CN109091229A - The flexible positioning device and air navigation aid to navigate suitable for robotic surgery under X-ray - Google Patents
The flexible positioning device and air navigation aid to navigate suitable for robotic surgery under X-ray Download PDFInfo
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- CN109091229A CN109091229A CN201811069744.3A CN201811069744A CN109091229A CN 109091229 A CN109091229 A CN 109091229A CN 201811069744 A CN201811069744 A CN 201811069744A CN 109091229 A CN109091229 A CN 109091229A
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- 238000002432 robotic surgery Methods 0.000 title claims abstract description 22
- 239000002184 metal Substances 0.000 claims abstract description 124
- 229910052751 metal Inorganic materials 0.000 claims abstract description 124
- 239000003550 marker Substances 0.000 claims abstract description 85
- 238000001356 surgical procedure Methods 0.000 claims abstract description 19
- 230000001788 irregular Effects 0.000 claims abstract description 7
- 239000004033 plastic Substances 0.000 claims description 10
- 229920003023 plastic Polymers 0.000 claims description 10
- 239000011248 coating agent Substances 0.000 claims description 6
- 238000000576 coating method Methods 0.000 claims description 6
- 230000004927 fusion Effects 0.000 claims description 5
- 230000001464 adherent effect Effects 0.000 claims description 4
- 206010034719 Personality change Diseases 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 241001481828 Glyptocephalus cynoglossus Species 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 3
- 239000010931 gold Substances 0.000 description 3
- 229910052737 gold Inorganic materials 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 230000000452 restraining effect Effects 0.000 description 3
- 238000009826 distribution Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 241000562569 Riodinidae Species 0.000 description 1
- -1 as shown in figure 3 Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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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
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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
- A61B34/30—Surgical robots
-
- 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
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
-
- 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
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
- A61B2034/207—Divots for calibration
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
A kind of flexible positioning device and air navigation aid suitable for robotic surgery navigation under X-ray, comprising: flexible sheets and several metal marker objects for developing under X-ray and being identified by infrared equipment, flexible sheets are equipped with rule or irregular anchor window；Metal marker object is around anchor window is asymmetric, is evenly distributed in flexible sheets；When flexible sheets are fixed on the body surface of patient around the operative site of patient by anchor window, the spatial position of operative site has been reacted in the spatial position of several metal marker objects.Compared with existing plane x-ray image repeatedly transillumination, the application can be by establishing both sides relation after an X-ray and infrared while shooting, subsequent infrared equipment reads the spatial position data of metal marker object in real time, the dynamic change of the spatial position data is reacted on plane x-ray image, with obtain patients surgery position under X-ray spatial attitude variation, further by with infrared positioning surgical instrument or surgery mechanical arm position reaction to X-ray on navigate.
Description
Technical field
The present invention relates to the technical fields that robotic surgery in X-ray transmitted ambient navigates, and in particular to one kind is suitable for X-ray
The flexible positioning device and air navigation aid of lower robotic surgery navigation.
Background technique
When robot is performed the operation in the environment of X-ray transmits, need to carry out surgical navigational and positioning to operating robot,
But the x-ray image of shooting is flat image, and in reality, the diseased region of patient, such as joint are easy to happen displacement, angle
Etc. states change, the spatial variations of diseased region cannot be embodied in x-ray image, it is accurately fixed in order to be carried out to these diseased regions
Position, existing space-location method is: carrying out notch in diseased region, to expose target site to the open air, telltale mark is pressed from both sides by fixture
It holds, hammer into or is total to his mode and be rigidly fixed in the incision, by carrying out real-time space orientation to metal telltale mark, to realize
The position of diseased region is updated, to realize the purpose of navigation or operating robot navigation.
By the navigation of the above robotic surgery, localization method it is found that above-mentioned method has the following disadvantages:
It 1) is invasive navigation, positioning, which, which passes through, the rigidity such as clamps, hammers into admittedly
Secondary injury can be brought to patient by determining mode；
2) what is found by telltale mark is an anchor point, and whole location updating can not be carried out to big region；
3) lack flexible factor in rigid connection, can not consider diseased region in art when deforming more than a certain amount of to operation
Caused by influence.
Summary of the invention
According in a first aspect, the application provides a kind of flexible positioning device to navigate suitable for robotic surgery under X-ray, packet
It includes:
Flexible sheets, are an any regular or irregular shape, and flexible sheets are equipped with rule or irregular anchor window；
Several metal marker objects for developing under X-ray and being identified by infrared equipment, it is asymmetric, equal around anchor window
It is distributed in the flexible sheets evenly；
When flexible sheets are fixed on the body surface of patient around the operative site of patient by anchor window, several metal marks
The spatial position of operative site is reacted in the spatial position of note object.
In a kind of embodiment, in several metal marker objects any metal marker object respectively with residual metallic marker away from
From differing.
In a kind of embodiment, metal marker object is metal reflective ball, and metal reflective ball includes metal ball and plastics spherical shell,
Plastics spherical shell is coated on the outer surface of metal ball, and the outer surface of plastics spherical shell is coated with reflecting coating.
In a kind of embodiment, metal reflective ball is semi-spherical shape or ball shape.
In a kind of embodiment, the diameter range of metal reflective ball is 3-12mm.
In a kind of embodiment, metal marker object is metal reflective sheet.
In a kind of embodiment, metal marker object is pasted in flexible sheets.
It further include supporting element in a kind of embodiment, metal marker object is fixed on the top of supporting element, and the bottom of supporting element is viscous
It is affixed in flexible sheets.
In a kind of embodiment, flexible sheets include back sheet, and back sheet is equipped with anchor window, and the one side of back sheet is around fixed
Position window is pasted with metal marker object.
In a kind of embodiment, the another side of back sheet is coated with viscous layer around anchor window, and in posting on viscous layer
Peelable adherent layer.
According to second aspect, the application provides one kind and is suitable for robotic surgery air navigation aid under X-ray, comprising steps of
Above-mentioned flexible positioning device is fixed on by anchor window around the operative site of patient to the body surface of patient；
Flexible positioning device is shot by the way that X-ray equipment and infrared equipment are primary simultaneously, obtains plane x-ray image and infrared figure
Picture；
The coordinate of the metal marker object in plane x-ray image and infrared image is converted to the office of flexible positioning device respectively
In portion's coordinate system, and metal marker article coordinate and gold in infrared image in plane x-ray image are established in the local coordinate system
Belong to the relativeness of label article coordinate；
Acquire the spatial position data of the metal marker object in flexible sheets in real time by infrared equipment, and by the space bit
It sets data to be reacted on the plane x-ray image by the relativeness, to obtain patients surgery position in plane x-ray image
Spatial attitude variation, according to the spatial attitude change carry out X-ray under robotic surgery positioning, navigation.
In a kind of embodiment, the spatial position data of the metal marker object in flexible sheets is acquired in real time by infrared equipment
It meanwhile further including the instrument that real-time identification has infrared positioning, and the spatial position of the instrument is merged in the plane X-ray
In image, navigated by position of the instrument in the plane x-ray image to the instrument.
In a kind of embodiment, the spatial position data of the metal marker object in flexible sheets is acquired in real time by infrared equipment
It meanwhile further including the mechanical arm that real-time identification has infrared positioning, and by the fusion of the spatial position of the mechanical arm described flat
In the x-ray image of face, operation position is moved to by mechanical arm mechanical arm described in the position control in the plane x-ray image
It sets.
The noninvasive positioning device of flexibility according to above-described embodiment is selected in robotic surgery according to the operative site of patient
It selects suitable flexible noninvasive positioning device and is fixed in the body surface of patient around the operative site of patient by anchor window,
Compared with existing plane x-ray image repeatedly transillumination, the application can be shot simultaneously by an X-ray equipment and infrared equipment
Afterwards, both sides relation is established, subsequent infrared equipment reads the spatial position data of metal marker object in real time, by the sky of metal marker object
Between the dynamic change of position data be reacted on plane x-ray image, become with obtaining the spatial attitude at patients surgery position under X-ray
Change, at the same can further by with infrared positioning surgical instrument or surgery mechanical arm position reaction to X-ray on, to robot
Operation carries out noninvasive positioning and navigation.
In addition, when flexible noninvasive positioning device to be applied in X-ray irradiation operation, because, it is only necessary to an X-ray equipment shooting
Flexible noninvasive positioning device, it is subsequent to only rely on the flexible noninvasive positioning device of infrared equipment captured in real-time, it is irradiated with existing X-ray repeatedly
It compares, greatly reduces X-ray irradiation number, not only reduce injury caused by the X-ray radiation that patient is subjected to, also reduce medical care
Personnel execute the workload of X-ray shooting.
Detailed description of the invention
Fig. 1 is flexible sheet construction schematic diagram；
Fig. 2 is metal marker object and flexible sheets combination schematic diagram；
Fig. 3 is the metal marker object structural schematic diagram of embodiment one；
Fig. 4 is the metal marker object structural schematic diagram of embodiment two.
Specific embodiment
Below by specific embodiment combination attached drawing, invention is further described in detail.
In embodiments of the present invention, the noninvasive positioning of flexibility of robotic surgery navigation is filled under X-ray by researching and developing a kind of
It sets, realizes and noninvasive positioning is carried out to the operative site of patient, and then realize and navigate to robotic surgery.
The noninvasive positioning device of the flexibility is equipped with anchor window and metal marker object, and the noninvasive positioning device of the flexibility has one
Fixed flexibility, so that the noninvasive positioning device of the flexibility can be adapted for each position of human body, e.g., shoulder joint, chest etc., when this
Flexible noninvasive positioning device by anchor window around the operative site of patient by paste or fetter etc. it is noninvasive in a manner of be fixed on
When the body surface of patient, during robotic surgery, if the operative site of patient is displaced, the noninvasive positioning device of the flexibility
Because having its flexible state that corresponding variation also necessarily occurs, and it metal marker object is designed as having can develop under X-ray
Characteristic, therefore, the spatial position of metal marker object can react the spatial position at patients surgery position, by infrared equipment read
The spatial position data of metal marker object is reacted on the x-ray image of plane, in turn, can obtain the space at X-ray menisectomy position
Attitudes vibration, at the same can further by with infrared positioning surgical instrument or surgery mechanical arm position reaction to X-ray on, it is right
Surgical instrument or surgery mechanical arm are positioned and are navigated.
It is described in detail below by flexibility noninvasive positioning device of the specific embodiment to this example.
Embodiment one:
The noninvasive positioning device of flexibility that this example provides includes flexible sheets 1 and several develop under X-ray and are set by infrared
The metal marker object 2 of standby identification, wherein flexible sheets 1 are equipped with anchor window 11, several metal marker objects 2 surround anchor window
It is 11 asymmetric, be distributed evenly in flexible sheets 1, the operative site to flexible sheets 1 by anchor window 11 around patient is fixed
When the body surface of patient, the spatial position of operative site has been reacted in the spatial position of several metal marker objects 2.
This example is not especially limited the shape of flexible sheets 1, that is to say, the shape of flexible sheets 1 can be any regular or
Irregular shape, since the structure of partes corporis humani position is different, correspondingly, the size and shape of anchor window 11 also do not limit specifically
Fixed, the shape of anchor window 11 is also possible to rule or irregular shape is generally speaking conceived according to present invention, this
Field technical staff can make the flexible sheets 1 of respective shapes according to the patients surgery position of robotic surgery and open up corresponding shape
The anchor window 11 of shape, final purpose allow flexible sheets 1 to be fixed on patient around patients surgery position by anchor window 11
Body surface.The flexible sheets 1 of this example and the structure chart of anchor window 11 are as shown in Figure 1.
The material of the flexible sheets 1 of this example is also not especially limited, as long as having certain flexibility, e.g., flexible sheets 1 can
To be rubber, cloth etc., correspondingly, flexible sheets 1 are fixed on the mode of body surface, also there are many kinds of forms, and e.g., flexible sheets 1 can
To be a kind of flexible paste, it is directly adhered to the body surface of human body, flexible sheets there can also be restraining, be bound by people by restraining
The body surface of body.
Specifically, the flexible sheets 1 of this example include back sheet, which is equipped with anchor window 11, the one side of back sheet
It is pasted with metal marker object 2 around anchor window 11, those skilled in the art can add restraining on back sheet.
If flexible sheets 1 adopt the body surface for being affixed on human body in the method for paste, correspondingly, the another side of back sheet surrounds location window
Mouth 11 is coated with viscous layer, and in posting peelable adherent layer on viscous layer, when using flexible sheets 1, directly by adherent layer
It tears off, the viscous layer of flexible sheets 1 is affixed on to the body surface of human body.
Since this example is to carry out 3D compensation to the x-ray image of plane by the spatial position of metal marker object 2, with realization pair
The operative site of patient carries out space orientation under X-ray, when infrared equipment reads the spatial position data of metal marker object 2, such as
Several metal marker objects 2 of fruit are symmetrically distributed in flexible sheets 1, then, infrared equipment can only obtain the local pose of metal marker object 2
Variation, in order to obtain the global attitudes vibration of the metal marker object 2 in flexible sheets 1, the metal marker object 2 of this example is in flexible sheets
When being distributed on 1, each metal marker object 2 is distributed in flexible sheets 1 according to asymmetric, uniform principle, to several metals
When marker 2 is distributed in flexible sheets 1 so that, in several metal marker objects 2 any metal marker object respectively with residual metallic
The distance of marker differs.If N number of metal marker object 2 is distributed in flexible sheets 1, wherein N is greater than 3, then, any one
Metal marker object differs at a distance from remaining N-1 metal marker object respectively, and the metal marker object 2 of this example is in flexible sheets 1
Distribution schematic diagram it is as shown in Figure 2.
The metal marker object 2 of this example can be metal reflective ball or metal reflective sheet, the surface coating of metal reflective sheet
Have reflecting coating, specifically use which kind of structure, be not especially limited, this example by metal marker object 2 be metal reflective ball for into
Row explanation.
The metal reflective ball of this example includes metal ball 21 and plastics spherical shell 22, and plastics spherical shell 22 is coated on metal ball 21
Outer surface, the outer surface of plastics spherical shell 22 is coated with reflecting coating, as shown in figure 3, metal reflective ball is semi-spherical shape, metal
Witch ball is pasted in flexible sheets 1 by seccotine, and e.g., metal reflective ball is pasted in flexible sheets 1 by 3M sticker.
In addition, since the space size of flexible sheets 1 is certain, in certain space, metal reflective ball metal marker object 2
The quantity the more more can accurately react the variation of the spatial attitude of flexible sheets 1, and the posture for further accurately reacting operative site becomes
Change, therefore, the volume design of metal reflective ball is extremely important, if volume is too big, the metal reflective ball of arrangement in certain space
Quantity can reduce, if volume is too small, small size is not easy to be identified by infrared equipment, in response to this, this example it is straight
Diameter is 3mm-12mm, wherein diameter is that 3mm is the smallest ball of volume, and diameter is that 12mm is the maximum ball of volume, this field
Technical staff can make other diameters according to the range disclosed in diameter.
It should be noted that the infrared equipment referred in this example is a kind of equipment for emitting infrared ray and receiving infrared-ray,
It that is to say, which is a kind of infrared transceiver device, which emits infrared light to metal marker object 2, this is infrared
Light is reflected back after the reflecting coating of metal marker object 2, and the infrared light that metal marker object 2 reflects is connect by the infrared equipment
It receives, the spatial position data that infrared equipment reads metal marker object 2 in real time is reached with this.
By taking C arm ray machine as an example, the mode that the flexible positioning device of this example uses is: being selected according to the diseased region of patient suitable
Flexible sheets 1, after flexible sheets 1 to be affixed on to the body surface of patient's diseased region, C arm ray machine to patient carry out the irradiation of X-ray with
The x-ray image and infrared equipment shooting for obtaining plane obtain infrared image, have the development of metal marker object 2 in the x-ray image,
It that is to say the position that can see metal marker object 2 in the x-ray image, establish the positional relationship of X-ray irradiation and infrared shooting, after
It is continuous, only read the spatial position data of metal marker object 2 in real time by infrared equipment, and the spatial position data is reacted to flat
In the x-ray image in face, to obtain the spatial attitude variation at patients surgery position under X-ray, it that is to say, by the three of metal marker object 2
The x-ray image for tieing up dynamic spatial location combination plane obtains the spatial attitude variation of diseased region, while will can further have
In the surgical instrument or surgery mechanical arm position reaction to X-ray of infrared positioning, changed according to the spatial attitude to machine with realizing
Device manpower art is positioned and is navigated.
Embodiment two:
Based on embodiment one, this example provides the metal marker object 2 of another structure, as shown in figure 4, the metal mark of this example
Remember that object 2 is the metal reflective ball of ball shape, in order to cooperate the metal reflective ball of ball shape to be pasted in flexible sheets 1, this example
It further include supporting element 3, the supporting element 3 of this example can be plastic material, be also possible to the metal material to develop under X-ray, gold
Belong to the top that witch ball metal marker object 2 is fixed on supporting element 3, the bottom of supporting element 3 is pasted in flexible sheets 1.
In this example, the mounting means that metal reflective ball specifically cooperates with supporting element 3 is: metal reflective ball is equipped with threaded hole,
The support portion of supporting element 3 is in coniform, and supporting element 3 is equipped with the screw rod cooperated with threaded hole in the point of support portion, and metal is anti-
Photosphere is spirally connected by the screw rod of threaded hole and supporting element 3, and metal reflective ball is made to be fixed on the top of supporting element 3；The branch of supporting element 3
Support part bottom end is pasted in flexible sheets 1 by strength sticker, thus, it is pasted on metal reflective ball in flexible sheets 1.
In other embodiments, metal reflective ball also can be set non-threaded holes, metal reflective ball by non-threaded holes with
The buckle installation of supporting element 3, in turn, is fixedly installed in metal reflective ball on supporting element 3.
Compared with embodiment one, the rounded shape of metal reflective ball of this example, compared with semi-spherical shape, the gold of ball shape
Belong to witch ball and be able to achieve 360 degree of reflections, infrared equipment is enable to recognize the spatial attitude variation of metal reflective ball in all angles.
Embodiment three:
Based on embodiment one and embodiment two, this example provides one kind and is suitable for robotic surgery air navigation aid under X-ray, specifically
It is realized by following steps.
S1: the operative site by the flexible positioning device of embodiment one or embodiment two by anchor window around patient is consolidated
Due to the body surface of patient.
S2: by X-ray equipment and infrared equipment primary shooting flexible positioning device simultaneously, plane x-ray image and red is obtained
Outer image.
S3: the coordinate of the metal marker object in plane x-ray image and infrared image is converted to flexible positioning device respectively
Local coordinate system in, and metal marker article coordinate and infrared image in plane x-ray image are established in the local coordinate system
The relativeness of middle metal marker article coordinate.
Since flexible positioning device itself has a coordinate system, and it is set to local operative site, therefore, flexible
The coordinate system of positioning device is defined as the local coordinate system in this example, and X-ray equipment and infrared equipment be respectively provided with it is respective
Coordinate system is taken in this example to be able to achieve the dynamic change of diseased region in plane x-ray image, respectively by plane x-ray image
It converts with the coordinate of the metal marker object in infrared image into the local coordinate system of flexible positioning device, then in local coordinate
The relativeness of metal marker article coordinate and metal marker article coordinate in infrared image in plane x-ray image is established in system, in this way,
By the relativeness can by the Spatial distributions reacting condition of the metal marker object in flexible sheets into plane x-ray image, with
This realizes that the spatial variations that infrared equipment is tracked the metal marker object in flexible sheets are applied in the robotic surgery under X-ray,
Break and is only capable of obtaining static plane X image under existing X-ray irradiation.
S4: acquiring the spatial position data of the metal marker object in flexible sheets by infrared equipment in real time, and by the sky
Between position data be reacted on the plane x-ray image by the relativeness, to obtain patients surgery in plane x-ray image
The spatial attitude at position changes, and is changed according to spatial attitude and carries out robotic surgery positioning, navigation under X-ray.
The present invention only passes through X-ray equipment once irradiating flexible positioning device, and it is fixed to be continuously shot flexibility using infrared equipment
Position device greatly reduces X-ray irradiation number, not only reduces the X-ray spoke that patient is subjected to compared with the irradiation of existing X-ray repeatedly
Injury caused by penetrating also reduces the workload that medical staff executes X-ray shooting.
XGuang Xia robot is carried out by the spatial attitude variation at patients surgery position in the plane x-ray image of above-mentioned acquisition
Location of operation, navigation, at the same can further by with infrared positioning instrument or surgery mechanical arm position reaction to plane X-ray figure
As in, the navigation of instrument or surgery mechanical arm is carried out.
Specifically, while acquiring the spatial position data of the metal marker object in flexible sheets in real time by infrared equipment,
It further include the instrument that real-time identification has infrared positioning, and the fusion of the spatial position of instrument is passed through into device in plane x-ray image
It navigates to instrument position of the tool in plane x-ray image.
Further, while acquiring the spatial position data of the metal marker object in flexible sheets in real time by infrared equipment,
It further include the mechanical arm that real-time identification has infrared positioning, and the fusion of the spatial position of mechanical arm is led in plane x-ray image
It crosses position control mechanical arm of the mechanical arm in plane x-ray image and is moved to surgery location.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (13)
1. a kind of flexible positioning device to navigate suitable for robotic surgery under X-ray characterized by comprising
Flexible sheets, are an any regular or irregular shape, and the flexible sheets are equipped with rule or irregular anchor window；
Several metal marker objects for developing under X-ray and being identified by infrared equipment, it is asymmetric, equal around the anchor window
It is distributed in the flexible sheets evenly；
It is described several when the flexible sheets are fixed on the body surface of patient around the operative site of patient by the anchor window
The spatial position of operative site is reacted in the spatial position of a metal marker object.
2. flexible positioning device as described in claim 1, which is characterized in that any metal in several described metal marker objects
Marker differs at a distance from residual metallic marker respectively.
3. flexible positioning device as described in claim 1, which is characterized in that the metal marker object is metal reflective ball, institute
Stating metal reflective ball includes metal ball and plastics spherical shell, and the plastics spherical shell is coated on the outer surface of the metal ball, institute
The outer surface for stating plastics spherical shell is coated with reflecting coating.
4. noninvasive positioning device as claimed in claim 3 flexible, which is characterized in that the metal reflective ball be semi-spherical shape or
Ball shape.
5. such as the described in any item noninvasive positioning devices of flexibility of claim 4, which is characterized in that the diameter of the metal reflective ball
Range is 3-12mm.
6. flexible noninvasive positioning device as described in claim 1, which is characterized in that the metal marker object is metal reflective
Piece.
7. flexible noninvasive positioning device as described in claim 1, which is characterized in that the metal marker object is pasted on described soft
Property on piece.
8. flexible noninvasive positioning device as claimed in claim 4, which is characterized in that it further include supporting element, the metal marker
Object is fixed on the top of the supporting element, and the bottom of the supporting element is pasted in the flexible sheets.
9. flexible noninvasive positioning device as described in claim 1, which is characterized in that the flexible sheets include back sheet, described
Back sheet is equipped with the anchor window, and the one side of the back sheet is pasted with the metal marker around the anchor window
Object.
10. flexible noninvasive positioning device as claimed in claim 9, which is characterized in that the another side of the back sheet surrounds institute
Anchor window is stated coated with viscous layer, and in posting peelable adherent layer on the viscous layer.
11. one kind is suitable for robotic surgery air navigation aid under X-ray, which is characterized in that comprising steps of
Operative site by such as described in any item flexible positioning devices of claim 1-10 by anchor window around patient is consolidated
Due to the body surface of patient；
Flexible positioning device is shot by the way that X-ray equipment and infrared equipment are primary simultaneously, obtains plane x-ray image and infrared image；
The coordinate of the metal marker object in plane x-ray image and infrared image is converted to the part of flexible positioning device seat respectively
In mark system, and metal marker article coordinate and metal mark in infrared image in plane x-ray image are established in the local coordinate system
Remember the relativeness of article coordinate；
Acquire the spatial position data of the metal marker object in flexible sheets in real time by infrared equipment, and by the spatial position number
It is reacted on the plane x-ray image according to by the relativeness, to obtain the sky at patients surgery position in plane x-ray image
Between attitudes vibration, according to the spatial attitude change carry out X-ray under robotic surgery positioning, navigation.
12. being suitable for robotic surgery air navigation aid under X-ray as claimed in claim 11, which is characterized in that set by infrared
It further include that real-time identification has infrared positioning while the spatial position data of metal marker object in the standby flexible sheets of acquisition in real time
Instrument, and by the spatial position of the instrument fusion in the plane x-ray image, by the instrument in the plane X
It navigates to the instrument position in light image.
13. being suitable for robotic surgery air navigation aid under X-ray as claimed in claim 11, which is characterized in that set by infrared
It further include that real-time identification has infrared positioning while the spatial position data of metal marker object in the standby flexible sheets of acquisition in real time
Mechanical arm, and by the spatial position of the mechanical arm fusion in the plane x-ray image, by the mechanical arm described
Mechanical arm described in position control in plane x-ray image is moved to surgery location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811069744.3A CN109091229A (en) | 2018-09-13 | 2018-09-13 | The flexible positioning device and air navigation aid to navigate suitable for robotic surgery under X-ray |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811069744.3A CN109091229A (en) | 2018-09-13 | 2018-09-13 | The flexible positioning device and air navigation aid to navigate suitable for robotic surgery under X-ray |
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| CN109091229A true CN109091229A (en) | 2018-12-28 |
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| CN201811069744.3A Pending CN109091229A (en) | 2018-09-13 | 2018-09-13 | The flexible positioning device and air navigation aid to navigate suitable for robotic surgery under X-ray |
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| CN111419399A (en) * | 2020-03-17 | 2020-07-17 | 京东方科技集团股份有限公司 | Positioning tracking piece, positioning ball identification method, storage medium and electronic device |
| CN113491584A (en) * | 2020-03-20 | 2021-10-12 | 北京梦之墨科技有限公司 | Liquid metal flexible patch for CT positioning and preparation method thereof |
| CN113796959A (en) * | 2021-08-24 | 2021-12-17 | 真健康（北京）医疗科技有限公司 | Body surface dynamic positioning device and optical tracking device |
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| CN114748164A (en) * | 2022-05-07 | 2022-07-15 | 鑫君特(苏州)医疗科技有限公司 | Operation positioning device |
| CN114886561A (en) * | 2022-05-24 | 2022-08-12 | 苏州铸正机器人有限公司 | Robot operation path planning device and planning method thereof |
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| CN113491584A (en) * | 2020-03-20 | 2021-10-12 | 北京梦之墨科技有限公司 | Liquid metal flexible patch for CT positioning and preparation method thereof |
| CN113491584B (en) * | 2020-03-20 | 2022-08-02 | 北京梦之墨科技有限公司 | Liquid metal flexible patch for CT positioning and preparation method thereof |
| CN113796959A (en) * | 2021-08-24 | 2021-12-17 | 真健康（北京）医疗科技有限公司 | Body surface dynamic positioning device and optical tracking device |
| WO2023024932A1 (en) * | 2021-08-24 | 2023-03-02 | 真健康（北京）医疗科技有限公司 | Registration method and puncture guidance method for body surface positioning device, and device |
| CN114404042B (en) * | 2022-03-31 | 2022-07-08 | 珠海维尔康生物科技有限公司 | Surgical robot navigation board and navigation method |
| CN114404042A (en) * | 2022-03-31 | 2022-04-29 | 珠海维尔康生物科技有限公司 | Surgical robot navigation board and navigation method |
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| CN114886561B (en) * | 2022-05-24 | 2024-01-30 | 苏州铸正机器人有限公司 | Robot operation path planning device and planning method thereof |
| CN114949468A (en) * | 2022-05-31 | 2022-08-30 | 华南理工大学 | Using method of medical injection robot and near-infrared light-reflecting mark paste thereof |
| CN114949468B (en) * | 2022-05-31 | 2023-09-26 | 华南理工大学 | Application method of medical injection robot and near infrared reflective mark paste thereof |
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