CN112656508A - Novel registration is supplementary device - Google Patents
Novel registration is supplementary device Download PDFInfo
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- CN112656508A CN112656508A CN202011506857.2A CN202011506857A CN112656508A CN 112656508 A CN112656508 A CN 112656508A CN 202011506857 A CN202011506857 A CN 202011506857A CN 112656508 A CN112656508 A CN 112656508A
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Abstract
The invention provides a registration assistance device, which comprises a registration component and at least three marker structures, wherein the marker structures are distributed on the registration component, the marker structures can display the outlines of the marker structures in medical imaging, and the marker structures can be matched in the registration process of a surgical navigation or a surgical robot; in the using process, the registration auxiliary device is connected with the head frame to carry out medical imaging, and the matching of the three-dimensional model and the actual space is realized by matching with the positioning probe.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a novel registration auxiliary device.
Background
The requirements of surgical navigation and surgical robots are increasing day by day, the applications are also gradually wide, and the registration has a great influence on the surgical precision.
Registration (registration) refers to matching of spatial coordinates of different image graphs obtained by different imaging means in the same region, is commonly used in surgical navigation, surgical robots and the like, and is the most important link for ensuring positioning accuracy. The current registration link is mainly realized by mark points on the surface of the skin or bone nails embedded into the skull, the mark points on the surface of the skin are easy to drift when the skin is wrinkled due to external force, and the bone nails embedded into the skull easily bring extra pain. How to perform registration painlessly and accurately is an urgent problem to be solved.
Disclosure of Invention
To improve the above existing problems, the inventors have devised a novel registration assistance device comprising:
at least one registration component having indicia structures disposed thereon,
at least one adapter member for connecting the registration member and the rigid structure,
the marker structure has a stamp indicating a spatial position, the marker structure is capable of displaying its contour in medical imaging, and the stamp is capable of being used for registration.
In the present invention, medical imaging may be selected from various existing technologies, such as Computed Tomography (CT) or Magnetic Resonance Imaging (MRI).
The imprint may be of any shape that can be used with a calibration probe, such as a depression or mark that facilitates visual use, such as a circular depression, a ball pit, or a cross-star groove.
The aforementioned registration means may be of any shape as long as the desired at least three marker structures can be set. The registration member may be one or more and may be fabricated using various suitable materials, such as alloys, aluminum, steel, etc.; each registration feature includes a calibration portion and an anchoring portion, the calibration portion may have a variety of shapes, such as a planar structure (also referred to as a calibration plane), a combination of two non-parallel planar structures, a cambered surface-like structure (e.g., a portion of a cambered surface, a portion of a spherical surface, or the like), and a combination of a cambered surface-like structure and a planar structure; the arc-shaped structure is closer to the patient, so that the requirement on space in the medical imaging process can be reduced.
In some embodiments, the registration features of the present invention are openwork structures, i.e., the main structure of the registration features is a discontinuous sheet structure (see the figures), which can reduce the weight of the registration features, preferably by not less than 50%, not less than 60%, not less than 70%, or not less than 80%, and most preferably by not less than 85% compared to a fully continuous structure.
In some embodiments, the registration aid of the present invention comprises a registration component and an adapter component, wherein the registration component comprises a calibration part and an anchoring part, the calibration part has at least three marker structures, the anchoring part has a positioning pin and a bolt, the positioning pin is used for ensuring the connection position relationship of the registration component and the adapter component, and the bolt is used for locking connection; the indexing portion may have a variety of shapes, such as a planar structure, a combination of two non-parallel planar structures, a cambered structure, and a combination of a cambered structure and a planar structure.
The registration assistance device of the present invention may further include two or more registration components, and two or more adapter components, where the registration components may or may not correspond to the adapter components one to one, for example, one registration component is fixed by using two adapter components, or one adapter component may also fix multiple registration components.
In other embodiments, the registration assistance device of the present invention comprises a registration component and two adapter components, wherein the registration component comprises a calibration part and an anchoring part, the calibration part has at least three marker structures, the anchoring part has a positioning pin and a bolt, the positioning pin is used for ensuring the connection position relationship of the registration component and the adapter component, and the bolt is used for locking connection; the indexing portion may have a variety of shapes, such as a planar structure, a combination of two non-parallel planar structures, a cambered structure, and a combination of a cambered structure and a planar structure.
In other embodiments, the registration assistance apparatus of the present invention comprises: a first registration feature containing a marker structure; a second registration feature containing a marker structure; the first transfer component is used for connecting the first registration component, and the second transfer component is used for connecting the first registration component and the second registration component and arranging at least three registration mark structures together. Further, the first registration component comprises two calibration planes which are perpendicular to each other, and each calibration plane is provided with at least three mark structures; the second registration feature also contains two calibration planes, each having at least three marker structures thereon.
In yet another embodiment, a registration assistance apparatus includes:
a first registration feature containing at least three marker structures;
a second registration feature containing at least three marker structures;
a third registration feature containing at least three marker structures;
the first registration component, the second registration component and the third registration component are fixedly connected with the rigid structure through the adapter component.
The rigid structure described in this invention may be a structure that rigidly connects to the head, including various commercially available commercial headgear, such as Leksell headgear.
In some embodiments of the registration aid of the present invention, the hollowed-out structure of the registration part is formed by intersecting strip-shaped materials.
The invention also provides a use method of the registration auxiliary device, which comprises the following steps:
connecting the registration auxiliary device of the invention with a head frame fixed on the head, performing medical imaging, such as MRI or CT, and then performing three-dimensional modeling;
registration is performed by spatially localizing the at least three marker structures using a probe.
The use method can also comprise a calibration step, namely after a part of the mark structures are used for registration, the registration precision is verified through other mark structures which are not used during registration according to the established spatial position relationship.
The registration aid and method of the present invention are particularly suitable for use in procedures requiring high precision for registration, such as DBS (deep brain stimulation)
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.
Fig. 1 is a schematic view of one example 100 of a registration assistance device according to the present invention;
FIG. 2 is a schematic view of another angle of the registration aid shown in FIG. 1;
fig. 3 is a front view of the registration part 110 in the registration assistance apparatus shown in fig. 1;
FIG. 4 is an enlarged partial view of the marker structure of the registration aid shown in FIG. 1;
fig. 5 is a schematic view of another example 200 of a registration assistance device according to the present invention;
fig. 6 is a schematic view of yet another example 300 of a registration assistance device according to the present invention;
fig. 7 is a schematic view of yet another example 400 of a registration assistance device according to the present invention;
fig. 8 is a schematic view of yet another example 500 of a registration assistance device according to the present invention.
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.
Example 1:
referring to fig. 1, there is shown an example of the registration assistance device of the present invention. The registration assistance device 100 comprises a registration component 110 and an adapter component 120. The main body of the registration component 100 is composed of an indexing portion 111, an indexing portion 112, and an anchoring portion 113, the indexing portion has at least three marking structures 114, and the marking structures may be multiple to facilitate use, and for brevity, all the marking structures 114 are not completely marked. The marker structure 114 is a cylindrical structure in the example of fig. 1, and has a circular depression or ball pit on the outer surface for use with a calibration probe, however, the marker structure 114 may have any structure as long as the material is a material capable of clearly displaying the contour in medical imaging. The calibration plane may further have an edge defining structure 115, and the edge defining structure 115 has a larger volume than the marking structure 114, which can facilitate the physician to observe the calibration portion completely in the medical imaging process. The calibration portion 111 and the calibration portion 112 are planar structures in the present embodiment, and the two planes exhibit a perpendicular relationship, i.e., the calibration portions 111 and 112 may also be referred to as calibration planes.
The adaptor part 120 includes a body 121, a positioning pin 122, a clamping member 123, a bolt 124, and a clamping cap 125. Referring to fig. 2, which is an illustration of another angle of the registration aid 100 shown in fig. 1, two alignment pins 122 are shown for precisely interfacing the adapter member 120 with a rigid structure. The clamping members 123, the bolts 124 and the clamping caps 125 cooperate to secure the interposer 120 relative to the rigid structure. The bolt 124 can adjust the distance between the main body 121 and the clamping cap 125, and when the rigid structure is between the main body 121 and the clamping cap 125, the distance between the main body 121 and the clamping cap 125 can be shortened by tightening the bolt 124, thereby realizing the fixed connection with the rigid structure.
The registration component 110 is connected with the adapter component 120 through a bolt 116, and the position is calibrated through a positioning pin 117 attached to the bolt 113, referring to fig. 3, fig. 3 is a front view of the registration component 110 shown in fig. 1, wherein two positioning pins 117 and the bolt 116 together form a position definition of three points, so that the connection relationship between the registration component 110 and the adapter component 120 is stable and reliable, and the positioning is accurate.
The difference in volume between the edge defining structure 115 and the marking structure 114 is also more clearly shown in fig. 3. The black dots on the marker structure 114 represent an imprint. The edge-defining structure 115 has a larger volume and is more easily observed in medical imaging, and is made of a material that has the same or similar properties as the marker structure.
The shape of the registration part 110 may be schematic, not limited by fig. 1, as long as at least three marking structures 114 can be provided on the surface, for example, the calibration part 111 and the calibration part 112 are integrated into a whole, and the shape is an arc-like shape as a whole, which is preferably a hollow structure. The calibration part 111 and the calibration part 112 may also have different shape types, for example, the calibration part 111 is a planar structure, the calibration part 112 is an arc-like shape, and the two are integrated; or the calibration portion 111 is in an arc-like shape, the calibration portion 112 is in a planar structure, the two are integrated, and the like.
Registration features 110 may also be of various openwork configurations to reduce weight, facilitate ease of use, and may be made of various materials suitable for use under medical imaging conditions, such as various alloys, metals, and the like, preferably aluminum alloys. The position and the area of the hollow can be freely set as required as long as the requirements of deformation and structural strength can be met. Preferably, the openwork structure provides a weight reduction of the calibration portion of not less than 50%, not less than 60%, not less than 70%, not less than 80%, most preferably not less than 85% compared to a fully continuous structure.
Detailed structure of the marking structure 114 referring to fig. 4, it shows a specific example of the marking structure 114, a cylinder with a circular recess or ball pit in the center of the outer surface as a mark for matching with a calibration probe of a neurosurgical positioning and navigation robot. The marking structure 114 is not limited to this specific example, and may be any shape as long as there is a mark capable of fitting the calibration probe, and the mark may be various, such as a circular recess, a cross-shaped pattern, a cross-shaped recess, etc., as long as it is convenient for the marking probe to accurately indicate a fixed position that can be displayed on the medical imaging.
Example 2:
referring to fig. 5, another example of the registration assistance apparatus of the present invention is shown. The registration aid 200 comprises a registration component 210 and an adapter component 220. The main body of the registration component 210 is composed of a calibration portion 211, a calibration portion 212, and an anchoring portion 213, the calibration portion has 4 marking structures 214, the marking structures can be more for convenient use, all the marking structures 214 are not completely marked for a clear view, and a specific example of the marking structure 214 is shown in fig. 4. The marker structure 214 may be any structure as long as the material thereof is a material capable of clearly displaying an outline in medical imaging. The marker may also have an edge-defining structure 215 thereon, and the edge-defining structure 215 may have a larger volume than the marker structure 214, which may facilitate the physician to better determine the boundaries of the marker during the medical imaging process, which may be observed in the medical imaging process.
The adapter member 220 includes a body 221, a positioning pin 222, a clamping member 223, a bolt 224, and clamping caps 225. Two of the alignment pins 222 are used to precisely interface the position of the interposer component 120 with a rigid structure. Similar to the description of embodiment 1, the clamping member 223, the bolts 224, and the clamping caps 225 cooperate to stably connect the interposer 220 with respect to a rigid structure.
The registration member 210 is connected with the adapter member 220 by a bolt 216, and the position is calibrated by a positioning pin 217 attached to the anchoring portion 213, the positioning pin 217 is not shown, and similar to that described in embodiment 1, two positioning pins 217 and the bolt 216 together form a position limitation of three points, so that the connection relationship between the registration member 210 and the adapter member 220 is stable and reliable.
The shape of the registration part 210 may be arbitrary and is not limited by fig. 1 as long as at least three mark structures 114 can be provided on the surface, for example, the shape of the registration part 210 is an arc-like shape as a whole, and it may also have a hollow structure to reduce the mass.
The number of marker structures 214 may be adjusted as desired as long as the number of marker structures 214 is greater than 3.
Example 3:
fig. 6 shows yet another example of the registration assistance device of the present invention. This example is characterized in that the registration assistance device 300 has two registration members 310 and 330.
The registration aid 300 comprises registration means 310, 330, transfer means 320, 340. The registration component 310 and the adapter component 320 have almost the same structures as the registration component 210 and the adapter component 220 in embodiment 2, specifically, the calibration portions 311 and 312, the mark structure 314, the edge defining structure 315, the positioning pins 322, the clamping members 323, the bolts 224, and the clamping caps 225 of the registration component 310 are shown. The registration component 330 and the adapter component 340 have almost the same structures as the registration component 110 and the adapter component 120 in embodiment 1, specifically, the calibration portions 331 and 332, the marking structure 334, the edge defining structure 335, and the adapter component 340 of the registration component 330 are shown.
The embodiment provides more calibration planes and marking structures, so that the use is more convenient.
Fig. 6 also shows the rigid structure 350, i.e. the registration aid 300, in a connected state with the rigid structure 350. The rigid structure of this example is a headgear, which is merely exemplary and is available on the market, and those skilled in the art will appreciate that the structure of the adaptor member can be appropriately adjusted according to different headgear, so that the registration aid 300 of the present invention can be used with different headgear.
Example 4:
fig. 7 shows yet another example of the registration assistance device of the present invention.
The registration assistance device 400 comprises registration means 410, 430, adapter means 420, 440. Specifically, the calibration portion 411, the marking structure 413, the bolt 414, the clamping member 421 of the switching component 420, the bolt 422, and the clamping cap 423 are shown; registration component 430 includes a labeling portion 431, a labeling structure 433; an anchor portion 432, two bolts 434; and a head frame 450.
The calibration part 411 and the calibration part 431 are hollow plane structures, and the registration component 430 is connected and fixed with the headstock 450 through the adapter components 420 and 440 by means of two bolts 434. Similar to the previous embodiments, the interposer 420 is fixedly connected to the headgear 450 via the clamping member 421, the bolts 422, and the clamping caps 423, and the corresponding clamping members 421, the bolts 422, and the clamping caps 423 of the interposer 440 are covered and not shown.
This embodiment shows an example where one registration component is fixed by two adapter components and one adapter component fixes two registration components; the adapter component may be adaptively adjusted to accommodate different head frames 450.
Example 5:
fig. 8 shows yet another example of the registration assistance device of the present invention.
The registration aid 500 comprises registration means 510, 530, adapter means 520, 540. Specifically, the calibration portions 511, the marking structures 513, the bolts 514, the clamping members 521 of the adapter component 520, the bolts 522, and the clamping caps 523 of the registration component 510 are shown; the registration part 530 includes a labeling section 533, a label structure 533; an anchor portion 531, two bolts 534; and a headgear 550.
The calibration portion 532 is a hollow plane structure, and the registration component 530 is connected and fixed to the head frame 550 through the adapter components 520 and 540 by two bolts 534. Similar to the previous embodiments, the interposer 520 is fixedly connected to the headgear 550 via the clamping member 521, the bolts 522 and the clamping caps 523, and the corresponding clamping members 521, the bolts 522 and the clamping caps 523 of the interposer 540 are covered and not shown.
The calibration part 511 is a hollow structure with a combination of a partial plane and a partial curved surface, and this structure makes the partial mark structure 513 closer to the structure to be registered, thereby improving the precision. The calibration portion 511 may also have other curved configurations, for example, as a whole as a curved surface or as a part of a spherical surface.
Example 7:
the use method of the registration assistance device of the invention comprises the following steps:
connecting the registration aid of any one of embodiments 1 to 6 with a head frame fixed on the head, and then performing medical imaging, such as MRI or CT, together with the patient, performing three-dimensional modeling according to the medical image, wherein the position of the mark structure can be seen in the three-dimensional model;
the registration is performed by spatially localizing the at least three marker structures using a registration probe, matching the actual space to the virtual model.
The use method can also comprise a calibration step, namely after a part of mark structures are used for registration, the registration precision is verified through other mark structures which are not used during registration according to the established spatial position relationship, and the registration, the precision and the correctness are ensured.
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 (10)
1. A registration assistance apparatus comprising:
at least one registration feature having indicia structures disposed thereon,
at least one adapter component for connecting the registration component and a rigid structure,
it is characterized in that the preparation method is characterized in that,
the marking structure has a stamp indicating a spatial position, the marking structure being capable of displaying its contour in medical imaging and the stamp being capable of being used for registration, the registration aid having at least three marking structures.
2. The registration aid of claim 1, wherein the printing is a circular depression, a ball pit, or a cross-star groove.
3. The registration aid of claim 1, wherein the registration feature is an openwork structure.
4. The registration aid of claim 3, wherein the registration features of the registration aid may have a cambered-like structure of the calibration portion.
5. The registration assistance apparatus according to claim 3, characterized in that the registration assistance apparatus comprises:
a registration feature having at least three marker configurations.
6. The registration assistance apparatus according to claim 3, characterized in that the registration assistance apparatus comprises:
a first registration feature containing a marker structure;
a second registration feature containing a marker structure;
the first and second registration members are provided with at least three marker structures in total.
7. The registration aid of claim 6, wherein the registration aid contains at least two non-parallel calibration planes, each calibration plane having at least three marker structures.
8. The registration assistance apparatus according to claim 3, characterized in that the registration assistance apparatus comprises:
a first registration feature containing at least three marker structures;
a second registration feature containing at least three marker structures;
a third registration feature containing at least three marker structures.
9. Use of a registration aid according to any of claims 1 to 8, characterized in that it comprises the following steps:
connecting the registration auxiliary device of the invention with a head frame fixed on the head, performing medical imaging, such as MRI or CT, and then performing three-dimensional modeling;
registration is performed by spatially localizing the at least three marker structures using a probe.
10. The use method according to claim 9, further comprising a calibration step of, after the registration is performed using a part of the mark structures, performing a verification of the registration accuracy by using other mark structures not used in the registration according to the established spatial position relationship.
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