CN2857869Y - Real-time guiding device in operation based on local anatomic structure - Google Patents
Real-time guiding device in operation based on local anatomic structure Download PDFInfo
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- CN2857869Y CN2857869Y CNU2005200473266U CN200520047326U CN2857869Y CN 2857869 Y CN2857869 Y CN 2857869Y CN U2005200473266 U CNU2005200473266 U CN U2005200473266U CN 200520047326 U CN200520047326 U CN 200520047326U CN 2857869 Y CN2857869 Y CN 2857869Y
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Abstract
A real-time guider for operation based on topographic structure character includes an image working station, an operation microscope, a digital video camera and a space coordinate tracker. A signal transmission terminal and a signal reception terminal are connected to the space coordinate tracker. The digital video camera is composed of a camera lens and a video camera controller connected with each other by cables. The camera lens and the signal transmission terminal are disposed fixedly on the operation microscope, and the video camera controller and space coordinate tracker are connected with the image working station by cables. The space coordinate tracker obtains the space coordinate and direction of the camera lens in real time. The image working station collects images of the same coordinate and direction in 3D image database and overlaps them to show an actual image, a database image and an admission passage of an operation plan in real time to provide a correct operation route avoiding important physiological structure. By using the real-time guider, the operation trauma is small, the dependence on doctors' experience is little, the operation time is shortened and the operation risk is reduced.
Description
Technical field:
This utility model relates to physical field, relates in particular to the space multistory positioner of object, particularly locatees the auxiliary device in intracranial tissue orientation, and concrete is a kind of based on real time navigation apparatus in the art of topography architectural feature.
Background technology:
In the prior art, x-ray computer tomography (computerized tomography, hereinafter to be referred as CT) and nuclear magnetic resonance scanning technology (Magnetic Resonance Imaging, hereinafter to be referred as MRI) widespread usage clinically, make the diagnosis visualization of intracranial lesion and occupy-place thereof, but CT and MRI technology can not provide operative approach.Present neurosurgery needs to review patient's art preceding CT or MRI image data before the neurosurgeon art, is born in mind in the position of pathological changes and surrounding structure, leaves image data then, marks skin incision and bone window position on patient's scalp.There is error in this location of operation mode, and risk is bigger.
Summary of the invention:
It is a kind of based on real time navigation apparatus in the art of topography architectural feature that the purpose of this utility model is to provide, and describedly thisly will solve the technical problem that CT and MRI technology in the prior art can not provide operative approach based on real time navigation apparatus in the art of topography architectural feature.
Of the present utility model this based on real time navigation apparatus in the art of topography architectural feature by graphics workstation, operating microscope, digital camera and space coordinates tracker constitute, be connected with signal transmitting terminal and signal receiving end on the described space coordinates tracker, described digital camera is connected and composed by cable by pick-up lens and shooting controller, wherein, described pick-up lens is fixedly installed on the described operating microscope, described shooting controller is connected with described graphics workstation by cable, the signal transmitting terminal that the space coordinates tracker connects is fixedly installed on the described operating microscope, and the space coordinates tracker is connected with described graphics workstation by cable.
Further, be provided with one first USB and one second USB in the described graphics workstation, described shooting controller is connected with described first USB by one first universal serial bus cable, and described space coordinates tracker is connected with described second USB by one second universal serial bus cable.
Further, be provided with computerized tomography photographic image data storehouse or nuclear magnetic resonance scanning image data base in the described graphics workstation.
Concrete, graphics workstation described in this utility model, operating microscope, digital camera and space coordinates tracker all can adopt known technology of the prior art, relevant above-mentioned known solution, those skilled in the art all understands, so repeat no more.
Work process of the present utility model is: at first utilize CT or nuclear magnetic resonance scanning technology to obtain the image information of the relevant structure of patient's cranium portion, utilize software rebuild to form brain fold structure fingerprint model, important organizational structure (as the arterial blood pipe network) and focus 3-D view, and these information are carried out image co-registration form a patient head medical structure threedimensional model, formulate the operative approach plan, utilize the translucent Display Technique of organizing to set up the preceding corrective surgery plan database of art, wherein, tissue beyond the focus shows with translucent form, make focus outstanding in 3-D view, can show the physical relation of focus and its hetero-organization clearly.Store above-mentioned surgical planning data base into graphics workstation and call by software for display, software for display is set up a virtual gamma camera in graphics workstation, and result and surgical planning that virtual gamma camera is rebuild according to patient's art forward three-dimensional viewing produce image.Signal transmitting terminal on the operating microscope sends to the space coordinates tracker in real time with the space coordinates signal of operating microscope and pick-up lens, the space coordinates tracker is sent to graphics workstation in real time with the space coordinates signal of operating microscope and pick-up lens, utilize the space coordinates calibration of software with pick-up lens and virtual video camera, make virtual video camera patient head medical structure threedimensional model position pointed and digital camera patient head position consistency pointed, virtual video camera is according to the position of pick-up lens and the change that turns to, adjust position and direction in real time, show the corresponding art forward three-dimensional viewing of real time imaging with pick-up lens.Utilize the real time imaging and the art forward three-dimensional viewing of pick-up lens to compare then, determine operating position and accurately adjust the virtual video camera coordinate.Afterwards, utilize software on the real time imaging that pick-up lens obtains, superpose operative approach image and lesions position image among the surgical planning data base.The guiding in real time operation technique.
The operation principle of this utility model foundation is: the Schizencephaly approach is a neurosurgery operation method the most commonly used, intracranial split the dissection lacuna that provides natural, it also is the most constant relatively anatomical landmarks of Different Individual intracranial, wide sulci cetrebri such as Rolandic fissure, calcarine fissure, superior temporal sulucs, inferior temporal sulcus, also be that intracranial can be for the sign gender gap of identification, in addition, the significant structure of intracranial still comprises blood vessel, encircle as WILLIS, the brain ditch has formed the exclusive form of each gyrus with combining of blood vessel, becomes the fingerprint phenomenon of intracranial, can be used to discern.Utilize the fingerprint phenomenon of intracranial to position, the position of description pathological changes that not only can be correct, can also provide the patient to reach pathological changes by which brain ditch, gyrus, blood vessel, and avoided the pathological changes that calculates under the conventional navigation air line distance from the art open country, because it is this air line distance needs sometimes by important function district or structure, often infeasible in the practical operation.And carry out the location and the excision of pathological changes by the different gyrus particular shape of intracranial, and then can address the above problem, offer patient's practical operation route.Real time navigation apparatus of the present utility model utilizes existing image check means, carries out the location of pathological changes by the topography feature of intracranial original structure, not only can correctly describe the position of pathological changes, and can provide in real time and guide the patient to operate route.
This utility model and prior art compare, and its effect is actively with tangible.This utility model utilizes the space coordinates tracker to obtain the space coordinates and the direction of the pick-up lens on the operating microscope in real time, have access to same coordinate among the art forward three-dimensional viewing data base and the image on the direction in real time according to the space coordinates of pick-up lens, utilize the display stack of graphics workstation to show current real image and database images, and the Showplan operative approach, the guiding operation is carried out.Can provide the operation technique personnel correct route in real time, the guiding doctor effectively avoids important physiological structure according to plan, and is little to patient trauma, rely on little to doctors experience, patient can both obtain effect same when different doctors performs an operation, reduced operation risk, has shortened operating time.
Description of drawings:
Fig. 1 is the sketch map of an embodiment based on real time navigation apparatus in the art of topography architectural feature of the present utility model;
The specific embodiment:
As shown in Figure 1, of the present utility model based on real time navigation apparatus in the art of topography architectural feature by graphics workstation 1, operating microscope 2, digital camera and space coordinates tracker 3 constitute, be connected with signal transmitting terminal 31 and signal receiving end 32 on the described space coordinates tracker 3, described digital camera is connected and composed by cable by pick-up lens 4 and shooting controller 5, wherein, described pick-up lens 4 is fixedly installed on the described operating microscope 2, described shooting controller 5 is connected with described graphics workstation 1 by cable, the signal transmitting terminal 31 that space coordinates tracker 3 connects is fixedly installed on the described operating microscope 2, and space coordinates tracker 3 is connected with described graphics workstation 1 by cable.
Further, be provided with one first USB and one second USB in the described graphics workstation 1, described shooting controller 4 is connected with described first USB by one first universal serial bus cable, and described space coordinates tracker 3 is connected with described second USB by one second universal serial bus cable.
Further, be provided with computerized tomography photographic image data storehouse or nuclear magnetic resonance scanning image data base in the described graphics workstation 1.
In the preferred embodiment of the present utility model, digital camera adopts ImagePlanet USB2.020MPX Digital Microscope Camera medical treatment special digital gamma camera, its major parameter is: 20,000,000 pixels, per second 15-60 frame of digital image, USB2.0 computer interface; Space coordinates tracker 3 adopts Polhemus Patriot coordinate tracking device, and its major parameter is: tracking accuracy reaches 2mm, angle precision 0.1 degree.The technical parameter of a preferred embodiment of the present utility model is: the site error between digital camera and the virtual video camera is no more than 3mm, turning error is no more than 0.1 degree, virtual video camera is followed the tracks of the position of digital camera and is finished within 0.1s with the variation that turns to, the three-dimensional real time imaging of focus 3-D view and video camera carries out stack velocity greater than 5 frame/seconds, simultaneously, indicate on the brain fold structure fingerprint model that gender gap and operative approach expression are clear, the position relationship expression is clear between brain fold structure fingerprint model, important physiological structure, focus, the operative approach.
In the preferred embodiment of the present utility model, software adopts medical image three-dimensional to rebuild and the surgical planning system, as STP software.
The image alignment algorithm has embedded in the above-mentioned medical image three-dimensional reconstructing system with the software module form.This algorithm is reference point with virtual video camera with respect to patient head 3-D view modal position, extracts virtual video camera patient's brain fold within the vision fingerprint and compares with the real time imaging of digital camera, and find out corresponding relation.
The image overlay algorithm has embedded in the above-mentioned medical image three-dimensional reconstructing system with the software module form.This algorithm is presented at digital camera real time imaging and virtual video camera translucentization of real time imaging and the corresponding relation that found according to the image alignment algorithm on the same display.
The doctor at first adopts nuclear magnetic resonance scanning to obtain and rebuilds the three-dimensional reconstruction image of cranium brain brain fold structure fingerprint model, focus, vital tissue structure and head surface.Make surgical planning then on the image of rebuilding: i.e. dissection by which brain ditch arrives focus, during the vital tissue structure that may meet with, and the route map of will performing the operation is added on the three-dimensional reconstruction image.Then arrange patient to enter operating room, anesthesia go forward side by side wardrobe portion fixing after, with microscope alignment patient's a certain physiological feature point, the position of adjusting virtual video camera then with towards making it consistent with digital camera, and this position is decided to be zero.Afterwards, start-up space coordinate tracking equipment, make virtual video camera and digital camera the locus towards on synchronously.Then, the display digit camera review and the focus 3-D view that superposes, design operative incision.Then,, open the cranium operation, expose cerebral cortex according to the design operative incision.At this moment, the doctor aims at operative incision with digital camera, at this moment clearly on the virtual video camera demonstrate important brain fold, operative approach, lesions position and important physiological structure position, and compare, further determine the current position of operator with the image in the surgical field of view.The three-dimensional reconstruction image that matches after stack and its comparison on the digital camera real-time image is carried out original surgical planning.
Claims (3)
1. one kind based on real time navigation apparatus in the art of topography architectural feature, by graphics workstation, operating microscope, digital camera and space coordinates tracker constitute, be connected with signal transmitting terminal and signal receiving end on the described space coordinates tracker, described digital camera is connected and composed by cable by pick-up lens and shooting controller, it is characterized in that: described pick-up lens is fixedly installed on the described operating microscope, described shooting controller is connected with described graphics workstation by cable, the signal transmitting terminal that the space coordinates tracker connects is fixedly installed on the described operating microscope, and the space coordinates tracker is connected with described graphics workstation by cable.
2. as claimed in claim 1 based on real time navigation apparatus in the art of topography architectural feature, it is characterized in that: be provided with one first USB and one second USB in the described graphics workstation, described shooting controller is connected with described first USB by one first universal serial bus cable, and described space coordinates tracker is connected with described second USB by one second universal serial bus cable.
3. as claimed in claim 1 based on real time navigation apparatus in the art of topography architectural feature, it is characterized in that: be provided with computerized tomography photographic image data storehouse or nuclear magnetic resonance scanning image data base in the described graphics workstation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2005200473266U CN2857869Y (en) | 2005-12-08 | 2005-12-08 | Real-time guiding device in operation based on local anatomic structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CNU2005200473266U CN2857869Y (en) | 2005-12-08 | 2005-12-08 | Real-time guiding device in operation based on local anatomic structure |
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| CN2857869Y true CN2857869Y (en) | 2007-01-17 |
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| CNU2005200473266U Expired - Fee Related CN2857869Y (en) | 2005-12-08 | 2005-12-08 | Real-time guiding device in operation based on local anatomic structure |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103892919A (en) * | 2014-03-27 | 2014-07-02 | 中国科学院光电技术研究所 | Optical coherence tomography based microsurgical operation system and navigation method |
| CN106061401A (en) * | 2013-10-11 | 2016-10-26 | 松纳凯尔医疗有限公司 | System for and method of performing sonasurgery |
| TWI581003B (en) * | 2015-09-04 | 2017-05-01 | Show Chwan Memorial Hospital | Dimensional image display device for surgical microscope |
| CN108201470A (en) * | 2016-12-16 | 2018-06-26 | 上海铂联医疗科技有限公司 | A kind of autonomous type tooth-implanting robot system and its device and method |
-
2005
- 2005-12-08 CN CNU2005200473266U patent/CN2857869Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106061401A (en) * | 2013-10-11 | 2016-10-26 | 松纳凯尔医疗有限公司 | System for and method of performing sonasurgery |
| US10111716B2 (en) | 2013-10-11 | 2018-10-30 | SonaCare Medical, LLC | System for and method of performing sonasurgery |
| CN106061401B (en) * | 2013-10-11 | 2019-07-02 | 松纳凯尔医疗有限公司 | System and method for executing Suo Na operation |
| CN103892919A (en) * | 2014-03-27 | 2014-07-02 | 中国科学院光电技术研究所 | Optical coherence tomography based microsurgical operation system and navigation method |
| CN103892919B (en) * | 2014-03-27 | 2016-03-30 | 中国科学院光电技术研究所 | Based on the microsurgical system that optical coherence tomography guides |
| TWI581003B (en) * | 2015-09-04 | 2017-05-01 | Show Chwan Memorial Hospital | Dimensional image display device for surgical microscope |
| CN108201470A (en) * | 2016-12-16 | 2018-06-26 | 上海铂联医疗科技有限公司 | A kind of autonomous type tooth-implanting robot system and its device and method |
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