CN117982159A - Navigation system, method, medical fluoroscopy device and computer storage medium - Google Patents
Navigation system, method, medical fluoroscopy device and computer storage medium Download PDFInfo
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- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
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- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
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- A61B17/80—Cortical plates, i.e. bone plates; Instruments for holding or positioning cortical plates, or for compressing bones attached to cortical plates
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- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
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Abstract
The present application provides a navigation system, method, medical fluoroscopy device and computer storage medium for guiding the movement of the medical fluoroscopy device; the navigation system of the present application includes: a first sensor, and a processor; the first sensor is used for acquiring first position information of the medical perspective equipment; the processor is used for calculating a first relative position relation between the medical perspective equipment and the mark according to the first position information and the second position information; the second position information is the position information of the mark, and the mark is arranged on an operation object used for being put into a body; the first relative position relationship is used for guiding a ray emitting device of the medical perspective equipment to move to a target position, and when the ray emitting device is positioned at the target position, the perspective direction of the medical perspective equipment is parallel to the normal vector of the mark; according to the embodiment of the application, the adjustment efficiency and accuracy of the medical perspective equipment are improved.
Description
Technical Field
The application relates to the technical field of big data medical treatment, in particular to a navigation system (also called a navigation system for guiding medical perspective equipment to move), a method, medical perspective equipment and a computer storage medium.
Background
In the orthopedic operation, a doctor performs the work of judging the reduction effect of the fracture, estimating the operation position of the surgical instrument on the body surface or in the body of the patient, determining the position direction of the implant such as a steel plate and a screw in the body of the patient and the like through the assistance of the X-ray image of the medical perspective equipment (such as a C-arm equipment).
When the medical perspective equipment is used for perspective, an ideal perspective shooting angle needs to be obtained, however, the medical perspective equipment is heavy, when the medical perspective equipment is used for obtaining the ideal perspective shooting angle for adjustment, a plurality of medical staff are needed to be matched with each other, and then the medical perspective equipment is adjusted according to each perspective condition so as to guide the medical perspective equipment to move to a target position, so that the obtained perspective shooting angle may deviate in the adjustment process of the medical perspective equipment, a patient needs to be subjected to X-ray radiation for multiple times, and the operation time is prolonged in the multiple adjustment process.
Disclosure of Invention
The application provides a navigation system, a navigation method, medical perspective equipment and a computer storage medium for guiding the movement of the medical perspective equipment, and aims to solve the technical problems that the existing medical perspective equipment is complex in adjustment operation, the accurate perspective direction is difficult to obtain, and a patient is easy to experience multiple X-ray radiation due to long adjustment time.
In one aspect, the present application provides a navigation system for guiding movement of a medical fluoroscopy device, comprising:
A first sensor, and
A processor;
The first sensor is used for acquiring first position information of the medical perspective equipment;
The processor is used for calculating a first relative position relation between the medical perspective equipment and the mark according to the first position information and the second position information; the second position information is the position information of the mark, and the mark is arranged on an operation object used for being put into a body; the first relative positional relationship is used for guiding a ray emitting device of the medical perspective equipment to move to a target position, and when the ray emitting device is positioned at the target position, the perspective direction of the medical perspective equipment is parallel to the normal vector of the mark.
Optionally, in some embodiments of the present application the first sensor is sequentially disposed on the object and a radiation emitting device of the medical fluoroscopy apparatus; the processor is configured to acquire the second position information through the first sensor when the first sensor is disposed on the operation object; when the first sensor is arranged on the ray emitting device, the processor is used for acquiring the first position information through the first sensor, or,
The navigation system further comprises a second sensor arranged on the operation object, and the processor is used for acquiring the second position information of the mark through the second sensor.
Optionally, in some embodiments of the present application the object is an intramedullary nail, the marker is a distal locking nail hole of the intramedullary nail, and a normal vector of the marker is consistent with an axial direction of the distal locking nail hole;
The first sensor is arranged on the intramedullary nail; the processor is used for acquiring the position information of the distal lock pin hole on the intramedullary nail through the first sensor as the second position information; or alternatively, the first and second heat exchangers may be,
The second sensor is arranged on the intramedullary nail; the processor is used for acquiring the position information of the distal lock pin hole on the intramedullary nail through the second sensor as the second position information;
Accordingly, when the radiation emitting device is positioned at the target position, the perspective direction of the medical perspective device is parallel to the axial direction of the distal locking hole of the intramedullary nail.
Optionally, in some embodiments of the present application the navigation system further comprises:
a third sensor disposed on the implantation tool;
The third sensor is used for acquiring third position information of the implantation tool;
The processor is used for calculating a second relative position relation between the mark and the implantation tool according to the second position information and the third position information, the second relative position relation is used for guiding the implantation tool to move to a target position, and when the implantation tool is positioned at the target position, the drilling direction of the tip of the implantation tool is parallel to the normal vector of the mark.
Optionally, in some embodiments of the application the processor is further configured to:
Generating adjustment prompt information according to the first relative position relation, and sending the adjustment prompt information to at least one of a preset client, a display device of the navigation system and a voice playing device of the navigation system; and/or the number of the groups of groups,
And driving a ray emitting device of the medical perspective equipment to adjust to the target position according to the first relative position relation.
Optionally, in some embodiments of the application the processor is further configured to:
acquiring pre-calibrated reference position information of the first sensor;
calculating first position deviation information between the first position information and the reference position information, and calculating second position deviation information between the second position information and the reference position information;
And calculating a first relative position relationship between the medical perspective equipment and the mark according to the first position deviation information and the second position deviation information.
Optionally, in some embodiments of the application the processor performing the calculating the first positional deviation information between the first positional information and the reference positional information, and the calculating the second positional deviation information between the second positional information and the reference positional information includes:
Projecting the first position information to the reference position information to obtain first projection information, and setting the angle deviation between the first position information and the first projection information and the angle deviation between the first projection information and the reference position information as first angle deviation information;
And projecting the second position information to the reference position information to obtain second projection information, and setting the angle deviation between the second position information and the second projection information and the angle deviation between the second projection information and the reference position information as second angle deviation information.
In another aspect, the present application provides a navigation system for guiding movement of a medical fluoroscopy device, the navigation system comprising:
The first sensor is provided with a first sensor,
A second sensor, and
A processor;
The first sensor is used for acquiring first position information of the medical perspective equipment;
The second sensor is used for collecting second position information of the target perspective part; the target perspective comprises: at least one of femur, shoulder joint, cervical vertebra, spine, pelvic bone, and ankle;
The processor is used for calculating a third relative position relation between the medical perspective equipment and the target perspective part according to the first position information and the second position information; the third relative position relationship is used for guiding a ray emitting device of the medical perspective device to move to a target position, and when the ray emitting device is located at the target position, the perspective direction of the medical perspective device is parallel to the normal vector of the target perspective part.
In another aspect, the present application provides a navigation method for guiding movement of a medical fluoroscopy device, the navigation method comprising:
Acquiring first position information of the medical perspective device;
Calculating a first relative positional relationship between the medical fluoroscopy device and the marker according to the first positional information and the second positional information; the second position information is the position information of the mark, and the mark is arranged on an operation object used for being put into a body; the first relative positional relationship is used for guiding a ray emitting device in the medical perspective equipment to move to a target position, and when the ray emitting device is positioned at the target position, the perspective direction of the medical perspective equipment is parallel to the normal vector of the mark.
In another aspect, the present application provides a medical fluoroscopy device comprising the navigation system described above.
In another aspect, the present application also provides a computer storage medium having stored thereon a computer program to be loaded by a processor for performing the steps of the navigation method for guiding movement of a medical fluoroscopy device.
The technical scheme of the application comprises the following steps: navigation systems, methods, medical fluoroscopy devices, and computer storage media for guiding movement of the medical fluoroscopy device; the navigation system in the embodiment of the application comprises: a first sensor, and a processor; the first sensor is used for acquiring first position information of the medical perspective equipment; the processor is used for calculating a first relative position relation between the medical perspective equipment and the mark according to the first position information and the second position information; the second position information is the position information of the mark, and the mark is used for an operation object placed in the body; the first relative position relationship is used for guiding a ray emitting device of the medical perspective equipment to move to a target position, and when the ray emitting device is positioned at the target position, the perspective direction of the medical perspective equipment is parallel to the normal vector of the mark; in the embodiment of the application, the first position information of the medical perspective equipment is acquired through the first sensor, the first relative position relation between the medical perspective equipment and the corresponding mark of the operation object is determined, the ray emitting device of the medical perspective equipment is guided to move to the target position according to the first relative position relation, and the medical perspective equipment is accurately and quickly adjusted, so that the ideal perspective direction is obtained, and the radiation times of a patient are reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an application scenario of a navigation system for guiding movement of a medical fluoroscopy device provided by an embodiment of the present application;
FIG. 2 is a schematic diagram of one embodiment of a navigation system for guiding movement of a medical perspective device in an embodiment of the application;
Fig. 3 is a schematic view of a distal locking nail scene of a proximal femoral intramedullary nail provided by an embodiment of the present application;
FIG. 4 is a schematic view of a navigation system for guiding movement of a medical fluoroscopy device according to an embodiment of the present application after a reference is set by an inertial sensor and the inertial sensor moves;
FIG. 5 is a schematic view of inertial sensor X-axis offset in a navigation system for guiding movement of a medical fluoroscopy device provided in an embodiment of the application;
FIG. 6 is a schematic view of calibration scenarios of a first sensor and a second sensor in a navigation system for guiding movement of a medical fluoroscopy device provided in an embodiment of the present application;
FIG. 7 is a schematic view of a second sensor setup scenario in a navigation system for guiding movement of a medical fluoroscopy device provided in an embodiment of the present application;
FIG. 8 is a schematic diagram of a first relative positional relationship in a navigation system for guiding movement of a medical fluoroscopy device provided in an embodiment of the present application;
FIG. 9 is a schematic illustration of the position of a third sensor in a navigation system for guiding movement of a medical fluoroscopy device provided in an embodiment of the application;
FIG. 10 is a flow chart of a navigation method for guiding movement of a medical fluoroscopy device provided in an embodiment of the present application;
fig. 11 is a schematic structural diagram of an embodiment of an electronic device provided in an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be encompassed by the present application.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present application, the term "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described as "exemplary" in this disclosure is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for purposes of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes have not been described in detail so as not to obscure the description of the application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
Embodiments of the present application provide a navigation system, a method, a medical fluoroscopy device, and a computer storage medium for guiding movement of the medical fluoroscopy device, which are described in detail below.
The navigation method for guiding the movement of the medical perspective equipment is applied to a navigation system for guiding the movement of the medical perspective equipment, the navigation system is arranged on the medical perspective equipment or the electronic equipment, one or more processors, a memory and one or more application programs are arranged in the medical perspective equipment, and one or more application programs are stored in the memory and configured to be executed by the processor to realize the navigation method for guiding the movement of the medical perspective equipment; for example, the medical perspective device may be a C-arm device, a terminal communicatively coupled to the C-arm device, a processor communicatively coupled to the C-arm device, or a service cluster of multiple processors.
The devices included in the medical perspective device do not limit the embodiments of the present invention, that is, the number of devices and the types of devices included in an application scenario of a navigation system for guiding movement of the medical perspective device, or the number of devices and the types of devices included in each device do not affect the overall implementation of the technical solution in the embodiments of the present invention, and all the devices and the types of devices may be calculated as equivalent substitutions or derivatives of the technical solution claimed in the embodiments of the present invention. The medical perspective device may be an independent electronic device, or may be an electronic device network or an electronic device cluster formed by electronic devices, for example, a medical perspective device described in the embodiments of the present invention includes, but is not limited to, a computer, a network host, a single network electronic device, a plurality of network electronic device sets, or a cloud electronic device formed by a plurality of electronic devices. Wherein the cloud electronic device is composed of a large number of computers or network electronic devices based on cloud computing (CloudComputing).
It will be understood by those skilled in the art that fig. 1 is an application scenario of a navigation system for guiding movement of a medical perspective device provided in an embodiment of the present application, fig. 1 is merely an application scenario of the present application, and is not limited to the application scenario of the present application, other application environments may further include more or fewer electronic devices than those shown in fig. 1, or network connection relationships of electronic devices, for example, only one medical perspective device is shown in fig. 1, and it is understood that the navigation scenario for guiding movement of a medical perspective device may further include one or more other electronic devices, which is not limited herein in particular; a memory may also be included in the medical fluoroscopy device 100.
In addition, the medical perspective device 100 in the navigation scene for guiding the movement of the medical perspective device can be provided with a display device, or the medical perspective device 100 is not provided with the display device which is in communication connection with the external display device 200, and the display device 200 is used for outputting the execution result of the navigation method for guiding the movement of the medical perspective device in the electronic device. The medical fluoroscopy device 100 may access a background database 300 (the background database may be a local memory of the medical fluoroscopy device, and the background database may also be disposed in the cloud), where navigation-related information for guiding the movement of the medical fluoroscopy device is stored in the background database 300.
It should be noted that, the schematic view of the scenario of the navigation method for guiding the movement of the medical perspective device shown in fig. 1 is only an example, and the scenario of the navigation for guiding the movement of the medical perspective device described in the embodiment of the present invention is for more clearly describing the technical solution of the embodiment of the present invention, and does not constitute a limitation to the technical solution provided by the embodiment of the present invention.
Based on the above application scenario of the navigation system for guiding movement of a medical fluoroscopy device, an embodiment of the navigation system for guiding movement of a medical fluoroscopy device is presented.
As shown in fig. 2, fig. 2 is a schematic diagram of an embodiment of a navigation system for guiding movement of a medical device according to an embodiment of the present application, the navigation system for guiding movement of a medical device comprising:
A first sensor, and
A processor;
The first sensor is used for acquiring first position information of the medical perspective equipment;
the processor is used for calculating a first relative position relation between the medical perspective equipment and the mark according to the first position information and the second position information; the second position information is the position information of the mark, and the mark is used for an operation object placed in the body; the first relative positional relationship is used for guiding a ray emitting device of the medical perspective equipment to move to a target position, and when the ray emitting device is positioned at the target position, the perspective direction of the medical perspective equipment is parallel to the normal vector of the mark.
The navigation system for guiding movement of the medical perspective device in this embodiment includes at least one sensor, where the sensor is a sensing measurement device, the sensor may convert the measured non-electric quantity into an electric quantity or an electric parameter output corresponding to the measured non-electric quantity, which is easy to accurately process, and the kind and number of the sensor are not limited, for example, the sensor is an inertial sensor, an optical sensor or a magnetic positioning sensor. The first sensor in the embodiment of the application is used for acquiring the first position information of the ray emitting device in the medical perspective equipment, and if the first sensor is an inertial sensor, the first position information of the ray emitting device in the medical perspective equipment is obtained through conversion according to a certain rule by detecting the motion change information of the ray emitting device in the medical perspective equipment, for example, the first position information is the coordinate position of the ray emitting device on a preset reference coordinate system.
After the first sensor in the navigation system collects the first position information of the ray emitting device in the medical perspective equipment, the first sensor stores the collected first position information into the memory, or the first sensor directly sends the first position information to the processor so that the processor guides the medical perspective equipment to move and navigate according to the first position information.
After the processor obtains the first position information, the processor obtains second position information, the second position information is marked position information, the mark is arranged in an operation object used for being placed in a body, the body can be a human body or an animal body, the operation object comprises an implant and a non-implant, and the operation object can be an implant, for example: an intramedullary nail; or the object of operation may also be a surgical instrument other than an implant, such as: a guide pin; the second position information may be set according to an application scene of the medical perspective device, for example, the second position information characterizes position information of an operation object such as a steel plate and a screw in a patient, the second position information may be acquired in advance by the first sensor, and the second position information may also be acquired in real time by a second sensor working together with the first sensor.
In this embodiment, the processor performs spatial coordinate system unification on the first position information and the second position information, and calculates the first relative position relationship in real time according to the first position coordinate corresponding to the first position information and the second position coordinate corresponding to the second position information, so as to guide the medical perspective equipment to move, and enable the radiation emitting device to be located at the target position. Specifically, the processor in this embodiment calculates a first relative positional relationship between the medical perspective device and the marker according to the first positional information and the second positional information, including:
And a1, acquiring pre-calibrated reference position information of the first sensor.
A2, calculating first position deviation information between the first position information and the reference position information, and calculating second position deviation information between the second position information and the reference position information;
and a step a3 of calculating a first relative position relation between the medical perspective equipment and the mark according to the first position deviation information and the second position deviation information.
The processor acquires the reference position information of a first sensor calibrated in advance; the processor unifies the first position information and the second position information at the same reference position, specifically, the processor projects the first position information to the reference position information to obtain first projection information, and the processor combines the angle deviation between the first position information and the first projection information and the angle deviation between the first projection information and the reference position information to set the first angle deviation information between the first position information and the reference position information; the processor projects the second position information to the reference position information to obtain second projection information, and the processor combines and sets the angle deviation between the second position information and the second projection information and the angle deviation between the second projection information and the reference position information as second angle deviation information between the second position information and the reference position information.
The processor obtains a first relative position relation between the ray emitting device and the corresponding mark of the operation object in the medical perspective equipment according to the first position deviation information and the second position deviation information, and the processor guides the ray emitting device of the medical perspective equipment to move to the target position according to the first relative position relation so that the perspective direction of the medical perspective equipment is parallel to the normal vector of the mark; in the embodiment, medical staff can conveniently adjust the medical perspective equipment, an ideal perspective direction is obtained rapidly and accurately, and the radiation frequency of a patient is reduced.
Further, in some embodiments of the navigation system of the present application for guiding movement of a medical fluoroscopy device:
The first sensor is sequentially arranged on the operation object and a ray emission device of the medical perspective equipment; the processor is configured to acquire the second position information through the first sensor when the first sensor is disposed on the operation object; when the first sensor is arranged on the ray emitting device, the processor is used for acquiring the first position information through the first sensor; or alternatively, the first and second heat exchangers may be,
The navigation system further comprises a second sensor arranged on the operation object, and the processor is used for acquiring the second position information of the mark through the second sensor.
Specifically, the first sensor in the navigation system of this embodiment may be sequentially and detachably disposed on the operation object and the radiation emitting device of the medical fluoroscopy apparatus in sequence, that is, the first sensor is detachably disposed on the operation object and a mark is disposed on the operation object, when the first sensor is disposed on the operation object, the processor collects second position information of the mark through the first sensor, the first sensor sends the second position information to the processor, and then the first sensor is moved from the operation object to the radiation emitting device of the medical fluoroscopy apparatus, when the first sensor is disposed on the radiation emitting device, the processor collects first position information of the radiation emitting device in the medical fluoroscopy apparatus through the first sensor; in this embodiment, the first sensor is sequentially disposed on the operation object and the radiation emitting device of the medical perspective device, so that the cost of using one sensor is low, the first sensor does not need to be calibrated, and the first relative positional relationship can be obtained by directly processing the first positional information and the second positional information, thereby guiding navigation rapidly and accurately.
Optionally, in this embodiment, the navigation system may further include a second sensor, where the second sensor is detachably disposed on the operation object, and the processor collects second position information of the mark through the second sensor and sends the second position information to the processor.
In this embodiment, the navigation system may include different numbers of sensors, that is, when the position information of the operation object is relatively fixed, the navigation device sets one sensor, and the first sensor is used to collect the first position information and the second position information respectively, so that the hardware cost is reduced; when the position information of the operation object is likely to move relatively, the navigation system is provided with at least two sensors, the processor collects the first position information through the first sensor equipment, and the processor collects the second position information through the second sensor, so that different application scenes are provided with different numbers of sensors, the radiation emitting device of the medical navigation equipment is effectively and accurately aligned with the mark, and the perspective times of a patient are reduced.
Further, in some embodiments of the navigation system for guiding movement of a medical fluoroscopy device of the present application, the navigation system is applied in a navigation scenario of an intramedullary nail implantation: the operation object is an intramedullary nail, a distal locking nail hole marked as an intramedullary nail, and the marked normal vector is consistent with the axis direction of the distal locking nail hole;
The first sensor is arranged on the intramedullary nail; the processor is used for acquiring the position information of the distal lock pin hole on the intramedullary nail through the first sensor as the second position information; or alternatively, the first and second heat exchangers may be,
The second sensor is arranged on the intramedullary nail; the processor is used for acquiring the position information of the distal locking nail hole on the intramedullary nail as the second position information through the second sensor;
Accordingly, when the radiation emitting device is positioned at the target position, the perspective direction of the medical perspective device is parallel to the axial direction of the distal locking hole of the intramedullary nail.
In this embodiment, for an application scenario of distal locking of an intramedullary nail, a processor collects, through a first sensor or a second sensor, position information of a distal locking hole on the intramedullary nail as second position information, and calculates a first relative positional relationship between medical perspective equipment and a marker according to the first position information and the second position information; the first relative positional relationship is used for guiding a ray emitting device of the medical perspective device to move to a target position, and when the ray emitting device is positioned at the target position, the perspective direction of the medical perspective device is parallel to the axial direction of a distal locking hole of the intramedullary nail.
In this embodiment, the processor collects, by using the second sensor, second position information of the distal locking hole on the intramedullary nail, and specifically:
Referring to fig. 3, fig. 3 is a schematic view of a distal locking scene of a proximal intramedullary nail of a femur, which is provided in an embodiment of the present application, taking the distal locking scene of the proximal intramedullary nail of the femur as an example, after a doctor finishes implantation of a main intramedullary nail and fixation of a proximal intramedullary nail, a screw needs to be driven into a distal locking hole to finish firm fixation of the main nail and a femoral shaft; the first sensor in the navigation system is arranged on the C-arm equipment, the second position information is the position information corresponding to the distal locking nail hole of the intramedullary nail, and the first relative position relation is the relative position relation between the perspective direction of the C-arm and the axis of the distal locking nail hole of the intramedullary nail; the processor calculates a first relative position relationship between the medical perspective device and the marker according to the first position information and the second position information; the processor guides the ray emitting device of the medical perspective equipment to move to the target position according to the first relative position relation, and when the ray emitting device is positioned at the target position, the first relative position relation is that the perspective direction of the medical perspective equipment is parallel to the axis direction of the far-end nail locking hole.
In the technical scheme of the embodiment, first position information of a ray emitting device in medical perspective equipment is acquired through a first sensor, second position information of a distal locking nail hole on an intramedullary nail is acquired through the first sensor or a second sensor by the sensor, and perspective equipment adjustment is performed according to a first relative position relation between the two position information; in the prior art, a mechanical fixing frame is used for positioning a distal locking hole, and the accuracy of distal locking based on the mechanical fixing frame in clinic is low due to the reasons of errors in mechanical assembly in the mechanical fixing frame, abrasion in long-term use of the fixing frame, deformation of a main intramedullary nail in a intramedullary cavity due to uneven stress and the like; compared with the prior art, the technical scheme of the embodiment of the application ensures the accuracy of the perspective direction of the medical perspective equipment and realizes the accurate positioning operation of the distal locking nail hole.
Aiming at the problem that the time consumption of the operation is long because the C-arm equipment is difficult to accurately adjust to the expected perspective direction when the distal end of the long nail of the proximal intramedullary nail of the femur is locked, the embodiment comprises the following steps:
Step b1, placing two sensors on the same platform for calibration;
step b2, a first sensor is arranged on a ray emitting device of the C-arm equipment, and first position information of the ray emitting device corresponding to the medical perspective equipment is acquired; setting a second sensor on the intramedullary nail handle to obtain second position information corresponding to a distal locking hole of the intramedullary nail marked by the operation object;
and b3, calculating a first relative position relation between the first position information and the second position information, and adjusting the C-arm until the perspective direction is parallel to the axis of the distal locking hole of the intramedullary nail based on the first relative position relation information.
Wherein step b1 comprises: the first sensor and the second sensor in the navigation system are respectively arranged on the two navigation modules, the first sensor and the second sensor are inertial sensors, the two navigation modules are calibrated on the same platform, and the inertial sensors can be used for measuring the angular deviation of the navigation modules relative to a certain set reference. Referring to fig. 4, fig. 4 is a schematic view showing a state after an inertial sensor sets a reference and moves in a navigation system for guiding movement of a medical perspective device according to an embodiment of the present application; the self coordinate system of the inertial sensor at the reference position is a reference coordinate system psi, and the self coordinate system of the navigation module at the current position after movement is a current coordinate system psi ', so that the inertial sensor in the navigation module can measure the angle deviation information between the three coordinate axes of the current coordinate system psi' and the reference coordinate system psi in real time.
Taking the X-axis angular deviation in the angular deviation information as an example for illustration, as shown in fig. 5, fig. 5 is a schematic diagram of the X-axis deviation of the inertial sensor in the navigation system for guiding the movement of the medical fluoroscopy device according to the embodiment of the present application. Placing the origin of the current coordinate system ψ 'and the reference coordinate system ψ in the same position, the vector OX' representing the X-axis direction of the current coordinate system ψ ', projecting the vector OX' onto the XOY plane of the reference coordinate system ψ with the angle between the projection and the X-axis of the reference coordinate system ψ being α and the angle between the projection and the X-axis of the reference coordinate system ψ being β, the X-axis angle deviation Δ x can be represented by (α, β), that is,
Δx＝(α，β)
The X-axis angular deviation Δ x can be measured and obtained in real time by an inertial sensor within the navigation module, the physical meaning of the deviation is: if the reference coordinate system is rotated by an angle alpha around the Z-axis direction, then rotated by an angle beta around the Y-axis direction of the rotated coordinate system, at this time, the X-axis direction of the coordinate system after two rotations coincides with the X-axis direction of the current coordinate system. The included angles alpha and beta have directionality, namely positive and negative parts, and the positive direction of the angle can be determined by a right-hand rule.
As shown in fig. 6, fig. 6 is a schematic diagram of calibration scenes of a first sensor and a second sensor in a navigation system for guiding movement of medical perspective equipment, which is provided in an embodiment of the present application, two navigation modules are placed on the same platform, references of the two sensors are set, three coordinate axes of the two sensors are parallel to each other, and calibration of the two sensors is completed.
Step b2, comprising:
The method comprises the steps that a first sensor is arranged at a bulb end or an imaging end in a ray emitting device of a C-arm device, so that the perspective direction of medical perspective equipment is parallel to the X-axis direction of a coordinate system of the first sensor, and therefore, according to the fixed position of the first sensor on the C-arm device, the spatial relation of the C-arm perspective direction relative to the coordinate system of the first sensor can be determined, and first position information of the ray emitting device corresponding to the medical perspective equipment is acquired;
After the implantation of the main intramedullary nail and the head intramedullary nail is completed, a second sensor is arranged on the intramedullary nail handle, as shown in fig. 7, fig. 7 is a schematic view of a second sensor arrangement scene in the navigation system for guiding the movement of the medical perspective device provided in the embodiment of the application, and the processor determines the spatial relationship of the axis of the distal locking nail hole relative to the second sensor, that is, according to the fixed position of the second sensor on the handle and the mechanical position relationship between the handle and the main nail, the spatial relationship of the axis direction of the distal locking nail hole relative to the coordinate system of the second sensor can be determined, and the axis direction of the distal locking nail hole shown in fig. 7 is parallel to the X-axis direction of the coordinate system of the second sensor, so as to obtain the second position information corresponding to the distal locking nail hole of the intramedullary nail of the operation object mark.
Step b3 comprises:
Because the first sensor and the second sensor have completed calibration, the two sensors disposed at different positions can respectively measure the X-axis angular deviation Δ x of the current position relative to the reference position, so that the X-axis angular deviation Δ x1 of the first sensor is (α 1,β1), and the X-axis angular deviation Δ x2 of the second sensor is (α 2,β2).
Because the reference set by the first sensor and the second sensor is the same reference, that is, three coordinate axes of the self coordinate systems of the two sensors are parallel to each other when the reference is set, the X-axis angle deviation delta 12 of the first sensor and the second sensor can be calculated in real time according to the respective X-axis angle deviation delta x of the two sensors, and the calculation formula is as follows:
Δ12＝(α1-α2,β1-β2)
The physical meaning of the X-axis angular deviation Δ 12 of the first sensor relative to the second sensor is: rotating the first sensor by an angle alpha 1-α2 around the Z-axis direction of the current coordinate system, then rotating the first sensor by an angle beta 1-β2 around the Y-axis direction of the rotated coordinate system, and overlapping the X-axis direction of the coordinate system of the first sensor and the X-axis direction of the coordinate system of the second sensor after twice rotation; thereby completing the rapid and accurate positioning of the perspective direction of the locking nail hole at the far end of the intramedullary nail.
Further, in some embodiments of the navigation system of the present application for guiding movement of a medical fluoroscopy device:
the processor is further configured to, after obtaining the first relative positional relationship: and generating adjustment prompt information according to the first relative position relation, and sending the adjustment prompt information to at least one of a preset client, a display device of the navigation system and a voice playing device of the navigation system.
The preset client is a preset terminal of medical staff, for example, a WiFi or Bluetooth communication module is integrated in each sensor, after the processor calculates a first relative position relation between the first sensor and the second sensor, the processor generates adjustment prompt information containing the first relative position relation and sends the adjustment prompt information to the preset terminal corresponding to the medical staff, and the medical staff can directly adjust the medical perspective equipment without moving the position; in this embodiment, the type and content of the adjustment prompt information are not limited, for example, the adjustment prompt information may be a voice type or a text type.
The display device of the navigation system can be flexibly arranged according to specific scenes, for example, the outer wall of each sensor can be integrated with a display screen, the prompting mode can be direct digital display, and GUI graphics can be drawn and displayed according to the difference value of alpha 1-alpha 2 and beta 1-beta 2.
As shown in fig. 8, fig. 8 is a schematic diagram of a first relative positional relationship in a navigation system for guiding movement of a medical perspective device according to an embodiment of the present application, a center circle shown in fig. 8 represents an X-axis direction of a second sensor, an upper left small circle represents an X-axis direction of a first sensor, a distance between the two circles in a horizontal direction is proportional to α1- α2, and a distance in a vertical direction is proportional to β 1-β2. Adjusting the C-arm based on the relative position relation of the prompt until the perspective direction is parallel to the axis of the distal locking hole of the intramedullary nail; based on the prompted digital information or GUI graphical information, the doctor adjusts the perspective direction of the C-arm device in real time until the values of α 1-α2 and β 1-β2 are both 0, or the upper left corner circle and the center circle in fig. 8 are concentric circles, and the X-axis direction of the first sensor coordinate system is parallel to the X-axis direction of the second sensor coordinate system. In this embodiment, since the X-axis direction of the first sensor coordinate system is always parallel to the perspective direction of the C-arm, and the X-axis direction of the second sensor coordinate system is always parallel to the axis direction of the distal locking hole of the intramedullary nail, when the X-axis direction of the first sensor coordinate system is parallel to the X-axis direction of the second sensor coordinate system, the perspective direction of the C-arm is also parallel to the axis direction of the distal locking hole of the intramedullary nail, thereby completing the rapid and accurate positioning of the perspective direction of the distal locking hole of the intramedullary nail.
The voice playing device of the navigation system is a microphone device, and the navigation system can carry out voice broadcasting on the adjustment prompt information through the microphone, so that the user can conveniently adjust the adjustment prompt information.
In this embodiment, the processor generates the adjustment prompt information according to the first relative positional relationship, and outputs the adjustment prompt information in different manners, so that medical staff can know the adjustment prompt information in time, and the medical perspective equipment can be adjusted quickly.
Further, in some embodiments of the navigation system of the present application for guiding movement of a medical fluoroscopy device:
the processor is further configured to: and driving a ray emitting device of the medical perspective equipment to adjust to the target position according to the first relative position relation.
In this embodiment, the processor obtains an initial first relative position relationship according to the first position information and the second position information, and then the medical staff manually or the medical perspective device automatically moves the ray emitting device of the medical perspective device according to the initial first relative position relationship, the processor judges whether the position of the ray emitting device is adjusted, and a judging standard of whether the adjustment is completed can be set according to a specific scene, for example, if the rest time of the ray emitting device exceeds a set time, the adjustment is judged to be completed, otherwise, if the rest time of the ray emitting device does not exceed the set time, the adjustment is judged to be incomplete; or if the motion acceleration of the ray emitting device is zero, judging that the adjustment is completed, otherwise, judging that the adjustment is not completed if the motion acceleration of the ray emitting device is not zero; after the processor detects that the position of the ray emitting device is adjusted, the processor acquires new first position information of the ray emitting device through the first sensor, acquires updated first relative position relation according to the new first position information and the second position information, and iteratively executes the adjustment steps according to the updated first relative position relation until the perspective direction of medical perspective equipment corresponding to the first position information and the second position information is parallel to the normal vector of the mark, namely, after the navigation system adjusts once in a proximal intramedullary nail distal locking scene of the femur, the updated first relative position relation between the C-arm equipment and a distal nail locking hole is redetermined; if the first relative position relation is that the perspective direction of the C-arm device is not parallel to the axial direction of the distal locking nail hole of the intramedullary nail, generating alignment adjustment prompt information of the C-arm device to continue adjustment; if the first relative position relationship is that the perspective direction of the C-arm device is parallel to the axis direction of the distal locking nail hole of the intramedullary nail, and the radiation emission position of the medical perspective device is determined to reach the target position, an adjustment completion prompt message is generated, and automatic and accurate adjustment of the medical perspective device is realized in the embodiment.
Further, in some embodiments of the navigation system of the present application for guiding movement of a medical fluoroscopy device:
The navigation system further includes:
a third sensor disposed on the implantation tool;
The third sensor is used for acquiring third position information of the implantation tool;
The processor is used for calculating a second relative position relation between the mark and the implantation tool according to the second position information and the third position information, the second relative position relation is used for guiding the implantation tool to move to a target position, and when the implantation tool is positioned at the target position, the drilling direction of the tip of the implantation tool is parallel to the normal vector of the mark.
The navigation system in this embodiment further includes: a third sensor disposed on the implantation tool; the implantation tool can be a surgical instrument tool operated on an operation object by an electric drill and the like, and the third sensor acquires third position information of the implantation tool; the processor calculates a second relative position relation between the operation object corresponding mark and the implantation tool according to the second position information and the third position information, and guides the implantation tool to move to a target position through the second relative position relation, and when the implantation tool is positioned at the target position, the drilling direction of the tip of the implantation tool is parallel to the normal vector of the mark.
As shown in fig. 9, fig. 9 is a schematic diagram of a position of a third sensor in a navigation system for guiding movement of a medical perspective device according to an embodiment of the present application, in this embodiment, the third sensor is provided on an electric drill to assist a user in adjusting a drilling direction in real time to be parallel to a distal locking hole axis of an intramedullary nail, specifically, in this embodiment, after the third sensor and the second sensor are placed on the same platform to complete setting of a positioning reference, the third sensor is fixed on the electric drill, so as to ensure that a rotation axis direction of the electric drill is parallel to an X axis direction of a coordinate system of the third sensor, and after positioning of a position of a drill tip of the electric drill is completed, a doctor can quickly adjust a drilling direction of the electric drill to be parallel to an axis direction of a distal locking hole of the intramedullary nail based on X axis angle deviation information of the third sensor, which is prompted in real time, relative to the second sensor, which is also in a coincident state.
In this embodiment, the third sensor and the second sensor are combined to obtain a second relative position relationship between the operation object corresponding mark and the implantation tool, and the implantation tool is guided to move to the target position according to the second relative position relationship, when the implantation tool is located at the target position, the drilling direction of the tip of the implantation tool is parallel to the axis direction of the mark, so that the medical staff can quickly adjust the direction of the electric drill to the expected position.
The embodiment of the application also provides a navigation system for guiding the medical perspective equipment to move, which comprises:
The first sensor is provided with a first sensor,
A second sensor, and
A processor;
The first sensor is used for acquiring first position information of the medical perspective equipment;
The second sensor is used for collecting second position information of the target perspective part; the target perspective comprises: at least one of femur, shoulder joint, cervical vertebra, spine, pelvic bone, and ankle;
The processor is used for calculating a third relative position relation between the medical perspective equipment and the target perspective part according to the first position information and the second position information; the third relative position relationship is used for guiding a ray emitting device of the medical perspective device to move to a target position, and when the ray emitting device is located at the target position, the perspective direction of the medical perspective device is parallel to the normal vector of the target perspective part.
Specifically, the navigation system in this embodiment includes: a first sensor, a second sensor, and a processor; the first sensor is used for acquiring first position information of the medical perspective equipment; the second sensor is used for collecting second position information of the target perspective part; wherein, the target perspective part includes: at least one of femur, shoulder joint, cervical vertebra, spine, pelvic bone, and ankle;
The processor calculates a third relative position relationship between the medical perspective device and the target perspective part according to the first position information and the second position information; the third relative positional relationship is used for guiding a ray emitting device of the medical perspective equipment to move to a target position, and when the ray emitting device is positioned at the target position, the perspective direction of the medical perspective equipment is parallel to the normal vector of the target perspective part.
That is, in this embodiment, by setting the first sensor on the C-arm device, and setting the second sensor on the target perspective part, real-time guidance of the C-arm perspective direction is achieved, so that the medical staff can quickly adjust the C-arm perspective direction to an ideal position based on the guidance information, thereby saving operation time, reducing X-ray radiation amounts of the patient and the medical staff while reducing the perspective times, and improving the overall quality and efficiency of the operation.
The embodiment can be applied to the following situations besides the positioning of the distal locking hole of the intramedullary nail:
in the internal fixation operation of the proximal intramedullary nail of the femur, the C-arm perspective direction is assisted to be adjusted to be parallel to the axial direction of the head intramedullary nail, and is used for confirming whether the head intramedullary nail is positioned at the middle position of the femoral neck;
in the shoulder joint related operation, the auxiliary adjustment C arm is used for shooting a chest-penetrating perspective image of a patient;
In the cervical vertebra related operation, the auxiliary adjustment C arm is used for shooting a perspective image of the opening position of a patient and observing cervical vertebra segments of the patient C1 and C2;
in the process of implanting the vertebral pedicle screw of the spine, the C-arm perspective direction is assisted to be adjusted to be parallel to the axis of the guide needle or the axis direction of the vertebral pedicle, and is used for confirming whether the guide needle is positioned at the central position in the vertebral pedicle;
in the spine intervertebral fusion operation, the C-arm perspective direction is regulated in parallel to the intervertebral space in an auxiliary way, and is used for confirming whether the intervertebral disc is cleaned up and completely;
In the operation related to pelvis fracture, after the fixing needle of the external fixing frame is fixed, the C-arm perspective direction is regulated in an auxiliary way to be parallel to the ilium section for confirming that the fixing needle is positioned in ilium; the C arm can be regulated in an auxiliary way to be used for shooting an outlet position perspective image of the pelvis and determining the screw position of a fixed steel plate or the driving position of a sacroiliac screw; the C arm can be regulated in an auxiliary way to be used for shooting double-oblique perspective images and checking the position of the rear edge steel plate of the ilium joint and the depth of the screw; the C-arm perspective direction can be regulated to various inclined positions in an auxiliary manner, and the C-arm perspective direction is used for observing the position and depth of the channel screw;
In ankle fracture surgery, the auxiliary adjustment C-arm is used for shooting perspective images of ankle points of a patient and checking joint gaps; the C arm can be regulated in an auxiliary way to be used for shooting axial perspective images of calcaneus and determining the long-axis morphology of the calcaneus; the C-arm perspective direction can be regulated in an auxiliary way to be parallel to the rear joint surface of the calcaneus for determining whether the joint surface is flat or not; the C-arm can be regulated in an auxiliary way to shoot an axial perspective image of the navicular bone and be used for checking fracture conditions.
It can be understood that the application scenario of the present application is not limited to the orthopedic operation, but can be extended to any scenario in which the adjustment of the C-arm or other medical perspective device is required to find a specific angle, for example, in most orthopedic operations, the auxiliary adjustment of the C-arm is used to capture a standard orthographic or a standard lateral slice of the patient, that is, the perspective direction is strictly perpendicular to the coronal or sagittal plane of the patient; if the feet of the patient are seen through, the C-arm see-through direction can be adjusted in an auxiliary way to be perpendicular to the foot surface of the patient; in the internal fixation operation of the proximal intramedullary nail of the femur, the C-arm perspective direction is assisted to be adjusted to be parallel to the axial direction of the head intramedullary nail, and is used for confirming whether the head intramedullary nail is positioned at the middle position of the femoral neck; according to the technical scheme, the medical perspective equipment guiding navigation under different medical application scenes is realized.
The embodiment of the application also provides medical perspective equipment, as shown in fig. 10, fig. 10 is a flow chart of a navigation method for guiding the medical perspective equipment to move, which is provided in the embodiment of the application.
Step 101, acquiring first position information of the medical perspective equipment through a first sensor;
Step 102, calculating a first relative position relation between the medical perspective equipment and the mark according to the first position information and the second position information; the second position information is the position information of the mark, and the mark is arranged on an operation object used for being put into a body; the first relative positional relationship is used for guiding a ray emitting device of the medical perspective equipment to move to a target position, and when the ray emitting device is positioned at the target position, the perspective direction of the medical perspective equipment is parallel to the normal vector of the mark.
According to the navigation method for guiding the medical perspective equipment to move, the first position information of the medical perspective equipment is acquired through the first sensor, the first relative position relation between the medical perspective equipment and the corresponding mark of the operation object is determined, the ray emitting device of the medical perspective equipment is guided to move to the target position according to the first relative position relation, and the medical perspective equipment is accurately and quickly adjusted, so that an ideal perspective direction is obtained, and the radiation times of a patient are reduced.
The embodiment of the application also provides medical perspective equipment, as shown in fig. 11, and fig. 11 is a schematic structural diagram of one embodiment of the medical perspective equipment provided in the embodiment of the application.
The medical perspective device integrates any navigation device for guiding the medical perspective device to move, and the medical perspective device comprises:
One or more processors;
A memory; and
One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to perform the steps of the navigation method for guiding movement of a medical device described in any of the navigation method embodiments for guiding movement of a medical device described above.
Specifically, the present invention relates to a method for manufacturing a semiconductor device. The medical perspective device may include one or more processor cores 201, one or more computer storage media memory 202, a power supply 203, and an input unit 204, among other components. It will be appreciated by those skilled in the art that the configuration of the medical device shown in fig. 11 is not limiting of the medical device and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components. Wherein:
The processor 201 is the control center of the medical device, connects the various parts of the entire medical device using various interfaces and lines, and performs various functions and processes of the medical device by running or executing software programs and/or modules stored in the memory 202, and recalling data stored in the memory 202, thereby performing overall monitoring of the medical device. Optionally, processor 201 may include one or more processing cores; preferably, the processor 201 may integrate an application processor that primarily handles performance tuning systems, user interfaces, applications, etc., with a modem processor that primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 201.
The memory 202 may be used to store software programs and modules, and the processor 201 executes various functional applications and data processing by executing the software programs and modules stored in the memory 202. The memory 202 may mainly include a storage program area and a storage data area, wherein the storage program area may store a performance adjustment system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data created from the use of the medical fluoroscopy device, etc. In addition, memory 202 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 202 may also include a memory controller to provide access to the memory 202 by the processor 201.
The medical fluoroscopy device further comprises a power supply 203 for powering the various components, preferably the power supply 203 may be logically connected to the processor 201 by a power management system, whereby the functions of managing charging, discharging, and power consumption are performed by the power management system. The power supply 203 may also include one or more of any of a direct current or alternating current power supply, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.
The medical fluoroscopy device may further comprise an input unit 204, which input unit 204 may be used for receiving entered numerical or character information and for generating keyboard, mouse, joystick, optical or trackball signal inputs in connection with user settings and function control.
Although not shown, the medical fluoroscopy device may further comprise a display unit or the like, which is not described in detail herein. In particular, in this embodiment, the processor 201 in the medical perspective device loads executable files corresponding to the processes of one or more application programs into the memory 202 according to the following instructions, and the processor 201 executes the application programs stored in the memory 202, so as to implement various functions as follows:
Acquiring first position information of the medical perspective device;
Calculating a first relative positional relationship between the medical fluoroscopy device and the marker according to the first positional information and the second positional information; the second position information is the position information of the mark, and the mark is arranged on an operation object used for being put into a body; the first relative positional relationship is used for guiding a ray emitting device in the medical perspective equipment to move to a target position, and when the ray emitting device is positioned at the target position, the perspective direction of the medical perspective equipment is parallel to the normal vector of the mark.
Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods of the above embodiments may be implemented by instructions, or by instruction control related hardware, that may be stored on a computer storage medium and loaded and executed by a processor.
To this end, an embodiment of the present invention provides a computer storage medium, which may include: read-only memory (ROM, readOnlyMemory), random access memory (RAM, randomAccessMemory), magnetic or optical disk, and the like. On which a computer program is stored, which computer program is loaded by a processor for performing the steps of any of the navigation methods for guiding the movement of a medical fluoroscopy device provided by the embodiments of the invention. For example, the loading of the computer program by the processor may perform the steps of:
Acquiring first position information of the medical perspective device;
Calculating a first relative positional relationship between the medical fluoroscopy device and the marker according to the first positional information and the second positional information; the second position information is the position information of the mark, and the mark is arranged on an operation object used for being put into a body; the first relative positional relationship is used for guiding a ray emitting device in the medical perspective equipment to move to a target position, and when the ray emitting device is positioned at the target position, the perspective direction of the medical perspective equipment is parallel to the normal vector of the mark.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and the portions of one embodiment that are not described in detail in the foregoing embodiments may be referred to in the foregoing detailed description of other embodiments, which are not described herein again.
In the implementation, each unit or structure may be implemented as an independent entity, or may be implemented as the same entity or several entities in any combination, and the implementation of each unit or structure may be referred to the foregoing method embodiments and will not be repeated herein.
The specific implementation of each operation above may be referred to the previous embodiments, and will not be described herein.
The above description of a navigation method for guiding movement of a medical perspective device provided by the embodiment of the present application has been provided in detail, and specific examples are applied herein to illustrate the principles and embodiments of the present application, and the above description of the embodiments is only for helping to understand the method and core ideas of the present application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present application, the present description should not be construed as limiting the present application.
Claims (10)
1. A navigation system for guiding movement of a medical fluoroscopy device, comprising:
A first sensor, and
A processor;
The first sensor is used for acquiring first position information of the medical perspective equipment;
The processor is used for calculating a first relative position relation between the medical perspective equipment and the mark according to the first position information and the second position information; the second position information is the position information of the mark, and the mark is arranged on an operation object used for being put into a body; the first relative positional relationship is used for guiding a ray emitting device of the medical perspective equipment to move to a target position, and when the ray emitting device is positioned at the target position, the perspective direction of the medical perspective equipment is parallel to the normal vector of the mark.
2. The navigation system of claim 1, wherein the navigation system is configured to,
The first sensor is sequentially arranged on the operation object and a ray emission device of the medical perspective equipment; the processor is configured to acquire the second position information through the first sensor when the first sensor is disposed on the operation object; when the first sensor is arranged on the ray emitting device, the processor is used for acquiring the first position information through the first sensor; or alternatively, the first and second heat exchangers may be,
The navigation system further comprises a second sensor arranged on the operation object, and the processor is used for acquiring the second position information of the mark through the second sensor.
3. The navigation system of claim 2, wherein the object is an intramedullary nail, the marker is a distal locking nail hole of the intramedullary nail, and a normal vector of the marker is consistent with an axial direction of the distal locking nail hole;
The first sensor is arranged on the intramedullary nail; the processor is used for acquiring the position information of the distal lock pin hole on the intramedullary nail through the first sensor as the second position information; or alternatively, the first and second heat exchangers may be,
The second sensor is arranged on the intramedullary nail; the processor is used for acquiring the position information of the distal lock pin hole on the intramedullary nail through the second sensor as the second position information;
Accordingly, when the radiation emitting device is positioned at the target position, the perspective direction of the medical perspective device is parallel to the axial direction of the distal locking hole of the intramedullary nail.
4. The navigation system of claim 1, wherein the navigation system further comprises:
a third sensor disposed on the implantation tool;
The third sensor is used for acquiring third position information of the implantation tool;
The processor is used for calculating a second relative position relation between the mark and the implantation tool according to the second position information and the third position information, the second relative position relation is used for guiding the implantation tool to move to a target position, and when the implantation tool is positioned at the target position, the drilling direction of the tip of the implantation tool is parallel to the normal vector of the mark.
5. The navigation system of claim 1, wherein the processor is further configured to:
Generating adjustment prompt information according to the first relative position relation, and sending the adjustment prompt information to at least one of a preset client, a display device of the navigation system and a voice playing device of the navigation system; and/or the number of the groups of groups,
And driving a ray emitting device of the medical perspective equipment to adjust to the target position according to the first relative position relation.
6. The navigation system of any of claims 1-5, wherein the processor is further configured to:
acquiring pre-calibrated reference position information of the first sensor;
calculating first position deviation information between the first position information and the reference position information, and calculating second position deviation information between the second position information and the reference position information;
And calculating a first relative position relationship between the medical perspective equipment and the mark according to the first position deviation information and the second position deviation information.
7. A navigation system for guiding movement of a medical fluoroscopy device, the navigation system comprising:
The first sensor is provided with a first sensor,
A second sensor, and
A processor;
The first sensor is used for acquiring first position information of the medical perspective equipment;
The second sensor is used for collecting second position information of the target perspective part; the target perspective comprises: at least one of femur, shoulder joint, cervical vertebra, spine, pelvic bone, and ankle;
The processor is used for calculating a third relative position relation between the medical perspective equipment and the target perspective part according to the first position information and the second position information; the third relative position relationship is used for guiding a ray emitting device of the medical perspective device to move to a target position, and when the ray emitting device is located at the target position, the perspective direction of the medical perspective device is parallel to the normal vector of the target perspective part.
8. A navigation method for guiding movement of a medical fluoroscopy device, the navigation method comprising:
Acquiring first position information of the medical perspective device;
Calculating a first relative positional relationship between the medical fluoroscopy device and the marker according to the first positional information and the second positional information; the second position information is the position information of the mark, and the mark is arranged on an operation object used for being put into a body; the first relative positional relationship is used for guiding a ray emitting device in the medical perspective equipment to move to a target position, and when the ray emitting device is positioned at the target position, the perspective direction of the medical perspective equipment is parallel to the normal vector of the mark.
9. A medical fluoroscopy device, characterized in that it comprises a navigation system according to any one of claims 1-7.
10. A computer storage medium, characterized in that it has stored thereon a computer program stored in a navigation system according to any of claims 1-7, said computer storage medium being loaded by a processor in said navigation system for guiding movement of a medical fluoroscopy device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211364192.5A CN117982159A (en) | 2022-11-02 | 2022-11-02 | Navigation system, method, medical fluoroscopy device and computer storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211364192.5A CN117982159A (en) | 2022-11-02 | 2022-11-02 | Navigation system, method, medical fluoroscopy device and computer storage medium |
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| CN202211364192.5A Pending CN117982159A (en) | 2022-11-02 | 2022-11-02 | Navigation system, method, medical fluoroscopy device and computer storage medium |
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