CN109984842A - Electromagnetism tracking pedestal and electromagnetic tracking system - Google Patents
Electromagnetism tracking pedestal and electromagnetic tracking system Download PDFInfo
- Publication number
- CN109984842A CN109984842A CN201711473556.2A CN201711473556A CN109984842A CN 109984842 A CN109984842 A CN 109984842A CN 201711473556 A CN201711473556 A CN 201711473556A CN 109984842 A CN109984842 A CN 109984842A
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- mounting structure
- electromagnetism
- electromagnetism tracking
- body surface
- marker
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 title claims abstract description 48
- 239000003550 marker Substances 0.000 claims abstract description 47
- 238000009434 installation Methods 0.000 claims description 31
- 239000012790 adhesive layer Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 3
- 210000000056 organ Anatomy 0.000 description 6
- 238000001356 surgical procedure Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000029058 respiratory gaseous exchange Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
The present invention provides a kind of electromagnetism tracking pedestal and electromagnetic tracking systems.The electromagnetism tracking pedestal includes Base body, marker mounting structure and mark mounting structure is provided in Base body, marker mounting structure includes at least three, and at least three marker mounting structures are not conllinear.The electromagnetism tracking pedestal has mark mounting structure and marker mounting structure, electromagnetic identification can be installed using mark mounting structure, marker mounting structure can be with adjustment notch ball, to make that the relative positional relationship between ball and electromagnetic identification is marked to fix, and it is free from the influence of the external environment, to promote the accuracy of electromagnetism tracking and positioning.
Description
Technical field
The present invention relates to medical apparatus technical field more particularly to a kind of electromagnetism tracking pedestals and electromagnetic tracking system.
Background technique
In current operation, it is often necessary to which body surface and internal each physiological structure be (such as in breathing by real-time detection patient
Lesion, blood vessel and internal organs etc.) relative positional relationship, to determine surgery location.By taking the ablative surgery in Minimally Invasive Surgery as an example, it is
Reduction operation wound, by the relative positional relationship of detector real-time detection patient body surface and internal each organ in breathing,
Change to avoid because of intracorporeal organ caused by breathing with respect to sites, so that deviation occurs in surgery location, to hurt body
Interior organ.
In the prior art, since there are a variety of disturbing factors in operation, if doctor is during operation and between patient
Positional relationship can have a variety of different situations, cause existing optical detection instrument detection Shi Huishou doctor and patient it
Between the interference of change in location can have a negative impact so that detection result is not accurate enough to surgical quality.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of electromagnetism tracking pedestal and electromagnetic tracking system, to solve existing skill
The inaccurate problem of relative position detection to patient body-surface and internal target organ in art.
The embodiment of the present invention provides a kind of electromagnetism tracking pedestal comprising Base body is provided with label in Base body
Part mounting structure and mark mounting structure, marker mounting structure includes at least three, and at least three marker mounting structures
It is not conllinear.
Optionally, the body surface connection structure connecting with human body is additionally provided in Base body.
Optionally, body surface connection structure includes body surface connecting plate and the adhesive layer that is arranged on body surface connecting plate；Alternatively, body
Table connection structure includes body surface connecting plate and the vacuum suction part that is arranged on body surface connecting plate.
Optionally, marker mounting structure is at least four, and at least four marker mounting structures are non-coplanar.
Optionally, Base body includes mounting disc and installation supporting leg, and installation supporting leg is at least two, and each installation supporting leg is equal
It is connected to the bottom of mounting disc, the setting of marker mounting structure is in mounting disc and/or installation supporting leg, mark mounting structure setting
In mounting disc and/or installation supporting leg.
Optionally, respectively one end of the separate mounting disc of installation supporting leg is provided with body surface connection structure.
Optionally, installation groove is provided at the top of mounting disc, mark mounting structure is arranged in installation groove.
Optionally, it is provided with evacuation groove in mounting disc, avoids groove being laterally extended along mounting disc, and in mounting disc
Opening is formed on side wall.
Optionally, the density of the material of electromagnetism tracking pedestal is lower than the density of patient itself and the density of label ball.
According to another aspect of the present invention, a kind of electromagnetic tracking system is provided comprising above-mentioned electromagnetism tracking pedestal, mark
Remember ball and electromagnetic identification, at least one electromagnetic identification and at least three is provided in electromagnetism tracking pedestal in non-colinear position
Mark ball.
A kind of electromagnetism tracking pedestal provided in an embodiment of the present invention is provided with mark in the Base body of the electromagnetism tracking pedestal
Remember part mounting structure and mark mounting structure, can install and accommodate marker, and at least three by marker mounting structure
Marker mounting structure is not conllinear, so that can guarantee that at least three markers are not conllinear, to make after adjustment notch part
It obtains when carrying out electromagnetism tracking by the electromagnetism tracking pedestal, can effectively establish sky by least three not conllinear markers
Between positional relationship.Mark mounting structure can install mark, so that guaranteeing marker and mark by the electromagnetism tracking pedestal
Positional relationship between knowledge is fixed, so that the relative position between mark and marker will not when carrying out electromagnetic surveying
Influenced by the change in location between doctor and patient, to guarantee to can use electromagnetic, to the body surface of patient with
Intracorporeal organ carries out effective position tracking, it is ensured that surgery location is accurate, guarantees surgical quality and safety.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of schematic perspective view at the first visual angle of electromagnetism tracking pedestal provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic perspective view at the second visual angle of electromagnetism tracking pedestal provided in an embodiment of the present invention；
Fig. 3 is a kind of overlooking structure diagram of electromagnetism tracking pedestal provided in an embodiment of the present invention；
Fig. 4 is a kind of present invention looks up structural representation of electromagnetism tracking pedestal provided in an embodiment of the present invention.
Description of symbols:
10, Base body；11, mounting disc；111, mounting structure is identified；112, groove is avoided；12, supporting leg is installed；121,
Marker mounting structure；20, body surface connection structure；30, ball is marked.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
As shown in Figs 1-4, according to an embodiment of the invention, electromagnetism tracking pedestal includes Base body 10, Base body 10
On be provided with marker mounting structure 121 and mark mounting structure 111, marker mounting structure 121 includes at least three, and extremely
Few three marker mounting structures 121 are not conllinear.
Marker mounting structure 121 and mark mounting structure 111 are provided in the Base body 10 of the electromagnetism tracking pedestal,
It further installs and accommodates by least three marker mounting structures 121 in marker (such as label ball), and at least three mark
It is not conllinear to remember part mounting structure 121, so that can guarantee that at least three markers are not conllinear after adjustment notch part,
So that when carrying out electromagnetism tracking by the electromagnetism tracking pedestal, it can be effective by least three not conllinear markers
Establish spatial relation.
In the present embodiment, mark mounting structure 111 can install mark (such as electromagnetic identification), so that passing through the electromagnetism
Tracking pedestal guarantees that the positional relationship between marker and mark is relatively fixed, so that when carrying out electromagnetic surveying, mark
Relative position between marker will not be influenced by the change in location between doctor and patient, to guarantee to can use electricity
Magnetic tracking technology can carry out effective position tracking to the body surface and intracorporeal organ of patient, it is ensured that surgery location is accurate, guarantees operation
Quality and safety.
In the present embodiment, the electromagnetism tracking pedestal be used to obtain in real time by electromagnetic body surface with it is internal each
In the scene of the relative position of physiological structure.Certainly, in other embodiments, which can be applied to any adopt
It is carried out in the determining scene of relative position tracking with electromagnetic.
Optionally, in order to guarantee that Base body 10 can reliably be connect with target (such as surgical target people), pedestal master
The body surface connection structure 20 connecting with human body is additionally provided on body 10.By body surface connection structure 20 can make Base body 10 with
With the fluctuating campaign of body surface, to guarantee the accuracy of electromagnetism tracking.
Optionally, in a kind of feasible pattern, body surface connection structure 20 includes that body surface connecting plate is connected with setting in body surface
Adhesive layer (not shown) on plate.Body surface connecting plate is for installation pedestal main body 10 and adhesive layer etc..Adhesive layer be used for
Human body connection, for electromagnetism tracking pedestal to be bonded in human body.Adhesive layer may include medical proof fabric, in medical adhesive glue
Any or a variety of combination etc..
Optionally, in another feasible pattern, body surface connection structure 20 includes that body surface connecting plate and setting connect in body surface
Vacuum suction part (not shown) on fishplate bar.The effect of body surface connecting plate is identical as previous feasible pattern, no longer superfluous herein
It states.Vacuum suction part can be fixedly connected on body surface connecting plate, and be connect by way of vacuum suction with human body, and realizing will
Electromagnetism tracking pedestal is fixed on the purpose on human body.
As shown in Figs 1-4, Base body 10 includes mounting disc 11 and installation supporting leg 12.Mounting disc 11 can be disk, peace
Marker mounting structure 121 and/or mark mounting structure 111 can be set in sabot 11.Optionally, when electromagnetic identification is installed to
After identifying on mounting structure 111, electromagnetic identification is identified for the ease of electromagnetic tracking system, mark mounting structure 111 is installed to
In mounting disc 11, so that electromagnetic tracking system is easier to recognize electromagnetic identification, can prevent from blocking.
Optionally, the top of mounting disc 11 is provided with installation groove, which prolongs along the thickness direction of mounting disc 11
It stretches.Mounting structure 111 is identified to be arranged in installation groove.For example, as shown in Figure 1, mark mounting structure 111 be mounting post,
It is upwardly extended and is formed by the slot bottom of installation groove.
It is different according to the quantity of electromagnetic identification, the mark mounting structure 111 of different number, each mark installation can be set
One electromagnetic identification can be installed in structure 111.In the present embodiment, mark mounting structure 111 is two, and is arranged at peace
In sabot 11.
Optionally, in the present embodiment, it is additionally provided with evacuation groove 112 in mounting disc 11, is used for and electromagnetic tracking system
Other structures cooperation, or in use process other structures cooperate.The evacuation groove 112 prolongs along the transverse direction of mounting disc 11
It stretches, and forms opening on the side wall of mounting disc 11.
Optionally, evacuation groove 112 is arc groove, and arc groove processing is more convenient, and is more advantageous to enhancing mounting disc 11
Reliability, can be concentrated to avoid stress.
As shown in Figs 1-4, installation supporting leg 12 is at least two, and installation supporting leg 12 is used to support mounting disc 11, can also be used
In setting flag part mounting structure 121 and/or mark mounting structure 111.In the present embodiment, respectively installation supporting leg 12 is both connected to
The bottom of mounting disc 11.In order to form firm support to mounting disc 11, installation supporting leg 12 is 3.Marker mounting structure 121
Setting is on installation supporting leg 12.Certainly, marker mounting structure 121 also can be set in mounting disc 11.Marker installation knot
Structure 121 is used for adjustment notch part, such as label ball etc. used in electromagnetic tracking system.Marker mounting structure 121 can be
Any structure that marker can be fixed in Base body 10, for example, mounting hole, mounting groove or clamp structure etc..
In the present embodiment, respectively one end of the separate mounting disc 11 of installation supporting leg 12 is provided with above-mentioned body surface connection structure
20.By at least three installation supporting leg 12 of setting, and body surface is arranged in one end of the separate mounting disc 11 in each installation supporting leg 12
Connection structure 20 can be such that electromagnetism tracking pedestal and three non-colinear positions of patient body-surface mutually fixes, it is ensured that stable connection can
It leans on.
Optionally, marker mounting structure 121 is at least four, and at least four marker mounting structures 121 are non-coplanar.
Definition space may be implemented by four marker mounting structures 121 in this way, electromagnetic tracking system is enable to be pacified according to marker
Marker in assembling structure 121 is that reference is defined three-dimensional space.
It should be noted that when being provided with more than one mark mounting structure 111 in mounting disc 11, each mark peace
Assembling structure 111 at least corresponds to three marker mounting structures 121, and these three marker mounting structures 121 are not conllinear.
Optionally, at least three marker mounting structures 121, at least one marker mounting structure 121 can make
Marker in its fixed is in contact with the electromagnetic identification being arranged on mark mounting structure 111, and at least there are three labels
Part mounting structure 121 makes the marker to set within it be in contact with patient body-surface, preferably to be positioned, promoted electromagnetism with
The accuracy of track.
It should be noted that in the present embodiment, the density of the material of electromagnetism tracking pedestal is lower than the density of patient itself
With the density of label ball.
According to another aspect of the present invention, a kind of electromagnetic tracking system is provided comprising above-mentioned electromagnetism tracking pedestal, mark
Remember ball 30 and electromagnetic identification, at least one electromagnetic identification and at least three is provided in electromagnetism tracking pedestal in non-colinear position
Label ball, and make to establish between at least one described electromagnetic identification and at least three label balls in non-colinear position and fix
Positional relationship.Can also be provided in each marker mounting structure 121 of electromagnetism tracking pedestal label ball 30, electromagnetism with
Electromagnetic identification is provided on each mark mounting structure 111 of track pedestal.
Using the electromagnetic tracking system of the electromagnetism tracking pedestal, electromagnetism tracking pedestal can use in electromagnetic identification and label
Fixed positional relationship is established between ball 30, and is followed electromagnetic identification with label ball 30 and moved together with patient body-surface, and not shadow
Ring identification of the electromagnetic tracking device to electromagnetic identification.When marking ball 30 to be arranged in marker mounting structure 121, at least three
The centre of sphere of label ball 30 is in non-colinear position.It is tracked using the electromagnetic tracking system of the electromagnetism tracking pedestal using electromagnetism
When technology obtains body surface and the in vivo relative position of each physiological structure in real time, registration accuracy is higher, helps to promote operation
Accuracy.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, some or all of the modules therein can be selected according to the actual needs
It achieves the purpose of the solution of this embodiment.Those of ordinary skill in the art are without paying creative labor, it can
It understands and implements.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of electromagnetism tracking pedestal, which is characterized in that including Base body (10), be provided with mark on the Base body (10)
Remember part mounting structure (121) and mark mounting structure (111), the marker mounting structure (121) includes at least three, and institute
It is not conllinear to state at least three marker mounting structures (121).
2. electromagnetism tracking pedestal according to claim 1, which is characterized in that be additionally provided on the Base body (10) with
The body surface connection structure (20) of human body connection.
3. electromagnetism tracking pedestal according to claim 2, which is characterized in that the body surface connection structure (20) includes body surface
Connecting plate and the adhesive layer being arranged on the body surface connecting plate；Alternatively, the body surface connection structure (20) includes body surface connection
Plate and the vacuum suction part being arranged on the body surface connecting plate.
4. electromagnetism tracking pedestal according to claim 1, which is characterized in that the marker mounting structure (121) is extremely
It is four few, and at least four markers mounting structure (121) is non-coplanar.
5. electromagnetism tracking pedestal according to claim 1 or 2, which is characterized in that the Base body (10) includes installation
Disk (11) and installation supporting leg (12), the installation supporting leg (12) is at least two, and each installation supporting leg (12) is both connected to
The bottom of the mounting disc (11), the marker mounting structure (121) are arranged in the mounting disc (11) and/or the installation
On supporting leg (12), the mark mounting structure (111) is arranged in the mounting disc (11) and/or the installation supporting leg (12).
6. electromagnetism tracking pedestal according to claim 5, which is characterized in that each installation supporting leg (12) far from described
One end of mounting disc (11) is provided with body surface connection structure (20).
7. electromagnetism tracking pedestal according to claim 5, which is characterized in that be provided with peace at the top of the mounting disc (11)
Groove is filled, the mark mounting structure (111) is arranged in the installation groove.
8. electromagnetism tracking pedestal according to claim 7, which is characterized in that it is recessed to be provided with evacuation on the mounting disc (11)
Slot (112), evacuation groove (112) being laterally extended along mounting disc (11), and the shape on the side wall of the mounting disc (11)
At opening.
9. electromagnetism tracking pedestal according to claim 1, which is characterized in that the density of the material of the electromagnetism tracking pedestal
Lower than the density of patient itself and the density of label ball.
10. a kind of electromagnetic tracking system, which is characterized in that including electromagnetism tracking pedestal of any of claims 1-9,
Ball and electromagnetic identification are marked, at least one electromagnetic identification and at least three is provided in the electromagnetism tracking pedestal in non-colinear
The label ball of position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711473556.2A CN109984842B (en) | 2017-12-29 | 2017-12-29 | Electromagnetic tracking base and electromagnetic tracking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711473556.2A CN109984842B (en) | 2017-12-29 | 2017-12-29 | Electromagnetic tracking base and electromagnetic tracking system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109984842A true CN109984842A (en) | 2019-07-09 |
| CN109984842B CN109984842B (en) | 2024-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711473556.2A Active CN109984842B (en) | 2017-12-29 | 2017-12-29 | Electromagnetic tracking base and electromagnetic tracking system |
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| CN (1) | CN109984842B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112190333A (en) * | 2020-07-14 | 2021-01-08 | 山东威高医疗科技有限公司 | Space locator used with electromagnetic navigation system and C arm |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030225329A1 (en) * | 2002-06-04 | 2003-12-04 | Holger-Claus Rossner | Medical tracking system with universal interface |
| EP2916762A2 (en) * | 2012-11-06 | 2015-09-16 | Brainlab AG | Two-part tracking reference structure |
| US20150297315A1 (en) * | 2012-11-06 | 2015-10-22 | Brainlab Ag | Two-part tracking reference structure |
-
2017
- 2017-12-29 CN CN201711473556.2A patent/CN109984842B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030225329A1 (en) * | 2002-06-04 | 2003-12-04 | Holger-Claus Rossner | Medical tracking system with universal interface |
| EP2916762A2 (en) * | 2012-11-06 | 2015-09-16 | Brainlab AG | Two-part tracking reference structure |
| US20150297315A1 (en) * | 2012-11-06 | 2015-10-22 | Brainlab Ag | Two-part tracking reference structure |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112190333A (en) * | 2020-07-14 | 2021-01-08 | 山东威高医疗科技有限公司 | Space locator used with electromagnetic navigation system and C arm |
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| Publication number | Publication date |
|---|---|
| CN109984842B (en) | 2024-06-07 |
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