TWM605788U - Positioning system - Google Patents

Abstract

A positioning system is provided. The positioning system includes a processor, a movable apparatus and a positioning object. The movable apparatus includes a camera and a light source. The positioning object has a plurality of positioning patterns. The positioning object is a polyhedron structure, and the positioning patterns are respectively located on multiple different surfaces of the positioning object. When the positioning object is fixedly arranged on a target object and the movable device is fixed in position corresponding to the position of the target object, the light source illuminates the positioning object, and the camera shoots the positioning object to obtain an image including at least two positioning patterns on at least two surfaces of the positioning object. The processor calculates a target object coordinates of the target object according to the image to locate the target object.

Description

GPS

The new creation relates to a positioning technology, and particularly to a surgical positioning system.

Surgical navigation system is an important development direction for precision and minimally invasive surgical treatment, and optical surgical navigation technology is the most widely used surgical navigation technology. In the current optical surgical navigation technology, the surgeon must locate the surgical target by pasting marked points on the surgical target. In this regard, although the pasting of marking points has the advantages of less trauma and simple operation compared with the use of mechanical fixing devices, it is more accurate than anatomical markings and is widely used.

Since the optical surgical navigation technology tracks and locates the marked points on the patient's body and surgical tools, the navigation system needs to use three-dimensional medical images to determine the marked points and the location of the lesion before the operation, and during the operation, navigate The positioning system of the system can track the marked points on the patient to obtain the patient's pose in real time. The navigation system can register the aforementioned information together with the three-dimensional medical image obtained before the operation, and convert it to the image coordinate system for display on the navigation interface.

However, the existing surgical navigation technology has shortcomings. For example, during the surgical navigation process, the marker points are likely to fall, resulting in the need to re-apply the operations of marker pasting and registration. In addition, the illuminating light used to illuminate the marking point is easily blocked and positioning fails. In addition, some surgical sites have the problem of inconvenience to stick markers. In view of this, the following will propose solutions in several embodiments.

The new creation provides a positioning system and a positioning method, which can provide the function of positioning the surgical site during surgery.

The positioning system of the present invention includes a processor, a movable device and a positioning object. The movable device includes a camera and a light source coupled to the processor. The positioning object has a plurality of positioning patterns. The positioning object is a polyhedron structure. The multiple positioning patterns are respectively located on multiple different surfaces of the positioning object. When the positioning object is fixedly arranged on the target object, and the movable device fixes the position corresponding to the position of the target object, the light source illuminates the positioning object, and the camera shoots the positioning object to obtain at least two surfaces including the positioning object. Images of two positioning patterns. The processor calculates the target object coordinates of the target object according to the image including the at least two positioning patterns to locate the target object.

The positioning method of the present invention includes the following steps: when the positioning object is fixedly arranged on the target object, and the movable device is fixed in position corresponding to the position of the target object, the positioning object is illuminated by the light source of the movable device and the movable device is passed through The camera captures a positioning object to obtain images of at least two positioning patterns on at least two surfaces including the positioning object; and calculates the target object coordinates of the target object according to the images including the at least two positioning patterns, to Position the target object. The positioning object is a polyhedron structure. The multiple positioning patterns are respectively located on multiple different surfaces of the positioning object.

Based on the above, the positioning system and positioning method created by the present invention can shoot at least two positioning patterns of a positioning object fixed on the target object at a fixed position, and obtain the position of the positioning object through image processing and calculation, which can effectively Calculate the target object coordinates of the target object.

In order to make the above-mentioned features and advantages of the new creation more obvious and understandable, the following embodiments are specially cited, and the accompanying drawings are described in detail as follows.

In order to make the content of this disclosure more comprehensible, the following embodiments are specifically cited as examples on which this disclosure can indeed be implemented. In addition, wherever possible, elements/components/steps with the same reference numbers in the drawings and embodiments represent the same or similar components.

Figure 1 is a schematic diagram of a positioning system according to an embodiment of the present invention. 1, the positioning system 100 includes a processor 110, a memory 120, a camera 130, a light source 140, and a positioning object 150. The processor 110 is coupled to the memory 120, the camera 130 and the light source 140. In this embodiment, the camera 130 and the light source 140 can be integrated into a movable device, so that the user can adjust the shooting position, direction and angle of the camera 150 according to different surgical scenarios. The processor 110 and the memory 120 can also be integrated in a removable device, but the invention is not limited to this. In an embodiment, the processor 110 and the memory 120 may also be integrated in a computer host, and the computer host is electrically connected to a portable device. In addition, the positioning system 100 may additionally include a display device, and the display device is coupled to the processor 110 so that the processor 110 can display positioning information on the display screen of the surgical navigation function provided by the display device. In this embodiment, the camera 130 may be, for example, an infrared camera or a visible light camera, and the light source 140 may correspondingly be, for example, an infrared light source or a visible light source.

In this embodiment, the positioning object 150 may be a polyhedral structure, such as a dodecahedron structure, and multiple positioning patterns are respectively located on different surfaces of the positioning object 150. In this embodiment, when the positioning object 150 is fixedly arranged on the target object, and the movable device is fixed in position corresponding to the position of the target object, the light source 140 can illuminate the positioning object 150, and the camera 130 shoots the positioning object 150, To obtain an image including at least two positioning patterns on at least two surfaces of the positioning object. In this embodiment, the processor 110 may calculate the coordinates of the positioning object according to the image including the at least two positioning patterns, and may then further calculate the target object coordinates of the target object to locate the target object. In this embodiment, the target object may be a surgical instrument, and the positioning object 150 may be fixedly disposed on the target object via the mounting seat.

In this embodiment, the processor 110 may be, for example, a programmable general-purpose or special-purpose microprocessor (Microprocessor), a digital signal processor (Digital Signal Processor, DSP), a programmable controller, and a dedicated integrated circuit. Circuit (Application Specific Integrated Circuit, ASIC), graphics processor (Graphics Processing Unit, GPU) or other similar components or a combination of the above components. In this embodiment, the memory 120 can be used to store the images obtained by the camera 130 and the data, calculation results, and calculation programs mentioned in the various embodiments of the invention for the processor 110 to access. It is worth noting that the processor 110 can, for example, execute the camera calibration and three-dimensional reconstruction algorithms in the Open Source Computer Vision Library (OpenCV) to implement the positioning operations and coordinate acquisition described in each implementation.

Fig. 2A is a schematic structural diagram of a positioning object according to an embodiment of the new creation. Referring to FIG. 2A, along the central axis 151C of the object, the positioning object 150 can be disassembled to include a housing 151, an internal component 152 and a mounting seat 153. The housing 151 is a polyhedral structure 151P and has multiple surfaces. The housing 151 can be bolted to the internal component 152. The internal components 152 may include other functional modules, such as radio frequency antennas, positioning tags, etc. The internal component 152 can be bolted to the mounting base 153. The mounting seat 153 can be fixedly arranged on a target object, where the target object can be, for example, a surgical instrument, such as a needle-shaped body, and the needle-shaped body can be fixed on a surgical site, for example. In this embodiment, the positioning object 150 can be processed into the polyhedral structure 151P of the housing 151 through a five-axis machining process, for example, and the positioning object 150 can be formed on multiple surfaces of the polyhedral structure 151P using a fiber laser processing process. Process the positioning pattern.

FIG. 2B is a schematic diagram of multiple positioning patterns of positioning objects according to an embodiment of the new creation. 2A and 2B, the polyhedral structure 151P of this embodiment is a dodecahedron structure, and after multiple surfaces of the polyhedral structure 151P are expanded, a plurality of positioning patterns 151_1 to 151_9 as shown in FIG. 2B can be presented. It should be noted that, as shown in FIG. 2A, since a part of the surface of the polyhedral structure 151P of this embodiment will be used to form a latch structure, the nine surfaces of the polyhedral structure 151P of this embodiment may have positioning patterns 151_1 to 151_9. In this embodiment, the positioning patterns 151_1 to 151_9 may be a plurality of different Quick Response Codes (QR codes), but the invention is not limited to this. In this embodiment, the positioning patterns 151_1 to 151_9 can respectively provide spatial coordinate information for calculating six degrees of freedom (DOF) attitude data. Specifically, the processor 110 can perform operations based on images of at least two quick response matrix patterns on at least two surfaces of the polyhedral structure 151P, wherein the processor 110 can use the transposed matrix to perform the image coordinates and the world coordinate system ( World Coordinate System (WCS) to calculate the six-degree-of-freedom and directional spatial coordinates of the positioning object 150.

Fig. 3 is a flowchart of a positioning method according to an embodiment of the new creation. 1 to 3, the process of the positioning method in FIG. 3 can be applied to the positioning system 100 in FIG. 1. In step S310, after the movable device provided with the camera 130 and the light source 140 fixes the position corresponding to the position of the target object, the processor 110 performs position correction on the movable device to obtain position information of the camera 130. In step S320, the light source 140 of the movable device illuminates the positioning object 150, and the camera 130 of the movable device photographs the positioning object 150 to obtain images of at least two positioning patterns on at least two surfaces including the positioning object 150. In this embodiment, the at least two positioning patterns can respectively provide spatial coordinate information for use by the processor 110 to calculate the six-degree-of-freedom attitude data. The camera 130 may be a six-degree-of-freedom camera.

In step S330, the processor 110 may calculate the target object coordinates of the target object according to the image including the at least two positioning patterns to locate the target object. In this regard, the processor 110 of this embodiment may, for example, analyze the position information and positional relationship of the respective four corners of the at least two positioning patterns in the image obtained by the camera 130, for example, obtain the position coordinates of the four corners. , To calculate the respective center pattern coordinates (three-dimensional coordinates) and pattern angles of the at least two positioning patterns. In other words, as long as the image obtained by the camera 130 allows the processor 110 to recognize the at least two positioning patterns, the processor 110 can calculate the respective center pattern coordinates (three-dimensional coordinates) of the at least two positioning patterns. And the result of the pattern angle to calculate the three-dimensional coordinates of the positioning object 150, and further obtain the positioning information of the target object.

For example, the pictures taken by the camera 130 may include positioning patterns 151-1 to 151-4 as shown in FIG. 2B. The processor 110 can obtain the distance between each positioning pattern 151-1~151_4 and the camera 130 according to the positioning patterns 151-1~151_4, and calculate the individual pattern angles of the positioning patterns 151-1~151_4, so that the three-dimensional coordinates of the positioning object 150 can be calculated. Then, the processor 110 may further calculate the coordinates of the target object based on the positioning object 150 and the relevant parameters of the target object of known object size (or specification). It is worth noting that the distances between the positioning patterns 151_1 to 151_4 of this embodiment and the camera 130 can be obtained by pre-calibrating the positioning object 150 and the camera 130 (a movable device).

FIG. 4A is a schematic diagram of a positioning object and a target object according to an embodiment of the new creation. Fig. 4B is a schematic diagram of the operation of the positioning system according to an embodiment of the new creation. Referring to FIG. 4A, in this embodiment, taking orthopedic surgery as an example, the target objects 411 to 416 may be, for example, spinal screws, and are used to be fixed on multiple vertebrae of the vertebra 401 respectively. In this embodiment, part of the target objects 411 to 416, such as the target objects 411, 413, and 416, may be further equipped with positioning objects 421 to 423.

Referring to FIG. 4B, the positioning system 400 may have various functional elements as the positioning system 100 of FIG. 1 described above. In this embodiment, the movable device 400B may include a camera 430 and a light source 440. Taking positioning for the positioning object 423 as an example, as in step S310 of FIG. 3, after the movable device 400B is fixed in position corresponding to the position of the target object 416, the processor of the positioning system 400 of this embodiment can 400B performs position correction to obtain the position information of the camera 430 of the movable device 400B, the target objects 411 to 416, and the distance between the movable device 400B and the target object 416.

Next, as in step S320 of FIG. 3, the light source 440 of the movable device 400B illuminates the positioning object 423, and the camera 430 of the movable device 400B photographs the positioning object 423, so as to obtain at least two surfaces including the positioning object 423. Images of two positioning patterns. Then, as in step S330 of FIG. 3, the processor of the positioning system 400 of this embodiment can calculate the object coordinates of the positioning object 423 according to the image including at least two positioning patterns, and can use the object coordinates of the positioning object 423 to determine The target object coordinates of the target object 416 are calculated to locate the target object 416.

In this embodiment, the camera 430 can sequentially photograph the positioning objects 421, 422 to perform the positioning method of positioning the object 423 as described above, and obtain overall detailed positioning information, where the positioning information may include target objects 411, 413, The multiple coordinates of 416 on the spine 401, for example, correspond to the three-dimensional coordinate information of certain three vertebrae of the spine 401. In addition, the positioning system 400 of this embodiment can also include a display device 450, and the display device 450 can display the positioning information of the target objects 411, 413, 416 on the display screen of the display device 450, and the operator can follow the display interface The operation navigation information related to the positioning results of the target objects 411, 413, 416 is included in the operation.

Figure 5 is a schematic diagram of a positioning system according to another embodiment of the present invention. 5, the positioning system 500 includes a processor 510, a memory 520, a camera 530, a light source 540, a positioning object 550, and a radio frequency module 560. The positioning object 550 includes a positioning tag and a radio frequency antenna 551. In this embodiment, the processor 510 is coupled to the memory 520, the camera 530, the light source 540, and the radio frequency module 560. The radio frequency module 560 includes, for example, a wireless signal transceiver.

In this embodiment, the positioning system 500 can use the camera 530 and the light source 540 to perform the image positioning means as in the above-mentioned embodiments of FIG. 1 to FIG. 4, so it will not be repeated here. However, compared with the embodiment in FIG. 1, the positioning system 500 of this embodiment can first provide the initial target object coordinates of the target object to the RF module 560 from the radio frequency antenna 551 in the positioning object 550, and the processor 510 can then follow through The target object coordinates obtained by the camera 530 are used to correct the initial target object coordinates. In other words, the positioning system 500 of this embodiment can combine two positioning methods to obtain accurate positioning information. The positioning system 500 may first use the positioning system 500 to obtain preliminary positioning information, and then use the camera 530 to obtain precise positioning information.

Fig. 6 is a flowchart of a positioning method according to another embodiment of the new creation. Referring to FIG. 5 and FIG. 6, the positioning method of this embodiment can be applied to the positioning system 500 of FIG. 5, and can also be understood in conjunction with the surgical context of FIG. 4B. In step S610, after the position of the movable device (having the camera 530 and the light source 540) of the positioning system 500 is fixed corresponding to the position of the target object, the position of the movable device is corrected. For example, the processor 510 may obtain position information of the camera 530 relative to the target object or the three-dimensional coordinates of the camera 530. In step S620, when the positioning object 550 is fixedly disposed on the target object, the processor 510 obtains the initial target object coordinates of the target object through the radio frequency antenna 551 disposed on the positioning object 550. In step S630, the processor 510 may determine whether the positioning object 550 is blocked according to the shooting result of the camera 530, so that the camera 530 cannot effectively capture the image of the positioning object 550. If so, in step S640, the processor 510 will locate the target object according to the initial target object coordinates, and the processor 510 may output warning information, such as warning sound or video, to remind the operator.

If the positioning object 550 is not blocked, in step S650, the processor 510 illuminates the positioning object 550 through the light source 540 of the movable device, and shoots the positioning object 550 through the camera 530 of the movable device, so as to obtain at least the positioning object 550 including the positioning object 550. Images of at least two positioning patterns on two surfaces. In step S660, the processor 510 calculates the target object coordinates of the target object according to the image including the at least two positioning patterns. In step S670, the processor 510 may calibrate the initial target object coordinates obtained through the radio frequency module 560 according to the target object coordinates obtained through the camera 530 to locate the target object.

In summary, the positioning system and positioning method created by the present invention can provide a surgical positioning function with high positioning accuracy that can be applied during surgery. Moreover, in some implementation scenarios of the creation of the present invention, the positioning system and the positioning method can first use radio frequency positioning to obtain the initial positioning information of the target object, and use the positioning result of the optical image positioning to correct the initial positioning information. Provide accurate and highly reliable positioning effects.

Although the creation of this new type has been disclosed in the above embodiments, it is not intended to limit the creation of this new type. Anyone with ordinary knowledge in the technical field can make some changes and changes without departing from the spirit and scope of the new creation. Retouching, therefore, the scope of protection of the creation of the new model shall be subject to the scope of the attached patent application.

100, 400, 500: electronic device 110, 510: processor 120, 520: memory 130, 430, 530: camera 140, 440, 540: light source 150, 421, 422, 423, 550: positioning objects 151C: Center axis of object 151P: Polyhedral structure 152: internal components 153: Mounting seat 151_1~151_9: positioning pattern 400B: removable equipment 401: Spine 411~416: target object 450: display device 551: RF antenna 560: RF module S310~S330, S610~S670: steps

Figure 1 is a schematic diagram of a positioning system according to an embodiment of the present invention. Fig. 2A is a schematic structural diagram of a positioning object according to an embodiment of the new creation. FIG. 2B is a schematic diagram of multiple positioning patterns of positioning objects according to an embodiment of the new creation. Fig. 3 is a flowchart of a positioning method according to an embodiment of the new creation. FIG. 4A is a schematic diagram of a positioning object and a target object according to an embodiment of the new creation. Fig. 4B is a schematic diagram of the operation of the positioning system according to an embodiment of the new creation. Figure 5 is a schematic diagram of a positioning system according to another embodiment of the present invention. Fig. 6 is a flowchart of a positioning method according to another embodiment of the new creation.

100: positioning system

110: processor

120: memory

130: Camera

140: light source

150: Positioning objects

Claims (9)

A positioning system includes: A processor A mobile device, including a camera and a light source coupled to the processor; and A positioning object having a plurality of positioning patterns, wherein the positioning object is a polyhedron structure, and the positioning patterns are respectively located on different surfaces of the positioning object, When the positioning object is fixedly arranged on a target object, and the movable device is fixed in position corresponding to the position of the target object, the light source illuminates the positioning object, and the camera shoots the positioning object to obtain the Images of at least two positioning patterns on at least two surfaces of the positioning object, The processor calculates a target object coordinate of the target object according to the image including the at least two positioning patterns to locate the target object. The positioning system according to claim 1, wherein the processor calculates at least two center pattern coordinates of the at least two positioning patterns, and the processor calculates a position of the positioning object according to the at least two center pattern coordinates Object coordinates, wherein the processor calculates the target object coordinates of the target object according to the positioning object of the positioning object, and the target object coordinates are a three-dimensional coordinate. The positioning system according to claim 2, wherein the processor calculates a plurality of pattern coordinates of a plurality of pattern positions of each of the at least two positioning patterns, and the processor is based on each of the at least two positioning patterns. One of the pattern coordinates is used to calculate the at least two center pattern coordinates of the at least two positioning patterns. The positioning system according to claim 1, wherein after the position of the movable device is fixed corresponding to the position of the target object, the processor performs position correction on the movable device to obtain the position information of the movable device, The target object and a distance between the movable device and the target object. The positioning system according to claim 1, wherein the positioning object is a dodecahedron structure. The positioning system according to claim 1, wherein the positioning patterns are multiple quick response matrix codes. The positioning system according to claim 1, wherein the movable device further includes a radio frequency module, the processor is coupled to the radio frequency module, and the positioning object includes a radio frequency antenna, The radio frequency antenna provides an initial target object coordinate of the target object to the radio frequency module, and the processor corrects the initial target object coordinate according to the target object coordinate obtained through the camera. The positioning system according to claim 7, wherein when the positioning object is occluded, the processor positions the target object according to the initial target object coordinates. The positioning system according to claim 1, wherein the target object is a surgical instrument, and the positioning object is fixedly arranged on the target object via a mounting seat.

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