CN203953815U - Navigation system in the art of assisted surgery - Google Patents
Navigation system in the art of assisted surgery Download PDFInfo
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- CN203953815U CN203953815U CN201420201876.8U CN201420201876U CN203953815U CN 203953815 U CN203953815 U CN 203953815U CN 201420201876 U CN201420201876 U CN 201420201876U CN 203953815 U CN203953815 U CN 203953815U
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- 238000001356 surgical procedure Methods 0.000 title claims abstract description 25
- 239000003550 marker Substances 0.000 claims abstract description 65
- 238000000034 method Methods 0.000 claims abstract description 27
- 238000005481 NMR spectroscopy Methods 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 4
- 238000002372 labelling Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 3
- 230000002490 cerebral effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 206010058046 Post procedural complication Diseases 0.000 description 1
- 208000035965 Postoperative Complications Diseases 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000002594 fluoroscopy Methods 0.000 description 1
- 238000002675 image-guided surgery Methods 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 201000008482 osteoarthritis Diseases 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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Abstract
The utility model discloses navigation system in a kind of art of assisted surgery, comprise preoperative scanning, set up threedimensional model, fix the first coordinate system reference marker and the second coordinate system reference marker, structured light scanner scanning, thick registration and smart registration, and utilize controller and display to complete navigation procedure.Owing to there being thick registration process, 3-D view is very short with the smart registration process of pre-registration region, can greatly shorten surgical navigational and start front registration time.And, utilize two three dimensions to carry out smart registration, the probability that error occurs is extremely low, can obviously improve accuracy rate and the reliability of sick body and threedimensional model registration, thereby improves quality and the success rate of operation.
Description
Technical field
This utility model relates to medical instruments field, particularly relates to navigation system in a kind of art of assisted surgery.
Background technology
In common surgical operation, the bone surgeries such as spinal column, joint and cerebral surgery operation because required precision is high, the reason such as complicated operation, post-operative complication be serious, cause that operating difficulty is large, mortality is high.Epidemiologic data shows, China has at least the department of cerebral surgery needs of patients of 1,000,000 to 1,500,000 osteoarthritis patients, 1,500,000 to 2,000,000 rachiopathy patients, 300,000 to 400,000 examples to carry out operative treatment every year at present.Navigation system provides visual information to doctor in operation process, carries out instrument navigation and monitoring, can greatly improve the success rate of operation.In the process that operation is navigated, in actual operation, instrumentation is still completed by doctor, and therefore this navigation system only plays assosting effect, belongs to the image-guided surgery of passive type.
The ultimate principle of operation guiding system is: the data of patient's sick body of preoperative acquisition is formed to threedimensional model after date processing, when operation, first sick body and described threedimensional model are carried out to registration, in art, utilize navigation position instrument to follow the tracks of the position of operating theater instruments, Xiang doctor, provide virtual operation instrument in the described threedimensional model visual information in threedimensional model, instruct doctor to complete concrete operation technique.
Traditional based on C type arm fluoroscopy images airmanship have that in art, hour of log-on is long, registration accuracy is low, the shortcomings such as radiation damage is large in poor image quality, art; In addition, the second operation air navigation aid by prior implantation navigation label can cause very large misery to patient in early days, has increased the probability infecting simultaneously, is replaced gradually at present.The CT image-guidance system generally adopting at present utilizes infrared technique to carry out following the tracks of in multiple spot registration and art, and wherein the most representative is Stryker operation guiding system.But this navigation system and method are very high to the required precision of multiple spot registration, greatly increased the operation easier of doctor in operation.In clinical operation, doctor is generally reflected in while utilizing this navigation system to carry out multiple spot registration, affected by operate miss and multiple spot method for registering, registration accuracy is very undesirable, and the quantity of information of multiple spot registration data is very limited, thus the probability that not only exists navigation system erroneous judgement to cause operation to fall flat, and navigation system is high to the verification mortality of multiple spot registration, doctor often needs repeatedly to carry out manual multiple spot registration, has extended operating time, has increased operation risk.
Therefore, how improving Maturity and the reliability of Technology of surgery navigation, improve registration accuracy and registration efficiency, is those skilled in the art's guardian technique problems in the urgent need to address at present.
Utility model content
The purpose of this utility model is to provide navigation system in a kind of art of assisted surgery, and this navigation system can improve accuracy rate and the reliability of navigating in art effectively, shortens the registration time, thereby improves quality and the success rate of operation.
For realizing above-mentioned utility model object, this utility model provides navigation system in a kind of art of assisted surgery, comprising:
Threedimensional model image, is obtained after the three-dimensional data of operative site is also rebuild and is obtained by medical image instrument, comprises pre-registration region and the first registration point group of being located at described pre-registration region;
The first coordinate system reference marker, is fixedly connected on sick body, for determining the station-keeping data of described sick body and the first coordinate system;
The second coordinate system reference marker, be fixedly connected in operating theater instruments, for determining the station-keeping data of described operating theater instruments and described the second coordinate system, described operating theater instruments is chosen the characteristic point of the second registration point group on described sick body, and with the characteristic point of described the first registration point group thick registration one by one;
Navigation position instrument, for following the tracks of described the first coordinate system reference marker and described the second coordinate system reference marker;
Structured light scanner, for scanning described sick body and described the first coordinate system reference marker, and obtains 3-D view, and this 3-D view and described pre-registration region are carried out smart registration;
Controller, the image result of obtaining for receiving described medical image instrument and described structured light scanner, utilizes threedimensional model, described the first coordinate system reference marker and described the second coordinate system reference marker to calculate described thick registration and smart registration process;
Display, for showing described threedimensional model, described sick body, described the first coordinate system reference marker, described the second coordinate system reference marker and described operating theater instruments, completes in art and navigates.
When preferably, described structured light scanner and described navigation position instrument start registration, be located at the homonymy of described the first coordinate system reference marker.
Preferably, described structured light scanner and described navigation position instrument are installed on same integrated support, and all hinged with described integrated support.
Preferably, described medical image instrument is CT machine or nuclear magnetic resonance machine.
Preferably, described the first coordinate system reference marker and described the second coordinate system reference marker are made by passive reflectorized material.
Preferably, described the first coordinate system reference marker and described the second coordinate system reference marker are the spherical or plane labelling being fixed on support.
Navigation system in art provided by the utility model, for assisted surgery, navigates for medical worker completes surgical operation.This navigation system comprises preoperative sick body scanning in use, obtain and treat the three-dimensional data of operative site and be redeveloped into threedimensional model, and determine the first registration point group (comprise and be no less than three characteristic points) in pre-registration region and described pre-registration region on described threedimensional model; On sick body, be fixedly connected with the first coordinate system reference marker, utilize structured light scanner to scan described sick body and described the first coordinate system reference marker, and scanning result is formed to 3-D view flow to controller; Utilize navigation position instrument scanning with the operating theater instruments of the second coordinate system reference marker, it is carried out to the demarcation of space coordinates position; By described operating theater instruments, on described sick body, find successively the second registration point group, after utilizing navigation position instrument scanning, the characteristic point of the characteristic point of described the second registration point group and described the first registration point group is carried out to thick registration one by one, and thick registration results is flowed to described controller; Controller by described 3-D view and described pre-registration region essence registration, is determined the accurate locus mapping relations between described sick body and described threedimensional model according to thick registration results; The exact position that utilizes navigation scanner to follow the tracks of described the first coordinate system reference marker and described the second coordinate system reference marker, and on the display being connected with described controller, show relative position and the mutual relation of the corresponding virtual operation instrument of described operating theater instruments in threedimensional model, realize in art and navigating.In above-mentioned navigation procedure, the pre-registration region of threedimensional model has corresponding with it entity area on sick body, the characteristic point of the first registration point group has corresponding with it substance feature point on sick body, while utilizing described operating theater instruments to find the second registration point group on sick body and do not require accurate aligning, slightly mate with the corresponding point of the first registration point group, roughly determine with threedimensional model in the mutual alignment of the first registration point.Utilize structured light scanner scanning sick body to obtain the 3-D view of the entity area corresponding with pre-registration region, this 3-D view and pre-registration region are carried out to smart registration, owing to there being the thick registration results of the first registration point group and the second registration point group, and utilizing controller automatically to calculate, 3-D view is very short with the time of the smart registration of pre-registration region.And, utilize two three dimensions to carry out smart registration, the probability that registration erroneous judgement occurs is extremely low, can obviously improve accuracy rate and the reliability of the threedimensional model registration in sick body and controller, thereby improves quality and the success rate of operation.
Accompanying drawing explanation
The use flow chart of a kind of specific embodiment of navigation system in the art that Fig. 1 is assisted surgery that this utility model provides;
The work schematic diagram of a kind of specific embodiment of navigation system in the art that Fig. 2 is assisted surgery that this utility model provides;
Comprising: structured light scanner 1, navigation position instrument 2, controller 3, the first coordinate system reference marker 4, the second coordinate system reference marker 5, display 6, sick body 7.
The specific embodiment
Core of the present utility model is to provide navigation system in a kind of art of assisted surgery, and this navigation system can effectively improve accuracy rate and the reliability of navigating in art, shortens the registration time, thereby improves quality and the success rate of operation.
In order to make those skilled in the art person understand better this utility model scheme, below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Please refer to Fig. 1, the use flow chart of a kind of specific embodiment of navigation system in the art that Fig. 1 is assisted surgery that this utility model provides.
This utility model provides a kind of navigation system, and this navigation system, for surgical operation, instructs medical worker to complete surgical operation by navigation.This navigation system comprises while using and preoperative sick body 7 being scanned, obtain and treat the three-dimensional data of operative site and be redeveloped into threedimensional model, and on threedimensional model, determine the first registration point group in pre-registration region and pre-registration region, it should comprise and is no less than three characteristic points; On sick body 7, be fixedly connected with the first coordinate system reference marker 4, utilize structured light scanner 1 scanning sick body 7 and the first coordinate system reference marker 4, and scanning result is formed to 3-D view flow to controller 3; Utilize navigation position instrument 2 scannings with the operating theater instruments of the second coordinate system reference marker 5, it is carried out to the demarcation of space coordinates position; By described operating theater instruments, on sick body 7, find the second registration point group, the characteristic point of the characteristic point of the second registration point group and the first registration point group is carried out one by one to slightly registration after utilizing navigation position instrument 2 scanning, and thick registration results is flowed to controller 3; Controller 3 by 3-D view and pre-registration region essence registration, is determined the accurate locus mapping relations between sick body 7 and threedimensional model according to thick registration results; Utilize navigation position instrument to follow the tracks of the exact position of the first coordinate system reference marker 4 and the second coordinate system reference marker 5, and on the display 6 being connected with controller 3, show operating theater instruments with the second coordinate system reference marker 5 relative position and the mutual relation in threedimensional model, realize in art and navigating.In above-mentioned navigation procedure, the pre-registration region of threedimensional model has corresponding with it entity area on sick body 7, the characteristic point of the first registration point group has corresponding with it substance feature point on sick body, while utilizing operating theater instruments to look for the second registration point group on sick body 7, can carry out thick registration with the corresponding point of the first registration point group, roughly determine with threedimensional model in the mutual alignment of the first registration point.The 3-D view of the entity area that recycling structured light scanner 1 scanning sick body 7 is that obtain, corresponding with pre-registration region, this 3-D view and pre-registration region are carried out to smart registration, thick registration and smart registration process all complete in controller 3, and show relative position and the mutual relation of the described corresponding virtual operation instrument of operating theater instruments with the second coordinate system reference marker 5 in threedimensional model by the display 6 being connected with controller 3, realize in art and navigating.Owing to there being the thick registration process of the first registration point group and the second registration point group, and utilize controller automatically to calculate, 3-D view is very short with the smart registration process of pre-registration region.And, utilize two three dimensions to carry out smart registration, the probability that error occurs is extremely low, can obviously improve accuracy rate and the reliability of the threedimensional model registration in sick body 7 and controller 3, thereby improves quality and the success rate of operation.
Please refer to Fig. 2, the work schematic diagram of a kind of specific embodiment of navigation system in the art that Fig. 2 is assisted surgery that this utility model provides.
Navigation system in the art of the assisted surgery that this utility model provides, this navigation system comprises: threedimensional model, the first coordinate system reference marker 4, the second coordinate system reference marker 5, navigation position instrument 2, structured light scanner 1, controller 3 and display 6.Wherein, threedimensional model is obtained after the three-dimensional data of operative site is also rebuild and is obtained by medical image instrument, according to operation, need the first registration point group can select in advance pre-registration region and be located at pre-registration region on threedimensional model, it should comprise and is no less than three characteristic points; On sick body 7, be fixedly connected with the first coordinate system reference marker 4,1 pair of sick body 7 of structured light scanner and the first coordinate system reference marker 4 scan, and determine the station-keeping data of sick body 7 and first coordinate system reference marker 4 and the first coordinate system; In operating theater instruments, be fixedly connected with the second coordinate system reference marker 5, can determine the station-keeping data of operating theater instruments and the second coordinate system.Navigation position instrument 2 is followed the tracks of the first coordinate system reference marker 4 and the second coordinate system reference marker 5; Controller 3, according to the relative position of the first coordinate system reference marker 4 and the second coordinate system reference marker 5, calculates the relative position of operating theater instruments and sick body 7, and on display 6, shows the relative position of corresponding virtual operation instrument in threedimensional model.
In navigation procedure, operating theater instruments is chosen the second registration point group on sick body 7, and navigation position instrument 2 is followed the tracks of the process of reconnaissance, and the result of choosing is transported to controller 3, compare with the first registration point group in the threedimensional model being stored in controller 3, realize thick registration.
Structured light scanner 1 scanning sick body 7 and the first coordinate system reference marker 4, and obtain the 3-D view of sick body 7, this 3-D view flows to controller 3, in controller 3 with threedimensional model in pre-registration region carry out smart registration; And by display 6, registration results is shown.
Owing to there being the thick registration process of the first registration point group and the second registration point group, and utilize controller automatically to calculate, 3-D view is very short with the smart registration process of pre-registration region.And, utilize two three dimensions to carry out smart registration, the probability that error occurs is extremely low, can obviously improve accuracy rate and the reliability of the threedimensional model registration in sick body 7 and controller 3, thereby improves quality and the success rate of operation.
It is target that navigation system provided by the utility model be take technological innovation and clinical practice, structured light is scanned to registration technique to be introduced in operating navigation procedure, the threedimensional model of structured light scanogram and preoperative scanning in art is carried out to registration, can significantly improve operating navigation accuracy and reliability, shorten operating time, improve operation quality, significantly reduce equipment cost and the surgery cost of existing airmanship, there is important technological value and wide application prospect.
In a kind of concrete embodiment, in navigation system provided by the utility model, preoperative scanning can adopt CT or nuclear magnetic resonance, NMR collection to treat the three-dimensional data of operative site, and sets up threedimensional model according to three-dimensional data.CT and nuclear magnetic resonance scanning are all ripe Image Acquisition technology, and reliability is high.And CT machine and nuclear magnetic resonance machine are a lot of hospitals conventional equipments, utilize CT machine and nuclear magnetic resonance machine to obtain three-dimensional data, do not need additionally to increase equipment, can reduce operation cost.
In further technical scheme, the first coordinate system reference marker 4 can be made by passive reflectorized material, the first coordinate system reference marker 4 can be identified under the effect of other light such as light, need on the first coordinate system reference marker 4, additionally not increase light source, thereby the structure of simplifying the first coordinate system reference marker 4, reduces costs.And better simply structure is also convenient to medical worker and is operated in navigation procedure.In like manner, the second coordinate system reference marker 5 also can adopt passive reflectorized material to make, and its effect is identical, does not repeat them here.
Particularly, the first coordinate system reference marker 4 and the second coordinate system reference marker 5 are the spherical or plane labelling being fixed on support, simple in structure, can meet reflective requirement, reach the object of identification.
In operating room, while starting registration, structured light scanner 1 and navigation position instrument 2 are arranged with respect to the homonymy of the first coordinate system reference marker 4.Structured light scanner 1 and navigation position instrument 2 all can move according to the actual requirements and adjust position in navigation procedure, after the structured light scanner 1 described sick body 7 of scanning and described the first coordinate system reference marker 4, can withdraw operating-table, only leave navigation position instrument and enter the surgical navigational stage, thereby empty operative space, prevent interference and collision between armarium and operating theater instruments.
Particularly, structured light scanner 1 and navigation position instrument 2 all can be installed on same integrated support, and all hinged with integrated support, in navigation procedure, structured light scanner 1 and navigation position instrument 2 all can move and adjust position, also after facilitating structured light scanner 1 scanning sick body 7 and the first coordinate system reference marker 4, withdraw operating-table, for operation facilitates.
Above navigation system in the art of assisted surgery provided by the utility model is described in detail.Applied specific case herein principle of the present utility model and embodiment are set forth, the explanation of above embodiment is just for helping to understand method of the present utility model and core concept thereof.Should be understood that; for those skilled in the art; do not departing under the prerequisite of this utility model principle, can also carry out some improvement and modification to this utility model, these improvement and modification also fall in the protection domain of this utility model claim.
Claims (6)
1. a navigation system in the art of assisted surgery, is characterized in that, comprising:
Threedimensional model image, is obtained after the three-dimensional data of operative site is also rebuild and is obtained by medical image instrument, comprises pre-registration region and the first registration point group of being located at described pre-registration region;
The first coordinate system reference marker, is fixedly connected on sick body, for determining the station-keeping data of described sick body and the first coordinate system;
The second coordinate system reference marker, be fixedly connected in operating theater instruments, for determining the station-keeping data of described operating theater instruments and described the second coordinate system, described operating theater instruments is chosen the characteristic point of the second registration point group on described sick body, and with the characteristic point of described the first registration point group thick registration one by one;
Navigation position instrument, for following the tracks of described the first coordinate system reference marker and described the second coordinate system reference marker;
Structured light scanner, for scanning described sick body and described the first coordinate system reference marker, and obtains 3-D view, and this 3-D view and described pre-registration region are carried out smart registration;
Controller, the image result of obtaining for receiving described medical image instrument and described structured light scanner, utilizes threedimensional model, described the first coordinate system reference marker and described the second coordinate system reference marker to calculate described thick registration and smart registration process;
Display, for showing described threedimensional model, described sick body, described the first coordinate system reference marker, described the second coordinate system reference marker and described operating theater instruments, completes in art and navigates.
2. navigation system in the art of assisted surgery according to claim 1, is characterized in that, is located at the homonymy of described the first coordinate system reference marker when described structured light scanner and described navigation position instrument start registration.
3. navigation system in the art of assisted surgery according to claim 2, is characterized in that, described structured light scanner and described navigation position instrument are installed on same integrated support, and all hinged with described integrated support.
4. according to navigation system in the art of the assisted surgery described in claims 1 to 3 any one, it is characterized in that, described medical image instrument is CT machine or nuclear magnetic resonance machine.
5. navigation system in the art of assisted surgery according to claim 4, is characterized in that, described the first coordinate system reference marker and described the second coordinate system reference marker are made by passive reflectorized material.
6. navigation system in the art of assisted surgery according to claim 5, is characterized in that, described the first coordinate system reference marker and described the second coordinate system reference marker are the spherical or plane labelling being fixed on support.
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| CN201420201876.8U CN203953815U (en) | 2014-04-24 | 2014-04-24 | Navigation system in the art of assisted surgery |
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| CN201420201876.8U CN203953815U (en) | 2014-04-24 | 2014-04-24 | Navigation system in the art of assisted surgery |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107693119A (en) * | 2017-09-15 | 2018-02-16 | 中国人民解放军第四军医大学 | The CT scan space apparatus and method registering with visual space in a kind of planting machines people |
| CN109009435A (en) * | 2018-08-20 | 2018-12-18 | 真健康（北京）医疗科技有限公司 | A kind of Lung neoplasm puncture navigation system |
| CN109846574A (en) * | 2019-03-22 | 2019-06-07 | 中国科学院深圳先进技术研究院 | A kind of animal operating table |
| WO2022214105A1 (en) * | 2021-04-09 | 2022-10-13 | 骨圣元化机器人(深圳)有限公司 | Orthopedic surgery registration apparatus, terminal device, and storage medium |
-
2014
- 2014-04-24 CN CN201420201876.8U patent/CN203953815U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107693119A (en) * | 2017-09-15 | 2018-02-16 | 中国人民解放军第四军医大学 | The CT scan space apparatus and method registering with visual space in a kind of planting machines people |
| CN109009435A (en) * | 2018-08-20 | 2018-12-18 | 真健康（北京）医疗科技有限公司 | A kind of Lung neoplasm puncture navigation system |
| CN109846574A (en) * | 2019-03-22 | 2019-06-07 | 中国科学院深圳先进技术研究院 | A kind of animal operating table |
| WO2022214105A1 (en) * | 2021-04-09 | 2022-10-13 | 骨圣元化机器人(深圳)有限公司 | Orthopedic surgery registration apparatus, terminal device, and storage medium |
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