CN104586505A - Navigating system and method for orthopedic operation - Google Patents
Navigating system and method for orthopedic operation Download PDFInfo
- Publication number
- CN104586505A CN104586505A CN201410479228.3A CN201410479228A CN104586505A CN 104586505 A CN104586505 A CN 104586505A CN 201410479228 A CN201410479228 A CN 201410479228A CN 104586505 A CN104586505 A CN 104586505A
- Authority
- CN
- China
- Prior art keywords
- module
- dimensional
- mechanical arm
- navigation
- intelligent glasses
- 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
- 230000000399 orthopedic effect Effects 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000001356 surgical procedure Methods 0.000 claims description 88
- 239000011521 glass Substances 0.000 claims description 56
- 239000011159 matrix material Substances 0.000 claims description 15
- 230000009466 transformation Effects 0.000 claims description 15
- 230000008859 change Effects 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 230000006870 function Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 claims description 3
- 239000004973 liquid crystal related substance Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 230000006386 memory function Effects 0.000 claims description 3
- 239000004814 polyurethane Substances 0.000 claims description 3
- 229920002635 polyurethane Polymers 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000004927 fusion Effects 0.000 abstract 1
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 7
- 210000000988 bone and bone Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000002594 fluoroscopy Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 239000000700 radioactive tracer Substances 0.000 description 1
Landscapes
- Apparatus For Radiation Diagnosis (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention relates to a navigating system and method for an orthopedic operation. The navigating system for the orthopedic operation comprises an orthopedic operation navigating module and an orthopedic operation navigating device, and the orthopedic operation navigating module is installed in the orthopedic operation navigating device. In the orthopedic operation navigating module, a graphic workstation is used for operation of software and comprises a navigation software module and a single-chip microcomputer module. The navigating software module is used for conducting three-dimensional reconstruction on a two-dimensional image, photographed before the operation of a patient, on the skeleton of the operative part and three-dimensional movement information of the shapes, the positions and the movement tracks of the operative part of the patient and an operation instrument, and registration and fusion are conducted on two reconstructed three-dimensional images under the same coordinate system, and a three-dimensional navigating image is obtained; the single-chip microcomputer module has the storage function. According to the navigating system and method for the orthopedic operation, the intelligence degree can be easily improved, the use quality is improved, the maintenance cost is lowered, the service life is prolonged, and the operation can be completed more safely, more accurately and more efficiently.
Description
Technical field
The invention belongs to technical field of medical equipment, particularly relate to a kind of orthopaedics operation navigation system and air navigation aid.
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 usually, but, due to the factor such as shortage of anatomic landmark, the location in art is often caused to occur large deviation, cause larger obstacle to the carrying out of operation, even if the practical experience of orthopedist is very abundant, fundamentally can not change the poor problem of Intraoperative position precision.And for the orthopedist of universal experience, this problem can be further serious, because if locate inaccurate, cause operative failure possibly, even can produce secondary injury to patient.Therefore, how to avoid complicated nerve, blood vessel, allowing orthopedist more accurately, more safely can 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, i.e. orthopaedics computer assisted navigation technology, this technology is based on image in art, adopt corresponding positioning means to carry out accurate real-time tracking, display and guiding to the operating theater instruments in operative site and art, thus enable orthopedist carry out operation according to navigation picture.The operation principle of this airmanship is: near the operative site of patient and in operating theater instruments, installation can send the device of signal, usual employing infrared ray is receptor as emission source, CCD camera, utilize the signal that sends to follow the tracks of the bone site of patient and the position of operating theater instruments and movement locus, simultaneously by these information by display exhibits to doctor; In art, carry out the X-ray examination at corrective surgery position, and fluoroscopy images and the subjects bones position obtained and surgical instrument position image are synthesized, thus obtain the navigation picture that doctor carries out operation employing.After adopting orthopaedics computer assisted navigation technology, first doctor installs tracer in operation on corrective surgery near sites and operating theater instruments, then the fluoroscopy images at corrective surgery position is taken, now, navigation software module just being seen, operating theater instruments enters the virtual image of patient body inside, so just can on navigation indicator the position relationship at real-time watching operation apparatus and corrective surgery position, and the surgery planning can formulated according to navigation system complete whole operation.
Summary of the invention
The present invention for solve in known technology the technical problem that exists and provide that a kind of structure is simple, easy to install, the orthopaedics operation navigation system of increasing work efficiency and air navigation aid.
The technical scheme that the present invention takes for the technical problem existed in solution known technology is: this orthopaedics operation navigation system comprises: orthopedic surgery navigation module and orthopedic surgery navigation device, and it is inner that orthopedic surgery navigation module is arranged on orthopedic surgery navigation device;
Orthopedic surgery navigation module comprises: graphics workstation, x-ray apparatus, three-dimensional motion capture module, intelligent glasses module, wireless module, remote expert consultation module;
Graphics workstation is used for the operation of software, and graphics workstation comprises navigation software module and one-chip computer module; Navigation software module is used for carrying out three-dimensional reconstruction to the three-dimensional motion information of the shape of the two dimensional image of the operative site skeleton taken before operation in patients and corrective surgery position and operating theater instruments, position, movement locus respectively, two kinds of 3-D views after rebuilding is carried out under the same coordinate system registration and merges and obtain three-dimensional navigation image; One-chip computer module has memory function;
Be connected with graphics workstation, for the x-ray apparatus of the two dimensional image of preoperative shooting corrective surgery position skeleton;
Be connected with graphics workstation, for catching the three-dimensional motion capture module of three-dimensional motion information of the shape of patient's operative site and operating theater instruments within the scope of operative space, position, movement locus;
Be connected with graphics workstation, for the intelligent glasses module of the three-dimensional navigation image that real-time show navigator software module returns, intelligent glasses module comprises: can have an X-rayed eyeglass, master chip, wireless chip, keyboard, microphone, loudspeaker; Master chip adopts the LPC1768 of NXP company, and wireless chip adopts the NRF2401A chip of NORDIC company; Keyboard is provided with three, for carrying out function switching; The display that eyeglass shows for image can be had an X-rayed; Microphone and loudspeaker are used for the communication with the external world;
Be connected with graphics workstation, for data are sent to remote expert consultation module in real time, while carrying out important operation, several expert can be allowed to participate in guidance and view and emulate, improve the wireless module of the success rate of operation;
Orthopedic surgery navigation device comprises two kinds of structures:
The first structure comprises: base, brake universal wheel, the first mechanical arm, the second mechanical arm, three-mechanical arm, the 4th mechanical arm, optronic tracker, encoder, and servomotor, rotates fixed axis, display, keyboard, controller;
Brake universal wheel is provided with below base, first mechanical arm is arranged on base, second mechanical arm is connected with the first mechanical arm by rotating fixed axis, three-mechanical arm is connected with the second mechanical arm by servomotor, and the 4th mechanical arm is connected with three-mechanical arm, and optronic tracker is arranged on the 4th mechanical arm, encoder is arranged on servomotor, display is arranged on base, and keyboard is arranged on below display, and controller is arranged on chassis interior;
The second structure comprises: base, brake universal wheel, operating platform, main frame, display, and column, rotates fixed cover, manual set bolt, the first mechanical arm, rotates fixed axis, adapter sleeve, the second mechanical arm, universal joint, optronic tracker and photographic head;
Brake universal wheel is provided with below base, operating platform is arranged on the right side of base, main frame is arranged on the bottom of operating platform, display is arranged on operating platform top, column is arranged on chassis left side, rotate the top that fixed cover is arranged on column, manual set bolt is arranged on and rotates on fixed cover, first mechanical arm is arranged on the left side rotating fixed cover, second mechanical arm is connected with the first mechanical arm by rotating fixed axis, rotate on fixed axis and be provided with adapter sleeve, optronic tracker is connected with the second mechanical arm by universal joint, photographic head is arranged on the middle part of optronic tracker.
Described x-ray apparatus adopts C-arm.
Described three-dimensional motion capture module comprises two photographic head, and photographic head is connected with graphics workstation, and photographic head catches the shape of corrective surgery position and operating theater instruments, position and/or movement locus, three-dimensional motion capture module is fixed on described x-ray apparatus by telescopic metallic rod, and move up and down along x-ray apparatus and directions of rays, and by regulating the distance on three-dimensional motion capture module distance corrective surgery area skin surface to be placed in the catching range of three-dimensional motion capture module by the scope of doctor's operation apparatus, set up the transformation matrix between location coordinate and world coordinate system simultaneously, wherein, described world coordinate system is that operation consent is centered by the x-ray apparatus guide rail center of circle, with x-ray apparatus, to be made film in corrective surgery position the coordinate system of the patient's 3-D view obtained, described location coordinate with three-dimensional motion capture module center for initial point, three change in coordinate axis direction are parallel with the change in coordinate axis direction of world coordinate system respectively.
Described intelligent glasses module comprises can Clairvoyant type intelligent glasses, two photographic head and range-measurement infrared system, photographic head is placed on respectively can the both sides of Clairvoyant type intelligent glasses, range-measurement infrared system is positioned at can the centre of Clairvoyant type intelligent glasses, photographic head adopts technique of binocular stereoscopic vision to calculate this moment can the three-dimensional coordinate information of Clairvoyant type intelligent glasses in location coordinate, by wireless network, coordinate information is sent to navigation software module.
Described navigation software module goes out the 3-D view of corrective surgery position skeleton by the two-dimension image rebuild that x-ray apparatus is taken, the three-dimensional motion information captured by three-dimensional motion capture module carries out three-dimensional reconstruction, obtains the 3-D view of the shape of patient's operative site and operating theater instruments in three-dimensional motion capture module catching range, position and/or movement locus; And the 3-D view of the shape of the 3-D view and corrective surgery position and operating theater instruments of rebuilding corrective surgery position skeleton out, position and/or movement locus is carried out registration, according to the transformation matrix between location coordinate and world coordinate system, calculating this moment can the coordinate of Clairvoyant type intelligent glasses in world coordinate system, calculate the three-dimensional navigation image that this moment should be able to show in Clairvoyant type intelligent glasses according to this coordinate, and by wireless network, the three-dimensional navigation image calculated is sent to intelligent glasses module and shows; Described three-dimensional navigation image is included in the virtual three dimensional image that the skeletal graph picture at corrective surgery position under this angle and operating theater instruments enter patient body inside.
First mechanical arm, the second mechanical arm, three-mechanical arm, the 4th mechanical arm can carry out X-axis, Y-axis, the rotation of Z axis and location according to optronic tracker; The angle rotated between first mechanical arm, the second mechanical arm, three-mechanical arm, the 4th mechanical arm carries out gathering and feeding back by encoder, realizes controlling accurately; The signal of optronic tracker and encoder feedback is carried out analytical calculation by controller, by result of calculation display over the display, facilitates observation and the operation technique of doctor.
Main frame specifically adopts AMD tetra-core processor, seven rainbow 1G display cards, the running memory bar of 4G, the storage hard disk of 500G; Display specifically adopts liquid crystal light-emitting diode display; Brake universal wheel specifically adopts polyurethane material to make, and brake universal wheel is specifically provided with 2; Column specifically adopts that diameter is 40mm, thickness is the stainless pipe of 2mm; Photographic head specifically adopts resolution to be the high-definition camera of 1280x1024.
The air navigation aid of this orthopaedics operation navigation system comprises:
Step one: by the two dimensional image of x-ray apparatus shooting patient's pre-operative surgical position skeleton;
Step 2: the three-dimensional motion information being caught the shape of corrective surgery position and operating theater instruments, position and/or movement locus by three-dimensional motion capture module;
Step 3: carry out three-dimensional reconstruction respectively by the three-dimensional motion information of navigation software module to the shape of the two dimensional image of corrective surgery position skeleton and corrective surgery position and operating theater instruments, position and/or movement locus, and the 3-D view after rebuilding is carried out under the same coordinate system registration and merge and obtain three-dimensional navigation image;
Step 4: show three-dimensional navigation image in real time by intelligent glasses module.
In step one, described x-ray apparatus is C-arm;
In step 2, regulate the distance on three-dimensional motion capture module distance corrective surgery area skin surface, the scope of doctor's operation apparatus is placed in the catching range of three-dimensional motion capture module, set up the transformation matrix between location coordinate and world coordinate system simultaneously, wherein, described world coordinate system is that operation consent is centered by the C-arm guide rail center of circle, by C-arm, to be made film in corrective surgery position the coordinate system of the patient's 3-D view obtained, described location coordinate with three-dimensional motion capture module center for initial point, three change in coordinate axis direction are parallel with the change in coordinate axis direction of world coordinate system respectively,
In step 3, after described reconstruction two kind of 3-D view is carried out registration to merge and specifically comprise: the 3-D view of the shape of the 3-D view and corrective surgery position and operating theater instruments of rebuilding corrective surgery position skeleton out, position and/or movement locus is carried 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 navigation image of corrective surgery position skeleton and surgical instrument position relation in real-time reflection operation process;
In step 4, being calculated by intelligent glasses module this moment can the coordinate information of Clairvoyant type intelligent glasses in location coordinate, and by wireless network, coordinate information is sent to navigation software module, described navigation software module 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, the three-dimensional navigation image that this moment should be able to show in Clairvoyant type intelligent glasses is calculated according to this coordinate, and by wireless network, the three-dimensional navigation image calculated is sent to intelligent glasses module and shows.
The advantage that the present invention has and good effect are: can carry out X-axis between the first mechanical arm, the second mechanical arm, three-mechanical arm, the 4th mechanical arm, Y-axis, Z axis carry out rotating and locating, carry out rotating and moving according to optronic tracker, make this device can comprehensive, full angle carry out real-time tracing and operation, operation process is more easily with quick, be conducive to doctor and complete operation more rapidly, more smoothly, be combined tightr with modern bone surgery.Intelligent glasses module is used for the three-dimensional navigation image that real-time show navigator software module returns, and master chip adopts the LPC1768 of NXP company, and wireless chip adopts the NRF2401A chip of NORDIC company.On this system, be more equipped with three keyboards carry out function switching, employing can Clairvoyant type intelligent glasses as image show tools, be separately furnished with microphone and loudspeaker, can effectively link up with the external world.Add wireless module in systems in which, data can be sent to remote expert consultation module in real time, while carrying out important operation, several expert can be allowed to participate in guidance and view and emulate, improve the success rate of operation.Structure of the present invention is simple, save the operating time of doctor, shorten operation process, also prevent doctor from encountering because of carelessness when performing the operation or bumping against and affect surgical quality, be conducive to improving intelligence degree, improve service property (quality), and then reduce maintenance cost, increase the service life, can safer, complete operation accurately and efficiently.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of orthopedic surgery navigation module that the embodiment of the present invention provides;
Fig. 2 is the schematic diagram of a kind of the first structure of orthopedic surgery navigation device that the embodiment of the present invention provides;
Fig. 3 is the schematic diagram of a kind of orthopedic surgery navigation device the second structure that the embodiment of the present invention provides;
Fig. 4 is the flow chart of a kind of orthopedic surgery navigation method that the embodiment of the present invention provides;
In figure: 1, graphics workstation; 2, navigation software module; 3, one-chip computer module; 4, x-ray apparatus; 5, three-dimensional motion capture module; 6, intelligent glasses module; 7, eyeglass can be had an X-rayed; 8, master chip; 9, wireless chip; 10, keyboard; 11, microphone; 12, loudspeaker; 13, wireless module; 14, remote expert consultation module; 15, base; 16, brake universal wheel; 17, the first mechanical arm; 18, the second mechanical arm; 19, three-mechanical arm; 20, the 4th mechanical arm; 21, optronic tracker; 22, encoder; 23, servomotor; 24, fixed axis is rotated; 25, display; 26, controller; 27, operating platform; 28, main frame; 29, column; 30, fixed cover is rotated; 31, manual set bolt; 32, adapter sleeve; 33, universal joint; 34, photographic head.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, 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, be not intended to limit the present invention.
This orthopaedics operation navigation system comprises: orthopedic surgery navigation module and orthopedic surgery navigation device, and it is inner that orthopedic surgery navigation module is arranged on orthopedic surgery navigation device;
Fig. 1 is the structural representation of a kind of orthopedic surgery navigation module that the embodiment of the present invention provides, and orthopedic surgery navigation module comprises: graphics workstation 1, x-ray apparatus 4, three-dimensional motion capture module 5, intelligent glasses module 6, wireless module 13, remote expert consultation module 14;
Graphics workstation 1 is for the operation of software, and graphics workstation 1 comprises navigation software module 2 and one-chip computer module 3; Two kinds of 3-D views after rebuilding, for carrying out three-dimensional reconstruction to the three-dimensional motion information of the shape of the two dimensional image of the operative site skeleton taken before operation in patients and corrective surgery position and operating theater instruments, position, movement locus respectively, are carried out registration and merge and obtain three-dimensional navigation image by navigation software module 2 under the same coordinate system; One-chip computer module 3 has memory function;
Be connected with graphics workstation 1, for the x-ray apparatus 4 of the two dimensional image of preoperative shooting corrective surgery position skeleton;
Be connected with graphics workstation 1, for catching the three-dimensional motion capture module 5 of three-dimensional motion information of the shape of patient's operative site and operating theater instruments within the scope of operative space, position, movement locus;
Be connected with graphics workstation 1, for the intelligent glasses module 6 of the three-dimensional navigation image that real-time show navigator software module 2 returns, intelligent glasses module 6 comprises: can have an X-rayed eyeglass 7, master chip 8, wireless chip 9, keyboard 10, microphone 11, loudspeaker 12; Master chip 8 adopts the LPC1768 of NXP company, and wireless chip 9 adopts the NRF2401A chip of NORDIC company; Keyboard 10 is provided with three, for carrying out function switching; The display that eyeglass 7 shows for image can be had an X-rayed; Microphone 11 and loudspeaker 12 are for the communication with the external world;
Be connected with graphics workstation 1, for data are sent to remote expert consultation module 14 in real time, while carrying out important operation, several expert can be allowed to participate in guidance and view and emulate, improve the wireless module 13 of the success rate of operation;
Orthopedic surgery navigation device comprises two kinds of structures:
Fig. 2 is the schematic diagram of a kind of the first structure of orthopedic surgery navigation device that the embodiment of the present invention provides, and the first structure comprises: base 15, brake universal wheel 16, first mechanical arm 17, second mechanical arm 18, three-mechanical arm 19,4th mechanical arm 20, optronic tracker 21, encoder 22, servomotor 23, rotate fixed axis 24, display 25, keyboard 10, controller 26;
Base 15 is provided with brake universal wheel 16 below, first mechanical arm 17 is arranged on base 15, second mechanical arm 18 is connected with the first mechanical arm 17 by rotating fixed axis 24, three-mechanical arm 19 is connected with the second mechanical arm 18 by servomotor 23,4th mechanical arm 20 is connected with three-mechanical arm 19, optronic tracker 21 is arranged on the 4th mechanical arm 20, encoder 22 is arranged on servomotor 23, display 25 is arranged on base 15, keyboard 10 is arranged on below display 25, and it is inner that controller 26 is arranged on base 15;
Fig. 3 is the schematic diagram of a kind of orthopedic surgery navigation device the second structure that the embodiment of the present invention provides, and the second structure comprises: base 15, brake universal wheel 16, operating platform 27, main frame 28, display 25, column 29, rotates fixed cover 30, manual set bolt 31, first mechanical arm 17, rotate fixed axis 24, adapter sleeve 32, the second mechanical arm 18, universal joint 33, optronic tracker 21 and photographic head 34;
Base 15 is provided with brake universal wheel 16 below, operating platform 27 is arranged on the right side of base 15, main frame 28 is arranged on the bottom of operating platform 27, display 25 is arranged on operating platform 27 top, column 29 is arranged on the left of base 15, rotate the top that fixed cover 30 is arranged on column 29, manual set bolt 31 is arranged on and rotates on fixed cover 30, first mechanical arm 17 is arranged on the left side rotating fixed cover 30, second mechanical arm 18 is connected with the first mechanical arm 17 by rotating fixed axis 24, rotate on fixed axis 24 and be provided with adapter sleeve 32, optronic tracker 21 is connected with the second mechanical arm 18 by universal joint 33, photographic head 34 is arranged on the middle part of optronic tracker 21.
Described x-ray apparatus 4 adopts C-arm, x-ray apparatus 4 plays perspective effect in operation, for carrying out the film making of 360 ° in the preoperative to corrective surgery position, the two dimensional image of shooting corrective surgery position skeleton, and the two dimensional image of shooting is sent to navigation software module 2 and carries out three-dimensional reconstruction; Simultaneously, centered by the x-ray apparatus 4 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 4 is the x-ray apparatus 4 of conventional Small-sized C arm, medium-sized C-arm or other kinds.
Described three-dimensional motion capture module comprises two photographic head 34, certain spacing is had between photographic head 34, photographic head 34 is utilized to adopt 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 the two width images of imaging device from different position acquisition testees, by the position deviation between computing technique image corresponding point, obtain the method for object dimensional geological information.) shape of patient's operative site and operating theater instruments in particular procedure spatial dimension, position and/or movement locus are caught, three-dimensional motion capture module is fixed on described x-ray apparatus 4 by telescopic metallic rod, and move up and down along x-ray apparatus 4 and directions of rays, and by regulating the distance on three-dimensional motion capture module distance corrective surgery area skin surface to be placed in the catching range of three-dimensional motion capture module by the scope of doctor's operation apparatus, set up the transformation matrix between location coordinate and world coordinate system simultaneously, wherein, described world coordinate system is that operation consent is centered by the x-ray apparatus 4 guide rail center of circle, to make film with x-ray apparatus 4 pairs of corrective surgery positions the coordinate system of the patient's 3-D view obtained, described location coordinate with three-dimensional motion capture module center for initial point, three change in coordinate axis direction are parallel with the change in coordinate axis direction of world coordinate system respectively.In embodiments of the present invention, the content that photographic head 34 catches is not limited to be the combination of shape, position, movement locus or shape, position, movement locus.Wherein, specific three dimensional spatial dimension can be the three dimensions in corrective surgery position or operating theater instruments certain limit to photographic head 34, the scope that such as 20 centimetres or 1 meter etc. are different.Calculate the three-dimensional motion information of the shape of corrective surgery position and operating theater instruments, position and/or movement locus according to the image captured, and the three-dimensional motion information captured is transferred on navigation software; Wherein, in embodiments of the present invention, the quantity of photographic head 34 is two, and photographic head 34 is fixing on circuit boards, and is connected with graphics workstation by cable USB interface, and three-dimensional motion capture module transmits three-dimensional motion information by this USB interface and obtains power supply; Circuit board also comprises other auxiliary electron components and parts, be aided with the realization of allomeric function.
Described intelligent glasses module 6 comprises can Clairvoyant type intelligent glasses, two photographic head 34 and range-measurement infrared system, photographic head 34 is placed on respectively can the both sides of Clairvoyant type intelligent glasses, range-measurement infrared system is positioned at can the centre of Clairvoyant type intelligent glasses, photographic head 34 adopts technique of binocular stereoscopic vision to calculate this moment can the three-dimensional coordinate information of Clairvoyant type intelligent glasses in location coordinate, by wireless network, coordinate information is sent to navigation software module 2.
Described navigation software module 2 goes out the 3-D view of corrective surgery position skeleton by the two-dimension image rebuild that x-ray apparatus 4 is taken, the three-dimensional motion information captured by three-dimensional motion capture module carries out three-dimensional reconstruction, obtains the 3-D view of the shape of patient's operative site and operating theater instruments in three-dimensional motion capture module catching range, position and/or movement locus; And the 3-D view of the shape of the 3-D view and corrective surgery position and operating theater instruments of rebuilding corrective surgery position skeleton out, position and/or movement locus is carried out registration, according to the transformation matrix between location coordinate and world coordinate system, calculating this moment can the coordinate of Clairvoyant type intelligent glasses in world coordinate system, calculate the three-dimensional navigation image that this moment should be able to show in Clairvoyant type intelligent glasses according to this coordinate, and by wireless network, the three-dimensional navigation image calculated is sent to intelligent glasses module 6 and shows; Described three-dimensional navigation image is included in the virtual three dimensional image that the skeletal graph picture at corrective surgery position under this angle and operating theater instruments enter patient body inside.
First mechanical arm 17, second mechanical arm 18, three-mechanical arm 19, the 4th mechanical arm 20 can carry out X-axis, Y-axis, the rotation of Z axis and location according to optronic tracker 21; The angle rotated between first mechanical arm 17, second mechanical arm 18, three-mechanical arm 19, the 4th mechanical arm 20 carries out gathering and feeding back by encoder 22, realizes controlling accurately; The signal that optronic tracker 21 and encoder 22 feed back is carried out analytical calculation by controller 26, result of calculation is presented on display 25, facilitates observation and the operation technique of doctor.
Main frame 28 specifically adopts AMD tetra-core processor, seven rainbow 1G display cards, the running memory bar of 4G, the storage hard disk of 500G; Display 25 specifically adopts liquid crystal light-emitting diode display 25; Brake universal wheel 16 specifically adopts polyurethane material to make, and brake universal wheel 16 is specifically provided with 2; Column 29 concrete employing diameter is 40mm, thickness is the stainless pipe of 2mm; Photographic head 34 specifically employing resolution is the high-definition camera 34 of 1280x1024.
Fig. 4 is the flow chart of a kind of orthopedic surgery navigation method that the embodiment of the present invention provides, and the air navigation aid of this orthopaedics operation navigation system comprises:
S101: the two dimensional image being taken patient's pre-operative surgical position skeleton by x-ray apparatus 4;
S102: the three-dimensional motion information being caught the shape of corrective surgery position and operating theater instruments, position and/or movement locus by three-dimensional motion capture module;
S103: carry out three-dimensional reconstruction respectively by the three-dimensional motion information of the shape of the two dimensional image of navigation software module 2 pairs of corrective surgery position skeletons and corrective surgery position and operating theater instruments, position and/or movement locus, and the 3-D view after rebuilding is carried out under the same coordinate system registration and merge and obtain three-dimensional navigation image;
S104: by intelligent glasses module 6 display three-dimensional navigation image in real time.
In step one, described x-ray apparatus 4 is C-arm;
In step 2, regulate the distance on three-dimensional motion capture module distance corrective surgery area skin surface, the scope of doctor's operation apparatus is placed in the catching range of three-dimensional motion capture module, set up the transformation matrix between location coordinate and world coordinate system simultaneously, wherein, described world coordinate system is that operation consent is centered by the C-arm guide rail center of circle, by C-arm, to be made film in corrective surgery position the coordinate system of the patient's 3-D view obtained, described location coordinate with three-dimensional motion capture module center for initial point, three change in coordinate axis direction are parallel with the change in coordinate axis direction of world coordinate system respectively,
In step 3, after described reconstruction two kind of 3-D view is carried out registration to merge and specifically comprise: the 3-D view of the shape of the 3-D view and corrective surgery position and operating theater instruments of rebuilding corrective surgery position skeleton out, position and/or movement locus is carried 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 navigation image of corrective surgery position skeleton and surgical instrument position relation in real-time reflection operation process;
In step 4, being calculated by intelligent glasses module 6 this moment can the coordinate information of Clairvoyant type intelligent glasses in location coordinate, and by wireless network, coordinate information is sent to navigation software module 2, described navigation software module 2 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, the three-dimensional navigation image that this moment should be able to show in Clairvoyant type intelligent glasses is calculated according to this coordinate, and by wireless network, the three-dimensional navigation image calculated is sent to intelligent glasses module 6 and shows.
The advantage that the present invention has and good effect are: can carry out X-axis between the first mechanical arm, the second mechanical arm, three-mechanical arm, the 4th mechanical arm, Y-axis, Z axis carry out rotating and locating, carry out rotating and moving according to optronic tracker, make this device can comprehensive, full angle carry out real-time tracing and operation, operation process is more easily with quick, be conducive to doctor and complete operation more rapidly, more smoothly, be combined tightr with modern bone surgery.Intelligent glasses module is used for the three-dimensional navigation image that real-time show navigator software module returns, and master chip adopts the LPC1768 of NXP company, and wireless chip adopts the NRF2401A chip of NORDIC company.On this system, be more equipped with three keyboards carry out function switching, employing can Clairvoyant type intelligent glasses as image show tools, be separately furnished with microphone and loudspeaker, can effectively link up with the external world.Add wireless module in systems in which, data can be sent to remote expert consultation module in real time, while carrying out important operation, several expert can be allowed to participate in guidance and view and emulate, improve the success rate of operation.Structure of the present invention is simple, save the operating time of doctor, shorten operation process, also prevent doctor from encountering because of carelessness when performing the operation or bumping against and affect surgical quality, be conducive to improving intelligence degree, improve service property (quality), and then reduce maintenance cost, increase the service life, can safer, complete operation accurately and efficiently.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that performing creative labour can make still within protection scope of the present invention.
Claims (9)
1. an orthopaedics operation navigation system, is characterized in that, this orthopaedics operation navigation system comprises: orthopedic surgery navigation module and orthopedic surgery navigation device, and it is inner that orthopedic surgery navigation module is arranged on orthopedic surgery navigation device;
Orthopedic surgery navigation module comprises: graphics workstation, x-ray apparatus, three-dimensional motion capture module, intelligent glasses module, wireless module, remote expert consultation module;
Graphics workstation is used for the operation of software, and graphics workstation comprises navigation software module and one-chip computer module; Navigation software module is used for carrying out three-dimensional reconstruction to the three-dimensional motion information of the shape of the two dimensional image of the operative site skeleton taken before operation in patients and corrective surgery position and operating theater instruments, position, movement locus respectively, two kinds of 3-D views after rebuilding is carried out under the same coordinate system registration and merges and obtain three-dimensional navigation image; One-chip computer module has memory function;
Be connected with graphics workstation, for the x-ray apparatus of the two dimensional image of preoperative shooting corrective surgery position skeleton;
Be connected with graphics workstation, for catching the three-dimensional motion capture module of three-dimensional motion information of the shape of patient's operative site and operating theater instruments within the scope of operative space, position, movement locus;
Be connected with graphics workstation, for the intelligent glasses module of the three-dimensional navigation image that real-time show navigator software module returns, intelligent glasses module comprises: can have an X-rayed eyeglass, master chip, wireless chip, keyboard, microphone, loudspeaker; Master chip adopts the LPC1768 of NXP company, and wireless chip adopts the NRF2401A chip of NORDIC company; Keyboard is provided with three, for carrying out function switching; The display that eyeglass shows for image can be had an X-rayed; Microphone and loudspeaker are used for the communication with the external world;
Be connected with graphics workstation, for data are sent to remote expert consultation module in real time, while carrying out important operation, several expert can be allowed to participate in guidance and view and emulate, improve the wireless module of the success rate of operation;
Orthopedic surgery navigation device comprises two kinds of structures:
The first structure comprises: base, brake universal wheel, the first mechanical arm, the second mechanical arm, three-mechanical arm, the 4th mechanical arm, optronic tracker, encoder, and servomotor, rotates fixed axis, display, keyboard, controller;
Brake universal wheel is provided with below base, first mechanical arm is arranged on base, second mechanical arm is connected with the first mechanical arm by rotating fixed axis, three-mechanical arm is connected with the second mechanical arm by servomotor, and the 4th mechanical arm is connected with three-mechanical arm, and optronic tracker is arranged on the 4th mechanical arm, encoder is arranged on servomotor, display is arranged on base, and keyboard is arranged on below display, and controller is arranged on chassis interior;
The second structure comprises: base, brake universal wheel, operating platform, main frame, display, and column, rotates fixed cover, manual set bolt, the first mechanical arm, rotates fixed axis, adapter sleeve, the second mechanical arm, universal joint, optronic tracker and photographic head;
Brake universal wheel is provided with below base, operating platform is arranged on the right side of base, main frame is arranged on the bottom of operating platform, display is arranged on operating platform top, column is arranged on chassis left side, rotate the top that fixed cover is arranged on column, manual set bolt is arranged on and rotates on fixed cover, first mechanical arm is arranged on the left side rotating fixed cover, second mechanical arm is connected with the first mechanical arm by rotating fixed axis, rotate on fixed axis and be provided with adapter sleeve, optronic tracker is connected with the second mechanical arm by universal joint, photographic head is arranged on the middle part of optronic tracker.
2. orthopaedics operation navigation system according to claim 1, is characterized in that, described x-ray apparatus adopts C-arm.
3. orthopaedics operation navigation system according to claim 1, it is characterized in that, described three-dimensional motion capture module comprises two photographic head, and photographic head is connected with graphics workstation, and photographic head catches the shape of corrective surgery position and operating theater instruments, position and/or movement locus, three-dimensional motion capture module is fixed on described x-ray apparatus by telescopic metallic rod, and move up and down along x-ray apparatus and directions of rays, and by regulating the distance on three-dimensional motion capture module distance corrective surgery area skin surface to be placed in the catching range of three-dimensional motion capture module by the scope of doctor's operation apparatus, set up the transformation matrix between location coordinate and world coordinate system simultaneously, wherein, described world coordinate system is that operation consent is centered by the x-ray apparatus guide rail center of circle, with x-ray apparatus, to be made film in corrective surgery position the coordinate system of the patient's 3-D view obtained, described location coordinate with three-dimensional motion capture module center for initial point, three change in coordinate axis direction are parallel with the change in coordinate axis direction of world coordinate system respectively.
4. orthopaedics operation navigation system according to claim 1, it is characterized in that, described intelligent glasses module comprises can Clairvoyant type intelligent glasses, two photographic head and range-measurement infrared system, photographic head is placed on respectively can the both sides of Clairvoyant type intelligent glasses, range-measurement infrared system is positioned at can the centre of Clairvoyant type intelligent glasses, photographic head adopts technique of binocular stereoscopic vision to calculate this moment can the three-dimensional coordinate information of Clairvoyant type intelligent glasses in location coordinate, by wireless network, coordinate information is sent to navigation software module.
5. orthopaedics operation navigation system according to claim 1, it is characterized in that, described navigation software module goes out the 3-D view of corrective surgery position skeleton by the two-dimension image rebuild that x-ray apparatus is taken, the three-dimensional motion information captured by three-dimensional motion capture module carries out three-dimensional reconstruction, obtains the 3-D view of the shape of patient's operative site and operating theater instruments in three-dimensional motion capture module catching range, position and/or movement locus; And the 3-D view of the shape of the 3-D view and corrective surgery position and operating theater instruments of rebuilding corrective surgery position skeleton out, position and/or movement locus is carried out registration, according to the transformation matrix between location coordinate and world coordinate system, calculating this moment can the coordinate of Clairvoyant type intelligent glasses in world coordinate system, calculate the three-dimensional navigation image that this moment should be able to show in Clairvoyant type intelligent glasses according to this coordinate, and by wireless network, the three-dimensional navigation image calculated is sent to intelligent glasses module and shows; Described three-dimensional navigation image is included in the virtual three dimensional image that the skeletal graph picture at corrective surgery position under this angle and operating theater instruments enter patient body inside.
6. orthopaedics operation navigation system according to claim 1, is characterized in that, the first mechanical arm, the second mechanical arm, three-mechanical arm, the 4th mechanical arm can carry out X-axis, Y-axis, the rotation of Z axis and location according to optronic tracker; The angle rotated between first mechanical arm, the second mechanical arm, three-mechanical arm, the 4th mechanical arm carries out gathering and feeding back by encoder, realizes controlling accurately; The signal of optronic tracker and encoder feedback is carried out analytical calculation by controller, by result of calculation display over the display, facilitates observation and the operation technique of doctor.
7. orthopaedics operation navigation system according to claim 1, is characterized in that, main frame specifically adopts AMD tetra-core processor, seven rainbow 1G display cards, the running memory bar of 4G, the storage hard disk of 500G; Display specifically adopts liquid crystal light-emitting diode display; Brake universal wheel specifically adopts polyurethane material to make, and brake universal wheel is specifically provided with 2; Column specifically adopts that diameter is 40mm, thickness is the stainless pipe of 2mm; Photographic head specifically adopts resolution to be the high-definition camera of 1280x1024.
8. an air navigation aid for orthopaedics operation navigation system, is characterized in that, the air navigation aid of this orthopaedics operation navigation system comprises:
Step one: by the two dimensional image of x-ray apparatus shooting patient's pre-operative surgical position skeleton;
Step 2: the three-dimensional motion information being caught the shape of corrective surgery position and operating theater instruments, position and/or movement locus by three-dimensional motion capture module;
Step 3: carry out three-dimensional reconstruction respectively by the three-dimensional motion information of navigation software module to the shape of the two dimensional image of corrective surgery position skeleton and corrective surgery position and operating theater instruments, position and/or movement locus, and the 3-D view after rebuilding is carried out under the same coordinate system registration and merge and obtain three-dimensional navigation image;
Step 4: show three-dimensional navigation image in real time by intelligent glasses module.
9. the air navigation aid of orthopaedics operation navigation system according to claim 8, is characterized in that,
In step one, described x-ray apparatus is C-arm;
In step 2, regulate the distance on three-dimensional motion capture module distance corrective surgery area skin surface, the scope of doctor's operation apparatus is placed in the catching range of three-dimensional motion capture module, set up the transformation matrix between location coordinate and world coordinate system simultaneously, wherein, described world coordinate system is that operation consent is centered by the C-arm guide rail center of circle, by C-arm, to be made film in corrective surgery position the coordinate system of the patient's 3-D view obtained, described location coordinate with three-dimensional motion capture module center for initial point, three change in coordinate axis direction are parallel with the change in coordinate axis direction of world coordinate system respectively,
In step 3, after described reconstruction two kind of 3-D view is carried out registration to merge and specifically comprise: the 3-D view of the shape of the 3-D view and corrective surgery position and operating theater instruments of rebuilding corrective surgery position skeleton out, position and/or movement locus is carried 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 navigation image of corrective surgery position skeleton and surgical instrument position relation in real-time reflection operation process;
In step 4, being calculated by intelligent glasses module this moment can the coordinate information of Clairvoyant type intelligent glasses in location coordinate, and by wireless network, coordinate information is sent to navigation software module, described navigation software module 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, the three-dimensional navigation image that this moment should be able to show in Clairvoyant type intelligent glasses is calculated according to this coordinate, and by wireless network, the three-dimensional navigation image calculated is sent to intelligent glasses module and shows.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410479228.3A CN104586505A (en) | 2014-09-19 | 2014-09-19 | Navigating system and method for orthopedic operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410479228.3A CN104586505A (en) | 2014-09-19 | 2014-09-19 | Navigating system and method for orthopedic operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104586505A true CN104586505A (en) | 2015-05-06 |
Family
ID=53112799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410479228.3A Pending CN104586505A (en) | 2014-09-19 | 2014-09-19 | Navigating system and method for orthopedic operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104586505A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106580471A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Image navigation and positioning system and image navigation and positioning method |
| CN107468337A (en) * | 2017-08-03 | 2017-12-15 | 苏州医视医疗科技有限公司 | Surgical navigational platform based on intelligent glasses |
| CN108066011A (en) * | 2016-12-02 | 2018-05-25 | 王健 | Femur neck hollow nail implant surgery robot navigation method based on perspective vision |
| CN108682048A (en) * | 2018-05-15 | 2018-10-19 | 杭州三坛医疗科技有限公司 | The posture display methods of guide channel, device and system, readable storage medium storing program for executing |
| CN108882854A (en) * | 2016-03-21 | 2018-11-23 | 华盛顿大学 | The virtual reality or augmented reality of 3D medical image visualize |
| CN109620274A (en) * | 2018-12-12 | 2019-04-16 | 上海联影医疗科技有限公司 | The mechanical arm air navigation aid and its system of C arm machine, computer readable storage medium |
| CN109771034A (en) * | 2019-03-08 | 2019-05-21 | 安徽医科大学第二附属医院 | A new type of orthopaedic navigation system and method, and information data processing terminal |
| CN111128362A (en) * | 2020-01-22 | 2020-05-08 | 复旦大学附属华山医院 | An intelligent control system for ophthalmic surgery |
| CN111437017A (en) * | 2020-05-30 | 2020-07-24 | 北京仙进机器人有限公司 | Minimally invasive surgery navigation device and navigation method |
| CN111557735A (en) * | 2020-05-25 | 2020-08-21 | 张君伟 | Navigation device for orthopedics department |
| CN112168197A (en) * | 2020-07-20 | 2021-01-05 | 北京积水潭医院 | Positioning method and navigation system for external fixation of rotation axis of elbow joint |
| CN113081268A (en) * | 2021-03-31 | 2021-07-09 | 上海电气集团股份有限公司 | AR and IoT based surgical guidance system |
| CN113133814A (en) * | 2021-04-01 | 2021-07-20 | 上海复拓知达医疗科技有限公司 | Augmented reality-based puncture surgery navigation device and computer-readable storage medium |
| CN113907882A (en) * | 2021-08-26 | 2022-01-11 | 四川大学华西医院 | A reduction and positioning robot for fracture surgery |
| CN115619790A (en) * | 2022-12-20 | 2023-01-17 | 北京维卓致远医疗科技发展有限责任公司 | Mixed perspective method, system and equipment based on binocular positioning |
| CN115645050A (en) * | 2022-11-07 | 2023-01-31 | 上海卓昕医疗科技有限公司 | Surgical navigation system and control method thereof |
| US11937964B2 (en) | 2018-05-31 | 2024-03-26 | Shanghai United Imaging Healthcare Co., Ltd. | Systems and methods for controlling an X-ray imaging device |
-
2014
- 2014-09-19 CN CN201410479228.3A patent/CN104586505A/en active Pending
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106580471A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Image navigation and positioning system and image navigation and positioning method |
| CN108882854A (en) * | 2016-03-21 | 2018-11-23 | 华盛顿大学 | The virtual reality or augmented reality of 3D medical image visualize |
| CN108882854B (en) * | 2016-03-21 | 2022-05-24 | 华盛顿大学 | Virtual reality or augmented reality visualization of 3D medical images |
| CN108066011A (en) * | 2016-12-02 | 2018-05-25 | 王健 | Femur neck hollow nail implant surgery robot navigation method based on perspective vision |
| CN107468337A (en) * | 2017-08-03 | 2017-12-15 | 苏州医视医疗科技有限公司 | Surgical navigational platform based on intelligent glasses |
| CN108682048B (en) * | 2018-05-15 | 2022-05-17 | 杭州三坛医疗科技有限公司 | Method, device and system for displaying posture of guide channel and readable storage medium |
| CN108682048A (en) * | 2018-05-15 | 2018-10-19 | 杭州三坛医疗科技有限公司 | The posture display methods of guide channel, device and system, readable storage medium storing program for executing |
| US11937964B2 (en) | 2018-05-31 | 2024-03-26 | Shanghai United Imaging Healthcare Co., Ltd. | Systems and methods for controlling an X-ray imaging device |
| CN109620274A (en) * | 2018-12-12 | 2019-04-16 | 上海联影医疗科技有限公司 | The mechanical arm air navigation aid and its system of C arm machine, computer readable storage medium |
| CN109620274B (en) * | 2018-12-12 | 2021-05-14 | 上海联影医疗科技股份有限公司 | Mechanical arm navigation method and system of C-arm machine and computer readable storage medium |
| CN109771034A (en) * | 2019-03-08 | 2019-05-21 | 安徽医科大学第二附属医院 | A new type of orthopaedic navigation system and method, and information data processing terminal |
| CN111128362A (en) * | 2020-01-22 | 2020-05-08 | 复旦大学附属华山医院 | An intelligent control system for ophthalmic surgery |
| CN111557735A (en) * | 2020-05-25 | 2020-08-21 | 张君伟 | Navigation device for orthopedics department |
| CN111437017A (en) * | 2020-05-30 | 2020-07-24 | 北京仙进机器人有限公司 | Minimally invasive surgery navigation device and navigation method |
| CN112168197A (en) * | 2020-07-20 | 2021-01-05 | 北京积水潭医院 | Positioning method and navigation system for external fixation of rotation axis of elbow joint |
| CN112168197B (en) * | 2020-07-20 | 2023-07-21 | 北京积水潭医院 | Positioning method and navigation system of external fixation rotation axis of elbow joint |
| CN113081268A (en) * | 2021-03-31 | 2021-07-09 | 上海电气集团股份有限公司 | AR and IoT based surgical guidance system |
| CN113133814A (en) * | 2021-04-01 | 2021-07-20 | 上海复拓知达医疗科技有限公司 | Augmented reality-based puncture surgery navigation device and computer-readable storage medium |
| CN113907882A (en) * | 2021-08-26 | 2022-01-11 | 四川大学华西医院 | A reduction and positioning robot for fracture surgery |
| CN115645050A (en) * | 2022-11-07 | 2023-01-31 | 上海卓昕医疗科技有限公司 | Surgical navigation system and control method thereof |
| CN115645050B (en) * | 2022-11-07 | 2024-10-01 | 上海卓昕医疗科技有限公司 | Surgical navigation system |
| CN115619790A (en) * | 2022-12-20 | 2023-01-17 | 北京维卓致远医疗科技发展有限责任公司 | Mixed perspective method, system and equipment based on binocular positioning |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104586505A (en) | Navigating system and method for orthopedic operation | |
| CN103211655B (en) | A kind of orthopaedics operation navigation system and air navigation aid | |
| CN103519895A (en) | Orthopedic operation auxiliary guide method | |
| Liebmann et al. | Pedicle screw navigation using surface digitization on the Microsoft HoloLens | |
| CN110215284B (en) | Visualization system and method | |
| WO2021217713A1 (en) | Surgical navigation system, computer for performing surgical navigation method, and storage medium | |
| US8509503B2 (en) | Multi-application robotized platform for neurosurgery and resetting method | |
| Navab et al. | Merging visible and invisible: Two camera-augmented mobile C-arm (CAMC) applications | |
| JP2966089B2 (en) | Interactive device for local surgery inside heterogeneous tissue | |
| CN103479431B (en) | Non-intrusive minimally invasive operation navigation system | |
| CN114711969A (en) | Surgical robot system and using method thereof | |
| CN109925057A (en) | A kind of minimally invasive spine surgical navigation methods and systems based on augmented reality | |
| CN107088091A (en) | The operation guiding system and air navigation aid of a kind of auxiliary bone surgery | |
| CN107440797A (en) | Registration system and method for surgical navigational | |
| CN202751447U (en) | Vertebral pedicle internal fixation surgical navigation system based on structured light scanning | |
| CN106420054A (en) | Anterior cruciate ligament stopping location and ligament tunnel location device combining with preoperative 3D planning information | |
| CN103445863B (en) | Based on surgical navigational and the augmented reality system of panel computer | |
| CN107510504A (en) | A kind of non-radioactive line perspective vision navigation methods and systems for aiding in bone surgery | |
| CN109549706A (en) | A kind of surgical operation auxiliary system and its application method | |
| CN106139423A (en) | A kind of image based on photographic head guides seeds implanted system | |
| CN111513739A (en) | Control method and device for angiography machine, electronic device and storage medium | |
| CN109730771A (en) | A kind of operation guiding system based on AR technology | |
| CN103919611A (en) | Orthopaedic robot navigation locating device | |
| CN209392096U (en) | A kind of operation guiding system | |
| CN114191078B (en) | Endoscope operation navigation robot system based on mixed reality |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| DD01 | Delivery of document by public notice |
Addressee: Zhang Wei Document name: Notification of before Expiration of Request of Examination as to Substance |
|
| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Zhang Wei Document name: Notification that Application Deemed to be Withdrawn |
|
| DD01 | Delivery of document by public notice | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150506 |
|
| WD01 | Invention patent application deemed withdrawn after publication |