CN201353203Y - Computer aided surgery intraoperative positioning system - Google Patents
Computer aided surgery intraoperative positioning system Download PDFInfo
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- CN201353203Y CN201353203Y CNU2009200051313U CN200920005131U CN201353203Y CN 201353203 Y CN201353203 Y CN 201353203Y CN U2009200051313 U CNU2009200051313 U CN U2009200051313U CN 200920005131 U CN200920005131 U CN 200920005131U CN 201353203 Y CN201353203 Y CN 201353203Y
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Abstract
The utility model discloses a computer aided surgery intraoperative positioning system, which comprises a three-dimensional image processing and reconstruction unit, a spatial position acquisition unit and a position processing and displaying unit. The three-dimensional image processing and reconstruction unit is used for superposing corresponding human anatomy diagrams on medical images of patients so as to construct three-dimensional medical images capable of displaying various function areas. The spatial position acquisition unit arranged on an operation instrument is used for acquiring spatial position information of the operation instrument and transmitting the information to the position processing and displaying unit. The position processing and displaying unit is used for receiving the spatial position information of the operation instrument transmitted by the spatial position acquisition unit, calculating the spatial position of the operation instrument according to the spatial position information, and then converting the spatial position via a coordinate system so as to lead the spatial position to be consistent with the coordinate system of the medical images of the patients, thereby displaying the operation instrument on the three-dimensional medical images with various function areas.
Description
Technical field
This utility model relates to a kind of Medical Instruments, particularly relates to navigation system in a kind of computer assisted surgery art that is applied to use in the operation processs such as neurosurgery, orthopaedics, department of otorhinolaryngology and plastic surgery.
Background technology
As everyone knows, the success rate of medical operating, the length of operation process, the generation of post-operative complication and rehabilitation, except the technology with the doctor who implements operation have direct related, also inseparable with the Medical Instruments of using in the operation process.Operative doctor is familiar with anatomical structure very much simultaneously can determine accurately that the position of apparatus in the art then is the basic demand that success undergos surgery, yet the accurate location in the art is not easy to realize.Especially in fields such as neurosurgery, orthopaedics, department of otorhinolaryngology and plastic surgery, advanced Medical Instruments then can become and improve success rate of operation and reduce one of key factor of surgical errors.
At present, operation at fields such as neurosurgery, orthopaedics, department of otorhinolaryngology and plastic surgery, it generally is the medical image that will before art, obtain operative site, as by computed tomography (computed tomography, be called for short CT) scanner, utilize the X line that a certain scope of human body is carried out successively transverse scan, obtain information, machine is handled the back and is obtained the image rebuild as calculated.The image that obtains is the cross-section internal anatomy of human body, and can obtain three-dimensional reconstructed image by Computer Processing, perhaps adopt nuclear magnetic resonance, NMR (nuclear magnetic resonance imaging is called for short MRI) technology, utilize nmr phenomena to obtain the structural information of inside of human body.The medical image that obtains by above-mentioned means can be well understood to the structure of operative site, based on this for patient makes a definite diagnosis, and carries out surgical planning, provides solid foundation for implementing to perform the operation.During operation, the doctor is placed on these medical images on the other lamp box of operation table, undergos surgery with reference to this image.
But, because organization of human body is very complicated, the medical image that obtains by CT and MRI only can provide reference for operation, especially in operation process, after operating theater instruments entered human body, tissue, nerve and vascularity were intricate, and static image can not reflect these membership credentials well, this just makes that operation still will depend on doctor's experience to a great extent, thereby makes that the danger of operation is still very big.
In order to make complicated operation become simple and safety, the doctor of neurosurgery has at first proposed the localized notion of art neutral body, that is to say, similar to the principle of GPS (GPS), in operation process, follow the tracks of the operating theater instruments of being demarcated, and the three-dimensional position of operating theater instruments is presented on the medical image before patient's art, make operative doctor can be intuitively on patient's medical image and three-dimensional reconstruction image, observe the position of operating theater instruments.This will improve the accuracy of operation greatly, reduce operating difficulty simultaneously.
But still there is following problem at present in this method:
The one, is because the complexity of organization of human body, 3-dimensional image after the reconstruction has characteristics such as being difficult for debating knowledge, readable difference, the organization of human body that shows for this 3-dimensional image, needing the doctor to have certain rich experience offers an explanation, this makes when using 3-dimensional image to undergo surgery, the doctor will offer an explanation constantly what the organization of human body that shows in the 3-dimensional image is, this moment operating theater instruments at human body where, thereby can not be primarily focused on patient's operation is implemented.This not only makes operating time prolong, and makes the success or not of operation mainly be decided by the doctor;
The 2nd, is when utilizing the three-dimensional reconstruction image to undergo surgery, how the doctor can identify in operation process is distributed with important blood vessels and neural important and dangerous zone, and can only rely on the experience of operative doctor at present, also there is not science and accurate means is distinguished.
The utility model content
At the deficiencies in the prior art, the technical problems to be solved in the utility model is, navigation system in a kind of computer assisted surgery art is provided, be used to obtain to reflect accurately, truly the 3-dimensional image of human body structure, and can identify the important and dangerous zone that is distributed with important blood vessels and nerve, in operation process, give the doctor suitable prompting.
For solving the problems of the technologies described above, this utility model provides navigation system in a kind of computer assisted surgery art, comprising:
3-dimensional image is handled and reconstruction unit, is used for the corresponding Human Physiology anatomical atlas of stack on patient's medical image, thereby sets up out the 3 D medical image that can show various functional areas;
The locus collecting unit is arranged on the operating theater instruments, is used to gather the spatial positional information of operating theater instruments, and sends to localization process and display unit;
Localization process and display unit, be used to receive the spatial positional information of the operating theater instruments that described locus collecting unit sends, calculate the locus of operating theater instruments according to this spatial positional information, pass through the conversion of coordinate system again, make it consistent, have on the 3 D medical image that shows various functional areas thereby operating theater instruments is presented at the coordinate system of patient's medical image.
This utility model can dynamically show the three-dimensional position of operating theater instruments in differences in patient in art, and can show that the art Yezhong is difficult for the anatomical structure of differentiating, make the doctor can avoid important blood vessels and neuromechanism in the operative approach exactly, thereby guarantee the safety of accurate location and operation, make surgical operation more accurate, safer.
This utility model has changed traditional surgical operation pattern, and the patient who still receives operation for the doctor who implements operation has brought great benefit: promptly, can determine operative approach before art, the sham operated process; Can reduce operative incision between art, reduce blood loss, shorten operating time; Postoperative can lower the generation of complication, shortens the hospital stays, reduces the operation cost, has enlarged the scope of operative treatment, has improved the degree of accuracy of routine operation treatment, and what is more important makes the operation of some complexity operation easily that becomes.
Below in conjunction with the drawings and specific embodiments this technical solution of the utility model is described in detail.
Description of drawings
Fig. 1 is a theory structure block diagram of the present utility model;
Fig. 2 is the structured flowchart of this utility model one embodiment.
The specific embodiment
Referring to Fig. 1, be theory structure block diagram of the present utility model.The utility model discloses navigation system in a kind of computer assisted surgery art, comprise: 3-dimensional image is handled and reconstruction unit 1, locus collecting unit 2 and localization process and display unit 3, wherein, described 3-dimensional image is handled and reconstruction unit 1 is used for the corresponding Human Physiology anatomical atlas of stack on patient's medical image, thereby sets up out the 3 D medical image that can show various functional areas; Described locus collecting unit 2 is arranged on the operating theater instruments, is used to gather the spatial positional information of operating theater instruments, and sends to localization process and display unit 3; Localization process and display unit 3 are used to receive the spatial positional information of the operating theater instruments that described locus collecting unit sends, calculate the locus of operating theater instruments according to this spatial positional information, pass through the conversion of coordinate system again, make it consistent, have on the 3 D medical image that shows various functional areas thereby operating theater instruments is presented at the coordinate system of patient's medical image.
For launch explanation at principle shown in Figure 1, be example with the structured flowchart of embodiment shown in Figure 2.
3-dimensional image is handled and reconstruction unit 1 comprises fusant unit 11, the 3 D medical image is created subelement 12, dangerous data acquisition subelement 13 and deathtrap labelling subelement 14, wherein, fusant unit 11 utilizes interpolation method, the anatomical features point of patient's medical image and Human Physiology anatomical atlas is interrelated, and related information is sent to the 3 D medical image create subelement 12.
The 3 D medical image is created subelement 12 and is read patient's medical image, Human Physiology anatomical atlas, and the related information of the anatomical features point of patient's medical image that sends in conjunction with fusant unit 11 and Human Physiology anatomical atlas, set up out the 3 D medical image that can show various functional areas, and this 3 D medical image is shown by display unit 33.
Wherein, patient's medical image comprises CT, MRI or PET Scan (positron emissiontomography scan, the scanning of positron emission layer), fMRI (functional magneticresonance imaging, and be stored as and supply machine-readable e-file 5 functional magnetic resonance imaging) or the like.
Described Human Physiology anatomical atlas can be unified to be stored in the human body dissect physiology spectrum data storehouse 5, when 3 D medical image establishment subelement 12 needs to use, can send a request to this data base, from this data base, call needed Human Physiology anatomical atlas data.Also can be directly artificially the collection of illustrative plates of needs be inputed to the 3 D medical image and create subelement 12.
In the present embodiment, for the Human Physiology anatomical atlas is associated with on patient's medical image, thereby finally on the 3-dimensional image of being set up, demonstrate each functional areas, adopted an independent unit, it is fusant unit 11, but those of ordinary skill in the art should be understood that also can create this fusant unit 11 and 3 D medical image subelement 12 synthetic processing units.
3-dimensional image is handled and reconstruction unit 1 also comprises a dangerous data acquisition subelement 13, according to patient's medical image 4, gather every physiological data, as bigger blood vessel, nerve etc., described every physiological data is stored for described deathtrap labelling subelement 14 in the use that makes marks of described 3 D medical image.
The data that labelling subelement Unit 14, deathtrap are gathered according to dangerous data acquisition subelement 13 make a mark on described 3 D medical image, so that the deathtrap to be shown, and as the where is it trunk, the nerve that where is it is important etc.
Described locus collecting unit 2 comprises witch ball 21 and far infrared digital camera 22, wherein, witch ball 21 witch balls are positioned on the operating theater instruments, be used to gather the locus of operating theater instruments, and this spatial positional information sent to described far infrared digital camera 22, described far infrared digital camera 22 sends the spatial positional information of its operating theater instruments that receives to localization process and display unit 3.
Localization process and display unit 3 comprise date processing subelement 31, information early warning processing subelement 32 and demonstration subelement 33, wherein,
The spatial positional information of the operating theater instruments that described date processing subelement 31 reception far infrared digital cameras 22 send, calculate the locus of operating theater instruments according to this spatial positional information, carry out the conversion of coordinate system again, make it consistent, and in showing subelement 33, show with the coordinate system of patient's medical image;
Described information early warning is handled operating theater instruments position on 32 pairs of 3 D medical images of subelement and the mark position of deathtrap compares, if described operating theater instruments near the deathtrap or be positioned within the deathtrap, is then sent early warning information.Described early warning information can adopt any form to be transferred to the doctor, as sound, light, voice etc.
This utility model is presented at the functional area of this anatomical structure in the Human Physiology anatomical atlas on the 3 D medical image, can be so that operative doctor can carry out accurate surgical planning, to reduce the damage to normal function of organization.
In addition, be provided with the automatic early-warning processing unit in this utility model in this navigation system, in operation process, once special track and localization operating theater instruments enters dangerous zone, system will give the alarm operative doctor is reminded.
Mechanism of action: the automatic early-warning system mainly integrates the medical image before the art to rely on, and the important vessel neuromechanism is stored in the data base.When locating in the art, in case be decided to be it near these zones (as 1 centimetre), system's prompting that then gives the alarm, operative doctor then can decide operative approach according to prompting.The height of early warning degree can be come as the case may be to determine by operative doctor.
In order to carry out early warning exactly, can determine which is the dangerous zone that needs early warning by labelling is set on 3-dimensional image, this labelling can be provided with automatically by system, also can manually be provided with by the doctor, when being provided with automatically,, gather every physiological data by the medical image of system according to patient, and, labelling is set on 3-dimensional image according to the importance of this physiological data.
And,, can they be set to a plurality of grades according to the danger of these physiological datas to human body, as required, selection need be provided with the grade of labelling, and after choosing, the deathtrap labelling subelement in the system makes a mark at described 3 D medical image according to the grade of choosing.
Need to prove at last; above embodiment is only unrestricted in order to explanation this utility model; although this utility model is had been described in detail with reference to preferred embodiment; but those of ordinary skill in the art is to be understood that; the modification of under the prerequisite that does not break away from this utility model scope this utility model being carried out or be equal to replacement all should belong within the protection domain of this utility model claim.
Claims (9)
1. navigation system in the computer assisted surgery art is characterized in that, comprising:
3-dimensional image is handled and reconstruction unit, is used for the corresponding Human Physiology anatomical atlas of stack on patient's medical image, thereby sets up out the 3 D medical image that can show various functional areas;
The locus collecting unit is arranged on the operating theater instruments, is used to gather the spatial positional information of operating theater instruments, and sends to localization process and display unit;
Localization process and display unit, be used to receive the spatial positional information of the operating theater instruments that described locus collecting unit sends, calculate the locus of operating theater instruments according to this spatial positional information, pass through the conversion of coordinate system again, make it consistent, have on the 3 D medical image that shows various functional areas thereby operating theater instruments is presented at the coordinate system of patient's medical image.
2. navigation system in the computer assisted surgery art according to claim 1 is characterized in that, also comprises Human Physiology anatomical atlas data base, is used to store various Human Physiology anatomical atlas, handles and the reconstruction unit use for described 3-dimensional image.
3. navigation system in the computer assisted surgery art according to claim 1 is characterized in that, described 3-dimensional image is handled and reconstruction unit also comprises dangerous data acquisition subelement, according to patient's medical image, gathers every physiological data.
4. navigation system in the computer assisted surgery art according to claim 3 is characterized in that, described 3-dimensional image is handled and reconstruction unit comprises 3 D medical image establishment subelement and deathtrap labelling subelement, wherein,
Described 3 D medical image is created subelement and is used for setting up out the 3 D medical image that can show various functional areas according to patient's medical image and corresponding Human Physiology anatomical atlas;
Described deathtrap labelling subelement is used for the physiological data gathered according to described dangerous data acquisition subelement, makes on described 3 D medical image to labelling that should physiological data, so that the deathtrap to be shown.
5. according to navigation system in claim 1 or the 4 described computer assisted surgery arts, it is characterized in that described localization process and display unit comprise date processing subelement, information early warning processing subelement and demonstration subelement, wherein,
Described date processing subelement receives the spatial positional information of the operating theater instruments that described locus collecting unit sends, calculate the locus of operating theater instruments according to this spatial positional information, carry out the conversion of coordinate system again, make it consistent with the coordinate system of patient's medical image;
Described demonstration subelement shows the above-mentioned 3 D medical image that having of operating theater instruments shows various functional areas that has;
Described information early warning is handled subelement to the operating theater instruments position on the 3 D medical image with represent the position of the data of deathtrap to compare, if described operating theater instruments near the deathtrap or be positioned within the deathtrap, is then sent early warning information.
6. navigation system in the computer assisted surgery art according to claim 5, it is characterized in that, described every physiological data is divided into a plurality of grades according to the danger to human body, and described deathtrap labelling subelement makes a mark at described 3 D medical image according to the grade of choosing.
7. according to navigation system in claim 1 or the 3 described computer assisted surgery arts, it is characterized in that, described 3-dimensional image is handled and reconstruction unit also comprises and is used for the fusant unit that merges at patient's medical image and Human Physiology anatomical atlas, and described fusant unit is interrelated the anatomical features point of patient's medical image and Human Physiology anatomical atlas.
8. navigation system in the computer assisted surgery art according to claim 1 is characterized in that, described patient's medical image comprises CT, MRI, PET Scan or fMRI.
9. navigation system in the computer assisted surgery art according to claim 1, it is characterized in that, described locus collecting unit comprises witch ball and far infrared digital camera, described witch ball is positioned on the operating theater instruments, be used to gather the locus of operating theater instruments, and this spatial positional information sent to described far infrared digital camera, described far infrared digital camera sends the spatial positional information of its operating theater instruments that receives to localization process and display unit.
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| CNU2009200051313U CN201353203Y (en) | 2009-02-09 | 2009-02-09 | Computer aided surgery intraoperative positioning system |
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| CNU2009200051313U CN201353203Y (en) | 2009-02-09 | 2009-02-09 | Computer aided surgery intraoperative positioning system |
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| CN103040525A (en) * | 2012-12-27 | 2013-04-17 | 深圳先进技术研究院 | Multimode medical imaging surgery navigation method and system |
| CN103228226A (en) * | 2010-12-02 | 2013-07-31 | 奥林巴斯株式会社 | Surgical instrument and surgery support system having said surgical instrument |
| CN103417295A (en) * | 2012-05-17 | 2013-12-04 | 中国科学院深圳先进技术研究院 | Surgical navigation system and surgical navigation method |
| CN104055520A (en) * | 2014-06-11 | 2014-09-24 | 清华大学 | Human organ motion monitoring method and human body navigation system |
| CN106308952A (en) * | 2016-10-27 | 2017-01-11 | 苏州迪凯尔医疗科技有限公司 | Method and device for positioning pulp opening instrument based on navigation technology |
| CN108742876A (en) * | 2018-08-02 | 2018-11-06 | 雅客智慧（北京）科技有限公司 | A kind of operation navigation device |
| CN109009201A (en) * | 2018-08-31 | 2018-12-18 | 北京锐视康科技发展有限公司 | A kind of plate PET finite angle molecular image positioning system and its localization method |
| CN109846561A (en) * | 2018-12-26 | 2019-06-07 | 苏州迪凯尔医疗科技有限公司 | Digitize the method, apparatus and system of root canal preparation |
| WO2019137507A1 (en) * | 2018-01-11 | 2019-07-18 | Shenzhen United Imaging Healthcare Co., Ltd. | Systems and methods for surgical route planning |
| CN110796942A (en) * | 2019-11-19 | 2020-02-14 | 中国医学科学院北京协和医院 | Anatomical map patch, manufacturing method thereof and method for forming human anatomical structure pattern |
| CN113855239A (en) * | 2021-09-24 | 2021-12-31 | 深圳高性能医疗器械国家研究院有限公司 | Guide wire navigation system and method in vascular interventional operation |
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| CN103228226A (en) * | 2010-12-02 | 2013-07-31 | 奥林巴斯株式会社 | Surgical instrument and surgery support system having said surgical instrument |
| CN103228226B (en) * | 2010-12-02 | 2016-08-10 | 奥林巴斯株式会社 | Operating theater instruments and there is the surgical assistant system of this operating theater instruments |
| CN103417295A (en) * | 2012-05-17 | 2013-12-04 | 中国科学院深圳先进技术研究院 | Surgical navigation system and surgical navigation method |
| CN103417295B (en) * | 2012-05-17 | 2015-07-29 | 中国科学院深圳先进技术研究院 | Operation guiding system and operation piloting method |
| CN103040525B (en) * | 2012-12-27 | 2016-08-03 | 深圳先进技术研究院 | A kind of multimode medical image operation piloting method and system |
| CN103040525A (en) * | 2012-12-27 | 2013-04-17 | 深圳先进技术研究院 | Multimode medical imaging surgery navigation method and system |
| US10258413B2 (en) | 2014-06-11 | 2019-04-16 | Tsinghua University | Human organ movement monitoring method, surgical navigation system and computer readable medium |
| CN104055520A (en) * | 2014-06-11 | 2014-09-24 | 清华大学 | Human organ motion monitoring method and human body navigation system |
| CN106308952A (en) * | 2016-10-27 | 2017-01-11 | 苏州迪凯尔医疗科技有限公司 | Method and device for positioning pulp opening instrument based on navigation technology |
| WO2019137507A1 (en) * | 2018-01-11 | 2019-07-18 | Shenzhen United Imaging Healthcare Co., Ltd. | Systems and methods for surgical route planning |
| CN108742876A (en) * | 2018-08-02 | 2018-11-06 | 雅客智慧（北京）科技有限公司 | A kind of operation navigation device |
| CN109009201A (en) * | 2018-08-31 | 2018-12-18 | 北京锐视康科技发展有限公司 | A kind of plate PET finite angle molecular image positioning system and its localization method |
| CN109009201B (en) * | 2018-08-31 | 2023-12-29 | 北京锐视康科技发展有限公司 | Flat PET limited angle sub-image positioning system and positioning method thereof |
| CN109846561A (en) * | 2018-12-26 | 2019-06-07 | 苏州迪凯尔医疗科技有限公司 | Digitize the method, apparatus and system of root canal preparation |
| CN110796942A (en) * | 2019-11-19 | 2020-02-14 | 中国医学科学院北京协和医院 | Anatomical map patch, manufacturing method thereof and method for forming human anatomical structure pattern |
| CN110796942B (en) * | 2019-11-19 | 2021-11-02 | 中国医学科学院北京协和医院 | Anatomical map patch, manufacturing method thereof and method for forming human anatomical structure pattern |
| CN113855239A (en) * | 2021-09-24 | 2021-12-31 | 深圳高性能医疗器械国家研究院有限公司 | Guide wire navigation system and method in vascular interventional operation |
| CN113855239B (en) * | 2021-09-24 | 2023-10-20 | 深圳高性能医疗器械国家研究院有限公司 | Guide wire navigation system and method in vascular intervention operation |
| CN115954096A (en) * | 2023-03-14 | 2023-04-11 | 南京诺源医疗器械有限公司 | Cavity mirror VR imaging system based on image data processing |
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