CN217987729U - Support system for neurosurgical operation navigation - Google Patents
Support system for neurosurgical operation navigation Download PDFInfo
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- CN217987729U CN217987729U CN202220213871.1U CN202220213871U CN217987729U CN 217987729 U CN217987729 U CN 217987729U CN 202220213871 U CN202220213871 U CN 202220213871U CN 217987729 U CN217987729 U CN 217987729U
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Abstract
A support system for neurosurgical operation navigation comprises a head frame, a connecting support and two adjusting arms; the head frame is fixed with the head of the patient; the connecting bracket is rotatably arranged on one side of the head frame; the two adjusting arms are respectively and rotatably connected with the connecting bracket, and each adjusting arm comprises an upper supporting arm and a lower supporting arm; the upper end of the upper support arm is provided with a rotary positioning part, the lower end of the upper support arm is rotatably assembled with the upper end of the lower support arm, and the lower support arm is rotatably assembled with the connecting bracket; the rotating positioning part of one of the two upper supporting arms is connected with a first infrared reflecting tool, the rotating positioning part of the other one of the two upper supporting arms is connected with a structured light camera module, and the structured light camera module comprises a structured light camera and a second infrared reflecting tool which are fixedly connected; the first infrared reflecting tool and the second infrared reflecting tool respectively comprise at least three non-collinear reflecting points. The utility model is used for among non-contact medical image registration before the art and the neurosurgery navigation in the art, can reduce the patient misery, save the arm cost to reduce the space and occupy. Has the advantages of convenient use, strong applicability and the like.
Description
Technical Field
The utility model relates to a surgical medical instrument technical field, concretely relates to a mounting system for neurosurgery navigation.
Background
The operation navigation system takes the medical image as a visual data base, registers the digital image with a real patient, and realizes real-time browsing of the medical image corresponding to the position of the operation instrument in the operation process through tracking the operation instrument. The operation navigation can effectively extend the perception capability range of doctors, and has important significance for improving the accuracy and safety of the operation and reducing the wound surface.
The instrument positioning in the operation process can adopt a registration method based on infrared markers, and the principle is that the markers shot by an infrared camera are identified by using a computer vision technology, so that the markers are positioned.
The registration of the affected part image space of the preoperative patient and the real space position of the intraoperative patient is a precondition for realizing accurate positioning and surgical planning in the surgical process. In the prior art, a neurosurgery head positioning frame is adopted for registration, the principle is that the positioning frame is fixed on the head of a patient before a medical image is shot, the positioning frame is provided with a coordinate system, and meanwhile, the positioning structure of the head frame can be displayed in the medical image. And then through the preset conversion relation, the medical image can be corresponding to the position of the real patient head frame under the coordinate. However, the mounting of the neurosurgical location head frame itself can cause additional pain to the patient and, to address this problem, it is necessary to employ a non-contact registration method.
The neurosurgical medical image contains the shape information and the specific characteristic points of the head and the face of the patient, the structured light depth camera can also shoot the shape information of the head and the face of the real patient and can calculate the specific characteristic points, and the medical image and the real patient can be registered by combining and matching the head and the face of the real patient, so that non-contact registration is realized.
In the prior art [ CN202011630325 ], a hardware module combining a mechanical arm and a multifunctional camera is mainly adopted, but the operation is complicated, the technical requirement is high, and meanwhile, the equipment cost and the space occupation are greatly increased.
Therefore, the present invention is to solve the above-mentioned deficiencies of the prior art and to provide a solution to the problems.
Disclosure of Invention
The utility model aims at providing a mounting system for neurosurgery navigation.
In order to achieve the above purpose, the utility model adopts the technical scheme that:
a bracket system for neurosurgical navigation comprises a head bracket, a connecting bracket and two adjusting arms;
the head frame comprises a frame body which is fixed with the head of a patient;
the connecting bracket is arranged on one side of the head frame and is rotationally connected with the head frame;
the two adjusting arms are respectively and rotatably connected to two different positions of the connecting bracket, and each adjusting arm comprises an upper supporting arm and a lower supporting arm; the upper end of the upper support arm is a rotary positioning part, the lower end of the upper support arm is rotatably assembled with the upper end of the lower support arm, and the lower support arm is rotatably assembled with the connecting support;
the structure light camera module comprises a structure light camera and a second infrared reflecting tool which are fixedly connected;
the first infrared reflective means and the second infrared reflective means each comprise at least three non-collinear reflective dots.
The relevant content in the above technical solution is explained as follows:
1. in the scheme, the frame body of the head frame is U-shaped.
2. In the scheme, the connecting support is rod-shaped, the middle part of the connecting support is rotatably connected with the middle part of the head frame, a knob is arranged at the rotating position, and the relative position state of the connecting support and the head frame is locked through the knob.
3. In the above scheme, the two adjusting arms are respectively and rotatably connected to two end parts of the connecting bracket.
4. In the scheme, a knob is arranged at the rotating position of the lower end of the upper support arm and the upper end of the lower support arm, and the relative position state of the upper support arm and the lower support arm is locked through the knob.
5. In the above scheme, the upper end of the upper support arm and the lower end of the lower support arm both comprise spherical joints.
6. In the above scheme, the first infrared reflection tool and the second infrared reflection tool each include a base, a reflection point and a fixing bolt; each reflection point is fixedly arranged on the base, and the base is positioned on the rotary positioning part or the structured light camera by the fixing bolt.
7. In the above scheme, the structured light camera module is detachably assembled on the rotation positioning part at the upper end of the upper support arm.
The utility model discloses a theory of operation and advantage as follows:
the utility model relates to a bracket system for neurosurgery navigation, which comprises a headstock, a connecting bracket and two adjusting arms; the head frame is fixed with the head of the patient; the connecting bracket is rotatably arranged on one side of the head frame; the two adjusting arms are respectively and rotatably connected with the connecting bracket, and each adjusting arm comprises an upper supporting arm and a lower supporting arm; the upper end of the upper support arm is a rotary positioning part, the lower end of the upper support arm is rotatably assembled with the upper end of the lower support arm, and the lower support arm is rotatably assembled with the connecting bracket; the rotating positioning part of one of the two upper supporting arms is connected with a first infrared reflecting tool, the rotating positioning part of the other one of the two upper supporting arms is connected with a structured light camera module, and the structured light camera module comprises a structured light camera and a second infrared reflecting tool which are fixedly connected; the first infrared reflecting tool and the second infrared reflecting tool respectively comprise at least three non-collinear reflecting points.
Compared with the prior art, the utility model has the advantages of convenient to use, suitability are strong. The utility model is used for among non-contact medical image registration before the art and the neurosurgery navigation in the art, can reduce the patient misery, save the arm cost to reduce the space and occupy.
Drawings
Fig. 1 is a schematic structural diagram (state one) of the embodiment of the present invention;
fig. 2 is a perspective view (state one) of the embodiment of the present invention;
fig. 3 is a schematic structural diagram (state two) of the embodiment of the present invention;
fig. 4 is a perspective view (state two) of the embodiment of the present invention;
FIG. 5 is a schematic structural view of an adjusting arm according to an embodiment of the present invention;
FIG. 6 is a first perspective view of an adjusting arm according to an embodiment of the present invention;
FIG. 7 is a second perspective view of an adjusting arm according to an embodiment of the present invention;
fig. 8 is an exploded view of a first infrared reflective tool in accordance with an embodiment of the present invention;
fig. 9 is an exploded perspective view of a first infrared reflective tool according to an embodiment of the present invention.
In the above drawings: 1. a head frame; 2. connecting a bracket; 3. an adjusting arm; 4. a knob; 5. an upper support arm; 6. a lower support arm; 7. rotating the positioning part; 8. a knob; 9. a spherical joint; 10. a first infrared light reflecting means; 11. a structured light camera; 12. a second infrared reflective means; 13. a light reflection point; 14. a base; 15. and (5) fixing the bolt.
Detailed Description
The invention will be further described with reference to the following drawings and examples:
example (b): the present disclosure will be described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the disclosure may be shown and described, and which, when modified and varied by the techniques taught herein, can be made by those skilled in the art without departing from the spirit and scope of the disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms "a", "an", "the" and "the", as used herein, also include the plural forms.
The terms "first," "second," and the like, as used herein, do not denote any order or importance, nor do they denote any order or importance, but rather are used to distinguish one element from another element or operation described in such technical terms.
As used herein, "connected" or "positioned" refers to two or more elements or devices being in direct physical contact with each other or in indirect physical contact with each other, and may also refer to two or more elements or devices being in operation or acting on each other.
As used herein, the terms "comprising," "including," "having," and the like are open-ended terms that mean including, but not limited to.
As used herein, the term (terms), unless otherwise indicated, shall generally have the ordinary meaning as commonly understood by one of ordinary skill in the art, in this written description and in the claims. Certain words used to describe the disclosure are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the disclosure.
The terms "upper" and "lower" used herein are used in terms of directional terms, and are used only for describing the positional relationship between the structures, and are not intended to limit the protection schemes and the actual implementation directions.
Referring to fig. 1~4, a frame system for neurosurgical navigation includes a head frame 1, a connecting frame 2 and two adjusting arms 3.
The head frame 1 comprises a U-shaped frame body which is fixed with the head of a patient, and the head frame 1 is rigidly fixed relative to the operating table.
The connecting bracket 2 is arranged on one side of the head frame 1 and is rotatably connected with the head frame 1. The connecting support 2 is rod-shaped, the middle part of the connecting support 2 is rotatably connected with the middle part of the head frame 1, a knob 4 is arranged at the rotating position, and the relative position state of the connecting support and the head frame is locked by the knob 4.
The two adjusting arms 3 are respectively and rotatably connected to two end parts of the connecting bracket 2. As shown in fig. 5~7, each adjustment arm 3 includes an upper support arm 5 and a lower support arm 6; the upper end of the upper support arm 5 is provided with a rotary positioning part 7, the lower end of the upper support arm 5 is rotatably assembled with the upper end of the lower support arm 6, and the lower support arm 6 is rotatably assembled with the connecting bracket 2.
Wherein, a rotary knob 8 is arranged at the rotating position of the lower end of the upper support arm 5 and the upper end of the lower support arm 6, and the relative position state of the two is locked by the rotary knob 8.
Wherein, the upper end of the upper support arm 5 and the lower end of the lower support arm 6 both comprise spherical joints 9.
Wherein, the rotation positioning part 7 of one of the two upper support arms 5 is connected with a first infrared reflection tool 10, and the rotation positioning part 7 of the other one is connected with a structured light camera module, and the structured light camera module comprises a structured light camera 11 and a second infrared reflection tool 12 which are fixedly connected.
As shown in fig. 8 and 9, the first infrared reflective means 10 and the second infrared reflective means 12 each comprise at least three non-collinear reflective spots 13.
The first infrared reflection tool 10 and the second infrared reflection tool 12 both comprise a base 14, a reflection point 13 and a fixing bolt 15; each of the light reflecting points 13 is fixed on the base 14, and the fixing bolt 15 positions the base 14 on the rotation positioning portion 7 or the structured light camera 11. The first infrared light reflecting means 10 serves as the origin of a spatial coordinate system.
Before an operation, the two adjusting arms 3 are adjusted, so that the reflecting points 13 of the first infrared reflecting tool 10 and the second infrared reflecting tool 12 are all positioned in the shooting range of an infrared camera. During operation, the components of the support system are fixed relative to each other and form an integral rigid fixed relationship with the head of the patient.
The structured light camera 11 is used for shooting the head of a real patient, and the coordinate conversion relation between the structured light camera 11 and the second infrared reflecting tool 12 is calibrated in advance.
Preferably, the structured light camera module is detachably mounted at the upper end of the upper support arm 5, so as to save space when not in use.
Preferably, the first infrared reflecting tool 10 is detachably mounted on the rotation positioning portion 7 at the upper end of the upper arm 5, so as to meet the requirements of taking off, sterilizing, replacing periodically and the like.
Now, the working process of the present invention is explained as follows:
the head of a patient to be neurosurgical is fixed to the headgear 1. The position relation of the connecting support 2 and the head frame 1 is adjusted, and the position state of each adjusting arm 3 is adjusted, so that the structured light camera 11 for alignment faces the head of the patient, and meanwhile, each reflecting point 13 on the two infrared reflecting tools is positioned in the shooting range of the external infrared camera.
Because the reflecting points 13 on the two infrared reflecting tools are identified by the external infrared camera at the same time, the conversion relation between the two infrared reflecting tools can be determined, and further, the real head information of the patient obtained by the registration camera can be accurately converted into the coordinate system of the reference frame positioning marker (origin). The position of the structured light camera module can be adjusted to obtain real patient head information of multiple angles.
Compared with the prior art, the utility model has the advantages of convenient to use, suitability are strong. The utility model is used for among non-contact medical image registration before the art and the neurosurgery navigation in the art, can reduce the patient misery, save the arm cost to reduce the space and occupy.
The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose of the embodiments is to enable people skilled in the art to understand the contents of the present invention and to implement the present invention, which cannot limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered by the protection scope of the present invention.
Claims (8)
1. A support system for neurosurgical navigation, comprising: comprises a head frame, a connecting bracket and two adjusting arms;
the head frame comprises a frame body which is fixed with the head of a patient;
the connecting bracket is arranged on one side of the headstock and is rotationally connected with the headstock;
the two adjusting arms are respectively and rotatably connected to two different positions of the connecting bracket, and each adjusting arm comprises an upper supporting arm and a lower supporting arm; the upper end of the upper support arm is a rotary positioning part, the lower end of the upper support arm is rotatably assembled with the upper end of the lower support arm, and the lower support arm is rotatably assembled with the connecting bracket;
the structure light camera module comprises a structure light camera and a second infrared reflecting tool which are fixedly connected;
the first infrared reflective means and the second infrared reflective means each comprise at least three non-collinear reflective dots.
2. The mounting system for neurosurgical navigation of claim 1, wherein: the frame body of the headstock is U-shaped.
3. The mounting system for neurosurgical navigation of claim 1, wherein: the connecting support is rod-shaped, the middle part of the connecting support is rotationally connected with the middle part of the headstock, a knob is arranged at the rotating position, and the relative position state of the connecting support and the headstock is locked through the knob.
4. The support system for neurosurgical navigation of claim 1, wherein: the two adjusting arms are respectively and rotatably connected to two end parts of the connecting bracket.
5. The mounting system for neurosurgical navigation of claim 1, wherein: and a knob is arranged at the rotating position of the lower end of the upper support arm and the upper end of the lower support arm, and the relative position state of the upper support arm and the lower support arm is locked by the knob.
6. The mounting system for neurosurgical navigation of claim 1, wherein: the upper end of the upper support arm and the lower end of the lower support arm both comprise spherical joints.
7. The mounting system for neurosurgical navigation of claim 1, wherein: the first infrared reflection tool and the second infrared reflection tool respectively comprise a base, a reflection point and a fixing bolt; each reflection point is fixedly arranged on the base, and the base is positioned on the rotary positioning part or the structured light camera by the fixing bolt.
8. The mounting system for neurosurgical navigation of claim 1, wherein: the structure light camera module is detachably assembled on the rotary positioning part at the upper end of the upper supporting arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220213871.1U CN217987729U (en) | 2022-01-26 | 2022-01-26 | Support system for neurosurgical operation navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220213871.1U CN217987729U (en) | 2022-01-26 | 2022-01-26 | Support system for neurosurgical operation navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217987729U true CN217987729U (en) | 2022-12-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220213871.1U Active CN217987729U (en) | 2022-01-26 | 2022-01-26 | Support system for neurosurgical operation navigation |
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| Country | Link |
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| CN (1) | CN217987729U (en) |
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- 2022-01-26 CN CN202220213871.1U patent/CN217987729U/en active Active
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Address after: Room 213, Building 5, Hexin Zhihui Science and Technology Park, No. 88 Huyang Road, Suzhou High tech Zone, Suzhou City, Jiangsu Province, 215000 Patentee after: Suzhou Xunyi Technology Co.,Ltd. Patentee after: THE AFFILIATED HOSPITAL OF QINGDAO University Address before: 629 Changzhong Road, Fengxian District, Shanghai, 201422 Patentee before: Shanghai Xunshi Technology Co.,Ltd. Patentee before: THE AFFILIATED HOSPITAL OF QINGDAO University |