CN110547872A - Operation navigation registration system - Google Patents
Operation navigation registration system Download PDFInfo
- Publication number
- CN110547872A CN110547872A CN201910901179.0A CN201910901179A CN110547872A CN 110547872 A CN110547872 A CN 110547872A CN 201910901179 A CN201910901179 A CN 201910901179A CN 110547872 A CN110547872 A CN 110547872A
- Authority
- CN
- China
- Prior art keywords
- optical
- electromagnetic
- coordinate system
- information
- positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Abstract
The invention discloses a surgical navigation registration system which is provided with a registration probe, an image acquisition device and a navigation terminal, wherein the registration probe detects an electromagnetic intensity signal of a mark point through an electromagnetic sensor and marks the position of the mark point through an optical mark; the image acquisition device acquires optical image information of the optical marker, the navigation terminal acquires scanning image information comprising a marker point and an anatomical part, the electromagnetic positioning mode and the optical positioning mode are adopted to position the marker point, and the conversion relation between an operation space and a computer space required by electromagnetic operation navigation and the conversion relation between the operation space and the computer required by optical operation navigation are determined.
Description
Technical Field
The invention relates to a surgical navigation system, in particular to a surgical navigation registration system.
background
The surgical navigation is a method for tracking the position coordinates of the surgical instrument in the surgical space in real time through a positioning technology and displaying the position coordinates of the surgical instrument on a three-dimensional image model of an anatomical position in a virtual form so that a surgeon can observe the relative position between the surgical instrument and a focus in real time, and the surgical operation is more accurate, safe and rapid.
in order to convert the position coordinates of the surgical instrument to the three-dimensional image model of the anatomical position for display, a mark point is required to be arranged on the human body for operation registration, and the conversion relation between the operation space and the computer space is determined. Because the existing surgical navigation systems only adopt optical positioning or electromagnetic positioning for surgical registration, the obtained conversion relation is only suitable for the corresponding navigation system to perform space conversion.
Therefore, the conventional navigation system can only singly track the position of the surgical instrument by adopting an optical navigation mode or an electromagnetic navigation mode, but the single surgical navigation mode is easily interfered, for example, a camera of the optical navigation mode is easily shielded, and an electromagnetic sensor of the electromagnetic navigation mode is easily interfered by magnetic fields generated by other equipment, which all cause inaccurate tracking results of the surgical instrument and influence observation of the relative position between the surgical instrument and a focus.
Disclosure of Invention
in order to solve the technical problems, the invention provides a surgical navigation registration system.A navigation terminal adopts an electromagnetic positioning mode and an optical positioning mode to position marking points, and determines the conversion relation between an operation space and a computer space required by electromagnetic surgical navigation and the conversion relation between the operation space and the computer required by optical surgical navigation.
the technical scheme is as follows:
a surgical navigation registration system is provided with:
the registration probe is used for detecting an electromagnetic intensity signal of the mark point through the electromagnetic sensor and calibrating the position of the mark point through an optical mark;
The image acquisition device is used for acquiring optical image information of the optical mark;
The navigation terminal is used for acquiring scanning image information comprising a mark point and an anatomical part, and determining a conversion relation between an electromagnetic space coordinate system and a computer space coordinate system according to the scanning image information of the mark point and an electromagnetic intensity signal;
and the optical space coordinate system is used for determining the conversion relation between the optical space coordinate system and the computer space coordinate system according to the scanning image information and the optical image information of the mark points.
Further, the registration probe is provided with a probe body, the electromagnetic sensor is provided at a tip of the probe body, and the optical mark is provided at a handle of the probe body.
Further, the navigation terminal is provided with:
The electromagnetic positioning and tracking unit is used for acquiring a magnetic field intensity signal sent by the registration probe and determining the electromagnetic positioning information of the mark point according to the magnetic field intensity signal;
The optical positioning and tracking unit is used for acquiring optical image information sent by the image acquisition device and determining the optical positioning information of the mark points according to the optical image information;
The main control unit is used for determining the conversion relation between the electromagnetic space coordinate system and the computer space coordinate system according to the scanned image information and the electromagnetic positioning information;
For determining a transformation relationship between the optical spatial coordinate system and the computer spatial coordinate system based on the scanned image information and the optical image information.
Further, the main control unit is provided with:
The information acquisition module is used for acquiring electromagnetic positioning information, optical positioning information and scanned image information;
the image processing module is used for establishing a three-dimensional image model according to the scanned image information;
the processing and calculating module is used for determining the computer space position coordinates of the marking points in the computer space coordinate system according to the three-dimensional image model;
the electromagnetic positioning system is also used for determining a conversion matrix between an electromagnetic space coordinate system and a computer space coordinate system according to the computer space position coordinates of the mark points and the electromagnetic space position coordinates in the electromagnetic positioning information; determining a transformation matrix between the optical space coordinate system and the computer space coordinate system according to the computer space position coordinates of the mark points and the optical space position coordinates in the optical positioning information
Furthermore, the information acquisition module is provided with an RS232 interface, and the information acquisition module is connected with the electromagnetic positioning and tracking unit through the RS232 interface. The information acquisition module is provided with an RJ45 network port, and the information acquisition module is in signal connection with the optical positioning and tracking unit through an RJ45 network port.
furthermore, the electromagnetic positioning and tracking unit is provided with a sensor interface unit, and the sensor interface unit is used for connecting the electromagnetic sensor.
Furthermore, the optical positioning and tracking unit is provided with a video interface, and the video interface is used for connecting the image acquisition device.
further, the image acquisition device is provided with a near infrared light source and 2 near infrared cameras for acquiring near infrared light images reflected by the optical mark.
Further, the optical marker is provided with at least 3 optical marker balls which reflect near infrared light.
has the advantages that: the conversion relations between the electromagnetic space coordinate system and the computer space coordinate system and between the optical space coordinate system and the computer space coordinate system can be determined, so that in the operation process, according to the 2 conversion relations, the position of the operation instrument in the three-dimensional image model is tracked by adopting optical navigation and electromagnetic navigation, the interference is reduced, and the navigation precision is improved.
drawings
FIG. 1 is a schematic diagram of a system application of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a schematic diagram of the structure of registration probe 100;
FIG. 4 is a system block diagram of a registration system;
fig. 5 is a connection block diagram of the navigation terminal 300;
Fig. 6 is a connection block diagram of the main control unit.
Detailed Description
the invention is further illustrated by the following examples and figures.
As shown in fig. 1 and 4, the surgical registration system includes:
A registration probe 100 for detecting an electromagnetic intensity signal of the mark point by an electromagnetic sensor 102 and calibrating the mark point position by an optical mark 103;
An image acquisition device 200 for acquiring optical image information of the optical mark 103;
The navigation terminal 300 is used for acquiring scanning image information comprising a mark point and an anatomical part, and determining a conversion relation between an electromagnetic space coordinate system and a computer space coordinate system according to the scanning image information of the mark point and an electromagnetic intensity signal;
And the optical space coordinate system is used for determining the conversion relation between the optical space coordinate system and the computer space coordinate system according to the scanning image information and the optical image information of the mark points.
Specifically, the navigation terminal 300 may acquire scanned image information including the marker points and the anatomical positions, as sent by the CT scanning device, and perform three-dimensional reconstruction to determine computer positioning information of each marker point in the computer space.
the navigation terminal 300 may also determine the electromagnetic positioning information of each marker point in the operation space according to the electromagnetic intensity signal sent by the registration probe 100 when clicking each marker point attached to the human body. And determining the optical positioning information of each mark point in the operation space according to the optical image information of the optical mark 103 sent by the image acquisition device 200 when the registration probe 100 clicks each mark point.
The navigation terminal 300 may determine the transformation relationship between the operation space and the computer space in the electromagnetic positioning scene according to the computer positioning information, the electromagnetic positioning information and the optical positioning information by using the existing transformation relationship determination method for the operation registration. And the conversion relation between the operation space and the computer space under the optical positioning scene. So that the navigation terminal 300 tracks the position of the surgical instrument by combining optical positioning and electromagnetic positioning in the surgical process, reduces the interference during the surgical navigation and improves the navigation precision.
in this embodiment, optionally, as shown in fig. 3, the registration probe 100 is provided with a probe body 101, the probe body 101 is provided with an electromagnetic sensor 102 and an optical mark 103, the electromagnetic sensor 102 is arranged at the tip of the probe body 101, and the optical mark 103 is arranged at the handle of the probe body 101.
When the tip of the registration probe 100 clicks a mark point, the electromagnetic sensor 102 detects the magnetic field strength at the mark point according to the principle of electromagnetic induction, generates an electromagnetic strength signal, and transmits the electromagnetic strength signal to the navigation terminal 300. Meanwhile, the optical mark 103 marks the mark point.
In this embodiment, optionally, as shown in fig. 5, the navigation terminal 300 is provided with:
An electromagnetic positioning and tracking unit 301, configured to generate an electromagnetic field with known magnetic field intensity distribution, acquire a magnetic field intensity signal sent by the registration probe 100, and determine electromagnetic positioning information of a marker according to the magnetic field intensity signal;
an optical positioning and tracking unit 302, configured to obtain optical image information sent by the image acquisition device 200, and determine optical positioning information of a mark point according to the optical image information;
The main control unit 303 is configured to determine a conversion relationship between an electromagnetic space coordinate system and a computer space coordinate system according to the scanned image information and the electromagnetic positioning information;
For determining a transformation relationship between the optical spatial coordinate system and the computer spatial coordinate system based on the scanned image information and the optical image information.
Specifically, the electromagnetic positioning and tracking unit 301 may be configured with its own electromagnetic generator 304 to generate a magnetic field with known magnetic field distribution in the surgical space, and determine the electromagnetic positioning information of the marker points according to the detected magnetic field strength signal, and the electromagnetic positioning and tracking unit 301 may employ an Aurora positioning and tracking system of NDI corporation.
the optical positioning and tracking unit 302 may acquire the optical image information of the optical marker 103 according to the image acquisition device 200, and determine the optical positioning information of the marker point according to the optical image information, and the optical positioning and tracking unit 302 may adopt a Polaris optical positioning and tracking system of NDI corporation.
the main control unit 303 may determine the conversion relationship between the operation space and the computer space in the electromagnetic positioning scene according to the computer positioning information, the electromagnetic positioning information, and the optical positioning information by using the existing conversion relationship determination method for the operation registration. And the conversion relation between the operation space and the computer space under the optical positioning scene.
in this embodiment, optionally, as shown in fig. 6, the main control unit 303 is provided with:
An information acquisition module 303a, configured to acquire electromagnetic positioning information, optical positioning information, and scanned image information;
The image processing module 303b is used for establishing a three-dimensional image model according to the scanned image information;
The processing and calculating module 303c is used for determining the computer space position coordinates of the marking points in the computer space coordinate system according to the three-dimensional image model;
the electromagnetic positioning system is also used for determining a conversion matrix between an electromagnetic space coordinate system and a computer space coordinate system according to the computer space position coordinates of the mark points and the electromagnetic space position coordinates in the electromagnetic positioning information; and determining a conversion matrix between the optical space coordinate system and the computer space coordinate system according to the computer space position coordinates of the mark points and the optical space position coordinates in the optical positioning information.
It should be understood that the information acquisition module 303a may be a communication module having a plurality of communication interfaces through which the scanned image acquisition interface, the electromagnetic positioning and tracking unit 301 and the optical positioning and tracking unit 302 are communicatively connected to acquire electromagnetic positioning information, optical positioning information and scanned image information, and the image acquisition interface may be a USB interface or the like.
after the information obtaining module 303a obtains the electromagnetic positioning information, the optical positioning information, and the scanned image information, the electromagnetic positioning information and the optical positioning information are sent to the processing and computing module 303c, and the scanned image information is sent to the image processing module 303b, where the image processing module 303b may perform three-dimensional reconstruction according to the scanned image information to obtain a three-dimensional image model, such as an image reconstruction module of the existing surgical navigation terminal 300.
the processing and calculating module 303c may determine model positioning information, i.e., spatial position coordinates of the computer, of the mark point in the three-dimensional image model by using the existing image positioning technology according to the three-dimensional image model. And respectively determining the position coordinates of the marking points in the operation space, namely the electromagnetic space position coordinates and the optical space position coordinates of each marking point according to the electromagnetic positioning information and the optical positioning information. The processing and calculating module 303c calculates a transformation matrix between the electromagnetic spatial coordinate system and the computer spatial coordinate system and a transformation matrix between the optical spatial coordinate system and the computer spatial coordinate system by using a transformation matrix data algorithm used by the conventional surgical navigation terminal 300 according to the computer spatial position coordinate, the electromagnetic spatial position coordinate and the optical spatial position coordinate of each marker point.
Optionally, the information obtaining module 303a is provided with an RS232 interface, an RJ45 internet access and a USB interface, the information obtaining module 303a is connected with the electromagnetic positioning and tracking unit 301 through the RS232 interface, the information obtaining module 303a is connected with the optical positioning and tracking unit 302 through an RJ45 internet access, and the information obtaining module 303a obtains the scanned image information through the USB interface.
optionally, the electromagnetic positioning and tracking unit 301 is provided with a sensor interface unit, the sensor interface unit is used for connecting the electromagnetic sensor 102, and the sensor interface unit may be a serial interface, a UART interface, or the like.
optionally, the optical positioning and tracking unit 302 is provided with a video interface, which is used for connecting the image capturing device 200, and the video interface may be a USB interface, an RJ45 interface, or the like.
In this embodiment, optionally, as shown in fig. 2 and 5, the image capturing device 200 is provided with a near-infrared light source 201 and 2 near-infrared cameras 202 for capturing near-infrared light images reflected by the optical mark 103.
it is to be understood that the near-infrared light source may emit near-infrared light, the near-infrared light is reflected after being irradiated to the optical mark 103, and the 2 near-infrared cameras 202 respectively collect images of the reflections of the optical mark 103 to obtain optical image information.
optionally, the optical marker 103 is provided with at least 3 optical marker balls 104, and the optical marker balls 104 can reflect near infrared light.
Therefore, the surgical navigation registration system of the present invention collects a scan image including the marker points through the image scanning device, and detects the electromagnetic intensity of the marker points and calibrates the marker points through the registration probe 100. An optical image of the optical mark 103 of the calibration mark point is acquired by the image acquisition device 200.
and (4) reconstructing a three-dimensional image model according to the scanned image through the navigation terminal 300, and determining the coordinate position of the mark point in the computer space. And determining the coordinate position of the marking point in the operation space by respectively adopting electromagnetic positioning and optical positioning according to the electromagnetic intensity and the optical image. And finally, according to the coordinate position of the mark point in the computer space, and the coordinate position of the mark point in the operation space is determined by adopting electromagnetic positioning and optical positioning, a conversion matrix required by the electromagnetic positioning and a conversion matrix required by the optical positioning are determined, so that the navigation terminal 300 tracks the position of the surgical instrument by combining electromagnetic operation navigation and optical operation navigation in the operation process, the external interference is reduced, and the navigation precision is improved.
those skilled in the art will appreciate that all or part of the steps of the above embodiments may be implemented by hardware, or may be implemented by instructions of associated hardware via a program, and the program may be stored in a computer readable storage medium, which may be a read-only memory, a hard disk, or the like.
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 (9)
1. A surgical navigation registration system is characterized in that:
The registration probe is used for detecting an electromagnetic intensity signal of the mark point through the electromagnetic sensor and calibrating the position of the mark point through an optical mark;
The image acquisition device is used for acquiring optical image information of the optical mark;
the navigation terminal is used for acquiring scanning image information comprising a mark point and an anatomical part, and determining a conversion relation between an electromagnetic space coordinate system and a computer space coordinate system according to the scanning image information of the mark point and an electromagnetic intensity signal;
And the optical space coordinate system is used for determining the conversion relation between the optical space coordinate system and the computer space coordinate system according to the scanning image information and the optical image information of the mark points.
2. The surgical navigational registration system of claim 1, wherein the registration probe is provided with a probe body, the electromagnetic sensor is provided at a tip of the probe body, and the optical marker is provided at a handle of the probe body.
3. the surgical navigation registration system according to claim 1, wherein the navigation terminal is provided with:
the electromagnetic positioning and tracking unit is used for generating an electromagnetic field with known magnetic field intensity distribution, acquiring a magnetic field intensity signal sent by the registration probe and determining electromagnetic positioning information of the mark point according to the magnetic field intensity signal;
The optical positioning and tracking unit is used for acquiring optical image information sent by the image acquisition device and determining the optical positioning information of the mark points according to the optical image information;
the main control unit is used for determining the conversion relation between the electromagnetic space coordinate system and the computer space coordinate system according to the scanned image information and the electromagnetic positioning information;
For determining a transformation relationship between the optical spatial coordinate system and the computer spatial coordinate system based on the scanned image information and the optical image information.
4. The surgical navigation registration system of claim 3, wherein the master control unit is provided with:
The information acquisition module is used for acquiring electromagnetic positioning information, optical positioning information and scanned image information;
the image processing module is used for establishing a three-dimensional image model according to the scanned image information;
The processing and calculating module is used for determining the computer space position coordinates of the marking points in the computer space coordinate system according to the three-dimensional image model;
The electromagnetic positioning system is also used for determining a conversion matrix between an electromagnetic space coordinate system and a computer space coordinate system according to the computer space position coordinates of the mark points and the electromagnetic space position coordinates in the electromagnetic positioning information; and determining a conversion matrix between the optical space coordinate system and the computer space coordinate system according to the computer space position coordinates of the mark points and the optical space position coordinates in the optical positioning information.
5. The surgical navigation registration system of claim 4, wherein: the information acquisition module is provided with an RS232 interface and an RJ45 net port, the information acquisition module is connected with the electromagnetic positioning and tracking unit through the RS232 interface, and the information acquisition module is in signal connection with the optical positioning and tracking unit through an RJ45 net port.
6. the surgical navigation registration system of claim 3, wherein: the electromagnetic positioning and tracking unit is provided with a sensor interface unit which is used for connecting the electromagnetic sensor.
7. The surgical navigation registration system of claim 3, wherein: the optical positioning and tracking unit is provided with a video interface which is used for connecting the image acquisition device.
8. The surgical navigation registration system according to any of claims 1-7, wherein: the image acquisition device is provided with a near infrared light source and 2 near infrared cameras, and the near infrared cameras are used for acquiring near infrared light images reflected by the optical marks.
9. The surgical navigation registration system of claim 8, wherein: the optical marker is provided with at least 3 optical marker balls capable of reflecting near infrared light.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910901179.0A CN110547872B (en) | 2019-09-23 | 2019-09-23 | Operation navigation registration system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910901179.0A CN110547872B (en) | 2019-09-23 | 2019-09-23 | Operation navigation registration system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110547872A true CN110547872A (en) | 2019-12-10 |
| CN110547872B CN110547872B (en) | 2021-08-10 |
Family
ID=68741135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910901179.0A Active CN110547872B (en) | 2019-09-23 | 2019-09-23 | Operation navigation registration system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110547872B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111461049A (en) * | 2020-04-13 | 2020-07-28 | 武汉联影智融医疗科技有限公司 | Space registration identification method, device, equipment and computer readable storage medium |
| CN111528782A (en) * | 2020-05-26 | 2020-08-14 | 郑州大学第一附属医院 | Digestive endoscopy minimally invasive diagnosis and treatment navigation system |
| CN111821025A (en) * | 2020-07-21 | 2020-10-27 | 腾讯科技（深圳）有限公司 | Space positioning method, device, equipment, storage medium and navigation bar |
| CN112690899A (en) * | 2021-01-11 | 2021-04-23 | 北京华康同邦科技有限公司 | Method for positioning microwave needle by magnetic field navigation |
| CN113081265A (en) * | 2021-03-24 | 2021-07-09 | 重庆博仕康科技有限公司 | Surgical navigation space registration method and device and surgical navigation system |
| CN113243923A (en) * | 2021-05-19 | 2021-08-13 | 中科芯未来微电子科技成都有限公司 | Method and device for improving accuracy of electrocardiogram monitoring |
| CN114159159A (en) * | 2020-09-10 | 2022-03-11 | 杭州三坛医疗科技有限公司 | Operation navigation method and device, electronic equipment and storage medium |
| CN114366300A (en) * | 2021-12-24 | 2022-04-19 | 苏州国科康成医疗科技有限公司 | Surgical image space mapping device, equipment and method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030069588A1 (en) * | 2001-10-10 | 2003-04-10 | Stefan Vilsmeier | Medical instrument with a touch-sensitive tip |
| US20050143645A1 (en) * | 2000-04-05 | 2005-06-30 | Stefan Vilsmeier | Referencing or registering a patient or a patient body part in a medical navigation system by means of irradiation of light points |
| CN101049248A (en) * | 2007-05-18 | 2007-10-10 | 西安工业大学 | Optical, magnetic, electric composite navigational surgery positioning device and method |
| US20070253541A1 (en) * | 2006-04-14 | 2007-11-01 | Predrag Sukovic | Surgical navigation system including patient tracker with removable registration appendage |
| US20070299334A1 (en) * | 2006-06-16 | 2007-12-27 | Stefan Vilsmeier | Medical instrument with a touch-sensitive tip and light emission source |
| EP2233099A2 (en) * | 2009-03-24 | 2010-09-29 | Masmec S.r.L. | Computer-assisted system for guiding a surgical instrument during percutaneous diagnostic or therapeutic operations |
| DE102009034668A1 (en) * | 2009-07-24 | 2011-01-27 | Siemens Aktiengesellschaft | Orientation device i.e. whirling clamp, for e.g. registering image data of bone of patient, has reference unit with image markers, where device consists of material transparent to X-ray and/or magnetic resonance imaging |
| CN102196782A (en) * | 2008-10-31 | 2011-09-21 | 皇家飞利浦电子股份有限公司 | Method and system of electromagnetic tracking in a medical procedure |
| CN107440797A (en) * | 2017-08-21 | 2017-12-08 | 上海霖晏医疗科技有限公司 | Registration system and method for surgical navigational |
| CN110101452A (en) * | 2019-05-10 | 2019-08-09 | 山东威高医疗科技有限公司 | A kind of optomagnetic integrated positioning navigation method for surgical operation |
-
2019
- 2019-09-23 CN CN201910901179.0A patent/CN110547872B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050143645A1 (en) * | 2000-04-05 | 2005-06-30 | Stefan Vilsmeier | Referencing or registering a patient or a patient body part in a medical navigation system by means of irradiation of light points |
| US20030069588A1 (en) * | 2001-10-10 | 2003-04-10 | Stefan Vilsmeier | Medical instrument with a touch-sensitive tip |
| US20070253541A1 (en) * | 2006-04-14 | 2007-11-01 | Predrag Sukovic | Surgical navigation system including patient tracker with removable registration appendage |
| US20070299334A1 (en) * | 2006-06-16 | 2007-12-27 | Stefan Vilsmeier | Medical instrument with a touch-sensitive tip and light emission source |
| CN101049248A (en) * | 2007-05-18 | 2007-10-10 | 西安工业大学 | Optical, magnetic, electric composite navigational surgery positioning device and method |
| CN102196782A (en) * | 2008-10-31 | 2011-09-21 | 皇家飞利浦电子股份有限公司 | Method and system of electromagnetic tracking in a medical procedure |
| EP2233099A2 (en) * | 2009-03-24 | 2010-09-29 | Masmec S.r.L. | Computer-assisted system for guiding a surgical instrument during percutaneous diagnostic or therapeutic operations |
| DE102009034668A1 (en) * | 2009-07-24 | 2011-01-27 | Siemens Aktiengesellschaft | Orientation device i.e. whirling clamp, for e.g. registering image data of bone of patient, has reference unit with image markers, where device consists of material transparent to X-ray and/or magnetic resonance imaging |
| CN107440797A (en) * | 2017-08-21 | 2017-12-08 | 上海霖晏医疗科技有限公司 | Registration system and method for surgical navigational |
| CN110101452A (en) * | 2019-05-10 | 2019-08-09 | 山东威高医疗科技有限公司 | A kind of optomagnetic integrated positioning navigation method for surgical operation |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111461049A (en) * | 2020-04-13 | 2020-07-28 | 武汉联影智融医疗科技有限公司 | Space registration identification method, device, equipment and computer readable storage medium |
| CN111461049B (en) * | 2020-04-13 | 2023-08-22 | 武汉联影智融医疗科技有限公司 | Space registration identification method, device, equipment and computer readable storage medium |
| CN111528782A (en) * | 2020-05-26 | 2020-08-14 | 郑州大学第一附属医院 | Digestive endoscopy minimally invasive diagnosis and treatment navigation system |
| CN111528782B (en) * | 2020-05-26 | 2023-05-23 | 郑州大学第一附属医院 | Digestive endoscope minimally invasive diagnosis and treatment navigation system |
| CN111821025A (en) * | 2020-07-21 | 2020-10-27 | 腾讯科技（深圳）有限公司 | Space positioning method, device, equipment, storage medium and navigation bar |
| CN114159159A (en) * | 2020-09-10 | 2022-03-11 | 杭州三坛医疗科技有限公司 | Operation navigation method and device, electronic equipment and storage medium |
| CN112690899A (en) * | 2021-01-11 | 2021-04-23 | 北京华康同邦科技有限公司 | Method for positioning microwave needle by magnetic field navigation |
| CN113081265A (en) * | 2021-03-24 | 2021-07-09 | 重庆博仕康科技有限公司 | Surgical navigation space registration method and device and surgical navigation system |
| CN113243923A (en) * | 2021-05-19 | 2021-08-13 | 中科芯未来微电子科技成都有限公司 | Method and device for improving accuracy of electrocardiogram monitoring |
| CN114366300A (en) * | 2021-12-24 | 2022-04-19 | 苏州国科康成医疗科技有限公司 | Surgical image space mapping device, equipment and method |
| CN114366300B (en) * | 2021-12-24 | 2024-02-09 | 苏州国科康成医疗科技有限公司 | Surgical image space mapping device, equipment and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110547872B (en) | 2021-08-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110547872B (en) | Operation navigation registration system | |
| CN107374729B (en) | Operation navigation system and method based on AR technology | |
| US9498132B2 (en) | Visualization of anatomical data by augmented reality | |
| US8131031B2 (en) | Systems and methods for inferred patient annotation | |
| US8364245B2 (en) | Coordinate system registration | |
| CN102428496B (en) | Registration and the calibration of the marker free tracking of endoscopic system is followed the tracks of for EM | |
| JP2950340B2 (en) | Registration system and registration method for three-dimensional data set | |
| US8682413B2 (en) | Systems and methods for automated tracker-driven image selection | |
| CN108140242A (en) | Video camera is registrated with medical imaging | |
| Yang et al. | Automatic 3-D imaging and measurement of human spines with a robotic ultrasound system | |
| US20080118115A1 (en) | Medical navigation system with tool and/or implant integration into fluoroscopic image projections and method of use | |
| US20100249595A1 (en) | System and method for automatic calibration of tracked ultrasound | |
| Lathrop et al. | Minimally invasive holographic surface scanning for soft-tissue image registration | |
| US9713508B2 (en) | Ultrasonic systems and methods for examining and treating spinal conditions | |
| US11468577B2 (en) | Device for providing 3D image registration and method therefor | |
| CN104000654A (en) | Computer-implemented technique for calculating a position of a surgical device | |
| CN103371870A (en) | Multimode image based surgical operation navigation system | |
| JP2016512973A (en) | Tracking device for tracking an object relative to the body | |
| JP2002186603A (en) | Method for transforming coordinates to guide an object | |
| EP3238649A1 (en) | Self-localizing medical device | |
| CN101971052A (en) | Method for detecting motion | |
| CN106255465A (en) | For surgical operating instrument, there is position and the guiding of direction calibration and method for tracing and system | |
| Pheiffer et al. | Design and evaluation of an optically‐tracked single‐CCD laser range scanner | |
| CA3102807A1 (en) | Orientation detection in fluoroscopic images | |
| CN112381750A (en) | Multi-mode registration fusion method for ultrasonic image and CT/MRI image |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xia Guifeng Inventor before: Xia Guifeng Inventor before: Zhou Yue Inventor before: Li Changqing Inventor before: Zheng Wenjie Inventor before: Wang Xingxing |
|
| CB03 | Change of inventor or designer information |