CN111407577A - Movable operation platform - Google Patents
Movable operation platform Download PDFInfo
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- CN111407577A CN111407577A CN202010243100.2A CN202010243100A CN111407577A CN 111407577 A CN111407577 A CN 111407577A CN 202010243100 A CN202010243100 A CN 202010243100A CN 111407577 A CN111407577 A CN 111407577A
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- surgical
- movable
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- equipment
- marker
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- 238000000034 method Methods 0.000 claims abstract description 8
- 239000003550 marker Substances 0.000 claims description 28
- 238000003384 imaging method Methods 0.000 claims description 11
- 238000001356 surgical procedure Methods 0.000 claims description 11
- 238000009434 installation Methods 0.000 description 5
- 238000003825 pressing Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910010293 ceramic material Inorganic materials 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
-
- 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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/90—Identification means for patients or instruments, e.g. tags
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
Abstract
The invention relates to a movable operation platform, belonging to surgical operation equipment, wherein the movable operation platform is arranged on an operation bed, the movable operation platform is provided with an operation implementation area for positioning an operation target part and a first mark for being identified by scanning equipment or positioning and tracking equipment, and after the first mark is identified by the scanning equipment or the positioning and tracking equipment, an image equipment establishes an operation coordinate system aiming at the operation implementation area. Through setting up the portable operation platform of this application on the operation table, realize linking with scanning equipment or positioning and tracking equipment and image equipment, directly by scanning equipment or positioning and tracking equipment discernment first mark in order to establish the operation coordinate system through image equipment at the operation in-process to make operation robot can accomplish the operation according to the operation coordinate system, make the operation real-time point location accurate, improved the progress of operation, help improving the efficiency of operation simultaneously.
Description
Technical Field
The invention relates to a movable operation platform, and belongs to surgical operation equipment.
Background
In the interventional operation, the position of a focus is confirmed and surgical equipment is displayed by a display device after entering a human body, but the confirmation of the operation implementation point is usually determined by the experience of a doctor at present, and the evaluation is completely relied on, so that the requirement on the clinical experience of the doctor is very high, and the problem of inaccurate positioning is easily caused.
Disclosure of Invention
The invention aims to provide a movable operation platform capable of realizing intelligent operation.
In order to achieve the purpose, the invention provides the following technical scheme: a movable operation platform is arranged on an operation bed and provided with an operation implementation area for bearing an operation target position and a first mark used for being identified by scanning equipment or positioning and tracking equipment, and after the first mark is identified by the scanning equipment or the positioning and tracking equipment, an imaging device establishes an operation coordinate system aiming at the operation implementation area according to the first mark obtained by the scanning equipment or the positioning and tracking equipment.
Further, a fixing device used for fixing the operation target position on the movable operation platform is arranged in the operation implementation area.
Further, the first marker may be disposed in one or more of the surgical field, outside of the surgical field, in a fixation device.
Further, the movable surgical platform is also provided with a mounting area for carrying surgical instruments for performing a surgery, the mounting area being located outside the surgical implementation area.
Further, the movable platform comprises a second mark arranged on the surgical instrument and/or the installation area, and after the second mark is identified by the scanning device or the positioning and tracking device, the imaging device establishes a surgical coordinate system for a surgical implementation area together with the first mark according to the second mark obtained by the scanning device or the positioning and tracking device.
Further, the movable platform comprises a second mark arranged on a surgical instrument used for performing the operation, and after the second mark is identified by the scanning device or the positioning and tracking device, the imaging device establishes an operation coordinate system for the operation performing area according to the second mark and the first mark obtained by the scanning device or the positioning and tracking device.
Further, the movable surgical platform includes a first base disposed in the surgical implementation area to detachably mount the fixing device, and a second base disposed in the mounting area to detachably mount the surgical device.
Further, the first marker may move in position according to the surgical implementation, and the second marker may move in position according to the surgical implementation.
Further, the movable operation platform is a flat structure, and the movable operation platform is provided with a pressing area which is pressed by the body of the patient so that the movable operation platform is fixed on the operation bed.
Further, the movable surgical platform is used in a magnetic resonance environment.
The invention has the beneficial effects that: through setting up the portable operation platform of this application on the operation table, realize linking with scanning equipment or positioning and tracking equipment and image equipment, directly in the operation process by scanning equipment or positioning and tracking equipment discernment first mark in order to establish the operation coordinate system through image equipment to make operation robot can accomplish the operation according to the operation coordinate system, make the operation implement some location accuracy, improved the progress of operation, help improving the efficiency of operation simultaneously.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
FIG. 1 is a schematic view of a movable operating table according to an embodiment of the present invention;
FIG. 2 is a schematic view of the movable operating table of FIG. 2 in another orientation;
fig. 3 is a schematic structural view of a movable operating table for head surgery.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Referring to fig. 1 to 3, a movable operation platform 10 according to a preferred embodiment of the present invention is disposed on an operation table (not shown). The movable surgical platform 10 is provided with a surgical implementation area 1 for positioning a surgical target site (not shown) and a first marker (not shown) for being recognized by a scanning device. After the first mark is identified by the scanning device, the imaging device establishes an operation coordinate system for the operation implementation area 1 according to the first mark obtained by the scanning device. The scanning device employs conventional techniques in the art. In the present embodiment, the movable operation platform 10 is used in a magnetic resonance environment, and the scanning device and the imaging device are both conventional components in an existing magnetic resonance system, and the operation table is a magnetic resonance table in the magnetic resonance system. Of course, in other embodiments, the movable surgical platform 10 may be any device that may be used in surgery, and is not limited thereto. In this embodiment, the movable operation platform 10 is a flat plate structure, specifically, the movable operation platform 10 includes a flat plate body 2 placed on the operation table, and the operation implementation area 1 is disposed on the flat plate body 2, and by this design, it can be matched with any operation table, that is, it only needs to place the movable operation platform 10 on the operation table. Because the movable operation platform 10 is a flat structure, the movable operation platform can be directly placed on an operation bed, and the implementation and the flexibility are strong. Of course, the movable surgical platform 10 may also be fixed on the operating table through a detachable connection mechanism, such as a bolt disposed on the movable surgical platform 10, and the movable surgical platform 10 is supported on the operating table through the bolt to achieve the fixing of the movable surgical platform 10 and the operating table.
It should be noted that, in this embodiment, the movable operation platform 10 is directly placed on the operation table, and is fixed to the operation table without a connection structure, and in order to prevent the movable operation platform 10 from moving relative to the operation table during the operation, the operation is performed by pressing the movable operation platform 10 against the operation table through a human body, specifically, the movable operation platform 10 is provided with a pressing region 3 which is pressed by the body of the patient to fix the movable operation platform 10 on the operation table, and the pressing region 3 is located at one side of the operation performing region 1. As in the head operation of fig. 3, the pressing area 3 is pressed against the operation bed by the back of the human body.
The operation implementation area 1 is provided with a fixing device (not shown) for fixing the operation target position on the movable operation platform 10. The fixation device is removably mounted within the surgical field 1. The movable surgical platform 10 includes a first base 41 disposed within the surgical field 1 for removably mounting the fixation device. The first marker may be disposed within the surgical field 1, outside the surgical field 1, in one or more of the fixation devices, and typically, the first marker is disposed outside the fixation devices and the surgical field, thereby facilitating the establishment of a coordinate system with the fixation device as an origin coordinate. In a specific operation procedure, different types of fixing devices can be replaced according to actual operation conditions, for example, with reference to fig. 2 and 3, in a head operation, the fixing device is a head frame 51, the structure of the head frame 51 can be a structure conventional in the prior art, which is not described in detail in this embodiment, and the first base 41 includes a head coil mounting base. In order to perform a scan of the head frame 51 in the magnetic resonance system, in the present embodiment, the operation performing region 1 is further provided with a head coil 52. To facilitate mounting and fixing the head coil 52, the movable surgical platform 10 further includes a head coil mounting base 41. The head coil mounting base 41 is a jig for holding the head coil 52, and the head mount base 42 is a card slot for mating with the head mount 51. In this embodiment, the operation region 1 is formed by recessing from the flat plate-like body 2 in order to make the human body more comfortable during the operation.
In this embodiment, the movable surgical platform 10 is further provided with mounting areas 6 for mounting surgical equipment (not shown), and the number of the mounting areas 6 can be determined according to the number of the surgical equipment. The installation area 6 is located outside the operation implementation area 1, and by arranging the installation area 6, the movable operation platform 10 can carry different types of operation instruments 20 for implementing operations, so that the operation platform is more functional. The movable surgical platform 10 includes a second marker (not shown) disposed on the mounting area 6, and after the second marker is recognized by the scanning device, the imaging device establishes a surgical coordinate system for the surgical implementation area according to the second marker and the first marker obtained by the scanning device. In the present embodiment, the surgical instrument 20 is fixed at a prescribed position, that is, the mounting areas 6 are prescribed positions, and in fig. 1, there are two mounting areas 6, which are respectively provided on the front side of the surgical execution area 1, and the two mounting areas 6 are located on both end points. In other embodiments, the mounting area 6 may be a range of movement for the surgical instrument 20, within which the surgical instrument 20 is disposed and is movable, and in this case, the second marker is mounted on the surgical instrument 20, and in other ranges of the mounting area, the second marker may or may not be provided at the same time, and the purpose of the second marker is: the positional relationship of the surgical instrument 20 with respect to the surgical field is obtained. It should be noted that the surgical coordinate system for the surgical site, which is established by the imaging device together with the first marker and the second marker, may be one (the one coordinate system is the origin coordinate with the surgical site), or two or more (one is the origin coordinate with the surgical site, and the others are the origin coordinates with the surgical instruments 20). When performing surgery, the control system or the operator controls the movement of the surgical instrument 20 according to one or more surgical coordinate systems, and the control system may also control the movement of the surgical instrument 20 by using a route planning method in the prior art. In addition, the manner in which the imaging device establishes the surgical coordinate system for the surgical implementation area based on the second marker and/or the first marker is also a common means in the prior art, such as by means of 3D modeling.
Of course, in other embodiments, the installation area may not be provided, the second mark of the movable platform is provided on the surgical instrument 20 for performing the surgery, and similarly, after the second mark is recognized by the scanning device, the imaging device establishes the surgery coordinate system for the surgery implementation area according to the second mark obtained by the scanning device and the first mark. In other embodiments, the scanning device may be replaced with a location tracking device, which may be an infrared or electromagnetic identification device.
The first mark and the second mark can move positions according to the implementation situation of the operation, and the first mark and the second mark are identification points with pasting functions. In this embodiment, the first mark and the second mark are made of materials that are conventionally recognized by a scanning device or a positioning and tracking device in the prior art, such as ceramic materials, or a sticker is coated with a highlighting agent, and in this embodiment, the detailed structure, components and preparation method of the first mark and the second mark are not described in detail. It should be noted that, in the same type of operation, the identification point does not need to be moved, and the movement is only to implement different types, and the coordinate system of another type of operation is established by a method different from that of the previous operation. In addition to the first and second marks being configured to be movable in the present embodiment, the first and second marks may be configured to be immovable in other embodiments. The surgical instrument 20 is removably mounted within the mounting region 6. The movable operating table includes a second base 7 disposed within the mounting region 6 to removably mount the surgical instrument 20. Different types of surgical instruments 20 may be replaced according to different surgical requirements, depending on the actual surgical requirements. As shown in fig. 2 and 3 in conjunction, the second base 7 includes a connecting plate 71 provided on the flat plate-like body 2 and a fastener (not shown) for fastening the connecting plate 71 and the surgical instrument 20. The mounting region 6 is formed recessed from the flat plate-like body 2. In the head operation, the supporting area, the operation implementing area 1 and the installation area 6 are arranged in sequence. The second marking may be provided on the mounting region 6 and/or on a surgical instrument 20 located within the mounting region 6.
To sum up, through set up the movable operation platform 10 of this application on the operation table, realize with scanning equipment or positioning and tracking equipment and image equipment linkage, directly in the operation process by scanning equipment or positioning and tracking equipment discernment first mark in order to establish the operation coordinate system through image equipment to make operation robot can accomplish the operation according to the operation coordinate system, make the operation implement point location accurate, improved the progress of operation, help improving the efficiency of operation simultaneously. .
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A movable operation platform is arranged on an operation bed, the movable operation platform is provided with an operation implementation area for bearing an operation target position and a first mark used for being identified by scanning equipment or positioning and tracking equipment, and after the first mark is identified by the scanning equipment or the positioning and tracking equipment, an image equipment establishes an operation coordinate system aiming at the operation implementation area according to the first mark obtained by the scanning equipment or the positioning and tracking equipment.
2. The movable surgical platform of claim 1, wherein a securing device is disposed within the surgical field for securing the surgical target site to the movable surgical platform.
3. The movable surgical platform of claim 2, wherein the first marker is positionable in one or more of an intra-operative field, an extra-operative field, and a fixation device.
4. The movable surgical platform of claim 1, further provided with a mounting area for carrying surgical instruments to perform a procedure, the mounting area being located outside the procedure implementation area.
5. The movable surgical platform of claim 4, wherein the movable platform comprises a second marker disposed on the surgical instrument and/or the mounting region, the second marker is identified by the scanning device or the position tracking device, and the imaging device establishes a surgical coordinate system for the surgical delivery region based on the second marker and the first marker obtained by the scanning device or the position tracking device.
6. The movable surgical platform of claim 1, wherein the movable platform comprises a second marker disposed on a surgical instrument used to perform a surgical procedure, the second marker is identified by the scanning device or the position tracking device, and the imaging device establishes a surgical coordinate system for a surgical procedure execution region according to the second marker and the first marker obtained by the scanning device or the position tracking device.
7. The movable surgical platform of claim 4 or 6, comprising a first base disposed within the surgical implementation zone to removably mount the fixture and a second base disposed within the mounting zone to removably mount the surgical device.
8. The movable surgical platform of claim 4 or 6, wherein the first marker is positionally displaceable in accordance with a surgical procedure, and the second marker is positionally displaceable in accordance with a surgical procedure.
9. A movable surgical platform as claimed in claim 1, 4 or 6, wherein the movable surgical platform is a plate-like structure provided with a pressure-bearing area that is pressed against by the patient's body to secure the movable surgical platform to the operating bed.
10. The movable surgical platform of claim 1, 4 or 6, wherein the movable surgical platform is used in a magnetic resonance environment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010243100.2A CN111407577A (en) | 2020-03-31 | 2020-03-31 | Movable operation platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010243100.2A CN111407577A (en) | 2020-03-31 | 2020-03-31 | Movable operation platform |
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| Publication Number | Publication Date |
|---|---|
| CN111407577A true CN111407577A (en) | 2020-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010243100.2A Pending CN111407577A (en) | 2020-03-31 | 2020-03-31 | Movable operation platform |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004100767A2 (en) * | 2003-05-09 | 2004-11-25 | Vanderbilt University | Fiducial marker holder system for surgery |
| CN101019765A (en) * | 2007-03-29 | 2007-08-22 | 新奥博为技术有限公司 | Surgical operation system under the guide of magnetic resonant image and the operation navigating method |
| CN103330616A (en) * | 2013-07-02 | 2013-10-02 | 北京大学第三医院 | Artificial cochlea implanting operation system based on computer vision |
| CN104146767A (en) * | 2014-04-24 | 2014-11-19 | 薛青 | Intraoperative navigation method and system for assisting in surgery |
| EP3241518A2 (en) * | 2016-04-11 | 2017-11-08 | Globus Medical, Inc | Surgical tool systems and methods |
| CN107753105A (en) * | 2016-08-16 | 2018-03-06 | 株式会社高永科技 | Positioning operation surgical robot system and its control method |
| US20190328466A1 (en) * | 2017-01-04 | 2019-10-31 | Medivation Ag | A mobile surgical tracking system with an integrated fiducial marker for image guided interventions |
| CN110897717A (en) * | 2019-12-09 | 2020-03-24 | 苏州微创畅行机器人有限公司 | Navigation operation system, registration method thereof and electronic equipment |
| CN212575182U (en) * | 2020-03-31 | 2021-02-23 | 苏州景昱医疗器械有限公司 | Movable operation platform |
-
2020
- 2020-03-31 CN CN202010243100.2A patent/CN111407577A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004100767A2 (en) * | 2003-05-09 | 2004-11-25 | Vanderbilt University | Fiducial marker holder system for surgery |
| CN101019765A (en) * | 2007-03-29 | 2007-08-22 | 新奥博为技术有限公司 | Surgical operation system under the guide of magnetic resonant image and the operation navigating method |
| CN103330616A (en) * | 2013-07-02 | 2013-10-02 | 北京大学第三医院 | Artificial cochlea implanting operation system based on computer vision |
| CN104146767A (en) * | 2014-04-24 | 2014-11-19 | 薛青 | Intraoperative navigation method and system for assisting in surgery |
| EP3241518A2 (en) * | 2016-04-11 | 2017-11-08 | Globus Medical, Inc | Surgical tool systems and methods |
| CN107753105A (en) * | 2016-08-16 | 2018-03-06 | 株式会社高永科技 | Positioning operation surgical robot system and its control method |
| US20190328466A1 (en) * | 2017-01-04 | 2019-10-31 | Medivation Ag | A mobile surgical tracking system with an integrated fiducial marker for image guided interventions |
| CN110897717A (en) * | 2019-12-09 | 2020-03-24 | 苏州微创畅行机器人有限公司 | Navigation operation system, registration method thereof and electronic equipment |
| CN212575182U (en) * | 2020-03-31 | 2021-02-23 | 苏州景昱医疗器械有限公司 | Movable operation platform |
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Effective date of registration: 20201126 Address after: 215000 building C16, biological nano Park, no.218, Xinghu street, Suzhou Industrial Park, Suzhou City, Jiangsu Province Applicant after: Sceneray Co.,Ltd. Address before: 215000 building C16, biological nano Park, no.218, Xinghu street, Suzhou Industrial Park, Suzhou City, Jiangsu Province Applicant before: He Xiaofeng |
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Address after: 215000 building C16, biological nano Park, 218 Xinghu street, Suzhou Industrial Park, Suzhou City, Jiangsu Province Applicant after: Jingyu Medical Technology (Suzhou) Co.,Ltd. Address before: 215000 building C16, biological nano Park, 218 Xinghu street, Suzhou Industrial Park, Suzhou City, Jiangsu Province Applicant before: SCENERAY Co.,Ltd. |