CN109692040B - Operation auxiliary register and operation registering method - Google Patents

Abstract

The invention discloses a surgical auxiliary registration device and a surgical registration method. The surgical auxiliary registration device comprises a registration device base body, a power supply circuit board, an infrared light emitting diode, a marking block and a steel ball; wherein, the power supply circuit board is installed on the upper surface of the registration device 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 base body of the register, and the steel ball is packaged inside the identification block. The present invention can use the steel balls and infrared light-emitting diodes in the above-mentioned surgical assistant registration device to automatically complete the surgical registration process, without the need for manual operations by doctors, and under the premise of ensuring registration accuracy, the surgical registration process is effectively simplified; at the same time, due to the above The identification block of the surgical aid registration device is detachable and can be reused after being sterilized, so the present invention can also effectively reduce the cost of the surgical registration process.

Description

Surgical Aid Register and Surgical Registration Method

technical field

The invention relates to the technical field of medical devices, in particular to a surgical auxiliary register and a surgical registration method.

Background technique

Surgical registration refers to the process in which the doctor establishes the position mapping relationship between the position information of the patient in the actual space and the image information scanned by the C-arm and other equipment. It is a crucial step in the surgical navigation and directly determines the surgical positioning. accuracy.

There are two main types of registration schemes currently used in clinical practice: one is to stick metal marking points on the patient, which can be imaged in the image after being scanned by equipment such as a C-arm, and can be combined with a mouse, etc. Operate to obtain its coordinates in the image space, and then select the coordinates of the marking point in the actual space through the calibrated medical probe, and finally use a registration algorithm such as ICP (Iterative Closest Point, iterative closest point) to complete the surgical registration; The other is to perform 3D/2D registration of the preoperative CT (Computed Tomography) volume data with the intraoperative C-arm frontal and lateral radiographs. The 3D point cloud data is reconstructed in 3D, and combined with DRR (Digitally Reconstructed Radiograph) technology to complete the plane projection of the 3D data, and then optimized algorithms such as Powell are used to rotate the volume data, so that the projected image is consistent with the intraoperative frontal and lateral views. The slices are as similar as possible to complete the subsequent registration operation.

The current registration scheme based on landmarks is time-consuming for doctors to operate, but the accuracy is relatively high; the average error of the 3D/2D registration scheme is about 2mm, and requires the acquisition of 3D image data before or during surgery, which is difficult to apply to the spine Surgery that requires high positioning accuracy. In the actual spinal navigation surgery, the registration scheme based on marker points is still the most practical solution, but the operation of the existing marker point selection is cumbersome for doctors, and its accuracy is directly related to the doctor's proficiency; in addition, the registration process The marking points used in the product are disposable consumables, and the long-term use cost is too high.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to provide a surgical assistant registration device and a surgical registration method, aiming at solving the technical problems that the identification point-based surgical registration scheme in the prior art is cumbersome and the registration process cost is high.

In order to achieve the above object, a first aspect of the present invention provides a surgical aid registration device, which includes a registration device 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 installed 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 to one end of the register base body, and the steel ball is packaged inside the identification block.

Optionally, the surgical auxiliary register further includes a register cover plate and a rotating shaft, the rotating shaft is disposed on the edge of the upper surface of the register base body, and one end of the register cover plate and the register base body pass through the register. The rotating shaft is connected.

Optionally, the register cover is provided with a through hole, and the position of the through hole corresponds to the position of the infrared light-emitting diode, so that when the register cover is covered on the power supply circuit board, , the infrared light-emitting diodes are located in the corresponding through holes.

Optionally, the surgical aid registration device further includes an infrared filter, and the infrared filter is disposed on the through hole on the upper surface of the registration device cover.

Optionally, the identification block has a T-shaped groove, and the end of the registrar base connected to the identification block is an I-shaped convex piece, and the identification block is connected to the identification block through the T-shaped groove. The I-shaped convex parts of the register base body are matched and connected to realize the detachable connection.

Optionally, the registrar cover, 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 and distributed asymmetrically, the number of the steel balls is at least 4 and distributed asymmetrically, and at least one steel ball is not coplanar with other steel balls.

Optionally, the surgical aid register further includes a power source, which is fixedly installed in the register base and is electrically connected to 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 aid register, where the surgical aid register is the surgical aid register provided by the first aspect, and the method includes:

After inserting the identification block of the surgical aid register into the patient's body, use the C-arm to collect the three-dimensional volume data of the patient, and determine the position of the steel ball in the identification block in the three-dimensional volume data;

determining the spatial coordinates of the infrared light-emitting diodes in the surgical aid register, and performing a compensation operation on the spatial coordinates of the infrared light-emitting diodes based on the offset of the steel balls relative to the infrared light-emitting diodes to obtain the steel balls the space coordinates;

Based on the space coordinates of the infrared light-emitting diode and the space coordinates of the steel ball, a preset ICP algorithm is invoked to perform surgical registration.

Optionally, the step of determining the spatial coordinates of the infrared light-emitting diodes in the surgical aid register includes:

Use a preset infrared tracking device to detect the position of each of the infrared light-emitting diodes;

A space rectangular coordinate system is established based on the position of each infrared light emitting diode, and the space coordinate of each infrared light emitting diode in the space rectangular coordinate system is determined.

Compared with the prior art, the surgical assistant registration device provided by the present invention can use the steel balls and infrared light-emitting diodes in the surgical assistant registration device to automatically complete the surgical registration process, without the need for manual operations by doctors, and ensures the registration accuracy. On the premise that the operation registration process is effectively simplified; at the same time, since the identification block of the surgical aid registration device is detachable, after the identification block is sterilized, the surgical aid registration device can be reused, so the present invention can also effectively to reduce the cost of the surgical registration process.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a surgical aid register in the present invention;

Fig. 2 is the position schematic diagram of the middle infrared light-emitting diode of the present invention;

FIG. 3 is a schematic flowchart of an embodiment of a surgical registration method based on a surgical aid register according to the present invention.

Detailed ways

In order to make the purpose, 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. The embodiments described above are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of a surgical aid register in the present invention. In this embodiment, the surgical aid register includes a register base 1, a power supply circuit board 2, an infrared light-emitting diode (not marked), and an identification block. 3 and steel ball 4; wherein, the power supply circuit board 2 is installed on the upper surface of the register base 1, the infrared light-emitting diode is arranged on the power supply circuit board 2, the identification block 3 is detachably connected to one end of the register base 1, and the steel ball 4 is packaged in Identify the interior of block 3.

Wherein, the overall size of the above-mentioned surgical aid register is about 50mm×15mm×10mm.

The identification block 3 has a T-shaped groove, and the end of the registration device base 1 connected with the identification block 3 is an I-shaped convex piece, and the identification block 3 passes through the above-mentioned T-shaped groove and the I-shaped convex piece of the registration device base 1. Matching connections for detachable connections. Among them, the T-shaped groove on the identification block 3 is transitionally matched with the I-shaped convex part of the register base 1, and only the friction between the T-shaped groove and the I-shaped convex part can be used to a certain extent. The above ensures that the identification block 5 and the register base 1 are connected together, and at the same time facilitates the installation and disassembly of the identification block 3 .

Specifically, the above-mentioned surgical auxiliary register further includes a register cover 5 and a rotating shaft 6, the rotating shaft 6 is arranged on the edge of the upper surface of the register base 1, and one end of the register cover 5 is movably connected to the register base 1 through the rotating shaft 6, The other end of the register cover 5 can be rotated around the rotating shaft 6 , thereby facilitating the installation of the power supply circuit board 2 . When the register cover 5 is covered on the power supply circuit board 2 , it can protect the power supply circuit board 2 .

Wherein, the register 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 register cover 5 is covered on the power supply circuit board 2, the infrared light emitting diode is located in the corresponding inside the through hole 51 . In addition, the through hole 51 on the upper surface of the register cover 5 is also provided with an infrared filter. When the register cover 5 is covered on the power supply circuit board 2, the infrared filter is covered on the light-emitting surface of the infrared light-emitting diode. to filter the light noise emitted by infrared light-emitting diodes. Wherein, the above-mentioned infrared filter can only cover the position where the through hole 51 is located, or only cover the area where the through hole 51 is located on the register cover, or completely cover the upper surface of the register cover 5; the register cover The upper surface of the board 5 refers to the 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 the diameter of the infrared light emitting diode, and is 2 mm˜3 mm. Referring to FIG. 2, FIG. 2 is a schematic diagram of the position of the mid-infrared light-emitting diode of the present invention. In FIG. 2 , the infrared light emitting diode 7 is located in the through hole 51 .

Among them, the number of infrared light-emitting diodes is at least 4, and they are distributed asymmetrically, which is used to easily obtain the position information and attitude of the register base 1; the number of steel balls 4 is at least 4, and the distribution is asymmetric, and there is at least one steel ball. It is not coplanar with other steel balls, that is, the encapsulation depth of at least one steel ball in the marking block 3 is different from that of other steel balls, which is used for imaging in 3D data after scanning by equipment such as C-arms. There is a fixed positional relationship between the actual space point coordinate set of the infrared light-emitting diode and the point coordinate set of the steel ball in the image, which is determined by the structural design itself.

Among them, the above-mentioned infrared light-emitting diodes preferably use high-power light-emitting diodes, such as 3535 type infrared light-emitting diodes; the diameter of the above-mentioned steel balls is 0.8mm-1.2mm.

Further, the above-mentioned surgical aid register further includes a power source, which is fixedly installed in the register base 1 and is electrically connected to the power supply circuit board 2 . The above-mentioned power source can be powered by a commercial battery within a safe voltage, which is mainly used to supply power to the above-mentioned infrared diode.

Wherein, the register cover 5 , the identification block 3 and the register base 1 are all made of PSU (Polysulfone, polysulfone) material. PSU material is an amber transparent solid material with high hardness and impact strength, non-toxic, heat resistance, cold resistance and aging resistance, and can be used for a long time in the environment of -100℃～175℃.

In this embodiment, when performing surgical registration, it is necessary to make an incision of about 15 mm long in the patient's diseased part, insert the above-mentioned marker block 3 into the incision, and then use the C-arm to collect the three-dimensional volume data of the patient, and from the three-dimensional volume data Search for the steel ball, then use the infrared tracking device to detect the position of each infrared light-emitting diode, and use the spatial coordinates of the steel ball and the infrared light-emitting diode to complete the surgical registration process.

The present invention can use the steel balls and infrared light-emitting diodes in the above-mentioned surgical assistant registration device to automatically complete the surgical registration process, without the need for manual operations by doctors, and under the premise of ensuring registration accuracy, the surgical registration process is effectively simplified; at the same time, due to the above The identification block of the surgical aid registration device is detachable, and after the identification block is sterilized, the surgical aid registration device can be reused, so the present invention can also effectively reduce the cost of the surgical registration process.

Further, the present invention also provides a surgical registration method based on a surgical aid register. Referring to FIG. 3 , FIG. 3 is a schematic flowchart of an embodiment of a surgical registration method based on the surgical aid register according to the present invention. The method includes:

Step S10, after inserting the identification block of the surgical aid register into the patient, use the C-arm to collect the three-dimensional volume data of the patient, and determine the position of the steel ball in the identification block in the three-dimensional volume data;

In this embodiment, when performing surgical registration, it is necessary to make an incision of about 15 mm long in the patient's diseased part, insert the identification block of the above-mentioned surgical assistant registration device into the incision, and then use the C-arm to collect the three-dimensional volume data of the patient. The position of the steel ball in the above-mentioned marker block is then determined in the three-dimensional volume data.

Specifically, a template matching algorithm or a Hough circle transform algorithm can be used to determine the position of the steel ball in the three-dimensional volume data. Among them, the template matching algorithm is one of the most primitive and basic pattern recognition methods. It is mainly used to study where the pattern of a specific object is located in the image, and then identify the object. It is the most basic and most commonly used in image processing. matching method. A template is a known small image, and template matching is to search for a target in a large image. It is known that there is a target to be found in the image, and the target has the same size, orientation and image elements as the template. A certain algorithm can find the target in the graph and determine its coordinate position. The basic idea of Hough circle transformation is to think that every non-zero pixel point on the image may be a point on a potential circle. Like Hough line transformation, it is also through voting to generate a cumulative coordinate plane and set a cumulative weight to Orientation circle.

Wherein, the above-mentioned surgical aid register is the surgical aid register described in FIG. 1 to FIG. 2 , which will not be repeated here.

Step S20: Determine the spatial coordinates of the infrared light-emitting diodes in the surgical aid register, and perform a compensation operation on the spatial coordinates of the infrared light-emitting diodes based on the offset of the steel balls relative to the infrared light-emitting diodes to obtain the space coordinates of the steel ball;

In this embodiment, the step of determining the spatial coordinates of the infrared light-emitting diode includes:

Use the preset infrared tracking device to detect the position of each infrared light-emitting diode;

A space rectangular coordinate system is established based on the position of each infrared light emitting diode, and the space coordinate of each infrared light emitting diode in the space rectangular coordinate system is determined.

Among them, when performing surgical registration, it is necessary to supply power to the above-mentioned infrared light-emitting diodes, and then the infrared tracking device detects the position of each infrared light-emitting diode, establishes a spatial Cartesian coordinate system based on the position of each infrared light-emitting diode, and determines that each infrared light-emitting diode is located in the Spatial coordinates in the spatial Cartesian coordinate system.

After the spatial coordinates of each infrared light-emitting diode are determined, the offset of the steel ball relative to each infrared light-emitting diode can be used to perform a compensation operation on the spatial coordinates of each infrared light-emitting diode, thereby obtaining the spatial coordinates of the steel ball. Wherein, the offset of the steel ball relative to each infrared light-emitting diode depends on the surgical aid register itself.

Step S30, based on the spatial coordinates of the infrared light-emitting diode and the spatial coordinates of the steel ball, call a preset ICP algorithm to perform surgical registration.

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 can be invoked to perform surgical registration. Among them, the ICP algorithm is based on the point set-to-point set registration method. After determining the corresponding nearest point set from the measurement point set, a new nearest point set is calculated.

It can be understood that the above-mentioned ICP algorithm is only a preferred registration algorithm of point set data used in the operation registration process of the present invention, and other registration algorithms of point set data can also realize operation registration.

In the surgical registration method based on the surgical aid register provided in this embodiment, after the identification block of the surgical aid register is inserted into the patient, the C-arm is used to collect the three-dimensional volume data of the patient, and the identification is determined in the three-dimensional volume data The position of the steel ball in the block, and then determine the spatial coordinates of the infrared light-emitting diode in the surgical aid register, and based on the offset of the steel ball relative to the infrared light-emitting diode, the space coordinate of the infrared light-emitting diode is calculated to compensate, so that The spatial coordinates of the above steel balls are obtained, and then based on the spatial coordinates of the infrared light-emitting diodes and the spatial coordinates of the above steel balls, a preset ICP algorithm can be invoked to perform surgical registration. That is, this embodiment can use the steel balls and infrared light-emitting diodes in the above-mentioned surgical assistant registration device to complete the surgical registration process, without the need for manual operations by doctors, and effectively simplify the surgical registration process on the premise of ensuring registration accuracy.

The above is a description of a surgical assistant registration device and a surgical registration method provided by the present invention. For those skilled in the art, according to the ideas of the embodiments of the present invention, there will be changes in the specific implementation and application scope. In conclusion, the contents of this specification should not be construed as limiting the present 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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