CN105266897A - Microscopic surgical operation navigation system based on augmented reality and navigation method - Google Patents
Microscopic surgical operation navigation system based on augmented reality and navigation method Download PDFInfo
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Abstract
The invention relates to a microscopic surgical operation navigation system based on augmented reality and a navigation method. The navigation system comprises a fixing frame, a graph mark, a camera, a controller and display equipment, wherein the fixing frame comprises a foundation, a connection member, a fixing rod and a supporting board. The navigation method comprises steps that, S1, the fixing frame is fixed on an ill body; S2, the fixing frame and the ill body are scanned through a CTA, and a three-dimensional model is reconstructed; S3, a three-dimensional coordinate of the three-dimensional model is adjusted through software 3ds MAX to make the graph mark be at the world coordinate center; and S4, the three-dimensional model is projected by ARToolkit software onto a right center of the graph mark, so the three-dimensional model and the ill body image are superposed and fused. The system and the method are advantaged in that, the augmented reality technology is utilized, so the real world information, namely the ill body, is superposed and fused with virtual world information, namely the three-dimensional model of blood vessel muscle bones, so entity information which is difficult to experience in the real world can be acquired by operation doctors.
Description
Technical field
The present invention relates to technical field of medical instruments, specifically, is a kind of microsurgery navigation system based on augmented reality and air navigation aid.
Background technology
1. utilize the Free flap transportation of microsurgical technique anastomosis of blood vessel to perform the operation, be repair in trauma and rebuild common Therapeutic Method, be widely used.But microsurgery is still considered to a kind of highly difficult operation, and need the experience depending on operating doctor, operating time is long, and operation easier is high, has a big risk.The key of operation is the supply vessels of dissecting, being separated nurse tissue lobe, and supply vessels caliber is thin, and vascularity and traveling path individual variation greatly, are cause operating difficulty high, the major reason of operating difficulties.But if the integrity of tissue flap supply vessels net can not be ensured, postoperative tissue flap then can be downright bad for deficiency because of blood, causes the failure of prosthesis.
Therefore, the how in the preoperative clear and definite caliber of free tissue flap supply vessels, the distribution of blood vessel and traveling path, and navigate in art, guided operation is the critical problem that microsurgery needs solution badly.
2. existing imaging technique is widely used in the preoperative location of free tissue flap supply vessels, wherein not only accuracy is high for angiography CT (CTA), the multi-aspect information of blood vessel can also be provided simultaneously, comprise blood vessels caliber, the distribution of blood vessel and traveling path, and three-dimensional reconstruction can be carried out according to the information gathered, specify the relation of blood vessel and perienchyma, enrich and the information of tool elephant for patient provides.But when performing the operation, these information can not accurately show at patient by patient.
3. augmented reality (augmentedreality, AR) technology is the recent studies on direction that developed recently gets up, and is a kind of computer simulation to be formed " virtual world " information and the integrated new technique of real world information " seamless ".The dummy object of Practical computer teaching and true environment are added to same picture or space by augmented reality in real time, dummy object and true environment are existed simultaneously, by the perception of human sensory institute, thus reaches the sensory experience of exceeding reality.Along with the development of AR technology, AR technology can be applied in operating navigation.Specifically, pass through Medical Imaging Technology exactly, as CT, obtaining tissue of patient anatomical organ information, is virtual threedimensional model through software rebuild, afterwards, the threedimensional model of the individual patient of reconstruction is added to by equipment the surgical field of view relevant position of operator by application AR technology in art, makes patient have the ability of similar perspective eye, can have an X-rayed distribution, traveling that skin " sees " subcutaneous each organ, blood vessel, muscle, skeleton etc., thus raising success rate of operation, reduce operation risk.At present existing surgical field navigates in augmented reality application Rhizoma Atractylodis Macrocephalae, and as craniomaxillofacial surgery, to be added to patient's corresponding site by AR technology and equipment by sclerous tissues's threedimensional model of the craniofacial bone of patient, guided operation doctor carries out bone-culting operation.But about the application of this technology in free tissue flap microsurgery, specifically, be added to soft tissue threedimensional models such as individual patient blood vessel, muscle surgical field of view corresponding site, the soft tissues such as guided operation doctor anatomical isolation blood vessel, no matter be at patent database, or all kinds of Chinese and foreign documents storehouse, is not reported.
4. the vessel information that angiography CT obtains is redeveloped into the threedimensional model of supply vessels, and model is combined with augmented reality, a kind of microsurgery navigation system based on augmented reality and air navigation aid can be formed.This navigation system makes patient get final product the clear and definite caliber of free tissue flap supply vessels, the distribution of blood vessel and traveling path in the preoperative, can carry out blood vessel and dissect accurately, be separated in art under navigation directions.This navigation system overcomes unstability and the unpredictability that traditional operation height relies on operative doctor experience, can improve the accuracy of microsurgery, safety and success rate.
Summary of the invention
First object of the present invention is to provide a kind of microsurgery navigation system based on augmented reality, the virtual three-dimensional models such as art district blood vessel, muscle, skeleton are added in surgical field of view by this system in real time, guide in operation process to surgical operation.
Second object of the present invention is, provides a kind of microsurgery air navigation aid based on augmented reality.
For realizing above-mentioned first object, the technical scheme that the present invention takes is:
Based on a microsurgery navigation system for augmented reality, described navigation system comprises fixed mount, pictorial symbolization, photographic head, controller, display device; Described fixed mount comprises pedestal, connector, fixed bar, gripper shoe; Described pedestal one end is provided with externally threaded cone, and the other end is provided with external screw thread; Described connector is cylindrical, and its connector is hollow structure, and connector is provided with female thread; Described connector is fixedly connected with pedestal and fixed bar by screw thread; Described fixed bar upper surface is fixedly connected with gripper shoe; Described gripper shoe there are three draw-in grooves; Chimeric in described draw-in groove have pictorial symbolization.
Described display device comprises display screen, the wear-type helmet, glasses.
Described pictorial symbolization is square.
The gripper shoe part of described fixed mount is formed by developing material manufacture under CT.
For realizing above-mentioned second object, the technical scheme that the present invention takes is:
Based on a microsurgery air navigation aid for augmented reality, comprise the following steps:
Step S1, closes in skeleton by fixed mount pedestal implant surgery region, installs gripper shoe by connector, fixed bar, completes fixed mount fixing on sick body;
Step S2, by CTA scanning fixing frame and sick body, and rebuilds threedimensional model;
Step S3, by software 3dsMAX, the three-dimensional coordinate of adjustment threedimensional model, makes the pictorial symbolization be fixed on fixed mount be positioned at world coordinates center;
Step S4, opens ARToolkit software, and ARToolkit software opens photographic head automatically, and after capturing the pictorial symbolization in picture, ARToolkit software is projected in the center of pictorial symbolization threedimensional model, makes the additive fusion of threedimensional model and sick body image.
Threedimensional model in described step S2 comprises the gripper shoe part of fixed mount, blood vessel, muscle and skeleton model.
In described step S3, world coordinates center is the position of x=0, y=0, z=0.
Comprise the following steps in described step S4:
1. open ARToolkit software, ARToolkit software opens photographic head automatically, and photographic head catches the sick body of real world and the video of pictorial symbolization, and sends it to display device;
Each two field picture in 2.Artoolkit software supervision sick body and pictorial symbolization video flowing, and search for the square-shaped patterns labelling whether having coupling wherein;
3. after capturing coupling square-shaped patterns labelling, Artoolkit software calculates the relative position of pictorial symbolization and photographic head by mathematical operation, its algorithm is projective transformation matrix method, first photographic head takes an image A directly over pictorial symbolization, then, arbitrarily angled by photographic head shooting image B, by the images relations of image A and image B, by projective transformation matrix method calculate respectively X/Y/Z axle the anglec of rotation and move forward and backward value, can calculate pictorial symbolization and and the relative position of photographic head;
4. after obtaining pictorial symbolization and photographic head relative position, the position of adjustment threedimensional model and direction;
5. threedimensional model is projected to the position of pictorial symbolization place frame picture;
6. finally output to the video flowing of display device through software processes, complete the additive fusion of threedimensional model and sick body image
The invention has the advantages that:
1, a kind of microsurgery navigation system based on augmented reality of the present invention and air navigation aid, in conjunction with angiography goldstandard CTA technology and augmented reality, form a kind of novel navigation system, by real world information and sick body, with the threedimensional model of virtual world information and vascular muscle skeleton, merge superposition, make operative doctor acquisition in reality, originally be difficult to the entity information experienced, reduce operating difficulty and art risk;
2, the threedimensional model that sick body art district muscle, skeleton and blood vessel etc. are organized is added in surgical field of view in real time, operative doctor can see in operation process that patient's blood vessel is in intramuscular traveling and surrounding tissue information thereof in real time, shorten the course for the treatment of, improve curative effect;
3, scanned by CTA, can provide blood vessel many-sided data to operative doctor, comprise the diameter of blood vessel, length, the type (traveling is in intermuscular septum or in muscular tissue) of blood vessel and blood vessel pass the base of a fruit's length of deep fascia.These data help operative doctor and select optimal blood vessel and the tissue flap size of design the best, position and operative incision, and when dissected reduces muscle injury, and amount of bleeding is few, greatly reduces the complication such as postoperative tissue flap necrosis;
4, operative doctor is under threedimensional model navigation, performs the operation according to pre-operative surgical design, and this kind of mode can reduce chorista lobe required time in free tissue flap microsurgery and reduce the probability of accidentally injuring target blood in operation.
Accompanying drawing explanation
Accompanying drawing 1 is a kind of microsurgery navigation system modes figure based on augmented reality of the present invention.
Accompanying drawing 2 is the structural representation that pictorial symbolization is connected with fixed mount.
Fig. 3 is a kind of microsurgery air navigation aid flow chart based on augmented reality of the present invention.
Accompanying drawing 4 is Three-dimension Reconstruction Model structural representation.
Accompanying drawing 5 is the structural representation of threedimensional model and sick body additive fusion.
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention provided by the invention is elaborated.
The Reference numeral related in accompanying drawing and ingredient as follows:
1. fixed mount 11. pedestal
12. connector 13. fixed bars
14. gripper shoe 15. draw-in grooves
2. pictorial symbolization 3. photographic head
4. controller 5. display screen
6. sick body
Please refer to Fig. 1, Fig. 1 is a kind of microsurgery navigation system modes figure based on augmented reality of the present invention.Based on a microsurgery navigation system for augmented reality, described navigation system comprises fixed mount 1, pictorial symbolization 2, photographic head 3, controller 4, display screen 5;
Please refer to Fig. 2, Fig. 2 is the structural representation that pictorial symbolization 2 is connected with fixed mount 1.Described fixed mount 1 comprises pedestal 11, connector 12, fixed bar 13, gripper shoe 14; Described pedestal 11 one end is provided with externally threaded cone, and the other end is provided with external screw thread; Described connector 12 is cylindrical, and its connector 12 is hollow structure, and connector 12 is provided with female thread; Described connector 12 is fixedly connected with pedestal 11 and fixed bar 13 by screw thread; Described fixed bar 13 upper surface is fixedly connected with gripper shoe 14; Described gripper shoe 14 there are three draw-in grooves 15; Chimeric in described draw-in groove 15 have pictorial symbolization 2; Described pictorial symbolization 2 is in square, and there are an image in central authorities, and image peripheral is the square-shaped frame of an intensive black, and be white edge outside black squares frame, image type is unrestricted, and in the present embodiment, image is " Hiro ";
It should be noted that:
The material manufacture that in fixed mount 1, gripper shoe 14 part can be developed by CT forms, can clearly show during surgical navigational, can scan together with sick body 6, reconstruction of three-dimensional model, compared with forming metal holder 1 with the manufacture of employing metal material, its metal holder 1 develops unintelligible under CT, can not together with sick body 6 scan rebuilding threedimensional model, in order to obtain the position relationship between metal holder 1 and sick body 6, metal holder 1 is needed to carry out 3-D scanning, and rebuild metal holder 1 threedimensional model, and then scan sick body 6, rebuild sick body 6 threedimensional model, the threedimensional model of metal holder 1 threedimensional model and sick body 6 is made to carry out registration, when its registration, there will be registration error, affect navigation effect, in addition, the fixed mount 1 of this enforcement be fitted together to pictorial symbolization 2 by draw-in groove 15, structure is simple, handled easily, and existingly supports pictorial symbolization 2 by cross, and then fixes with a retainingf key, its complicated operation, easily damage fixed mount 1, and service life is short,
Described pictorial symbolization 2 is mainly used in be had when photographic head 3 catches sick body 6 operative site image with reference to effect, and operative site sick body 6 image of namely catching with pictorial symbolization 2 is required image; In addition, pictorial symbolization 2 is fitted together to by the draw-in groove 15 of fixed mount 1, the relative position between pictorial symbolization 2 and sick body 6 is fixed, is conducive to surgical navigational;
In described navigation system, mimics15.0, Artoolkit, 3dsMAX are installed, for reconstruction of three-dimensional model, and threedimensional model and sick body 6 image co-registration, realize surgical navigational;
Described display screen 5 can be replaced the wear-type helmet or glasses, can choose different display devices according to specific needs.
Please refer to Fig. 3, Fig. 3 is a kind of microsurgery air navigation aid flow chart based on augmented reality of the present invention.Based on a microsurgery air navigation aid for augmented reality, comprise the following steps;
Step S1, closes in skeleton by fixed mount pedestal 11 implant surgery region, installs gripper shoe 14 by connector 12, fixed bar 13, completes fixed mount 1 fixing on sick body; Wherein, fixed mount 1 pedestal 11 implant treat operative site and pictorial symbolization 2 be entrenched in draw-in groove 15;
Step S2, by CTA scanning fixing frame 1 and sick body 6, and rebuild threedimensional model, CTA and CT angiography, need intravenous injection diodone before scanning, the three-dimensional data of CTA scanning comprises blood vessel, muscle, the three-dimensional data of skeleton, then modeling software mimics15.0 is passed through the fixed mount 1 of operative site, pictorial symbolization 2, blood vessel, muscle, skeleton three-dimensional data is built into threedimensional model, namely threedimensional model comprises gripper shoe 14 part in fixed mount 1, pictorial symbolization 2, blood vessel, muscle and skeleton model, as shown in Figure 4, Fig. 4 is Three-dimension Reconstruction Model structural representation,
Step S3, by software 3dsMAX, the three-dimensional coordinate of adjustment threedimensional model, makes the pictorial symbolization 2 be fixed on fixed mount 1 be positioned at world coordinates center, i.e. x=0, y=0, z=0;
Step S4, open ARToolkit software, photographic head 3 opened automatically by ARToolkit software, after capturing the pictorial symbolization 2 in picture, ARToolkit software is projected in the center of pictorial symbolization 2 threedimensional model, makes the additive fusion of threedimensional model and sick body 6 image.As shown in Figure 5, Fig. 5 is the structural representation of threedimensional model and sick body additive fusion.
The augmented reality operation principle of Artoolkit is simple, reads sick body 6 image of square-shaped patterns labelling 2 exactly with photographic head 3, then threedimensional model additive fusion on sick body 6 image, concrete steps are as follows:
1. open ARToolkit software, photographic head 3 opened automatically by ARToolkit software, and photographic head 3 catches the sick body 6 of real world and the video of pictorial symbolization 2, and sends it to display device.
2.Artoolkit software supervision sick body 6 and each two field picture in pictorial symbolization 2 video flowing, and search for the square-shaped patterns labelling 2 whether having coupling wherein.
3. after capturing coupling square-shaped patterns labelling 2, Artoolkit software calculates the relative position of pictorial symbolization 2 and photographic head 3 by mathematical operation, its algorithm is projective transformation matrix method, and pictorial symbolization 2 is square, makes the algorithm of projective transformation matrix the simplest.
First photographic head 3 takes an image A directly over pictorial symbolization 2, then, takes image B arbitrarily angled by photographic head 3, because image A is front view, expanding square is without any distortion, and image B is then different, image B can rotate relative to having on space X/Y/Z axle with D, and moves forward and backward.By the images relations of image A and image B, by projective transformation matrix method calculate respectively X/Y/Z axle the anglec of rotation and move forward and backward value, pictorial symbolization 2 and and the relative position of photographic head 3 can be calculated.
4. after obtaining both pictorial symbolization 2 and photographic head 3 relative position, the position of adjustment threedimensional model and direction.
5. threedimensional model is projected to the position of pictorial symbolization 2 place frame picture.
6. finally output to the video flowing of display device through software processes, complete the additive fusion of threedimensional model and sick body 6 image.When people see video by display device, threedimensional model has just covered on the sick body 6 that photographs.
A kind of microsurgery navigation system based on augmented reality of the present invention and air navigation aid, in conjunction with angiography goldstandard CTA technology and augmented reality, form a kind of novel navigation system, by real world information and sick body, with the threedimensional model of virtual world information and vascular muscle skeleton, merge superposition, make operative doctor acquisition in reality, originally be difficult to the entity information experienced, reduce operating difficulty and art risk; Be added in real time in surgical field of view by the threedimensional model that sick body 6 art district muscle, skeleton and blood vessel etc. are organized, operative doctor can see in operation process that patient's blood vessel is in intramuscular traveling and surrounding tissue information thereof in real time, shortens the course for the treatment of, improves curative effect; Scanned by CTA, can provide blood vessel many-sided data to operative doctor, comprise the diameter of blood vessel, length, the type (traveling is in intermuscular septum or in muscular tissue) of blood vessel and blood vessel pass the base of a fruit's length of deep fascia.These data help operative doctor and select optimal blood vessel and the best tissue flap size of design, position and operative incision, and when dissected can not muscle injury, and amount of bleeding is few, greatly reduce the complication such as postoperative tissue flap is downright bad; Operative doctor, under threedimensional model navigation, is performed the operation according to pre-operative surgical design, and this kind of mode can reduce chorista lobe required time in free tissue flap microsurgery and reduce the probability of accidentally injuring target blood in operation.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvement and supplement, these improve and supplement and also should be considered as protection scope of the present invention.
Claims (8)
1. based on a microsurgery navigation system for augmented reality, it is characterized in that, described navigation system comprises fixed mount, pictorial symbolization, photographic head, controller, display device; Described fixed mount comprises pedestal, connector, fixed bar, gripper shoe; Described pedestal one end is provided with externally threaded cone, and the other end is provided with external screw thread; Described connector is cylindrical, and its connector is hollow structure, and connector is provided with female thread; Described connector is fixedly connected with pedestal and fixed bar by screw thread; Described fixed bar upper surface is fixedly connected with gripper shoe; Described gripper shoe there are three draw-in grooves; Chimeric in described draw-in groove have pictorial symbolization.
2. navigation system according to claim 1, is characterized in that, described display device comprises display screen, the wear-type helmet, glasses.
3. navigation system according to claim 1, is characterized in that, described pictorial symbolization is square.
4. navigation system according to claim 1, is characterized in that, described fixed mount is formed by developing material manufacture under CT.
5., based on a microsurgery air navigation aid for augmented reality, it is characterized in that, comprise the following steps:
Step S1, closes in skeleton by fixed mount pedestal implant surgery region, installs gripper shoe by connector, fixed bar, completes fixed mount fixing on sick body.
Step S2, by CTA scanning fixing frame and sick body, and rebuilds threedimensional model;
Step S3, by software 3dsMAX, the three-dimensional coordinate of adjustment threedimensional model, makes the pictorial symbolization be fixed on fixed mount be positioned at world coordinates center;
Step S4, opens ARToolkit software, and ARToolkit software opens photographic head automatically, and after capturing the pictorial symbolization in picture, ARToolkit software is projected in the center of pictorial symbolization threedimensional model, makes the additive fusion of threedimensional model and sick body image.
6. air navigation aid according to claim 5, is characterized in that, the threedimensional model in described step S2 comprises the model of fixed mount, pictorial symbolization, blood vessel, muscle and skeleton.
7. air navigation aid according to claim 5, is characterized in that, in described step S3, world coordinates center is the position of x=0, y=0, z=0.
8. air navigation aid according to claim 5, is characterized in that, comprises the following steps in described step S4:
1). open ARToolkit software, ARToolkit software opens photographic head automatically, and photographic head catches the sick body of real world and the video of pictorial symbolization, and sends it to display device;
2) each two field picture in .Artoolkit software supervision sick body and pictorial symbolization video flowing, and search for the square-shaped patterns labelling whether having coupling wherein;
3). after capturing coupling square-shaped patterns labelling, Artoolkit software calculates the relative position of pictorial symbolization and photographic head by mathematical operation, its algorithm is projective transformation matrix method, first photographic head takes an image A directly over pictorial symbolization, then, arbitrarily angled by photographic head shooting image B, by the images relations of image A and image B, by projective transformation matrix method calculate respectively X/Y/Z axle the anglec of rotation and move forward and backward value, can calculate pictorial symbolization and and the relative position of photographic head;
4). after obtaining pictorial symbolization and photographic head relative position, the position of adjustment threedimensional model and direction;
5). threedimensional model is projected to the position of pictorial symbolization place frame picture;
6). the video flowing finally outputting to display device, through software processes, completes the additive fusion of threedimensional model and sick body image.
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