CN108451655A - A kind of surgical navigational probe and operation navigation device and air navigation aid - Google Patents
A kind of surgical navigational probe and operation navigation device and air navigation aid Download PDFInfo
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- CN108451655A CN108451655A CN201810236655.7A CN201810236655A CN108451655A CN 108451655 A CN108451655 A CN 108451655A CN 201810236655 A CN201810236655 A CN 201810236655A CN 108451655 A CN108451655 A CN 108451655A
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- locating piece
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- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- 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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- 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
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (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)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The present invention is a kind of surgical navigational probe, including shank and the positioning component being connected on shank, the positioning component includes in conplane upper locating piece and lower locating piece, it is both provided with latticed positioning grid on the surface of upper locating piece and lower locating piece, the aberration of the Fill Color of adjacent positioning grid differs greatly, the intersection point of four adjacent positioned grids is anchor point, and there are two anchor points for formation on upper locating piece, and there are one anchor points for formation on lower locating piece；An anchor point on two anchor points and lower locating piece on upper locating piece constitutes a master positioning face.The present invention also provides a kind of operation navigation devices, further include two high-definition cameras, processor and display.The present invention can realize precision navigation, it is ensured that the accurate judgement of illness position reduces the wound area of the edge of a knife.
Description
Technical field
The present invention relates to positioning tools, and in particular to location of operation utensil.
Background technology
Location of operation refers to just finding the position of illness, and then the point is accurately positioned, according to the position of positioning into
Row operation, to realize precisely medical treatment, to reduce wound area and range.Common location of operation is by shooting CT images or X
Light, then doctor judge the size and location of illness according to oneself learning, however, this method there are larger subjectivities simultaneously
It is required that doctor has more rich dissection experience, it could accurate judgement out position and size.Because of traditional CT machines shooting imaging shadow
When piece, a section can only be taken, that is, be equivalent to and human body is subjected to cutting, the sectional view that this section is seen is exactly into
The image of picture, it is a two-dimensional plan view, as soon as not being a three-dimensional figure, doctor needs the experience according to itself to go to judge
This section shoots to obtain in which position, and human body is movable, and the plane intercepted may change at any time.It is this
Method usually requires to shoot multiple images, and doctor goes to judge position and the size of illness according to itself knowledge and experience, therefore, this
Kind way is a kind of method with very strong subjectivity, and each organ of human body can be movable relatively, and will to shoot
When position and position when operation have relative variability, be thus easy to so that the edge of a knife range of operation is big, wound range
Greatly.This existing method more generally used is created often because the point judged has variation or inaccuracy and opens multiple edges of a knife
It is big to hinder range, is located at internal organ especially for illness position, more difficult accurate positionin.A kind of existing accurate positioning
Mode is that is, the mark by way of labelling on the body in patient, by the label pasted on human body, to human body
Image is positioned and clapped, the illness position of human body is accurately positioned out in this way.But this quadrat method is there are significant limitation, this
Kind method can only fix human body, and each position of body is stiff, it is desirable in the mistake for clapping CT images and operation
Cheng Zhong fixes patient, ensures the opposing stationary of position, to improve precision and accuracy.Although these methods are all in determination
Accuracy is improved in illness position, but its precision is not high, and scalpel edge is larger, and is easy mistake and examines it is necessary to repeat to operate on, and leads
Cause the further increasing of wound range.
Invention content
In order to overcome the above-mentioned deficiency of the prior art, the purpose of the present invention is to provide a kind of surgical navigational probe and operations
Navigation device and air navigation aid, the surgical navigational probe and operation navigation device and air navigation aid can precisely navigate illness
Position greatly reduces edge of a knife range, reduces wound, and accomplish to be accurately positioned.
The present invention realizes that the technical solution of above-mentioned purpose is：
A kind of surgical navigational probe, including shank and the positioning component that is connected on shank, the positioning component are included in together
The upper locating piece of one plane and lower locating piece are both provided with latticed positioning grid on the surface of upper locating piece and lower locating piece
The aberration of lattice, the Fill Color of adjacent positioning grid differs greatly, and the intersection point of four adjacent positioned grids is anchor point, and
Anchor point there are two being formed on the upper locating piece, there are one anchor points for formation on the lower locating piece；The upper locating piece
On two anchor points and the lower locating piece on an anchor point constitute a master positioning face；
The shank is straight-bar, and anchor point and last one of the lower locating piece one of on the upper locating piece
Straight line parallel where straight line where anchor point, with the shank axle center.
The color of the adjacent positioning grid is respectively the maximum white of aberration and black.
The color of the adjacent positioning grid is respectively yellow and blue, either red and green or yellow and black
Color.
It is formed with bending in the middle part of the syringe needle section of the shank.
Secondary positioning component is also associated on the shank, which includes that upper positioning is secondary and lower positioning is secondary, on
Positioning is secondary and lower positioning pair is in same plane；There are two the anchor points for setting in the upper positioning pair, and described lower fixed
There are one the anchor points, these three anchor points to form secondary positioning surface for setting in the pair of position.
The upper locating piece is secondary more than the upper positioning to the lower positioning pair to the distance between the lower locating piece
Between distance；Or the upper locating piece is secondary less than the upper positioning to the lower positioning to the distance between the lower locating piece
The distance between pair.
The positioning component and the secondary positioning component have positive and negative, and the distribution of color in the grid of positive and negative is opposite
Claim.
It is additionally provided with grip part on the shank.
A kind of operation navigation device including surgical navigational probe described above further includes two high-definition cameras, place
Device and display are managed, the high-definition camera is electrically connected the processor, and the processor is electrically connected the display；Also wrap
Holder is included, the high-definition camera and the display are connected on the holder.
A kind of air navigation aid using the operation navigation device：
Step 1, starter import the faultage image of CT, carry out three-dimensional reconstruction；
High-definition camera is directed at surgical navigational probe by step 2, carries out the initialization of surgical navigational probe and three point calibrations；
Step 3 positions illness position in 3D solid by surgical navigational probe；
Step 4, mobile surgical navigational probe, high-definition camera get the positioning surface information of surgical navigational probe, and
The position of needle point meaning is accurately indicated in 3D solid；And surgical navigational probe can be inserted into internal；
Step 5 is accurately positioned illness location and range finally by surgical navigational probe, facilitates doctor to carry out operation, leads
Boat terminates.
The present invention has advantageous effect below compared with prior art：
The present invention can realize that precision navigation, precision can reach 0.12mm, it is ensured that the accurate judgement of illness position, doctor can be with
Optimum way plans operation pathway, reduces the wound area of the edge of a knife.The present invention is as a kind of guiding tool of operation, the precision of identification
It is high, thus greatly reduce the risk of operation；Using the principle of optical guidance, more external labelling method is convenient, equipment
After calibration, patient can freely position without influencing in activity.The image obtained by high-definition camera, refresh rate is fast, and
Positioning is rapid；By rotating the shank of probe, the positioning surface on camera changes, and system can set positioning surface hair automatically
Changing, it is matched to change algorithm, therefore, regardless of probe rotates, can be identified to, there is no blind area and
The case where cannot identifying.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the embodiment of the present invention 1；
Fig. 2 is the front view of embodiment 1；
Fig. 3 is the front view of embodiment 2；
Fig. 4 is the positioning comb mesh pattern contrast schematic diagram on the front and back two sides of positioning component.
Specific implementation mode
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Embodiment 1：
Such as Fig. 1, a kind of surgical navigational probe, including shank 1 and the positioning component being connected on shank 1, the positioning component
Including in conplane upper locating piece 2 and lower locating piece 3, grid is both provided on the surface of upper locating piece 2 and lower locating piece 3
The aberration of the positioning grid of shape, the Fill Color of adjacent positioning grid differs greatly, and the intersection point of four adjacent positioned grids is
Anchor point, and there are two anchor points for formation on the upper locating piece 2, there are one anchor points for formation on the lower locating piece 3；
An anchor point on two anchor points and the lower locating piece 3 on the upper locating piece 2 constitutes a master positioning face；
The shank 1 is straight-bar, and anchor point and the lower locating piece 3 were last one of on the upper locating piece 2
Straight line parallel where straight line where one anchor point, with 1 axle center of the shank.The middle part shape of the syringe needle section of the shank 1
At there is bending.
The operation principle of the surgical navigational probe of the present invention, in use, such as Fig. 2, camera is read cooperation high-definition camera
Information onto positioning grid, the intersection point for positioning grid is anchor point, and therefore, there are two anchor points on upper locating piece, lower fixed
There are one anchor point, such as Fig. 2 on the block of position, the anchor point on the anchor point and lower locating piece on the right side on upper locating piece is the same as always
On line, and this straight line is parallel with straight line where the axle center of shank.Two anchor points on upper locating piece and lower locating piece
On anchor point not on the same line, therefore these three points just constitute a positioning surface, by preset algorithm and program,
The top position of probe can be navigated to.
Such as Fig. 2, it is preferred that the color of the adjacent positioning grid is respectively the maximum white of aberration and black.
Another program, the color of the adjacent positioning grid are respectively yellow and blue, either red and green or
Yellow and black.
Referring to Figures 1 and 2, the color of preferred orientation grid of the invention is that black and white is alternate, due to white and black
The aberration of color is maximum, and contrast is also maximum, is just very easy to be identified when positioning, therefore, using in attached drawing
The positioning grid at black and white interval can quickly be set out by high-definition camera very much.It, can be with and in addition to the scheme of colour of black and white
Using other schemes of colour, anchor point and positioning grid can be obtained, that is to say, that as long as two have the scheme of colour of aberration to fill out
Positioning grid is filled, anchor point can be obtained, can be achieved with technical scheme of the present invention, and black and white therein color matching is most preferably.
Preferred embodiment, such as Fig. 1 are also associated with secondary positioning component on the shank 1, which includes upper positioning
Pair 4 and lower positioning pair 5, upper positioning pair 4 and lower positioning pair 5 are in same plane；There are two described for setting in the upper positioning pair 4
Anchor point, and there are one the anchor points, these three anchor points to form secondary positioning surface for setting in the lower positioning pair 5.This hair
It is bright not only to have positioning component, also functional secondary positioning component identical with positioning component, it is preferred that secondary positioning component relative positioning
Component is vertically set on shank；Plane where secondary positioning component can also be in an any angle, this angle with positioning component
More than 0 °.The purpose of secondary positioning component is set, be in order to enable when probe turns to plane where being just parallel to positioning component,
None- identified can recognize the positioning grid on secondary positioning component to positioning grid, at this time camera, to complete to position.
When the visual angle of high-definition camera identification state as shown in Figure 1, positioning component and secondary positioning component are respectively positioned on and set
In range, therefore, system will select one of them as location base.Positioning component is different with the secondary spacing of positioning component,
Therefore, system also has the difference of algorithm when calculating, the anchor point ensured it is accurate.
The upper locating piece 2 is secondary to the lower positioning more than the upper positioning pair 4 to the distance between the lower locating piece 3
The distance between 5；Or the upper locating piece 2 to the distance between the lower locating piece 3 is less than the upper positioning secondary 4 to described
The distance between lower positioning pair 5.Such as Fig. 2 and Fig. 3, the spacing between two locating pieces on positioning component and secondary positioning component
Spacing between two positioning are secondary differs, and camera is just can guarantee in this way in identification, only with one of face as base
Plinth, and algorithm corresponds to accurately.If two spacing described above are identical, when two positioning surfaces appear at identification
In region, system can not just judge which face used, and cannot be accurately positioned.
Such as Fig. 4, the positioning component and the secondary positioning component have positive and negative, and the color in the grid of positive and negative point
Cloth is symmetrical.Since the positioning grid color matching of positive and negative is just symmetrical, so, system energy automatic decision is the specific fixed of use
Plane can be accurately judged to the position of positioning.
Such as Fig. 1 and Fig. 2, grip part 6 is additionally provided on the shank 1.Grip part is set, the gripping of hand can be facilitated, side
Just it uses.
A kind of operation navigation device including surgical navigational probe described above of the present invention, further includes that two high definitions are taken the photograph
As head, processor and display, the high-definition camera is electrically connected the processor, and the processor is electrically connected the display
Device.
Further include holder, the high-definition camera and the display are connected on the holder.
The operation navigation device of the present invention, is a kind of operation navigation device that accuracy is high, accuracy can reach
0.12mm is to have high precision compared to localization method both domestic and external.And external method, patient is cannot be free
It is movable, and if identification region blocked by doctor, just will produce blind spot, can not be set by camera to there is more
Limitation.
A kind of air navigation aid using the operation navigation device：
Step 1, starter import the faultage image of CT, carry out three-dimensional reconstruction；
High-definition camera is directed at surgical navigational probe by step 2, carries out the initialization of surgical navigational probe and three point calibrations；
Step 3 positions illness position in 3D solid by surgical navigational probe；
Step 4, mobile surgical navigational probe, high-definition camera get the positioning surface information of surgical navigational probe, and
The position of needle point meaning is accurately indicated in 3D solid；And surgical navigational probe can be inserted into internal；
Step 5 is accurately positioned illness location and range finally by surgical navigational probe, facilitates doctor to carry out operation, leads
Boat terminates.
CT (Computed Tomography, CT scan) not only may be used in the imaging of the present invention, also
MRI (Magnetic Resonance Imaging, magnetic resonance imaging) may be used.Three point calibration of the present invention refer to
When to operation navigation probe correction, three points are found on human body first, these three preferred points are located at sharp-featured
The positions such as edges and corners and cheekbone near position, such as the bridge of the nose of skull, temple.Then by the needle point of surgical navigational probe
Refer on a point wherein, and the calibration to carrying out the point on the image of 3D solid, is sequentially completed the calibration of three points in this way
Later, the system initialization of operation navigation device is just completed.It, can accurate navigation by the operation navigation device of three point calibrations
With located.
The application method of the operation navigation device of the present invention：
First, it carries out CT to patient to take pictures imaging, multiple pictures is continuously shot by CT, then to the progress of these CT sequences
Processing and three-dimensional modeling, the processing by system and algorithm will obtain a human body or the 3D solid structure chart of part.
Each CT images are a sectional views of human body, and continuous human body sectional view is stacked up, the three-dimensional of human body has just been obtained
Entity.Then, then the editor by program and processing, the stereogram of the organs such as the internal organ, blood vessel, bone of human body will be obtained.
Finally, system initialization is carried out by the surgical navigational probe in the present invention, three point calibration of probe finds datum mark, and in people
The 3D solid colonel certainly position of body, can start to work normally.Then by the use of surgical navigational probe, needle point is moved
Position, precision navigation just completes being accurately positioned for lesion locations to the position of lesion on 3D solid, then can be into
Row operation.The shank of the present invention is thinner, can be inserted into human body, and shank can sterilize use repeatedly.
The use of operation navigation device through the invention, energy is three-dimensional and intuitively perceives position and the size of lesion,
And by the precision navigation of surgical navigational probe and positioning, lesion locations can be accurately positioned on human body, precision is reachable
Then 0.2mm can be carried out performing the operation and operating on, greatly reduce edge of a knife range, also provided well for the development of operation
It is intuitive to help, improve the accuracy that doctor judges the state of an illness.
There is bending in the middle part of the shank of the probe of the present embodiment, and preferred embodiment is in positioning surface inner bending, in this way, needle
The top of bar, that is, needle point not on the same line with any two anchor point will form a new anchor point.
Because in the same plane with positioning surface, therefore, when rotating shank, needle point follows positioning surface to turn to the needle point of shank always
It is dynamic, it ensure that the accurate of needle point positioning.
Compared with whole section of shank for for straight-bar, the shank of comparison diagram 2 and Fig. 3, the present embodiment have bending, such knot at middle part
Structure has more preferable and more accurately locating effect.Such as Fig. 3, in the axis rotation around shank, positioning surface is also this structure
Axis around shank rotates, and camera can only recognize positioning surface and be rotated, not necessarily be sentenced when identification
Break to the specific location of needle point.And as shown in Fig. 2, this structure can more accurately judge the position of needle point.Because of needle point
It is used to specify the sick and wounded position of sufferer, needle point is rotation relative to the body of patient, and distance will not change, and probe turns
When dynamic, bending place position below can be rotated around axis, and position more than bending place is also rotated around axis, whole at this time
A positioning surface will there are one three-dimensional change in location.Camera, whenever probe one angle of rotation, is taken the photograph when identifying positioning surface
One-time positioning face is just repositioned and determined to picture head, also retrieves the position of needle point, more accurate to position.
The operation navigation device of the present invention is that a structure composition is simple, but the operation navigation device that accuracy of identification is high,
One in two high-definition cameras is used for acquiring imaging, another is accurately to judge and position, compared with a high-definition camera
Imaging it is truer, location determination is more acurrate.In addition, the present invention not only limits two high-definition cameras, more than two camera shootings
Head combination is also protection scope of the present invention.Usually it is understood that the application method of the present invention, patient lie low in operating table
On, two high-definition cameras are placed on the surrounding any position of sick bed, and camera is directed at the body of patient, is then used.
Embodiment 2, as shown in figure 3, being different from embodiment 1, shank is a straight-bar, is not bent at the middle part of shank.
For the present embodiment with embodiment 1 difference lies in the shape and structure of shank, shank is a straight straight-bar, such
Structure can also achieve the object of the present invention.
Pattern such as Fig. 4, two locating pieces of pattern and the right of two locating pieces on the left side is exactly the opposite, if the left side is
Front, then the right is reverse side.In this way, camera can accurately just know that face has occurred in surgical navigational probe when identification
Rotation, adjustment algorithm is needed, to match corresponding positioning surface.Fig. 4 is the positive and negative of positioning component, likewise, secondary positioning group
The positive and negative of part is identical as the pattern setting of Fig. 4.
The positioning grid of the present invention can be not only the form of the grid in attached drawing, and the shapes such as diamond shape, triangle are also this
The form that the positioning grid of invention may be implemented.
The implementation of the present invention is not limited to this, and the above according to the invention is known using the ordinary skill of this field
Knowledge and customary means, under the premise of not departing from above-mentioned basic fundamental thought of the invention, the present invention can also make other a variety of shapes
Modification, replacement or the change of formula, all fall within rights protection scope of the present invention.
Claims (10)
1. a kind of surgical navigational probe, it is characterised in that：Including shank (1) and the positioning component being connected on shank (1), this is fixed
Hyte part includes in conplane upper locating piece (2) and lower locating piece (3), in the table of upper locating piece (2) and lower locating piece (3)
Face is both provided with latticed positioning grid, and the aberration of the Fill Color of adjacent positioning grid differs greatly, and four adjacent fixed
The intersection point of position grid is anchor point, and there are two anchor points for formation on the upper locating piece (2), in the lower locating piece (3)
There are one anchor points for upper formation；A positioning on two anchor points and the lower locating piece (3) on the upper locating piece (2)
Point constitutes a master positioning face；
The shank (1) is straight-bar, and one of on the upper locating piece (2) on anchor point and the lower locating piece (3)
Straight line parallel where straight line where an a anchor point, with the shank (1) axle center.
2. a kind of surgical navigational probe according to claim 1, it is characterised in that：The color of the adjacent positioning grid
The respectively maximum white of aberration and black.
3. a kind of surgical navigational probe according to claim 1, it is characterised in that：The color of the adjacent positioning grid
Respectively yellow and blue, either red and green or yellow and black.
4. a kind of surgical navigational probe according to claim 1, it is characterised in that：In the syringe needle section of the shank (1)
Portion is formed with bending.
5. a kind of surgical navigational probe according to any one of claims 1 to 4, it is characterised in that：On the shank (1) also
It is connected with secondary positioning component, which includes that upper positioning secondary (4) and lower positioning are secondary (5), upper positioning secondary (4) and lower positioning
Secondary (5) are in same plane；There are two the anchor points for setting in the upper positioning secondary (4), and in the lower positioning secondary (5)
There are one the anchor point, these three anchor points to form secondary positioning surface for setting.
6. a kind of surgical navigational probe according to claim 5, it is characterised in that：The upper locating piece (2) is under described
The distance between locating piece (3) is more than the distance between described upper positioning secondary (4) the extremely lower positioning secondary (5)；Or it is described on
The distance between locating piece (2) the extremely lower locating piece (3) is less than the upper positioning secondary (4) between the lower positioning secondary (5)
Distance.
7. a kind of surgical navigational probe according to claim 5, it is characterised in that：The positioning component and the secondary positioning
Component has positive and negative, and the distribution of color in the grid of positive and negative is symmetrical.
8. a kind of surgical navigational probe according to claim 5, it is characterised in that：It is additionally provided on the shank (1)
Grip part (6).
9. a kind of operation navigation device including the surgical navigational probe described in any of the above-described claim, it is characterised in that：Also
Including at least two high-definition cameras, processor, display and holder, the high-definition camera is electrically connected the processor,
The processor is electrically connected the display；The high-definition camera connects on the bracket with the display.
10. a kind of air navigation aid using the operation navigation device described in claim 9, it is characterised in that：
Step 1, starter import the faultage image of CT, carry out three-dimensional reconstruction；
High-definition camera is directed at surgical navigational probe by step 2, carries out the initialization of surgical navigational probe and three point calibrations；
Step 3 positions illness position in 3D solid by surgical navigational probe；
Step 4, mobile surgical navigational probe, high-definition camera get the positioning surface information of surgical navigational probe, and in three-dimensional
The position of needle point meaning is accurately indicated in entity；And surgical navigational probe can be inserted into internal；
Step 5 is accurately positioned illness location and range finally by surgical navigational probe, and doctor is facilitated to carry out operation, navigation knot
Beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810236655.7A CN108451655A (en) | 2018-03-21 | 2018-03-21 | A kind of surgical navigational probe and operation navigation device and air navigation aid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810236655.7A CN108451655A (en) | 2018-03-21 | 2018-03-21 | A kind of surgical navigational probe and operation navigation device and air navigation aid |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108451655A true CN108451655A (en) | 2018-08-28 |
Family
ID=63236543
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810236655.7A Withdrawn CN108451655A (en) | 2018-03-21 | 2018-03-21 | A kind of surgical navigational probe and operation navigation device and air navigation aid |
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|---|---|
| CN (1) | CN108451655A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023077539A1 (en) * | 2021-11-08 | 2023-05-11 | 衡阳市大井医疗器械科技有限公司 | Surgical navigation apparatus and navigation method thereof |
-
2018
- 2018-03-21 CN CN201810236655.7A patent/CN108451655A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023077539A1 (en) * | 2021-11-08 | 2023-05-11 | 衡阳市大井医疗器械科技有限公司 | Surgical navigation apparatus and navigation method thereof |
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Application publication date: 20180828 |