Patent ID: 8348831

Claim:
A device for Computer Simulated Marking Targeting Biopsy, comprising a space locator; and a main control module, comprising a surface model sub-module; a positioning sub-module; a tracking sub-module; a virtual endoscope sub-module; and a marking targeting biopsy sub-module; wherein said space locator is connected to said main control module, and operates to obtain position and orientation information of a probe of a gastroscope; said surface model sub-module operates to construct and store a 3D surface model of inner wall of a stomach; said positioning sub-module operates to collect and store a signal from said space locator; said tracking sub-module operates to read data in said positioning sub-module and to adjust a position and an orientation of a virtual endoscopic viewpoint in said 3D surface model of the inner wall of the stomach; said virtual endoscope sub-module operates to endoscopically image and display said 3D surface model of the inner wall of the stomach according to the position and the orientation of said virtual endoscopic viewpoint; and said marking targeting biopsy sub-module operates to record the position and the orientation of said virtual endoscopic viewpoint, to mark the position and the orientation of said virtual endoscopic viewpoint in said 3D surface model of inner wall of a stomach, to navigate the probe to a position and an orientation in the stomach cavity according to a pre-recorded position and orientation of said virtual endoscopic viewpoint, and to display an endoscopic image of the stomach obtained by the probe during endoscopic imaging of said 3D surface model of the inner wall of the stomach.