CN110478041A - A kind of compound medicinal operation trajectory track system - Google Patents
A kind of compound medicinal operation trajectory track system Download PDFInfo
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- CN110478041A CN110478041A CN201910805505.8A CN201910805505A CN110478041A CN 110478041 A CN110478041 A CN 110478041A CN 201910805505 A CN201910805505 A CN 201910805505A CN 110478041 A CN110478041 A CN 110478041A
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- magnetic field
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- ultrasonic
- induction
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
-
- 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
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
-
- 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
- A61B2034/2065—Tracking using image or pattern recognition
Abstract
The invention discloses a kind of compound medicinal of medicine technology field operation trajectory track systems, including ultrasonic probe, induction coil, ultrasonic reception device, data handling component, show equipment, magnetic field generating device, magnetic field induction equipment, ultrasonic probe and induction coil are fixedly mounted in surgical instrument, ultrasonic receiving device is arranged above operating bed, magnetic field generating device is arranged on operating bed periphery, induction coil is located in the magnetic field that magnetic field generating device is issued, magnetic field induction equipment is used for induced magnetic field voltage, data handling component is used to receive the data of ultrasonic receiving device and magnetic field induction equipment and handles calculating, display equipment the calculated result of processing component and generates trace image for receiving data, display equipment is for importing initial pictures, by display device flag normal place after initial pictures importing, the present invention can chase after Track operation track, judges range of operation, avoids the occurrence of accident.
Description
Technical field
The present invention relates to medicine technology field, specially a kind of compound medicinal operation trajectory track system.
Background technique
The liver and gall surgical departments such as liver cell disease, hepatic calculus, hepatitis cirrhosis and liver failure disease is to seriously threaten
The major disease of compatriots.In the disease treatment of liver and gall surgical department, the operative treatment mode of liver and gall surgical department is very common effective
The apparatus structure of therapeutic modality, liver and gall surgical department's treatment in the prior art is single, and the data and operation track in surgical procedure are difficult
To obtain, the range of operation of surgical instrument cannot be accurately and timely obtained, is easy to cause unexpected.
Based on this, the present invention devises a kind of compound medicinal operation trajectory track system, to solve the above problems.
Summary of the invention
The purpose of the present invention is to provide a kind of compound medicinal operation trajectory track systems, to solve above-mentioned background technique
Data and operation track in the surgical procedure of middle proposition are difficult to obtain, and cannot accurately and timely obtain the operation model of surgical instrument
It encloses, is easy to cause unexpected problem.
To achieve the above object, the invention provides the following technical scheme:
A kind of compound medicinal operation trajectory track system, including ultrasonic probe, induction coil, ultrasonic reception device, number
According to processing component, display equipment, magnetic field generating device, magnetic field induction equipment, the ultrasonic probe and induction coil are fixedly mounted
In surgical instrument, the ultrasound receiving device is arranged above operating bed, and the magnetic field generating device setting is in operating bed week
Side, the induction coil are located in the magnetic field that magnetic field generating device is issued, and the magnetic field induction equipment is for induced magnetic field electricity
Pressure, the data handling component are used to receive the data of ultrasonic receiving device and magnetic field induction equipment and handle calculating, described aobvious
Show that equipment the calculated result of processing component and generates trace image for receiving data, the display equipment is for importing initial graph
Picture, by display device flag normal place after the initial pictures importing.
Preferably, the initial pictures are the three-dimensional or two dimensional image for the operative site being previously obtained, and import display equipment
Afterwards by manually clicking image tagged normal place by mouse and being displayed in blue.
Preferably, the surgical instrument when first used, issues ultrasonic wave by ultrasonic probe and is connect by ultrasonic reception device
It receives, the initial position of surgical instrument is calculated by data handling component, and marked on initial pictures with red display,
This position is identified as initial position of the induction coil in magnetic field simultaneously.
Preferably, when the ultrasonic signal that the ultrasonic reception device receives is more mixed and disorderly, with the reception of magnetic field induction equipment
The data arrived are normal data, are denoted as the exact point of operation track.
Preferably, when the signal that the magnetic field induction equipment receives is weaker, the data that are received with ultrasonic reception device
For normal data, it is denoted as the exact point of operation track.
Preferably, the induction coil is equipped with three groups, is respectively used to X, Y, Z-direction positioning, and the magnetic field generating device is set
The magnetic field for setting sending is ultralow electromagnetic field.
Compared with prior art, the beneficial effects of the present invention are:
The present invention obtains the three-dimensional or two dimension of operative site by external device by first calibrating surgical instrument initial position
Image marks initial pictures normal place to be simultaneously displayed in blue as initial pictures, blue display is put adjust to display screen
Normal place be overlapped, complete framing, for the first time using surgical instrument performed the operation when, pass through ultrasonic probe and induction coil
Operation track is obtained after a series of processing.Mutually auxiliary completes track positioning for both localization by ultrasonic and electromagnetic location, and data are accurate,
Cooperate track label on the image of operative site, more intuitively, and the operation track drawn and the normal place for realizing calibration
Color show different, the trajectory distance central point distance that can easily judge to perform the operation avoids the occurrence of meaning to judge range of operation
Outside.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is steps flow chart schematic diagram of the present invention；
Fig. 2 is flow diagram of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
The present invention provides a kind of technical solution referring to FIG. 1-2:
A kind of compound medicinal operation trajectory track system, including ultrasonic probe, induction coil, ultrasonic reception device, number
According to processing component, display equipment, magnetic field generating device, magnetic field induction equipment, the ultrasonic probe and induction coil are fixedly mounted
In surgical instrument, the ultrasound receiving device is arranged above operating bed, and the magnetic field generating device setting is in operating bed week
Side, the induction coil are located in the magnetic field that magnetic field generating device is issued, and the magnetic field induction equipment is for induced magnetic field electricity
Pressure, the data handling component are used to receive the data of ultrasonic receiving device and magnetic field induction equipment and handle calculating, described aobvious
Show that equipment the calculated result of processing component and generates trace image for receiving data, the display equipment is for importing initial graph
Picture, by display device flag normal place after the initial pictures importing.
Wherein, initial pictures are the three-dimensional or two dimensional image for the operative site being previously obtained, and are imported after display equipment by people
Work is clicked image tagged normal place by mouse and is displayed in blue.Surgical instrument when first used, is issued by ultrasonic probe
Ultrasonic wave is received by ultrasonic reception device, and the initial position of surgical instrument is calculated by data handling component, and is marked
With red display on initial pictures, while this position is identified as initial position of the induction coil in magnetic field.Ultrasonic reception
When the ultrasonic signal that device receives is more mixed and disorderly, the data received using magnetic field induction equipment are denoted as operation as normal data
The exact point of track.When the signal that magnetic field induction equipment receives is weaker, the data received using ultrasonic reception device is standards
Data are denoted as the exact point of operation track.Induction coil is equipped with three groups, is respectively used to X, Y, Z-direction positioning, the magnetic field occurs
The magnetic field that equipment setting issues is ultralow electromagnetic field.
One concrete application of the present embodiment are as follows: the present invention first calibrates surgical instrument initial position, by by surgical instrument
It is placed in the origin position demarcated on operating bed, the real time position that display device is shown and display screen central standard position weight
It closes, completes origin calibration, then the three-dimensional or two dimensional image for obtaining operative site by external device should as initial pictures
Initial pictures import after display equipment by manually clicking image tagged normal place by mouse and being displayed in blue, and the blue is aobvious
Show a little to adjust to the normal place with display screen and be overlapped, completes framing, when being performed the operation for the first time using surgical instrument, ultrasound
Probe issues ultrasonic wave and is received by ultrasonic reception device, and the initial position of surgical instrument is calculated by data handling component, and
It is marked with red display on initial pictures, while this position is identified as initial position of the induction coil in magnetic field,
Then start to perform the operation, the ultrasonic probe in surgical instrument issues ultrasonic wave, by ultrasonic reception device real-time reception, data processing group
Part calculates obtained data processing, generates real-time coordinates, coordinate line is formed operation track, induction coil occurs in magnetic field
Voltage change sends out data to be captured by magnetic field induction equipment in mobile initiation magnetic field in the ultralow electromagnetic field that equipment issues
Data handling component is given, space orientation coordinate is calculated, coordinate line is formed into operation track.In use process, hand
Art Space Facilities instrument is numerous, and the noise of generation interferes ultrasonic reception device, and metallic weapon used in doctor etc. is inevitable
Magnetic field is interfered, and different operative spaces interferes two ways different, ultrasonic positioning techniques have inexpensive excellent
Point can not have between reception device and ultrasonic probe the shortcomings that disturbing vulnerable to factors thousand such as temperature, humidity variation and air-flows
Hinder, ultrasonic velocity can also be influenced by other noises and echo in operating room, and electromagnetic location be conducive to it is complete in deep operation
Bulky instrument such as microscope is used in journey.Therefore when the ultrasonic signal that ultrasonic reception device receives is more mixed and disorderly, with magnetic field
The data that sensing apparatus receives are normal data, are denoted as the exact point of operation track, the signal that magnetic field induction equipment receives
When weaker, the data received using ultrasonic reception device are denoted as the exact point of operation track as normal data, and the two has mutually assisted
It being positioned at track, data are accurate, and cooperation track label is on the image of operative site, more intuitively, and the operation track drawn
From realize calibration normal place color show it is different, can easily judge operation trajectory distance central point distance, to sentence
Disconnected range of operation, avoids the occurrence of accident.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the invention
In example or example.In the present specification, schematic expression of the above terms may not refer to the same embodiment or example.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples to close
Suitable mode combines.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (6)
- The trajectory track system 1. a kind of compound medicinal is performed the operation, it is characterised in that: connect including ultrasonic probe, induction coil, ultrasound Receiving apparatus, data handling component, display equipment, magnetic field generating device, magnetic field induction equipment, the ultrasonic probe and induction coil It is fixedly mounted in surgical instrument, the ultrasound receiving device is arranged above operating bed, and the magnetic field generating device setting exists Operating bed periphery, the induction coil are located in the magnetic field that magnetic field generating device is issued, and the magnetic field induction equipment is for feeling Field voltage is answered, the data handling component is based on receiving the data of ultrasonic receiving device and magnetic field induction equipment and handling It calculates, the display equipment calculated result of processing component and generates trace image for receiving data, and the display equipment is used for Initial pictures are imported, by display device flag normal place after the initial pictures importing.
- The trajectory track system 2. a kind of compound medicinal according to claim 1 is performed the operation, it is characterised in that: the initial graph Three-dimensional or two dimensional image as being the operative site being previously obtained import after display equipment and click image mark by manually passing through mouse Note normal place is simultaneously displayed in blue.
- The trajectory track system 3. a kind of compound medicinal according to claim 1 is performed the operation, it is characterised in that: the surgical device Tool when first used, issues ultrasonic wave by ultrasonic probe and is received by ultrasonic reception device, be calculated by data handling component The initial position of surgical instrument, and marked with red display on initial pictures, while this position is identified as the line of induction Enclose the initial position in magnetic field.
- The trajectory track system 4. a kind of compound medicinal according to claim 1 is performed the operation, it is characterised in that: the ultrasound connects When the ultrasonic signal that receiving apparatus receives is more mixed and disorderly, the data received using magnetic field induction equipment are denoted as hand as normal data The exact point of art track.
- The trajectory track system 5. a kind of compound medicinal according to claim 1 is performed the operation, it is characterised in that: the magnetic field sense When the signal for answering equipment to receive is weaker, the data received using ultrasonic reception device are denoted as operation track as normal data Exact point.
- The trajectory track system 6. a kind of compound medicinal according to claim 1 is performed the operation, it is characterised in that: the line of induction Circle is equipped with three groups, is respectively used to X, Y, Z-direction positioning, the magnetic field that the magnetic field generating device setting issues is ultralow electromagnetic field.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910805505.8A CN110478041A (en) | 2019-08-29 | 2019-08-29 | A kind of compound medicinal operation trajectory track system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910805505.8A CN110478041A (en) | 2019-08-29 | 2019-08-29 | A kind of compound medicinal operation trajectory track system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6379302B1 (en) * | 1999-10-28 | 2002-04-30 | Surgical Navigation Technologies Inc. | Navigation information overlay onto ultrasound imagery |
| US20070239004A1 (en) * | 2006-01-19 | 2007-10-11 | Kabushiki Kaisha Toshiba | Apparatus and method for indicating locus of an ultrasonic probe, ultrasonic diagnostic apparatus and method |
| CN102319117A (en) * | 2011-06-16 | 2012-01-18 | 上海交通大学医学院附属瑞金医院 | Arterial intervention implant implanting system capable of fusing real-time ultrasonic information based on magnetic navigation |
| CN106108951A (en) * | 2016-07-26 | 2016-11-16 | 上海市第人民医院 | A kind of medical real-time three-dimensional location tracking system and method |
| CN110338908A (en) * | 2019-08-20 | 2019-10-18 | 王勇 | A kind of compound medicinal operation trajectory track system |
-
2019
- 2019-08-29 CN CN201910805505.8A patent/CN110478041A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6379302B1 (en) * | 1999-10-28 | 2002-04-30 | Surgical Navigation Technologies Inc. | Navigation information overlay onto ultrasound imagery |
| US20070239004A1 (en) * | 2006-01-19 | 2007-10-11 | Kabushiki Kaisha Toshiba | Apparatus and method for indicating locus of an ultrasonic probe, ultrasonic diagnostic apparatus and method |
| CN102319117A (en) * | 2011-06-16 | 2012-01-18 | 上海交通大学医学院附属瑞金医院 | Arterial intervention implant implanting system capable of fusing real-time ultrasonic information based on magnetic navigation |
| CN106108951A (en) * | 2016-07-26 | 2016-11-16 | 上海市第人民医院 | A kind of medical real-time three-dimensional location tracking system and method |
| CN110338908A (en) * | 2019-08-20 | 2019-10-18 | 王勇 | A kind of compound medicinal operation trajectory track system |
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Application publication date: 20191122 |