CN110547871A - Photo-magnetic integrated surgical navigation reference frame and marking device - Google Patents
Photo-magnetic integrated surgical navigation reference frame and marking device Download PDFInfo
- Publication number
- CN110547871A CN110547871A CN201910900121.4A CN201910900121A CN110547871A CN 110547871 A CN110547871 A CN 110547871A CN 201910900121 A CN201910900121 A CN 201910900121A CN 110547871 A CN110547871 A CN 110547871A
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- China
- Prior art keywords
- reference frame
- optical
- human body
- positioning
- surgical navigation
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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
-
- 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
- A61B2034/2055—Optical 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
- A61B2034/2068—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
Abstract
The invention discloses a photomagnetic integrated operation navigation reference frame and a marking device, wherein the marking device is provided with a marking plate, at least 3 marking points are arranged on the marking plate, the marking plate is connected with a reference frame, and the reference frame is provided with an electromagnetic sensor for electromagnetic positioning and an optical mark for optical positioning. The navigation terminal tracks the position of the reference frame in real time through the electromagnetic sensor and the optical mark on the reference frame in combination with an electromagnetic positioning technology and an optical positioning technology, and the navigation terminal tracks the position of the reference frame in real time through the electromagnetic sensor and the optical mark on the reference frame in combination with the electromagnetic positioning technology and the optical positioning technology. In the process of surgical navigation, the position coordinates of the surgical instrument are converted into a computer space coordinate system by tracking the position relation of the surgical instrument and the reference frame in real time. The navigation combines the electromagnetic positioning technology and the optical technology to track the position of the reference frame, so that the single sampling optical positioning or electromagnetic positioning is not performed, the positioning precision is higher, and the interference is less prone to occurring.
Description
Technical Field
The invention relates to the field of measuring directions by using reference marks, in particular to a photomagnetic integrated surgical navigation reference frame and a marking device.
Background
the surgical navigation means that the position of the surgical instrument is tracked in the surgical process, and the position of the surgical instrument is displayed on the image data of the patient in a virtual instrument mode. Thereby enabling the operating doctor to master the specific position of the surgical instrument relative to the anatomical part in real time and bringing great convenience to the surgical operation.
In the existing surgical navigation, a reference frame needs to be fixed on a patient body, and a marking plate is arranged on the reference frame in a matched mode. The navigation terminal performs operation registration through the marking plate, determines the conversion relation between an operation space coordinate system and a computer space coordinate system, and converts the detected position coordinate of the reference frame into the computer space coordinate system. In the process of surgical navigation, the position coordinates of the surgical instrument can be converted into a computer space coordinate system and finally displayed in a scanning image displayed by a navigation terminal as long as the positions of the reference frame and the surgical instrument are tracked in real time and the position relation between the surgical instrument and the reference frame is determined.
The existing reference frame can only be singly positioned by an optical positioning or electromagnetic positioning technology, and although the reference frame has the advantages of high positioning precision, flexible operation and the like, the electromagnetic positioning is easily interfered by electromagnetic waves generated by other instruments and equipment in an operating room, and a camera in the optical positioning is easily shielded from sight in the operation process, so that the tracking of the position of the reference frame by a navigation terminal can be influenced.
Disclosure of Invention
In order to solve the technical problems, the invention provides a photomagnetic integrated surgical navigation reference frame and a marking device.
The technical scheme is as follows:
A photomagnetic integrated surgical navigation reference frame is provided with a reference frame, wherein an electromagnetic sensor for electromagnetic positioning and an optical mark for optical positioning are arranged on the reference frame.
Furthermore, the reference frame is provided with a mounting platform, the electromagnetic sensor is arranged in the mounting platform, and the optical mark is arranged on the mounting platform.
Furthermore, the optical marker is provided with a support, the support is fixed with the mounting platform, the support is provided with at least 3 connecting arms, and the end parts of the connecting arms are detachably connected with the optical marker ball.
Further, the frame of reference is coupled to a human body mount.
Furthermore, the human body installation mechanism is provided with a fixed seat and installation bone nails, the fixed seat is sleeved on the installation bone nails and is fixed with the 2 installation bone nails through a clamping mechanism, the clamping mechanism is arranged in the fixed seat, and the reference frame is installed on the fixed seat.
Furthermore, the human body installation mechanism is provided with a spinous process clamp, and the reference frame is installed on the spinous process clamp.
furthermore, the human body installation mechanism is provided with an installation mechanism, and the reference frame is detachably connected with the human body installation mechanism through the installation mechanism.
Furthermore, the installation mechanism is provided with a U-shaped fixing clamp, and the reference frame is detachably connected with the human body installation mechanism through the U-shaped fixing clamp.
The utility model provides an operation navigation mark device, is provided with reference frame, human installation mechanism and mark board, is provided with 3 at least mark points on this mark board, the mark board all is connected with human installation mechanism, be provided with the electromagnetic sensor who is used for electromagnetic positioning on the reference frame to and be used for the optics mark of optics location, the reference frame is connected with human installation mechanism.
Furthermore, the mark plate is provided with a step platform, and each table surface of the step platform is provided with at least 3 mark points.
Has the advantages that:
1. The navigation combines the electromagnetic positioning technology and the optical technology to position the reference frame, so that the single sampling optical positioning or electromagnetic positioning is not performed, the positioning precision is higher, and the interference is less prone to occurring.
2. Convenient to detach and install and convenient for doctors to use.
3. Simple structure and low manufacturing cost.
Drawings
FIG. 1 is a schematic diagram of a reference frame 100 according to the present invention; (ii) a
FIG. 2 is a schematic structural view of the human body mounting mechanism according to the first embodiment;
FIG. 3 is a schematic structural diagram of a clamping structure according to a first embodiment;
Fig. 4 is a schematic structural view of the fixing base 203 according to the first embodiment;
FIG. 5 is a schematic view of a marking device according to a first embodiment;
FIG. 6 is a schematic structural view of the human body mounting mechanism according to the second embodiment;
Fig. 7 is a schematic view of a use state of the marking device according to the second embodiment.
Detailed Description
The invention is further illustrated by the following examples and figures.
First embodiment, a structural schematic diagram of a photomagnetic integrated surgical navigation reference frame 100 shown in fig. 1 is provided with a reference frame 100, and an electromagnetic sensor 101 for electromagnetic positioning and an optical marker 102 for optical positioning are arranged on the reference frame 100.
specifically, since the reference frame 100 is provided with the electromagnetic sensor 101 and the optical marker 102, the navigation terminal can adopt the existing electromagnetic positioning technology and optical positioning technology to position the reference frame 100 in the surgical space coordinate system in real time, and determine the conversion relation between the surgical space coordinate system and the computer space coordinate system through surgical registration.
Therefore, the position coordinates of the reference frame 100 can be converted into a computer space coordinate system, and the position coordinates of the surgical instrument can be converted into the computer space coordinate system by tracking the position relation between the surgical instrument and the reference frame 100 in real time, so that the virtual display of the surgical instrument in the navigation terminal is realized.
Preferably, as shown in fig. 1, the reference frame 100 is provided with a mounting platform 103, the electromagnetic sensor 101 is arranged in the mounting platform 103, a signal transmission line of the electromagnetic sensor 101 penetrates out of the mounting platform 103 and is connected with a signal connector 104, and the electromagnetic sensor 101 is in signal connection with a signal interface 105 of the navigation terminal through the signal connector 104. The table top of the mounting platform 103 is provided with a screw hole, and the optical mark 102 is fixed on the mounting platform 103 through a fixing bolt 107.
As shown in fig. 1 and fig. 2, the optical marker 102 is provided with a bracket 108 and 3 optical marker balls, the bracket 108 is provided with a fixing portion, the fixing bolt 107 is arranged on the fixing portion, the side wall of the fixing portion is provided with 3 connecting arms 109, and the tip of each connecting arm 109 is provided with a clamping column for clamping the optical marker ball 110. The optical marker ball 110 is provided with a clamping hole matched with the clamping column, and the optical marker ball 110 is clamped on the clamping column 109a through the clamping hole, so that the optical marker ball 110 is detachably connected with the connecting arm 109.
To securely mount the frame 100 to the human body, a human body mount mechanism is attached to the frame. Referring to the structural schematic diagram of the human body installation mechanism shown in fig. 2, in this embodiment, the human body installation mechanism is provided with a fixed seat 203 and 2 installation bone nails 204, the fixed seat 203 is sleeved on the installation bone nails 204 and is fixed with the 2 installation bone nails 204 through a clamping mechanism, the clamping mechanism is arranged in the fixed seat 203, and the reference frame 100 is arranged on the fixed seat 203.
As shown in the structural schematic diagram of the clamping mechanism shown in fig. 3, the clamping mechanism is provided with a clamping arm 205, a lateral mounting groove 206 for mounting the clamping arm 205 is formed on a side wall of the fixed seat 203, the clamping arm 205 is laterally disposed in the mounting groove 206, and a loose bolt 207 is disposed on a side surface of the clamping arm 205 facing a notch of the mounting groove 206. The side surface facing the bottom of the mounting groove 206 is provided with 2 limiting grooves 208, and the 2 limiting grooves 208 are respectively located at two ends of the clamping arm 205. The fixing seat 203 is provided with 2 bone nail through holes 211, and the mounting positions of the 2 bone nail through holes 211 correspond to the limiting groove 208 and penetrate through the whole mounting groove 206.
be provided with spacing 210 towards the mounting groove 206 tank bottom between spacing groove 208 and the lag bolt 207, this spacing 210 one end is fixed with centre gripping arm 205, and the other end is buckled 90 degrees to the both ends of centre gripping arm 205, forms spacing portion, be provided with in the mounting groove 206 with spacing portion matched with spacing post 209. The tank bottom of mounting groove 206 still is provided with two reset spring 212, and 2 reset spring 212 settings are between two spacing posts 209, and this reset spring 212's one end and mounting groove 206 tank bottom butt, the other end and the butt of centre gripping arm 205.
As shown in fig. 2 and 5, when the marking plate 200 and the reference frame 100 are installed on a human body, a mounting bone nail 204 is installed on the patient, then the tension bolt 207 is horizontally pressed inwards, the return spring 212 is compressed, and the fixing seat 203 is sleeved on the mounting bone nail 204 along the bone nail through hole 211. After another installation bone nail 204 is inserted along the bone nail through hole 211, the installation bone nail 204 is drilled into the body of the patient. The tension bolt 207 is loosened, and then the tension bolt 207 is tightened along the thread to clamp 210 and fasten the two bone screws, and in order to prevent the fixing seat 203 from sliding, an included angle exists between the two bone screw through holes 211, and in this embodiment, the included angle is 6 degrees.
After the body mount mechanism is secured to the body, the reference frame 100 is mounted to the body mount mechanism. As shown in FIG. 4, the fixing base 203 of the human body installation mechanism is provided with an installation mechanism, and the reference frame 100 is detachably connected with the human body installation mechanism through the installation mechanism. The mounting mechanism is provided with a U-shaped retaining clip 202, which U-shaped retaining clip 202 is bolted to a protruding portion of the side wall of the holder 203. As shown in FIG. 1, the side wall of the mounting platform 103 is provided with an outwardly protruding mounting arm 106, and the reference frame 100 is connected with a U-shaped fixing clip 202 through the mounting arm 106.
It should be appreciated that attachment arm 106 of reference frame 100 is placed between the two jaws of U-shaped mounting clip 202 and then the tightening bolts of U-shaped mounting clip 202 are tightened to mount reference frame 100 to the ergonomic mounting mechanism. Because the reference frame 100 is detachably connected with the human body installation mechanism, the reference frame can be adjusted to a position which is not in the obstruction of the operation area and can be better tracked by the navigation terminal.
Second embodiment, as shown in fig. 6, the second embodiment is substantially the same as the first embodiment, and the main difference is that the human body installation mechanism is provided with a spinous process clamp 300, the spinous process clamp 300 is provided with the above-mentioned U-shaped fixing clamp 202, and the reference frame 100 is detachably connected with the spinous process clamp 300 through the U-shaped fixing clamp 202.
In use, as shown in fig. 7, the reference frame 100 and the marking plate 200 are only required to be mounted on the spinous process clamp 300, and then the spinous process clamp 300 is clamped on the human body.
As shown in fig. 5 or fig. 7, the surgical navigation marking device is provided with a reference frame 100, a human body installation mechanism 300 and a marking plate 200, wherein at least 3 marking points 201 are arranged on the marking plate 200, the marking plate 200 is connected with the human body installation mechanism, an electromagnetic sensor for electromagnetic positioning and an optical mark for optical positioning are arranged on the reference frame 100, and the reference frame 100 is connected with the human body installation mechanism.
specifically, in the conventional surgical navigation, when performing surgical registration, 3 points are selected from a scanned image, and then a probe tip is used to click on a position on a patient corresponding to the 3 points, so as to establish a relationship between the image and a reference frame. The method needs to cut a large incision on a human body to expose the bony structure so as to select points, the injury to a patient is large, the bony structure is complex, and the characteristics of the points selected by the image are not obvious and have errors with the points selected by an actual probe.
In this embodiment, the surgical navigation marking device may be fixed on a human body, and then the marking point 201 on the marking plate 200 is directly clicked, so that surgical registration may be performed, and the transformation relationship between the surgical space coordinate system and the computer space coordinate system may be determined. Therefore, muscle damage to a patient is reduced, the marking plate 200 is fixed with the reference frame 100, the number of instruments is reduced, the structure is simplified, the operation is simple and convenient, the image point selection feature is clear, the actual point selection with a probe is clear, and the marking point 201 is clicked.
Existing optical and electromagnetic positioning techniques may also be employed to convert the position coordinates of the frame of reference 100 to a computer space coordinate system by tracking the position coordinates of the frame of reference 100 and converting the position coordinates of the frame of reference 100 to a computer space coordinate system based on the conversion of the surgical space coordinate system to the computer space coordinate system. In this way, during the operation, the navigation terminal can convert the position coordinates of the surgical instrument into the computer space coordinate system by tracking the relative position of the surgical instrument and the reference frame 100 in the operation space coordinate system, so as to realize the virtual display of the surgical instrument in the navigation terminal.
Preferably, the marking board 200 is provided with a step 213, and in this embodiment, the marking board 200 is provided with 2 steps, wherein the top step is provided with 5 marking points 201 on the top step, and the rest steps are provided with 3 marking points 201 on the top step.
The more the number of the marker points 201 is, the higher the registration accuracy and the higher the positioning accuracy are, and the marker points 201 are provided on the step table 213, so that the number of the marker points 201 can be increased without increasing the area of the marker plate 200, and the blocking of the operation area can be avoided.
Finally, it should be noted that the above-mentioned description is only a preferred embodiment of the present invention, and those skilled in the art can make various similar representations without departing from the spirit and scope of the present invention.
Claims (10)
1. The utility model provides a optomagnetic integration operation navigation frame which characterized in that: a reference frame is provided on which an electromagnetic sensor for electromagnetic positioning and an optical marker for optical positioning are provided.
2. The optomagnetic integrated surgical navigation reference frame of claim 1, wherein: the reference frame is provided with a mounting platform, the electromagnetic sensor is arranged in the mounting platform, and the optical mark is arranged on the mounting platform.
3. The optomagnetic integrated surgical navigation reference frame of claim 2, wherein: the optical marker is provided with a support, the support is fixed with the mounting platform, the support is provided with at least 3 connecting arms, and the end parts of the connecting arms are detachably connected with optical marker balls.
4. The optomagnetic integrated surgical navigation reference frame of claim 1, wherein: the reference frame is connected with a human body installation mechanism.
5. the surgical navigation marker device of claim 4, wherein: the human body installation mechanism is provided with a fixing seat and installation bone nails, the fixing seat is sleeved on the installation bone nails and is fixed with 2 installation bone nails through a clamping mechanism, the clamping mechanism is arranged in the fixing seat, and the marking reference frame is installed on the fixing seat.
6. the surgical navigation marker device of claim 4, wherein: the human body installation mechanism is provided with a spinous process clamp, and the reference frame is installed on the spinous process clamp.
7. The surgical navigation marker device of any one of claims 4-6, wherein: the human body installation mechanism is provided with an installation mechanism, and the reference frame is detachably connected with the human body installation mechanism through the installation mechanism.
8. The surgical navigation marker device of claim 7, wherein: the mounting mechanism is provided with a U-shaped fixing clamp, and the reference frame is detachably connected with the human body mounting mechanism through the U-shaped fixing clamp.
9. A surgical navigation marker device, characterized by: the human body positioning device is provided with a reference frame, a human body mounting mechanism and a marking plate, wherein at least 3 marking points are arranged on the marking plate, the marking plate is connected with the human body mounting mechanism, an electromagnetic sensor for electromagnetic positioning and an optical mark for optical positioning are arranged on the reference frame, and the reference frame is connected with the human body mounting mechanism.
10. The surgical navigation marker device of claim 9, wherein: the mark plate is provided with a step platform, and each table surface of the step platform is provided with at least 3 mark points.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910900121.4A CN110547871A (en) | 2019-09-23 | 2019-09-23 | Photo-magnetic integrated surgical navigation reference frame and marking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910900121.4A CN110547871A (en) | 2019-09-23 | 2019-09-23 | Photo-magnetic integrated surgical navigation reference frame and marking device |
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| CN110547871A true CN110547871A (en) | 2019-12-10 |
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| CN201910900121.4A Pending CN110547871A (en) | 2019-09-23 | 2019-09-23 | Photo-magnetic integrated surgical navigation reference frame and marking device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111596807A (en) * | 2020-05-22 | 2020-08-28 | 重庆长教科技有限公司 | Interactive teaching system |
| CN111596776A (en) * | 2020-05-22 | 2020-08-28 | 重庆长教科技有限公司 | Electronic whiteboard writing pen and teaching system thereof |
| CN112378421A (en) * | 2020-11-20 | 2021-02-19 | 山东威高医疗科技有限公司 | Device and method for testing positioning accuracy of electromagnetic navigation system |
| CN113180574A (en) * | 2021-04-06 | 2021-07-30 | 重庆博仕康科技有限公司 | Endoscope insert structure soon and endoscope |
| CN113576663A (en) * | 2021-07-30 | 2021-11-02 | 武汉联影智融医疗科技有限公司 | Probe device for contact positioning and positioning system |
| CN114404040A (en) * | 2021-12-22 | 2022-04-29 | 苏州微创畅行机器人有限公司 | Mounting member, marking member, and optical tracking assembly and apparatus |
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| CN113180574A (en) * | 2021-04-06 | 2021-07-30 | 重庆博仕康科技有限公司 | Endoscope insert structure soon and endoscope |
| CN113576663A (en) * | 2021-07-30 | 2021-11-02 | 武汉联影智融医疗科技有限公司 | Probe device for contact positioning and positioning system |
| CN113576663B (en) * | 2021-07-30 | 2023-06-27 | 武汉联影智融医疗科技有限公司 | Probe device for contact positioning and positioning system |
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Application publication date: 20191210 |