CN107440797B - 用于手术导航的注册配准系统及方法 - Google Patents
用于手术导航的注册配准系统及方法 Download PDFInfo
- Publication number
- CN107440797B CN107440797B CN201710720136.3A CN201710720136A CN107440797B CN 107440797 B CN107440797 B CN 107440797B CN 201710720136 A CN201710720136 A CN 201710720136A CN 107440797 B CN107440797 B CN 107440797B
- Authority
- CN
- China
- Prior art keywords
- positioning
- image acquisition
- component
- registration
- marking
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000002591 computed tomography Methods 0.000 claims abstract description 44
- 239000003550 marker Substances 0.000 claims description 27
- TZCXTZWJZNENPQ-UHFFFAOYSA-L barium sulfate Chemical compound [Ba+2].[O-]S([O-])(=O)=O TZCXTZWJZNENPQ-UHFFFAOYSA-L 0.000 claims description 18
- 230000003287 optical effect Effects 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 10
- 230000004807 localization Effects 0.000 claims description 8
- 238000001356 surgical procedure Methods 0.000 claims description 8
- 239000011248 coating agent Substances 0.000 claims description 7
- 238000000576 coating method Methods 0.000 claims description 7
- 238000012800 visualization Methods 0.000 claims 1
- 239000010408 film Substances 0.000 description 20
- 230000000694 effects Effects 0.000 description 12
- 230000000399 orthopedic effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000002594 fluoroscopy Methods 0.000 description 4
- 206010052428 Wound Diseases 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 3
- 210000003484 anatomy Anatomy 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000003287 bathing Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 239000000700 radioactive tracer Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Image Processing (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710720136.3A CN107440797B (zh) | 2017-08-21 | 2017-08-21 | 用于手术导航的注册配准系统及方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710720136.3A CN107440797B (zh) | 2017-08-21 | 2017-08-21 | 用于手术导航的注册配准系统及方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107440797A CN107440797A (zh) | 2017-12-08 |
CN107440797B true CN107440797B (zh) | 2020-04-03 |
Family
ID=60492924
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710720136.3A Active CN107440797B (zh) | 2017-08-21 | 2017-08-21 | 用于手术导航的注册配准系统及方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN107440797B (zh) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108294825B (zh) * | 2017-12-26 | 2019-08-02 | 刘洋 | 用于手术导航的配准系统及方法 |
CN108784834A (zh) * | 2018-04-09 | 2018-11-13 | 上海术凯机器人有限公司 | 一种基于定位标识进行空间配准的方法及设备 |
CN109044539B (zh) * | 2018-08-24 | 2021-02-05 | 真健康(北京)医疗科技有限公司 | 一种用于红外导航的体表定位方法 |
CN109692050B (zh) * | 2018-12-26 | 2020-05-22 | 雅客智慧(北京)科技有限公司 | 一种牙科种植导航手术的标定、追踪方法和装置 |
CN109663344A (zh) * | 2018-12-28 | 2019-04-23 | 北京诺亦腾科技有限公司 | 一种导航机构 |
CN109646939A (zh) * | 2018-12-28 | 2019-04-19 | 北京诺亦腾科技有限公司 | 一种导航机构 |
CN109464196B (zh) * | 2019-01-07 | 2021-04-20 | 北京和华瑞博医疗科技有限公司 | 采用结构光影像配准的手术导航系统及配准信号采集方法 |
CN114711969B (zh) * | 2019-01-21 | 2023-10-31 | 华科精准(北京)医疗科技有限公司 | 一种手术机器人系统及其使用方法 |
WO2021007803A1 (zh) * | 2019-07-17 | 2021-01-21 | 杭州三坛医疗科技有限公司 | 骨折复位闭合手术定位导航方法和用于该方法的定位装置 |
CN110547872B (zh) * | 2019-09-23 | 2021-08-10 | 重庆博仕康科技有限公司 | 手术导航注册系统 |
CN111407406B (zh) * | 2020-03-31 | 2022-04-26 | 武汉联影智融医疗科技有限公司 | 头部位置标识系统、术中控制系统及控制方法 |
CN111461049B (zh) * | 2020-04-13 | 2023-08-22 | 武汉联影智融医疗科技有限公司 | 空间注册识别方法、装置、设备及计算机可读存储介质 |
CN111964652A (zh) * | 2020-08-24 | 2020-11-20 | 陈仕金 | 一种使用范围广的多方位激光测绘系统 |
CN114119683A (zh) * | 2021-11-26 | 2022-03-01 | 吉林大学 | 一种提高面部扫描图像配准ct扫描图像精度的方法 |
CN114176714B (zh) * | 2021-12-31 | 2023-06-30 | 杭州三坛医疗科技有限公司 | 一种截骨平面定位方法、系统及装置 |
CN114587593B (zh) * | 2022-03-18 | 2022-11-18 | 华科精准(北京)医疗科技有限公司 | 一种手术导航定位系统及其使用方法 |
CN114587592B (zh) * | 2022-03-18 | 2023-01-17 | 华科精准(北京)医疗科技有限公司 | 一种手术导航系统及其使用方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101214142A (zh) * | 2007-12-26 | 2008-07-09 | 北京理工大学 | 一种基于多光谱图像的医学手术导航跟踪装置 |
CN104146767A (zh) * | 2014-04-24 | 2014-11-19 | 薛青 | 辅助外科手术的术中导航方法和导航系统 |
CN105434046A (zh) * | 2015-11-18 | 2016-03-30 | 上海交通大学 | 基于消除红外滤光片折射效应的手术导航仪定位方法 |
CN105852970A (zh) * | 2016-04-29 | 2016-08-17 | 北京柏惠维康科技有限公司 | 神经外科机器人导航定位系统及方法 |
CN106859767A (zh) * | 2017-03-29 | 2017-06-20 | 上海霖晏网络科技有限公司 | 一种手术导航方法 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2531107A1 (en) * | 2010-02-02 | 2012-12-12 | Aeos Biomedical Inc. | Medical procedure localizing aid |
-
2017
- 2017-08-21 CN CN201710720136.3A patent/CN107440797B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101214142A (zh) * | 2007-12-26 | 2008-07-09 | 北京理工大学 | 一种基于多光谱图像的医学手术导航跟踪装置 |
CN104146767A (zh) * | 2014-04-24 | 2014-11-19 | 薛青 | 辅助外科手术的术中导航方法和导航系统 |
CN105434046A (zh) * | 2015-11-18 | 2016-03-30 | 上海交通大学 | 基于消除红外滤光片折射效应的手术导航仪定位方法 |
CN105852970A (zh) * | 2016-04-29 | 2016-08-17 | 北京柏惠维康科技有限公司 | 神经外科机器人导航定位系统及方法 |
CN106859767A (zh) * | 2017-03-29 | 2017-06-20 | 上海霖晏网络科技有限公司 | 一种手术导航方法 |
Also Published As
Publication number | Publication date |
---|---|
CN107440797A (zh) | 2017-12-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107440797B (zh) | 用于手术导航的注册配准系统及方法 | |
US11426254B2 (en) | Method and apparatus for virtual endoscopy | |
CN107374729B (zh) | 基于ar技术的手术导航系统及方法 | |
TWI615126B (zh) | 影像增強真實度之方法與應用該方法在可穿戴式眼鏡之手術導引 | |
CN107995855B (zh) | 用于使用运动捕获数据来规划和执行关节置换流程的方法和系统 | |
CN107847278B (zh) | 用于为医疗器械提供轨迹的可视化的靶向系统 | |
EP2953569B1 (en) | Tracking apparatus for tracking an object with respect to a body | |
US7747312B2 (en) | System and method for automatic shape registration and instrument tracking | |
US7831096B2 (en) | Medical navigation system with tool and/or implant integration into fluoroscopic image projections and method of use | |
TWI396523B (zh) | 用以加速牙科診斷及手術規劃之系統及其方法 | |
JP5121401B2 (ja) | 埋植物距離測定のシステム | |
CN102784003B (zh) | 一种基于结构光扫描的椎弓根内固定手术导航系统 | |
US20170209225A1 (en) | Stereotactic medical procedure using sequential references and system thereof | |
CN202751447U (zh) | 一种基于结构光扫描的椎弓根内固定手术导航系统 | |
US20190328466A1 (en) | A mobile surgical tracking system with an integrated fiducial marker for image guided interventions | |
WO2019070681A1 (en) | IMAGE ALIGNMENT ON THE REAL WORLD FOR MEDICAL APPLICATIONS OF INCREASED REALITY USING A REAL WORLD SPACE MAP | |
US9693748B2 (en) | System and method for automatically determining calibration parameters of a fluoroscope | |
JP2008126075A (ja) | Ctレジストレーション及びフィードバックの視覚的検証のためのシステム及び方法 | |
KR20150019311A (ko) | 환자와 3차원 의료영상의 비침습 정합 시스템 및 방법 | |
CN109674533B (zh) | 基于便携式彩超设备的手术导航系统及方法 | |
CN116019571A (zh) | 用于在手术期间定位患者身体并跟踪患者位置的装置和方法 | |
CN116035832A (zh) | 用于配准实况和扫描图像的装置和方法 | |
JP2014135974A (ja) | X線診断装置 | |
JP2009172124A (ja) | 手術ナビゲーションシステム、画像表示方法、コンピュータプログラム及び記録媒体 | |
CN109044539A (zh) | 一种用于红外导航的体表定位方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20180223 Address after: 201100 Shanghai city Minhang District Jianchuan Road No. 951 Building 1 No. 0 Bay North Building 607 Applicant after: Liu Yang Applicant after: SHANGHAI LIN YAN MEDICAL TECHNOLOGY Co.,Ltd. Address before: 201100 Shanghai city Minhang District Jianchuan Road No. 951 Building 1 No. 0 Bay North Building 607 Applicant before: SHANGHAI LIN YAN MEDICAL TECHNOLOGY Co.,Ltd. |
|
TA01 | Transfer of patent application right | ||
REG | Reference to a national code |
Ref country code: HK Ref legal event code: DE Ref document number: 1247801 Country of ref document: HK |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Registration and registration system and method for surgical navigation Effective date of registration: 20230324 Granted publication date: 20200403 Pledgee: Industrial Bank Co.,Ltd. Shanghai Pudong Sub branch Pledgor: SHANGHAI LIN YAN MEDICAL TECHNOLOGY Co.,Ltd.|Liu Yang Registration number: Y2023310000085 |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Granted publication date: 20200403 Pledgee: Industrial Bank Co.,Ltd. Shanghai Pudong Sub branch Pledgor: SHANGHAI LIN YAN MEDICAL TECHNOLOGY Co.,Ltd.|Liu Yang Registration number: Y2023310000085 |
|
PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Registration registration system and method for surgical navigation Granted publication date: 20200403 Pledgee: Industrial Bank Co.,Ltd. Shanghai Pudong Sub branch Pledgor: SHANGHAI LIN YAN MEDICAL TECHNOLOGY Co.,Ltd.|Liu Yang Registration number: Y2024310000454 |