Intelligent anesthetization system for transperineal prostate puncturing based on multimodal medical images

An intelligent anesthetization system for a transperineal prostate puncturing based on multimodal medical images, comprising:

• an electromagnetic field transmitter;
• and ultrasonic probe configured to acquire ultrasonic data and a current ultrasonic image;
• an electromagnetic sensor fixed on the ultrasonic probe;
• and a nuclear magnetic device configured to obtain magnetic resonance image (MRI) sequence images, wherein coordinate system definitions comprises:
• define an electromagnetic emitter coordinate system CSe based on the ultrasonic imaging plane formed by the electromagnetic field transmitter, define a nuclear magnetic resonance imaging coordinate system CSm based on the nuclear magnetic device for taking the magnetic resonance image (MRI) sequence images and define a coordinate system CSs based on the electromagnetic sensor and obtain a transformation matrix
• TMse
• =
• [
• R
• T
• 0
• 1
• ]
• of the electromagnetic sensor at any position in CSs based on a position and posture of the electromagnetic sensor in the electromagnetic emitter coordinate system CSe, wherein R is a 3×3 matrix and T is a 3×1 vector;
• wherein MRI sequence image markup and 3D reconstruction comprises:
• receive MRI sequence images of human prostate, mark anesthetized area MRI-VMa and outer contour area of the prostate MRI-VMp;
• reconstruct 3D anesthetized area and 3D outer contour area of prostate based on position information of the MRI sequence images;
• wherein ultrasonic data extraction comprises:
• receive ultrasonic data of the human prostate, extract an image set covering base to apex of the prostate in the ultrasonic data, and obtain the outer contour area of prostate US-VMp in the electromagnetic emitter coordinate system CSe under ultrasonic images based on spatial position information of each frame of ultrasonic image, and obtain the coordinate PCe(i,u,v)=TMsei×TMts×(u,v,0,1) of each point within the outer contour area in the electromagnetic emitter coordinate system CSe, wherein i represents a frame number, (u, v) represents pixel coordinates of contour point in ultrasonic 2D images, TMsei represents a transformation matrix of the electromagnetic sensor at any position in CSs corresponding to an i-th frame image, and TMts represents a transformation matrix of relative positions between vertices of the ultrasonic imaging plane and the electromagnetic sensor;
• wherein registration comprises:
• use an iterative closest point (ICP) point cloud registration algorithm to register volume data about the outer contour area of prostate MRI-VMp in the nuclear magnetic resonance imaging coordinate system CSm as well as volume data about the outer contour area of prostate US-VMp in the electromagnetic emitter coordinate system CSe under the ultrasonic image and obtain a spatial transformation matrix TMme between the nuclear magnetic resonance imaging coordinate system CSm and the electromagnetic emitter coordinate system CSe;
• anesthetic planning comprises:
• receive the current ultrasonic image acquired by the ultrasonic probe, transform the anesthetized area
• MRI-VMa in the nuclear magnetic resonance imaging coordinate system CSm into the electromagnetic emitter coordinate system under the current ultrasonic image based on the spatial transformation matrix TMme to obtain the mapped anesthetized area EMTS-Vma, obtain a slice formed by tangency of a plane position of the current ultrasonic image and of volume data of the anesthetized area EMTS-Vma to obtain slice Sa with an outline of the anesthetized area, and fuse and superimpose the current ultrasonic image and the slice Sa with the outline of the anesthetized area to obtain the anesthetized area under the ultrasonic images.