CN104173106A - C-arm X-ray image-based surgical navigation system - Google Patents
C-arm X-ray image-based surgical navigation system Download PDFInfo
- Publication number
- CN104173106A CN104173106A CN201310197452.9A CN201310197452A CN104173106A CN 104173106 A CN104173106 A CN 104173106A CN 201310197452 A CN201310197452 A CN 201310197452A CN 104173106 A CN104173106 A CN 104173106A
- Authority
- CN
- China
- Prior art keywords
- arm
- ray image
- image
- navigation system
- surgical navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The invention provides a C-arm X-ray image-based surgical navigation system. The C-arm X-ray image-based surgical navigation system is mainly characterized in that information is transmitted to a workstation through a monitor, a sensing signal is transmitted to a tracker through the workstation, a control command is transmitted to a navigation tool, and a surgical decision is connected with a man-machine interface. Because the system is C-arm image-based, a great deal of expenditure can be reduced from the prospective of economy, and because CT (computed tomography) and the like are not used, hospitalization expense of a patient can be reduced. Therefore, the C-arm X-ray image-based surgical navigation system is economical.
Description
Technical field
The present invention relates to a kind of medical domain, relate in particular to a kind of operation guiding system based on C arm X ray image.
Background technology
Surgical technic trends towards Wicresoft, even if the wound of operation is reduced to bottom line as far as possible, to obtaining more desirable curative effect.Surgical navigational refers in operation process, utilize computer technology that patient's pathological changes position in patient's image data, actual operation process in preoperative or art and the coordinate system at operation tool place are come together, according to actual operation need to make corresponding demonstration to operation tool and tissue around thereof, to operation navigate in real time.Surgical navigational is considered to one of important component part of Minimally Invasive Surgical Technology.Surgical navigational has changed many concepts of traditional medical surgery, improving focus positioning precision, reduce surgical injury, carry out complicated surgical operation, improving the aspects such as success rate of operation has splendid effect, and oneself through succeeding application in the operations such as neurosurgery, orthopedics, Urology Surgery and laparoscopic surgery are clinical.Although China has also carried out the surgery Minimally Invasive Surgerys such as arthroscope, MED, intramedullary pin, moving (quiet) arteries and veins transcatheter interventional therapy of warp, but these operations are all under operation vision, by doctor by the coordinate of operative space and visual coordinate are carried out to constantly registration, correct surgical action, in narrow and small operative space, complete the complicated operation of location of operation and microtrauma.Be characterized in determining the coordinate relativeness of surgical object and operating theater instruments under surgical field of view, rely on people's hand-eye coordination to complete operation.Because surgery Minimally Invasive Surgery is much to carry out in the environment that does not appear or fully do not appear operative site, doctor's surgical field of view is restricted, and carrys out by rule of thumb often the organizational structure of reconstruct operative site with the information of x-ray image.Although surgical navigational just grew up gradually from the nineties in last century, it by becoming the important research direction of coming few decades surgery systems development, will bring into play in minimally invasive surgery field very important effect undoubtedly.
Summary of the invention
In order to make Minimally Invasive Surgery have further development, the invention provides a kind of operation guiding system based on C arm X ray image.
The present invention forms like this: mainly information exchange is crossed to monitor and be delivered to work station, by work station, transducing signal is passed to tracker, control command is passed to navigational tool, the resolution of performing the operation is connected with man-machine interface.Affected part in preoperative medical image and art need to be carried out to registration.Use binocular vision spatial locator.
Function of the present invention is, quotes C arm, improves surgical navigational accuracy.
The present invention compared with prior art has following advantage: from economic angle, consider, will save a lot of funds, and owing to not using CT etc., patient's hospitalization cost also can reduce, so it is very economical.
Accompanying drawing explanation
Fig. 1 is the composition structure of surgical navigational.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in Figure 1, a kind of operation guiding system based on C arm X ray image of the present invention.Operation guiding system mainly contains four parts and forms: guiding tool of operation (instrument), spatial locator (Oocaiizer), display (monitor) and image processing workstation.Preoperative patient's affected part is taken tomoscan image CT or done MRJ image, obtaining the medical image of affected part.These image datas are passed to computer, and doctor can carry out preoperative diagnosis and surgical planning on computers.In operating room, space positioning apparatus is constantly measured the patient position in art and operating theater instruments by the index point on it, through corresponding spatial alternation, together with the medical image image co-registration of crossing with registration, thus the position that can find out operating theater instruments on display consistent with preoperative plan whether.This method need to be carried out registration by the affected part in preoperative medical image and art.Due to the mobility of affected part and localizer, the defect of registration Algorithm itself in addition, so be difficult to reach very high precision, but for general operation, oneself has satisfied the demand its precision through being enough to.But during if there is larger change in location, system must be carried out registration again, this just causes very large difficulty to user, and when do not know needs registration again, and when does not need, and causes maloperation phenomenon.Especially also need doctor to operate, make doctor can not be absorbed in operation and divert one's attention in the operation of navigator.
Based on C arm X-ray operation guiding system, from system concept figure, we can find out; new system is mainly to utilize C type arm as the instrument that obtains of preoperative medical information; although only with regard to this point point difference; but it will make system except well reaching the object of surgical navigational; also there is the following advantage: (l) because system adopts based on C arm image; the words of considering from economic angle; will save a lot of funds; and owing to not using CT etc.; patient's hospitalization cost also can reduce, so it is very economical; (2) in current domestic hospitals; no matter large and medium-sized hospital; or small hospital; nearly all there is C type arm; and CT or M defend 1 this main equipment; only have large hospital and indivedual Medium Sized Hospitals just to possess, therefore, only the computer operation guiding system based on C arm could obtain universal use as early as possible; (3) generally believe that the amount of radiation of CT is greater than the amount of radiation of C type arm; (4) while utilizing CT or MRI to carry out surgical navigational, preoperative medical image and art Scene registration Algorithm are complicated, will grow, and the relative problem of computer-asisted intra-operative navigation system based on C arm want simple while taking machine, naturally also just shorter while taking machine.Therefore certainly, because C arm image is plane picture, aspect diagnosis and preoperative plan, compare with the system based on CT or MRI, certainly exist certain deficiency.But generally speaking, the computer-asisted intra-operative navigation system based on C arm is a system very with application prospect.On C arm, image correction apparatus is installed, or in the preoperative the optical lens of C arm is demarcated, at C arm head, portion installs the mark with index point.Carry out in the preoperative affected part inspection when diagnosis, video camera has obtained the spatial relation of C arm with respect to affected part simultaneously, and computer is all passed to in the position of preoperative medical image and affected part, C arm.According to medical image, doctor can carry out preoperative surgical planning on computer screen.In art, video camera constantly passes to computer by the locus of affected part and operating theater instruments by the index point on it, computer is by a series of computational transformation, unified in preoperative medical image coordinate, can observe operating theater instruments with respect to the position of affected part from different sides, just as directly carry out processing and manufacturing in machinery on three-view diagram, make operation reach object accurately and rapidly.
Utilize two or more video cameras can obtain the principle of spatial point position, we have made binocular vision spatial locator.And video camera is demarcated, thereby can obtain comparatively exactly the three-dimensional coordinate of arbitrfary point, space.In practice, in order to obtain rapidly, exactly certain object in position and the direction in space, designed the mark with four index points, be arranged on testee, record three above index point positions, can calculate locus and the direction of this object.For this reason, on C arm, mark has been installed, another mark has been similar to and is rigidly connected to affected part simultaneously.While taking X-ray, also obtained the position relationship between affected part and C arm different azimuth image simultaneously.In operation, remove C type arm, the position that constantly obtains affected part in operating theater instruments and art, computer through corresponding matrixing, transforms under preoperative C arm image coordinate the operating theater instruments in art after obtaining these data together with affected part position.The operating theater instruments that in art, doctor controls is also correctly presented in preoperative image.
Claims (3)
1. the operation guiding system based on C arm X ray image, it is characterized in that, mainly information exchange is crossed to monitor and be delivered to work station, by work station, transducing signal is passed to tracker, control command is passed to navigational tool, and the resolution of performing the operation is connected with man-machine interface.
2. neurosurgery virtual operation training system according to claim 1, is characterized in that, the affected part in preoperative medical image and art need to be carried out to registration.
3. neurosurgery virtual operation training system according to claim 1, is characterized in that, uses binocular vision spatial locator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310197452.9A CN104173106A (en) | 2013-05-24 | 2013-05-24 | C-arm X-ray image-based surgical navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310197452.9A CN104173106A (en) | 2013-05-24 | 2013-05-24 | C-arm X-ray image-based surgical navigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104173106A true CN104173106A (en) | 2014-12-03 |
Family
ID=51954643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310197452.9A Pending CN104173106A (en) | 2013-05-24 | 2013-05-24 | C-arm X-ray image-based surgical navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104173106A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105496556A (en) * | 2015-12-03 | 2016-04-20 | 中南民族大学 | High-precision optical positioning system for surgical navigation |
| CN107978363A (en) * | 2017-11-29 | 2018-05-01 | 上海联影医疗科技有限公司 | The matched processing method of Medical Imaging System, system, Medical Imaging System |
-
2013
- 2013-05-24 CN CN201310197452.9A patent/CN104173106A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105496556A (en) * | 2015-12-03 | 2016-04-20 | 中南民族大学 | High-precision optical positioning system for surgical navigation |
| CN107978363A (en) * | 2017-11-29 | 2018-05-01 | 上海联影医疗科技有限公司 | The matched processing method of Medical Imaging System, system, Medical Imaging System |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11717376B2 (en) | System and method for dynamic validation, correction of registration misalignment for surgical navigation between the real and virtual images | |
| US11754971B2 (en) | Method and system for displaying holographic images within a real object | |
| JP7429120B2 (en) | Non-vascular percutaneous procedure system and method for holographic image guidance | |
| Ma et al. | Augmented reality surgical navigation with ultrasound-assisted registration for pedicle screw placement: a pilot study | |
| US10593052B2 (en) | Methods and systems for updating an existing landmark registration | |
| Sielhorst et al. | Advanced medical displays: A literature review of augmented reality | |
| US10799146B2 (en) | Interactive systems and methods for real-time laparoscopic navigation | |
| Andrews et al. | Registration techniques for clinical applications of three-dimensional augmented reality devices | |
| CN103479431B (en) | Non-intrusive minimally invasive operation navigation system | |
| JP2007508913A (en) | Intraoperative targeting system and method | |
| US10154882B2 (en) | Global laparoscopy positioning systems and methods | |
| Wang et al. | Current trends in three-dimensional visualization and real-time navigation as well as robot-assisted technologies in hepatobiliary surgery | |
| CN112292092A (en) | System and method for measuring distance using stereoscopic endoscope | |
| Esposito et al. | Multimodal US–gamma imaging using collaborative robotics for cancer staging biopsies | |
| Ma et al. | Visualization, registration and tracking techniques for augmented reality guided surgery: a review | |
| Nimmagadda et al. | Patient-specific, touch-based registration during robotic, image-guided partial nephrectomy | |
| JP6952740B2 (en) | How to assist users, computer program products, data storage media, and imaging systems | |
| CN104173106A (en) | C-arm X-ray image-based surgical navigation system | |
| Marmurek et al. | Image-guided laser projection for port placement in minimally invasive surgery | |
| Penza et al. | Virtual assistive system for robotic single incision laparoscopic surgery | |
| De Mauro et al. | Intraoperative navigation system for image guided surgery | |
| Kersten-Oertel et al. | 20 Augmented Reality for Image-Guided Surgery | |
| Kögl et al. | A tool-free neuronavigation method based on single-view hand tracking | |
| Bagher Zadeh Ansari | Augmented Reality in Ventriculostomy | |
| Bieck et al. | Computer-assisted neurosurgery: an interaction concept for a tablet-based surgical assistance system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141203 |
|
| WD01 | Invention patent application deemed withdrawn after publication |