CN114129261B - Surgical tracing equipment and method for surgical navigation path - Google Patents
Surgical tracing equipment and method for surgical navigation path Download PDFInfo
- Publication number
- CN114129261B CN114129261B CN202111334575.3A CN202111334575A CN114129261B CN 114129261 B CN114129261 B CN 114129261B CN 202111334575 A CN202111334575 A CN 202111334575A CN 114129261 B CN114129261 B CN 114129261B
- Authority
- CN
- China
- Prior art keywords
- tracer
- surgical
- patient
- signal
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title abstract description 30
- 239000000700 radioactive tracer Substances 0.000 claims abstract description 159
- 238000001356 surgical procedure Methods 0.000 claims abstract description 12
- 230000008859 change Effects 0.000 claims description 12
- 238000002324 minimally invasive surgery Methods 0.000 claims description 7
- 239000000853 adhesive Substances 0.000 claims description 6
- 230000001070 adhesive effect Effects 0.000 claims description 6
- 239000000523 sample Substances 0.000 claims description 5
- 210000000988 bone and bone Anatomy 0.000 description 15
- 238000010586 diagram Methods 0.000 description 14
- 208000027418 Wounds and injury Diseases 0.000 description 10
- 238000004590 computer program Methods 0.000 description 9
- 230000003287 optical effect Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 201000010099 disease Diseases 0.000 description 6
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 230000008733 trauma Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The specification discloses a surgical tracing device and a method of a surgical navigation path, comprising: the signal transmitter is fixed on the tracer and is used for providing signals for the signal sensor, the signal sensor is fixed on the skin of a patient, the surgical tracer device is used for positioning a diseased part of the patient when the minimally invasive surgical device performs surgery on the patient, the signal sensor is used for judging whether the offset distance of the tracer exceeds a preset threshold value through the signal provided by the signal transmitter to the signal sensor and correcting the surgical navigation path of the diseased part again through the relation of positioning light source mark emission or reflection on the minimally invasive surgical device and the tracer which is offset when the offset distance of the tracer is determined to exceed the preset threshold value.
Description
Technical Field
The specification relates to the field of major surgery, in particular to a surgical tracing device and a method for surgical navigation path
Background
Currently, the optical navigation technology and the medical imaging technology are combined and widely applied to the robot navigation operation. Tracers designed based on this technique may be mounted intraoperatively on the robotic arm, surgical tool, and body in the vicinity of the patient's surgical site to determine the respective spatial locations for registration. The tracer on the mechanical arm and the operation tool is connected with the rigid structure, so that reliable installation and stable position can be realized. The tracer installed on the patient body is generally fixed by connecting the tracer base with the bone in a drilling screwing or clamping mode and then transferring the tracer.
However, despite the rigidity of the bone, it is far from a metallic structure and does not completely avoid excessive movements due to weak installation or external forces. Excessive displacement may occur at the position where the tracer base is clamped with the bone, may also occur at the intermediate transfer point, and may also be a comprehensive effect of multiple factors, when facing some relatively precise operations, the excessive displacement of the tracer is often not easily found, and once the tracer is excessively displaced, the accuracy of the registration position is completely lost, the mechanical arm will not be navigated to the correct position, and the position where the subsequent operator performs the operation will be completely wrong, thereby affecting the accuracy of the operation and even threatening the life safety of the patient.
Therefore, how to timely judge whether the position of the tracer moves excessively, so as to ensure the accuracy of the operation is a problem to be solved urgently.
Disclosure of Invention
The present specification provides a surgical tracing apparatus and a control method thereof, which partially solve the above-mentioned problems existing in the prior art.
The technical scheme adopted in the specification is as follows:
The present specification provides a surgical tracing apparatus comprising:
The system comprises a tracer, a signal transmitter and a signal sensor, wherein the signal transmitter is fixed on the tracer and is used for providing signals for the signal sensor, the signal sensor is fixed on the skin of a patient, and the surgical tracer equipment is used for positioning the diseased part of the patient when the minimally invasive surgical equipment performs surgery on the patient;
The tracer is provided with a positioning light source mark, and the minimally invasive surgery equipment is used for positioning the diseased part of a patient based on the light emitted or reflected by the positioning light source mark;
The signal sensor is used for judging whether the offset distance of the tracer exceeds a preset threshold value through a signal provided by the signal transmitter to the signal sensor, and when the offset distance of the tracer exceeds the preset threshold value, the minimally invasive surgery equipment and the offset tracer are used for positioning light rays emitted or reflected by a light source mark, and the surgical navigation path aiming at the diseased part is calibrated again.
Optionally, the signal transmitter includes: a laser transmitter, the signal sensor comprising: a laser sensor;
and adjusting the angle of the laser transmitter to enable the laser emitted by the laser transmitter to be aligned to be positioned in a position range preset in the center of the sensing area of the laser sensor.
Optionally, if the position of the laser emitted by the laser emitter to the laser sensor irradiated on the sensing area deviates from the position range, the offset distance of the tracer exceeds the preset threshold.
Optionally, the signal transmitter includes: a magnetic field generator provided with a magnetic probe, the signal sensor comprising: a magnetic field sensor;
if it is determined that the amount of change of the magnetic field exceeds a preset amount of change according to the magnetic field formed between the magnetic probe and the magnetic field sensor in the magnetic field generator, the offset distance of the tracer exceeds the preset threshold.
Optionally, the signal sensor is fixed on the patient skin within a preset range of the tracer through medical adhesive.
Optionally, the signal sensor fixed on the patient skin within a preset range of the tracer based on the medical adhesive is reinforced on the patient skin through a medical bandage.
Optionally, the surgical tracing apparatus comprises: the offset alarm is connected with the signal sensor;
And if the signal sensor determines that the offset distance of the tracer exceeds a preset threshold value, alarming through the offset alarm.
Optionally, if it is determined that the duration that the offset distance of the tracer exceeds the preset threshold exceeds the preset duration, alarming is performed through the offset alarm.
The present specification provides a method of surgical navigation path, comprising:
The surgical tracing apparatus comprises: the system comprises a tracer, a signal transmitter and a signal sensor, wherein the signal transmitter is fixed on the tracer and is used for providing signals for the signal sensor, the signal sensor is fixed on the skin of a patient, and the surgical tracer equipment is used for positioning the diseased part of the patient when the minimally invasive surgical equipment performs surgery on the patient;
judging whether the offset distance of the tracer exceeds a preset threshold value or not through a signal provided by the signal transmitter to the signal sensor;
And when the offset distance of the tracer exceeds a preset threshold, the surgical navigation path aiming at the diseased part is recalibrated through the light rays emitted or reflected by the positioning light source marks on the minimally invasive surgical equipment and the offset tracer.
Optionally, if the signal sensor determines that the offset distance of the tracer exceeds a preset threshold, the offset alarm gives an alarm.
The above-mentioned at least one technical scheme that this specification adopted can reach following beneficial effect:
In the surgical tracing device provided by the specification, the signal sensor fixed on the skin of a patient is used for receiving the signal provided by the signal transmitter on the tracer, so that whether the tracer is excessively deviated or not is judged, and once deviation occurs, an alarm is given through the deviation alarm, so that the surgical navigation path is calibrated.
According to the method, the deviation condition of the tracer can be monitored in time on the premise that no additional wound is added to the patient body, and once the tracer is found to deviate and exceeds a certain time, an operator is reminded to calibrate the surgical navigation path in time, so that the accuracy of surgery is ensured, and the wound to the patient body is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification, illustrate and explain the exemplary embodiments of the present specification and their description, are not intended to limit the specification unduly. In the drawings:
FIG. 1 is a schematic diagram of a tracer provided in the present disclosure and illustrating an offset at a connection between the tracer and a base;
FIG. 2 is a schematic diagram of a tracer base offset provided herein;
FIG. 3 is a schematic diagram of tracer bias monitoring provided herein;
FIG. 4 is a schematic view of a surgical tracing apparatus provided herein;
FIG. 5 is a schematic view of a tracer according to the present disclosure;
Fig. 6 is a flow chart of a method for providing a surgical navigation path in the present specification.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present specification more apparent, the technical solutions of the present specification will be clearly and completely described below with reference to specific embodiments of the present specification and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present specification. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present disclosure.
In the robot navigation surgery, an operator usually needs to fix a tracer on bone tissue in a patient body, so as to obtain the relative position of a surgical instrument and a diseased part, and further generate a navigation path of minimally invasive surgery equipment, so as to perform surgery on the diseased part, however, in the surgery process, the situation that the tracer base is not firmly installed or the tracer is excessively moved due to external force action usually occurs, so that the surgical navigation path is also deviated from the actual diseased part of the patient, as shown in fig. 1 and 2.
Fig. 1 is a schematic diagram showing the offset between the connection of the tracer and the base.
When the tracer receives the action of external force, because the connection point of the tracer and the tracer base is fixed infirm, the tracer is deflected.
Fig. 2 is a schematic diagram of a tracer base offset provided in the present specification.
When the tracer is acted by external force, the tracer is deviated due to the fact that the base of the tracer is not firmly fixed with bone tissue in the patient.
Currently, in order to solve the above-mentioned situation, an additional offset monitor tracer is usually driven into bone tissue in a patient, and according to the relative positions of the offset monitor tracer and the tracer in the patient, it is determined whether the tracer in the patient is excessively offset, as shown in fig. 3.
Fig. 3 is a schematic diagram of tracer offset monitoring provided in the present specification.
Wherein, the offset monitoring tracer has no connecting structure and only has one optical positioning mark, and is fixed on bone tissue in a patient body in a nailing mode. However, while driving an additional offset tracer into the patient can detect whether the tracer in the vicinity of the diseased site is excessively offset, fixing the offset tracer tends to cause additional trauma to the patient's body.
In order to monitor whether the tracer is deviated or not on the premise of avoiding extra trauma to a patient and ensure the accuracy of the operation, the technical schemes provided by the embodiments of the specification are described in detail below with reference to the accompanying drawings.
Fig. 4 is a schematic view of a surgical tracing apparatus provided in the present specification.
The present specification provides a surgical tracing apparatus, as shown in fig. 1, comprising: the system comprises a tracer, a signal transmitter and a signal sensor.
The tracer is fixed on bone tissue in a patient body through the tracer base, and when the tracer base is fixed, in order to enable the position of the tracer to be more stable, operators need to perform minimally invasive opening at the position near the diseased part of the patient body, place the tracer base in the wound and fix the tracer base on the bone tissue in the wound.
In particular, there are various ways of fixing the tracer base, for example, by fixing the tracer base to the bone tissue in the wound by a clamping device of the tracer base, and for example, by drilling the bone tissue in the wound and fixing the tracer base to the bone tissue in the wound by a screw.
In order to avoid the influence of the fixed position of the tracer on the operation on the affected part, the operator can perform a minimally invasive opening on the position near the affected part of the patient, so that the tracer can be placed on other bone tissues near the affected part of the patient.
Before performing an operation on a patient, operators generally need to install tracers in a preset range of a diseased part of the patient and on a surgical instrument respectively to determine the relative position between the diseased part of the patient and the surgical instrument, wherein in order to accurately determine the relative position and the angular relationship between the diseased part of the patient and the surgical instrument, each tracer can be provided with at least three positioning light source marks, the relative positions among the positioning light source marks are fixed, the positioning light source marks can be optical mark balls such as infrared light emitting devices, light emitting diodes (LIGHT EMITTING Diode, LEDs) or passive reflecting spheres, the positions of each tracer are acquired through optical positioning devices arranged in an operation environment, and the relative position and the angular relationship between each tracer are determined, so that the relative position and the angle of the diseased part of the patient and the surgical instrument are obtained, and then the navigation path of the operation is planned, so that minimally invasive operation equipment performs operation according to the navigation path, and provides reference for the operators to perform operation on the patient.
The tracer is provided with a signal emitter for providing a signal to a signal sensor, and for ease of understanding, the present disclosure provides a schematic diagram of the tracer, as shown in fig. 5.
FIG. 5 is a schematic diagram of a tracer according to the present disclosure, in which
The tracer is connected to the tracer base, is fixed on the vertebra in the patient body through the tracer base, is fixed with location light source mark and signal transmitter on the tracer.
The signal inductor can be fixed on the patient skin in the preset range of the tracer through the medical adhesive, so that the signal inductor and the patient skin cannot move relatively, the operator can further fix the signal inductor on the patient skin in the preset range of the tracer through the medical adhesive through the medical bandage, the signal inductor is reinforced on the patient skin, and further fixation of the signal inductor and the patient skin is realized.
Because the fixed position of the signal sensor can be very close to the tracer and is fixed by the medical glue and the medical bandage, even if the relative position of the signal sensor and the tracer moves relatively, the small change of the movement can not influence the navigation path of the operation.
It should be noted that, the positions of the signal transmitter on the tracer and the tracer base are relatively fixed, once the relative positions of the signal transmitter and the tracer base change, the signal provided by the signal generator received by the signal sensor will change, and at this time, the signal transmitter needs to be re-fixed on the tracer and the surgical navigation path needs to be re-calibrated.
Of course, the control personnel can also fix the signal sensor on the skin of the patient in an adsorption mode through the vacuum adsorption device, fix the signal sensor on the skin of the patient in a preset range of the tracer through the medical bandage, strengthen the signal sensor on the skin of the patient, and further fix the signal sensor and the skin of the patient, thereby preventing the signal sensor and the skin of the patient from generating relative movement.
In practical application, the signal transmitter fixed on the tracer can be the laser transmitter, and correspondingly, the signal sensor can be the laser sensor that can receive laser transmitted by the laser transmitter, is equipped with the photoelectric detector that can convert the laser transmitted by the laser transmitter of receiving into the signal of telecommunication that can be responded to by the laser sensor on the laser sensor, like four-quadrant photoelectric detector, of course, also can be equipped with other photoelectric detectors that can convert the laser transmitted by the laser transmitter of receiving into the signal of telecommunication that can be responded to by the laser sensor on the laser sensor, and this specification does not limit for this.
After the tracer is fixed on the patient body by the operator, the angle of the laser transmitter on the tracer can be adjusted, so that laser emitted by the laser transmitter is aligned to a preset position range in the center of the sensing area of the laser sensor, and is irradiated to the center position of the sensing area of the laser sensor as much as possible, wherein the preset position range in the center of the sensing area of the laser sensor can be set according to actual conditions, and the specification is not limited in this way.
After the angle of the laser emitter is adjusted, the relative position of the surgical instrument and the diseased part can be determined through the optical positioning device in the surgical environment, so that the surgical path of the minimally invasive surgical equipment is navigated, surgical reference is provided for operators, and the surgery on the diseased part is performed. In the operation process, the situation that the positioning light source mark on the tracer is deviated due to the fact that the base of the tracer is not firmly installed or excessive movement caused by external force action occurs, so that the operation navigation path is deviated from the actual diseased part of the patient. In order to avoid excessive deflection of the tracer, whether the tracer is excessively deflected or not can be judged according to the irradiation position of laser emitted by the laser emitter to the laser sensor on the sensing area of the laser sensor. If the irradiation position of the laser emitted by the laser emitter to the laser sensor on the sensing area is within a set position range, the offset distance of the tracer is indicated to not exceed a preset threshold value, and if the irradiation position of the laser emitted by the laser emitter to the laser sensor on the sensing area is outside the set position range, the offset distance of the tracer is indicated to exceed the preset threshold value, wherein the set position range can be set according to practical situations, and the specification is not specifically described.
In addition, the signal transmitter arranged on the tracer can also be a magnetic field generator provided with a magnetic probe, correspondingly, the signal sensor can be a magnetic field sensor capable of measuring the magnetic field generated by the magnetic field generator, a magnetic field measuring instrument (such as a magnetic field measuring instrument) capable of measuring the magnetic field intensity is arranged on the magnetic field sensor, when the magnetic field sensor monitors that the change amount of the magnetic field generated by the magnetic field generator exceeds a preset change amount, the deviation distance of the tracer exceeds a preset threshold value, wherein the preset change amount can be set according to actual conditions, and the specification is not limited to the change amount.
Specifically, the signal sensor and the tracer can be connected with an external power supply through an external power line, so that a required power supply is provided for the signal sensor, the signal transmitter and the positioning light source mark.
In this specification, be provided with the skew alarm that is connected with signal sensor, when signal sensor monitors the skew distance of tracer and surpasses the default threshold value, can report to the police through the skew alarm, the navigation route of explanation current moment operation takes place the skew, in order to guarantee operation safety, the control personnel need stop current operation, and according to the light that the locating light source mark on the tracer that minimally invasive surgery equipment and take place the skew launched or reflected, through the relative position between disease position and the surgical instrument of redetermining the disease, or the mode of adjustment tracer angle and fixed position, calibrate the operation navigation route of minimally invasive surgery equipment, thereby ensure operation accuracy.
Because the operator often can be unavoidable to the health near tracer fixed position in the in-process of carrying out the operation to disease position of disease, in order to carry out operation, these effort can lead to disease's health to take place deformation in the short time, and then arouse the skew position of tracer to surpass the preset threshold value, but after the effort that exerts the health to the disease disappears, the tracer also can resume original position, and the skew position of tracer can get back to in the preset threshold value this moment, indicates that the operation navigation route does not take place skew this moment.
Therefore, in order to reduce the occurrence of false alarm of the offset alarm, the signal sensor can judge whether the alarm is needed according to the time period for the offset position of the tracer to exceed the preset threshold value. If the offset distance of the tracer exceeds the preset threshold value for a period of time not exceeding the preset time, the tracer is indicated to be not offset, or the tracer is offset to return to the original position within the preset time after being offset, and the operation navigation path for the diseased part is still accurate at the moment. In other words, if the tracer does not shift, or the tracer shifts back to the original position within a preset time length after the tracer shifts, the surgical navigation path at the moment can still be used for performing surgical navigation on the minimally invasive surgical equipment, so that calibration of the surgical navigation path of the minimally invasive surgical equipment is not needed, and therefore, no alarm is needed, and only when the time length that the shift distance of the tracer exceeds the preset threshold exceeds the preset time length, the surgical navigation path is indicated to shift from the diseased part of the patient, the alarm is given out through the shift alarm, and calibration of the surgical navigation path for the diseased part is performed again, wherein the preset time length can be set according to actual conditions, and the specification is not particularly limited.
In order to facilitate understanding of the above surgical tracing apparatus, the present disclosure further provides a method flowchart of a surgical navigation path to illustrate a method for performing a surgical navigation path during an actual surgical procedure by using the above surgical tracing apparatus, as shown in fig. 6.
Fig. 6 is a flow chart of a method for providing a surgical navigation path in the present specification, which includes the following steps:
s601: the tracer is fixed on bone tissue within a preset range of the affected part of the patient.
The operator performs a minimally invasive opening near the affected part of the patient, places the tracer base in the wound, and fixes it to the bone tissue in the wound.
S602: the signal sensor is fixed on the skin of a patient within a preset range of the tracer.
The control personnel fix the signal inductor on the patient skin within the preset range of the tracer through medical glue, so that the signal inductor is as close to the tracer as possible, and the signal inductor is reinforced through a medical bandage.
S603: and determining a surgical navigation path of the minimally invasive surgical equipment according to the positioning light source mark on the tracer, and controlling the minimally invasive surgical equipment to perform surgery on the diseased part according to the surgical navigation path.
The optical positioning device determines the relative positions of the positioning light source marks through the positioning light source marks on the tracer, and further determines the relative positions of the surgical instrument and the diseased part of the patient.
S604: monitoring whether the offset distance of the tracer exceeds a preset threshold.
And the signal sensor judges whether the offset distance of the tracer exceeds a preset threshold value according to the signal provided by the signal transmitter to the signal sensor.
S605: and if the time length that the offset distance of the tracer exceeds the preset threshold exceeds the preset time length, alarming through the offset alarm, and calibrating the operation navigation path aiming at the diseased part again.
If the time length that the offset distance of the tracer exceeds the preset threshold exceeds the preset time length, the surgical navigation path aiming at the diseased part is calibrated again through the light rays emitted or reflected by the positioning light source marks on the minimally invasive surgical equipment and the offset tracer.
According to the method, in the process of performing an operation on a patient, the signal sensor can be fixed on the premise that no additional wound is added to the patient body, whether the tracer is excessively deviated or not is monitored in real time through the signal sensor, and once the tracer is excessively deviated, an alarm is given out through the deviation alarm, so that an operator can position light rays emitted or reflected by the light source marks on minimally invasive operation equipment and the deviated tracer, calibrate the operation navigation path aiming at the diseased part again, and the trauma to the patient body is reduced while the accuracy of the operation navigation path is ensured.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a sensor telephone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present specification.
It will be appreciated by those skilled in the art that embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the present specification may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present description can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The present description is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the specification. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It will be appreciated by those skilled in the art that embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the present specification may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present description can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing is merely exemplary of the present disclosure and is not intended to limit the disclosure. Various modifications and alterations to this specification will become apparent to those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present description, are intended to be included within the scope of the claims of the present description.
Claims (8)
1. A surgical tracing apparatus, comprising: the system comprises a tracer, a signal transmitter and a signal sensor, wherein the signal transmitter is fixed on the tracer and is used for providing signals for the signal sensor, the signal sensor is fixed on the skin of a patient, and the surgical tracer equipment is used for positioning the diseased part of the patient when the minimally invasive surgical equipment performs surgery on the patient;
The tracer is provided with a positioning light source mark, and the minimally invasive surgery equipment is used for positioning the diseased part of a patient based on the light emitted or reflected by the positioning light source mark;
The signal sensor is used for judging whether the offset distance of the tracer exceeds a preset threshold value through a signal provided by the signal transmitter to the signal sensor, and when the offset distance of the tracer exceeds the preset threshold value, the minimally invasive surgery equipment and the offset tracer are used for positioning light rays emitted or reflected by a light source mark, and the surgical navigation path aiming at the diseased part is calibrated again.
2. A surgical tracer apparatus according to claim 1, wherein the signal transmitter comprises: a laser transmitter, the signal sensor comprising: a laser sensor;
and adjusting the angle of the laser transmitter to enable the laser emitted by the laser transmitter to be aligned to be positioned in a position range preset in the center of the sensing area of the laser sensor.
3. A surgical tracer apparatus according to claim 2, wherein if the position of the laser transmitter at which the laser light emitted by the laser sensor impinges on the sensing region deviates from the range of positions, the tracer is offset by a distance exceeding the predetermined threshold.
4. A surgical tracer apparatus according to claim 1, wherein the signal transmitter comprises: a magnetic field generator provided with a magnetic probe, the signal sensor comprising: a magnetic field sensor;
if it is determined that the amount of change of the magnetic field exceeds a preset amount of change according to the magnetic field formed between the magnetic probe and the magnetic field sensor in the magnetic field generator, the offset distance of the tracer exceeds the preset threshold.
5. A surgical tracer apparatus according to claim 1, wherein the signal sensor is secured to the patient's skin within a predetermined range of the tracer by a medical adhesive.
6. A surgical tracer apparatus according to claim 5, wherein the signal sensor, which is secured to the patient's skin within a predetermined range of the tracer based on the medical adhesive, is secured to the patient's skin by a medical bandage.
7. A surgical tracer apparatus according to claim 1, wherein the surgical tracer apparatus comprises: the offset alarm is connected with the signal sensor;
And if the signal sensor determines that the offset distance of the tracer exceeds a preset threshold value, alarming through the offset alarm.
8. A surgical tracer apparatus according to claim 7, wherein if it is determined that the length of time the tracer has been offset beyond the predetermined threshold exceeds a predetermined length of time, an alarm is provided by the offset alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111334575.3A CN114129261B (en) | 2021-11-11 | 2021-11-11 | Surgical tracing equipment and method for surgical navigation path |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111334575.3A CN114129261B (en) | 2021-11-11 | 2021-11-11 | Surgical tracing equipment and method for surgical navigation path |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114129261A CN114129261A (en) | 2022-03-04 |
| CN114129261B true CN114129261B (en) | 2024-05-24 |
Family
ID=80393008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111334575.3A Active CN114129261B (en) | 2021-11-11 | 2021-11-11 | Surgical tracing equipment and method for surgical navigation path |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114129261B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108348305A (en) * | 2015-11-16 | 2018-07-31 | 思想外科有限公司 | Method for confirming the registration for being tracked bone |
| CN110530266A (en) * | 2018-05-25 | 2019-12-03 | 镱钛科技股份有限公司 | Dynamic reference deviates method for detecting and its system |
| CN111281541A (en) * | 2020-03-09 | 2020-06-16 | 中国人民解放军总医院 | Method and apparatus for detecting intra-operative navigation marker movement |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007014470A2 (en) * | 2005-08-01 | 2007-02-08 | Resonant Medical Inc. | System and method for detecting drifts in calibrated tracking systems |
| US20160354009A1 (en) * | 2015-06-04 | 2016-12-08 | General Electric Company | Minimally Invasive Patient Reference Systems and Methods for Navigation-Assisted Surgery |
| WO2017075545A1 (en) * | 2015-10-29 | 2017-05-04 | Blue Belt Technologies, Inc. | Movable tracker system |
| US10441365B2 (en) * | 2017-01-11 | 2019-10-15 | Synaptive Medical (Barbados) Inc. | Patient reference device |
-
2021
- 2021-11-11 CN CN202111334575.3A patent/CN114129261B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108348305A (en) * | 2015-11-16 | 2018-07-31 | 思想外科有限公司 | Method for confirming the registration for being tracked bone |
| CN110530266A (en) * | 2018-05-25 | 2019-12-03 | 镱钛科技股份有限公司 | Dynamic reference deviates method for detecting and its system |
| CN111281541A (en) * | 2020-03-09 | 2020-06-16 | 中国人民解放军总医院 | Method and apparatus for detecting intra-operative navigation marker movement |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114129261A (en) | 2022-03-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1913333B1 (en) | System and method for detecting drifts in calibrated tracking systems | |
| US20200375670A1 (en) | Methods for locating and tracking a tool axis | |
| KR100811329B1 (en) | Apparatus for positioning a surgical instrument | |
| US10247545B2 (en) | Laser gauge for robotic calibration and monitoring | |
| US6050724A (en) | Method of and device for position detection in X-ray imaging | |
| JP2020163130A (en) | System for neuronavigation registration and robotic trajectory guidance, and related methods and devices | |
| AU2020388156B2 (en) | Osteotomy checking method, checking tool, readable storage medium and orthopedic surgery system | |
| CN104994805A (en) | System and method for establishing virtual constraint boundaries | |
| AU2001266207A1 (en) | Apparatus for positioning a surgical instrument | |
| CN112190332B (en) | Calibration method and calibration system for surgical operation tool | |
| JP2016525436A (en) | X-ray tube alignment function for mobile radiography system | |
| JP2017528220A (en) | Optical shape detection for instrument tracking in orthopedics | |
| US11298566B2 (en) | System, process and apparatus to determine LINAC isocenter | |
| AU2020386613B2 (en) | Osteotomy verification method and verification apparatus, readable storage medium, and orthopedic surgery system | |
| CN114404042B (en) | Surgical robot navigation board and navigation method | |
| CN113491578A (en) | Method for registering medical images to a circle-arc assembly | |
| CN112867537B (en) | Method, device and system for detecting movement state of patient | |
| CN114129261B (en) | Surgical tracing equipment and method for surgical navigation path | |
| US11986253B2 (en) | Movable tracker system | |
| CN114288021A (en) | Monitoring system and method for single free tracking ball | |
| WO2021056420A1 (en) | Method, apparatus and system for detecting movement state of patient |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |