CN112656508B - Novel registration auxiliary device - Google Patents
Novel registration auxiliary device Download PDFInfo
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- CN112656508B CN112656508B CN202011506857.2A CN202011506857A CN112656508B CN 112656508 B CN112656508 B CN 112656508B CN 202011506857 A CN202011506857 A CN 202011506857A CN 112656508 B CN112656508 B CN 112656508B
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Abstract
The invention provides a registration auxiliary device, which comprises a registration component and at least three mark structures, wherein the mark structures are distributed on the registration component, the mark structures can display the outlines of the mark structures in medical imaging, and the mark structures can be matched for use in the registration process of surgical navigation or a surgical robot; in the use process, the registration auxiliary device is connected with the headstock to perform 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
Surgical navigation and surgical robots are increasingly in demand, and applications are becoming widespread, with registration having a tremendous impact on surgical accuracy.
Registration (registration) refers to the matching of spatial coordinates of different image patterns obtained by different imaging means in the same region, and is commonly found 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 marking points on the surface of the skin or bone nails embedded in the skull, the marking points on the surface of the skin are easy to drift when the skin is wrinkled by external force, and the bone nails embedded in the skull are easy to bring additional pain. How to accurately register painlessly is an urgent problem to be solved.
Disclosure of Invention
To solve the above existing problems, the inventors devised a novel registration assistance apparatus including:
at least one registration component, the registration component is provided with a marking structure,
at least one adapter member for connecting the registration member and the rigid structure,
the marker structure has an imprint indicative of the spatial position, the marker structure is capable of displaying its contour in medical imaging, and the imprint is capable of being used for registration.
In the present invention, medical imaging may be selected from various prior art techniques, such as Computed Tomography (CT) imaging or Magnetic Resonance Imaging (MRI).
The aforementioned indicia 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 registration member may be any shape as long as it can set at least three mark structures as required. The registration member may be one or more and may be made of a variety of suitable materials, such as alloys, aluminum, steel, etc.; each registration component includes a calibration portion and an anchor 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 planar structures that are not parallel, 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-like structure; the cambered surface type structure is closer to the distance of the patient, so that the space requirement in the medical imaging process can be reduced.
In some embodiments, the registration component of the present invention is a hollowed-out structure, i.e., the main structure of the registration component is a discontinuous sheet-like structure (refer to the accompanying drawings), which can reduce the weight of the registration component, preferably by not less than 50%, not less than 60%, not less than 70%, or not less than 80%, most preferably by not less than 85% as compared to a completely continuous structure.
In some embodiments, the registration assistance apparatus of the present invention includes a registration member including a marking portion having at least three marking structures and an anchor portion having a positioning pin for securing a connection positional relationship of the registration member and the adapter member and a bolt for locking connection; the calibration portion may have various shapes such as a planar structure, a combination of two planar structures that are not parallel, a cambered surface type structure, and a combination of a cambered surface type structure and a planar type structure.
The registration assistance apparatus of the present invention may further include two or more registration members, and two or more transfer members, and the registration members may be in one-to-one correspondence with the transfer members, or may not be in one-to-one correspondence, for example, one registration member may be fixed using two transfer members, or one transfer member may also fix a plurality of registration members.
In other embodiments, the registration assistance apparatus of the present invention includes a registration member including a marking portion having at least three marking structures and an anchor portion having a positioning pin for securing a connection positional relationship of the registration member and the adapter member and a bolt for locking connection; the calibration portion may have various shapes such as a planar structure, a combination of two planar structures that are not parallel, a cambered surface type structure, and a combination of a cambered surface type structure and a planar type structure.
In other embodiments, the registration assistance apparatus of the present invention includes: a first registration component containing a marking structure; a second registration component containing a marking structure; the first switching part is used for connecting the first registration part, and the second switching part is used for connecting the first registration part and the second registration part, and at least three registration mark structures are arranged in total. Further, the first registration component comprises two mutually perpendicular calibration planes, and each calibration plane is provided with at least three marking structures; the second registration component also has two calibration planes, each calibration plane having at least three marking structures thereon.
In yet another embodiment, the registration assistance apparatus includes:
a first registration component containing at least three marker structures;
a second registration component containing at least three marker structures;
a third registration component 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 adapting component.
The rigid structure described in the present invention may be a structure that is rigidly attached to the head, including various commercially available headgear such as a Leksell headgear.
In some embodiments of the registration assistance device of the present invention, the hollowed-out structure of the registration component is formed by intersecting strip materials.
The invention also provides a using method of the registration auxiliary device, which comprises the following steps:
connecting the registration assistance device of the present invention with a head-mounted head frame, performing medical imaging such as MRI or CT, etc., and then performing three-dimensional modeling;
the registration is performed using probes to spatially locate at least three marker structures.
The using method can further comprise a calibration step, namely after registering by using a part of mark structures, the registration accuracy is verified by other mark structures which are not used in the registration according to the established spatial position relation.
The registration assistance device and method of the invention are particularly suitable for surgery requiring high accuracy 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 that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of one example 100 of a registration assistance apparatus according to the invention;
fig. 2 is a schematic view of another angle of the registration assistance apparatus shown in fig. 1;
fig. 3 is a front view of the registration component 110 in the registration assistance apparatus shown in fig. 1;
FIG. 4 is an enlarged view of a portion of the marking structure of the registration assistance apparatus shown in FIG. 1;
fig. 5 is a schematic view of another example of a registration assistance 200 according to the invention;
fig. 6 is a schematic view of yet another example of a registration assistance apparatus 300 according to the invention;
fig. 7 is a schematic view of yet another example of a registration assistance 400 according to the invention;
fig. 8 is a schematic view of yet another example of a registration assistance apparatus 500 according to the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, 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 embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
referring to fig. 1, one example of a registration assistance apparatus of the present invention is shown. The registration assistance apparatus 100 includes a registration component 110 and an adapter component 120. The main body of the registration component 100 is composed of a calibration part 111, a calibration part 112 and an anchoring part 113, wherein the calibration part is provided with at least three marking structures 114, a plurality of marking structures can be used conveniently, and all the marking structures 114 are not completely marked out for simplicity. The marker structure 114 is in the example of fig. 1 a cylindrical structure with a circular recess 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 its material is one that enables clear delineation in medical imaging. The calibration plane may also have an edge defining structure 115, where the edge defining structure 115 has a larger volume than the marking structure 114, which can facilitate a physician in medical imaging, and better ensure that the calibration portion can be completely observed in medical imaging. The calibration portion 111 and the calibration portion 112 are planar structures in this 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 adapter 120 includes a body 121, a locating pin 122, a clamping member 123, a bolt 124, and a clamping cap 125. Referring to fig. 2, which is another angular illustration of the registration assistance apparatus 100 shown in fig. 1, two alignment pins 122 are shown for precisely interfacing the adapter member 120 with a rigid structure. The adapter component 120 can be fixedly connected relative to the rigid structure by cooperating with the fastener 123, the bolt 124, and the clamp cap 125. The bolt 124 can adjust the distance between the main body 121 and the clamping cap 125, and when the rigid structure is positioned 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, so that the rigid structure is fixedly connected with the rigid structure.
The registration component 110 is connected with the adapting component 120 through the bolt 116, and the alignment position of the positioning pin 117 attached to the adapting component 120 is calibrated through the bolt 116, see 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 three-point position limitation, so that the connection relationship between the registration component 110 and the adapting component 120 is stable and reliable, and the positioning is accurate.
The volumetric differences between the edge defining structure 115 and the marking structure 114 are also more clearly shown in fig. 3. The black dots on the marker structure 114 represent the imprint. The edge defining structure 115 has a larger volume, is more easily observed in medical imaging, and is made of the same or similar material as the marking structure.
The shape of the registration member 110 may be schematic, and is not limited to fig. 1, as long as it has at least three marking structures 114 on the surface, for example, the marking portion 111 and the marking portion 112 are integrated into one body, and the shape is an arc shape as a whole, which is preferably a hollowed structure. The calibration part 111 and the calibration part 112 may have different shape types, for example, the calibration part 111 has a planar structure, the calibration part 112 has an arc shape, and the two parts are integrated into a whole; or the calibration part 111 is arc-like, the calibration part 112 is planar, and the two parts are integrated into a whole.
The registration member 110 may also be of various hollowed-out configurations to reduce weight, facilitate use, and may be of various materials suitable for use under medical imaging conditions, such as various alloys, metals, etc., preferably aluminum alloys. The position and the area of the hollowed-out part can be freely set according to the needs, so long as the requirements of deformation and structural strength can be met. Preferably, the hollowed-out structure results in a weight reduction of the calibration part 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.
Reference is made to fig. 4 for a detailed description of the marking structure 114, which shows a specific example of the structure 114, a cylinder with a circular recess or ball pit in the center of the outer surface as a marking for cooperating with a calibration probe of a neurosurgical positioning 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 that can fit the calibration probe, and the mark may be various, such as a circular recess, a cross star pattern, a cross star recess, etc., as long as it is convenient for the marking probe to accurately indicate a fixed position that can be displayed on medical imaging.
Example 2:
referring to fig. 5, another example of a registration assistance of the present invention is shown. The registration assistance apparatus 200 includes a registration component 210 and an adapter component 220. The main body of the registration component 210 is composed of a calibration part 211, a calibration part 212 and an anchoring part 213, wherein the calibration part is provided with 4 marking structures 214, a plurality of marking structures can be used for convenience, all the marking structures 214 are not marked completely for clear view, and one specific example of the marking structures 214 is shown in fig. 4. The marking structure 214 may be any structure as long as the material is a material that enables clear contours in medical imaging. The calibration part can also be provided with an edge limiting structure 215, and the edge limiting structure 215 is provided with a larger volume of the marking structure 214, so that a doctor can conveniently and well determine that the boundary of the calibration part is completely observed in medical imaging.
The adapter 220 includes a body 221, a locating pin 222, a clamping member 223, a bolt 224, and a clamping cap 225. Wherein there are two alignment pins 222 for precisely interfacing the position of the adapter member 120 with the rigid structure. Similar to the description of embodiment 1, the clamp 223, bolt 224, and clamp cap 225 cooperate to provide a stable connection of the adaptor member 220 relative to a rigid structure.
The registration member 210 is connected to the adapter member 220 by the bolts 216, and the alignment position of the alignment pins 217 attached to the anchor portions 213 is adjusted by the alignment pins 217, which are not shown, and two alignment pins 217 and the bolts 216 constitute three-point positional restriction similarly to that described in embodiment 1, so that the connection relationship of the registration member 210 to the adapter member 220 is stable and reliable.
The shape of the registration member 210 may be arbitrary, and is not limited to fig. 1, as long as it can have at least three marking structures 114 on the surface, for example, the shape of the registration member 210 is an arc-like shape as a whole, and it may also have a hollowed-out structure to reduce the mass.
The number of the marking structures 214 may be adjusted as needed as long as the number of the marking structures 214 is greater than 3.
Example 3:
fig. 6 shows yet another example of the registration assistance of the present invention. This example is characterized in that the registration assistance apparatus 300 has two registration members 310 and 330.
The registration assistance apparatus 300 includes registration members 310, 330, and adapter members 320, 340. Registration member 310 and adapter member 320 have almost the same structure as registration member 210 and adapter member 220 in embodiment 2, respectively, specifically showing calibration portion 311 and calibration portion 312 of registration member 310, marking structure 314, edge defining structure 315, locating pin 322 of adapter member 320, clamping member 323, bolt 224, and clamping cap 225. The registration member 330 and the adapting member 340 have almost the same structure as the registration member 110 and the adapting member 120 in embodiment 1, respectively, and specifically, the calibration portion 331 and the calibration portion 332 of the registration member 330, the marking structure 334, the edge defining structure 335, and the adapting member 340 are shown.
This embodiment provides more calibration planes and marking structures, making use more convenient.
Fig. 6 also shows the rigid structure 350, i.e. the registration assistance 300 is in a connected state with the rigid structure 350. The rigid structure of this example is a headgear, which is merely exemplary, and existing commercially available headgear may be used, and those skilled in the art will recognize that the configuration of the adapter may be appropriately adjusted from headgear to headgear so that the registration assistance apparatus 300 of the present invention may be used with different headgear.
Example 4:
fig. 7 shows yet another example of the registration assistance apparatus of the present invention.
The registration assistance apparatus 400 includes registration components 410, 430, and transition components 420, 440. Specifically showing the calibration portion 411, marking structure 413, bolt 414, clamping member 421, bolt 422, clamping cap 423 of the adapter member 420 of the registration member 410; registration component 430 includes a calibration portion 431, a marking structure 433; an anchor 432, two bolts 434; and a headstock 450.
The calibration part 411 and the calibration part 431 are hollow planar structures, and the registration part 430 is connected and fixed with the headstock 450 through the adapting parts 420 and 440 by means of two bolts 434. Similar to the previous embodiment, the adaptor 420 is fixedly connected to the head frame 450 by a clamping member 421, a bolt 422, and a clamping cap 423. The corresponding clamping member 421, bolt 422, and clamping cap 423 of the adaptor 440 are not shown due to shielding.
This embodiment shows an example in which one registration member is fixed by two switching members, and one switching member fixes two registration members; the adapter may be adapted to accommodate different head frames 450.
Example 5:
fig. 8 shows yet another example of the registration assistance apparatus of the present invention.
The registration assistance apparatus 500 includes registration members 510, 530 and transition members 520, 540. Specifically showing the calibration portion 511 of the registration component 510, the marking structure 513, the bolt 514, the clamping piece 521 of the adapter component 520, the bolt 522, and the clamping cap 523; the registration component 530 includes a calibration portion 533, a marker structure 533; an anchor 531, two bolts 534; and a headstock 550.
The calibration part 532 is a hollow planar structure, and the registration component 530 is connected and fixed with the headstock 550 through the adapting components 520 and 540 by means of two bolts 534. Similar to the previous embodiment, the adaptor member 520 is fixedly connected to the headstock 550 by a clamping member 521, a bolt 522, and a clamping cap 523, and the corresponding clamping member 521, bolt 522, and clamping cap 523 of the adaptor member 540 are not shown due to shielding.
The calibration part 511 is a hollow structure with a combination of a part of plane and a part of curved surface, and the structure enables the part of marking structure 513 to be more similar to the structure to be registered, so that the accuracy is improved. The calibration portion 511 may also have other cambered surface structures, for example, entirely as a cambered surface or as a part of a spherical surface.
Example 7:
the using method of the registration auxiliary device comprises the following steps:
connecting the registration assistance apparatus of any one of embodiments 1 to 6 with a head-mounted head frame, and then performing medical imaging, such as MRI or CT, with the patient, three-dimensionally modeling from the medical images, the position of the marker structure being visible in the three-dimensional model;
and (3) spatially positioning at least three mark structures by using a registration probe so as to register, and matching the actual space with the virtual model.
The using method can further comprise a calibration step, namely after a part of mark structures are used for registration, the registration accuracy is checked through other mark structures which are not used during registration according to the established spatial position relation, and registration and accuracy and correctness are ensured.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A registration assistance apparatus, comprising:
a first registration component comprising a first anchor portion and a first calibration portion, the first calibration portion being provided with at least three marker structures;
the second registration component comprises a second anchoring part and a second calibration part, and the second calibration part is provided with at least three mark structures;
a first adapter member and a second adapter member, the adapter members for connecting the registration members and the rigid structure,
the marker structure has an imprint indicative of a spatial position, the marker structure being capable of displaying its contour in medical imaging and the imprint being capable of being used for registration;
the registration component is of a hollowed-out structure;
in use, one of the first registration component and the second registration component is connected to a rigid structure through one of the first transition component and the second transition component, and the other of the first registration component and the second registration component is connected to a rigid structure through the other of the first transition component and the second transition component;
alternatively, in use, one of the first and second registration members is connected to a rigid structure by one of the first and second transition members, and the other of the first and second registration members is connected to a rigid structure by the first and second transition members.
2. The registration assistance apparatus of claim 1, wherein the imprint is a circular depression, a ball pit, or a cross star groove.
3. Registration assistance apparatus according to claim 1 wherein a third registration member contains at least three marker structures.
4. Registration assistance apparatus according to claim 1, wherein the first indexing member or the second indexing portion comprises at least two non-parallel indexing planes.
5. Registration assistance apparatus according to claim 4 wherein the two non-parallel calibration planes are two mutually perpendicular calibration planes.
6. Method of use of a registration assistance apparatus according to any one of claims 1 to 5, comprising the steps of:
connecting the registration assistance device of the present invention with a head-mounted head frame, performing medical imaging such as MRI or CT, etc., and then performing three-dimensional modeling;
the registration is performed using probes to spatially locate at least three marker structures.
7. The method according to claim 6, further comprising a calibration step of performing, after registration using a part of the marker structures, a check of registration accuracy by other marker structures not used at the time of registration according to the spatial positional relationship that has been established.
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