CN111938819A - Spinal surgery minimally invasive surgery navigation system - Google Patents
Spinal surgery minimally invasive surgery navigation system Download PDFInfo
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- CN111938819A CN111938819A CN202010821500.7A CN202010821500A CN111938819A CN 111938819 A CN111938819 A CN 111938819A CN 202010821500 A CN202010821500 A CN 202010821500A CN 111938819 A CN111938819 A CN 111938819A
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Abstract
The invention discloses a spinal surgery minimally invasive surgery navigation system, which relates to the technical field of medical treatment and comprises a preoperative three-dimensional C arm, a two-dimensional O arm or a C arm scanning module, wherein the output end of the preoperative three-dimensional C arm, two-dimensional O arm or C arm scanning module is electrically connected with the input end of a graphic image signal conversion module. The minimally invasive surgery navigation system for spinal surgery completes surgery through modules such as a three-dimensional C arm, a two-dimensional O arm or C wall scanning module, a graphic image signal conversion module, a two-dimensional bone data processing and three-dimensional conversion module (or a three-dimensional bone model noise reduction module), a three-dimensional bone data storage module, a preoperative CT scanning and MRI scanning module and the like before surgery, and solves the problem that the surgery navigation system can only form a data scanning model by means of computer assistance and can not use a plurality of direct and intuitive observers of doctors to discuss and formulate a surgery plan after fixing a corresponding model by holding hands so that the surgery planning efficiency of doctors is influenced to a certain extent.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a spinal surgery minimally invasive surgery navigation system.
Background
The minimally invasive surgery is the main development trend of the surgical treatment of the current intervertebral disc protrusion, the current operation mode of the intervertebral disc protrusion is to open a window on the outer wall of a vertebral canal of a lesion segment, then the intervertebral disc, the ligament, the calcified tissue and the like pressed to the nerve are cut through the window, normal tissues such as bones, joints, ligaments and muscles beside the vertebra or vertebra can be damaged to different degrees according to the difference of the windowing position and the size on the outer wall of the vertebral canal in the operation, and complications such as unstable vertebral body, nerve damage, scar secondary pressing to the nerve and the like are easily caused after the operation treatment.
The spine endoscope technology is a spine minimally invasive operation emerging in recent years, doctors establish a channel through an incision of about 7mm on skin to go deep into a diseased part by using a spine endoscope instrument, water is used as a medium, internal lesions are amplified by an endoscope system and then displayed on a television screen, the surgeons observe the diseased part through the television screen, the instrument is used for removing a protruded intervertebral disc or expanding a narrow vertebral canal through a working channel to relieve symptoms such as lumbocrural pain and the like, the spine endoscope has the advantages of small wound, less bleeding, quick postoperative recovery, short hospitalization time and the like, but the spine endoscope has a series of operation complications due to the characteristics of the spine endoscope, and the system method greatly depends on the experience of an operator, the relatively lengthy learning curve of spinal endoscopy is driven by a high degree of anatomical understanding, and the familiarity and skill of new techniques and new instruments.
In recent years, in order to improve the precision of minimally invasive spine surgery and reduce the occurrence of surgical complications, precise minimally invasive treatment is highly valued and developed, and computer-assisted surgery is an important component of the minimally invasive spine surgery. The surgical operation navigation system is a key application in computer-assisted surgery, and is applied to surgical operations at present, the image-based surgical operation navigation system is based on medical image data such as MRI, CT and the like, the image data is processed by an operation platform, a three-dimensional model of a lesion part is displayed on a computer, a doctor operates a surgical instrument during the operation, the system can clearly observe the states of the surgical instrument and the three-dimensional model of the lesion part by means of a color image, a safe and reliable operation process can be realized by operation navigation, the pain of a patient is reduced, but the operation navigation system can only form a data scanning model by means of computer assistance at present, a plurality of doctors can not directly and intuitively observe and discuss and formulate operation plans in various aspects after fixing corresponding models by hands, and the efficiency of the doctors for formulating the operation plans is influenced to a certain extent, in severe cases, the judgment of a doctor can be affected, so a spinal minimally invasive surgery navigation system is provided to solve the problem.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a spinal surgery minimally invasive surgery navigation system, which solves the problem that the operation planning efficiency of doctors is influenced to a certain extent by the fact that the operation navigation system can only form a data scanning model by means of computer assistance and cannot be used for making an operation plan by a plurality of direct and intuitive observers in many aspects after corresponding models are fixed by hands.
(II) technical scheme
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows: a spinal surgery minimally invasive surgery navigation system comprises a preoperative three-dimensional C arm, a two-dimensional O arm or a C arm scanning module, wherein the output end of the preoperative three-dimensional C arm, two-dimensional O arm or C arm scanning module is electrically connected with the input end of a graphic image signal conversion module, the output end of the graphic image signal conversion module is electrically connected with the input end of a two-dimensional bone data processing three-dimensional model conversion module (or a three-dimensional bone model noise reduction module), the output end of the two-dimensional bone data processing three-dimensional model conversion module (or the three-dimensional bone model noise reduction module) is electrically connected with a three-dimensional bone data storage module, the output end of the three-dimensional bone data storage module is electrically connected with the input end of a three-dimensional bone neurovascular model fitting module, the input end of the three-, the input end of the three-dimensional neurovascular model data storage module is electrically connected with the output end of a three-dimensional model noise reduction processing module, the input end of the three-dimensional model noise reduction processing module is electrically connected with the output end of a scanning two-dimensional data processing to three-dimensional modeling module, the input end point of the scanning two-dimensional data processing to three-dimensional modeling module is connected with the output end of a preoperative CT scanning and MRI scanning module, the output end of the three-dimensional skeletal neurovascular model fitting module is electrically connected with the input end of a three-dimensional skeletal neurovascular model slicing module, the output end of the three-dimensional skeletal neurovascular model slicing module is electrically connected with the input end of a gypsum powder three-dimensional printer layer-by-layer printing module, the output end of the gypsum powder three-dimensional printer layer-by-layer printing module is electrically connected with, many doctors discuss to make operation plan module and be connected with computer operation plan and implement supplementary module, infrared ray auxiliary positioning module, surgical instruments orientation module and operation progress feedback module input are connected to the supplementary module output of computer operation plan implementation simultaneously electricity, infrared ray auxiliary positioning module and surgical instruments orientation module assist the operation to accomplish, progress display module input is connected to operation progress feedback module output electricity, progress display module is connected with the urgent processing module of problem, the urgent processing module of problem is connected with computer operation plan and implements supplementary module input.
Preferably, the surgical instrument positioning module is a medical instrument for minimally invasive surgery of spinal surgery, the layer-by-layer gypsum powder three-dimensional printer printing module is a gypsum powder 3D printer, and the solid model smooth impurity removing module is a gypsum powder grinding and sand grinding device.
Preferably, the three-dimensional skeletal nerve blood vessel model fitting module output end is electrically connected with the input end of a Virtual Reality (VR) data processing module, the output end of the Virtual Reality (VR) data processing module is electrically connected with the input end of a Virtual Reality (VR) operation simulation module, the Virtual Reality (VR) operation simulation module is connected with a patient discussion donation module, and the patient discussion donation module is simultaneously connected with a real model comparison module and a classical case teaching module.
Preferably, the classical case teaching module is a novel teaching mode which uses a physical model and a virtual reality technology.
Preferably, the patient discussion donation module is a negotiation mode between the medical institution and the patient.
Preferably, the three-dimensional skeletal neurovascular model slicing module is a data layering program, the infrared auxiliary positioning module is an infrared optical positioning instrument, and the infrared optical positioning instrument is actively controlled by the computer operation plan implementation auxiliary module according to a plan to realize accurate positioning of the spinal lesion part and the surgical instrument.
(III) advantageous effects
The invention has the beneficial effects that:
1. the minimally invasive surgery navigation system for spinal surgery comprises a three-dimensional C arm, a two-dimensional O arm or C wall scanning module, a graphic image signal conversion module, a two-dimensional bone data processing and three-dimensional converting module (or a three-dimensional bone model noise reduction module), a three-dimensional bone data storage module, a preoperative CT scanning and MRI scanning module, a scanning two-dimensional data and three-dimensional modeling module, a three-dimensional model noise reduction module for converting nerve three-dimensional data, a three-dimensional nerve and blood vessel model data storage module, a three-dimensional bone and blood vessel model fitting module, a three-dimensional bone and blood vessel model slicing module, a gypsum powder three-dimensional printer layer-by-layer printing module, a solid model smoothing and impurity removal module, a solid model comparison module, a multi-doctor discussion and operation planning module, a computer operation planning auxiliary implementation module, an infrared auxiliary positioning module, the operation progress feedback module, progress display module and urgent processing module of problem are accomplished the operation, and then make the entire system of operation more reasonable, make doctor's plan formulate more accord with actual conditions and make doctor's plan formulate more convenient directly perceived simultaneously, thereby solved this operation navigation system can only rely on the computer to assist to form data scanning model and can not be through handheld fixed corresponding model after by the many-sided direct-viewing observer workshop of a plurality of doctors formulate the operation plan problem thereby influenced the doctor to a certain extent and formulated operation plan efficiency.
2. The spinal surgery minimally invasive surgery navigation system is characterized in that three-dimensional data fitted by the three-dimensional skeletal neurovascular model fitting module are processed by the Virtual Reality (VR) data processing module, the processed data are transmitted to the Virtual Reality (VR) surgery simulation module, meanwhile, the plaster model passing through the physical model comparison module and the data transmitted to the Virtual Reality (VR) surgery simulation module are donated by the patient business donation module, the data and the model are extended to the classic case teaching module for use, and new doctors are trained and taught, so that the experience of doctors in using medical instruments and dealing with conditions in the surgery process is greatly improved, the anatomical understanding degree and the new technology of the new doctors are improved to a certain degree, The familiarity and skill of the new instrument further reduce the learning curve length of the new physician to a certain extent, and further increase the functional practicability of the system to a certain extent.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
As shown in fig. 1, the present invention provides a technical solution: a spinal surgery minimally invasive surgery navigation system comprises a preoperative three-dimensional C arm, a two-dimensional O arm or C arm scanning module, wherein the output end of the preoperative three-dimensional C arm, the output end of the two-dimensional O arm or C arm scanning module is electrically connected with the input end of a graphic image signal conversion module, the purpose is to scan the skeleton of a patient and further obtain detailed data of the body of the patient, so that a reasonable and practical treatment plan is carried out on the patient and further the functionality of the system is ensured, the output end of the graphic image signal conversion module is electrically connected with the input end of a two-dimensional skeleton data processing three-dimensional model conversion module (or a three-dimensional skeleton model noise reduction module), the purpose is to ensure that the obtained data are converted into a more visual three-dimensional model and further ensure the practical functionality of the system, the output end of the two-dimensional skeleton data processing three-, the system aims to store data and further ensure the rationality of the system, the output end of a three-dimensional skeleton data storage module is electrically connected with the input end of a three-dimensional skeleton neurovascular model fitting module, the input end of the three-dimensional skeleton neurovascular model fitting module is electrically connected with the output end of a three-dimensional neurovascular model data storage module, the input end of the three-dimensional neurovascular model data storage module is electrically connected with the output end of a three-dimensional model noise reduction processing module, the system aims to enable a model formed by data modeling to be more precise and further increase the efficiency of the system in the using process, so that the running rapidity of the system is ensured, the input end of the three-dimensional model noise reduction processing module is electrically connected with the output end of a scanning two-dimensional data processing to three-dimensional modeling module, the input end point of, the system aims to obtain position data such as fascial nerve vessels of a patient, further assist a doctor to formulate a treatment plan and assist the doctor to finish an operation, the output end of a three-dimensional skeletal nerve vessel model fitting module is electrically connected with the input end of a three-dimensional skeletal nerve vessel model slicing module, the output end of the three-dimensional skeletal nerve vessel model slicing module is electrically connected with the input end of a gypsum powder three-dimensional printer layer-by-layer printing module, the system aims to convert three-dimensional modeling data into a solid gypsum model and further assist a plurality of doctors to visually observe a spine solid model of the patient, thereby assisting the doctor to more efficiently complete formulation of the treatment plan and further ensuring the functionality of the system, the output end of the gypsum powder three-dimensional printer layer-by-layer printing module is electrically connected with the input end of, the physical model comparison module is connected with a multi-doctor consultation operation planning module, the aim is to ensure the rationality of a treatment plan, the multi-doctor consultation operation planning module is connected with a computer operation plan implementation auxiliary module, the output end of the computer operation plan implementation auxiliary module is simultaneously and electrically connected with an infrared auxiliary positioning module, a surgical instrument positioning module and an input end of an operation progress feedback module, the aim is to assist a doctor to treat a patient so as to ensure the implementation execution performance of the plan by the doctor, the infrared auxiliary positioning module and the surgical instrument positioning module assist the completion of an operation, the output end of the operation progress feedback module is electrically connected with the input end of a progress display module, the progress display module is connected with a problem emergency processing module, the problem emergency processing module is connected with the input end of the computer operation plan implementation auxiliary module, and the aim is to assist the surgeon to, and then solve the problem through the urgent processing module of problem to further make the operation have the precaution more, also be for pacifying patient's family simultaneously, and then guarantee the rationality of this system.
Surgical instruments orientation module is medical instrument for spinal surgery minimal access surgery, and the module is printed for the gesso 3D printer to the gesso three-dimensional printer successive layer, and the smooth edulcoration module of solid model is the gesso dull polish device, and its purpose is in order to guarantee the concrete implementation rationality of this system.
Virtual Reality (VR) data processing module input is connected to three-dimensional skeleton nerve blood vessel model fitting module output electricity, Virtual Reality (VR) operation simulation module input is connected to Virtual Reality (VR) data processing module output electricity, Virtual Reality (VR) operation simulation module is connected with patient's discussion donation module, patient's discussion donation module is connected with real model contrast module and classic case teaching module simultaneously, its purpose is in order to train new doctor, and then increase new doctor's apparatus processing experience and treatment processing experience, thereby increase the teaching functionality of the device, and then the efficiency of this system to new doctor training has been improved to a certain extent.
The classical case teaching module is a novel teaching mode which uses a physical model and a virtual reality technology, and aims to increase the clinical experience of a new doctor and further ensure the teaching function of the system.
The patient discussing donation module is a negotiation mode between the medical institution and the patient, and the purpose is to ensure the reasonable legality of the use data and the plaster model, so that the practical execution rationality of the system is ensured.
The three-dimensional skeletal nerve blood vessel model section module is a data layering program, the infrared ray auxiliary positioning module is an infrared optical positioning instrument, the infrared optical positioning instrument is controlled by the computer operation plan implementation auxiliary module to actively realize the accurate positioning of the spinal pathological change part and the surgical instrument according to a plan, the purpose is to ensure the operation reasonability of the operation of an auxiliary doctor in the system, and simultaneously ensure the efficiency of the operation, thereby further ensuring the concrete implementation feasibility of the system.
The method comprises the following operation steps:
s1, the system scans the spine of a patient through a three-dimensional C-arm, two-dimensional O-arm or C-wall scanning module before operation, then converts data through a graphic image signal conversion module, then converts the converted data into a three-dimensional module (or a three-dimensional skeleton model noise reduction module) through two-dimensional skeleton data processing, then stores skeleton data through a three-dimensional skeleton data storage module, detects important nerves of the spine of the patient through a CT scanning module before operation and an MRI scanning module, then processes the data through a scanning two-dimensional data to three-dimensional modeling module, reduces noise of the three-dimensional data of the nerves through a three-dimensional model noise reduction module after the processing is finished, then stores the data through a three-dimensional neurovascular model data storage module, and finally fits the data in the three-dimensional skeleton data storage module and the three-dimensional neurovascular model data storage module to the data through a three-dimensional skeletal neurovascular model fitting module, after the fitting is finished, a three-dimensional skeletal neurovascular model slicing module is used for slicing a three-dimensional skeletal neurovascular model, a gypsum powder three-dimensional printer layer-by-layer printing module is used for converting a data model into a solid gypsum model after the slicing of the three-dimensional skeletal neurovascular model is finished, a solid model smoothing and impurity removing module is used for processing the gypsum model, a solid model comparison module is used for comparing the data model with the gypsum model after the processing is finished so as to avoid the error of the gypsum model from influencing the judgment of doctors, a plurality of doctors refer to the gypsum model after the comparison of the gypsum model with the data so as to conduct multi-doctor consultation and formulation of an operation plan module to formulate an operation plan, the plan is input into a computer operation plan auxiliary implementation module after the formulation of the operation plan is finished, and finally an infrared auxiliary positioning module and an operation instrument positioning module are used for assisting the, the operation progress is fed back through the operation progress feedback module in the operation process of a doctor, the operation plan is displayed through the progress display module, the plan is modified through the problem emergency processing module when the operation progress is wrong, the modified plan is immediately input into the computer operation plan implementation auxiliary module again after the modification is finished, and the infrared auxiliary positioning module and the operation instrument positioning module are controlled to perform auxiliary operation change on the doctor to finish the operation when the operation is mistakenly finished;
s2, after the operation is finished, three-dimensional data fitted by the three-dimensional skeletal nerve and blood vessel model fitting module are processed by a Virtual Reality (VR) data processing module, the processed data are transmitted to a Virtual Reality (VR) operation simulation module, meanwhile, a plaster model which is subjected to a physical model comparison module and data which are transmitted to the Virtual Reality (VR) operation simulation module are donated by data and models through a patient business donation module, so that the data which are transmitted to the Virtual Reality (VR) operation simulation module and the plaster model are expanded to a classic case teaching module for use, and then new doctors are trained and taught, further, the operation experience and equipment use experience of the new doctors are increased, and the purpose of training the new generation of excellent doctors is achieved.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a spinal surgery minimal access surgery navigation, includes three-dimensional C arm, two-dimentional O arm or C arm scanning module before the art, its characterized in that: the output end of the preoperative three-dimensional C arm, two-dimensional O arm or C arm scanning module is electrically connected with the input end of a graphic image signal conversion module, the output end of the graphic image signal conversion module is electrically connected with the input end of a two-dimensional bone data processing to three-dimensional model conversion module (or a three-dimensional bone model noise reduction module), the output end of the two-dimensional bone data processing to three-dimensional model conversion module (or a three-dimensional bone model noise reduction module) is electrically connected with a three-dimensional bone data storage module, the output end of the three-dimensional bone data storage module is electrically connected with the input end of a three-dimensional bone neurovascular model fitting module, the input end of the three-dimensional bone neurovascular model fitting module is simultaneously electrically connected with the output end of a three-dimensional neurovascular model data, the input end of the three-dimensional model noise reduction processing module is electrically connected with the output end of a scanning two-dimensional data processing and three-dimensional modeling module, the input end point of the scanning two-dimensional data processing and three-dimensional modeling module is connected with the output end of a CT scanning and MRI scanning module before operation, the output end of the three-dimensional skeletal neurovascular model fitting module is electrically connected with the input end of a three-dimensional skeletal neurovascular model slicing module, the output end of the three-dimensional skeletal neurovascular model slicing module is electrically connected with the input end of a gypsum powder three-dimensional printer layer-by-layer printing module, the output end of the gypsum powder three-dimensional printer layer-by-layer printing module is electrically connected with the input end of a solid model smoothing and impurity removing module, the solid model smoothing and impurity removing module is connected with a solid model comparison module, the computer operation plan implementation auxiliary module output end is simultaneously electrically connected with an infrared auxiliary positioning module, a surgical instrument positioning module and an operation progress feedback module input end, the operation is completed under the assistance of the infrared auxiliary positioning module and the surgical instrument positioning module, the operation progress feedback module output end is electrically connected with a progress display module input end, the progress display module is connected with a problem emergency processing module, and the problem emergency processing module is connected with the computer operation plan implementation auxiliary module input end.
2. The spinal minimally invasive surgery navigation system according to claim 1, characterized in that: the surgical instrument positioning module is a medical instrument for minimally invasive surgery of spinal surgery, the layer-by-layer printing module of the gypsum powder three-dimensional printer is a gypsum powder 3D printer, and the smooth impurity removal module of the solid model is a gypsum powder grinding sand device.
3. The spinal minimally invasive surgery navigation system according to claim 1, characterized in that: virtual Reality (VR) data processing module input is connected to three-dimensional skeleton nerve blood vessel model fitting module output electricity, Virtual Reality (VR) operation simulation module input is connected to Virtual Reality (VR) data processing module output electricity, Virtual Reality (VR) operation simulation module is connected with patient's discussion donation module, patient's discussion donation module is connected with real model contrast module and classical case teaching module simultaneously.
4. The spinal minimally invasive surgery navigation system according to claim 3, characterized in that: the classical case teaching module is a novel teaching mode which utilizes a physical model and a virtual reality technology.
5. The spinal minimally invasive surgery navigation system according to claim 3, characterized in that: the patient discussion donation module is a negotiation mode between the medical institution and the patient.
6. The spinal minimally invasive surgery navigation system according to claim 1, characterized in that: the three-dimensional skeletal nerve blood vessel model slicing module is a data layering program, the infrared auxiliary positioning module is an infrared optical positioning instrument, and the infrared optical positioning instrument is actively controlled by the computer operation plan implementation auxiliary module according to a plan to realize accurate positioning of a spinal lesion part and an operation instrument.
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| CN112587232B (en) * | 2020-12-10 | 2022-05-13 | 中国人民解放军空军军医大学 | VR (virtual reality) simulation traction device and system for neurosurgery |
| CN114041877A (en) * | 2022-01-06 | 2022-02-15 | 南京惠积信息科技有限公司 | Three-dimensional catheter positioning system based on impedance information |
| CN114041877B (en) * | 2022-01-06 | 2022-04-01 | 南京惠积信息科技有限公司 | Three-dimensional catheter positioning system based on impedance information |
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