CN110584781A - Photomagnetic integrated intervertebral foramen mirror navigation platform - Google Patents
Photomagnetic integrated intervertebral foramen mirror navigation platform Download PDFInfo
- Publication number
- CN110584781A CN110584781A CN201910908465.XA CN201910908465A CN110584781A CN 110584781 A CN110584781 A CN 110584781A CN 201910908465 A CN201910908465 A CN 201910908465A CN 110584781 A CN110584781 A CN 110584781A
- Authority
- CN
- China
- Prior art keywords
- space coordinate
- electromagnetic
- optical
- tip
- marking
- 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
- A61B2034/2068—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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses a photomagnetic integrated transforaminal endoscope navigation platform which is provided with a mark reference system, a registration probe, a marking system and a navigation terminal, wherein a mark point, a reference point, an electromagnetic space coordinate of a transforaminal endoscope tip in an electromagnetic space coordinate system and an optical space coordinate in an optical space coordinate system are respectively positioned through the registration probe, the mark reference system and the marking system. And acquiring a scanned image comprising the mark points and the anatomical position for three-dimensional reconstruction to obtain a three-dimensional image. And the navigation terminal determines the tracking coordinate of the intervertebral foramen mirror tip according to the three-dimensional image, the mark point, the reference point, the electromagnetic space coordinate of the intervertebral foramen mirror tip and the optical space coordinate, and displays the intervertebral foramen mirror in the three-dimensional image according to the tracking coordinate.
Description
Technical Field
The invention relates to the field of surgical medicine, in particular to a photomagnetic integrated intervertebral foramen mirror navigation platform.
Background
The transforaminal endoscope is a tube equipped with a light, which enters the intervertebral foramen from the side or the lateral back of the patient's body to perform an operation in a safe working triangle. The protruding nucleus pulposus, nerve roots, the dural sac and the hyperplastic bone tissue can be clearly seen through the foramen intervertebrale. Then, various grasping forceps are used for removing the protruded tissues, bone is removed under a mirror, and the damaged fibrous ring is repaired by the radio frequency electrode. Is a minimally invasive therapy for treating the protrusion of the intervertebral disc with the least trauma and the best effect on patients in the similar operations.
In the whole operation, the accurate feeding of the intervertebral foramen mirror to the position needing operation is most important, the existing operation mainly depends on the experience of doctors, the operation is difficult for inexperienced doctors, and the nerves in the vertebral canal are easy to be damaged. And multiple X-ray irradiations are needed in the operation process to determine the position of the intervertebral foramen lens tip.
Disclosure of Invention
In order to solve the technical problems, the invention provides a photomagnetic integrated transforaminal endoscope navigation platform, which adopts an electromagnetic surgery navigation technology and an optical surgery navigation technology to synchronously track the position of the tip of the transforaminal endoscope in the operation process so that a doctor can monitor the position of the transforaminal endoscope in real time and accurately send the transforaminal endoscope to an operation part.
The technical scheme is as follows:
an integrative intervertebral foramen mirror navigation platform of optomagnetism is provided with:
the mark reference system is used for marking a reference point and a plurality of mark points in an electromagnetic space coordinate system and an optical space coordinate system;
the registration probe is used for marking points in an electromagnetic space coordinate system and an optical space coordinate system respectively;
a marking system for marking the tip of the intervertebral foramen lens in an electromagnetic space coordinate system and an optical space coordinate system respectively;
the navigation terminal is used for establishing an electromagnetic space coordinate system, an optical space coordinate system and a virtual space coordinate system;
the system comprises a registration probe, a mark reference system and a marking system, wherein the registration probe, the mark reference system and the marking system are used for respectively positioning an electromagnetic space coordinate of a mark point, a reference point and a sharp end of the intervertebral foramen mirror in an electromagnetic space coordinate system and an optical space coordinate in an optical space coordinate system;
and the navigation terminal determines the tracking coordinate of the intervertebral foramen mirror tip according to the three-dimensional image, the mark point, the reference point, the electromagnetic space coordinate of the intervertebral foramen mirror tip and the optical space coordinate, and displays the intervertebral foramen mirror in the three-dimensional image according to the tracking coordinate.
Further, the navigation terminal is provided with:
the optical positioning system is used for positioning the optical space coordinates of the reference point, the marking point and the intervertebral foramen lens tip in the optical space coordinate system through the marking reference system, the registration probe and the marking system;
the electromagnetic positioning system is used for positioning the electromagnetic space coordinates of the reference point, the marking point and the intervertebral foramen endoscope tip in an electromagnetic space coordinate system through the marking reference system, the registration probe and the marking system;
the navigation system is used for acquiring a scanned image comprising a mark point and an anatomical part to carry out three-dimensional reconstruction, determining an electromagnetic virtual space coordinate and an optical virtual space coordinate of the transforaminal endoscope tip according to the reconstructed three-dimensional image, and an optical space coordinate and an electromagnetic space coordinate of the reference point, the mark point and the transforaminal endoscope tip, determining a tracking coordinate of the transforaminal endoscope tip according to the electromagnetic virtual space coordinate and the optical virtual space coordinate, and displaying the transforaminal endoscope in the three-dimensional image according to the tracking coordinate.
Further, the navigation system is provided with:
the information acquisition unit is used for acquiring a scanning image and acquiring optical space coordinates and electromagnetic space coordinates of a reference point, a mark point and the tip of the intervertebral foramen mirror;
the information processing unit is used for carrying out three-dimensional reconstruction according to the scanned image and determining the optical virtual space coordinate of the intervertebral foramen lens tip according to the reconstructed three-dimensional image and the optical space coordinate of the mark point, the reference point and the intervertebral foramen lens tip; determining the electromagnetic virtual space coordinate of the intervertebral foramen mirror tip according to the three-dimensional image, the mark point, the reference point and the electromagnetic space coordinate of the intervertebral foramen mirror tip; the information processing unit determines the tracking coordinate of the intervertebral foramen mirror tip by combining the optical virtual space coordinate and the electromagnetic virtual space coordinate;
and the navigation display unit is used for displaying the transforaminal endoscope in the three-dimensional image according to the tracking coordinate.
Further, the information processing unit is provided with:
the three-dimensional reconstruction module is used for performing three-dimensional reconstruction according to the scanned image and establishing a three-dimensional image comprising the mark points and the anatomical part;
the operation registration module is used for determining an optical conversion matrix between an optical space coordinate system and a computer space coordinate system according to the three-dimensional image and the optical space coordinates of the mark points; the computer space coordinate system is also used for determining an electromagnetic conversion matrix between an electromagnetic space coordinate system and a computer space coordinate system according to the three-dimensional image and the electromagnetic space coordinates of the mark points;
the navigation tracking module is used for converting the optical space coordinate of the reference point into an optical virtual reference coordinate according to the optical conversion matrix and converting the electromagnetic space coordinate of the reference point into an electromagnetic virtual reference coordinate according to the electromagnetic conversion matrix;
the navigation tracking module is also used for determining the optical virtual space coordinate of the intervertebral foramen mirror tip according to the reference point, the optical space coordinate of the intervertebral foramen mirror tip and the optical virtual reference coordinate, and determining the electromagnetic virtual space coordinate of the intervertebral foramen mirror tip according to the reference point, the electromagnetic space coordinate of the intervertebral foramen mirror tip and the electromagnetic virtual reference coordinate, and the navigation tracking module is used for determining the tracking coordinate according to the electromagnetic virtual space coordinate and the optical virtual space coordinate.
Furthermore, the information acquisition unit is provided with an RS232 interface and an RJ45 network port, and the information acquisition unit is respectively connected with the electromagnetic positioning system and the optical positioning system through the RS232 interface and the RJ45 network port.
Furthermore, the mark reference system is provided with a reference frame, a mark plate and a human body installation mechanism, wherein the reference frame and the mark plate are both connected with the human-machine installation mechanism, at least 3 mark points are arranged on the mark plate, an electromagnetic sensor and an optical mark are arranged on the reference frame, and the electromagnetic sensor and the optical mark are used for respectively marking reference points in an electromagnetic space coordinate system and an optical space coordinate system.
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 and the marking plate are connected with the spinous process clamp.
Further, the registration probe is provided with an electromagnetic sensor and an optical marker for marking the marker point in an electromagnetic spatial coordinate system and an optical spatial coordinate system, respectively.
Further, the marking system is provided with an electromagnetic sensor and an optical marker for marking the intervertebral foramen lens tip in an electromagnetic space coordinate system and an optical space coordinate system, respectively.
Has the advantages that:
1. the position of the surgical instrument can be accurately positioned through surgical navigation, the surgical instrument is accurately sent into a surgical position, and other parts of a human body are not damaged.
2. The interference of the outside to the operation navigation can be reduced, and the positioning precision is improved.
3. The doctor can observe the relative position of the surgical instrument and the surgical position conveniently, and the operation is faster.
4. The X-ray shooting times of the patient are reduced, and the radiation and time to the patient are reduced.
Drawings
FIG. 1 is a schematic diagram of a platform system connection according to the present invention;
FIG. 2 is a block diagram of a platform system of the present invention;
FIG. 3 is a system schematic block diagram of a navigation terminal 400 of the present invention;
FIG. 4 is a system schematic block diagram of a navigation system 430 of the present invention;
FIG. 5 is a functional block diagram of an information processing unit of the present invention;
FIG. 6 is a schematic diagram of the configuration of the tag reference system 100;
FIG. 7 is a schematic structural view of the reference frame 110 of FIG. 6;
FIG. 8 is a schematic view of the mounting structure of the tag reference system 100;
FIG. 9 is a schematic structural view of the clamping mechanism;
FIG. 10 is a schematic diagram of the structure of registration probe 200;
FIG. 11 is a schematic view of the configuration of an transforaminal scope A;
FIG. 12 is a schematic structural view of a human body installation mechanism according to a second embodiment.
Detailed Description
The invention is further illustrated by the following examples and figures.
In the first embodiment, as shown in fig. 1 and 2, the navigation platform includes:
a marker reference system 100 for marking a reference point and a plurality of marker points 121 in an electromagnetic spatial coordinate system, an optical spatial coordinate system;
a registration probe 200 for calibrating a marker point 121 in an electromagnetic space coordinate system and an optical space coordinate system, respectively;
the marking system 300 is used for calibrating the tip of the intervertebral foramen endoscope A in an electromagnetic space coordinate system and an optical space coordinate system respectively;
a navigation terminal 400 for establishing an electromagnetic space coordinate system, an optical space coordinate system and a virtual space coordinate system;
electromagnetic space coordinates of the marking point 121, the reference point, the tip of the endoscope A in an electromagnetic space coordinate system and optical space coordinates in an optical space coordinate system are respectively positioned through the registration probe 200, the marking reference system 100 and the marking system 300;
the navigation terminal 400 determines the tracking coordinate of the tip of the transforaminal endoscope A according to the three-dimensional image, the mark point 121, the reference point, the electromagnetic space coordinate of the tip of the transforaminal endoscope A and the optical space coordinate, and displays the transforaminal endoscope A in the three-dimensional image according to the tracking coordinate.
In particular, the marker reference system 100 is mounted on the human body at a position close to the anatomical site, and the marker reference system 100 can mark a fixed reference point relative to the anatomical site for surgical navigation, and a plurality of marker points 121.
The navigation terminal 400 determines the coordinates of the marker points 121 in the electromagnetic space coordinate system and the optical space coordinate system, respectively, by registering the probe 200, using electromagnetic positioning and optical positioning, and determines the transformation matrices of the virtual space coordinate system with the electromagnetic space coordinate system and the optical space coordinate system, respectively, according to the scanned image including the anatomical position and the marker points 121, using the existing surgical registration method. Therefore, the situation that a large operation is directly cut on the body of a patient and the mark point is selected can be avoided, so that the damage to the patient is reduced, and the positioning precision can be improved.
The navigation terminal 400 locates the reference point by the tag reference system 100, coordinates positions in the electromagnetic space coordinate system and the optical space coordinate system, and determines the electromagnetic virtual space coordinate of the reference point in the virtual space coordinate system and the optical virtual space coordinate of the reference point in the virtual space coordinate system, respectively, according to the corresponding transformation matrices.
The navigation terminal 400 tracks the reference point, the electromagnetic space coordinate of the tip of the transforaminal endoscope a and the optical space coordinate through the mark reference system 100 and the mark system 300 respectively, so as to determine the electromagnetic space relative position and the optical space relative position of the tip of the transforaminal endoscope a relative to the reference point, and determines the electromagnetic virtual space coordinate and the optical virtual space coordinate of the tip of the transforaminal endoscope a by combining the electromagnetic virtual space coordinate and the optical virtual space coordinate of the reference point.
The navigation terminal 400 determines a tracking coordinate according to the electromagnetic virtual space coordinate and the optical virtual space coordinate of the tip of the transforaminal endoscope A, and displays the transforaminal endoscope A in the three-dimensional image according to the tracking coordinate, so that a doctor can directly observe the position of the tip of the puncture needle.
The navigation terminal combines the optical operation navigation technology and the electromagnetic operation navigation technology, and combines the positioning results of the two navigation methods, so that the navigation precision is improved. And when electromagnetic field interference generated by other surgical instruments exists, the navigation terminal can accurately position the intervertebral foramen endoscope A through optical positioning, and when the navigation terminal cannot be positioned through optical positioning, if the marking system and the marking reference system are shielded, the navigation terminal can accurately position the intervertebral foramen endoscope A through electromagnetic positioning. The interference of the outside to the operation navigation is reduced, and the positioning precision is improved.
In this embodiment, preferably, as shown in the system block diagram of the navigation terminal 400 shown in fig. 3, the navigation terminal 400 is provided with:
the optical positioning system 410 is used for positioning the optical space coordinates of the reference point, the marking point 121 and the tip of the intervertebral foramen lens A in the optical space coordinate system through the marking reference system 100, the registration probe 200 and the marking system 300;
the electromagnetic positioning system 420 is used for positioning through the marking reference system 100, the registration probe 200 and the marking system 300, and the reference point, the marking point 121 and the tip of the intervertebral foramen endoscope A are in electromagnetic space coordinates in an electromagnetic space coordinate system;
the navigation system 430 is used for acquiring a scanned image comprising the mark point 121 and an anatomical part to perform three-dimensional reconstruction, determining an electromagnetic virtual space coordinate and an optical virtual space coordinate of the tip of the transforaminal endoscope A according to the reconstructed three-dimensional image, and an optical space coordinate and an electromagnetic space coordinate of the reference point, the mark point 121 and the tip of the transforaminal endoscope A, determining a tracking coordinate of the tip of the transforaminal endoscope A according to the electromagnetic virtual space coordinate and the optical virtual space coordinate by the navigation system 430, and displaying the transforaminal endoscope A in the three-dimensional image according to the tracking coordinate by the navigation system 430.
It should be understood that the optical positioning system 410 may use optical positioning technology to determine the optical space coordinates of the reference point, the mark point 121, and the tip of the foramen lens a in an optical space coordinate system, such as the polar optical positioning and tracking system of NDI corporation, and the optical positioning system 410 collects the positioning image through its own positioning camera 411 and establishes the optical space coordinate system according to the positioning image.
The electromagnetic positioning system 420 is an electromagnetic positioning system that can use electromagnetic positioning technology to determine the reference point, the marker 121, and the electromagnet space coordinates of the tip of the colposcope a in an electromagnetic space coordinate system, such as the Aurora positioning and tracking system of NDI corporation. The electromagnetic positioning system 420 generates an electromagnetic field with known magnetic field strength distribution by its own magnetic field generator 421, and establishes an electromagnetic space coordinate system based on the magnetic field strength.
The navigation system 430 can obtain the optical space coordinates and the electromagnetic space coordinates of the reference point, the marker point 121, the tip of the endoscope a, which are sent by the optical positioning system 410 and the electromagnetic positioning system 420, according to the obtained scanning image including the marker point 121 and the anatomical part. The navigation terminal 400 performs three-dimensional reconstruction according to the scanned image, and establishes a virtual space coordinate system according to the reconstructed three-dimensional image. The navigation system 430 performs surgical registration according to the coordinates of the marker 121 in the optical space coordinate system, the electromagnetic space coordinate system, and the virtual space coordinate system, and determines a transformation matrix.
The navigation system 430 determines the electromagnetic virtual space coordinate and the optical virtual space coordinate of the reference point according to the optical space coordinate, the electromagnetic space coordinate and the conversion matrix of the reference point, determines the relative position relationship according to the optical space coordinate and the electromagnetic space coordinate of the tip of the transforaminal endoscope A and the reference point, and finally determines the tracking coordinate of the tip of the transforaminal endoscope A according to the relative position relationship and the electromagnetic virtual space coordinate and the optical virtual space coordinate of the reference point, and the navigation system 430 displays the transforaminal endoscope A in the three-dimensional image according to the tracking coordinate.
In this embodiment, preferably, as shown in the block diagram of the navigation system 430 shown in fig. 4, the navigation system 430 is provided with:
an information acquisition unit 431 for acquiring a scanned image, and acquiring optical space coordinates and electromagnetic space coordinates of the reference point, the marker point 121, and the tip of the colposcope a;
the information processing unit 432 is used for performing three-dimensional reconstruction according to the scanned image, and determining an optical virtual space coordinate of the tip of the transforaminal endoscope A according to the reconstructed three-dimensional image, the mark point 121, the reference point and the optical space coordinate of the tip of the transforaminal endoscope A; determining the electromagnetic virtual space coordinate of the tip of the intervertebral foramen mirror A according to the three-dimensional image, the mark point 121, the reference point and the electromagnetic space coordinate of the tip of the intervertebral foramen mirror A; the information processing unit 432 determines the tracking coordinate of the tip of the intervertebral foramen endoscope A by combining the optical virtual space coordinate and the electromagnetic virtual space coordinate;
and the navigation display unit 433 is used for displaying the intervertebral foramen lens A in the three-dimensional image according to the tracking coordinates.
It should be understood that the information obtaining unit 431 is provided with a plurality of communication interfaces, an RS232 interface, an RJ45 network interface, and a USB interface, and the information obtaining unit 431 is connected with the electromagnetic positioning system 420 and the optical positioning system 410 through the RS232 interface and the RJ45 network interface, respectively. Positioning information sent by the optical positioning system 410 and the electromagnetic positioning system 420 is acquired through an RS232 interface and an RJ45 network port, a scanned image is acquired through a USB interface, and the scanned image and the positioning information are sent to the information processing unit 432.
The information processing unit 432 may be a processing host storing existing electromagnetic surgery navigation software and optical surgery navigation software, and respectively processes the scanned image and the positioning information through the electromagnetic surgery navigation software and the optical surgery navigation software to determine an optical virtual space coordinate and an electromagnetic virtual space coordinate of the tip of the transforaminal endoscope a, and determines a tracking coordinate by combining the optical virtual space coordinate and the electromagnetic virtual space coordinate.
The navigation display unit 433 generates three-dimensional image information including the transforaminal endoscope a from the tracking coordinates, and transmits the three-dimensional image information to the display for display.
In the present embodiment, it is preferable that, as the information processing unit 432 shown in fig. 5 is a functional block diagram, the information processing unit 432 is provided with:
a three-dimensional reconstruction module 4321, configured to perform three-dimensional reconstruction according to the scanned image, and create a three-dimensional image including the marker point 121 and the anatomical portion;
a surgery registration module 4322, configured to determine an optical transformation matrix between the optical space coordinate system and the computer space coordinate system according to the three-dimensional image and the optical space coordinates of the marker point 121; the electromagnetic space coordinate system is also used for determining an electromagnetic conversion matrix between an electromagnetic space coordinate system and a computer space coordinate system according to the three-dimensional image and the electromagnetic space coordinate of the mark point 121;
the navigation tracking module 4323 is configured to convert the optical space coordinate of the reference point into an optical virtual reference coordinate according to the optical conversion matrix, and convert the electromagnetic space coordinate of the reference point into an electromagnetic virtual reference coordinate according to the electromagnetic conversion matrix;
the navigation tracking module 4323 is further configured to determine an optical virtual space coordinate of the tip of the foraminoscope a according to the reference point and the optical space coordinate of the tip of the foraminoscope a and the optical virtual reference coordinate, and determine an electromagnetic virtual space coordinate of the tip of the foraminoscope a according to the reference point and the electromagnetic space coordinate of the tip of the foraminoscope a and the electromagnetic virtual reference coordinate, and determine a tracking coordinate according to the electromagnetic virtual space coordinate and the optical virtual space coordinate.
Specifically, the three-dimensional reconstruction module 4321 may reconstruct a three-dimensional image according to the scanned image by using existing three-dimensional reconstruction software stored in the memory of the information processing unit, to obtain a three-dimensional image including the marker point and the anatomical region, and send the obtained three-dimensional image to the navigation tracking module 4323.
The navigation tracking module 4323 sends the three-dimensional image to the surgery registration module 4322. The operation registration module 4322 determines the virtual coordinates of the marker points according to the three-dimensional image, determines the electromagnetic transformation matrix and the optical transformation matrix according to the coordinates of the marker points in the electromagnetic space coordinate system and the optical space coordinate system sent by the information acquisition unit 431 by using the existing operation registration method, and sends the electromagnetic transformation matrix and the optical transformation matrix to the navigation tracking module 432 by the operation registration module 4322.
The navigation tracking module 4323 determines the tracking coordinate of the tip of the colposcope a according to the electromagnetic conversion matrix and the optical conversion matrix, and the coordinate of the reference point and the coordinate of the tip of the colposcope a sent by the information acquisition unit 431, and sends the tracking coordinate to the navigation display unit 433 for display.
In this embodiment, preferably, as shown in fig. 6 and 7, the marking reference system 100 is provided with a reference frame 110, a marking plate 120 and a human body installation mechanism 130, and the reference frame 110 and the marking plate 120 are connected with the human body installation mechanism.
The marking plate 120 is provided with at least 3 marking points 121, the reference frame 110 is provided with an electromagnetic sensor 111 and an optical mark 112, the electromagnetic sensor 111 and the optical mark 112 are used for positioning reference points in an electromagnetic space coordinate system and an optical space coordinate system, respectively, and the optical mark 112 is provided with at least 4 optical mark balls 1121.
Specifically, as shown in fig. 1, the electromagnetic positioning system 420 may generate an electromagnetic field with known magnetic field strength by its own electromagnetic generator 421, the navigation terminal 400 may click the marker 121 on the marker plate 120 through the registration probe 200, and the position coordinates of the marker 121 in the optical space coordinate system and the electromagnetic space coordinate system may be determined by the optical positioning technology and the electromagnetic positioning technology, respectively, to complete the surgical registration and determine the transformation matrix. And the marking plate 120 and the reference frame 110 are arranged together, so that the number of instruments is reduced, the structure is simplified, and the operation is simple.
The magnetic field strength at the marker reference system 100 can be detected by the electromagnetic sensor 111 to enable the location of the reference point in the electromagnetic space coordinate system to be located.
The optical positioning system 410 can collect positioning images of the optical markers 112 on the reference frame 110 through the positioning camera 411, and position the reference points in the optical spatial coordinate system by using the existing image positioning technology.
As shown in fig. 8, which is a schematic view of the mounting structure of the mark reference system 100, the human body installation mechanism 130 is provided with a fixing base 131 and a mounting bone nail 132, the fixing base 131 is sleeved on the mounting bone nail 132 and is fixed with 2 mounting bone nails 132 through a clamping mechanism, the clamping mechanism is arranged in the fixing base 131, and the reference frame 110 is mounted on the fixing base 131.
As shown in fig. 9, the clamping mechanism is provided with a clamping arm 135, a lateral mounting groove 136 for mounting the clamping arm 135 is formed on a side wall of the fixed seat 131, the clamping arm 135 is laterally disposed in the mounting groove 136, and a tension bolt 134 is disposed on a side surface of the clamping arm 135 facing a notch of the mounting groove 136. The side surface facing the bottom of the mounting groove 136 is provided with 2 limiting grooves 137, and the 2 limiting grooves 137 are respectively positioned at two ends of the clamping arm 135. The fixing seat 131 is provided with 2 bone screw through holes 139, and the installation positions of the 2 bone screw through holes 139 correspond to the limiting groove 137 and penetrate through the whole installation groove 136.
Be provided with spacing 1391 towards the mounting groove 136 tank bottom between spacing groove 137 and the elasticity bolt 134, this spacing 1391 one end is fixed with centre gripping arm 135, and the other end is buckled 90 degrees to the both ends of centre gripping arm 135, forms spacing portion, be provided with in the mounting groove 136 with spacing matched with spacing 1392. The tank bottom of mounting groove 136 still is provided with two reset spring 1393, and 2 reset spring 1393 sets up between two spacing posts 1392, and this reset spring 1393's one end and mounting groove 136 tank bottom butt, the other end and centre gripping arm 135 butt.
As shown in FIG. 6, when the human body installation mechanism 130 is installed on a human body, a small 2 surgical incisions are first cut on the patient, then one installation bone nail 132 is fixed on the bone along the surgical incision, then the elastic bolt 134 is horizontally pressed inwards, the return spring 1393 is compressed, and the fixed seat 131 is sleeved on the installation bone nail 132 along the bone nail through hole 139. After another installation bone screw 132 is inserted along the bone screw through hole 139, the installation bone screw 132 is drilled into the body of the patient along the remaining surgical incision. The lag bolt 134 is loosened and the lag bolt 134 is then threaded to tighten the clamp 210 to secure the two bone screws, thereby reducing muscle damage to the patient. In order to prevent the fixing seat 131 from sliding, an included angle exists between the two bone screw through holes 139, and in this embodiment, the included angle is 6 degrees.
As shown in the schematic structural diagram of the registration probe 200 shown in fig. 10, the registration probe 200 is provided with an electromagnetic sensor 111 and an optical marker 112, and the electromagnetic sensor 111 and the optical marker 112 are used for positioning the marker point 121 in an electromagnetic space coordinate system and an optical space coordinate system, respectively. Wherein the electromagnetic sensor 111 is arranged at the tip of the registration probe 200 and the optical marker is arranged at the handle position of the registration probe 200.
Specifically, the electromagnetic positioning system 420 collects an electromagnetic intensity signal of the registration probe 200 when the mark point 121 is clicked through the electromagnetic sensor 111, the optical positioning system 410 collects a positioning image of the optical mark 112 through the positioning camera 411, and the electromagnetic positioning system 420 and the optical positioning system 410 position the tip of the registration probe 200 by using the same method for positioning the reference point in the electromagnetic space coordinate system and the optical space coordinate system, respectively, so as to determine the position of the mark point 121 in the electromagnetic space coordinate system and the optical space coordinate system.
As shown in fig. 11, the configuration of the transforaminal endoscope a is schematically illustrated, and the marking system 300 is provided with an electromagnetic sensor 111 and an optical mark 112, wherein the electromagnetic sensor 111 and the optical mark 112 are respectively arranged at the tip and the handle of the transforaminal endoscope a and are respectively used for marking the tip of the transforaminal endoscope a in an electromagnetic space coordinate system and an optical space coordinate system.
It should be understood that the transforaminal lens a is in signal connection with the navigation terminal 400 through a signal connection line, the electromagnetic sensor 111 sends a detected magnetic field intensity signal to the electromagnetic positioning system 420 in real time, the optical positioning system 410 collects a positioning image of the optical mark 112 on the transforaminal lens a in real time, and the electromagnetic positioning system 420 and the optical positioning system 410 position the tip of the transforaminal lens a by adopting a method that the positions of the positioning reference points in the electromagnetic space coordinate system and the optical space coordinate system are the same.
The second embodiment is substantially the same as the first embodiment, and the main difference is that as shown in fig. 12, the body installation mechanism 130 is provided with a spinous process clamp 133, and the reference frame 110 and the marker plate 120 are both connected with the spinous process clamp 133.
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 an integrative intervertebral foramen mirror navigation platform of optomagnetism which characterized in that is provided with:
the marking reference system is used for marking a reference point and a plurality of marking points in an electromagnetic space coordinate system and an optical space coordinate system;
the registration probe is used for marking points in an electromagnetic space coordinate system and an optical space coordinate system respectively;
a marking system for marking the tip of the intervertebral foramen lens in an electromagnetic space coordinate system and an optical space coordinate system respectively;
the navigation terminal is used for establishing an electromagnetic space coordinate system, an optical space coordinate system and a virtual space coordinate system;
the system comprises a registration probe, a mark reference system and a marking system, wherein the registration probe, the mark reference system and the marking system are used for respectively positioning an electromagnetic space coordinate of a mark point, a reference point and a sharp end of the intervertebral foramen mirror in an electromagnetic space coordinate system and an optical space coordinate in an optical space coordinate system;
and the tracking coordinate of the intervertebral foramen mirror tip is determined by the navigation terminal mark point, the reference point, the electromagnetic space coordinate of the intervertebral foramen mirror tip and the optical space coordinate, and the intervertebral foramen mirror is displayed in the three-dimensional image according to the tracking coordinate.
2. The integrated photomagnetic transforaminal navigation platform of claim 1, wherein: the navigation terminal is provided with:
the optical positioning system is used for positioning the optical space coordinates of the reference point, the marking point and the intervertebral foramen lens tip in the optical space coordinate system through the marking reference system, the registration probe and the marking system;
the electromagnetic positioning system is used for positioning the electromagnetic space coordinates of the reference point, the marking point and the intervertebral foramen endoscope tip in an electromagnetic space coordinate system through the marking reference system, the registration probe and the marking system;
the navigation system is used for acquiring a scanned image comprising a mark point and an anatomical part to carry out three-dimensional reconstruction, determining an electromagnetic virtual space coordinate and an optical virtual space coordinate of the transforaminal endoscope tip according to the reconstructed three-dimensional image, and an optical space coordinate and an electromagnetic space coordinate of the reference point, the mark point and the transforaminal endoscope tip, determining a tracking coordinate of the transforaminal endoscope tip according to the electromagnetic virtual space coordinate and the optical virtual space coordinate, and displaying the transforaminal endoscope in the three-dimensional image according to the tracking coordinate.
3. The integrated photomagnetic transforaminal navigation platform of claim 2, wherein: the navigation system is provided with:
the information acquisition unit is used for acquiring a scanning image and acquiring optical space coordinates and electromagnetic space coordinates of a reference point, a mark point and the tip of the intervertebral foramen mirror;
the information processing unit is used for carrying out three-dimensional reconstruction according to the scanned image and determining the optical virtual space coordinate of the intervertebral foramen lens tip according to the reconstructed three-dimensional image and the optical space coordinate of the mark point, the reference point and the intervertebral foramen lens tip; determining the electromagnetic virtual space coordinate of the intervertebral foramen mirror tip according to the three-dimensional image, the mark point, the reference point and the electromagnetic space coordinate of the intervertebral foramen mirror tip; the information processing unit determines the tracking coordinate of the intervertebral foramen mirror tip by combining the optical virtual space coordinate and the electromagnetic virtual space coordinate;
and the navigation display unit is used for displaying the transforaminal endoscope in the three-dimensional image according to the tracking coordinate.
4. The integrated photomagnetic transforaminal navigation platform of claim 3, wherein: the information processing unit is provided with:
the three-dimensional reconstruction module is used for performing three-dimensional reconstruction according to the scanned image and establishing a three-dimensional image comprising the mark points and the anatomical part;
the operation registration module is used for determining an optical conversion matrix between an optical space coordinate system and a computer space coordinate system according to the three-dimensional image and the optical space coordinates of the mark points; the computer space coordinate system is also used for determining an electromagnetic conversion matrix between an electromagnetic space coordinate system and a computer space coordinate system according to the three-dimensional image and the electromagnetic space coordinates of the mark points;
the navigation tracking module is used for converting the optical space coordinate of the reference point into an optical virtual reference coordinate according to the optical conversion matrix and converting the electromagnetic space coordinate of the reference point into an electromagnetic virtual reference coordinate according to the electromagnetic conversion matrix;
the navigation tracking module is also used for determining the optical virtual space coordinate of the intervertebral foramen mirror tip according to the reference point, the optical space coordinate of the intervertebral foramen mirror tip and the optical virtual reference coordinate, and determining the electromagnetic virtual space coordinate of the intervertebral foramen mirror tip according to the reference point, the electromagnetic space coordinate of the intervertebral foramen mirror tip and the electromagnetic virtual reference coordinate, and the navigation tracking module is used for determining the tracking coordinate according to the electromagnetic virtual space coordinate and the optical virtual space coordinate.
5. The integrated photomagnetic transforaminal navigation platform of claim 3, wherein: the information acquisition unit is provided with an RS232 interface and an RJ45 net port, and is connected with the electromagnetic positioning system and the optical positioning system through the RS232 interface and the RJ45 net port respectively.
6. The optomagnetic integrated transforaminal foramen mirror navigation platform of claim 1, wherein the marker reference system is provided with a reference frame, a marker plate and a human body installation mechanism, the reference frame and the marker plate are both connected with the human-machine installation mechanism, the marker plate is provided with at least 3 marker points, the reference frame is provided with an electromagnetic sensor and an optical marker, and the electromagnetic sensor and the optical marker are used for respectively marking reference points in an electromagnetic space coordinate system and an optical space coordinate system.
7. The integrated photomagnetic transforaminal navigation platform of claim 6, 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 reference frame is installed on the fixing seat.
8. The surgical navigational marking system of claim 6, wherein: the human body installation mechanism is provided with a spinous process clamp, and the reference frame and the marking plate are connected with the spinous process clamp.
9. The integrated photomagnetic transforaminal navigation platform of claim 1, wherein: the registration probe is provided with an electromagnetic sensor and an optical marker for marking points in an electromagnetic spatial coordinate system and an optical spatial coordinate system, respectively.
10. The integrated photomagnetic transforaminal navigation platform of claim 1, wherein: the marker system is provided with an electromagnetic sensor and an optical marker for calibrating the intervertebral foraminal tip in an electromagnetic spatial coordinate system and an optical spatial coordinate system, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910908465.XA CN110584781B (en) | 2019-09-25 | 2019-09-25 | Photomagnetic integrated intervertebral foramen mirror navigation platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910908465.XA CN110584781B (en) | 2019-09-25 | 2019-09-25 | Photomagnetic integrated intervertebral foramen mirror navigation platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110584781A true CN110584781A (en) | 2019-12-20 |
| CN110584781B CN110584781B (en) | 2021-02-19 |
Family
ID=68863178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910908465.XA Active CN110584781B (en) | 2019-09-25 | 2019-09-25 | Photomagnetic integrated intervertebral foramen mirror navigation platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110584781B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112451096A (en) * | 2020-11-24 | 2021-03-09 | 广州艾目易科技有限公司 | Method and device for generating tracer identification information |
| CN113367795A (en) * | 2021-05-31 | 2021-09-10 | 浙江大学 | Ureteroscope soft lens with magnetic positioning function and ureteroscope pose estimation system |
| CN114159163A (en) * | 2021-12-13 | 2022-03-11 | 南开大学 | Soft-lens-oriented magnetic navigation system and method |
| CN115500946A (en) * | 2022-08-17 | 2022-12-23 | 北京长木谷医疗科技有限公司 | Method and device for measuring positioning frame of surgical instrument based on surgical robot |
| CN116492053A (en) * | 2023-06-28 | 2023-07-28 | 真健康（北京）医疗科技有限公司 | Method and apparatus for spatially positioning an ablation needle |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022246209A1 (en) * | 2021-05-21 | 2022-11-24 | True Digital Surgery | Bayonet registration tool/probe |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030088179A1 (en) * | 2000-04-28 | 2003-05-08 | Teresa Seeley | Fluoroscopic tracking and visualization system |
| CN101049248A (en) * | 2007-05-18 | 2007-10-10 | 西安工业大学 | Optical, magnetic, electric composite navigational surgery positioning device and method |
| CN101375805A (en) * | 2007-12-29 | 2009-03-04 | 清华大学深圳研究生院 | Method and system for guiding operation of electronic endoscope by auxiliary computer |
| CN102772244A (en) * | 2012-08-13 | 2012-11-14 | 南京航空航天大学 | Intraoperative navigation system used for implanting pedicle screw |
| US20140313193A1 (en) * | 2010-10-20 | 2014-10-23 | Medtronic Navigation, Inc. | Selected Image Acquisition Technique To Optimize Patient Model Construction |
| WO2016066287A1 (en) * | 2014-10-31 | 2016-05-06 | Scopis Gmbh | Hybrid navigation system for surgical interventions |
| CN108420531A (en) * | 2018-04-03 | 2018-08-21 | 赛诺联合医疗科技（北京）有限公司 | Operation tool method of adjustment, electronic equipment and chucking device |
| 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 |
| CN209316053U (en) * | 2018-06-20 | 2019-08-30 | 上海电气集团股份有限公司 | A kind of mark point component for object movement tracking |
| CN110215285A (en) * | 2019-07-16 | 2019-09-10 | 华志微创医疗科技（北京）有限公司 | The method for correcting error and system of surgical navigational |
-
2019
- 2019-09-25 CN CN201910908465.XA patent/CN110584781B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030088179A1 (en) * | 2000-04-28 | 2003-05-08 | Teresa Seeley | Fluoroscopic tracking and visualization system |
| CN101049248A (en) * | 2007-05-18 | 2007-10-10 | 西安工业大学 | Optical, magnetic, electric composite navigational surgery positioning device and method |
| CN101375805A (en) * | 2007-12-29 | 2009-03-04 | 清华大学深圳研究生院 | Method and system for guiding operation of electronic endoscope by auxiliary computer |
| US20140313193A1 (en) * | 2010-10-20 | 2014-10-23 | Medtronic Navigation, Inc. | Selected Image Acquisition Technique To Optimize Patient Model Construction |
| CN102772244A (en) * | 2012-08-13 | 2012-11-14 | 南京航空航天大学 | Intraoperative navigation system used for implanting pedicle screw |
| WO2016066287A1 (en) * | 2014-10-31 | 2016-05-06 | Scopis Gmbh | Hybrid navigation system for surgical interventions |
| CN108420531A (en) * | 2018-04-03 | 2018-08-21 | 赛诺联合医疗科技（北京）有限公司 | Operation tool method of adjustment, electronic equipment and chucking device |
| CN209316053U (en) * | 2018-06-20 | 2019-08-30 | 上海电气集团股份有限公司 | A kind of mark point component for object movement tracking |
| 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 |
| CN110215285A (en) * | 2019-07-16 | 2019-09-10 | 华志微创医疗科技（北京）有限公司 | The method for correcting error and system of surgical navigational |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112451096A (en) * | 2020-11-24 | 2021-03-09 | 广州艾目易科技有限公司 | Method and device for generating tracer identification information |
| CN113367795A (en) * | 2021-05-31 | 2021-09-10 | 浙江大学 | Ureteroscope soft lens with magnetic positioning function and ureteroscope pose estimation system |
| CN114159163A (en) * | 2021-12-13 | 2022-03-11 | 南开大学 | Soft-lens-oriented magnetic navigation system and method |
| CN115500946A (en) * | 2022-08-17 | 2022-12-23 | 北京长木谷医疗科技有限公司 | Method and device for measuring positioning frame of surgical instrument based on surgical robot |
| CN115500946B (en) * | 2022-08-17 | 2024-01-16 | 北京长木谷医疗科技股份有限公司 | Method and device for measuring surgical instrument positioning frame based on surgical robot |
| CN116492053A (en) * | 2023-06-28 | 2023-07-28 | 真健康（北京）医疗科技有限公司 | Method and apparatus for spatially positioning an ablation needle |
| CN116492053B (en) * | 2023-06-28 | 2023-09-12 | 真健康（北京）医疗科技有限公司 | Method and apparatus for spatially positioning an ablation needle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110584781B (en) | 2021-02-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110584781B (en) | Photomagnetic integrated intervertebral foramen mirror navigation platform | |
| US10667876B2 (en) | Robotic-assisted device for positioning a surgical instrument relative to the body of a patient | |
| USRE45509E1 (en) | Percutaneous registration apparatus and method for use in computer-assisted surgical navigation | |
| CN109416841B (en) | Method for enhancing image fidelity and application thereof method for surgical guidance on wearable glasses | |
| CN109646089B (en) | Intelligent positioning system and method for spinal cord body surface puncture access point based on multi-mode medical fusion image | |
| US7715602B2 (en) | Method and apparatus for reconstructing bone surfaces during surgery | |
| DE69534862T2 (en) | Surgical navigation arrangement including reference and location systems | |
| JP5121401B2 (en) | System for distance measurement of buried plant | |
| US8320992B2 (en) | Method and system for superimposing three dimensional medical information on a three dimensional image | |
| CN110537983B (en) | Photo-magnetic integrated puncture surgery navigation platform | |
| CN102772244A (en) | Intraoperative navigation system used for implanting pedicle screw | |
| JP4280693B2 (en) | Support equipment | |
| CN117064557B (en) | Surgical robot for orthopedic surgery | |
| JP4319043B2 (en) | Method and apparatus for reconstructing a bone surface during surgery | |
| Vrionis et al. | Image‐interactive orientation in the middle cranial fossa approach to the internal auditory canal: An experimental study | |
| CN109044539A (en) | A kind of body surface location method for infrared navigation | |
| CN109009436A (en) | A kind of body surface location equipment for infrared navigation | |
| IKEDA et al. | Cranionavigator Combining a High-speed Drill and a Navigation System for Skull Base Surgery—Technical Note— | |
| CN114418960A (en) | Image processing method, system, computer device and storage medium | |
| Karahalios et al. | Image-guided spinal surgery | |
| CN117860375A (en) | Preoperative planning and intraoperative navigation method for reverse shoulder joint replacement and implementation device thereof | |
| Javer et al. | Relationship between Target Registration Error (TRE) and Fiducial Registration Error (FRE), a clinical study and statistical analyses |
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 | ||
| 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: Zhang Chao Inventor before: Zheng Wenjie |