CN109692040B - Operation auxiliary register and operation registering method - Google Patents
Operation auxiliary register and operation registering method Download PDFInfo
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- CN109692040B CN109692040B CN201710999623.8A CN201710999623A CN109692040B CN 109692040 B CN109692040 B CN 109692040B CN 201710999623 A CN201710999623 A CN 201710999623A CN 109692040 B CN109692040 B CN 109692040B
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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
- A61B34/20—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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/04—Constructional details of apparatus
- A61B2560/0443—Modular apparatus
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Abstract
The invention discloses an operation auxiliary register and an operation registering method, wherein the operation auxiliary register comprises a register base body, a power supply circuit board, an infrared light-emitting diode, an identification block and a steel ball; the power supply circuit board is arranged on the upper surface of the register base body, the infrared light-emitting diode is arranged on the power supply circuit board, the identification block is detachably connected with one end of the register base body, and the steel balls are packaged in the identification block. The invention can automatically complete the operation registration process by utilizing the steel balls and the infrared light-emitting diodes in the operation auxiliary register without manual operation of doctors, and effectively simplifies the operation registration process on the premise of ensuring the registration precision; meanwhile, the mark block of the surgical auxiliary register can be detached and can be reused after being sterilized, so that the cost of the surgical registration process can be effectively reduced.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an operation auxiliary register and an operation registration method.
Background
The operation registration is a process of establishing a position mapping relation between position information of a patient in an actual space and image information obtained by scanning through equipment such as a C-shaped arm and the like by a doctor, is a crucial step in operation navigation, and directly determines the accuracy of operation positioning.
There are two major registration protocols currently used in the clinic: one is that the identification Point made of metal is pasted on the patient, the identification Point can be imaged in the image after being scanned by a C-shaped arm and other devices, and can be combined with a mouse and other operations to obtain the coordinate of the identification Point in the image space, then the coordinate of the identification Point in the actual space is selected by a calibrated medical probe, and finally the surgical registration is completed by adopting the registration algorithm such as ICP (Iterative close Point); the other method is to perform 3D/2D registration on CT (Computed Tomography) volume data obtained before the operation and C-arm normal and lateral slices in the operation, and the scheme firstly needs to perform three-dimensional reconstruction on three-dimensional point cloud data before or during the operation, and completes plane projection on the three-dimensional data by combining with a DRR (Digitally Reconstructed radiogram) technology, and then adopts optimized algorithm rotator data such as Powell and the like to make the projected image similar to the normal and lateral slices in the operation as much as possible, thereby completing the subsequent registration operation.
The current registration scheme based on the identification points is time-consuming for the operation of doctors, but has relatively high accuracy; the average error of the 3D/2D registration scheme is about 2mm, three-dimensional image data needs to be acquired before or during surgery, and the method is difficult to be used for surgeries such as spine and the like with high positioning precision requirements. In the actual spine navigation surgery, the registration scheme based on the identification points is still the most practical scheme, but the existing identification point selection operation is more complicated for doctors, and the precision of the identification point selection operation is directly related to the proficiency of the doctors; in addition, the identification points used in the registration process are disposable consumables, and the long-term use cost is overhigh.
Disclosure of Invention
The invention mainly aims to provide an operation auxiliary register and an operation registration method, and aims to solve the technical problems that an operation registration scheme based on identification points is relatively complicated and the registration process cost is relatively high in the prior art.
In order to achieve the above object, a first aspect of the present invention provides a surgical assistant registration device, which includes a registration device base, a power supply circuit board, an infrared light emitting diode, an identification block, and a steel ball;
the power supply circuit board is arranged on the upper surface of the register base body, the infrared light-emitting diode is arranged on the power supply circuit board, the identification block is detachably connected with one end of the register base body, and the steel ball is packaged in the identification block.
Optionally, the operation-assisted registration apparatus further includes a registration apparatus cover plate and a rotation shaft, the rotation shaft is disposed at the edge of the upper surface of the registration apparatus base body, and one end of the registration apparatus cover plate is movably connected to the registration apparatus base body through the rotation shaft.
Optionally, a through hole is formed in the register cover plate, and the position of the through hole corresponds to the position of the infrared light emitting diode, so that when the register cover plate covers the power supply circuit board, the infrared light emitting diode is located in the corresponding through hole.
Optionally, the surgery auxiliary register further comprises an infrared filter, and the infrared filter is arranged on the through hole on the upper surface of the register cover plate.
Optionally, the identification block has T style of calligraphy recess, just the register base member with the one end that the identification block is connected is the protruding piece of I shape, the identification block passes through T style of calligraphy recess with the register base member the protruding piece accordant connection of I shape realizes the removable connection.
Optionally, the registrar cover plate, the identification block, and the registrar base are all made of polysulfone PSU material.
Optionally, the number of the infrared light emitting diodes is at least 4, the infrared light emitting diodes are asymmetrically distributed, the number of the steel balls is at least 4, the steel balls are asymmetrically distributed, and at least one steel ball is not coplanar with other steel balls.
Optionally, the operation-assisted registration apparatus further comprises a power supply, wherein the power supply is fixedly installed in the registration apparatus base body and electrically connected with the power supply circuit board.
In order to achieve the above object, a second aspect of the present invention provides a surgical registration method based on a surgical assistant register, where the surgical assistant register is the surgical assistant register provided in the first aspect, and the method includes:
after the identification block of the operation auxiliary register is inserted into the body of a patient, acquiring three-dimensional volume data of the patient by using a C-shaped arm, and determining the position of a steel ball in the identification block in the three-dimensional volume data;
determining the spatial coordinates of an infrared light-emitting diode in the operation auxiliary register, and performing compensation operation on the spatial coordinates of the infrared light-emitting diode based on the offset of the steel ball relative to the infrared light-emitting diode to obtain the spatial coordinates of the steel ball;
and calling a preset ICP algorithm to perform surgical registration based on the spatial coordinates of the infrared light-emitting diode and the spatial coordinates of the steel ball.
Optionally, the step of determining the spatial coordinates of the infrared light emitting diode in the surgery assistance register comprises:
detecting the position of each infrared light-emitting diode by using preset infrared tracking equipment;
and establishing a space rectangular coordinate system based on the positions of the infrared light-emitting diodes, and determining the space coordinates of the infrared light-emitting diodes in the space rectangular coordinate system.
Compared with the prior art, the operation auxiliary register provided by the invention can automatically complete the operation registration process by utilizing the steel balls and the infrared light-emitting diodes in the operation auxiliary register without manual operation of doctors, and effectively simplifies the operation registration process on the premise of ensuring the registration accuracy; meanwhile, the mark block of the operation auxiliary register can be detached, and the operation auxiliary register can be reused after the mark block is sterilized, so that the cost of the operation registration process can be effectively reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of a surgical assistant registration device according to the present invention;
FIG. 2 is a schematic view of the position of an infrared light emitting diode according to the present invention;
fig. 3 is a flowchart illustrating an embodiment of a surgical registration method based on a surgical assistant register according to the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an auxiliary surgical registry according to the present invention, in this embodiment, the auxiliary surgical registry includes a registry base 1, a power supply circuit board 2, an infrared light emitting diode (not labeled), an identification block 3 and a steel ball 4; the power supply circuit board 2 is mounted on the upper surface of the register base body 1, the infrared light-emitting diode is arranged on the power supply circuit board 2, the identification block 3 is detachably connected with one end of the register base body 1, and the steel ball 4 is packaged in the identification block 3.
Wherein, the whole size of the operation auxiliary register is about 50mm multiplied by 15mm multiplied by 10 mm.
The identification block 3 is provided with a T-shaped groove, one end of the register base body 1 connected with the identification block 3 is an I-shaped convex piece, and the identification block 3 is connected with the I-shaped convex piece of the register base body 1 in a matched mode through the T-shaped groove so as to achieve detachable connection. The T-shaped groove in the identification block 3 is in transition fit with the I-shaped convex piece of the register base body 1, the identification block 5 and the register base body 1 can be connected to a certain extent only by means of friction force between the T-shaped groove and the I-shaped convex piece, and meanwhile, the identification block 3 is convenient to install and detach.
Specifically, above-mentioned supplementary register of operation still includes register apron 5 and pivot 6, and pivot 6 sets up in the border of register base member 1 upper surface, and register apron 5's one end and register base member 1 are through 6 swing joint of pivot, and register apron 5's the other end can revolute 6 rotations of pivot to easy to assemble power supply circuit board 2, after register apron 5 covers on power supply circuit board 2, can play the effect of protection power supply circuit board 2.
The registry cover 5 is provided with a through hole 51, and the position of the through hole 51 corresponds to the position of the infrared light emitting diode, so that when the registry cover 5 covers the power supply circuit board 2, the infrared light emitting diode is positioned in the corresponding through hole 51. In addition, an infrared filter is further disposed on the through hole 51 on the upper surface of the register cover plate 5, and when the register cover plate 5 covers the power supply circuit board 2, the infrared filter covers the light emitting surface of the infrared light emitting diode for filtering the light noise emitted by the infrared light emitting diode. The infrared filter may cover only the position of the through hole 51, or only the area of the register cover where the through hole 51 is located, or completely cover the upper surface of the register cover 5; the upper surface of the register cover 5 refers to a surface of the register cover 5 away from the power supply circuit board 2.
The diameter of the through hole 51 is slightly larger than that of the infrared light-emitting diode and ranges from 2mm to 3 mm. Referring to fig. 2, fig. 2 is a schematic view illustrating a position of an infrared light emitting diode according to the present invention. In fig. 2, the infrared light emitting diode 7 is located in the through hole 51.
The number of the infrared light-emitting diodes is at least 4, and the infrared light-emitting diodes are distributed asymmetrically and used for conveniently acquiring the position information and the posture of the base body 1 of the register; the number of the steel balls 4 is at least 4, the steel balls are distributed asymmetrically, and at least one steel ball is not coplanar with other steel balls, namely the packaging depth of at least one steel ball in the identification block 3 is different from that of other steel balls, and the steel balls are used for imaging in three-dimensional data after being scanned by equipment such as a C-shaped arm and the like. The actual spatial point coordinate set of the infrared light emitting diode and the point coordinate set of the steel ball in the image have a fixed positional relationship, and the relationship is determined by the structural design itself.
Wherein, the infrared light emitting diode preferably adopts a high-power light emitting diode, such as 3535 type infrared light emitting diode; the diameter of the steel ball is 0.8 mm-1.2 mm.
Furthermore, the operation auxiliary register also comprises a power supply which is fixedly arranged in the register base body 1 and is electrically connected with the power supply circuit board 2. The power supply can be supplied by a commercial battery within safe voltage and is mainly used for supplying power to the infrared diode.
The registrar cover 5, the identification block 3, and the registrar base 1 are made of PSU (Polysulfone) material. The PSU material belongs to an amber transparent solid material, has high hardness and impact strength, no toxicity, good heat resistance, good cold resistance and good aging resistance, and can be used for a long time in the environment of 100 ℃ below zero to 175 ℃.
In this embodiment, when performing surgical registration, an incision about 15mm long needs to be made at a diseased part of a patient, the identification block 3 is inserted into the incision, three-dimensional volume data of the patient is acquired by using the C-shaped arm, a steel ball is searched from the three-dimensional volume data, positions of infrared light emitting diodes are detected by using infrared tracking equipment, and a surgical registration process can be completed by using spatial coordinates of the steel ball and the infrared light emitting diodes.
The invention can automatically complete the operation registration process by utilizing the steel balls and the infrared light-emitting diodes in the operation auxiliary register without manual operation of doctors, and effectively simplifies the operation registration process on the premise of ensuring the registration precision; meanwhile, the mark block of the operation auxiliary register can be detached, and the operation auxiliary register can be reused after the mark block is sterilized, so that the cost of the operation registration process can be effectively reduced.
Further, the present invention also provides a surgical registration method based on a surgical assistant register, referring to fig. 3, and fig. 3 is a flowchart illustrating an embodiment of the surgical registration method based on the surgical assistant register of the present invention. The method comprises the following steps:
step S10, after the identification block of the operation auxiliary register is inserted into the body of a patient, acquiring three-dimensional data of the patient by using a C-shaped arm, and determining the position of a steel ball in the identification block in the three-dimensional data;
in this embodiment, when performing surgical registration, an incision with a length of about 15mm needs to be made at a diseased part of a patient, an identification block of the surgical assistant registration device is inserted into the incision, then three-dimensional volume data of the patient is acquired by using the C-arm, and then the position of a steel ball in the identification block is determined in the three-dimensional volume data.
Specifically, the position of the steel ball may be determined in the three-dimensional volume data by using a template matching algorithm or a hough circle transform algorithm. The template matching algorithm is the most primitive and basic pattern recognition method, is mainly used for researching where a pattern of a specific object is located in an image, and further recognizing the object, and is the most basic and most common matching method in image processing. The template is a known small image, the template matching is to search for an object in a large image, the object to be found in the image is known, the size, the direction and the image elements of the object and the template are the same, and the object can be found in the image through a certain algorithm to determine the coordinate position of the object. The basic idea of hough circle transformation is that each non-zero pixel point on an image is considered to be a potential point on a circle, and as with hough line transformation, a cumulative coordinate plane is generated by voting, and a cumulative weight is set to position the circle.
The surgical assistant registration device is the surgical assistant registration device described in fig. 1 to 2, and is not described herein again.
Step S20, determining the space coordinate of an infrared light-emitting diode in the operation auxiliary register, and performing compensation operation on the space coordinate of the infrared light-emitting diode based on the offset of the steel ball relative to the infrared light-emitting diode to obtain the space coordinate of the steel ball;
in this embodiment, the step of determining the spatial coordinates of the infrared light emitting diode includes:
detecting the position of each infrared light-emitting diode by using preset infrared tracking equipment;
and establishing a space rectangular coordinate system based on the positions of the infrared light-emitting diodes, and determining the space coordinates of the infrared light-emitting diodes in the space rectangular coordinate system.
When the operation registration is carried out, power needs to be supplied to the infrared light emitting diodes, then the infrared tracking equipment detects the positions of the infrared light emitting diodes, a space rectangular coordinate system is established based on the positions of the infrared light emitting diodes, and the space coordinates of the infrared light emitting diodes in the space rectangular coordinate system are determined.
After the spatial coordinates of the infrared light-emitting diodes are determined, the offset of the steel balls relative to the infrared light-emitting diodes can be utilized to perform compensation operation on the spatial coordinates of the infrared light-emitting diodes, so that the spatial coordinates of the steel balls are obtained. Wherein, the offset of the steel ball relative to each infrared light-emitting diode depends on the operation auxiliary register.
And step S30, calling a preset ICP algorithm to perform surgical registration based on the spatial coordinates of the infrared light-emitting diode and the spatial coordinates of the steel ball.
In this embodiment, after the spatial coordinates of the infrared light emitting diode and the spatial coordinates of the steel ball are obtained, the ICP algorithm may be called to perform surgical registration. The ICP algorithm is based on a point set-to-point set registration method, and after a corresponding nearby point set is determined from a measurement point set, a new nearby point set is calculated.
It is to be understood that the ICP algorithm described above is only one preferred registration algorithm for the point set data used in the surgical registration process of the present invention, and that other registration algorithms using point set data can also be used to perform surgical registration.
In the surgical registration method based on the surgical assistant register provided in this embodiment, after the identification block of the surgical assistant register is inserted into the body of the patient, the C-arm is used to acquire three-dimensional data of the patient, the position of the steel ball in the identification block is determined in the three-dimensional data, then the spatial coordinate of the infrared light emitting diode in the surgical assistant register is determined, the spatial coordinate of the infrared light emitting diode is compensated and calculated based on the offset of the steel ball relative to the infrared light emitting diode, so as to obtain the spatial coordinate of the steel ball, and then the surgical registration can be performed by calling a preset ICP algorithm based on the spatial coordinate of the infrared light emitting diode and the spatial coordinate of the steel ball. The present embodiment can utilize the steel ball and the infrared light emitting diode in the surgical auxiliary register to complete the surgical registration process, and does not require manual operation by a doctor, thereby effectively simplifying the surgical registration process on the premise of ensuring the registration accuracy.
In view of the above description of the surgical assistant registration device and the surgical registration method provided by the present invention, those skilled in the art will recognize that there are variations in the embodiments and applications of the concept of the present invention, and accordingly, the disclosure should not be construed as limiting the invention.
Claims (4)
1. An operation auxiliary register is characterized by comprising a register base body, a power supply circuit board, an infrared light-emitting diode, an identification block and steel balls; the power supply circuit board is arranged on the upper surface of the register base body, the infrared light-emitting diode is arranged on the power supply circuit board, the identification block is detachably connected with one end of the register base body, and the steel ball is packaged in the identification block; the number of the infrared light-emitting diodes is at least 4, the infrared light-emitting diodes are asymmetrically distributed, the number of the steel balls is at least 4, the steel balls are asymmetrically distributed, and at least one steel ball is not coplanar with other steel balls and is used for imaging in three-dimensional data; the actual space point coordinate set of the infrared light-emitting diode and the point coordinate set of the steel ball in the image have a fixed position relation; the operation auxiliary register also comprises a register cover plate and a rotating shaft, wherein the rotating shaft is arranged at the edge of the upper surface of the register base body, one end of the register cover plate is movably connected with the register base body through the rotating shaft, the other end of the register cover plate can rotate around the rotating shaft, a through hole is formed in the register cover plate, the position of the through hole corresponds to the position of the infrared light-emitting diode, so that when the register cover plate covers the power supply circuit board, the infrared light-emitting diode is positioned in the corresponding through hole, and the infrared light filter covers the light-emitting surface of the infrared light-emitting diode and is used for filtering light noise emitted by the infrared light-emitting diode; when the operation registration is carried out, the identification block of the operation auxiliary registration device is inserted into the body of a patient; and detecting the space coordinates of each infrared light-emitting diode by using an infrared tracking device.
2. The surgical assistant registration apparatus of claim 1, wherein the identification block has a T-shaped groove, and one end of the registration apparatus base body connected to the identification block is an i-shaped protrusion, and the identification block is connected to the i-shaped protrusion of the registration apparatus base body through the T-shaped groove in a matching manner, so as to realize the detachable connection.
3. A surgical assisted registry as claimed in claim 1 wherein the registry cover, the identification block and the registry base are all made of polysulfone PSU material.
4. A surgical assistant registration apparatus according to any one of claims 1 to 3, further comprising a power supply fixedly mounted in the registration apparatus base and electrically connected to the power supply circuit board.
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| CN201710999623.8A CN109692040B (en) | 2017-10-24 | 2017-10-24 | Operation auxiliary register and operation registering method |
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Citations (2)
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| EP2298215A1 (en) * | 2009-09-21 | 2011-03-23 | Stryker Leibinger GmbH & Co. KG | Technique for registering image data of an object |
| CN104887327A (en) * | 2015-06-24 | 2015-09-09 | 深圳安科高技术股份有限公司 | Touch sensitive type registering tool for surgical navigation and registering tool method of registering tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203699578U (en) * | 2013-12-19 | 2014-07-09 | 慈溪莱普森机械有限公司 | Elevator protection box |
| WO2016044934A1 (en) * | 2014-09-24 | 2016-03-31 | 7D Surgical Inc. | Tracking marker support structure and surface registration methods employing the same for performing navigated surgical procedures |
| JP6850289B2 (en) * | 2015-10-14 | 2021-03-31 | サージヴィジオ | Modular fluorescent navigation equipment |
| CN205611114U (en) * | 2016-04-01 | 2016-09-28 | 王东 | Control box structure |
| CN106453100A (en) * | 2016-08-31 | 2017-02-22 | 成都鸿荣通科技有限公司 | Router with air-cooled radiators |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2298215A1 (en) * | 2009-09-21 | 2011-03-23 | Stryker Leibinger GmbH & Co. KG | Technique for registering image data of an object |
| CN104887327A (en) * | 2015-06-24 | 2015-09-09 | 深圳安科高技术股份有限公司 | Touch sensitive type registering tool for surgical navigation and registering tool method of registering tool |
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