree, computes in real time the position of the instrument's end inside the patient's body and generates a virtual bronchoscopy image corresponding to the position of the instrument end and a virtual cross-section through a volume scanned by computerized tomography, by using a method based on the geodesic curvature method. |
