CN103519895A - Orthopedic operation auxiliary guide method - Google Patents
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Abstract
The invention provides an orthopedic operation auxiliary guide method. The orthopedic operation auxiliary guide method comprises the following steps: step a, a ray device is used for taking a two-dimensional image of a bone at an operative site before a patient is operated on; step b, three-dimensional motion information of the operative site of the patient and the shape, position and / or motion trail of operative instruments is captured through a three-dimensional motion capture system, wherein the three-dimensional motion capture system comprises a working end and a body, and the working end is connected with the body; step c, three-dimensional reconstruction is carried out on the two-dimensional image of the bone at the operative site of the patient and the three-dimensional motion information of the operative site of the patient and the shape, position and / or motion trail of the operative instruments through guide software respectively, and reconstructed three-dimensional images are registered and blended in the same coordinate system to obtain a three-dimensional guide image; step d, the three-dimensional guide image is displayed in real time through an intelligent glasses system.
Description
Technical field
The present invention relates to orthopedic medical device technical field, particularly a kind of bone surgery supplemental pilot method.
Background technology
In traditional bone surgery, orthopedist relies on the X-ray examination image of patient in the imaging data of human skeleton anatomical features, pre-operative patients and art to position conventionally, but, the factors such as shortage due to anatomic landmark, tend to cause the location in art to occur large deviation, the larger obstacle that causes of giving operation, even if orthopedist's practical experience is very abundant, can not fundamentally change the poor problem of Intraoperative position precision.And for the orthopedist of universal experience, this problem can be further serious, because if locate inaccurately, cause possibly operative failure, even can produce secondary injury to patient.Therefore, how to avoid complicated nerve, blood vessel, allowing orthopedist more accurately, more safely carry out Various Complex operation just becomes a clinical problem urgently to be resolved hurrily.
In order to solve this clinical problem, there is CAOS technology in prior art, it is orthopaedics area of computer aided guidance technology, this technology is based on image in art, adopt corresponding positioning means to carry out accurate real-time tracking, demonstration and guiding to the operating theater instruments in operative site and art, thereby make orthopedist look like to carry out operation according to derivation graph.The operation principle of this guidance technology is: the device that can send signal is being installed near patient's operative site and in operating theater instruments, conventionally adopting infrared ray is receptor as emission source, CCD camera, the signal that utilization is sent is followed the tracks of position and the movement locus of patient's skeleton position and operating theater instruments, these information exchanges is crossed to display exhibits to doctor simultaneously; In art, carry out the X-ray examination at corrective surgery position, and fluoroscopy images and the patient's skeleton position and the operating theater instruments location drawing that obtain are looked like to synthesize, thereby obtain the derivation graph picture that doctor performs the operation and adopts.Adopt after orthopaedics area of computer aided guidance technology, first doctor is installing tracer near corrective surgery position He in operating theater instruments in operation, then take the fluoroscopy images at corrective surgery position, now, on guiding software, just can see that operating theater instruments enters the virtual image of patient body inside, so just can on guiding display, watch in real time the position relationship at operating theater instruments and corrective surgery position, and the surgery planning that can formulate according to guidance system completes whole operation.Current guidance system is generally comprised of following components:
Patient's tracer: be installed near corrective surgery position, can indicators track corrective surgery portion bit position;
Guiding operation tool: can launch or reflected light signal;
Operation tool tracer: position and the movement locus of following the tracks of operating theater instruments;
Display device: for showing the position of corrective surgery position and operating theater instruments;
C type arm: for preoperative film making and the perspective of art;
Graphics workstation: complete the work of whole system software section.
Than traditional bone surgery, although orthopaedics area of computer aided guidance technology can assist doctor to carry out the bone surgery of Various Complex to a certain extent, also exist some problems:
One, orthopedist's operation completes in three dimensions, this will ask guidance system that a three-dimension space image can be provided, but existing guidance system still rests in the demonstration of two dimensional image, cannot match real three-dimensional operation technique environment, because two-dimentional derivation graph picture is specific not, doctor cannot enter the virtual image of the inner particular location of patient body from the arbitrarily angled skeletal graph picture of seeing corrective surgery position and operating theater instruments, be unfavorable for improving high efficiency and the safety of operation.
Two, whole derivation graph picture shows by two dimensional display, and doctor's eyes of having to are being dig-inned display, and can not see the operating theater instruments operating, and operation burden that this not only can increase the weight of doctor, also can increase extra operation risk; Meanwhile, because doctor's sight line must come switchback to change on corrective surgery position and guiding display, this will reduce the efficiency of operation, extend operating time (bone surgery that adopts at present orthopaedics area of computer aided to guide is longer than traditional bone surgery used time).
Three, to look like be two dimensional image to derivation graph, but operation technique is but three-dimensional, from three-dimensional, to two-dimentional conversion, can exist the loss of true picture information and coordinates of motion information; Although in order to increase the verity of derivation graph picture, adopted the common auxiliary positioning process of fluoroscopy images of several different visual angles, allow doctor can watch from a plurality of visual angles the movable information of operating theater instruments, but after all or two dimensional image, the still loss of location information and coordinate information.
Four, existing guidance system cannot solve real clinical demand in design, in operation process, cannot allow doctor directly see the image of corrective surgery position skeleton and the virtual image that operating theater instruments enters patient body, can not really allow doctor safer, complete whole operation process more efficiently.
Meanwhile, existing guidance system has the following disadvantages in design: first, location is complicated, need to carry out in the preoperative the demarcation of position, corrective surgery position, and each part operating theater instruments must be also special, and system identification just can be positioned; Secondly, guidance system complicated operation, has increased the burden of performing the operation to a certain extent; And this guidance system is expensive, general hospital cannot bear.
Summary of the invention
For this reason, the present invention proposes a kind of bone surgery supplemental pilot method, can eliminate fully one or more problems that restriction and defect due to prior art cause.
Additional advantages of the present invention, object and characteristic, a part will be elucidated in the following description, and another part will be significantly or be acquired from enforcement of the present invention by the investigation of the explanation to below for those of ordinary skill in the art.By the structure of pointing out especially in the description at word and claims and accompanying drawing, can realize and obtain the object of the invention and advantage.
The invention provides a kind of bone surgery supplemental pilot method, it is characterized in that, described method comprises:
Step a: the two dimensional image of taking patient's pre-operative surgical position skeleton by x-ray apparatus;
Step b: the three-dimensional motion information that catches shape, position and/or the movement locus of corrective surgery position and operating theater instruments by three-dimensional motion capture system, wherein, described three-dimensional motion capture system has a working end and the body being connected, this working end has needle-like and flexibility, be for the instant video of obtaining operative site and operating theater instruments, and this working end correspondence is freely extended through in the hollow guide rail of this operating theater instruments;
Step c: by guiding software, the three-dimensional motion information of shape, position and/or the movement locus of the two dimensional image of corrective surgery position skeleton and corrective surgery position and operating theater instruments is carried out respectively to three-dimensional reconstruction, and the 3-D view after rebuilding is carried out to registration under the same coordinate system merge and obtain three-dimensional derivation graph picture;
Steps d: show in real time three-dimensional derivation graph picture by intelligent glasses system.
Preferably, in described step a, described x-ray apparatus is C type arm.
Preferably, described step b also comprises: regulate three-dimensional motion capture system apart from the distance of corrective surgery position skin surface, the scope of doctor's operation apparatus is placed in the catching range of three-dimensional motion capture system.
Preferably, set up the transformation matrix between location coordinate and world coordinate system, wherein, described world coordinate system is that operation is front centered by the C type arm guide rail center of circle, with C type arm to the make film coordinate system of patient's 3-D view of obtaining of corrective surgery position, it is initial point that described location coordinate be take three-dimensional motion capture system center, and three change in coordinate axis direction are parallel with the change in coordinate axis direction of world coordinate system respectively.
Preferably, in described step c, two kinds of 3-D views after described reconstruction are carried out to registration fusion and specifically comprise: by rebuilding the 3-D view of corrective surgery position skeleton out and the 3-D view of shape, position and/or the movement locus of corrective surgery position and operating theater instruments, carry out registration.
Preferably, in described step c, two kinds of 3-D views after described reconstruction are carried out to registration fusion also to be comprised: according to the transformation matrix between location coordinate and world coordinate system, under the same coordinate system, two kinds of 3-D views are merged, obtain the three-dimensional derivation graph picture of corrective surgery position skeleton and operating theater instruments position relationship in real-time reflection operation process.
Preferably, described steps d also comprises: by intelligent glasses system-computed, going out this moment can the coordinate information of Clairvoyant type intelligent glasses in location coordinate, and by wireless network, coordinate information is sent to guiding software.
Preferably, described guiding software is according to the transformation matrix between location coordinate and world coordinate system, calculating can the coordinate of Clairvoyant type intelligent glasses in world coordinate system, according to this coordinate, calculate this moment the three-dimensional derivation graph picture that should show in can Clairvoyant type intelligent glasses, and by wireless network, the three-dimensional derivation graph calculating is looked like to be sent to intelligent glasses system and show.
Technical scheme tool of the present invention has the following advantages or beneficial effect: the orthopaedics operation navigation system of the embodiment of the present invention and air navigation aid be the shape to the two dimensional image of corrective surgery position skeleton and corrective surgery position and operating theater instruments by unified navigation software, the three-dimensional motion information of position and/or movement locus is carried out three-dimensional reconstruction, and under the same coordinate system, two kinds of 3-D views are merged, obtain reflecting in real time the 3-D view of corrective surgery position skeleton and operating theater instruments position relationship in operation process, three-dimensional coordinate information according to the intelligent glasses had an X-rayed of photographic head and range-measurement infrared system measurement in world coordinate system calculates the 3-D view that doctor should watch under different angles, employing can Clairvoyant type intelligent glasses as image show tools, allow doctor have on the image of can Clairvoyant type intelligent glasses watching corrective surgery position, and then the 3-D view that the skeletal graph picture at virtual corrective surgery position and operating theater instruments enter the inner particular location of patient body is superimposed upon on the real visual field of doctor, in operation process, carry out real-time navigation, greatly accelerate the efficiency of doctor's operation technique, safer to realize, accurately, complete efficiently operation.
Accompanying drawing explanation
Fig. 1 is according to the structural representation embodiment of the present invention, bone surgery auxiliary guide system.
Fig. 2 is according to the fundamental diagram embodiment of the present invention, bone surgery supplemental pilot software;
Fig. 3 is according to the flow chart embodiment of the present invention, bone surgery supplemental pilot method.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Refer to Fig. 1, the bone surgery guidance system of the embodiment of the present invention comprises x-ray apparatus, three-dimensional motion capture system, intelligent glasses system, graphics workstation and guiding software.Wherein, x-ray apparatus plays perspective effect in art, in the preoperative corrective surgery position being carried out the film making of 360 °, takes the two dimensional image of corrective surgery position skeleton, and the two dimensional image of shooting is sent to guiding software carries out three-dimensional reconstruction; Meanwhile, centered by the x-ray apparatus guide rail center of circle, set up world coordinate system, this world coordinate system is also the coordinate system of patient's 3-D view; In embodiments of the present invention, x-ray apparatus is the x-ray apparatus of conventional Small-sized C type arm, medium-sized C type arm or other kinds.
According to one preferred embodiment of the present invention, described three-dimensional motion capture system has a working end and the body being connected, this working end has needle-like and flexibility, be for the instant video of obtaining operative site and operating theater instruments, and this working end correspondence is freely extended through in the hollow guide rail of this operating theater instruments
According to another preferred embodiment of the present invention, three-dimensional motion capture system comprises the photographic head of at least two parallel placements, between photographic head, there is certain spacing, utilize photographic head to catch shape, position and/or the movement locus of patient's operative site and operating theater instruments in particular procedure spatial dimension.In embodiments of the present invention, it is the combination of shape, position, movement locus or shape, position, movement locus that the content that photographic head catches is not limited to.Photographic head adopts technique of binocular stereoscopic vision (Binocular Stereo Vision, it is a kind of important form of machine vision, it is based on principle of parallax and is beneficial to imaging device from two width images of different position acquisition testees, by the position deviation between computing technique image corresponding point, obtain the method for object dimensional geological information.), wherein, specific three dimensional spatial dimension can be the three dimensions in corrective surgery position or operating theater instruments certain limit, such as different scopes such as 20 centimetres or 1 meters.According to the image calculation capturing, go out the three-dimensional motion information of shape, position and/or the movement locus of corrective surgery position and operating theater instruments, and the three-dimensional motion information capturing is transferred on guiding software; Wherein, in embodiments of the present invention, the quantity of photographic head is two, and photographic head is fixed on circuit board, and uses USB interface to be connected with graphics workstation by cable, and three-dimensional motion capture system is by this USB interface transmission three-dimensional motion information and obtain power supply; On circuit board, also comprise other auxiliary electron components and parts, be aided with the realization of allomeric function.
Three-dimensional motion capture system is by can flexible metallic rod being fixed on the ray receiving terminal of x-ray apparatus, and can move up and down along x-ray apparatus and this direction of ray; In operation process, can, by regulating three-dimensional motion capture system apart from the distance of corrective surgery position skin surface, the scope of doctor's operation apparatus to be placed in the catching range of three-dimensional motion capture system, set up the transformation matrix between location coordinate and world coordinate system simultaneously; The embodiment of the present invention, by utilizing photographic head and realizing and catching entering arbitrarily the movement locus of the operating theater instruments of catching range in conjunction with technique of binocular stereoscopic vision, can greatly reduce equipment cost, is conducive to all-round popularization of the present invention.
Intelligent glasses system comprises can Clairvoyant type intelligent glasses, photographic head and range-measurement infrared system, the quantity of photographic head is at least two, and respectively symmetrical be placed on can Clairvoyant type intelligent glasses both sides, range-measurement infrared system is positioned at centre that can Clairvoyant type intelligent glasses, in operation process, by doctor, wear this intelligent glasses system, put on after this intelligent glasses system, ambient visible light can transmitted through glasses eyeglass, people's eyes can normally be seen the environment of surrounding, by photographic head in conjunction with range-measurement infrared system, and adopt technique of binocular stereoscopic vision to calculate this moment can the coordinate information (represent the three dimensional space coordinate of doctor eye position) of Clairvoyant type intelligent glasses in location coordinate, by wireless network, coordinate information is sent to guiding software, and receive the three-dimensional derivation graph picture of graphics workstation transmission, by can Clairvoyant type intelligent glasses by three-dimensional derivation graph on the true visual field as Overlapping display Yu doctor, the present invention adopt can Clairvoyant type intelligent glasses as derivation graph as show tools, thoroughly abandon the two dimensional display of watching medical image to use in orthopaedics area of computer aided guidance system, allow doctor have on the image of can Clairvoyant type intelligent glasses watching corrective surgery position, and then the three-dimensional derivation graph that the skeletal graph picture at virtual corrective surgery position and operating theater instruments enter the inner particular location of patient body is looked like to be superimposed upon on the real visual field of doctor, doctor needn't see that the image above two dimensional display carries out operation technique, accelerates doctor's operation technique efficiency greatly again, in embodiments of the present invention, the photographic head quantity of intelligent glasses system is two.
Graphics workstation is responsible for the operation of all softwares;
Guiding running software, in image workstation, is responsible for the processing of three-dimensional derivation graph picture, specifically comprises:
The two-dimension image rebuild of taking by x-ray apparatus in the preoperative goes out the 3-D view of corrective surgery position skeleton;
After the 3-D view of reconstruction patients operative site skeleton, operation process is planned, auxiliary doctor completes the formulation of surgical planning;
Obtain the three-dimensional motion information that three-dimensional motion capture system captures, and three-dimensional motion information is carried out to three-dimensional reconstruction, obtain the 3-D view of shape, position and/or the movement locus of the interior patient's operative site of three-dimensional motion capture system catching range and operating theater instruments;
By the 3-D view of corrective surgery position skeleton and the shape of corrective surgery position and operating theater instruments of rebuilding out, the 3-D view of position and/or movement locus carries out registration, and according to the transformation matrix between location coordinate and world coordinate system, under the same coordinate system, two kinds of 3-D views are merged, obtain the three-dimensional derivation graph picture of corrective surgery position skeleton and operating theater instruments position relationship in real-time reflection operation process, wherein, described world coordinate system is that operation is front centered by the x-ray apparatus guide rail center of circle, with x-ray apparatus to the make film coordinate system of patient's 3-D view of obtaining of corrective surgery position, it is initial point that described location coordinate be take three-dimensional motion capture system center, three change in coordinate axis direction are parallel with the change in coordinate axis direction of world coordinate system respectively,
Receive that intelligent glasses system sends this moment can Clairvoyant type intelligent glasses the coordinate information in location coordinate, according to the transformation matrix between location coordinate and world coordinate system, calculating can the coordinate of Clairvoyant type intelligent glasses in world coordinate system, and according to this coordinate, calculate this moment the three-dimensional derivation graph picture that should show in can Clairvoyant type intelligent glasses, be included in the skeletal graph picture at corrective surgery position under this angle and the three-dimensional derivation graph picture that operating theater instruments enters patient body inside;
By wireless network, the three-dimensional derivation graph calculating being looked like to send to the intelligent glasses system that doctor wears shows, doctor just can see the skeletal graph picture of inside, corrective surgery position and the virtual image that operating theater instruments enters patient body inside arbitrarily angled by having an X-rayed intelligent glasses, just as there being " perspective " function, realize the operation of precise and high efficiency, after starting formal operation technique, operating theater instruments can show after the catching range that enters three-dimensional motion capture system in the interface of guiding software arbitrarily, and enter after the body interior of corrective surgery position in operating theater instruments, demonstrate operating theater instruments and enter the position of body interior and the virtual three dimensional image of the degree of depth, simultaneously, this is engraved in the coordinate information in 3-D view according to doctor, to wear intelligent glasses system-computed doctor's eyes out, guiding software recalculates the skeleton at the corrective surgery position that doctor should see under this kind of angle and the virtual image that operating theater instruments enters patient body inside according to this coordinate information, in operation process, guide in real time, safer to realize, accurately, complete efficiently operation.Specifically seeing also Fig. 2, is the fundamental diagram of guiding software of the bone surgery guidance system of the embodiment of the present invention.
Referring to Fig. 3, is the flow chart of the guidance method of the bone surgery guidance system of the embodiment of the present invention.The guidance method of the bone surgery guidance system of the embodiment of the present invention comprises the following steps:
Rapid S10: takes the two dimensional image of corrective surgery position skeleton by x-ray apparatus, and the two dimensional image of shooting is sent to and guides software and carry out three-dimensional reconstruction;
In step S10, x-ray apparatus plays perspective effect in art, in the preoperative corrective surgery position being carried out the film making of 360 °, simultaneously, centered by the x-ray apparatus guide rail center of circle, set up world coordinate system, this world coordinate system is also the coordinate system of patient's 3-D view; In embodiments of the present invention, x-ray apparatus is the x-ray apparatus of conventional Small-sized C type arm, medium-sized C type arm or other types.
Step S20: the two-dimension image rebuild that guiding software is taken according to x-ray apparatus goes out the 3-D view of corrective surgery position skeleton;
In step S20, guiding running software, on graphics workstation, is responsible for the quantity of three-dimensional derivation graph picture.
Step S30: according to the operative site skeleton 3-D view of rebuilding, operation process is planned, auxiliary doctor completes the formulation of surgical planning;
Step S40: regulate three-dimensional motion capture system apart from the distance of corrective surgery position skin surface, the scope of doctor's operation apparatus is placed in the catching range of three-dimensional motion capture system, sets up the transformation matrix between location coordinate and world coordinate system simultaneously;
Step S50: shape, position and/or the movement locus of patient's operative site and operating theater instruments in specific three dimensional spatial dimension are caught by three-dimensional motion capture system, adopt technique of binocular stereoscopic vision according to the image calculation capturing, to go out the three-dimensional motion information of shape, position and/or the movement locus of corrective surgery position and operating theater instruments, and the three-dimensional motion information capturing is transferred on guiding software;
In step S50, three-dimensional motion capture system comprises the photographic head of at least two parallel placements, photographic head is fixed on circuit board, between photographic head, there is certain spacing, and use USB interface to be connected with graphics workstation by cable, three-dimensional motion capture system is by this USB interface transmission three-dimensional motion information and obtain power supply; Wherein, in embodiments of the present invention, the quantity of photographic head is two, also comprises other auxiliary electron components and parts on circuit board, is aided with the realization of allomeric function.
Step S60: carry out three-dimensional reconstruction by guiding software three-dimensional motion information that three-dimensional motion capture system is captured, obtain the 3-D view of shape, position and/or the movement locus of patient's operative site and operating theater instruments in three-dimensional motion capture system catching range;
Step S70: carry out registration by rebuilding the 3-D view of corrective surgery position skeleton out and the 3-D view of shape, position and/or the movement locus of corrective surgery position and operating theater instruments, and according to the transformation matrix between location coordinate and world coordinate system, under the same coordinate system, two kinds of 3-D views are merged, obtain the three-dimensional derivation graph picture of corrective surgery position skeleton and operating theater instruments position relationship in real-time reflection operation process;
Step S80: going out this moment by intelligent glasses system-computed can the coordinate information of Clairvoyant type intelligent glasses in location coordinate, and by wireless network, coordinate information is sent to guiding software;
In step S80, intelligent glasses system comprises can Clairvoyant type intelligent glasses, photographic head and range-measurement infrared system, the quantity of photographic head is at least two, and respectively symmetrical be placed on can Clairvoyant type intelligent glasses both sides, range-measurement infrared system is positioned at centre that can Clairvoyant type intelligent glasses, in operation process, by doctor, wear this intelligent glasses system, put on after this intelligent glasses system, ambient visible light can transmitted through glasses eyeglass, people's eyes can normally be seen the environment of surrounding, by two photographic head in conjunction with range-measurement infrared system, and adopt technique of binocular stereoscopic vision to calculate this moment can the coordinate information of Clairvoyant type intelligent glasses in location coordinate, represent the coordinate information of doctor's eye position,
Step S90: guiding software is according to the transformation matrix between location coordinate and world coordinate system, calculating can the coordinate of Clairvoyant type intelligent glasses in world coordinate system, according to this coordinate, calculate this moment the three-dimensional derivation graph picture that should show in can Clairvoyant type intelligent glasses, and by wireless network, the three-dimensional derivation graph calculating is looked like to send to the intelligent glasses system that doctor wears;
In step S90, in real-time three-dimensional operation image, three-dimensional derivation graph picture is not fixed, but according to can Clairvoyant type intelligent glasses coordinate information in location coordinate calculate the three-dimensional derivation graph picture that should show in can Clairvoyant type intelligent glasses and be equivalent to doctor and watch from different perspectives three-dimensional derivation graph picture, the three-dimensional derivation graph that should show in this moment can Clairvoyant type intelligent glasses looks like to be included in the skeletal graph picture at the corrective surgery position that under this angle, doctor should see and the three-dimensional derivation graph picture that operating theater instruments enters patient body inside.
Step S100: show in real time three-dimensional derivation graph picture by having an X-rayed glasses, the three-dimensional derivation graph that doctor enters patient body inside according to the skeletal graph picture at corrective surgery position and operating theater instruments has looked like operation.
In step S100, doctor starts after formal operation technique, operating theater instruments can show after entering the catching range of capture system in the interface of guiding software arbitrarily, and enter after the body interior of corrective surgery position in operating theater instruments, demonstrate operating theater instruments and enter the position of patient body inside and the virtual image of the degree of depth.Simultaneously, this is engraved in the coordinate information in three-dimensional derivation graph picture according to doctor, to wear intelligent glasses system-computed doctor's eyes out, guiding software recalculates the skeleton at the corrective surgery position that doctor should see under this kind of angle and the three-dimensional derivation graph picture that operating theater instruments enters patient body inside according to this coordinate information, realizes guiding in real time; The present invention adopt can Clairvoyant type intelligent glasses as image show tools, thoroughly abandon the two dimensional display of watching medical image to use in orthopaedics area of computer aided guidance system, allow doctor have on the image of can Clairvoyant type intelligent glasses watching corrective surgery position, and then the 3-D view that the skeletal graph picture at virtual corrective surgery position and operating theater instruments enter the inner particular location of patient body is superimposed upon on the real visual field of doctor, doctor needn't see that the image above two dimensional display carries out operation technique, accelerates the efficiency of doctor's operation technique greatly again.
The bone surgery guidance system of the embodiment of the present invention and guidance method be the shape to the two dimensional image of corrective surgery position skeleton and corrective surgery position and operating theater instruments by unified guiding software, the three-dimensional motion information of position and movement locus is carried out three-dimensional reconstruction, and under the same coordinate system, two kinds of 3-D views are merged, obtain reflecting in real time the 3-D view of corrective surgery position skeleton and operating theater instruments position relationship in operation process, three-dimensional coordinate information according to the intelligent glasses had an X-rayed of two photographic head and a range-measurement infrared system measurement in world coordinate system calculates the 3-D view that doctor should watch under different angles, employing can Clairvoyant type intelligent glasses as image show tools, allow doctor have on the image of can Clairvoyant type intelligent glasses watching corrective surgery position, and then the 3-D view that the skeletal graph picture at virtual corrective surgery position and operating theater instruments enter the inner particular location of patient body is superimposed upon on the real visual field of doctor, in operation process, guide in real time, greatly accelerate the efficiency of doctor's operation technique, safer to realize, accurately, complete efficiently hands art, by utilizing two photographic head and realizing the movement locus of the operating theater instruments of specific three dimensional operative space scope is caught in conjunction with technique of binocular stereoscopic vision, can greatly reduce equipment cost, be conducive to all-round popularization of the present invention, in addition, the present invention adopts unified guiding software, and has adopted more simple location technology, has saved the location link of current guidance technology, is convenient to doctor's learning manipulation, meanwhile, the present invention is not only confined to the guiding application of bone surgery, if in operation process, need often to see operation that body interior organ, skeleton adopt all available the present invention carry out surgical guide.
Above content is only preferred embodiment of the present invention, for those of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, and this description should not be construed as limitation of the present invention.
Claims (8)
1. a bone surgery supplemental pilot method, is characterized in that, described method comprises:
Step a: the two dimensional image of taking patient's pre-operative surgical position skeleton by x-ray apparatus;
Step b: the three-dimensional motion information that catches shape, position and/or the movement locus of corrective surgery position and operating theater instruments by three-dimensional motion capture system, wherein, described three-dimensional motion capture system has a working end and the body being connected, this working end has needle-like and flexibility, be for the instant video of obtaining operative site and operating theater instruments, and this working end correspondence is freely extended through in the hollow guide rail of this operating theater instruments;
Step c: by guiding software, the three-dimensional motion information of shape, position and/or the movement locus of the two dimensional image of corrective surgery position skeleton and corrective surgery position and operating theater instruments is carried out respectively to three-dimensional reconstruction, and the 3-D view after rebuilding is carried out to registration under the same coordinate system merge and obtain three-dimensional derivation graph picture;
Steps d: show in real time three-dimensional derivation graph picture by intelligent glasses system.
2. bone surgery supplemental pilot method according to claim 1, is characterized in that, in described step a, described x-ray apparatus is C type arm.
3. bone surgery supplemental pilot method according to claim 1, it is characterized in that, described step b also comprises: regulate three-dimensional motion capture system apart from the distance of corrective surgery position skin surface, the scope of doctor's operation apparatus is placed in the catching range of three-dimensional motion capture system.
4. bone surgery supplemental pilot method according to claim 3, it is characterized in that, set up the transformation matrix between location coordinate and world coordinate system, wherein, described world coordinate system is that operation is front centered by the C type arm guide rail center of circle, with C type arm, to the make film coordinate system of patient's 3-D view of obtaining of corrective surgery position, it is initial point that described location coordinate be take three-dimensional motion capture system center, and three change in coordinate axis direction are parallel with the change in coordinate axis direction of world coordinate system respectively.
5. bone surgery supplemental pilot method according to claim 4, it is characterized in that, in described step c, two kinds of 3-D views after described reconstruction are carried out to registration fusion and specifically comprise: by rebuilding the 3-D view of corrective surgery position skeleton out and the 3-D view of shape, position and/or the movement locus of corrective surgery position and operating theater instruments, carry out registration.
6. bone surgery supplemental pilot method according to claim 5, it is characterized in that, in described step c, two kinds of 3-D views after described reconstruction are carried out to registration fusion also to be comprised: according to the transformation matrix between location coordinate and world coordinate system, under the same coordinate system, two kinds of 3-D views are merged, obtain the three-dimensional derivation graph picture of corrective surgery position skeleton and operating theater instruments position relationship in real-time reflection operation process.
7. bone surgery supplemental pilot method according to claim 6, it is characterized in that, described steps d also comprises: by intelligent glasses system-computed, going out this moment can the coordinate information of Clairvoyant type intelligent glasses in location coordinate, and by wireless network, coordinate information is sent to guiding software.
8. bone surgery supplemental pilot method according to claim 7, it is characterized in that, described guiding software is according to the transformation matrix between location coordinate and world coordinate system, calculating can the coordinate of Clairvoyant type intelligent glasses in world coordinate system, according to this coordinate, calculate this moment the three-dimensional derivation graph picture that should show in can Clairvoyant type intelligent glasses, and by wireless network, the three-dimensional derivation graph calculating is looked like to be sent to intelligent glasses system and show.
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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