CN115252075A - Real-time navigation system and method - Google Patents
Real-time navigation system and method Download PDFInfo
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- CN115252075A CN115252075A CN202210870477.XA CN202210870477A CN115252075A CN 115252075 A CN115252075 A CN 115252075A CN 202210870477 A CN202210870477 A CN 202210870477A CN 115252075 A CN115252075 A CN 115252075A
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- 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
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- 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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- 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
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- 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
- A61B2034/107—Visualisation of planned trajectories or target regions
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- 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
- A61B2034/2051—Electromagnetic tracking systems
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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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- A61B2034/2055—Optical tracking systems
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- 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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- A—HUMAN NECESSITIES
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- A61B2034/252—User interfaces for surgical systems indicating steps of a surgical procedure
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Abstract
The invention relates to a real-time navigation system and a method, comprising the following steps: the device comprises a position sending unit, a processing unit, a communication unit, a control unit and a display unit. The position sending unit is used for sending focus information and/or surgical instrument information in real time, and the communication unit is used for communication between the position sending unit and the processing unit and communication between the processing unit and the control unit; the processing unit is used for receiving the lesion information and the surgical instrument information which are sent by the position sending unit in real time and determining a real-time relative position; the control unit generates positioning image information in real time according to the real-time relative position determined by the processing unit and carries out real-time path planning on the surgical instrument according to the positioning image information generated in real time; the display unit also comprises a display for real-time path planning of the surgical instrument, so that real-time positioning in the operation is realized.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a real-time navigation system and a real-time navigation method.
Background
In the prior art, under the guidance of a CT (computed tomography), MR (magnetic resonance) or X-ray machine, a positioning needle is implanted near a focus in a body through equipment for positioning, and a doctor performs an operation to remove a lesion tissue based on the guidance of a thoracoscope in the operation. However, real-time guidance cannot be achieved in the operation process, a doctor needs to find the positioning needle under the lens firstly, then determines the edge of the tumor tissue near the positioning needle based on own experience, and carries out resection, and if the tumor tissue is not completely resected, the operation object may face the risks of re-operation and tumor metastasis. In a radiation treatment protocol, a puncture is required to be performed first during the operation. When the focus position is deeper, a puncture needle or an ablation needle is used for puncture, and then navigation and positioning are carried out by using optics, wherein the longer puncture needle is retained in a human body, and when the internal organs of the human body creep, the puncture needle can cut the internal organs of the human body to hurt an operation object.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a system and a method for real-time navigation, because one-time CT is performed, time and labor are consumed, the cost is high, a positioning needle is difficult to track the positioning needle in real time after being injected into a body, and the positioning needle may displace after being injected into the body of an operation object, so that the positioning needle cuts internal organs of the operation object and damages the operation object. The invention also realizes that the focus position, the focus range and the position of the surgical instrument can be obtained in real time in the operation, the mutual relative positions of the three can be determined, the operation route planning can be carried out, the path of the surgical instrument can be corrected in time, and the focus range can also improve the total resection rate of the focus and reduce the resection of normal tissues.
Specifically, a real-time navigation system is characterized by comprising: the device comprises a position sending unit, a processing unit, a communication unit, a control unit and a display unit;
the position sending unit is used for sending focus information in real time;
the communication unit is used for communication between the position sending unit and the processing unit and between the processing unit and the control unit;
the processing unit is used for receiving the lesion information sent by the position sending unit in real time and determining a real-time relative position;
the control unit generates positioning image information in real time according to the real-time relative position determined by the processing unit;
the display unit displays the image information generated by the control unit in real time.
Further, the position sending unit is used for sending the surgical instrument information in real time;
the communication unit is used for communication between the position sending unit and the processing unit and between the processing unit and the control unit;
the processing unit is used for receiving the lesion information and the surgical instrument information which are sent by the position sending unit in real time and determining a real-time relative position;
the control unit generates positioning image information in real time according to the real-time relative position determined by the processing unit and carries out real-time path planning on the surgical instrument according to the positioning image information generated in real time;
the display unit also includes a display of the real-time path plan for the surgical instrument.
Further, the position sending unit is a sensor, and the sensor includes an optical sensor and/or a magnetic sensor.
Further, the navigation system comprises an optical navigation system and/or a magnetic navigation system.
Further, the position sending unit comprises a magnetic navigation position sending unit and/or an optical navigation position sending unit;
the optical navigation position sending unit also comprises a positioning needle, an optical sensor and a laser emitting unit;
the magnetic navigation position sending unit further comprises a positioning pin, a magnetic sensor and a magnetic field generating unit.
Further, the real-time relative position determined by the processing unit comprises a real-time relative position of the real-time position of the position transmitting unit and an original position, and the lesion information comprises a position and a range of a lesion.
Further, the real-time relative position determined by the processing unit comprises the relative positions of the surgical instrument and the position transmitting unit and the relative positions of the surgical instrument and the focus; the signal transmitted by the position transmitting unit in real time comprises the position and the range of the focus and the position of the surgical instrument.
Further, the device also comprises a scanning unit, a focus determining unit and a puncturing unit;
the scanning unit is used for scanning an operation object;
the focus determining unit is used for determining the position of the focus so as to realize the determination of the placement position of the position transmitting unit for transmitting the focus information in real time;
the control unit is used for planning injection target points and paths according to the determined focus positions;
and the puncture unit injects the position sending unit into the injection target point according to the planned path.
Specifically, a real-time navigation method using a real-time navigation system is characterized by comprising the following steps:
the position sending unit sends the focus information acquired in real time to the processing unit through the communication unit;
the processing unit determines a real-time relative position according to the received lesion information;
the control unit generates positioning image information in real time according to the real-time relative position determined by the processing unit;
and the display unit displays the image information generated by the control unit in real time.
Further, the position sending unit is used for sending the lesion information and the surgical instrument information which are acquired in real time to the processing unit through the communication unit;
the position transmitting unit transmits the position and range signal of the focus and the position signal of the surgical instrument to the processing unit through the communication unit;
the processing unit determines the relative position of the surgical instrument and the position transmitting unit and the relative position of the surgical instrument and the focus according to the received focus information and the surgical instrument information which are transmitted by the position transmitting unit in real time; the control unit generates positioning image information in real time according to the real-time relative position determined by the processing unit and carries out real-time path planning on the surgical instrument according to the positioning image information generated in real time;
the display unit displays the image information generated by the control unit in real time and the real-time planned path of the surgical instrument in real time.
Further, the position sending unit is used for sending the position and the range of the focus acquired in real time to the processing unit through the communication unit;
the processing unit determines the real-time relative position of the real-time position of the position transmitting unit and the original position according to the received position and range of the focus transmitted by the position transmitting unit;
the processing unit sends the determined real-time relative position of the real-time position and the original position to the control unit through the communication unit;
the control unit receives the real-time relative position of the real-time position and the original position and generates positioning image information in real time;
and the display unit displays the image information generated by the control unit in real time.
Further, the position transmitting unit is used for transmitting the position and the range of the focus and the position of the surgical instrument which are acquired in real time to the processing unit through the communication unit;
the processing unit determines the real-time relative position of the surgical instrument and the position transmitting unit and the real-time relative position of the surgical instrument and the focus according to the received focus position, the focus range and the position of the surgical instrument;
the control unit generates positioning image information in real time according to the real-time relative position of the surgical instrument and the position sending unit determined by the processing unit and the real-time relative position of the surgical instrument and the focus, and performs real-time path planning on the surgical instrument according to the positioning image information generated in real time;
and the display unit displays the image information generated by the control unit in real time and the real-time path planning of the surgical instrument in real time.
Further, before the position sending unit sends the lesion information acquired in real time to the processing unit through the communication unit, the method further includes the steps of:
the scanning unit scans an operation object;
the focus determining unit determines the position of the focus of an operation object;
the control unit determines a target point, a position sending unit and an arrival path according to the position of the focus of the operation object;
and injecting the position sending unit to the target position according to a planned arrival path.
Further, injecting the position sending unit to the target position according to the planned arrival path specifically includes:
determining that the position sending unit is an optical positioning needle according to the position of the focus of the operation object;
the optical positioning needle is placed into a puncture cavity of the optical puncture device, a puncture needle head of the optical puncture device is punctured into a target point of a focus of an operation object according to a planned arrival path, a handle of the optical puncture device is pushed, and the optical positioning needle is separated from the puncture cavity and injected into the position of the target point.
Further, the injecting the location sending unit to the target location according to the planned arrival path specifically includes:
determining that the position sending unit is a magnetic positioning needle according to the position of the focus of the operation object, wherein the magnetic positioning needle is provided with a pull wire;
the magnetic positioning needle is arranged in a puncture cavity of the magnetic puncture device, a puncture needle head of the magnetic puncture device is punctured into a target spot of a focus of an operation object according to a planned arrival path, a handle of the magnetic puncture device is pushed, the optical positioning needle is separated from the puncture cavity and is injected to the target spot position, one end of the pull wire is connected with the magnetic positioning needle, and the other end of the pull wire is arranged on the outer side of the body surface of the operation object.
The invention has the advantages that:
the invention provides a device and a method for real-time navigation, which realize real-time positioning of the position of a focus, determining the range of the focus and real-time positioning of a surgical instrument by implanting a position transmitting unit in an operation object and installing the position transmitting unit on the surgical instrument for real-time positioning, further determine the real-time relative position relationship between the position transmitting unit and the focus and the real-time relative position relationship between the focus and the surgical instrument, facilitate real-time planning and correction of an operation path of the surgical instrument, facilitate accurate excision of focus tissues and reduce excision of normal tissues; meanwhile, the position of the position sending unit is obtained in real time, so that the position sending unit can be found to be deviated in time and measures can be taken in time, and the position sending unit is prevented from cutting internal organs of an operation object and damaging the operation object.
Drawings
FIG. 1 is a schematic diagram of a real-time navigation system of the present invention;
FIG. 2 is an optical alignment pin of the present invention;
FIG. 3 is a magnetic alignment pin of the present invention;
FIG. 4 is a light lancing device according to the present invention injecting a light positioning needle;
FIG. 5 is a magnetic puncture device for injecting a magnetic positioning needle in accordance with the present invention;
FIG. 6 is a drawing of the present invention after a puncture light positioning needle with a focal distance from the body surface smaller than the length of the light puncture needle;
FIG. 7 is a drawing showing the puncture of a magnetic positioning needle according to the present invention, wherein the distance data of the lesion from the body surface is greater than the length data of the magnetic puncture needle;
FIG. 8 is a magnetic navigation system of the present invention;
FIG. 9 is an optical navigation system of the present invention;
FIG. 10 is a flow chart illustrating a real-time navigation method according to the present invention;
FIG. 11 is a flowchart illustrating a real-time navigation method according to the present invention.
Detailed Description
The technical solution of the present invention will be described in more detail with reference to the accompanying drawings, and the present invention includes, but is not limited to, the following embodiments.
One implementation navigation system in an embodiment of the invention includes an optical navigation system and a magnetic navigation system. The optical navigation system comprises an optical acquisition unit such as an infrared camera and a position sending unit with an optical sensor, and three-dimensional coordinates of a mark point on a surgical instrument are acquired by utilizing a binocular stereo vision positioning principle; the magnetic navigation system comprises a magnetic field generator, a magnetic acquisition unit and a position sending unit with a magnetic sensor, and the position information of a positioning needle, a focus and a surgical instrument is tracked through electromagnetic signals, so that the accurate guidance of the surgical instrument in the operation is realized. The navigator main body consists of a computer, a display, an electromagnetic signal emitter and an electromagnetic tracking adapter. Magnetic navigation equipment is small, easy measurement, convenient operation, penetrability are strong, be afraid of sheltering from, the accuracy is better.
The position sending unit disclosed by the invention adopts a positioning needle, and the shape of the positioning needle comprises but is not limited to T shape, J shape and the like. The positioning needle comprises an optical positioning needle and a magnetic positioning needle, and an optical navigation system and a magnetic navigation system are correspondingly arranged. Wherein, the determination of the optical positioning needle and/or the magnetic positioning needle is carried out according to the determination of the focus by CT, and then the optical navigation system and/or the magnetic navigation system is determined. For example, when the focus belongs to a superficial focus, namely the focus has a distance from the body surface not exceeding the length of a needle rod of the optical positioning needle, the optical positioning needle is adopted, and the optical navigation system is adopted in the system. One end of the optical positioning needle is positioned near the focus, the other end extends out of the body surface, and the optical positioning needle is fixed in vitro and is provided with a connector. The interface can be connected with a rigid body provided with a reflective ball, the corresponding optical navigation system comprises an optical sensing unit, a laser emission unit, a processing unit and a display unit, the laser emission unit is used for emitting infrared rays to the reflective ball, the infrared rays are reflected back to the optical sensing unit, namely an optical sensor, through the infrared reflective ball, the optical sensor, such as an infrared camera, obtains the reflected infrared information and sends the reflected infrared information to the processing unit, the position of the optical positioning needle is calculated through a relative coordinate conversion algorithm, and the processing result is displayed through the display. When the focus is deep, a magnetic positioning needle is adopted, and a magnetic navigation system is adopted. The magnetic positioning needle is provided with a pull wire, one end of the pull wire is connected with the positioning needle, the other end of the pull wire extends out of the body surface and is fixed outside the body, a connector is reserved, and the magnetic positioning needle is provided with a magnetic sensor. One end of the stay wire extending out of the body surface is provided with a connector which is directly connected with a magnetic navigation system. The pull wire is internally provided with a lead wire which can conduct the signal of the magnetic sensor. The puncture unit comprises a light puncture device and a magnetic puncture device which are respectively used for injecting a light positioning needle and a magnetic positioning needle.
Example one
An embodiment of the navigation system according to the embodiments shown in fig. 1 to 3 and 6 to 9 comprises: the device comprises a position sending unit, a processing unit, a communication unit, a control unit and a display unit;
the position sending unit is used for sending focus information in real time; wherein, the position transmitting unit is positioned at the position of the operation object focus and comprises a sensor, wherein, the sensor comprises an optical sensor and a magnetic sensor.
The signal sent by the position sending unit in real time in the magnetic navigation system comprises the position of the position sending unit, namely the position of the magnetic sensor, wherein the magnetic sensor is fixed on the magnetic positioning pin.
The position sending unit in the optical navigation system comprises an optical positioning needle, a rigid body with a reflective ball, an optical sensor and a laser emitter. The laser positioning device comprises a laser transmitter, an optical sensor and a processing unit, wherein the laser transmitter is used for transmitting infrared rays to the reflective ball, the infrared rays are reflected back to the optical sensor through the infrared reflective ball, the optical sensor acquires the reflected infrared information and sends the reflected infrared information to the processing unit, the position of the optical positioning needle is calculated through a relative coordinate conversion algorithm, and the processing result is displayed through the display. The communication unit comprises a communication interface, for example a physical communication interface or a virtual communication interface, connecting the position transmitting unit with the processing unit or connecting the processing unit with the control unit, for communication of the position transmitting unit with the processing unit and the processing unit with the control unit.
The processing unit receives the lesion information sent by the position sending unit in real time through the communication unit and determines a real-time relative position; wherein the relative position determined by the processing unit comprises a real-time relative position of the position transmitting unit and the original position.
And the control unit generates positioning image information in real time according to the real-time relative position determined by the processing unit.
The display unit displays the image information generated by the control unit in real time.
Example two
An embodiment of the navigation system according to the embodiments shown in fig. 1 to 3 and 6 to 9 comprises: the device comprises a position sending unit, a processing unit, a communication unit, a control unit and a display unit.
The position sending unit is used for sending the focus information and the surgical instrument information in real time. The position sending unit in the magnetic navigation system comprises at least one magnetic sensor which is respectively fixed at the position of an operation object focus and the position of a surgical instrument, wherein the position of the operation object focus is provided with a plurality of sensors for determining the focus range. The signals sent by the magnetic sensors arranged at the operation object focus position in real time comprise the position focus range of the magnetic sensors so as to determine the focus position and the focus range, the signals sent by the magnetic sensors arranged at the operation instrument position in real time comprise the positions of the magnetic sensors so as to determine the position of the operation instrument, and the magnetic sensors fixed at the operation object focus position are fixed on the magnetic positioning needle. The position sending unit in the optical navigation system comprises a positioning needle, a rigid body with a reflecting ball, an optical sensor and a laser transmitter, wherein the positioning needle is fixed at the position of a focus of an operation object, the rigid body with the reflecting ball is respectively fixed on the positioning needle and a surgical instrument, the laser transmitter is used for transmitting infrared rays to the reflecting ball, the infrared rays are reflected back to the optical sensor through the infrared reflecting ball, the optical sensor acquires the reflected infrared ray information and sends the information to the processing unit, the position of the optical positioning needle is calculated through a relative coordinate conversion algorithm, and therefore the position of the focus is determined, and the position of the surgical instrument is determined in the same way. Wherein the plurality of optical locating pins can determine the range of the lesion.
The communication unit comprises a communication interface, for example a physical communication interface or a virtual communication interface, connecting the position transmitting unit with the processing unit or connecting the processing unit with the control unit, for communication of the position transmitting unit with the processing unit and the processing unit with the control unit. In this embodiment, the position sending unit and the processing unit are connected by using a physical interface.
The processing unit receives the lesion information and the surgical instrument information which are sent by the position sending unit in real time through the communication unit and determines a real-time relative position; wherein the relative position determined by the processing unit comprises a real-time relative position of the position transmitting unit and the original position, a relative position of the surgical instrument and the position transmitting unit, and a relative position of the surgical instrument and the lesion.
The control unit generates positioning image information in real time according to the real-time relative position determined by the processing unit and carries out real-time path planning on the surgical instrument according to the positioning image information generated in real time;
and the display unit displays the generated positioning image and the path planned by the surgical instrument in real time.
EXAMPLE III
According to another embodiment of the navigation system shown in fig. 1 to 9, the navigation system further comprises: the system comprises a position sending unit, a processing unit, a communication unit, a control unit, a display unit, a scanning unit, a focus determining unit and a puncture unit;
a scanning unit such as a CT, MR or X-ray machine scans the operation object;
the focus determining unit is used for determining the focus position so as to realize the determination of the position sending unit, namely the placement position of the positioning needle fixed with the sensor;
the control unit is used for determining the optical positioning needle and/or the magnetic positioning needle, determining the puncture target point and planning the path according to the determined lesion position; the optical navigation system and/or the magnetic navigation system is adopted by the navigation system determined according to the determination of the optical positioning needle and/or the magnetic positioning needle.
And the puncture unit such as a puncture device injects the positioning needle to the determined injection target point according to the planned path.
For example, the focus position is determined to be deeper from the body surface, a magnetic positioning needle and a magnetic navigation system are adopted, and the position sending unit sends the focus information in real time.
The processing unit receives the lesion information sent by the position sending unit in real time through the communication unit and determines a real-time relative position. Wherein the relative position determined by the processing unit comprises a real-time relative position of the position transmitting unit and the original position.
The control unit generates positioning image information in real time according to the real-time relative position determined by the processing unit.
The display unit displays the image information generated by the control unit in real time.
Example four
Another embodiment of an implementation of the navigation system according to the invention shown in fig. 1 to 9 comprises: the device comprises a position sending unit, a processing unit, a communication unit, a control unit, a display unit, a scanning unit, a focus determining unit and a puncturing unit.
The scanning unit is used for scanning an operation object, and the scanning unit such as a CT (computed tomography), MR (magnetic resonance) or X-ray machine and the like can determine the position and the range of a lesion;
the focus determining unit is used for determining the focus position so as to realize the determination of the position sending unit, namely the placement position of the positioning needle fixed with the sensor;
the control unit is used for determining the optical positioning needle and/or the magnetic positioning needle, determining the injection target point and planning the path according to the determined lesion position; and determining that the navigation system adopts the optical navigation system and/or the magnetic navigation system according to the determination of the optical positioning needle and/or the magnetic positioning needle.
And the puncture unit injects the positioning needle into the determined injection target point according to the planned path.
For example, determining that the position of a focus is deeper from the body surface, and adopting a magnetic positioning needle and a magnetic navigation system, wherein a position sending unit such as a magnetic sensor sends focus information such as the position of the sending unit, the position of the focus and the range of the focus in real time; meanwhile, a position transmitting unit fixed on the surgical instrument, such as a magnetic sensor, transmits the position of the surgical instrument in real time.
The processing unit receives the lesion information sent by the position sending unit in real time through the communication unit and determines a real-time relative position. The relative position determined by the processing unit comprises a real-time relative position of the position sending unit and a real-time relative position of an original position; and the relative positions of the surgical instrument and the position transmitting unit and the relative positions of the surgical instrument and the lesion.
The control unit generates positioning image information in real time according to the real-time relative position determined by the processing unit and carries out real-time path planning on the surgical instrument according to the positioning image information generated in real time;
and the display unit displays the generated positioning image and the path planned by the surgical instrument in real time.
EXAMPLE five
A real-time navigation method as shown in fig. 10, includes the following steps:
s110: the position sending unit sends the focus information acquired in real time to the processing unit through the communication unit.
S120: the processing unit determines a real-time relative position based on the received lesion information. The processing unit determines a real-time relative position according to the received lesion information, such as the real-time position of the position sending unit, for example, the real-time relative position of the real-time position of the position sending unit and the original position, and timely takes corresponding measures when the positioning needle is found to be deviated, so that the internal organs of the operation object are prevented from being cut by the positioning needle, and the operation object is prevented from being injured.
S130: the control unit generates positioning image information in real time according to the real-time relative position determined by the processing unit.
S140: the display unit displays the image information generated by the control unit in real time.
Wherein, before the step of S110, the method further comprises the following steps:
the scanning unit scans an operation object;
a focus determining unit determines the position of a focus of an operation object;
the control unit determines a target point, a position sending unit and an arrival path according to the position of the focus of the operation object;
and injecting a position sending unit to the target position according to the planned arrival path.
The embodiment of injecting the position sending unit to the target position according to the planned arrival path is as follows:
determining that the position sending unit is an optical positioning needle according to the position of the focus of the operation object, and determining that the navigation system is an optical navigation system; the optical positioning needle is placed into a puncture cavity of the puncture device, a puncture needle head of the puncture device is punctured into a target point of a focus of an operation object according to a planned arrival path, a handle of the puncture device is pushed, and the optical positioning needle is separated from the puncture cavity and is injected to the position of the target point.
Determining that the position sending unit is a magnetic positioning needle according to the position of the focus of the operation object, determining that the navigation system is a magnetic navigation system, and the magnetic positioning needle is provided with a pull wire; the magnetic positioning needle is placed into a puncture cavity of the puncture device, a puncture needle head of the puncture device is punctured into a target point of a focus of an operation object according to a planned arrival path, a handle of the puncture device is pushed, the optical positioning needle is separated from the puncture cavity and is injected to the position of the target point, one end of the pull wire is connected with the magnetic positioning needle, and the other end of the pull wire is placed on the outer side of the body surface of the operation object.
EXAMPLE six
A real-time navigation method as shown in fig. 11, comprising the steps of:
s210: and the position sending unit sends the acquired lesion information and the surgical instrument information in real time to the processing unit through the communication unit. For example: the position transmitting unit transmits the lesion position, the lesion range and the position of the surgical instrument acquired in real time to the processing unit through the communication unit.
S220: the processing unit determines the relative position of the surgical instrument and the position transmitting unit and the relative position of the surgical instrument and the focus according to the received focus information and the surgical instrument information which are transmitted by the position transmitting unit in real time. For example: the processing unit determines the real-time relative position of the surgical instrument and the position transmitting unit and the real-time relative position of the surgical instrument and the focus according to the position of the focus, the range of the focus and the position of the surgical instrument which are transmitted by the received position transmitting unit in real time.
S230: the control unit generates positioning image information in real time according to the real-time relative position determined by the processing unit and carries out real-time path planning on the surgical instrument according to the positioning image information generated in real time. For example: the control unit generates positioning image information in real time according to the real-time relative position of the surgical instrument and the position sending unit determined by the processing unit and the real-time relative position of the surgical instrument and the focus, and performs real-time path planning on the surgical instrument according to the positioning image information generated in real time.
S240: the display unit displays the image information generated by the control unit in real time and the real-time planned path of the surgical instrument in real time.
Wherein, before the step of S210, the following steps are also included:
the scanning unit scans an operation object;
a focus determining unit determines the position of a focus of an operation object;
the control unit determines a target point, a position sending unit and an arrival path according to the position of the focus of the operation object;
and injecting the position sending unit to the target position according to the planned arrival path. The embodiment of injecting the position sending unit to the target position according to the planned arrival path is as follows:
determining that the position sending unit is an optical positioning needle according to the position of the focus of the operation object, and determining that the navigation system is an optical navigation system; the optical positioning needle is placed into a puncture cavity of the puncture device, a puncture needle head of the puncture device is punctured into a target point of a focus of an operation object according to a planned arrival path, a handle of the puncture device is pushed, and the optical positioning needle is separated from the puncture cavity and is injected to the position of the target point.
Determining that the position sending unit is a magnetic positioning needle according to the position of the focus of the operation object, determining that the navigation system is an optical navigation system, wherein the magnetic positioning needle is provided with a pull wire; the magnetic positioning needle is placed into a puncture cavity of the puncture device, a puncture needle head of the puncture device is punctured into a target point of a focus of an operation object according to a planned arrival path, a handle of the puncture device is pushed, the optical positioning needle is separated from the puncture cavity and is injected to the position of the target point, one end of the pull wire is connected with the magnetic positioning needle, and the other end of the pull wire is placed on the outer side of the body surface of the operation object.
For example, the magnetic positioning needle and the surgical instrument are located in the magnetic field range of the magnetic field generator, the magnetic positioning needle interface is connected with the magnetic navigation system, and the magnetic navigation system calculates the position and posture of the magnetic positioning needle in the magnetic field according to signals sent by the magnetic sensor on the magnetic positioning needle, and calculates the position and range of the lesion in the magnetic field; the magnetic sensor on the surgical instrument sends a position signal of the surgical instrument to the magnetic navigation system, and the processing unit of the magnetic navigation system determines the relative position relation between the instrument and the positioning needle and between the instrument and the focus, plans a surgical route in real time, performs surgical navigation and removes the focus.
The position sending unit in the optical navigation system comprises a positioning needle, a rigid body with a reflecting ball, an optical sensor and a laser transmitter, wherein the positioning needle is fixed at the position of a focus of an operation object, the rigid body with the reflecting ball is respectively fixed on the positioning needle and a surgical instrument, the laser transmitter is used for transmitting infrared rays to the reflecting ball, the infrared rays are reflected back to the optical sensor such as an infrared camera through the infrared reflecting ball, the optical sensor acquires the reflected infrared ray information and sends the information to the processing unit, the position of the optical positioning needle is calculated through a relative coordinate conversion algorithm, and therefore the position of the focus is determined, and the position of the surgical instrument is determined in the same way. Wherein a plurality of optical locating pins can determine the range of the lesion.
For example, the optical locating pin interface is connected with a rigid body of a reflective ball, and the reflective ball is located in the acquisition range of an optical sensor such as an infrared camera in the optical navigation system, that is, the infrared camera can capture all the reflective balls; the surgical instrument is also provided with a rigid body with a reflective ball, and the reflective ball of the surgical instrument is positioned in a capturing range of the infrared camera. The optical navigation system receives signals of the optical positioning needle end and the reflective ball of the surgical instrument end, and the processing unit determines the position and the posture of the optical positioning needle, and calculates the position and the range of a focus and a position signal of a surgical instrument; determining the relative position relation between the instrument and the positioning needle and between the instrument and the focus, planning an operation route in real time, performing operation navigation and cutting the focus.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (15)
1. A real-time navigation system, comprising: the device comprises a position sending unit, a processing unit, a communication unit, a control unit and a display unit;
the position sending unit is used for sending focus information in real time;
the communication unit is used for communication between the position sending unit and the processing unit and between the processing unit and the control unit;
the processing unit is used for receiving the lesion information sent by the position sending unit in real time and determining a real-time relative position;
the control unit generates positioning image information in real time according to the real-time relative position determined by the processing unit;
the display unit displays the image information generated by the control unit in real time.
2. The real-time navigation system of claim 1, wherein the position transmitting unit is configured to transmit the surgical instrument information in real time;
the communication unit is used for communication between the position sending unit and the processing unit and between the processing unit and the control unit;
the processing unit is used for receiving the lesion information and the surgical instrument information which are sent by the position sending unit in real time and determining a real-time relative position;
the control unit generates positioning image information in real time according to the real-time relative position determined by the processing unit and carries out real-time path planning on the surgical instrument according to the positioning image information generated in real time;
the display unit also includes a display of the real-time path plan for the surgical instrument.
3. The real-time navigation system according to claim 1 or 2, wherein the position transmitting unit comprises at least one sensor, the sensor comprising an optical sensor and/or a magnetic sensor.
4. A real-time navigation system according to claim 1 or 2, wherein the navigation system comprises an optical navigation system and/or a magnetic navigation system.
5. A real-time navigation system according to claim 1 or 2, wherein the position transmitting unit comprises a magnetic navigation position transmitting unit and/or an optical navigation position transmitting unit;
the optical navigation position sending unit also comprises a positioning needle, an optical sensor and a laser emitting unit;
the magnetic navigation position sending unit further comprises a positioning pin, a magnetic sensor and a magnetic field generating unit.
6. The real-time navigation system of claim 1 or 2, wherein the real-time relative position determined by the processing unit comprises a real-time relative position of the position transmitting unit from an original position, and the lesion information comprises a position and a range of a lesion.
7. The real-time navigation system of claim 2, wherein the real-time relative positions determined by the processing unit include relative positions of the surgical instrument and the position transmitting unit and relative positions of the surgical instrument and the lesion; the signals transmitted by the position transmitting unit in real time comprise the position and the range of the focus and the position of the surgical instrument.
8. The real-time navigation system of claim 1, further comprising a scanning unit, a lesion determining unit, a puncturing unit;
the scanning unit is used for scanning an operation object;
the focus determining unit is used for determining the position of the focus so as to realize the determination of the placement position of the position transmitting unit for transmitting the focus information in real time;
the control unit is used for planning injection target points and paths according to the determined focus positions;
and the puncture unit injects the position sending unit into the injection target point according to the planned path.
9. A real-time navigation method using a real-time navigation system according to any one of claims 1 to 8, comprising the steps of:
the position sending unit sends the focus information acquired in real time to the processing unit through the communication unit;
the processing unit determines a real-time relative position according to the received lesion information;
the control unit generates positioning image information in real time according to the real-time relative position determined by the processing unit;
and the display unit displays the image information generated by the control unit in real time.
10. The real-time navigation method of claim 9, further comprising: the position sending unit sends the focus information and the surgical instrument information acquired in real time to the processing unit through the communication unit;
the position transmitting unit transmits the position and range signal of the focus and the position signal of the surgical instrument to the processing unit through the communication unit;
the processing unit determines the relative position of the surgical instrument and the position transmitting unit and the relative position of the surgical instrument and the focus according to the received focus information and the surgical instrument information which are transmitted by the position transmitting unit in real time; the control unit generates positioning image information in real time according to the real-time relative position determined by the processing unit and carries out real-time path planning on the surgical instrument according to the positioning image information generated in real time;
the display unit displays the image information generated by the control unit in real time and the real-time planned path of the surgical instrument in real time.
11. The real-time navigation method of claim 9, further comprising:
the position sending unit sends the position and the range of the focus acquired in real time to the processing unit through the communication unit;
the processing unit determines the real-time relative position of the real-time position of the position transmitting unit and the original position according to the received position and range of the focus transmitted by the position transmitting unit;
the processing unit sends the determined real-time relative position of the real-time position and the original position to the control unit through the communication unit;
the control unit receives the real-time relative position of the real-time position and the original position and generates positioning image information in real time;
the display unit displays the image information generated by the control unit in real time.
12. The real-time navigation method of claim 10, further comprising:
the position transmitting unit transmits the position and the range of the focus and the position of the surgical instrument acquired in real time to the processing unit through the communication unit;
the processing unit determines the real-time relative position of the surgical instrument and the position transmitting unit and the real-time relative position of the surgical instrument and the focus according to the received focus position, the focus range and the position of the surgical instrument;
the control unit generates positioning image information in real time according to the real-time relative position of the surgical instrument and the position sending unit determined by the processing unit and the real-time relative position of the surgical instrument and the focus, and performs real-time path planning on the surgical instrument according to the positioning image information generated in real time;
and the display unit displays the image information generated by the control unit in real time and the real-time path planning of the surgical instrument in real time.
13. A real-time navigation method according to claim 9,
before the position sending unit sends the focus information acquired in real time to the processing unit through the communication unit, the method further comprises the following steps:
the scanning unit scans an operation object;
the focus determining unit determines the position of the focus of an operation object;
the control unit determines a target point, a position sending unit and an arrival path according to the position of the focus of the operation object;
and injecting the position sending unit to the target position according to the planned arrival path.
14. The real-time navigation method according to claim 13, wherein the injecting the position transmitting unit to the target location according to the planned arrival path specifically comprises:
determining that the position sending unit is an optical positioning needle according to the position of the focus of the operation object;
the optical positioning needle is placed into a puncture cavity of the optical puncture device, a puncture needle head of the optical puncture device is punctured into a target point of a focus of an operation object according to a planned arrival path, a handle of the optical puncture device is pushed, and the optical positioning needle is separated from the puncture cavity and injected into the position of the target point.
15. The real-time navigation method according to claim 13, wherein the injecting the location transmitting unit to the target location according to the planned arrival path specifically comprises:
determining that the position sending unit is a magnetic positioning needle according to the position of the focus of the operation object, wherein the magnetic positioning needle is provided with a pull wire;
the magnetic positioning needle is arranged in a puncture cavity of the magnetic puncture device, a puncture needle head of the magnetic puncture device is punctured into a target spot of a focus of an operation object according to a planned arrival path, a handle of the magnetic puncture device is pushed, the magnetic positioning needle is separated from the puncture cavity and is injected to the target spot position, one end of the pull wire is connected with the magnetic positioning needle, and the other end of the pull wire is arranged on the outer side of the body surface of the operation object.
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| CN202210870477.XA CN115252075A (en) | 2022-07-22 | 2022-07-22 | Real-time navigation system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117745989A (en) * | 2024-02-21 | 2024-03-22 | 首都医科大学附属北京积水潭医院 | Nerve root blocking target injection path planning method and system based on vertebral canal structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117745989A (en) * | 2024-02-21 | 2024-03-22 | 首都医科大学附属北京积水潭医院 | Nerve root blocking target injection path planning method and system based on vertebral canal structure |
| CN117745989B (en) * | 2024-02-21 | 2024-05-14 | 首都医科大学附属北京积水潭医院 | Nerve root blocking target injection path planning method and system based on vertebral canal structure |
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