CN115252130A

CN115252130A - Noninvasive auxiliary positioning device

Info

Publication number: CN115252130A
Application number: CN202210955699.1A
Authority: CN
Inventors: 范明星; 张琦; 田伟; 何睿; 段星光; 房彦名
Original assignee: Beijing Jishuitan Hospital
Current assignee: Beijing Jishuitan Hospital
Priority date: 2022-08-10
Filing date: 2022-08-10
Publication date: 2022-11-01

Abstract

The application relates to the technical field of medical equipment, provides a do not have auxiliary positioning device that creates, includes: positioning a navigation system; the tracer, the tracer is used for laminating mutually with patient's skin, including being used for enclosing the tracer frame of establishing in patient operation incision periphery, is equipped with a plurality of optical mark on the tracer frame, and a plurality of optical mark are suitable for being positioned navigation system and track discernment to tissue location under operation incision and the operation incision. Through the technical scheme of this application, when the patient performs the operation, need not to perform the operation in the patient operation incision and expect to increase the incision that is used for installing the location auxiliary device outside the area, avoided causing extra operation wound to the patient, improved the security of patient's operation to help improving the accuracy of patient's operation.

Description

Noninvasive auxiliary positioning device

Technical Field

The application relates to the technical field of medical equipment, in particular to a noninvasive auxiliary positioning device.

Background

With the increasingly wide application of the navigation system in orthopedic surgery, the problems encountered by surgery using the navigation system are also increasing. For example, when the spine of a patient is positioned in a surgical way, an additional patient tracer incision needs to be added around the surgical incision, and then the patient tracer is clamped to the bony prominence part of the spine, and the incision process is easy to cause bleeding and trauma; or after the Kirschner wire is directly penetrated into the bony prominence part of the spine through the skin to be positioned, a needle mark wound of the Kirschner wire can be left, and the fixation of the tracer of the patient is easy to be unstable. Among them, the precise positioning of the bony structures of the spine during the operation is the key to the success of the operation. However, the positioning method of the patient tracer not only additionally increases operation wounds, causes pain and injury to patients during and after operations, increases the dosage of anesthetic, prolongs the operation time of the operations, but also has the disadvantages of poor positioning stability, insufficient reliability and the like, and is difficult to achieve the high-standard operation precision requirement.

Disclosure of Invention

An object of the embodiment of the application is to provide a do not have auxiliary positioning device that creates, in patient's art, when the patient performs the operation, need not to additionally increase the incision that is used for installing the location auxiliary device outside patient's operation incision primary standard region, avoided causing extra operative wound to the patient, improved the security of patient's operation to help improving the accuracy of patient's operation.

The embodiment of the application provides a do not have supplementary positioner of wound, includes: positioning a navigation system; the tracer, the tracer is used for laminating mutually with patient's skin, including being used for enclosing the tracer frame of establishing in patient operation incision periphery, be equipped with a plurality of optical mark on the tracer frame, it is a plurality of optical mark is suitable for by location navigation system tracks identification, in order to right the operation incision reaches the tissue location under the operation incision.

In the implementation process, when a patient is operated, the tracer is attached to the skin of the patient, the tracer comprises a tracer frame, the tracer frame encloses an operation incision of the skin of the patient in the tracer frame, and then the plurality of optical markers on the tracer frame are matched with a positioning navigation system, the positioning navigation system tracks and identifies the plurality of optical markers and positions the operation incision and tissues under the operation incision, so that the patient does not need to additionally cut an operation incision near the operation incision for fixing the tracer during the operation, the tracer is directly attached to the surface of the skin of the patient and is matched with the positioning navigation system, and the pain of the patient is reduced; in addition, the tracer is attached to the surface of the skin of a patient, and when the patient performs physiological movement, such as respiratory movement or intestinal peristalsis, the tracer can effectively monitor and feed back dynamic change in the operation in real time, so that the operation precision is improved.

In some embodiments, the tracing frame includes a first frame body for fitting to the skin of the patient, and the first frame body has a plurality of optical markers disposed thereon at intervals.

In the above-mentioned implementation process, the tracer frame includes first framework, and first framework laminating is on patient's skin surface, and the operation incision is located first framework, is equipped with a plurality of optical markers in the first framework, and a plurality of optical markers interval sets up respectively, selects four at least optical markers and fixes a position navigation system phase-matchs. The positioning navigation system tracks and identifies so as to position the surgical incision and the tissues under the surgical incision;

illustratively, the selected at least four optical markers are distributed anisotropically across the first frame, wherein the anisotropic distribution is: on one side of the first frame, the position distribution of four or more optical marks has no symmetry, and the connecting line lengths between every two optical marks are different.

In some embodiments, the tracing frame further comprises a second frame body for fitting with the skin of the patient, the second frame body is located inside the first frame body and is detachably connected with the first frame body, and a plurality of optical marks are arranged on the second frame body at intervals.

In the implementation process, the area of the second frame body is smaller than that of the first frame body, in addition, the first frame body and the second frame body are detachably connected, through the arrangement, a doctor can select a proper frame body according to the size of a surgical incision of a patient, and the optical mark is matched with the positioning navigation system, so that the surgical incision and tissues under the surgical incision are positioned, the surgical precision is improved, and meanwhile, more operable schemes are provided for the surgery.

Exemplarily, if the length of the surgical incision is greater than the length of the diagonal line of the second frame body, which indicates that the second frame body cannot enclose the surgical incision in the second frame body, the doctor needs to attach the first frame body to the skin surface of the patient, so that the surgical incision is located in the first frame body, and selects at least four optical markers on the first frame body to match with the positioning navigation system, thereby positioning the surgical incision and the tissue under the surgical incision and improving the positioning accuracy;

if the length of the surgical incision is smaller than the length of the diagonal line of the second frame body, a doctor can attach the second frame body to the skin surface of a patient, so that the surgical incision is positioned in the second frame body, and at least four optical markers are selected on the second frame body to be matched with the positioning navigation system, so that the surgical incision and tissues under the surgical incision are positioned; the first frame body can also be attached to the skin of a patient, and the optical mark on the first frame body is matched with the positioning navigation system, so that the doctor can understand that when using the first frame body or the second frame body, the positioning accuracy of the second frame body is better than that of the first frame body because the area of the second frame body is smaller than that of the first frame body;

certainly, because the second frame body is detachably connected with the first frame body, a doctor can also connect the first frame body and the second frame body with each other and attach the first frame body and the second frame body to the skin surface of a patient, so that the surgical incision is positioned in the second frame body, optical marks are respectively selected on the first frame body and the second frame body, the number of the selected optical marks is at least four, the selected optical marks are anisotropic and are matched with a positioning navigation system, and the surgical incision and tissues under the surgical incision are positioned; for example, two of the first frame and two of the second frame may be selected, or one of the first frame and three of the second frame may be selected. The two frame bodies are used, so that the selected optical mark can be matched with the positioning navigation system more easily, the matching efficiency is improved, the operation time of the operation is reduced, in addition, the two frame bodies are used, more operable schemes are provided for the operation, and the smooth operation is ensured.

In some embodiments, the tracing frame further includes a third frame body for fitting to the skin of the patient, the third frame body is located inside the second frame body and detachably connected to the second frame body, and a plurality of optical marks are spaced on the third frame body.

In the implementation process, the area of the third frame body is smaller than that of the second frame body, in addition, the third frame body is detachably connected with the second frame body, and through the arrangement, a doctor can select a proper frame body according to the size of a surgical incision of a patient, and the optical mark is matched with the positioning navigation system, so that the surgical incision and tissues under the surgical incision are positioned, and the surgical precision is improved.

For example, if the length of the surgical incision is smaller than the length of the diagonal line of the third frame, the surgeon may choose to use one frame according to the length of the surgical incision of the patient, for example, the surgeon may attach the third frame to the skin surface of the patient, so that the surgical incision is located in the third frame, and select at least four optical markers on the third frame to match with the positioning navigation system, so as to position the surgical incision and the tissue under the surgical incision; the second frame body or the first frame body can be attached to the surface of the skin of a patient, so that more selection schemes are provided for doctors; when one of the housings is used, the positioning accuracy of the third housing is better than the positioning accuracy of the second housing and the first housing.

Of course, when the length of the surgical incision is smaller than the length of the diagonal line of the third frame, the doctor may also select two frames to be connected with each other or three frames to be connected with each other and all attached to the skin surface of the patient, for example, the second frame is connected with the first frame, at least four optical markers are selected on the first frame and the second frame to match with the positioning navigation system, and the surgical incision and the tissue under the surgical incision are positioned; the second frame body and the third frame body can also be connected with each other, at least four optical marks are selected on the third frame body and the second frame body to be matched with a positioning navigation system, and the surgical incision and tissues under the surgical incision are positioned.

Can also interconnect third framework, second framework and first framework, all laminate to patient's skin surface, select four at least optical markers on third framework, second framework and first framework, through the aforesaid setting, can provide more selection schemes to the doctor, simultaneously, when selecting a plurality of frameworks, also can make the optical marker of selection be in anisotropy more easily, conveniently match with location navigation, also can improve the precision of navigation simultaneously.

In some embodiments, the first frame body, the second frame body and the third frame body each include at least four frame edges, and respectively enclose operation regions of different sizes. The four frame edges are connected end to end, and the lengths of the four frames are different.

In the implementation process, the first frame body, the second frame body and the third frame body comprise at least four frame edges which are connected end to end, so that the first frame body, the second frame body and the third frame body are of quadrilateral structures with different sizes and are suitable for different operation areas, more operation schemes are provided for doctors, the doctors select proper frame bodies or combine the frame bodies according to the size of an operation incision of a patient, the positioning accuracy of the operation incision and tissues under the operation incision is improved, and the success rate of the operation is guaranteed.

For example, the first frame, the second frame, and the third frame may be pentagons, hexagons, etc., and each side length of other polygons is different.

Illustratively, the second frame body is provided with a plurality of clamping pieces facing the first frame body, the clamping pieces are respectively arranged on the frame edges of the second frame body, the clamping pieces are provided with clamping grooves, the clamping grooves are matched with the frame edges of the first frame body, and the frame edges of the first frame body are inserted into the clamping grooves, so that the first frame body and the second frame body can be detachably connected, and the first frame body and the second frame body can be conveniently connected and separated; of course, the clamping piece can also be arranged on the first frame body.

In addition, through setting up joint spare for first framework is connected with the second framework, when first framework and second framework all laminated to patient's skin, can follow patient's physiological motion, feeds back dynamic change to the navigation system of location in real time, improves the positioning accuracy of operation incision and the tissue under the operation incision.

For example, the connection mode of the second frame and the third frame is the same as the connection mode of the second frame and the first frame, and of course, the clamping member may also be disposed on the third frame, or may also be disposed on the second frame, which is not described herein again.

Exemplarily, the periphery of the second frame body is provided with a plurality of protruding columns, the corresponding position of the first frame body is provided with a groove, and the protruding columns are inserted into the groove, so that the first frame body is connected with the second frame body. Or, the second frame body is provided with a groove, the first frame body is provided with a convex column, the connection mode of the convex column is the same as that of the first frame body, and the connection mode of the third frame body and the second frame body is the same as that of the first frame body, and the description is omitted here.

Illustratively, each frame edge of the first frame body is provided with a groove, and when the second frame body is connected with the first frame body, four vertexes of the second frame body are inserted into the grooves, so that the connection of the second frame body and the first frame body is realized, and the operation is convenient; the connection method of the third frame and the second frame is the same as described above.

In some embodiments, at least four of the frame sides of the first frame body, the second frame body, and the third frame body are all different in length.

In the implementation process, the lengths of each frame edge of the first frame body, the second frame body and the third frame body are different, so that one optical mark is randomly selected on each frame edge, the selected optical mark can easily meet the anisotropy, and when the optical mark is matched with a positioning navigation system, the positioning precision of the surgical incision and the tissues under the surgical incision is more accurate.

In some embodiments, the optical marker is used for being electrically connected with an external power supply and is suitable for emitting light rays for the positioning navigation system to track and recognize; alternatively, the optical markers are adapted to reflect light rays for tracking and recognition by the positioning and navigation system.

In the implementation process, the optical mark can be an infrared light emitting device and a light emitting diode, the optical mark is electrically connected with an external power supply, the external power supply provides power for the optical mark, and the optical mark is used for actively emitting infrared light to the positioning navigation system, is suitable for being tracked and identified by the positioning navigation system and is used for positioning the surgical incision; the optical marker can also be a passive reflective sphere coated with phosphor suitable for reflecting light to a positioning navigation system.

Illustratively, when the optical markers are used to actively emit light, the tracer may be connected to an external power source that provides power to the tracer, and the physician selects at least four of the optical markers to emit light to the positioning navigation system to position the surgical incision and the tissue beneath the surgical incision; when the optical mark is used for reflecting light rays, the doctor directly places the reflecting spheres at least at four selected positions, so that the four reflecting spheres emit the light rays to the positioning navigation system, and the surgical incision and the tissues under the surgical incision are positioned.

Illustratively, the tracer further comprises a power supply connecting wire, one end of the power supply connecting wire is connected with an external power supply, the other end of the power supply connecting wire is electrically connected with the optical marker, and when the optical marker is required to actively emit light, the power supply connecting wire is connected with the external power supply to supply power to the optical marker.

Exemplarily, a lead and a power supply connecting line are arranged in each of the first frame body, the second frame body and the third frame body, and when one of the frame bodies is selected, the selected frame body is connected with an external power supply; when a plurality of housings are selected, it is necessary to connect the plurality of housings to an external power supply, respectively.

In some embodiments, the tracer further comprises a power supply and a wire electrically connected with the power supply at one end, the power supply is provided with a power switch, the other end of the wire is connected with the optical marker, and the power switch is used for controlling the power supply to be switched on or off.

In the implementation process, the tracer comprises a power supply and a power supply switch, the power supply switch is used for controlling the power supply, when the tracer is required to be used, the power supply switch is turned on, and the power supply provides power for the optical marker through a wire, so that the tracer can realize self power supply, is suitable for the condition that an external power supply is lacked in an operation environment, and improves the applicability of a product.

Illustratively, the first frame body, the second frame body and the third frame body are respectively provided with a power supply and a power switch, the power supply is connected with the lead, the power supply is used for improving electric energy to the optical mark, the power switch is used for controlling the power supply, and when the optical mark is required to actively emit light, the power switch is turned on; when the operation is finished, the power switch is closed.

In some embodiments, the positioning and navigation system comprises an infrared navigation system, the optical marker being adapted to emit or reflect infrared light.

In the implementation process, the infrared navigation system is used, the optical marker emits or reflects infrared rays, the infrared navigation system identifies and tracks in real time to determine the surgical incision of the patient and tissues under the surgical incision, in addition, when the patient performs physiological motion, the tracer is attached to the skin of the patient, the optical marker can emit or reflect infrared rays in real time under the condition of physiological motion of the patient, and the infrared navigation system can conveniently track and identify in real time.

In some embodiments, the tracer is a flexible piece.

In the implementation process, the tracer is set to be a flexible part, the tracer is more easily attached to the skin of a patient, the tracer can be made of polyether-ether-ketone special engineering plastics or silica gel, the material mainly belongs to a biocompatible material, the tracer is not easy to deform and convenient to disinfect, and the tracer is not developed under scanning of imaging equipment in an operation, so that artifacts of a navigation image are reduced.

The technical scheme of the application has the following effects:

1. the tracer is used for being attached to the skin of a patient, meanwhile, the tracer comprises a tracer frame, the tracer frame encloses a surgical incision of the patient, and a plurality of optical marks on the tracer are respectively tracked and identified with a positioning navigation system, so that the surgical incision and tissues under the surgical incision are positioned, an incision for installing a positioning auxiliary device is not required to be additionally arranged outside an original fixed area of the surgical incision of the patient, additional surgical trauma to the patient is avoided, the operation can be completed only through a single surgical incision, the safety of the patient is improved, and the accuracy of the patient operation is improved; in addition, the tracer is attached to the surface of the skin of a patient, and when the patient moves physiologically, the tracer can detect and feed back dynamic changes in an operation in real time, so that the operation accuracy is improved.

2. The tracer includes a plurality of first frameworks, second framework and the third framework that can dismantle the connection each other, and the doctor can select suitable framework to laminate to patient's skin surface according to the length of patient's operation incision, provides more maneuverability's scheme for the operation.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a noninvasive tracer provided in an embodiment of the application;

fig. 2 is a schematic structural diagram of a noninvasive tracer provided in an embodiment of the present application;

fig. 3 is a schematic structural diagram of a connection manner of a first frame body, a second frame body and a third frame body according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of another connection manner of the first frame body, the second frame body, and the third frame body according to the embodiment of the present application.

Icon: 1-a tracer; 2-a first frame; 3-a second frame; 4-a third frame; 5-optical marking; 6-patient skin; 7-surgical incision; 8-clamping piece.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 to 4, an embodiment of the present application provides a noninvasive auxiliary positioning apparatus, including: positioning a navigation system; tracer 1, tracer 1 are used for laminating mutually with patient's skin 6, including being used for enclosing the tracer frame who establishes at patient's operation incision 7 periphery, are equipped with a plurality of optical mark 5 on the tracer frame, and a plurality of optical mark 5 are suitable for being positioned navigation system and track discernment to the tissue location under operation incision 7 and operation incision 7.

In the implementation process, when a patient is operated, the tracer 1 is attached to the skin 6 of the patient, the tracer 1 comprises a tracer frame, the tracer frame encloses an operation incision 7 of the skin 6 of the patient in the tracer frame, and the plurality of optical markers 5 on the tracer frame are matched with a positioning navigation system, the positioning navigation system tracks and identifies the plurality of optical markers 5 and positions the operation incision 7 and tissues under the operation incision 7, so that the patient does not need to cut an operation incision 7 near the operation incision 7 for fixing the tracer 1 during the operation, the tracer 1 is directly attached to the surface of the skin 6 of the patient and is matched with the positioning navigation system, and pain of the patient is reduced; in addition, the tracer 1 is attached to the surface of the skin 6 of the patient, so that when the patient performs physiological movement, such as respiratory movement or intestinal peristalsis, the tracer 1 can effectively monitor and feed back dynamic changes in the operation in real time, and the operation precision is improved.

In some embodiments, the tracing frame includes a first frame body 2, the first frame body 2 is used for being attached to the skin 6 of the patient, and a plurality of optical markers 5 are arranged on the first frame body 2, and the optical markers 5 are arranged at intervals.

In the above-mentioned implementation process, the tracer frame includes first framework 2, and the laminating of first framework 2 is on 6 surfaces of patient's skin, and operation incision 7 is located first framework 2, is equipped with a plurality of optical markers 5 on the first framework 2, and a plurality of optical markers 5 interval respectively set up, select four at least optical markers 5 and position navigation system phase-matchs. The positioning navigation system tracks and identifies so as to position the surgical incision 7 and the tissue below the surgical incision 7;

illustratively, the at least four optical markers 5 are selected to have an anisotropic distribution on the first frame, wherein the anisotropic distribution is: at one side of the first frame, the positions of the four or more optical marks 5 are not symmetrical, and the lengths of the connecting lines between every two optical marks 5 are different.

As shown in fig. 2, in some embodiments, the tracer frame further comprises a second frame 3 for fitting against the skin 6 of the patient, the second frame 3 is located inside the first frame 2 and is detachably connected to the first frame 2, and a plurality of optical markers 5 are spaced apart from each other on the second frame 3.

In the implementation process, the area of the second frame body 3 is smaller than that of the first frame body 2, in addition, the first frame body 2 and the second frame body 3 are detachably connected, through the arrangement, a doctor can select a proper frame body according to the size of the surgical incision 7 of the patient, and the optical mark 5 is matched with a positioning navigation system, so that the surgical incision 7 and tissues under the surgical incision 7 are positioned, the surgical precision is improved, and meanwhile, more operable schemes are provided for the surgery.

For example, if the length of the surgical incision 7 is greater than the length of the diagonal line of the second frame 3, which indicates that the second frame 3 cannot enclose the surgical incision 7 in the second frame 3, the doctor needs to attach the first frame 2 to the surface of the skin 6 of the patient, so that the surgical incision 7 is located in the first frame 2, and select at least four optical markers 5 on the first frame 2 to match with the positioning navigation system, so as to position the surgical incision 7 and the tissue under the surgical incision 7, thereby improving the positioning accuracy;

if the length of the surgical incision 7 is smaller than the length of the diagonal line of the second frame body 3, the doctor can attach the second frame body 3 to the surface of the skin 6 of the patient, so that the surgical incision 7 is positioned in the second frame body 3, and at least four optical markers 5 are selected on the second frame body 3 to be matched with a positioning navigation system, so that the surgical incision 7 and tissues under the surgical incision 7 are positioned; the first frame body 2 can be attached to the skin 6 of the patient and the optical mark 5 on the first frame body 2 is matched with the positioning navigation system, so that when the doctor uses the first frame body 2 or the second frame body 3, the positioning accuracy of the second frame body 3 is better than that of the first frame body 2 because the area of the second frame body 3 is smaller than that of the first frame body 2;

of course, since the second frame body 3 is detachably connected to the first frame body 2, the doctor can also connect the first frame body 2 and the second frame body 3 to each other and attach to the surface of the skin 6 of the patient, so that the surgical incision 7 is located in the second frame body 3, and the optical markers 5 are respectively selected on the first frame body 2 and the second frame body 3, wherein the number of the selected optical markers 5 is at least four, and the selected optical markers are anisotropic and matched with a positioning navigation system, so as to position the surgical incision 7 and the tissues under the surgical incision 7; for example, two first housings 2 and two second housings 3 may be selected, or one first housing 2 and three second housings 3 may be selected. The two frames are used, so that the selected optical mark 5 can be matched with a positioning navigation system more easily, the matching efficiency is improved, the operation time of the operation is reduced, and in addition, the two frames are used, so that more operable schemes are provided for the operation, and the smooth operation is ensured.

In some embodiments, the tracer frame further comprises a third frame 4 for engaging with the skin 6 of the patient, the third frame 4 is located inside the second frame 3 and is detachably connected to the second frame 3, and the third frame 4 is provided with a plurality of optical markers 5 at intervals.

In the implementation process, the area of the third frame body 4 is smaller than that of the second frame body 3, in addition, the third frame body 4 and the second frame body 3 are detachably connected, through the arrangement, a doctor can select a proper frame body according to the size of the surgical incision 7 of the patient, and the optical mark 5 is matched with a positioning navigation system, so that the surgical incision 7 and tissues under the surgical incision 7 are positioned, and the surgical precision is improved.

As shown in fig. 1, for example, if the length of the surgical incision 7 is smaller than the length of the diagonal line of the third frame 4, the doctor can choose to use one frame according to the length of the surgical incision 7 of the patient, for example, the doctor can attach the third frame 4 to the surface of the skin 6 of the patient, so that the surgical incision 7 is located in the third frame 4, and select at least four optical markers 5 on the third frame 4 to match with the positioning navigation system, so as to position the surgical incision 7 and the tissue under the surgical incision 7; the second frame body 3 or the first frame body 2 can be attached to the surface of the skin 6 of the patient, so that more options are provided for a doctor; when one of the housings is used, the positioning accuracy of the third housing 4 is better than the positioning accuracy of the second housing 3 and the first housing 2.

Of course, when the length of the surgical incision 7 is smaller than the length of the diagonal line of the third frame 4, the doctor can also choose to connect two frames or three frames to each other, and all the frames are attached to the surface of the skin 6 of the patient, for example, the second frame 3 is connected with the first frame 2, and at least four optical markers 5 are chosen on the first frame 2 and the second frame 3 to match with the positioning navigation system, so as to position the surgical incision 7 and the tissue under the surgical incision 7; the second frame body 3 and the third frame body 4 may be connected to each other, and at least four optical markers 5 may be selected on the third frame body 4 and the second frame body 3 to match with a positioning navigation system, so as to position the surgical incision 7 and the tissue under the surgical incision 7.

As shown in fig. 3 and 4, the third frame 4, the second frame 3 and the first frame 2 may be connected to each other and attached to the surface of the skin 6 of the patient, and at least four optical markers 5 are selected from the third frame 4, the second frame 3 and the first frame 2.

In some embodiments, the first frame body 2, the second frame body 3, and the third frame body 4 each include at least four frame edges, and respectively enclose operation regions of different sizes. The four frame edges are connected end to end, and the lengths of the four frames are different.

In the implementation process, the first frame body 2, the second frame body 3 and the third frame body 4 all include at least four frame edges, and the four frame edges are connected end to end, so that the first frame body 2, the second frame body 3 and the third frame body 4 are of quadrilateral structures with different sizes, are suitable for different operation areas, provide more operation schemes for doctors, and select proper frame bodies or combine a plurality of frame bodies according to the size of an operation incision 7 of a patient, thereby improving the positioning accuracy of the operation incision 7 and tissues under the operation incision 7, and ensuring the success rate of the operation.

For example, the first frame body 2, the second frame body 3, and the third frame body 4 may be a pentagon, a hexagon, or the like, and each side length of other polygons is different.

As shown in fig. 3, exemplarily, the second frame body 3 is provided with a plurality of clamping members 8 facing the first frame body 2, the plurality of clamping members 8 are respectively disposed on the frame edges of the second frame body 3, the clamping members 8 are provided with clamping grooves, the clamping grooves are adapted to the frame edges of the first frame body 2, and the frame edges of the first frame body 2 are inserted into the clamping grooves, so that the first frame body 2 is detachably connected to the second frame body 3, and the first frame body 2 is conveniently connected to and separated from the second frame body 3; of course, the clip 8 may be provided on the first frame 2.

In addition, through setting up joint spare 8 for first framework 2 is connected with second framework 3, when first framework 2 all laminated to patient's skin 6 with second framework 3, can be along with patient's physiological motion, feeds back dynamic change to the location navigation system in real time, improves the positioning accuracy of operation incision 7 and the tissue under the operation incision 7.

For example, the connection manner of the second frame 3 and the third frame 4 is the same as the connection manner of the second frame 3 and the first frame 2, and of course, the clamping member 8 may be disposed on the third frame 4 or the second frame 3, which is not described herein again.

Exemplarily, the periphery of the second frame body 3 is provided with a plurality of protruding columns, the corresponding position of the first frame body 2 is provided with a groove, and the protruding columns are inserted into the groove, so that the first frame body 2 is connected with the second frame body 3. Alternatively, the second frame 3 is provided with a groove, the first frame 2 is provided with a convex column, and the connection mode is the same as that described above, and the connection mode of the third frame 4 and the second frame 3 is the same as that described above, which is not described herein again.

Illustratively, each frame edge of the first frame body 2 is provided with a groove, and when the second frame body 3 is connected with the first frame body 2, four vertexes of the second frame body 3 are inserted into the grooves, so that the connection between the second frame body 3 and the first frame body 2 is realized, and the operation is convenient; the third housing 4 and the second housing 3 are connected in the same manner as described above.

In some embodiments, the lengths of at least four frame sides of the first frame body 2, the second frame body 3, and the third frame body 4 are all different.

In the implementation process, the lengths of each frame edge of the first frame body 2, the second frame body 3 and the third frame body 4 are different, so that one optical mark 5 is arbitrarily selected on each frame edge, the selected optical mark 5 can meet the anisotropy more easily, and when the positioning navigation system is matched with the positioning navigation system, the presented surgical incision 7 and the positioning precision of tissues under the surgical incision 7 are more accurate.

In some embodiments, the optical marker 5 is used for electrically connecting with an external power supply and is suitable for emitting light rays for tracking and identifying by a positioning navigation system; alternatively, the optical markers 5 are adapted to reflect light rays for tracking identification by the position navigation system.

In the implementation process, the optical mark 5 can be an infrared light emitting device or a light emitting diode, the optical mark 5 is electrically connected with an external power supply, the external power supply provides power for the optical mark 5, the optical mark 5 is used for actively emitting infrared light to the positioning navigation system, and is suitable for being tracked and identified by the positioning navigation system to position the surgical incision 7 and the tissue under the surgical incision 7; the optical marker 5 may also be a passive reflective sphere coated with phosphor adapted to reflect light towards the positioning navigation system.

Illustratively, when the optical markers 5 are used to actively emit light, the tracer 1 can be connected to an external power supply which supplies power to the external power supply, and the doctor selects at least four optical markers 5 to enable the optical markers to emit light to the positioning navigation system to position the surgical incision 7 and the tissue below the surgical incision 7; when the optical marker 5 is used as the reflection light, the doctor directly places the reflection spheres at least at four positions selected, so that the four reflection spheres emit light to the positioning navigation system, thereby positioning the surgical incision 7 and the tissue under the surgical incision 7.

Illustratively, the tracer 1 further comprises a power supply connecting wire, one end of the power supply connecting wire is connected with an external power supply, the other end of the power supply connecting wire is electrically connected with the optical marker 5, and when the optical marker 5 needs to actively emit light, the power supply connecting wire is connected with the external power supply to provide power for the optical marker 5.

Exemplarily, a lead and a power supply connecting line are arranged in the first frame body 2, the second frame body 3 and the third frame body 4, and when one of the frame bodies is selected, the selected frame body is connected with an external power supply; when a plurality of housings are selected, it is necessary to connect the plurality of housings to an external power supply, respectively.

In some embodiments, the tracer 1 further comprises a power supply and a wire electrically connected to the power supply at one end, and the power supply is provided with a power switch, the other end of the wire being connected to the optical marker 5, the power switch being used to control the power to be turned on or off.

In the implementation process, the tracer 1 comprises a power supply and a power supply switch, the power supply switch is used for controlling the power supply, when the tracer is required to be used, the power supply switch is turned on, and the power supply provides power for the optical marker 5 through a wire, so that the tracer 1 can realize self power supply, is suitable for the condition that an external power supply is lacked in an operation environment, and improves the applicability of a product.

Illustratively, the first frame body 2, the second frame body 3 and the third frame body 4 are all provided with a power supply and a power supply switch, the power supply is connected with a lead, the power supply is used for increasing electric energy to the optical mark 5, the power supply switch is used for controlling the power supply, and when the optical mark 5 needs to actively emit light, the power supply switch is turned on; when the operation is finished, the power switch is closed.

In some embodiments, the positional navigation system comprises an infrared navigation system, the optical marker 5 being adapted to emit or reflect infrared light.

In the implementation process, the infrared navigation system is used, the optical mark 5 emits or reflects infrared rays, the infrared navigation system identifies and tracks in real time to determine the surgical incision 7 of the patient and tissues under the surgical incision 7, in addition, when the patient performs physiological motion, the tracer 1 is attached to the skin 6 of the patient, the optical mark 5 can emit or reflect infrared rays in real time under the condition of physiological motion of the patient, and the infrared navigation system can track and identify in real time conveniently.

In some embodiments, the tracer 1 is a flexible piece.

In the implementation process, the tracer 1 is set to be a flexible piece, the tracer 1 is more easily attached to the skin of a patient, the tracer 1 can be made of polyether-ether-ketone special engineering plastics or silica gel, the materials mainly belong to biocompatible materials, the materials are not easy to deform and convenient to disinfect, and the imaging equipment is not developed under scanning of the imaging equipment in an operation, so that the artifact of a navigation image is reduced.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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 phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

Claims

1. A non-invasive assisted positioning device, comprising:

positioning a navigation system;

the tracer, the tracer is used for laminating mutually with patient's skin, including being used for enclosing the tracer frame of establishing in patient operation incision periphery, be equipped with a plurality of optical mark on the tracer frame, it is a plurality of optical mark is suitable for by location navigation system tracks identification, in order to right the operation incision reaches the tissue location under the operation incision.

2. The device of claim 1, wherein the tracking frame comprises a first frame body for engaging the skin of the patient, and a plurality of optical markers are disposed on the first frame body at intervals.

3. The device of claim 2, wherein the tracking frame further comprises a second frame for engaging with the skin of the patient, the second frame being located inside the first frame and detachably connected to the first frame, and the second frame having a plurality of the optical markers spaced apart from each other.

4. The device as claimed in claim 3, wherein the tracing frame further comprises a third frame for engaging with the skin of the patient, the third frame is disposed inside the second frame and detachably connected to the second frame, and the third frame is spaced apart from the plurality of optical markers.

5. The device as claimed in claim 4, wherein the first frame, the second frame and the third frame each comprise at least four frame edges, and each frame encloses an operation area with different size.

6. The device of claim 5, wherein the frame sides of the first frame, the second frame, and the third frame are all different in length.

7. A non-invasive auxiliary positioning device according to any of claims 1 to 6, wherein the optical marker is used for electrical connection with an external power source and is adapted to emit light for tracking and identification by the positioning and navigation system.

8. The device as claimed in any one of claims 1 to 6, wherein the tracer further comprises a power source and a wire electrically connected to the power source at one end, and the power source is provided with a power switch, and the other end of the wire is connected to the optical marker, and the power switch is used for controlling the power source to be turned on or off.

9. Non-invasive assisted positioning device according to any of claims 1 to 6, characterized in that the positioning and navigation system comprises an infrared navigation system, the optical markers being adapted to emit or reflect infrared light.

10. Non-invasive auxiliary positioning device according to any of claims 1 to 6, wherein the tracer is a flexible element.