CN114533267A - 2D image surgery positioning navigation system and method - Google Patents

2D image surgery positioning navigation system and method Download PDF

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Publication number
CN114533267A
CN114533267A CN202210151975.9A CN202210151975A CN114533267A CN 114533267 A CN114533267 A CN 114533267A CN 202210151975 A CN202210151975 A CN 202210151975A CN 114533267 A CN114533267 A CN 114533267A
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ray
needle inserting
calibration device
image
ray calibration
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李静
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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
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • A61B34/25—User interfaces for surgical systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/46—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with special arrangements for interfacing with the operator or the patient
    • A61B6/461—Displaying means of special interest
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/46—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with special arrangements for interfacing with the operator or the patient
    • A61B6/461—Displaying means of special interest
    • A61B6/466—Displaying means of special interest adapted to display 3D data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/50—Clinical applications
    • A61B6/505—Clinical applications involving diagnosis of bone
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • A61B6/5223—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data generating planar views from image data, e.g. extracting a coronal view from a 3D image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
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    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3966—Radiopaque markers visible in an X-ray image

Abstract

The invention relates to a 2D image operation positioning navigation system and a method, belonging to the technical field of medical image data processing. The position and the extending direction of the virtual needle inserting channel relative to the X-ray calibration device are determined by the X-ray calibration device and by utilizing the developing function of the X-ray calibration device and the fixed relation with the bone position, the position and the extending direction are sent to the MR glasses, and the position of the virtual needle inserting channel is presented in the MR glasses. Therefore, the invention does not need to construct 3D images of bones through hundreds of X-ray perspectives, can realize accurate navigation only by two X-ray images comprising the X-ray calibration device, greatly reduces the radiation dose, avoids the harm of excessive X-ray projection to human bodies, and has wide application prospect.

Description

2D image surgery positioning navigation system and method
Technical Field
The invention relates to a 2D image operation positioning navigation system and a method, belonging to the technical field of medical image data processing.
Background
In the orthopedic surgery, a doctor often needs to arrange a nail in a bone channel, but the inside of a bone cannot be directly viewed by naked eyes, and the operation can only expose partial bone, so that deviation of the nail arrangement position can be caused, and nerves and blood vessels near the bone can be damaged by serious persons, and the result is difficult to estimate. Current 3D navigation systems help the physician to grasp the nail position, but the construction of 3D images of the bone means that the patient is subjected to hundreds of X-ray fluoroscopic measures, which can cause an unpredictable injury to young patients; in addition, existing 3D navigation devices require the use of optical positioning systems, which increases the systematic error of navigation. For example, patent application publication No. CN112043382A discloses a surgical navigation system and a method for using the same, wherein the navigation system includes a medical image scanning device, an optical tracking system, a computer processing device and control software, a robot positioning navigation system, a tracer and a scale tool, wherein the medical image scanning device is used for acquiring a three-dimensional scanning image of a surgical site, and the computer processing device is used for calculating the three-dimensional scanning image and real-time spatial data. According to the scheme, a large amount of X-ray perspective is needed for obtaining the three-dimensional scanning image, the human body is greatly damaged, the positioning is carried out by means of an optical tracking system, and the system error is increased.
Disclosure of Invention
The invention aims to provide a 2D image surgical positioning navigation system and a method thereof, which are used for solving the problems of low positioning precision and great damage to a human body when a 3D navigation system is adopted for surgical positioning at present.
The invention provides a 2D image operation positioning navigation system for solving the technical problems, which comprises an X-ray calibration device, a medical image shooting device, mixed reality glasses and a processor; the X-ray calibration device is used for being fixed on a bone to be positioned and can be used for developing X-rays; the medical image shooting device is used for shooting two X images of bones to be positioned, which contain the X-ray calibration device, at different angles and sending the shot images to the processor, wherein one is a positive X image of the bones and the other is a side X image of the bones; the processor is used for determining the needle inserting position, the needle inserting direction and the needle inserting depth of the virtual needle inserting channel according to the received positive and side position X images; the needle inserting position, the needle inserting direction and the needle inserting depth of the virtual needle inserting channel are all based on an X-ray calibration device as a coordinate;
the processor sends the determined position, direction and depth of the virtual needle inserting channel relative to the X-ray calibration device to the mixed reality glasses, the mixed reality glasses are provided with a camera device and a three-dimensional structure model of the X-ray calibration device, the mixed reality glasses align the displayed three-dimensional structure model with the X-ray calibration device fixed on the skeleton to be positioned, and the received needle inserting position, direction and needle inserting depth of the virtual needle inserting channel are displayed on the mixed reality glasses after the three-dimensional structure model and the X-ray calibration device are completely aligned.
The invention realizes the planning of the position of a virtual needle inserting channel by two skeleton X-ray images containing the X-ray calibration device at different angles by means of the X-ray calibration device and by utilizing the developing function of the X-ray calibration device and the principle of fixing the position relation with the skeleton. Therefore, the method does not need to construct a 3D image of the skeleton through hundreds of X-ray fluoroscopy or high-radiation-dose CT, can realize accurate navigation through only 2 fluoroscopy, greatly reduces the radiation dose, avoids the harm of excessive X-ray projection to the human body, and has wide application prospect. In order to facilitate the doctor to see the position of the virtual needle inserting channel, the navigation system also comprises mixed reality glasses, the model of the virtual X-ray calibration device is aligned with the image of the actual X-ray calibration device in the mixed reality glasses, and the position and the direction of the virtual needle inserting channel relative to the X-ray calibration device are displayed after the alignment, so that the doctor can accurately and intuitively see the planned channel.
Furthermore, in order to better realize the calibration function of the X-ray calibration device, the X-ray calibration device comprises X-ray development lines with fixed space, size and relative spatial position, the upper and lower parts, the front and the back parts and the left and the right parts of the X-ray development lines are in asymmetric structures, and the real spatial posture of the X-ray development lines can be judged only through two X-ray images at the front and the side positions.
Further, the X-ray developing lines are connected by a non-X-ray developing material.
According to the invention, the X-ray calibration device is designed into an asymmetric structure with an upper part, a lower part, a front part, a rear part and a left part and a right part, so that a doctor can accurately judge the spatial posture of the X-ray calibration device through two X-ray images at the front position and the side position, and an accurate basis is provided for planning a needle insertion channel.
Furthermore, the medical image shooting device is a G-arm machine or a C-arm machine.
The invention also provides a 2D image operation positioning navigation method, which comprises the following steps:
1) fixing an X-ray calibration device on a bone to be positioned, wherein the X-ray calibration device is used for developing X-rays;
2) shooting two X images of bones to be positioned, which contain the X-ray calibration device, at different angles, wherein one X image is a positive X image of the bones, and the other X image is a side X image of the bones;
3) according to the shot X-ray images at the front and side positions, planning the needle inserting position, the needle inserting direction and the needle inserting depth of the virtual needle inserting channel on a processor, wherein the planned needle inserting position, the planned needle inserting direction and the planned needle inserting depth of the virtual needle inserting channel are based on coordinates relative to an X-ray calibration device;
4) the method comprises the steps that the needle inserting position, the needle inserting direction and the needle inserting depth of a planned virtual needle inserting channel are sent to mixed reality glasses, a camera device is arranged on the mixed reality glasses, a three-dimensional structure model of an X-ray calibration device is arranged in the mixed reality glasses, the mixed reality glasses align the displayed three-dimensional structure model with a shot X-ray calibration device fixed on a skeleton to be positioned, and the received needle inserting position, the received needle inserting direction and the received needle inserting depth of the virtual needle inserting channel are displayed on the mixed reality glasses after the three-dimensional structure model and the shot X-ray calibration device are completely aligned.
The invention realizes the planning of the position of a virtual needle inserting channel by two skeleton X-ray images containing the X-ray calibration device at different angles by means of the X-ray calibration device and by utilizing the developing function of the X-ray calibration device and the principle of fixing the position relation with the skeleton. Therefore, the invention does not need to construct 3D images of bones by hundreds of X-ray fluoroscopy or high-radiation-dose CT, can realize accurate navigation by only 2 fluoroscopy, greatly reduces radiation dose, avoids injury to human bodies caused by excessive X-ray transmission, and has wide application prospect. In order to facilitate a doctor to see the position of the virtual needle inserting channel, the determined spatial position and direction of the virtual needle inserting channel relative to the X-ray calibration device are sent to the mixed reality glasses, the image of the virtual X-ray calibration device is aligned with the image of the shot actual X-ray calibration device in the mixed reality glasses, and the position and direction of the virtual needle inserting channel relative to the X-ray calibration device are displayed after the alignment, so that the doctor can accurately and intuitively see the planned virtual needle inserting channel.
Furthermore, in order to better realize the calibration function of the X-ray calibration device, the X-ray calibration device comprises X-ray development lines with fixed space, size and relative spatial position, and the spatial arrangement of the X-ray development lines is an asymmetric structure with the upper part and the lower part, the front part and the rear part and the left part and the right part, so that the real spatial posture of the X-ray calibration device can be judged only by two X-ray images at the positive lateral positions.
Further, the X-ray developing lines are connected by a non-X-ray developing material.
According to the invention, the X-ray calibration device is designed into an asymmetric structure with an upper part, a lower part, a front part, a rear part and a left part and a right part, so that a doctor can accurately judge the spatial posture of the X-ray calibration device through two X-ray images at the front position and the side position, and an accurate basis is provided for planning a needle insertion channel.
Further, in the step 2), a medical image shooting device is adopted to shoot the X-ray image, and the medical image shooting device is a G-arm machine or a C-arm machine.
Drawings
FIG. 1 is a block diagram of the 2D image surgical positioning navigation system of the present invention;
FIG. 2 is a flow chart of the 2D image surgical positioning navigation method of the present invention;
FIG. 3-a is a schematic structural diagram of an X-ray calibration apparatus used in the embodiment of the present invention
FIG. 3-b is a schematic view of a first internal view of an X-ray calibration apparatus used in an embodiment of the present invention;
FIG. 3-c is a schematic view of a second perspective of the interior of the X-ray calibration apparatus employed in the embodiments of the present invention;
FIG. 3-d is a schematic view of a third internal view of the X-ray calibration apparatus employed in the embodiment of the present invention;
FIG. 4-a is a schematic view of an orthostatic X-ray image and a planned virtual needle insertion path according to an embodiment of the present invention;
FIG. 4-b is a schematic side view of an X-ray image and a planned virtual needle insertion path according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a position relationship of a virtual needle inserting channel displayed in the MR glasses according to the embodiment of the present invention;
wherein 1 is an X-ray calibration device, 2 is a medical image shooting device, 3 is MR glasses, 4 is a surface structure of an operation area (such as human skin or incision surface), 5 is a planned virtual needle inserting channel, and 6 is an image of the X-ray calibration device shot by the MR glasses.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
System embodiment
The 2D image surgical positioning navigation system comprises an X-ray calibration device 1, a medical image shooting device 2, mixed reality glasses (MR glasses 3) and a processor, wherein the processor is connected with the X-ray shooting device and the MR glasses, and the X-ray calibration device is used for being fixed on a bone to be positioned and developing an X-ray; the medical image shooting device 2 is an X-ray shooting device and is used for shooting two X-ray images of bones to be positioned, which contain an X-ray calibration device at different angles; the processor is used for planning the needle inserting position, the needle inserting direction and the needle inserting depth of the virtual needle inserting channel according to the shot positive and side position X images; the needle inserting position, the needle inserting direction and the needle inserting depth of the virtual needle inserting channel are all based on the X-ray calibration device as a coordinate.
The specific structure is shown in fig. 1, wherein the X-ray calibration device is composed of developing lines with fixed size, and the space and relative position relationship between the developing lines are fixed; since the X-ray can not penetrate through the lead, the developing line in the invention is made of lead, so that the X-ray shooting device can develop the lead line. The X-ray developing lines are connected by non-X-ray developing materials, the non-X-ray developing materials can be plastics and the like, in order to judge the spatial posture of the X-ray calibration device through the front and side X-ray images, the developing lines in the X-ray calibration device are in a structure with the spatial arrangement being asymmetric up and down, front and back and left and right, and the real spatial posture can be judged only through the front and side X-ray images. For example, a plurality of "T" and "L" mixed structures can be adopted, as shown in fig. 3-a, in order to better show the internal structure therein, the present embodiment shows the inside from various angles, as shown in fig. 3-b, 3-c and 3-d, wherein S, L, R, I, P and a represent different surfaces of the X-ray calibration device, and it can be seen that the inside thereof includes two "L" and two "T" structures, which are all composed of development lines, wherein one "L" and one "T" are arranged side by side, and the other "L" and "T" are arranged above, and in order to ensure the asymmetry of the four structures, the other "L" is arranged in different directions; in order to realize the fixation of the four structures, the four structures can be fixed in a rectangular body by casting a non-X-ray developing material in an integrated casting manner during manufacturing. As other embodiments, the developing structure may also adopt other combinations of shapes.
In order to ensure that the relative position relationship between the skeleton and the X-ray calibration device is fixed, the X-ray calibration device needs to be fixed on the skeleton. The medical image shooting device adopts medical X-ray developing equipment such as a G-arm machine or a C-arm machine, the G-arm machine can be adopted in the embodiment, and the skeleton fixed with the X-ray calibration device is shot through the G-arm machine, so that the shot X-ray image comprises both the skeleton image and the image of the developing line; in order to ensure that the positional relationship between the bone and the X-ray calibration device can be accurately described, two X-ray images at different angles need to be taken, wherein one is a bone normal X-ray image and the other is a bone side X-ray image, the bone normal X-ray image obtained in the present embodiment is shown in fig. 4-a, and the bone side X-ray image is shown in fig. 4-b.
The general data processing equipment adopted by the processor can be, for example, a CPU, an MCU, a DSP and the like, firstly, the initial needle inserting position and direction of a virtual needle inserting channel are determined on a skeleton normal position X image, generally, a doctor determines the initial needle inserting position and direction according to the image of the skeleton in the skeleton normal position X image, the virtual needle inserting position is a two-dimensional position in the image, and can be described by adopting a position relative to an X-ray calibration device; then, the position and the direction of the initial stepping needle can be corrected according to the X-ray image of the side position of the skeleton; the needle inserting position and the extending direction of the virtual needle inserting channel are determined through the skeleton normal position X image and the side position X image, and therefore planning of the virtual needle inserting channel is achieved.
Wherein the length and diameter of the virtual needle inserting passage are set in advance by a doctor. Assuming that a circular channel with a diameter of 1cm and a length of 10cm needs to be planned in this embodiment, a physician needs to plan the starting position and extending direction of the channel in the X-ray image on a processor according to the requirement. For the present embodiment, as shown in fig. 4-a and 4-b, a doctor can plan a virtual needle insertion channel on a bone normal position X-ray image and a bone side position X-ray image including an X-ray calibration device according to actual conditions, determine a needle insertion position and an extending direction of the virtual needle insertion channel, and further plan the virtual needle insertion channel. As shown in fig. 4-a and 4-b, the planned virtual needle access is relative to the X-ray calibration device, such as the column-shaped access in the figure, i.e. the planned virtual needle access can be described by the relative position relationship of the X-ray calibration device. Specifically, the description is made by referring to each development structure in the X-ray calibration device, and for the present embodiment, the position of the virtual needle feed path can be described by describing the relative positional relationship with the development structures of the "T" and "L" shapes therein.
In order to facilitate doctors to visually see the position of the virtual needle inserting channel, the position and the extending direction of the planned virtual needle inserting channel relative to the X-ray calibration device are sent to MR glasses, a three-dimensional model of the X-ray calibration device is arranged in the MR glasses, the doctors bring the MR glasses, the real X-ray calibration device can be shot through a camera device arranged on the MR glasses and is matched and aligned with the three-dimensional model of the virtual X-ray calibration device, and then the received position and the extending direction of the virtual needle inserting channel relative to the X-ray calibration device are displayed, so that the doctors can see the planned virtual needle inserting channel through the MR glasses during surgery without displaying bone images.
For the present embodiment, as shown in fig. 5, after the image 6 of the X-ray calibration device captured by the MR glasses, which can be observed by the doctor in the MR glasses, is aligned with the X-ray calibration device model stored in the MR glasses, the previously planned virtual needle access channel 5 with respect to the X-ray calibration device is displayed with reference to the current image 6 of the X-ray calibration device, wherein the light color part is a part outside the human skin 4, and the dark color part is a part entering the human skin 4.
Through the positioning system, a doctor can perform minimally invasive surgery according to the channel position displayed on the MR glasses, a complete image of a skeleton is not required to be constructed through 3D navigation equipment, accurate navigation can be realized only through two X-ray images by means of the X-ray calibration device, the radiation dose is greatly reduced, the harm of excessive X-ray projection to a human body is avoided, and the positioning system has a wide application prospect.
Method embodiment
The positioning navigation method of the invention is realized by the flow shown in fig. 2, firstly, an X-ray calibration device is fixed on a bone to be positioned; then, shooting two X-ray images of bones to be positioned at different angles, wherein the bones to be positioned contain the X-ray calibration device; and finally, the planned initial position and the planned extending direction of the virtual needle inserting channel relative to the X-ray calibration device are sent to mixed reality glasses, a virtual X-ray calibration device model and a real X-ray calibration device are matched and aligned in the mixed reality glasses, and the planned virtual needle inserting channel is displayed on the mixed reality glasses after alignment. The specific implementation process of the method has been described in detail in the system embodiment, and is not described herein again.

Claims (8)

1. A2D image operation positioning navigation system is characterized in that the navigation system comprises an X-ray calibration device, a medical image shooting device, mixed reality glasses and a processor; the X-ray calibration device is used for being fixed on a bone to be positioned and developing an X-ray; the medical image shooting device is used for shooting two X images of bones to be positioned, which contain the X-ray calibration device, at different angles and sending the shot images to the processor, wherein one is a positive X image of the bones and the other is a side X image of the bones; the processor is used for determining the needle inserting position, the needle inserting direction and the needle inserting depth of the virtual needle inserting channel according to the received positive and side position X images; the needle inserting position, direction and needle inserting depth of the virtual needle inserting channel are all based on the X-ray calibration device as a coordinate reference;
the processor sends the determined position, direction and depth of the virtual needle inserting channel relative to the X-ray calibration device to the mixed reality glasses, the mixed reality glasses are provided with a camera device and a three-dimensional structure model of the X-ray calibration device, the mixed reality glasses align the displayed three-dimensional structure model with the X-ray calibration device fixed on the skeleton to be positioned, and the received needle inserting position, direction and needle inserting depth of the virtual needle inserting channel are displayed on the mixed reality glasses after the three-dimensional structure model and the X-ray calibration device are completely aligned.
2. The 2D image surgical positioning and navigating system according to claim 1, wherein the X-ray calibration device comprises X-ray development lines with fixed space, size and relative spatial position, and the upper and lower, front and back, left and right of the spatial arrangement are asymmetric structures and are used for judging the real spatial posture of the X-ray image through two X-ray images at the front and side positions.
3. The 2D image surgical positioning and navigation system according to claim 2, wherein the X-ray visualization lines are connected by a non-X-ray visualization material.
4. The 2D image surgical positioning and navigating system according to claim 1, wherein the medical image capturing device is a G-arm machine or a C-arm machine.
5. A2D image surgery positioning navigation method is characterized by comprising the following steps:
1) fixing an X-ray calibration device on a bone to be positioned, wherein the X-ray calibration device is used for developing X-rays;
2) shooting two X images of bones to be positioned, which contain the X-ray calibration device, at different angles, wherein one X image is a positive X image of the bones, and the other X image is a side X image of the bones;
3) according to the received X-ray images of the front position and the side position, the needle inserting direction and the needle inserting depth of the virtual needle inserting channel are planned on a processor, and the needle inserting position, the needle inserting direction and the needle inserting depth of the planned virtual needle inserting channel are based on coordinates relative to an X-ray calibration device;
4) the method comprises the steps that the needle inserting position, the needle inserting direction and the needle inserting depth of a planned virtual needle inserting channel are sent to mixed reality glasses, a camera device is arranged on the mixed reality glasses, a three-dimensional structure model of an X-ray calibration device is arranged in the mixed reality glasses, the displayed three-dimensional structure model is aligned to the shot X-ray calibration device fixed on a skeleton to be positioned through the mixed reality glasses, and the received needle inserting position, the received needle inserting direction and the received needle inserting depth of the virtual needle inserting channel are displayed on the mixed reality glasses after the three-dimensional structure model and the shot X-ray calibration device are completely aligned.
6. The 2D image surgical positioning and navigating method according to claim 5, wherein the X-ray calibration device comprises X-ray developing lines with fixed space, size and relative spatial position, and the upper, lower, front, rear, left and right of the spatial arrangement are asymmetric structures and are used for judging the real spatial posture of the X-ray developing lines through two X-ray images at the front and side positions.
7. The 2D image surgical positioning and navigating method according to claim 6, wherein the X-ray visualization lines are connected by a non-X-ray visualization material.
8. The 2D image surgical positioning and navigating method according to claim 5, wherein the step 2) uses a medical image capturing device to capture X-ray images, and the medical image capturing device is a G-arm machine or a C-arm machine.
CN202210151975.9A 2022-02-18 2022-02-18 2D image surgery positioning navigation system and method Pending CN114533267A (en)

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