| 摘要 |
<p>A device for 3D acquisition, 3D visualization and computer guided surgery with a tracking system, which can be for example an external optical tracking system (4), a tracked nuclear probe (1) having a nuclear probe (11) and a tip of nuclear probe (14), which measures a radioactivity, is achieved by providing a time synchronized recording of the spatial position and orientation of the tip of nuclear probes (14) and its measured counts of radioactivity. Thus a 3D radioactive surface distribution (8) is generated and may be visualized spatially registered with the viewing geometry of any in a superimposed image (81). Moreover using the said device, a method for 3D acquisition, 3D visualization and computer guided surgery is introduced for invasive or minimally invasive interventions. A further introduced method is the spatial localization of any surgical instrument in the same coordinate system as the said tracked nuclear probe (1) and the guidance of it to the said 3D radioactive surface distribution (8) during the surgical procedure. This is achieved by visualizing a simulated radioactivity measurement or feeding it backs in an acoustic signal. The said simulated radioactivity measurement is calculated based on the 3D radioactive surface distribution (8) and the position and orientation of the tip of the surgical instrument. The invention compromises also an integrated system that implements all or some of the said methods. Finally the invention includes a tracked combination of nuclear probe with camera (9).</p> |
