CN218391267U - Color recognition instrument in holographic navigation system - Google Patents
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Abstract
The utility model relates to a color identifying instrument in a holographic navigation system, which comprises a tracked instrument and a reference instrument, and is characterized in that the tracked instrument is used for combining with an operation instrument, the geometric relationship between the passive tracking instrument and the operation instrument is set in advance, and a tracking and positioning server is recorded; the movement and angle change conditions of the surgical operation instrument are known by monitoring and tracking the movement and angle change conditions of the tracked instrument; or, the coordinate condition of the surgical site is known through passively tracking the coordinate change of the instrument; refer to the apparatus for fixed setting is in patient operation position, knows patient operation region through referring to the apparatus and changes to shoot patient operation position change condition through binocular visible light camera, know the accurate position of patient in real time through this kind of mode, and through being tracked the real-time accurate operation action of tracking of apparatus.
Description
Technical Field
The utility model belongs to the technical field of medical instruments, in particular to the technical field of surgical navigation systems; in particular to a color recognition instrument in a holographic navigation system.
Background
Surgical navigation products are numerous on the market today, optical navigation being mainly a non-visible light navigation system, where imported hardware devices account for most of the market share. However, imported products mostly depend on high hardware equipment of NDI companies, and the high price makes many hospitals unable to perform surgical navigation.
The passive marker ball in NDI products is a key component of the Polaris optical measurement solution: when attached to an OEM surgical instrument, these navigation markers serve as triangulation points for the instrument in OR space. The passive marker ball is a special retro-reflective surface consisting of thousands of micro-beads, infrared light can be reflected in the tracking process, and the reflected infrared light is received by an expensive infrared camera. The existing infrared camera and the passive marker ball are high in cost and hard to bear in a general hospital. Secondly, the volume is great, and the operating room environment is complicated, like doctor's removal, other medical equipment's position etc. probably because collide with and cause hardware damage, also can lead to the precision to worsen because of the position moves.
The domestic introduction of such surgical navigation systems is expensive, and if relevant devices are imitated, the devices are easily limited by core technologies because the core technologies are mastered in NDI companies.
The utility model discloses to the above-mentioned operation navigation system in the hardware part problem with high costs, provide a colour discernment apparatus among the holographic navigation system.
SUMMERY OF THE UTILITY MODEL
In order to overcome the problems in the background technology, the utility model adopts the following technical thought that the technical proposal adopts a binocular visible light camera and a recognized color to distinguish an obvious recognition and positioning structure and a tracking and positioning server with an image recognition and tracking and positioning algorithm, changes the traditional recognition and positioning mode, and uses an expensive and huge infrared camera and an expensive passive marker ball; the mode that the common binocular visible light camera and the light color distinguish the obvious identification and positioning structure is changed, so that the problems of equipment damage risk caused by overlarge occupied space of a navigation system and overhigh cost of an infrared camera are solved, and the system is low in hardware cost and completely different from the prior art. The cost-limiting determinant is among others the ability to identify the located instrument.
A color recognition apparatus in a holographic navigation system,
which comprises the following steps of;
the identification positioning structure is shot by a binocular visible light camera and is identified by a tracking positioning server to have obvious color subareas with color distinguishing; identifying at least 3 positioning structures as a group; any 3 identification and positioning structures arranged in the same group are not on the same straight line;
the mobile jib sets up a set of discernment location structure, discernment location structure fixed connection on the mobile jib, every discernment location structure sets up on the mobile jib between two parties.
Preferably, the identification and positioning structures are provided with a planar structure with distinct color zones, and the planar structures on each group of identification and positioning structures are arranged on a plane and have the same orientation.
Preferably, the planar structure is provided with two distinct color zones, 2-5 color zones being provided for each color.
Preferably, 2 color divisions are provided for each color; and the two colors are arranged on the planar structure in a partition manner.
Preferably, the color zones on the planar structure are equally large color zones; the plane structure is a circular plane structure, and the circular plane structure is alternately provided with a black color partition and a white color partition. Optionally, the black color partition and the white color partition are both set as sector partitions.
Preferably, 4 identification and positioning structures are arranged in each group, and any 3 identification and positioning structures are not on the same straight line; each group of identification and positioning structures enclose quadrangles with different shapes; optionally, the color partition is arranged on the planar structure by spraying or pasting a color partition sticker;
preferably, the planar structure is arranged on a plate-shaped structure; the thickness of the plate-shaped structure is less than 3mm, and the surface area of the planar structure is less than 1cm 2 。
Preferably, the color-identifying instrument is a tracked instrument or a reference instrument; a set of identification and localization structures is provided on each tracked or reference instrument.
Preferably, the identification positioning structure is arranged at a first end of the tracked instrument and the reference instrument, the tracked instrument and the reference instrument comprise a main rod, the main rod is provided with the identification positioning structure and/or the main rod is provided with the identification positioning structure by extending out of a connecting rod; set up 2 discernment location structure on the mobile jib, and stretch out two connecting rods in mobile jib homonymy or both sides, set up a discernment location structure on the connecting rod respectively.
Preferably, the reference instrument and the tracked instrument are made of light plastic materials, and a first fixing rod is arranged at the second end of the reference instrument; the bottom of the first fixed rod is provided with a tip part; the shape of the non-tip part of the first fixing rod is non-cylindrical; the second end of the tracked instrument is provided with a surgical operation instrument, and the surgical operation instrument and the tracked instrument are fixedly connected integrally or fixedly connected after being combined.
The utility model has the advantages that: the utility model has reasonable structure; by arranging a binocular visible light camera with obvious color distinguishing and matching and a tracking and positioning server with an image recognition and tracking and positioning algorithm, an expensive and huge infrared camera and an expensive passive marker ball are arranged in a tracking and image capturing module; the mode of distinguishing the obvious identification and positioning structure by the color of the common binocular visible light camera and the light is changed, the cost of the equipment is greatly reduced, and a technical scheme different from the traditional thought is provided. On the premise of meeting the precision requirement and stability requirement of clinical use, the goal of greatly reducing the cost of surgical navigation hardware is achieved.
By selecting the arrangement of the circular identification and positioning structure with 4 fan-shaped black and white color partitions, the tracking accuracy and effectiveness can be improved to the greatest extent.
Drawings
FIG. 1 is a schematic view of a reference instrument according to the present invention;
FIG. 2 is a schematic view of the tracked instrument of the present invention;
FIG. 3 is a flow chart of the main structure of the navigation system of the present invention;
in the figures, 1, tracked instruments; 2. a reference instrument; 3. a binocular visible light camera; 4. identifying a positioning structure; 5. a main rod; 6. a connecting rod; 7. a first fixing lever; 8. and tracking and positioning the server.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to specific embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and those skilled in the art can easily understand other advantages and effects of the present invention from the disclosure in the specification. The utility model discloses can also implement or use through other different concrete implementation manners, under the condition of conflict-free, the characteristics in following embodiment and the embodiment can make up each other, based on the embodiment in the utility model, all other embodiments that the ordinary skilled in the art obtained under the prerequisite of not making creative work all belong to the scope of protection of the utility model.
Example 1
A color recognition apparatus in a holographic navigation system,
which comprises the following steps of;
the identification positioning structure 4 is shot by the binocular visible light camera 3 and is identified by the tracking positioning server to have obvious color zones with color distinction; identifying at least 3 positioning structures as a group; and any 3 identification and positioning structures 4 arranged in the same group are not on the same straight line;
the main rod 5 is provided with a group of identification positioning structures 4; the identification positioning structures 4 are fixedly connected to the main rod 5 one above the other, and each identification positioning structure 4 is arranged on the main rod 5 in the middle.
The identification positioning structures 4 are provided with a plane structure with distinct color zones, and the plane structure on each group of identification positioning structures 4 is arranged on a plane and has the same orientation.
The color partition setting mode is that the plane structure is provided with two color partitions which are distinguished obviously, and each color is provided with 2-5 color partitions. 2 color partitions are arranged for each color; the two color partitions are alternately arranged on the planar structure, and the color partitions on the planar structure are equal-size color partitions; the plane structure is a circular plane structure, and the circular plane structure is alternately provided with black color partitions and white color partitions. Optionally, the black color partition and the white color partition are both set as sector partitions.
The better setting mode of each group of identification and positioning structures 4 is that 4 identification and positioning structures 4 are arranged in each group, and any 3 identification and positioning structures 4 are not on the same straight line; each group of identification and positioning structures 4 is enclosed into quadrangles with different shapes; optionally, the color partition is arranged on the planar structure by spraying or pasting a color partition sticker;
the arrangement mode of the plane structure is that the plane structure is arranged on the plate-shaped structure; the thickness of the plate-shaped structure is less than 3mm, and the surface area of the planar structure is less than 1cm2.
The color-identifying instrument may be, the color-identifying instrument being a tracked or reference instrument 2; a set of identification and localization structures 4 is provided on each tracked or reference instrument 2. The identification positioning structure 4 is arranged at the first end of the tracked instrument 1 and the reference instrument 2, the tracked instrument 1 and the reference instrument 2 comprise a main rod 5, the identification positioning structure 4 is arranged on the main rod 5, and/or the identification positioning structure 4 is arranged on the main rod 5 by extending a connecting rod 6; set up 2 discernment location structure 4 on mobile jib 5, and stretch out two connecting rods 6 in mobile jib 5 homonymy or both sides, set up discernment location structure 4 on the connecting rod 6 respectively and refer to fig. 1. A quadrilateral frame extends out of the main rod 5, and an identification positioning structure 4 is respectively arranged at the vertex position of the quadrilateral, referring to fig. 2.
The reference instrument 2 and the tracked instrument 1 are made of light plastic materials, and a first fixing rod 7 is arranged at the second end of the reference instrument 2; the bottom of the first fixed rod 7 is provided with a tip part; the shape of the non-tip part of the first fixing rod 7 is non-cylindrical; the second end of the tracked device 1 is provided with a surgical operation device, and the surgical operation device and the tracked device 1 are fixedly connected integrally or fixedly connected after being combined.
Example 2
A holographic navigation system of a binocular visible light camera 3, comprising: the binocular visible light camera 3, the tracked instrument 1, the reference instrument 2 and the tracking and positioning server 8;
a binocular visible light camera 3 for shooting the operation area of the patient, the tracked instrument 1 and the reference instrument 2;
the tracked instrument 1 and the reference instrument 2 both comprise an easily recognizable identification and localization structure 4 with distinct color zones; at least 3 identification positioning structures 4 which are not in the same straight line are arranged on each passive tracking instrument and the reference instrument 2;
the tracked instrument 1 is used for combining with a surgical operation instrument, the geometric relation between the passive tracking instrument and the surgical operation instrument is set in advance, and a tracking and positioning server 8 is recorded; the movement and angle change conditions of the operation instrument are known by monitoring and tracking the movement and angle change conditions of the tracked instrument 1; or, the coordinate condition of the surgical site is known through passively tracking the coordinate change of the instrument;
refer to apparatus 2 for fixed setting is in patient operation position, and through referring to apparatus 2 to know patient operation region and change, and shoot patient operation position change condition through binocular visible light camera 3, know the accurate position of patient in real time through this kind of mode, and through being tracked apparatus 1 and accurately tracking operation action in real time. Refer to fig. 3.
The tracking and positioning server 8 is used for receiving real-time visible light image information sent back by the binocular visible light camera 3, and a tracking and positioning algorithm is arranged in the tracking and positioning server; the change of the reference instrument 2 and the tracked instrument 1 is tracked in real time by a tracking and positioning algorithm in the tracking and positioning server 8.
In a more preferred embodiment, the identified location structure 4 on the tracked instrument 1 and the identified location structure 4 on the reference instrument 2 enclose a different shape. In a more preferred embodiment, 4 identification/localization structures 4 are provided on the tracked instrument 1 and 4 identification/localization structures 4 on the reference instrument 2, and any 3 identification/localization structures 4 are not on the same straight line. The identification and localization structure 4 on the tracked instrument 1 and the identification and localization structure 4 on the reference instrument 2 enclose a quadrangle with different shapes.
In a further preferred embodiment, the identification and localization structures 4 are provided with a planar structure with distinct color zones, and the planar structures of all the identification and localization structures 4 are arranged on a plane and oriented in the same direction. Can guarantee to discern that location structure 4 is unified towards binocular visible light camera 3 through this kind of setting, conveniently implement to shoot and track.
In a more preferred embodiment, the planar structure is a planar structure of any shape, such as rectangle, square, circle, triangle, trapezoid, etc.; the planar structures on different identification and positioning structures 4 are the same or different. In a further preferred embodiment, the planar structure has two distinct color zones, 2 to 5 color zones being provided for each color, wherein preferably two color zones are provided for each color. In a preferred embodiment, the color zones fill the planar structure. In a more preferred embodiment, the color zones on the planar structure are arranged alternately. In a more preferred embodiment, the color zones on the planar structure are equally large color zones. In a more preferred embodiment, 4 equally large color zones are provided on the planar structure, 2 color zones being provided for each color. And setting extension pairing modes of black and white, brown and white, dark blue and white and the like.
The optimal mode is that 2 black color subareas and two white color subareas are arranged on the plane structure. The planar structure is a circular planar structure, black color partitions and white color partitions are alternately arranged on the circular planar structure, and the black color partitions and the white color partitions are all arranged into fan-shaped partitions. Black and white is set up in turn, and sets up to fan-shaped subregion can the at utmost reduction by the degree of difficulty of being tracked, promotes to track accurate degree.
In a more preferred embodiment, the color sections are arranged on the planar structure by spraying or pasting color section pastes. The better way is to print the back adhesive sticker which has the same area as the plane structure and 4 black and white alternate color subareas. The method is simple to operate, easy to realize and low in cost.
In a further preferred embodiment, the identification and positioning structure 4 is a plate-shaped structure, and the planar structure is a plane of the plate-shaped structure. The difficulty of preparation can be greatly reduced through the arrangement of the plate-shaped structure, and the cost of a hardware part is reduced through more effective control.
In a more preferred embodiment, the thickness of the plate-shaped structure is less than 5mm, preferably 1-3mm. Such a thickness setting can ensure the cheapness of the setting. The thickness can ensure the strength in use, effectively reduce the quality of the instrument and increase the controllability.
In a more preferred embodiment, the surface area of the planar structure is less than 3cm2; preferably the surface area is 1cm2; the area setting can ensure accurate identification and does not interfere with operation.
In a preferred embodiment, the identification and positioning structure 4 is disposed at a first end of the tracked apparatus 1 and the reference apparatus 2, the tracked apparatus 1 and the reference apparatus 2 include a boom 5, the identification and positioning structure 4 is disposed on the boom 5 and/or the identification and positioning structure 4 is disposed on the boom 5 by extending the connecting rod 6. The specific mode is that 2 identification positioning structures 4 are arranged on the main rod 5, two connecting rods 6 extend out of the same side or two sides of the main rod 5, and one identification positioning structure 4 is arranged on each connecting rod 6; the 4 identification and positioning structures 4 are interconnected to form a quadrangle, wherein the quadrangle is parallelogram, trapezoid and the like.
Or, a quadrilateral frame extends out of the main rod 5, and a recognition positioning structure 4 is respectively arranged at the vertex position of the quadrilateral. In a better embodiment, the quadrilateral frame is set to be a parallelogram, a trapezoid or a trapezoid.
In a better embodiment, the reference instrument 2 and the tracked instrument 1 are made of light plastic materials, which can reduce the difficulty of installation, and the materials are easy to obtain, thereby greatly reducing the cost of hardware equipment.
In a further preferred embodiment, a first fixing rod 7 is provided at the second end of the reference instrument 2 for fixing the reference instrument 2 at the surgical site. The bottom of the first fixing rod 7 is provided with a sharp part, so that the surgical position can be conveniently placed.
In a better embodiment, the non-tip position of the first fixing rod 7 is non-cylindrical, and the arrangement can effectively avoid the rotating gap of the fixing rod after fixing.
In a more preferable embodiment, a second end of the tracked device 1 is provided with a surgical operation device, and the surgical operation device and the tracked device 1 are integrally and fixedly connected or fixedly connected after being combined. The arrangement can ensure that the position of the specific point of the surgical operation instrument can be clearly known along with the position change of the tracked instrument 1 after the geometric relation between the tracked instrument 1 and the surgical operation instrument is calibrated before the operation.
In a better embodiment, the tracked instrument 1 and the surgical operation instrument are provided with corresponding combined thread structures; the components are combined and fixed in a threaded mode; or the tracked instrument 1 and the surgical operation instrument are provided with matched insertion structures and are combined and fixed in an insertion mode; or the tracked instrument 1 and the surgical operation instrument are provided with matched clamping structures and are combined and fixed in a clamping mode.
In a preferred embodiment, the surgical operation instrument is a probe, the probe is fixedly arranged with the tracked instrument 1, and the probe is coaxial with the main rod 5 of the tracked instrument 1.
In a better embodiment, the binocular visible light camera 3 is a common double-sided camera on the market. The binocular camera shoots images of the tracked instrument and the reference frame through different angles; and sends the image back to the tracking and positioning server 8; and analyzing the information of the image by software of the tracking and positioning server to obtain the change of the image position information of the tracked instrument and the reference frame.
In a preferred embodiment, the binocular visible light camera 3 is arranged above the surgical site, and the identification and positioning structure 4 faces the binocular visible light camera 3.
The binocular visible light camera 3 is arranged above the operation position by means of a support bracket or a setting bracket extending from the top.
The better implementation mode is that, the setting of binocular visible light camera 3 is on tracking positioning server 8 upper portion, and binocular visible light camera 3 and tracking positioning server 8 swing joint, adjustable binocular visible light camera 3 shine the position, make it cover patient's operation region.
In a better embodiment, the tracking and positioning server 8 comprises a host and a display, the display is fixedly connected to any side of the upper part of the host, can perform three-dimensional reconstruction of human organs,
a better implementation mode is that a control assembly is arranged in the host, the control assembly comprises a central controller, a data analysis module, a data storage module and a wireless communication module, and the data analysis module, the data storage module and the wireless communication module are respectively connected with the central controller; the binocular visible light camera 3 transmits the information to a data analysis module for analysis, the analysis result is converted through a central controller, and the position of the focus under a coordinate system of the binocular visible light camera 3 is displayed through a display; effectively archiving the picture displayed by the display structure by using the data storage module; the central controller is connected with the binocular visible light camera 3 through the wireless communication module, wireless connection is achieved, and observation is facilitated.
Alternatively, the host and the binocular visible light camera 3 may be connected by wire or wirelessly.
The holographic navigation system of the binocular visible light camera 3 is applied to spine guiding operation, the tracked instrument 1 is connected with a guiding instrument, and navigation entering can be effectively realized through the arrangement.
Example 3
The holographic navigation system using method comprises the following steps:
1 the image data of the patient is obtained in advance, the reference instrument 2 is fixedly arranged on the operation position, and then the power supply of the tracking and positioning server 8 and the binocular visible light camera 3 is started.
2. The irradiation position of the binocular visible light camera 3 is adjusted to cover the operation area of the patient, and the front face of the binocular visible light camera faces the identification and positioning structure 4 of the reference instrument 2 on the patient.
3. The tracked instrument 1 is placed in the operation area, and the identification positioning structure 4 of the tracked instrument 1 is arranged to face the binocular camera.
4. The position of the focus under the binocular camera coordinate system is determined by the navigation software and the planning software on the tracking and positioning server 8.
5. The positions of the tracked instrument 1 and the focus under the binocular camera coordinate system are displayed in real time in the display structure of the tracking and positioning server 8 (the relative positions of the two are displayed in the form of images).
6. The tracked instruments arrive at the focus position under the guidance of the system, and then the doctor can complete the operation by using the instruments or other operation tools through the identified instruments on the tracked instruments.
In addition, the use method of a specific operation can be specifically set by utilizing the holographic navigation system according to different operation requirements.
The above description of the embodiments is only for the understanding of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several modifications can be made to the present invention, and these modifications will fall within the protection scope of the claims of the present invention.
Claims (10)
1. A color recognition instrument in a holographic navigation system is characterized in that,
which comprises the following steps of;
the identification positioning structure is shot by a binocular visible light camera and is identified by a tracking positioning server to have obvious color subareas with color distinguishing; identifying at least 3 positioning structures as a group; any 3 identification and positioning structures arranged in the same group are not on the same straight line;
the main rod is provided with a group of identification and positioning structures; the identification and positioning structures are fixedly connected to the main rod one above the other, and each identification and positioning structure is arranged on the main rod in the middle.
2. The holographic navigation system of claim 1, wherein the identification mark structure has a planar structure with distinct color zones, and the planar structure of each set of identification mark structures is disposed on a plane and oriented in the same direction.
3. The holographic navigation system of claim 2, wherein the planar structure has two distinct color zones, each color zone having 2-5 color zones.
4. The color recognition instrument in the holographic navigation system of claim 2, wherein 2 color divisions are provided for each color; and the two colors are arranged on the planar structure in a partition manner.
5. The color recognition apparatus in the holographic navigation system of claim 2, wherein the color partition on the planar structure is an equal-sized color partition; the plane structure is a circular plane structure, and black color subareas and white color subareas are alternately arranged on the circular plane structure; the black color partition and the white color partition are both set as sector partitions.
6. The holographic navigation system of claim 2, wherein 4 identification positioning structures are provided for each set, and any 3 identification positioning structures are not on the same straight line; each group of identification and positioning structures enclose a quadrangle with different shapes; the color subareas are arranged on the plane structure in a mode of spraying or pasting color subarea stickers.
7. The holographic navigation system of claim 2, wherein the planar structure is disposed on the plate-shaped structure; the thickness of the plate-shaped structure is less than 3mm, and the surface area of the planar structure is less than 1cm 2 。
8. The holographic navigation system of claim 2, wherein the color recognition instrument is a tracked instrument or a reference instrument; a set of identification and localization structures is provided on each tracked or reference instrument.
9. The holographic navigation system of claim 8, wherein the identification locator is disposed at a first end of the tracked instrument and the reference instrument, the tracked instrument and the reference instrument include a boom, the identification locator is disposed on the boom or the identification locator is disposed on the boom by extending a connection rod; set up 2 discernment location structure on the mobile jib, and stretch out two connecting rods in mobile jib homonymy or both sides, set up a discernment location structure on the connecting rod respectively.
10. The holographic navigation system of claim 9, wherein the first fixing rod is provided with reference to a second end of the instrument; the bottom of the first fixed rod is provided with a tip part; the shape of the non-tip part of the first fixing rod is non-cylindrical; the second end of the tracked instrument is provided with a surgical operation instrument, and the surgical operation instrument and the tracked instrument are fixedly connected integrally or fixedly connected after being combined.
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| CN202223406823.3U CN218391267U (en) | 2022-12-20 | 2022-12-20 | Color recognition instrument in holographic navigation system |
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| CN202223406823.3U CN218391267U (en) | 2022-12-20 | 2022-12-20 | Color recognition instrument in holographic navigation system |
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Address after: 100082, 9th Floor, Building 1, No. 32 Xizhimen North Street, Haidian District, Beijing 1004A23 Patentee after: Beijing Weizhuo Zhiyuan Medical Technology Co.,Ltd. Country or region after: China Address before: 901, Building 4, Area 4, Hanwei International Plaza, Fengtai District, Beijing, 100071 Patentee before: VISUAL3D MEDICAL TECHNOLOGY DEVELOPMENT Co.,Ltd. Country or region before: China |
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