CN102784003A - Pediculus arcus vertebrae internal fixation operation navigation system based on structured light scanning - Google Patents
Pediculus arcus vertebrae internal fixation operation navigation system based on structured light scanning Download PDFInfo
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Abstract
The invention provides a pediculus arcus vertebrae internal fixation operation navigation system based on structured light scanning. The system comprises a structured light scanner, a dynamic base, operation instruments and a computer provided with an operation navigation software and a sick bone CT (Computed Tomography) three-dimensional model, wherein during the operation, the dynamic base is fixedly arranged at a sick bone; the structured light scanner is utilized to scan the sick bone so as to obtain a structured light three-dimensional image and is subjected to surface rectification together with the sick bone CT three-dimensional model; a camera on the structured light scanner is utilized to track the operation instrument, so as to obtain the position relations of the operation instruments relative to the dynamic base and the sick bone three-dimensional model; and the position relations are displayed on the computer provided with the operation navigation software in real time, so as to realize operation navigation. Compared with similar systems, the operation navigation system provided by the invention does not require an infrared navigation position finder to participate in tracking during the operation, can be used for improving the navigational fixing precision, simplifying the operation navigation process, lowering the complexity and cost of the whole system and occupying less space of an operation room, and can be conveniently used by doctors.
Description
Technical field
The present invention relates to a kind of computer assisted navigation system that is used for the pedicle of vertebral arch internal fixation operation, especially a kind of pedicle of vertebral arch internal fixation operation navigation system based on structured light scanning.
Background technology
The pedicle of vertebral arch internal fixation operation is a kind of standardization routine operation of treating breast lumbar segment spinal fracture, and this operation comes stabilizing spine through implanting pedicle screw, can be used for treating diseases such as lumbar spondylolisthesis, lumbar vertebra compression fracture.Because the spinal cord and the nervous system of pedicle of vertebral arch vicinity are often invisible in operation, this type surgical risk is big, and difficulty is high.Clinical research shows that the screw deviation ratio of traditional pedicle of vertebral arch internal fixation operation is 28 ~ 40%, is the main reason that causes operative failure and post-operative complication.
CAOS (Computer Aided Orthopedic Surgery also claims CAOS) be medical image (like CT, MRI; X-ray or three-D ultrasonic etc.) guiding under, utilize navigator to follow the tracks of the position of operating theater instruments, merge operating theater instruments mutually with operative site; And be presented on the computer screen in real time; Thereby increase the visuality of above-mentioned operation, help the doctor to avoid important organ and tissue, improve the operation precision; Reduce the operation method of wound in the art, be also referred to as the computer aided orthopedics navigating surgery.According to the image data before whether adopting art, in the art, present airmanship can be divided into based on image and non-navigation system based on image.
According to the difference of use image kind, be divided into again based on the CT image and based on two kinds of C type arm fluoroscopy images.With the spinal operation is example, based on the navigating surgery step of CT image is: gather patient's vertebrae before the art and implant the CT image data of navigation label, and the computer of surgical navigational software is equipped with in its importing, rebuild the vertebrae threedimensional model, planning undergos surgery; Installation reference frame and light sensation are accepted positioner in the art; With the contrast of implanting clearing mark note thing before the art, obtain the relative position in the CT image, navigation undergos surgery.Implant clearing mark note thing before this art and caused great misery to patient.X line perspective navigation then is directly to pass through optical positioning system and C shape arm machine imaging system in the art, shows the spatial relation between the dissection of X line image, operation tool, the C shape arm machine in real time.This method is used comparatively extensive, but has a large amount of rays in the art, and navigation is based on bidimensional image, even use three-dimensional C shape arm X line machine instead, its definition and precision be also all not as the CT image, and need special use X line operation table thoroughly.
Non-image dependency navigation system is suitable for anatomical structure and exposes operation fully; Only need operative doctor in art, to give me a little the characteristic point (being called " registration ") of getting anatomical structure with the probe that has infrared markers point; Utilize kinesiology or anatomic marker; Obtain three-dimensional multiple spot calibration, the automatic generation model of various standard anatomical documentations that the computer utilization is collected, thus confirm the mutual alignment between probe and the model; Dynamic benchmark is installed, is dynamically adjusted suffering from the change in location of bone in operation; Use has the operating theater instruments of infrared markers thing and carries out navigating surgery.In the surgical navigational process, need the omnidistance infrared navigation appearance that uses to follow the tracks of the infrared markers object location signal on probe, dynamic benchmark and the operating theater instruments.Like the infrared operation guiding system of initiatively inducing of representative Stryker company; Need manually get a little clinical operation Shi doctor; Carry out a registration by navigation system software again, the doctor is generally reflected when utilizing this system to carry out a some registration, influenced by doctors experience, operate miss and some method for registering; Registration accuracy is unsatisfactory, and the doctor need manually get a little and carry out a registration repeatedly.The navigation probe also can bump with dynamic benchmark sometimes, has so just changed the registration relation, need carry out a registration again, has prolonged operating time.
For solving a series of problems such as manually getting a little of existing in the above-mentioned navigating surgery method and the some precision reduction that registration caused, operating time lengthening, second operation, RADI; The applicant has applied for that on April 15th, 2009 " based on the pedicle of vertebral arch internal fixation navigating surgery system and the method for structure light image " (publication number: CN 101862220A), this system has increased structured light scanner on aforementioned operation guiding system basis.Suffer from bone CT image before when work, obtaining art earlier; Suffered from bone CT threedimensional model accordingly through three-dimensional reconstruction; At first adopt structured light scanner to scan in the art to suffering from bone; Get access to the structural light three-dimensional image of suffering from the bone place, this structural light three-dimensional image and trouble bone CT threedimensional model are carried out surface adjustment, then in the presence of infrared navigation position finder, carry out the subsequent procedures operation.Compare traditional infrared navigation system, this surgical navigational method has avoided the doctor manually to get point operation in the registration stage, and uses the point set registration, and precision improves a lot, and the doctor is simple to operate, saves operating time.
But adopt above-mentioned operation guiding system to still have weak point: after registration is accomplished; For following the tracks of the position of dynamic benchmark and operating theater instruments; Still need the infrared navigation position finder to participate in, there be positional information exchange and the calibration problem with structured light scanner in institute's positional information that obtains, causes the increase of whole system complexity; Cost increases, and has reduced the probability of system stability work.
Summary of the invention
The objective of the invention is to propose a kind of novel pedicle of vertebral arch internal fixation operation navigation system based on structured light scanning; Make it participate in and do not influence under the prerequisite of surgical effect at no infrared navigation position finder; Reduce the complexity and the cost of system to greatest extent, and improve the stability of system.
Technical scheme of the present invention is following:
A kind of pedicle of vertebral arch internal fixation operation navigation system based on structured light scanning, it is characterized in that: this system comprises structured light scanner, dynamic benchmark and operating theater instruments, and the computer that contains the trouble bone CT threedimensional model of surgical navigational software and the preceding CT scan of art; Described structured light scanner comprises video camera and projection grating of installing placed in the middle that two left-right symmetric are installed, and two video cameras link to each other with said computer through data wire respectively with projection grating; Described dynamic benchmark is fixed in suffers from the bone place; The structural light three-dimensional image at bone place is suffered from the structured light scanner collection; At least 3 not visible light signs of conllinear are housed on dynamic benchmark; Video camera by on the structured light scanner is caught, and confirms that the visible light on the dynamic benchmark is identified at the initial homogeneous coordinates under the structure light image coordinate system; At least 3 not visible light signs of conllinear are housed on described operating theater instruments equally, are caught by the video camera on the structured light scanner behind the beginning surgical navigational, confirm that the visible light on the operating theater instruments is identified at the initial homogeneous coordinates under the structure light image coordinate system;
Before surgical navigational begins and after the beginning, said dynamic benchmark, the homogeneous coordinates of operating theater instruments under the structure light image coordinate system satisfy following relation:
Wherein:
is identified at the initial homogeneous coordinates under the structure light image coordinate system for the visible light on the operating theater instruments
is that the visible light on the dynamic benchmark is identified at the homogeneous coordinates under the structure light image coordinate system behind the beginning surgical navigational
The structural light three-dimensional image at the trouble bone place that structured light scanner collects and said trouble bone CT threedimensional model carry out surface adjustment; Obtain being tied to the coordinate conversion matrix of CT image coordinate system, be designated as
from the structure light image coordinate satisfy following the relation:
Wherein: V
CFor the visible light on the dynamic benchmark is identified at the homogeneous coordinates in the CT image coordinate system,
V
SFor the visible light on the dynamic benchmark is identified at the homogeneous coordinates in the structure light image coordinate system,
The position that visible light behind the beginning surgical navigational on the operating theater instruments is identified at the CT image coordinate system is:
Wherein:
is that the visible light on the operating theater instruments is identified at the homogeneous coordinates in the CT image coordinate system behind the beginning surgical navigational.
Technical characterictic of the present invention also is: between visible light on operating theater instruments distal point and the operating theater instruments sign homogeneous coordinates are designated as
then the operating theater instruments distal point in the position of CT image coordinate system be:
Wherein:
is the homogeneous coordinates of operating theater instruments distal point in the CT image coordinate system.
Visible light on the described dynamic benchmark is designated the bead that the surface is covered by fluorescent material, and diameter is 3～5mm; Or the black of diameter 6～10mm is circular, and middle high bright silver circular shape concentric by diameter 3～5mm covers.Visible light on the described operating theater instruments is designated the bead that the surface is covered by fluorescent material, and diameter is 3～5mm; Or the black of diameter 6～10mm is circular, and middle high bright silver circular shape concentric by diameter 3～5mm covers.
The present invention compared with prior art has the following advantages and the salience effect:
Compare operation guiding system in the past; Operation guiding system according to the invention does not need extra employing infrared navigation position finder to carry out real-time tracking; Reduced the complexity, equipment cost of system effectively and to the space requirement of operating room, raising equipment is in the suitability of operating room.Scanning registration and real-time tracking all adopt structured light scanner to accomplish in the art; Visible light on dynamic benchmark and operating theater instruments sign is carried out real-time tracking; Eliminated and introduced the coordinate conversion error that the infrared navigation position finder is brought, made the location more accurate, improved the reliability of navigating surgery.
Description of drawings
Fig. 1 is the pedicle of vertebral arch internal fixation operation navigation system structural principle sketch map based on structured light scanning of the present invention.
Fig. 2 is the structural representation based on structured light scanner in the pedicle of vertebral arch internal fixation operation navigation system of structured light scanning of the present invention.
Fig. 3 is for being used for the scaling board sketch map that structured light scanner is demarcated in the pedicle of vertebral arch internal fixation operation navigation system based on structured light scanning of the present invention.
Fig. 4 is the fundamental diagram based on structured light scanner in the pedicle of vertebral arch internal fixation operation navigation system of structured light scanning of the present invention.
Fig. 5 is the pedicle of vertebral arch internal fixation operation navigation system workflow diagram based on structured light scanning of the present invention.
Wherein: the 1-structured light scanner; The 2-dynamic benchmark; The 3-operating theater instruments; 4-is equipped with the computer of surgical navigational software; The 5-operating-table; 6-patient; The 7-operating room; The 8-projection grating; 9-first video camera; 10-second video camera; The 11-mounting bracket; The 12-data wire; The 13-scaling board; 14-suffers from bone.
The specific embodiment
Below in conjunction with accompanying drawing principle of the present invention, structure and embodiment are further described.
Fig. 1 is the pedicle of vertebral arch internal fixation operation navigation system structural principle sketch map based on structured light scanning of the present invention; This operation guiding system comprises: structured light scanner 1, dynamic benchmark 2 and operating theater instruments 3, and the computer 4 that the trouble bone CT threedimensional model that contains surgical navigational software and the preceding CT scan of art is housed.Operating-table 5 is arranged in operating room 7, and patient 6 is positioned on the operating-table.
Because patient's pose can change at any time in the art, suffers from dynamic benchmark 2 of clamping on the bone patient, dynamic benchmark adopts normally used structure in the prior art, and for example adopting publication number is employed dynamic benchmark among the CN 101862220A.At least 3 not visible light signs of conllinear are housed on dynamic benchmark 2; The visible light sign selects for use the big material of reflectance to process, and generally has two types: 1) bright colored bead, and spherome surface is covered by fluorescent material; Can be caught by the high accuracy video camera, diameter is 3～5mm; 2) black of diameter 6～10mm is circular, and the centre is that the high bright silver of diameter 3～5mm is circular.Visible light sign on the dynamic benchmark is caught by structured light scanner 1, is identified at the initial homogeneous coordinates
under the structure light image coordinate system to confirm the visible light on the dynamic benchmark
Fig. 2 is the structural representation based on structured light scanner in the pedicle of vertebral arch internal fixation operation navigation system of structured light scanning of the present invention; This structured light scanner comprises video camera (first video camera 9 and second video camera 10) and projection grating 8 of installing placed in the middle that two left-right symmetric are installed; Described two video cameras and projection grating are fixed on the mounting bracket 11; Two video cameras link to each other with said computer 4 through data wire respectively with projection grating, and wherein two video cameras can be formed a simple binocular vision system.
Use described in the present invention and at first will demarcate respectively before the structured light scanner 1, obtain inner parameter separately, unite the external parameter of two video cameras again, obtain the two spatial relation first video camera 9 and second video camera 10 that comprise.Among the present invention Camera calibration is adopted sophisticated method---Tsai two-step method in the machine vision.Demarcation to camera interior and exterior parameter; Need to be undertaken by scaling board; Use has the scaling board of square-outside and round-inside gauge point; Be illustrated in figure 3 as the scaling board sketch map that is used for the structured light scanner demarcation in the pedicle of vertebral arch internal fixation operation navigation system based on structured light scanning of the present invention, have 4 index points that outer circle is arranged on the scaling board 13, these 4 index point asymmetric distribution.
Fig. 4 is the fundamental diagram based on structured light scanner 1 in the pedicle of vertebral arch internal fixation operation navigation system of structured light scanning of the present invention.The structure fringe (being called structured light) that the projection grating of installing 8 placed in the middle will have certain specific character initiatively projects trouble bone 14 surfaces; The structure fringe of rule receives the modulation of suffering from bone 14 apparent heights and deforms; Two video cameras absorb the reflected image of suffering from the bone place simultaneously; The three-dimensional appearance data of suffering from bone surface have been comprised in this image; So just can obtain the phase place of modulated grating based on the phase demodulation method of structure light coding, thereby solve structure fringe and the correspondence problem of suffering from spatial point on bone place this two width of cloth image of reflected image, and the triangle through two video cameras crosses and obtains suffering from the three-dimensional coordinate information of bone surface through Xie Xianghe.
The structure fringe of the structured light scanner projection of adopting among the present invention carries out according to the time order and function order, comprises several structure fringe images, about 20 seconds of projection process.Can obtain the phase main value and the phase cycle information of structure fringe respectively through separating the phase and phase expansion process; Stack phase main value and phase cycle get final product to such an extent that suffer from the absolute phase information of grating after bone 14 surperficial each point deformation; Combine outer polar curve geometrical principle again; Mate the point on the structure fringe image of two video cameras projection; Inside and outside parameter and spatial relation to two video cameras having calibrated of imagery exploitation after the coupling calculate the three-dimensional coordinate of suffering from the bone surface each point, thereby reconstruct the structural light three-dimensional image of suffering from bone surface.Separate phase method in the present invention based on to the insensitive multifrequency heterodyne system of surround lighting principle.
Often carry out the primary structure photoscanning and can not completely obtain the structural light three-dimensional image of trouble bone surface to be measured; Need carry out various visual angles scanning; Preferably will repeatedly scan the structural light three-dimensional image joint that obtains respectively form an integral body, form complete trouble bone surface structural light three-dimensional image.In carrying out the structured light scanning process; Owing to exist light to disturb in the environment; Like dynamic benchmark or to suffer from bone surface point reflection light strong excessively, can be thought by mistake be the visible light sign on the dynamic benchmark by structured light scanner, after therefore scanning is accomplished; Need check the structural light three-dimensional image, the data of identification error are deleted from the structural light three-dimensional image.
Of the present invention based on each ingredient establishment coordinate system separately in the pedicle of vertebral arch internal fixation operation navigation system of structured light scanning, wherein structured light scanner 1 is established the structure light image coordinate system; Dynamic benchmark 2 is fixed on trouble bone place and is the representative patient coordinate system that is rigidly connected; Visible light sign on the operating theater instruments 3 is established the operating theater instruments coordinate system, and any point coordinate under this coordinate system on the operating theater instruments also is constant; Preserve in the computer 4 and suffer from bone CT threedimensional model establishment CT image coordinate system (also being the navigation picture coordinate system).Utilize computer to try to achieve the transformation relation between operating theater instruments coordinate system and CT image coordinate system, operating theater instruments distal point and the relative position of suffering from bone CT threedimensional model are shown on computers in real time.
The operating theater instruments 3 that adopts among the present invention is the common therapy apparatus, adheres at least 3 not visible light signs of conllinear on it, and the visible light sign on visible light sign and the dynamic benchmark adopts same-type; Visible light sign on the operating theater instruments is caught by structured light scanner 1, is identified at the initial homogeneous coordinates
under the structure light image coordinate system to confirm the visible light on the operating theater instruments
Operating theater instruments is demarcated, obtain operating theater instruments axis and the coordinate of operating theater instruments distal point under the operating theater instruments coordinate system.The scaling method of operating theater instruments is among the present invention: operating theater instruments is axially inserted in the general calibration platform; The height and the operating theater instruments height of adjustment structured light scanner; Make the visible light sign on the operating theater instruments be arranged in two camera coverages, keep the calibrating table position motionless, the rotary operation apparatus is to diverse location; By two video cameras the visible light sign is gathered respectively, draw the spatial axis of operating theater instruments through the image match; The distal point of operating theater instruments is demarcated and is demarcated similar with axis.
Fig. 5 is the pedicle of vertebral arch internal fixation operation navigation system workflow diagram based on structured light scanning according to the invention, mainly is divided into for three steps:
The first step: before the art patient is carried out CT scan, obtain the CT view data that it suffers from bone, obtain suffering from bone CT three-dimensional modeling data through the CT three-dimensional reconstruction.
The concrete grammar of CT three-dimensional reconstruction is among the present invention: the CT image of DICOM form is imported the computer 4 that surgical navigational software is housed; Rule of thumb value is set gray threshold, and for vertebrae, gray threshold is set at 190 ~ 210; Isolate skeleton and soft tissue according to the method for contour surface; Reconstruction obtains suffering from bone CT threedimensional model, is kept in the computer that surgical navigational software is housed, and shows.The doctor can confirm the position and the angle of operation technique according to the form of this trouble bone CT threedimensional model that shows in the computer; Accomplish the art preplanning---confirm to implant the position, the degree of depth, angle of pedicle nail etc. according to patient's situation; And the enterprising row labels of trouble bone CT threedimensional model that shows on computers; So that carry out reference in the art, also can draw a circle to approve the zone of carrying out surface adjustment with structure light image this moment on trouble bone CT threedimensional model, generally get spinous process and near bone surface thereof.
Second step: be furnished with operation guiding system of the present invention in operating room, at first getting into scan pattern after this structured light scanner and the completion of operating theater instruments initial alignment.The doctor is suffering from selected trouble bony site on the bone CT threedimensional model before separating art; Fixed placement dynamic benchmark 2; And with two video cameras of all visible light signs on structured light scanner on the dynamic benchmark 2; The trouble bone and the dynamic benchmark 2 that utilize 1 pair of structured light scanner to expose then scan, and on the computer that surgical navigational software is housed 4, show the structural light three-dimensional image of suffering from bony site, and the visible light sign on the dynamic benchmark 2 also can be caught by structured light scanner 1; Be simultaneously displayed in the structural light three-dimensional image of suffering from bony site, as the initial reference position of suffering from bone.The point cloud of being suffered from this two width of cloth image construction of structural light three-dimensional image in bone CT threedimensional model and the art by the computer that surgical navigational software is housed before to art carries out surface adjustment; Calculate the respectively affiliated coordinate system of above-mentioned two width of cloth images---be the initial mapping relation of CT image coordinate system and structure light image coordinate system, obtain being tied to the coordinate conversion matrix
of CT image coordinate system from the structure light image coordinate
The position of center in CT image coordinate system and structure light image coordinate system of certain visible light sign on the dynamic benchmark remembered respectively make homogeneous coordinates V
CAnd V
S, then:
Among the present invention; The surface adjustment method that trouble bone CT threedimensional model and structural light three-dimensional image are adopted is: it is right that the doctor chooses 3～5 points at the corresponding position of suffering from bone CT threedimensional model and structural light three-dimensional image (the corresponding bone same position of suffering from) respectively; Structural light three-dimensional image and trouble bone CT threedimensional model are carried out registration just; And the initial position that guarantees some cloud on above-mentioned two width of cloth images differs not too large; Obtain the preliminary spatial alternation matrix that the structure light image coordinate is tied to the CT image coordinate system; Carry out smart registration through closest approach iterative algorithm (ICP) again, calculate the mapping relations (being coordinate conversion matrix
) under above-mentioned two width of cloth image initial states.The step-up error threshold value is 0.3mm in registration process of the present invention, is limited on the iterations 100 times, and the smart registration time is no more than 3 seconds.
The 3rd step: after scan pattern finishes, get into tracing mode, the beginning surgical navigational.Projection grating 8 on the closing structure photoscanner 1, two video cameras of having demarcated (first video camera 9 and second video camera 10) of still opening are with the visible light sign of installing on technique of binocular stereoscopic vision real-time tracking dynamic benchmark 2 and the operating theater instruments 3.Because the visible light on the operating theater instruments 3 is identified at the relative position process demarcation in advance on the operating theater instruments; Therefore can be identified at the position in the structure light image coordinate system through the visible light on the operating theater instruments; Confirm the operating theater instruments coordinate system, and utilize coordinate transformation method to obtain the orientation of operating theater instruments 3 in the CT image coordinate system.Like this, the doctor just can see operating theater instruments distal point and the relative position of suffering from bone on the computer that surgical navigational software is housed, thereby performs a surgical operation.
The present invention is based in the pedicle of vertebral arch internal fixation operation navigation system workflow diagram of structured light scanning second step and the 3rd goes on foot and all uses two video cameras in the structured light scanner; So the coordinate system of structure light image coordinate system and video camera is identical, avoided participating in following the tracks of and the Coordinate Conversion loss of significance of generation by the infrared navigation position finder in the homogeneous system.
Visible light on the dynamic benchmark is identified at initial homogeneous coordinates under the structure light image coordinate system note is made
behind the beginning surgical navigational after the note of the homogeneous coordinates under the structure light image coordinate system is made visible light on
operating theater instruments and is identified at initial homogeneous coordinates under the structure light image coordinate system note is made
the beginning surgical navigational; Visible light on the operating theater instruments is identified at patient coordinate system (being confirmed by dynamic benchmark) homogeneous coordinates down note is made
homogeneous coordinates note under the structure light image coordinate system make
surgical navigational and begin before with beginning after, said dynamic benchmark, the homogeneous coordinates of operating theater instruments under the structure light image coordinate system satisfy as follows and concern:
The position that visible light on operating theater instruments behind the beginning surgical navigational is identified at the CT image coordinate system is:
Wherein:
is that the visible light on the operating theater instruments is identified at the homogeneous coordinates in the CT image coordinate system behind the beginning surgical navigational.
Because operating theater instruments through demarcating, has been established the operating theater instruments coordinate system in advance.Surgical instruments set point and the end point of a visible identity between the homogeneous coordinates
is the end point of surgical instruments in CT images homogeneous coordinates sit labeled
satisfy the following relationship:
Through coordinate transformation relation, can confirm that any point is suffered from the dynamic coordinate of bone CT threedimensional model and the axial location of operating theater instruments relatively on the operating theater instruments in the CT image coordinate system, thereby realize surgical navigational.
Claims (4)
1. pedicle of vertebral arch internal fixation operation navigation system based on structured light scanning; It is characterized in that: this system comprises structured light scanner (1), dynamic benchmark (2) and operating theater instruments (3), and the computer (4) that contains the trouble bone CT threedimensional model of surgical navigational software and the preceding CT scan of art; Described structured light scanner comprises video camera and projection grating (8) of installing placed in the middle that two left-right symmetric are installed, and two video cameras link to each other with said computer through data wire respectively with projection grating; Described dynamic benchmark is fixed in suffers from the bone place; The structural light three-dimensional image at bone place is suffered from the structured light scanner collection; At least 3 not visible light signs of conllinear are housed on dynamic benchmark; Video camera by on the structured light scanner is caught, and confirms that the visible light on the dynamic benchmark is identified at the initial homogeneous coordinates under the structure light image coordinate system; At least 3 not visible light signs of conllinear are housed on described operating theater instruments equally, are caught by the video camera on the structured light scanner behind the beginning surgical navigational, confirm that the visible light on the operating theater instruments is identified at the initial homogeneous coordinates under the structure light image coordinate system;
Before surgical navigational begins and after the beginning, said dynamic benchmark, the homogeneous coordinates of operating theater instruments under the structure light image coordinate system satisfy following relation:
Wherein:
is that the visible light on the dynamic benchmark is identified at the homogeneous coordinates under the structure light image coordinate system behind the beginning surgical navigational
The structural light three-dimensional image at the trouble bone place that structured light scanner collects and said trouble bone CT threedimensional model carry out surface adjustment; Obtain being tied to the coordinate conversion matrix of CT image coordinate system, be designated as
from the structure light image coordinate satisfy following the relation:
Wherein: V
CFor the visible light on the dynamic benchmark is identified at the homogeneous coordinates in the CT image coordinate system,
V
SFor the visible light on the dynamic benchmark is identified at the homogeneous coordinates in the structure light image coordinate system,
The position that visible light behind the beginning surgical navigational on the operating theater instruments is identified at the CT image coordinate system is:
Wherein:
is that the visible light on the operating theater instruments is identified at the homogeneous coordinates in the CT image coordinate system behind the beginning surgical navigational.
2. according to the described pedicle of vertebral arch internal fixation operation navigation system of claim 1, it is characterized in that based on structured light scanning: between the visible light on operating theater instruments distal point and the operating theater instruments identifies homogeneous coordinates are designated as
then the operating theater instruments distal point in the position of CT image coordinate system be:
Wherein:
is the homogeneous coordinates of operating theater instruments distal point in the CT image coordinate system.
3. according to the described pedicle of vertebral arch internal fixation operation navigation system based on structured light scanning of claim 1, it is characterized in that: the visible light on the described dynamic benchmark is designated the bead that the surface is covered by fluorescent material, and diameter is 3～5mm; Or the black of diameter 6～10mm is circular, and middle high bright silver circular shape concentric by diameter 3～5mm covers.
4. according to the described pedicle of vertebral arch internal fixation operation navigation system based on structured light scanning of claim 1, it is characterized in that: the visible light on the described operating theater instruments is designated the bead that the surface is covered by fluorescent material, and diameter is 3～5mm; Or the black of diameter 6～10mm is circular, and middle high bright silver circular shape concentric by diameter 3～5mm covers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210254335.7A CN102784003B (en) | 2012-07-20 | 2012-07-20 | Pediculus arcus vertebrae internal fixation operation navigation system based on structured light scanning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210254335.7A CN102784003B (en) | 2012-07-20 | 2012-07-20 | Pediculus arcus vertebrae internal fixation operation navigation system based on structured light scanning |
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| Publication Number | Publication Date |
|---|---|
| CN102784003A true CN102784003A (en) | 2012-11-21 |
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| CN103211655A (en) * | 2013-04-11 | 2013-07-24 | 深圳先进技术研究院 | Navigation system and navigation method of orthopedic operation |
| CN106030656A (en) * | 2014-02-11 | 2016-10-12 | 皇家飞利浦有限公司 | Spatial visualization of internal mammary artery during minimally invasive bypass surgery |
| CN107028659A (en) * | 2017-01-23 | 2017-08-11 | 新博医疗技术有限公司 | Operation guiding system and air navigation aid under a kind of CT images guiding |
| CN107564036A (en) * | 2017-08-01 | 2018-01-09 | 努比亚技术有限公司 | A kind of method for tracking target and terminal based on structure light |
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| CN109875685B (en) * | 2017-12-06 | 2020-09-15 | 奇美医疗财团法人奇美医院 | Bone surgery navigation system |
| JP2019130290A (en) * | 2017-12-06 | 2019-08-08 | 財團法人奇美醫院 | System and method for generating three-dimensional image of bone |
| CN108347595A (en) * | 2017-12-29 | 2018-07-31 | 维沃移动通信有限公司 | A kind of processing method of structure light, device and mobile terminal |
| CN109410320A (en) * | 2018-09-30 | 2019-03-01 | 先临三维科技股份有限公司 | Method for reconstructing three-dimensional model, device, computer equipment and storage medium |
| CN114711969B (en) * | 2019-01-21 | 2023-10-31 | 华科精准（北京）医疗科技有限公司 | Surgical robot system and application method thereof |
| CN114711969A (en) * | 2019-01-21 | 2022-07-08 | 华科精准（北京）医疗科技有限公司 | Surgical robot system and using method thereof |
| CN109549705B (en) * | 2019-01-21 | 2024-04-26 | 华科精准（北京）医疗科技有限公司 | Surgical robot system and application method thereof |
| CN109549705A (en) * | 2019-01-21 | 2019-04-02 | 华科精准（北京）医疗科技有限公司 | A kind of surgical robot system and its application method |
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| CN111759634A (en) * | 2020-07-13 | 2020-10-13 | 上海卓昕医疗科技有限公司 | Mechanical arm and bed matching system and method and clinical application method thereof |
| CN112348851A (en) * | 2020-11-04 | 2021-02-09 | 无锡蓝软智能医疗科技有限公司 | Moving target tracking system and mixed reality operation auxiliary system |
| CN113288424A (en) * | 2021-04-14 | 2021-08-24 | 上海大学 | Calibration plate and calibration method for field calibration of optical surgical navigation system |
| CN114041876A (en) * | 2021-11-30 | 2022-02-15 | 苏州大学 | Augmented reality orthopedic perspective navigation method and system based on structured light |
| CN114792326A (en) * | 2022-03-30 | 2022-07-26 | 河海大学 | Surgical navigation point cloud segmentation and registration method based on structured light |
| CN115619790B (en) * | 2022-12-20 | 2023-05-02 | 北京维卓致远医疗科技发展有限责任公司 | Hybrid perspective method, system and equipment based on binocular positioning |
| CN115619790A (en) * | 2022-12-20 | 2023-01-17 | 北京维卓致远医疗科技发展有限责任公司 | Mixed perspective method, system and equipment based on binocular positioning |
| CN115844712B (en) * | 2023-02-17 | 2023-05-26 | 四川大学 | Acupoint positioning method and device, traditional Chinese medicine physiotherapy equipment and storage medium |
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