CN110946653B

CN110946653B - Operation navigation system

Info

Publication number: CN110946653B
Application number: CN201811644912.7A
Authority: CN
Inventors: 刘文博; 李赞; 韩萌; 楚晨龙; 文犁
Original assignee: Sino Precision Beijing Medical Technology Co ltd
Current assignee: Sino Precision Beijing Medical Technology Co ltd
Priority date: 2018-12-29
Filing date: 2018-12-29
Publication date: 2021-05-25
Anticipated expiration: 2038-12-29
Also published as: AU2019412420A1; WO2020135785A1; AU2019412420B2; CN113397706A; CN110946653A; CN216021360U

Abstract

The present invention provides a surgical navigation system, comprising: the space positioning module is used for guiding the moving path of the medical instrument; the workstation comprises a communication interface, a processor, a display device and an input device, wherein the display device is used for displaying the interface of the software, and the input device is used for inputting the command of a user. The surgical navigation system of the present invention may also include a localization marker, or further include a tracking module and an ultrasound module. The operation navigation system has the advantages of quick response, simple operation and wide application range, and can be used for various surgical operations.

Description

Operation navigation system

Technical Field

The invention relates to the technical field of medical equipment, in particular to an operation navigation system.

Background

Puncture surgery is one of the types of surgery commonly seen in clinical surgery, specific examples include, but are not limited to, hematoma aspiration, cyst aspiration, edema aspiration, tissue biopsy, continuous drug delivery, and the like.

In a traditional puncture operation, the location of a puncture needle is generally confirmed according to a CT image of a patient, then a doctor can roughly determine a puncture path according to the lesion location and puncture the puncture needle, for the sake of safety, generally, every 1-2 cm of the puncture needle is inserted, and a CT scan is performed so as to correct the advancing direction of the puncture needle, so that the patient needs to receive multiple CT scans and receive larger radiation in the whole operation process. The design of the puncture path in the method depends on the judgment of the experience of a doctor, bleeding caused by puncturing a blood vessel exists, and the method has the risks that the error is large for small and deep focuses, the focuses cannot be reached and the like.

The surgical navigation system brings great convenience to medical surgery since the advent, but still has the problems of dependence on operators, poor precision and the like.

Disclosure of Invention

In view of the above, in order to solve the problems in the prior art, the invention provides a surgical navigation system, which has the advantages of high response speed, accurate navigation positioning, simple operation and low cost.

The present invention provides a surgical navigation system, comprising:

the workstation comprises a communication interface, a processor, a display device and an input device, wherein the communication interface is used for carrying out communication connection, the processor comprises pre-loaded software, the display device is used for displaying the interface of the software, and the input device is used for inputting a command of a user; and

a spatial location module, the spatial location module comprising:

a fixed connection device for fixing a structure to which the ends thereof are connected;

the position adjusting device comprises a base, a power structure and two sets of moving assemblies, wherein each set of moving assembly comprises two parts capable of moving relatively, and the power structure can promote the two parts to move relatively;

the control device is used for regulating and controlling the power structure and carrying out data communication;

a guide for guiding a surgical instrument;

wherein the content of the first and second substances,

the position adjusting device is connected with the tail end of the fixed connecting device, and the guide device is hinged with the two sets of moving assemblies of the position adjusting device, so that the guide device can reach a required position according to the movement of the two sets of moving assemblies.

In the surgical navigation system, the software pre-loaded in the processor can generate a three-dimensional image according to the existing medical image (such as CT and MRI) data, or receive and display the generated three-dimensional image, virtually display the guide device and the motion path of the surgical instrument guided therein and the like in the three-dimensional image, and the blood vessel can be displayed in the three-dimensional image for the reference of a user.

In the surgical navigation system of the present invention, the fixing connection device is any structure capable of fixing the position adjustment device relative to the patient, such as a gimbal, a support, a multi-degree-of-freedom mechanical connection structure, and the like. In one embodiment, the fixed connection is a gimbal arm comprising at least one joint, preferably three or more joints. In a preferred embodiment, the universal arm includes a fastening structure, a support arm, a first joint, a first adjustment arm, a second joint, a second adjustment arm, a third joint, and a connecting arm; the fastening structure is connected with a wall, an objective table, a sickbed and the like, so that the space positioning module is supported and roughly positioned, and the connecting arm is connected with the position adjusting device.

In a first aspect of the invention, a portion of the structure of the spatial localization module can be monitored to a location during medical imaging, for example, a portion of the base, the guide, or both can be monitored for location and contour during Magnetic Resonance Imaging (MRI), Computed Tomography (CT), or X-ray imaging. In one embodiment, the guiding device is a cylinder with known dimensions, and when the guiding device and the patient are subjected to medical imaging together at a relatively fixed position, the contour and the position of the guiding device can be displayed in the medical imaging, so that the coordinates of the guiding device in the coordinate system of the three-dimensional image can be calculated, and the position of the guiding device can be adjusted based on the coordinates. In another embodiment, a portion of the guide is made of a material whose position and contour are clearly visible in medical imaging, such as two arc segments arranged in parallel and of different lengths, from which the coordinates and spatial position of the guide can be calculated, and the skilled person will appreciate that this configuration can be of various designs as long as the position of the guide relative to the target site can be determined by it. The guide device comprises a through hole, and the through hole can have inner diameters with different sizes as required so as to be matched with different surgical instruments for use.

In a second aspect, the surgical guidance system of the present invention further comprises a localization marker, which may be selected from a variety of options, such as a marker whose position can be monitored in medical imaging, a marker whose position can be monitored in a tracking module, and the like. The medical imaging method includes various existing suitable methods, such as Magnetic Resonance Imaging (MRI), X-ray Computed Tomography (CT), or X-ray imaging; the markers whose position can be monitored in medical imaging can be made of many different geometric shapes and materials, and can have many mounting structures, either fixed or removable, as long as the spatial position of the guide can be determined, usually three or more, for example, they can be mounted on the base, the guide, or on a connection to the guide; when the positioning marker is installed on the base, the spatial position of the guide device is calculated through the power structure, and in order to ensure the accuracy of distance change, a position feedback device is additionally installed to calibrate the position change caused by the power structure; when the positioning marker is arranged on the guide device, the positioning is most direct; when the positioning marker is installed on the connecting member, since there are two connecting members, it is necessary to separately determine each connecting member and then determine the spatial position of the guide device by the position of the connecting member.

The surgical navigation system of the invention also comprises a tracking module when the marker of the position can be monitored by the tracking module, and the tracking module can be an optical tracking module, an electromagnetic tracking module and the like. The positioning marker of the surgical navigation system of the present invention includes an optical positioning marker/positioning accessory, an optical tracking module, and a reference mark in case that the optical positioning marker can be detected by the optical tracking module. The optical positioning markers can be various optically recognized markers, such as common spherical markers capable of reflecting infrared rays, patterns containing angular points and the like, and can be matched with corresponding tracking modules for use; the optical locating markers can also be assembled on the rigid structure to form a locating assembly, wherein the optical locating markers are arranged in a unique spatial distribution and can determine a unique coordinate system; in the use process, the cone part of the positioning accessory is inserted into the through hole of the guide catheter, and after the light emitted or reflected by the optical positioning marker is captured by the camera, the position of the positioning accessory can be determined through calculation, so that the spatial position of the guide catheter and the spatial position of the through hole are determined. The host of the invention generates a three-dimensional image and then registers the three-dimensional image by using the reference mark as a basic coordinate system, so that the positioning accessory and the guiding device can be virtually displayed in the three-dimensional image, if the target part and the reference mark are changed together in the operation process, the relative position of the positioning accessory in the three-dimensional image can be redetermined according to the change of the reference mark, and the positioning accessory can be adjusted to a required position as required. The tracking module has different structures according to the adopted positioning marker, for example, an electromagnetic positioning device in the case of adopting the electromagnetic positioning marker; under the condition of using the spherical reflective marker, the tracking module comprises a light emitting unit and a camera shooting unit; in the case of using a pattern with angular points as optical positioning markers, the tracking module contains a camera unit, preferably a binocular camera unit.

In one example in combination with the second aspect, the tracking module includes: the device comprises a movable bottom plate, a support, a light emitting unit and a camera shooting unit; the movable base plate is provided with wheels to move freely, preferably, four wheels in one embodiment, and has a stopping structure, and the position of the movable base plate can be prevented from changing in the operation process by the stopping structure after the movable base is moved to the required position; the support comprises pillar, first support joint, connecting rod, second support joint, first regulation pole, third support joint, second regulation pole, can adjust the position of light emission unit and camera unit through the support, and height and angle promptly for the target area is located light emission unit and camera unit's best working range. The workstation comprises: the system comprises a workstation moving bottom plate, a host, an input device and a display; the working station moving bottom plate is provided with wheels and corresponding stopping devices and can move, and when the working station moving bottom plate reaches a required position, the working station moving bottom plate is fixed through the stopping structures, so that the position of the working station moving bottom plate is prevented from changing in the operation process; the host computer contains treater and communication interface, and the treater can be based on medical image and accomplish three-dimensional reconstruction, receives the information that the tracking module gathered through communication interface, generates the operation scheme, sends the instruction to the space orientation module, and the operation instrument that matches the space orientation module is virtual to be fused to the three-dimensional image that forms to show for the user on the display, input device are keyboard, mouse or pronunciation input device etc..

In a third aspect, the surgical navigation system of the present invention further comprises a tracking module and an ultrasound module; the tracking module comprises at least image acquisition means, such as a camera, preferably a binocular camera, a positioning marker (or positioning accessory) and a reference mark, and may also comprise a light emitting unit; the ultrasonic module comprises an ultrasonic probe and an ultrasonic diagnostic apparatus, wherein the ultrasonic probe is provided with a positioning marker, the positioning marker or a positioning accessory containing the positioning marker can be fixedly arranged or detachably connected to the ultrasonic probe, and the ultrasonic diagnostic apparatus can exist independently or is integrated into a host of a surgical navigation system.

In one embodiment in combination with the third aspect, the surgical navigation system of the present invention comprises a workstation, a spatial localization module, a tracking module, and an ultrasound module; the workstation and the spatial orientation module are basically as described above, the tracking module comprises a light emitting unit, a camera unit, an orientation fitting and a reference mark, the orientation fitting and the reference mark are respectively provided with a plurality of spherical orientation markers capable of reflecting light, the unique structure design enables the spatial orientation of the orientation fitting to be uniquely determined, the orientation fitting can be independent, for example, the orientation fitting comprises a cone part and a body part, the cone part is used for being detachably inserted into a through hole of a guiding device, the body part comprises a plurality of optical orientation markers capable of determining the spatial orientation of the orientation fitting through reflected light; the positioning fitting can also be a part of the guide device and integrated with the guide device; the reference mark adopts the same optical positioning marker as the positioning accessory, has a unique shape, can uniquely determine the spatial position of the reference mark, has a determined relative position relation with the part to be operated in the use process, for example, is connected with the part to be operated, for example, connected with a bone nail, a head frame and the like fixed on a patient, and establishes a coordinate system of the tracking module based on the reference mark; the tracking module simultaneously tracks the positioning accessory, the reference mark and the ultrasonic probe, the ultrasonic probe adopts the positioning accessory similar to the guiding device, the positioning accessory of the ultrasonic probe can be integrated in the ultrasonic probe or can be detachable, and only the positioning accessory has a determined imaging position relation with the ultrasonic probe; the ultrasonic diagnostic apparatus transmits data scanned by the ultrasonic probe to the workstation, the workstation carries out coordinate change on the ultrasonic image by using the reference mark as a benchmark, and displays a virtual graph of the guide catheter in the ultrasonic image through the display device, and the workstation plans the position of the guide catheter according to requirements and sends an instruction to the space positioning module so that the guide catheter moves to a required position and direction.

In another embodiment in combination with the third aspect, the surgical navigation system of the present invention comprises a workstation, a spatial localization module, a tracking module, and an ultrasound module; the workstation and the spatial localization module are basically as described above, the tracking module only comprises a camera unit, the localization accessory is provided with a plurality of corner points, so that the spatial position of the tracking module can be uniquely determined by software loaded by the camera unit and the workstation, and the ultrasonic probe is provided with the same localization markers, namely the corner points, as the localization accessory; the ultrasonic diagnostic apparatus transmits data scanned by the ultrasonic probe to the workstation, the workstation takes the ultrasonic probe as a reference, the position of the positioning accessory is calibrated by using a coordinate system of a positioning marker of the ultrasonic probe through the tracking module, the coordinate system of the positioning accessory and the coordinate system of the ultrasonic image are converted through the fixed position relation of the ultrasonic probe and the positioning marker, and the workstation can virtually fuse the guide catheter or the medical instrument and the ultrasonic image and display the data in the display device.

In yet another embodiment in combination with the third aspect, the surgical navigation system of the present invention comprises a workstation, a spatial localization module, a tracking module, and an ultrasound module; the tracking module is an electromagnetic tracking module, the ultrasonic module comprises a magnetic positioning marker, the space positioning module comprises a magnetic positioning marker, the electromagnetic tracking module comprises a magnetic field generating device and a reference mark, and the electromagnetic tracking module can track the positions of the space positioning module, the ultrasonic module and the reference mark at the same time. When the device is used, the reference mark is tightly connected with the skin near the part to be detected, and the electromagnetic tracking module tracks the position change of the reference mark to calibrate, so that the tracking error caused by tissue displacement is eliminated. The electromagnetic tracking module generates an electromagnetic field (first signal) and is sensed by the magnetic localization marker, which generates a second signal in response to the first signal, and the host computer then determines the positions of the spatial localization module, the ultrasound module, and the reference marker based on the second signal.

And the workstation plans the position of the guide catheter according to the requirement and sends an instruction to the space positioning module so that the guide catheter moves to the required position and direction.

In the surgical navigation system of the present invention, the power structure is a motor, preferably, the motor is a non-magnetic motor, and can be used in a magnetic resonance environment, i.e., the system of the present invention can be used in combination with a Magnetic Resonance Imaging (MRI).

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts. The structures in the drawings are schematic and not necessarily to scale.

FIG. 1 is a schematic view of one aspect of a surgical navigation system of the present invention;

FIG. 2 illustrates one embodiment of the fixed connection 100 of FIG. 1;

FIG. 3 shows an example of the appearance of the position adjustment apparatus 200 and the guide apparatus 400 of FIG. 1;

FIG. 4 is an internal block diagram of the portion of the position adjustment device 200 and the portion of the guide 400 of FIG. 3;

FIG. 5 is a schematic view of an example of a guide 400 of the present invention including a portion of a special structure;

FIG. 6 is a schematic view of an example of a guide 400 containing a localization marker;

FIG. 7 is a schematic view of an example of a base containing a localization marker;

FIG. 8 is a schematic view of an example of connectors each containing a localization marker;

FIG. 9 is a schematic view of an example according to another aspect of the present invention;

FIG. 10 is a detailed structural diagram of the tracking module B in FIG. 9;

FIG. 11 shows a schematic view of one example of a locating accessory 500-1 and reference number 500-2;

FIG. 12 shows a schematic view of the positioning assembly 500-1 in use;

FIG. 13 is a schematic view showing a partial structure in a use state of an example of a second aspect of the surgical navigation system of the present invention;

FIG. 14 shows a schematic view of one example of a locating accessory 500-3 and reference number 500-4;

FIG. 15 shows a schematic view of the positioning assembly 500-3 in use;

FIG. 16 is a schematic view showing a partial structure in a use state of still another example of the second aspect of the surgical navigation system of the present invention;

FIG. 17 is a schematic view showing a partial configuration in a use state of a third aspect of the surgical navigation system of the present invention;

icon:

000-fixed; 100-a fixed connection means; 200-a position adjustment device; 300-a control module; 400-a guide; 101-fastening structure, 102-support arm, 103-first joint, 104-first adjustment arm, 105-second joint, 106-second adjustment arm, 107-third joint, 108-connecting arm; 211-first plane, 212-second plane, 213-first motor, 214-second motor, 221-third plane, 222-fourth plane, 223-third motor, 224-fourth motor; 215-first connector, 225-second connector, 401-guide catheter; b10-moving bottom plate, B20-bracket, B30-light emitting unit and camera shooting unit, B201-pillar, B202-first bracket joint, B203-connecting rod, B204-second bracket joint, B205-first adjusting rod, B206-third bracket joint and B207-second adjusting rod; c10-movable bottom board, C20-host, C30-input device, C40-display; 700-host, 800-input device 800, 900-display device; 500-1-locating fitting, 500-3-locating fitting, 500-5-locating fitting, 500-2-reference mark, 500-4-reference mark; 601-localization marker, 602-localization marker, 603-localization marker, 604-localization marker, 605-localization marker, 606-localization marker.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

To facilitate understanding of the present embodiment, the surgical navigation system disclosed in the present embodiment of the invention will be described in detail first.

Referring to fig. 1, a first aspect of the surgical navigation system of the present invention comprises: space orientation module, workstation, space orientation module contains: a fixed connection device 100; a position adjusting device 200; a control module 300; a guide 400; the workstation includes a host 700, an input device 800, a display device 900, and a communication interface.

FIG. 2 shows an embodiment of a fixed attachment 100 of a spatial locator module, the fixed attachment 100 being used to attach a fixture 000, which may be a wall, a stage, a ceiling, a bed, a head rest, etc., preferably a bed, to a position adjustment device 200 to keep the position adjustment device 200 in close proximity and stable relative to a patient; the fastening structure 101 connects the fixture 000 with the support arm 102, and the first joint 103 connects the support arm 102 and the first adjustment arm 104, preferably with universal adjustment; a second joint 105 connects the first adjusting arm 104 and the second adjusting arm 106, and a third joint 107 connects the second adjusting arm 106 and the connecting arm 108; the securing device 101 may be a variety of clamping structures, such as a spring clip. The support arm 102, the first adjustment arm 104, the second adjustment arm 106, and the connecting arm 108 are elongated rigid structures, such as cylinders, cuboids, and the like.

Referring to fig. 3 and 4, which show schematic views of an example of a position adjustment device 200 and a guide 400, a housing design 2001 of the position adjustment device 200 is shown in fig. 3. Fig. 4 shows an internal structure of the position adjusting apparatus 200, and the position adjusting apparatus 200 includes a base 201, a power structure, a first moving assembly, and a second moving assembly. The first moving assembly comprises a first plane 211, a second plane 212, and corresponding power assemblies, namely a first motor 213 and a second motor 214; the second moving assembly comprises a third plane 221, a fourth plane 222 (not shown here), and corresponding power structures are a third motor 223, a fourth motor 224; the first motor 213 controls the movement of the first plane 211 through a kinematic pair, the second motor 214 controls the movement of the second plane 212 through a kinematic pair, and the directions of the movements of the second plane 212 and the first plane 211 are perpendicular to each other, so as to drive the first connecting piece 215 connected to the first plane 211 to move in two dimensions; the third motor 223 controls the movement of the third plane 221 through a kinematic pair, the fourth motor 224 controls the movement of the fourth plane 222 through a kinematic pair, and the movement directions of the fourth plane 222 and the third plane 221 are perpendicular to each other, so as to drive the second connecting piece 225 connected to the third plane 221 to move in two dimensions; controlled positioning of guide catheter 401 in three-dimensional space is achieved through movement of first link 215 and second link 225. The first, second, third and fourth elements are not sequential, and are used interchangeably within certain ranges without affecting the function of the adjustment device 200 for convenience of description.

The position adjustment device 200 and the guide 400 are preferably made of a material of suitable strength (e.g., engineering plastic, etc.), in one embodiment, the motors (i.e., the first motor 213, the second motor 214, the third motor 223, and the fourth motor 224) are nonmagnetic motors, and the fixed connection device 100, the rest of the position adjustment device 200, and the guide 400 are made of a magnetic resonance compatible material, such as engineering plastic and rubber. Enabling the spatial localization module to be used under magnetic resonance conditions.

A control module 300 for controlling the movement of the position adjustment device 200, wherein the control module 300 may be a separate module or integrated into another part; the stepper motors are controlled by wired or wireless connections, in one particular example a first motor 213, a second motor 214, a third motor 223 and a fourth motor 224. The control module 300 may be separate, control the position adjustment device 200 via an operative communication link, or may be integrated into the position adjustment device 200. In another case, the control module may be integrated into the workstation.

Referring again to FIG. 4, in one embodiment, the guide catheter 401 of the guide 400 is made of a material that can be easily identified and positioned in medical imaging (CT, MRI, or both CT and MRI), such as a nonmagnetic alloy, nonmagnetic metal, carbon fiber, etc., so that medical imaging can be performed with the patient to obtain a relative position of the guide with respect to the patient, and based on this relative position, a path of motion is designed so that the guide catheter is adjusted to a desired position and orientation.

Referring to fig. 5, in another embodiment, a

portion

402 and 403 of the guiding catheter 401 is composed of a material which can clearly show the outline and position of the guiding catheter 401 in medical imaging, and 402 and 403 are a portion of the wall of the guiding catheter 401, and the shape is represented by two parallel arc structures with different lengths, so that the center position and direction of the through hole of the guiding catheter 401 can be calculated. It is apparent that the structural design of this embodiment is merely exemplary, and any structure, such as a cross star or the like, by which the center position and direction of the through-hole can be determined by calculation is included within the scope of the present invention.

In another embodiment, the medically assisted robot of the present invention contains markers that can be used to display the position during medical imaging, so that the guide 400 can be positioned during medical imaging. The localization markers may vary depending on the imaging method, for example, localization markers made of high density materials that may be suitable for CT techniques, localization markers suitable for MRI techniques, or titanium alloy markers that meet both CT and MRI requirements, etc.

In one embodiment, referring to fig. 6, the medical assist robot of the present invention embeds three

localization markers

601, 602, and 603 on a guide catheter 401, the marker size and embedding location are known, and the size of the guide catheter 401 is known, so that the orientation and position of the guide catheter 401 can be calculated from the positions of the three localization markers in medical imaging. The number of markers can be more than three, and in another embodiment, the positioning

markers

601, 602, and 603 are detachable and attached prior to use via an attachment structure on the guide catheter.

In another embodiment, the medical assist robot of the present invention has positioning markers mounted on the base 201 or in a fixed position relative to the base 201, see fig. 7, showing three positioning

markers

601, 602 and 603, and since the mounting position is known, the position of the base 201 can be determined in medical imaging by the positioning

markers

601, 602 and 603, and the orientation and position of the guide catheter 401 can be calculated by the control module 300 or the host 700 based on the movement of the motor and the base 201. In order to ensure that the calculated movement distance based on the motor rotation is correct, position feedback means are added in this solution to confirm that the recorded movement distance based on the motor rotation is completely correct. It will be apparent that the number of locating markers may exceed 3, that the shape may be other shapes that allow the geometric center to be calculated, and that the locating

markers

601, 602, and 603 may be detachable.

In yet another embodiment, the medical assistance robot of the present invention is provided with positioning markers on the connecting members or on a plane fixed in positional relationship with the connecting members, see fig. 8, showing an example comprising two sets of positioning markers, a first set of

markers

601, 602 and 603 for determining the spatial position of the first connecting member 215, and a second set of

markers

604, 605 and 606 for determining the spatial position of the second connecting member 225, whereby the orientation and position of the guiding catheter 401 can be calculated. The number of the positioning markers in each group can exceed 3, the shape can be other shapes capable of calculating the geometric center, and the

positioning markers

601, 602 and 603 can also be detachable.

The second aspect of the surgical navigation system of the present invention includes: the system comprises a space positioning module and a tracking module; a workstation; wherein the tracking module or a part thereof may be integrated in the workstation.

In one embodiment, the spatial location module comprises: the device comprises a fixed connecting device, a position adjusting device, a control module and a guiding device; the tracking module comprises: the device comprises a camera device, a positioning accessory and a reference mark; the workstation comprises: host computer, input device, display device and communication interface.

In another embodiment, the spatial locator module comprises: the device comprises a fixed connecting device, a position adjusting device, a control module and a guiding device; the tracking module comprises: a light emitting part, a camera device, a positioning accessory and a reference mark; the workstation comprises: host computer, input device, display device and communication interface.

Fig. 9 shows an example of the second scheme, the spatial orientation module comprises a fixed connection device 100, a position adjusting device 200, and a guiding device 400, and shows the structure of the fixed connection device 100, the supporting arm 102 is a cone, the first joint 103 can realize the rotation of the first adjusting arm 104 relative to the supporting arm 102, the second joint 105 can realize the rotation of the second adjusting arm 106 relative to the first adjusting arm 104 and can realize the angle locking, and the third joint 107 can realize the rotation of the second adjusting arm 106 relative to the connecting arm 108; the fastening structure 101 is not shown. The tracking module B includes: a moving base B10, a bracket B20, a light emitting unit and a camera unit B30, a positioning fitting 500-1, and a reference mark 500-2 (see fig. 11, not shown in fig. 9); the moving base plate B10 is equipped with at least 3 wheels to move freely, in a preferred embodiment with four wheels, and contains a stopping structure by which the position of the moving base plate B10 is prevented from changing during the operation when the moving base B10 is moved to a desired position; referring to fig. 10, a stand B20 is composed of a stay B201, a first stand joint B202, a connecting rod B203, a second stand joint B204, a first adjusting lever B205, a third stand joint B206, and a second adjusting lever B207, and the positions of the light emitting unit and the camera unit B30 can be adjusted by a stand B20 so that the target area is located within the optimum working range of the light emitting unit and the camera unit B30. The workstation C includes: a workstation moving bottom plate C10, a host C20, an input device C30 and a display C40; the workstation moving base plate C10 is provided with 4 wheels and a stop device, can move and is fixed through a stop structure when reaching a required position, so that the position of the workstation moving base plate C10 is prevented from changing in the operation process; the host C20 comprises a processor and a communication interface, the processor comprises pre-loaded software, the processor can process and process data, plan a path, receive the data through the communication interface, send an instruction to the spatial positioning module, virtually fuse an operation tool matched with the spatial positioning module into a three-dimensional image imaged by the software, and display the three-dimensional image on the display C40 to a user, and the input device C30 is a keyboard, a mouse or a voice input device. The display C40 is a touch panel, i.e. when it has both input and output functions, the input device C30 may be omitted.

The control module 300 is not shown integrated in host C20, and in another example, the control module 300 exists only as a stand-alone module.

The locating assembly is a rigid structure equipped with a number of optically traceable markers arranged in a unique spatial distribution capable of defining a unique coordinate system, including but not limited to active light emitting markers, light reflecting markers, patterns containing corner points, etc.

Fig. 11 shows a specific example of the positioning accessory 500-1 and the reference mark, the positioning accessory 500-1 is used with the reference mark 500-2, the positioning accessory 500-1 is equipped with four ball-type optical positioning markers (a first ball-type optical positioning marker 511, a second ball-type optical positioning marker 512, a third ball-type optical positioning marker 513, a fourth ball-type optical positioning marker 514), the reference mark 500-2 is equipped with four ball-type optical positioning markers (a first ball-type optical positioning marker 521, a second ball-type optical positioning marker 522, a third ball-type optical positioning marker 523, a fourth ball-type optical positioning marker 524), after the light emitted from the light emitting part is reflected by the ball-type optical positioning markers, received by the camera unit and then computationally determines the spatial position of the guide catheter 401 and its through-hole.

Referring to fig. 12, the tapered portion 502 of the positioning fitting 500-1 is inserted into the through hole of the guide catheter 401, the position of the guide catheter 401 is calibrated by the positioning fitting 500-1, the position of the catheter is displayed on the display, the guide catheter 401 is adjusted to a desired position according to the preoperative plan, and then a surgical instrument such as an electric drill, a guide wire, an electrode, etc. can be passed through the through hole of the guide catheter 401, thereby performing an operation.

Referring to fig. 13, describing a usage of an embodiment of the second scheme, according to preoperative CT and MRI data of a patient, a workstation generates or receives a three-dimensional image, fixedly connects a reference marker 500-2 with a to-be-operated part of the patient, for example, connects a head through a rigid structure, so that the relative position of the reference marker 500-2 and the to-be-operated part of the patient is kept unchanged during a surgical process, uses a positioning accessory 500-1 as a reference, and registers through an anatomical feature point or a feature point with which the image and the anatomy are both visible, obtains a corresponding relationship between the established three-dimensional image and the to-be-operated part, then inserts 500-1 into a guiding device 400, and controls the movement of a spatial positioning module through an optical tracking module and software, so that the guiding device 400 reaches a required position.

Fig. 14 shows another specific example of the positioning accessory 500-3 and the reference mark, the positioning accessory 500-3 is used in combination with the reference mark 500-4, the positioning accessory 500-3 is equipped with four optical positioning markers (a first corner optical positioning marker 531, a second corner optical positioning marker 532, a third corner optical positioning marker 533, and a fourth corner optical positioning marker 534), and the reference mark 500-4 is equipped with four optical positioning markers (a first corner optical positioning marker 541, a second corner optical positioning marker 542, a third corner optical positioning marker 543, and a fourth corner optical positioning marker 544), and the imaging unit directly acquires image information of the positioning accessory and the reference mark, and then determines the spatial position of the guide catheter 401 and the spatial position of the through hole thereof by calculation.

Referring to fig. 15, the tapered part 502 of the positioning accessory 500-3 is inserted into the through hole of the guide catheter 401, the position of the guide catheter 401 is calibrated by the positioning accessory 500-3 based on the reference numeral 500-4, the position of the guide catheter 401 is displayed on the matched display, the guide catheter 401 is adjusted to a desired position according to preoperative planning, and then a surgical instrument such as an electric drill, a guide wire, an electrode, etc. can be passed through the through hole of the guide catheter 401, thereby performing surgery.

Referring to fig. 16, describing a usage of an embodiment of the second scenario, according to preoperative CT and MRI data of a patient, a workstation generates or receives a three-dimensional image, fixedly connects, for example, a rigid structure connecting head, a reference marker 500-4 with a to-be-operated part of the patient so that the relative position of the reference marker 500-4 and the to-be-operated part of the patient is kept unchanged during a surgical procedure, uses a positioning accessory 500-3 as a reference, and registers through an anatomical feature point or a feature point where the image and the anatomy are both visible, obtains a corresponding relationship between the established three-dimensional image and the to-be-operated part, then inserts the positioning accessory 500-3 into a guiding device 400, and controls a space positioning module to move through an optical tracking module and software so that the guiding device 400 reaches a required position.

Referring to fig. 17, one embodiment of the third aspect of the surgical navigation system of the present invention comprises: the system comprises a space positioning module, a tracking module, a workstation and an ultrasonic module; wherein the space positioning module and the workstation are as described in the first aspect, the tracking module comprises a camera device, positioning accessories 500-3 and 500-5 and a reference mark 500-4, the ultrasonic module comprises a conventional ultrasonic device, the positioning accessory 500-5 is connected with an ultrasonic probe of the ultrasonic device, the position of the ultrasonic probe in a coordinate system of the optical tracking module based on the reference mark 500-4 can be determined through the positioning accessory 500-5, the ultrasonic image is converted into the coordinate system based on the reference mark 500-4 through the relative position relationship between the positioning accessory 500-5 and the ultrasonic probe, the position of the positioning accessory 500-3 of the space positioning module is obtained at the same time, the positioning accessory 500-3 is displayed in an image coordinate system through the relative position relationship with the reference mark 500-4, thereby obtaining the positional relationship of the guide module 400 in the ultrasound image. The ultrasonic module can be an existing ultrasonic instrument, and the adaptive positioning accessory 500-5 is additionally arranged on the ultrasonic probe. The locating fitting 500-5 may be fixedly mounted or may be removable.

Another embodiment of the third aspect of the surgical navigation system of the present invention comprises a spatial location module, a tracking module, a workstation, and an ultrasound module; wherein the spatial location module and the workstation are as described in the first aspect; the tracking module is an electromagnetic tracking module and comprises a magnetic field generating device and a reference mark; the reference mark contains a magnetic positioning marker, the space positioning module is connected with the magnetic positioning marker, the ultrasonic module is connected with the magnetic positioning marker, when the ultrasonic navigation system is used, the magnetic field generating device is close to a part to be detected to generate an electromagnetic field (a first signal), the magnetic positioning marker responds to the first signal to generate a second signal, so that the reference mark can be used as a reference, the relative position relation of the space positioning module and the ultrasonic module relative to the reference mark is established in the same coordinate system, then the ultrasonic image and the coordinate system of the electromagnetic tracking module are unified based on the spatial position relation of the magnetic positioning marker relative to the ultrasonic probe, and the positioning of the guiding module 400 in the ultrasonic image can be realized. The reference mark may preferably be attached to the skin of the site to be operated, and when the site to be operated is changed with breathing or the like, the imaging may be adjusted based on the reference mark, thereby avoiding the influence on the positioning.

In the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A surgical navigation system, comprising:

the workstation comprises a communication interface, a processor, a display device and an input device, wherein the communication interface is used for carrying out communication connection, the processor contains pre-loaded software, the display device is used for displaying the interface of the software, and the input device is used for inputting a command of a user; and

a spatial location module, the spatial location module comprising:

the position adjusting device comprises a base, a power structure and at least two sets of moving assemblies, wherein each set of moving assembly comprises two planes which are arranged in parallel and can move relatively, and the power structure can promote the two planes of each set of moving assembly to move relatively;

the control device is used for regulating and controlling the power structure and carrying out communication connection;

a guide device having a through hole for guiding a surgical instrument;

wherein the content of the first and second substances,

the position adjusting device is connected with the tail end of the fixed connecting device, the guide device is respectively hinged with the two sets of moving assemblies of the position adjusting device through the two connecting pieces, the moving assemblies enable the connected connecting pieces to move in two dimensions relative to the base, and then the guide device connected with the two connecting pieces can reach a required position according to the movement of the two sets of moving assemblies, so that the through holes of the guide device are positioned in a three-dimensional space.

2. The surgical navigation system of claim 1, wherein a partial structure of the spatial localization module is capable of being detected in position in medical imaging.

3. A surgical navigation system according to claim 2, wherein the part of the spatial localization module that is capable of being detected in position in medical imaging is a guide or a part of a guide.

4. The surgical navigation system of claim 1, wherein the spatial location module further includes a location marker.

5. The surgical navigation system of claim 4, wherein the localization marker is a marker whose position is detectable in medical imaging.

6. The surgical navigation system of claim 5, wherein the medical imaging is Magnetic Resonance Imaging (MRI), X-ray computed tomography imaging (CT), or X-ray imaging.

7. The surgical navigation system of claim 4, wherein the localization marker is a marker whose position is detectable by the tracking module.

8. The surgical navigation system of claim 7, further comprising a tracking module for tracking the spatial location of the spatial location module.

9. The surgical navigation system of claim 8, wherein the tracking module includes a camera unit.

10. The surgical navigation system of claim 8, wherein the tracking module includes a camera unit and a light emitting unit.

11. The surgical navigation system of claim 8, wherein the tracking module includes an electromagnetic tracking unit.

12. The surgical navigation system of any one of claims 9 to 11, wherein the tracking module further includes a reference marker that is fixedly connectable with the target site.

13. The surgical navigation system of claim 1, further comprising a tracking module and an ultrasound module.

14. The surgical navigation system of claim 13, wherein the tracking module is an optical tracking module, the ultrasound module contains optical localization markers, and the spatial localization module contains optical localization markers, whereby the optical tracking module contains reference markers and is capable of tracking the ultrasound module and the spatial localization module simultaneously.

15. The surgical guidance system of claim 13, wherein the tracking module is an electromagnetic tracking module, the ultrasound module includes magnetic localization markers, the spatial localization module includes magnetic localization markers, the electromagnetic tracking module includes a magnetic field generating device and a reference marker, and the electromagnetic tracking module can simultaneously track the positions of the spatial localization module and the ultrasound module.

16. The surgical navigation system of claim 15, wherein the reference marker is in close contact with the skin near the site to be detected during use, and the electromagnetic tracking module tracks the position change of the reference marker for calibration to eliminate tracking errors caused by tissue displacement.