CN112807086A - Operation navigation device and method based on template - Google Patents
Operation navigation device and method based on template Download PDFInfo
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- CN112807086A CN112807086A CN202110166022.5A CN202110166022A CN112807086A CN 112807086 A CN112807086 A CN 112807086A CN 202110166022 A CN202110166022 A CN 202110166022A CN 112807086 A CN112807086 A CN 112807086A
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- 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
- A61B2034/2055—Optical tracking systems
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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
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Abstract
The embodiment of the application provides a template-based surgical navigation device and method, and relates to the technical field of medical instruments and application. The surgical navigation device comprises a 3D printing template, an optical template tracer and a double-ball instrument tracer; the 3D printing template is provided with a minimally invasive intervention needle path and a tracer socket, the 3D printing template is attached to a target part, and the position of the minimally invasive intervention needle path is staggered with the position of the tracer socket; the optical template tracer is installed on the tracer interface, and the double-ball instrument tracer and the minimally invasive interventional needle are fixedly installed. Accurate placement of a 3D printing operation template can be achieved through the optical template tracer, and real-time guiding and positioning of a minimally invasive intervention needle are achieved through the double-ball instrument tracer, so that the treatment effect of the minimally invasive intervention operation is improved.
Description
Technical Field
The application relates to the technical field of medical instruments and application, in particular to a surgical navigation device and method based on a template.
Background
Currently, the particle implantation is called "radioactive particle implantation therapy technology", which is a therapeutic method for implanting a radioactive source into the interior of a tumor to destroy the tumor. The seed implantation treatment technology relates to a radioactive source, and the core of the seed implantation treatment technology is a radioactive seed. A substance called iodine 125 is used clinically. Each iodine 125 particle acts like a small sun with the strongest rays near its center, minimizing damage to normal tissues. Particle implantation therapy dates back to the beginning of the last century. The radioactive particle implantation treatment of early-stage prostate cancer becomes a standard treatment means in the United states and the like, and the treatment concept is gradually approved in China.
In the prior art, the main process of applying the 3D printing template at the present stage to the particle implantation is as follows: scanning preoperative CT images of a patient; importing CT images of a patient before scanning into TPS (Treatment Planning System) software, and Planning by a doctor in the TPS software; printing a 3D template according to a treatment plan made by a doctor; the template is placed on the patient for the particle implantation procedure. However, the use at the present stage has the following problems: when the template is placed, deviation occurs, and the placement deviation can bring about inaccuracy of the position of the implantation needle; and in the process of placing the particle implantation needle, real-time intraoperative navigation is lacked, so that a doctor cannot know information such as the real-time position and the needle implantation angle of the particle implantation needle in real time, and the treatment effect is influenced.
Disclosure of Invention
An object of the embodiments of the present application is to provide a template-based surgical navigation device and method under CT guidance, which can implement accurate placement of a 3D printing template through an optical template tracer, and implement real-time guidance and positioning in the process of performing minimally invasive interventional needle therapy, thereby improving the therapeutic effect of minimally invasive interventional surgery.
In a first aspect, an embodiment of the present application provides a template-based surgical navigation device, including a 3D printing template, an optical template tracer, and a two-ball instrument tracer;
the 3D printing template is provided with a minimally invasive interventional needle channel and an optical template tracer socket, and an optical template tracer can be directly printed on the 3D template (at the moment, the optical template tracer socket does not need to be printed); the 3D printing template is attached to a target part, and the position of the minimally invasive intervention needle path is staggered with the position of the tracer socket;
the optical template tracer is installed on the tracer interface (as mentioned above, the optical template tracer can also be directly printed out with the 3D printing template at the same time), and the double-ball instrument tracer is fixedly installed with the minimally invasive intervention needle.
In the implementation process, the operation navigation device is provided with the optical template tracer on the 3D printing template, and the 3D printing template is positioned by the optical template tracer when the minimally invasive interventional operation is performed, so that the deviation of the 3D printing template during placement is effectively avoided, and the 3D printing template can be accurately placed; meanwhile, in the process of minimally invasive interventional therapy, the minimally invasive interventional needle can be guided and positioned in real time by tracing and installing the double-ball instrument on the minimally invasive interventional needle, so that a doctor can know information such as the position, the needle inserting angle and the like of the minimally invasive interventional needle in real time, and the treatment effect of the minimally invasive interventional operation is improved.
Further, the optical template tracer includes tracer connector and tracer support, the tracer connector inserts the tracer interface, tracer connector fixed mounting be in on the tracer support. The optical template tracer can also be directly printed on the 3D template through a 3D printing technology.
In the above-mentioned realization process, through inserting optical template tracer connector interface optical template tracer interface, with optical template tracer fixed mounting on 3D printing template, both reciprocal anchorages can fix a position 3D printing template's position through the position of location optical template tracer.
Further, the optical template tracer still includes a plurality of reflection of light bobbles, the tracer support is provided with a plurality of mounted positions, a plurality of reflection of light bobbles are installed respectively on a plurality of mounted positions of tracer support.
In the implementation process, the plurality of small reflecting balls are positioned through the navigation camera, so that the position of the optical template tracer can be accurately tracked, and the position of the 3D printing template can be accurately tracked.
Further, the optical template tracer also at least comprises three small reflecting balls which are not on the same straight line.
In the implementation process, a three-dimensional rectangular coordinate system can be established by at least three small reflective balls which are not on the same straight line, so that the tracer coordinate system of the optical template tracer can be determined by the navigation camera.
Further, the dual ball instrument tracer is adapted to be mounted to a minimally invasive access needle.
In the implementation process, the double-ball instrument tracer is installed on the minimally invasive intervention needle, and the minimally invasive intervention needle can be guided and positioned in real time by tracking the double-ball instrument tracer in the minimally invasive intervention operation process.
Further, two ball apparatus tracers still include two reflection of light bobbles, two ball apparatus tracers supports are provided with two mounted positions, two reflection of light bobbles are installed respectively on two mounted positions of tracers supports, just two reflection of light bobbles all are in the extension line position of pjncture needle.
In the implementation process, the optical instrument tracer with the double-ball structure is smaller in size, and under the condition that the needle track of the minimally invasive intervention needle of the 3D printing template is dense, the mutual interference between the needle and the needle is less, so that the tracer can be more effectively applied to intraoperative real-time navigation, and a doctor is assisted to better complete the particle implantation operation.
Further, double-ball apparatus tracer still includes fixed establishment, fixed establishment fixed mounting in on the double-ball apparatus tracer support, through fixed establishment installs double-ball apparatus tracer on the needle is intervened to the wicresoft.
In a second aspect, an embodiment of the present application provides a template-based surgical navigation method, which is applied to the template-based surgical navigation apparatus described in any one of the first aspects, and the method includes:
printing a 3D template according to a preset minimally invasive intervention needle path position, wherein the 3D template is provided with an optical template tracer through an optical template tracer interface or directly prints out the 3D template with an optical template tracer bracket;
selecting a reference level image for preoperative comparison from the preoperative CT images of the patient based on the origin position of the optical template tracer;
acquiring an intraoperative CT image, and selecting an intraoperative comparative layer image according to the original point position of the optical template tracer;
adjusting the position of the 3D printing template to ensure that the preoperative comparison reference level image and the intraoperative comparison level image are coincident;
and completing the operation of the minimally invasive intervention needle according to the navigation of the double-ball instrument tracer, namely completing the real-time guidance and positioning of the minimally invasive intervention needle.
Further, the preoperative CT image and the intraoperative CT image are obtained after CT scanning is performed on the patient in the same body position.
In the implementation process, the patient performs CT scanning in the same body position to obtain a preoperative CT image and an intraoperative CT image, so that in the process of performing minimally invasive intervention surgery, a preoperative comparison reference layer image and an intraoperative comparison layer image can be compared: and when the preoperative comparative reference layer image and the intraoperative comparative layer image are coincident, the 3D printing template is correctly placed on the target part of the patient.
Further, the operation of the minimally invasive intervention needle is completed according to the navigation of the double-ball instrument tracer, and comprises the following steps:
mounting the dual ball instrument tracer to the minimally invasive access needle;
setting needle tip position information of the minimally invasive intervention needle according to the length of the minimally invasive intervention needle;
and calculating the position of the needle point of the minimally invasive intervention needle in the intraoperative CT image according to the position information of the double-ball instrument tracer and the needle point position information, and finishing the real-time guiding and positioning of the minimally invasive intervention needle.
Additional features and advantages of the disclosure will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the above-described techniques.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a template-based surgical navigation device according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a dual-ball instrumented tracer provided in an embodiment of the present application;
fig. 3 is a schematic flowchart of a template-based surgical navigation method according to an embodiment of the present application;
fig. 4 is a schematic flow chart of optical template tracer navigation according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or a point connection; either directly or indirectly through intervening media, or may be an internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the specific nature and configuration may be the same or different), and are not used to indicate or imply the relative importance or number of the indicated devices, elements, or components. "plurality" means two or more unless otherwise specified.
The most typical applications of template-based surgery are radioactive seed implantation and ablation procedures such as irreversible electroporation. The embodiments of the present application are described with radioactive particle implantation as a representative.
The embodiment of the application provides a template-based surgical navigation device and method, which can be applied to operations such as particle implantation operation, nano ablation and the like, for example, real-time guiding and positioning of a particle implantation needle; according to the surgical navigation device, the optical template tracer is installed on the 3D printing template, so that the 3D printing template can be positioned through the optical template tracer when minimally invasive interventional surgery is performed, and the 3D printing template can be placed accurately; meanwhile, in the process of minimally invasive interventional therapy, the minimally invasive interventional needle is arranged on the double-ball instrument tracer, so that the minimally invasive interventional needle can be guided and positioned in real time, a doctor can know information such as the position and the needle inserting angle of the minimally invasive interventional needle in real time, and the treatment effect of the minimally invasive interventional operation is improved.
Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of a template-based surgical navigation device according to an embodiment of the present disclosure, and fig. 2 is a schematic structural diagram of a dual-ball instrument tracer according to an embodiment of the present disclosure, where the surgical navigation device includes a 3D printing template 10, an optical template tracer 20, and a dual-ball instrument tracer 30, where the optical template tracer 20 includes a tracer connection port 21, a tracer support 22, and a light-reflecting ball 23.
Exemplarily, a minimally invasive intervention needle channel 11 and a tracer socket 12 are arranged on the 3D printing template 10, the 3D printing template 10 is attached to a target part, and the position of the minimally invasive intervention needle channel 11 and the position of the tracer socket 12 are staggered.
Illustratively, 3D printing (3DP), a technique known as additive manufacturing, is a technique for constructing objects by printing layer by layer on the basis of digital model files using bondable materials such as powdered metals or plastics. 3D printing is typically achieved using digital technology material printers. The method is often used for manufacturing models in the fields of mold manufacturing, industrial design and the like, and is gradually used for directly manufacturing some products, and parts printed by the technology are already available. The technology has applications in jewelry, footwear, industrial design, construction, engineering and construction, automotive, aerospace, dental and medical industries, education, geographic information systems, civil engineering, firearms, and other fields.
Illustratively, the 3D printing template 10 is obtained by 3D printing; optionally, the doctor plans a minimally invasive intervention operation plan of the patient through TPS software, and then outputs template data, and prints out the 3D printing template 10 through the template data.
Illustratively, the minimally invasive intervention needle track 11 is a needle track of a minimally invasive intervention needle planned by a doctor through TPS software; the optical template tracer 20 is provided with a plurality of reflective small balls 23 with fixed positions, and the position of the optical template tracer 20 can be tracked through the navigation camera and the reflective small balls 23, so that the position of the 3D printing template 10 can be tracked.
In some embodiments, the position of the minimally invasive interventional needle track 11 and the position of the tracer socket 12 are staggered from each other, so that the position printed at the tracer socket 12 does not interfere with the minimally invasive interventional needle track 11, and optionally, the tracer socket 12 may be disposed at the foremost end of all the minimally invasive interventional needle tracks 11; the coordinates of the optical template tracer 20 under CT scanning can be read through TPS software, so that the position of the small reflective ball 23 of the optical template tracer 20 under a CT scanning coordinate system can be obtained, the corresponding relation between the tracer coordinate system of the optical template tracer 20 and the CT scanning coordinate system can be further obtained, and the tracer coordinate system and the CT scanning coordinate system can be converted into a system.
Illustratively, the directions of the various axes of the tracer coordinate system of the optical template tracer 20 are as shown in FIG. 1.
Illustratively, the optical template tracer 20 is mounted on the tracer socket 12.
Illustratively, the optical template tracer 20 is fixedly mounted on the 3D printing template 10 through the tracer socket 12, and the specific position of the 3D printing template 10 can be located by locating the specific position of the optical template tracer 20; therefore, when the 3D printing template 10 is placed at the target part of the patient, the placing deviation of the 3D printing template 10 can be effectively avoided.
In some implementation scenes, the surgical navigation device has the advantages that the optical template tracer 20 is installed on the 3D printing template 10, and when minimally invasive interventional surgery is performed, the optical template tracer 20 is used for positioning the 3D printing template 10, so that deviation when the 3D printing template 10 is placed can be effectively avoided, and the function of accurate placement is guided; meanwhile, in the process of placing the minimally invasive interventional needle, the minimally invasive interventional needle is arranged on the double-ball instrument tracer, so that the minimally invasive interventional needle can be guided and placed in the operation in real time, a doctor can know information such as the position, the needle inserting angle and the like of the minimally invasive interventional needle in real time, and the treatment effect of the minimally invasive interventional operation can be improved.
The optical template tracer can also be directly printed on the 3D template through 3D printing (at the moment, tracer socket does not need to be printed).
Illustratively, the optical template tracer 20 is fixedly mounted on the 3D printing template 10 by inserting the tracer connection port 21 into the tracer connection port 12, the two are fixed to each other, and the position of the 3D printing template 10 can be located by locating the position of the optical template tracer 20.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a dual-ball instrument tracer 30 provided in an embodiment of the present application, where the dual-ball instrument tracer 30 includes a dual-ball instrument tracer bracket 32 and a reflective small ball 33 fixing mechanism 35 for fixedly mounting on a minimally invasive interventional needle.
Illustratively, the position of the optical template tracer 20, and thus the 3D printing template 10, can be accurately tracked by positioning the plurality of retro-reflective beads 23 with a navigation camera.
Illustratively, four retroreflective pellets 23 may establish a three-dimensional rectangular coordinate system such that the tracer coordinate system of the optical template tracer 20 may be determined by the navigation camera.
Exemplarily, after the 3D printing template 10 is positioned by the optical template tracer 20 and the 3D printing template 10 is precisely placed on the target site of the patient, the 3D template is fixed; the minimally invasive intervention needle 34 is fixedly arranged below the double-ball appliance tracer 30, and the minimally invasive intervention needle can be positioned and guided in real time through the double-ball appliance tracer 30 in the minimally invasive intervention operation process.
Illustratively, the dual-ball instrument tracer 30 further includes two small reflective balls 33, the tracer bracket 32 is provided with two mounting positions, the two small reflective balls 33 are respectively mounted on the two mounting positions of the tracer bracket 32, and both of the two small reflective balls 33 are located at an extension line position of the minimally invasive interventional needle 34 (the minimally invasive interventional needle 34 is not a content of the present invention, and is an existing product).
Illustratively, the optical instrument tracer 30 with a double-sphere structure has a smaller volume, and under the condition that the minimally invasive interventional needle tracks 11 of the 3D printing template 10 are dense, the mutual interference between the needles is less, so that the tracer can be more effectively applied to intraoperative real-time navigation, thereby assisting a doctor to better complete a particle implantation operation.
In some embodiments, in the case of a dense needle track for minimally invasive interventional procedure planning, the 3D printing template 10 may be first positioned by the optical template tracer 20 with a four-ball structure, and the 3D printing template may be precisely placed and fixed at the target site of the patient; then, the double-ball apparatus tracer 30 is adopted to position the minimally invasive interventional needle, so that the mutual interference between the needle and the needle can be well solved, and the requirement of the multi-needle minimally invasive interventional operation is met.
Illustratively, the double-ball instrument tracer further comprises a fixing mechanism 35, the fixing mechanism 35 is fixedly mounted on the tracer bracket 32, and the double-ball instrument tracer can be fixed on the minimally invasive access needle 34 through the fixing mechanism 35 (the minimally invasive access needle 34 is not the content of the invention, and is an existing product).
Referring to fig. 3, fig. 3 is a schematic flowchart of a template-based surgical navigation method according to an embodiment of the present application, applied to the template-based surgical navigation device shown in fig. 1 to 2, where the surgical navigation method includes the following steps:
s100: printing a 3D template according to a preset minimally invasive intervention needle path position, wherein the 3D template is provided with an optical template tracer through an optical template tracer interface or directly prints out the 3D template with an optical template tracer bracket;
s200: selecting a reference layer image for preoperative comparison from the preoperative CT images of the patient based on the origin position of the optical template tracer;
s300: acquiring an intraoperative CT image, and selecting an intraoperative comparative layer image according to the original point position of the optical template tracer;
s400: adjusting the position of the 3D printing template to ensure that the reference level image compared before the operation and the level image compared in the operation are coincident;
s500: and completing the operation of the minimally invasive intervention needle according to the navigation of the tracer of the double-ball instrument.
Illustratively, the preoperative CT image is a CT image obtained by CT scanning of a patient before minimally invasive intervention surgery; the intraoperative CT image is a CT image obtained in real time through CT scanning when a patient is subjected to minimally invasive interventional surgery.
In some embodiments, the pre-operative CT image and the intra-operative CT image are obtained after CT scanning of the patient in the same body position.
Illustratively, the patient performs CT scanning in the same body position to obtain a preoperative CT image and an intraoperative CT image, so that during the minimally invasive interventional operation, the preoperative comparative reference slice image and the intraoperative comparative slice image can be basically coincided and matched: when the preoperative comparative reference level image and the intraoperative comparative level image are basically coincident, the 3D printing template is correctly placed on the target part of the patient.
Referring to fig. 4, fig. 4 is a schematic flow chart of dual-ball tracer navigation provided in the embodiment of the present application, including the following steps:
s510: mounting a dual-ball instrument tracer on a minimally invasive interventional needle;
s520: setting the needle tip position information of the minimally invasive interventional needle according to the length of the minimally invasive interventional needle;
s530: and calculating the position of the needle tip of the minimally invasive intervention needle in the CT image in the operation according to the position information and the needle tip position information of the double-ball instrument tracer, and completing the real-time guiding and positioning of the minimally invasive intervention needle.
In some embodiments, a patient is subjected to CT scanning, a preoperative CT image is obtained, the preoperative CT image is transmitted to TPS software, a doctor performs a minimally invasive intervention plan according to a lesion location and a region, after the plan is completed, a tracer socket is printed at the foremost end of a 3D printing template that does not affect needle track placement, the tracer socket is used for placing an optical template tracer, and the location of the tracer socket is recorded and input into preoperative template generation software, so that coordinate conversion between a tracer coordinate system of the optical template tracer and a preoperative CT scanning coordinate system is completed.
In some embodiments, pre-operative CT images used by a physician for performing a minimally invasive intervention plan are transmitted into pre-operative template generation software, and a printed 3D printed template with tracer socket and optical template tracer are connected; then, the 3D printing template is placed at a place where the navigation camera can see, the preoperative template generation software can generate the axial and sagittal slices according to the original point position of the optical template tracer, and meanwhile, the layer thickness of the generated slices can be set according to the requirements of doctors. And storing the generated preoperative template slice image, and waiting for real-time operation in the operation.
In some embodiments, during the minimally invasive interventional operation of the patient, the patient is first CT scanned in the same posture as the preoperative posture, and transmitting the CT image scanned in the operation to real-time navigation software in the operation, placing a printed 3D printing template with an optical template tracer on the target part of a patient, importing the slice image of the template before the operation, simultaneously starting the real-time generation function of the template in the operation, namely, the intraoperative template slice image generated by the current template can be compared with the preoperative template slice image of the preoperative template in real time, if the difference between the intraoperative template slice image and the preoperative template slice image is large, finely adjusting the 3D printing template until the intraoperative template slice image and the preoperative template slice image are basically completely consistent, therefore, the 3D printing template can be placed accurately, and minimally invasive interventional surgery can be performed according to planning.
In some embodiments, a doctor installs the double-ball instrument tracer on the minimally invasive interventional needle installation, can set the position of the needle point in navigation software according to different lengths of the minimally invasive interventional needle, and after the setting is finished, the navigation camera can track the position of the double-ball instrument tracer, so that the position of the needle point of the actual minimally invasive interventional needle under a navigation camera coordinate system is calculated according to the set needle point position, the position of the needle point of the minimally invasive interventional needle in a CT image is obtained, and the real-time positioning and guiding functions of the minimally invasive interventional needle are realized.
Illustratively, due to the small size and easy disassembly of the dual-ball instrumented tracer. Even if the implanted needle tracks planned in the TPS software are relatively dense, the navigation of each needle can be well completed.
In all embodiments of the present application, the terms "large" and "small" are relatively speaking, and the terms "upper" and "lower" are relatively speaking, so that descriptions of these relative terms are not repeated herein.
It should be appreciated that reference throughout this specification to "in this embodiment," "in an embodiment of the present application," or "as an alternative implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in this embodiment," "in the examples of the present application," or "as an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are all alternative embodiments and that the acts and modules involved are not necessarily required for this application.
In various embodiments of the present application, it should be understood that the size of the serial number of each process described above does not mean that the execution sequence is necessarily sequential, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. A template-based surgical navigation device is characterized by comprising a 3D printing template, an optical template tracer and a double-ball instrument tracer;
the 3D printing template is provided with a minimally invasive intervention needle path and a tracer socket, the 3D printing template is attached to a target part, and the position of the minimally invasive intervention needle path is staggered with the position of the tracer socket;
the optical template tracer is installed on the tracer interface, and the double-ball instrument tracer and the minimally invasive interventional needle are fixedly installed.
2. The template-based surgical navigation device of claim 1, wherein the optical template tracer includes a tracer connector port and a tracer support, the tracer connector port accessing the tracer socket, the tracer connector port being fixedly mounted on the tracer support.
3. The template-based surgical navigation device of claim 2, wherein the optical template tracer further includes a plurality of retro-reflective pellets, the tracer carriage being provided with a plurality of mounting locations, the plurality of retro-reflective pellets being mounted on the plurality of mounting locations of the tracer carriage, respectively.
4. The template-based surgical navigation device of claim 3, wherein the optical template tracer includes at least three retro-reflective pellets that are not in a straight line.
5. The template-based surgical navigation device of claim 1, wherein the dual ball instrument tracer includes two reflective pellets, the bracket of the dual ball instrument tracer is provided with two mounting positions, the two reflective pellets are respectively mounted on the two mounting positions of the bracket of the dual ball instrument tracer, and the two reflective pellets are both at an extension line position of the minimally invasive interventional needle.
6. The template-based surgical navigation apparatus of claim 5, wherein the dual-ball instrument tracer further includes a securing mechanism fixedly mounted on the dual-ball instrument tracer carriage, fixedly locked to a minimally invasive intervention needle by the securing mechanism.
7. A template-based surgical navigation method applied to the template-based surgical navigation apparatus according to any one of claims 1 to 6, the method comprising:
printing a 3D template according to a preset minimally invasive intervention needle path position, wherein the 3D template is provided with an optical template tracer through an optical template tracer interface or directly prints out the 3D template with an optical template tracer bracket;
selecting a reference level image for preoperative comparison from the preoperative CT images of the patient based on the origin position of the optical template tracer;
acquiring an intraoperative CT image, and selecting an intraoperative comparative layer image according to the original point position of the optical template tracer;
adjusting the position of the 3D template to ensure that the preoperative comparison reference level image and the intraoperative comparison level image are coincident;
and completing the operation of the minimally invasive intervention needle according to the navigation of the double-ball instrument tracer.
8. The template-based surgical navigation method of claim 7, wherein the pre-operative CT image and the intra-operative CT image are obtained after CT scanning of the patient in the same body position.
9. The template-based surgical navigation method of claim 7, wherein the step of performing minimally invasive interventional needle manipulation based on the navigation of the dual ball instrument tracer includes:
mounting the dual ball instrument tracer to the minimally invasive access needle;
setting needle tip position information of the minimally invasive intervention needle according to the length of the minimally invasive intervention needle;
and calculating the position of the needle point of the minimally invasive intervention needle in the intraoperative CT image according to the position information of the double-ball instrument tracer and the needle point position information, and finishing the real-time guiding and positioning of the minimally invasive intervention needle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110166022.5A CN112807086A (en) | 2021-02-05 | 2021-02-05 | Operation navigation device and method based on template |
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| CN202110166022.5A CN112807086A (en) | 2021-02-05 | 2021-02-05 | Operation navigation device and method based on template |
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| CN112807086A true CN112807086A (en) | 2021-05-18 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113974840A (en) * | 2021-12-29 | 2022-01-28 | 北京壹点灵动科技有限公司 | Tracer installation component, surgical instrument device and manipulator for surgery |
| CN114404824A (en) * | 2022-02-17 | 2022-04-29 | 哈尔滨工业大学 | Puncture template based on optical positioning, auxiliary radiotherapy constant force tracking system realized by applying same and constant force tracking method |
| CN114848169A (en) * | 2022-07-05 | 2022-08-05 | 上海嘉奥信息科技发展有限公司 | Human body tracking and arranging system and method for minimally invasive surgery |
| CN115229806A (en) * | 2022-09-21 | 2022-10-25 | 杭州三坛医疗科技有限公司 | Mechanical arm control method, device, system, equipment and storage medium |
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2021
- 2021-02-05 CN CN202110166022.5A patent/CN112807086A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113974840A (en) * | 2021-12-29 | 2022-01-28 | 北京壹点灵动科技有限公司 | Tracer installation component, surgical instrument device and manipulator for surgery |
| CN114404824A (en) * | 2022-02-17 | 2022-04-29 | 哈尔滨工业大学 | Puncture template based on optical positioning, auxiliary radiotherapy constant force tracking system realized by applying same and constant force tracking method |
| CN114848169A (en) * | 2022-07-05 | 2022-08-05 | 上海嘉奥信息科技发展有限公司 | Human body tracking and arranging system and method for minimally invasive surgery |
| CN114848169B (en) * | 2022-07-05 | 2022-09-30 | 上海嘉奥信息科技发展有限公司 | Human body tracking and arranging system and method for minimally invasive surgery |
| CN115229806A (en) * | 2022-09-21 | 2022-10-25 | 杭州三坛医疗科技有限公司 | Mechanical arm control method, device, system, equipment and storage medium |
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