JP2001104332A - Medical navigation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a medical navigation system eliminating the fear that the position of a surgical microscope becomes undetectable because of an operator's movement during a surgical operation, and permitting a stable surgical operation by preventing the operator's movement from being limited and the surgical operation from being interrupted. SOLUTION: The system is provided with a means for calculating, using a workstation 21, the initial positional correlation between the position of an affected part and the position of the optical system of a surgical microscope 1 in a three-dimensional space and for changing, by means of a support arm 42, the coordinates of LEDs 19a, 19b, 19c which serve as second coordinates with respect to the position of the optical system of the surgical microscope 1 in the three-dimensional space, then measuring the values changed by the support arm 42, and causing the workstation 21 to recalculate on the basis of the measured variation the positional correlation between the position of the affected part and the position of the optical system of the observing system in the three-dimensional space.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional image of an affected part of a patient on which a surgical instrument such as a rigid endoscope is arranged on a monitor screen, and an optical system of an observation device such as a surgical microscope for the operated part. The present invention relates to a medical navigation system in which a focal position is displayed as a superimposed image.

[0002]

2. Description of the Related Art Generally, during surgery for treating an affected part of a patient, a fine operation using a surgical microscope has been conventionally performed. An example of this type of surgical microscope is disclosed in Japanese Patent Application No. 10-319190. In this case, a signal means serving as an index indicating the position of the surgical microscope with respect to the operation part and a digitizer for detecting the index of the signal means are provided, and a first detection for detecting a three-dimensional position of the operation microscope with respect to the operation part is provided. Means and second detecting means (encoder, CCD camera, etc.) for detecting the three-dimensional position of a surgical instrument such as a rigid endoscope with respect to the operating microscope.

[0003] During the operation, a three-dimensional position of a surgical instrument such as a rigid endoscope is calculated with respect to the operative site based on the detection results of the first and second detecting means, and the operation of the rigid endoscope or the like is displayed on a monitor screen. In addition to the three-dimensional image of the affected part of the patient on which the device is arranged, the focal position of the optical system of the observation device such as an operating microscope with respect to the operation part is superimposed and displayed.

[0004]

In the above-mentioned conventional operating microscope, if the space between the index of the signal means provided on the operating microscope and the digitizer is obstructed by the surgeon's body or the like, the operating microscope is not operated. It becomes impossible to detect the three-dimensional position of the surgical microscope with respect to the part. For this reason, the display on the monitor screen may be interrupted by the movement of the operator during the operation, and the movement of the operator may be restricted or the operation may be interrupted.

The present invention has been made in view of the above circumstances, and has as its object that there is no possibility that the position of an operating microscope is not detected due to the movement of an operator during an operation, and the movement of the operator is restricted. An object of the present invention is to provide a medical navigation system capable of performing a stable operation by preventing the operation from being performed or interrupting the operation.

[0006]

According to the present invention, there is provided a first index having a positional correlation with the position of an affected part of a patient, and a second index having a positional correlation with the position of an optical system of an observation device for observing the affected part. , A photographing means for photographing each of the first and second indices, and a three-dimensional space between the position of the diseased part and the position of the optical system of the observation device based on the photographing result of the photographing means. Calculating means for calculating an initial positional correlation in, a changing means for changing coordinates of the second index with respect to a position of the optical system of the observation device in the three-dimensional space, and a value changed by the changing means. A displacement measuring means for measuring, and a calculating means for re-calculating a positional correlation in a three-dimensional space between the position of the affected part and the position of the optical system of the observation device based on the change amount measured by the change measuring means. Means to calculate A medical navigation system, characterized in that Bei was.

In the present invention, the first index having a positional correlation with the position of the affected part of the patient and the second index having a positional correlation with the position of the optical system of the observation device for observing the affected part are photographed. The initial position correlation in the three-dimensional space between the position of the diseased part and the position of the optical system of the observation device is calculated by the calculation unit from the imaging result of the imaging unit. Further, when the space between the photographing means and the second index for observation point detection is blocked, the changing means changes the coordinates of the second index with respect to the position of the optical system of the observation device in the three-dimensional space. Thus, the second index moves to a position where it is not obstructed, and the position of the new observation point is obtained by the calculating means based on the amount of movement, so that the position of the optical system of the observation device can always be correctly detected. Things.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 shows a schematic configuration of the entire medical navigation system according to the present embodiment. In FIG. 1, reference numeral 1 denotes an operating microscope (observation device) installed in an operating room, and reference numeral 40 denotes an operating bed on which a patient 34 is placed. Here, the gantry 2 of the surgical microscope 1 is provided with a base 3 that can move on the floor surface, and a column 4 that stands on the base 3. The gantry 2 of the operating microscope 1 is disposed on the distal end side of the operating bed 40 in the operating room (for example, on the side of the bed 40 where the head of the patient 34 is located).

Further, a support mechanism 41 for supporting the mirror 8 of the operating microscope 1 so as to be movable in an arbitrary direction is provided on the upper part of the column 4. The support mechanism 41 is provided with a first arm 5, a second arm 6, and a third arm 7. Here, an illumination light source (not shown) is built in the first arm 5. One end portion of the first arm 5 is rotatably mounted about the axis O ₁ of the substantially vertical direction at the top of the column 4.

Further, the other end of the first arm 5 has a second
One end portion of the arm 6 is rotatably mounted on the center substantially vertical axis O _2. The second arm 6 is formed by a pantograph arm including a link mechanism and a spring member for balance adjustment, and is movable in the vertical direction.

The other end of the second arm 6 has a third arm.
One end of the arm 7 has a substantially vertical axis O.₃ Rotatable around
Installed. The other end of the third arm 7 is for surgery
A mirror body 8 of the microscope 1 is provided. In addition, this third
The arm 7 has two substantially orthogonal directions in a direction orthogonal to each other.
Axis O₄, O₅Each of which is rotatable around
Is held. The mirror body 8 is moved by the third arm 7.
Axis O₄Before and after the operator's observation direction
Allows for elevation in the direction and axis O₅Around the surgeon
Each is supported so that it can be raised and lowered in the left and right directions.

Each of the rotation axes O ₁ -O of the support mechanism 41
_An electromagnetic brake (not shown) is provided in each of the bearing portions ₅ . This electromagnetic brake is connected to an electromagnetic brake power supply circuit (not shown) built in the column 4.
Further, the electromagnetic brake power supply circuit is connected to a switch 10 provided on a grip 9 fixed to the mirror body 8 as shown in FIG.

The switch 10 is used to control each rotation axis O
Electromagnetic brake ₁ ~ O ₅ is adapted to be turned on and off operation. Here, for example, when the switch 10 is turned on, the electromagnetic brake of each of the rotating shafts O _{1 to} O ₅ is turned off, whereby the support mechanism 41 is held in the unlocked state, and the mirror body 8 is spatially moved. The position can be adjusted freely. When the switch 10 is turned off, each of the rotation axes O _{1 to} O ₅
Is turned on, the support mechanism 41 is switched to the locked state, and the position of the mirror body 8 is fixed.

FIG. 3 shows a schematic configuration of a mirror body 8 of the operating microscope 1. The mirror body 8 is provided with one objective lens 11 and a pair of left and right observation optical systems 14A and 14B. Here, the left and right observation optical systems 14
The left and right zoom optical systems 12a, 12a,
12b, left and right imaging lenses 13a and 13b, and left and right eyepieces 14a and 14b are sequentially arranged. The stereoscopic observation optical system is constituted by the pair of left and right observation optical systems 14A and 14B.

The image plane formed by the image forming lenses 13a and 13b is set so as to be located at the focal position of the eyepieces 14a and 14b, respectively. Note that 1 in FIG.
5 is a focal position of the stereoscopic observation optical system of the mirror body 8, and 16 in FIG.
Denotes position sensors for detecting the lens position of the objective lens 11, respectively. Here, the objective lens 11 is connected to a motor (not shown) and supported so as to be movable in the optical axis direction. The position of the objective lens 11 in the optical axis direction can be detected by the position sensor 16.

On the mirror body 8, a signal plate unit 17 is fixed as shown in FIG. FIG. 4 is a detailed view of the signal board unit 17. This signal board unit 17
Is provided with a signal plate 18 and a multi-joint support arm 42 as changing means for supporting the signal plate 18 in a displaceable manner. Here, on the signal plate 18, a digitizer 29 described later serves as a second index having a positional correlation with the position of the optical system of the mirror body 8 of the surgical microscope 1 in order to detect the three-dimensional coordinates of the mirror body 8. A plurality, in this embodiment, three LEDs 19
a, 19b, and 19c are integrally fixed. These LEDs 19a, 19b, and 19c are respectively L
It is connected to the ED control device 20. Furthermore, this LE
The D control device 20 is connected to a work station 21 which is a computing means.

The support arm 42 of the signal board 18 includes a first arm 22, a second arm 23, a third arm 24,
It comprises an arm 25 and rotatable joints 26a to 26d. The signal plate 18 is fixed to the tip of the fourth arm 25.

Here, the lower end of the first arm 22 is
Are connected to each other via a joint 26a having a substantially vertical axis S1 as a rotation axis. The upper end of the first arm 22 is connected to the lower end of the second arm 23 via a joint 26b having a substantially horizontal axis S2 as a rotation axis. The upper end of the second arm 23 is connected to the lower end of the third arm 24 via a joint 26c having a substantially horizontal axis S3 as a rotation axis. The upper end of the third arm 24 is the fourth arm 2
Joint 2 having a substantially horizontal axis S4 as a rotation axis at the base end of the joint 5
6d.

Further, each of the joints 26a to 26d is connected to an encoder 27a to 2d as a change measuring means shown in FIG.
7d and motors 28a to 28d, respectively. Here, the encoders 27 a to 27 d are connected to the workstation 21. In addition, the motors 28a to 28a
8d is connected to a motor driving means (not shown) provided inside the column 4. This motor driving means is connected to the workstation 21.

Reference numeral 29 denotes an LED 19 on the signal board 18.
This is a digitizer (optical position detecting device) for detecting the positions of three a, 19b, and 19c in three-dimensional coordinates. The digitizer 29 includes two CCD cameras 30a and 30b corresponding to photographing means, and these CCD cameras 30a and 30b.
It is composed of a camera support member 31 fixing the position of 0b and a stand 32. The digitizer 29 is installed in a state where it is arranged on the base end side of the operating bed 40 in the operating room (for example, the side on which the foot of the patient 34 on the bed 40 is arranged).

Further, the CCD cameras 30a and 30b are connected to the workstation 21 respectively. The workstation 21 includes an A / D converter (not shown) therein and is connected to a monitor 33.

In the workstation 21, data obtained by processing tomographic image data and tomographic image data by an image diagnostic apparatus (not shown) such as CT or MRI before operation beforehand and three-dimensionally reconstructed are recorded. .

In FIG. 2, a head frame 35 is fixed to a predetermined position of the head of the patient 34, and the head frame 35 is covered with a sterile drape (not shown). Then, on the sterilized drape, an arc portion 36 fixed to the head frame 35 is provided.
Is provided. On the arc portion 36, three mark members 37a, 37b, 37c are fixed as first indices having a positional correlation with the position of the affected part of the patient 34.
Ob-Xb, Yb, Zb are mark members 37 of the first index.
This is a living body coordinate system defined based on a, 37b, and 37c.

FIG. 5 shows an image displayed on the screen of the monitor 33. Here, on the screen of the monitor 33, along with the three-dimensionally reconstructed image of the operation part 39 based on the preoperative tomographic image of the patient 34, the focal position 15 of the surgical microscope 1 is displayed.
Is displayed.

Next, the operation of the above configuration will be described.
First, a tomographic image, such as a CT or MRI device, taken before surgery using the medical navigation system according to the present embodiment is reconstructed into three-dimensional image data and recorded on the workstation 21.

When the operation is started, calibration is performed using the mark members 37a, 37b, and 37c to correlate the tomographic image data in the workstation 21 with the coordinates of the operation section 39 (biological coordinate system Ob-Xb, Y
b, Zb).

With the above operation, the workstation 21
Stores a living body coordinate system. Thereafter, the surgeon 38 grasps the grip 9 of the mirror body 8 of the operating microscope 1 and
By pressing, the electromagnetic brake built into the axes O _{1 to} O ₅ is released, and the mirror 8 is moved to position the focal position 15 at the observation site of the operation section 39.

At the time of observation with the operating microscope 1, the operative section 39
The light beam emitted from is incident on the mirror 8. At this time,
The light beam incident on the mirror 8 from the objective lens 11 is observed through the variable power optical systems 12a and 12b, the imaging lenses 13a and 13b, and the eyepieces 14a and 14b. Observe at magnification. Here, when the focus position of the observation image is not correct, the objective lens 11 is driven by a motor (not shown) to perform focusing.

During the observation with the operating microscope 1, the digitizer 29 controls the LEDs 19 a and 19 of the signal board unit 17.
b and 19c are detected and subjected to signal processing by measuring means and AD converter means (not shown) in the workstation 21 to calculate the position of the signal plate unit 17 in the biological coordinate system. Here, the signal plate unit 17 is connected to the mirror body 8 at a predetermined position, and since the positions of the LEDs 19a to 19c in the biological coordinate system are known, the coordinates and posture of the mirror body 8 in the biological coordinate system are calculated. .

The objective lens 1 is detected by the position sensor 16.
1 is transmitted to the workstation 21.
In the workstation 21, the relative position of the focal position 15 with respect to the mirror 8 is calculated from the position information of the objective lens 11.

Subsequently, the position of the focal point 15 in the living body coordinate system is calculated from the position and orientation of the mirror 8 in the living body coordinate system and the relative position of the focal point 15 with respect to the mirror 8. At this time, the monitor 33 displays 3
The dimensional image data and the focal position 15 are displayed in a superimposed manner.

Next, the operation when the signal plate 18 is blocked by the operator's body or equipment will be described. During observation with the operating microscope 1, the digitizer 29 has the LEDs 19 a, 19 b, 19
When c cannot be detected, the workstation 21 sends a control signal to a motor driving means (not shown) provided inside the support 4.

The motor driving means having received the control signal outputs a driving signal to the motors 28a to 28d provided on the joints 26a to 26d of the support arm 42 of the signal plate unit 17 in FIG. At this time, the signal board 18
Turns when the motor 28a (axis S1) is driven,
The motor 28b (axis S2) and the motor 28c (axis S3) are driven to move up and down, and the motor 28d (axis S4) is driven to tilt.

Further, the motor driving means is provided with the signal plate 18.
The motors 28a to 28d are controlled such that the operations of turning, lifting, lowering and tilting are performed individually or in combination. Then, the digitizer 29 sets the LEDs 19a, 19
Motors 28a to 28d at the time of finding a position where all of b and 19c can be detected simultaneously (not interrupted by the operator or equipment)
Stop driving. In this state, the digitizer 29
The position of the LEDs 19a, 19b, 19c of the signal plate 18 in the biological coordinate system is detected.

The rotation angles of the encoders 27a to 27d in this state are transmitted to the workstation 21. In the workstation 21, a second arm 22 connected to the mirror 8 by a generally known mathematical method is used.
Position of arm 23, position of third arm 24 with respect to second arm 23, position of fourth arm 25 with respect to third arm, signal plate 18 and LED 19a with respect to fifth arm
-19c are sequentially calculated.

Then, as shown in FIG.
The focal position 15 is displayed on the monitor 35 in a state where the focal position 15 is superimposed on the image of the operation section 39 based on the three-dimensional image data, and the operator 38 knows the observation position of the microscope 1 on the image of the operation section 39 based on the three-dimensional image data. be able to.

Therefore, the above configuration has the following effects. That is, in the present embodiment, during the operation, the mark members 37a, 37b, and 37c of the arc portion 36 for detecting the observation point are moved with respect to the CCD cameras 30a and 30b of the digitizer 29 by moving the mirror 8 of the operating microscope 1. It moves, and the mark members 37a, 37b, 37 of the CCD camera 30a, 30b and the arc portion 36 for observation point detection.
c, the support arm 42 controls the LEDs 19a, 19b, 19c of the signal board 18 by the CCD camera 3
At 0a and 30b, the position is changed to a position where photographing is possible, and based on the amount of change, the position of the mirror body 8 of the surgical microscope 1 is obtained.
The position of the mirror body 8 of the surgical microscope 1 can always be detected, and a safe operation can be performed. Further, in the present embodiment, the movable range of the signal plate unit 17 is wide, and there is an effect that a wide range can be covered.

In this embodiment, the signal board unit 1
Although 7 is provided on the mirror 8, the invention is not limited to this, and any location may be used as long as the location can be correlated with the focal position of the mirror 8. Further, by providing rotation angle detection means on the rotation axes O _{1 to} O ₅ , the signal plate unit 17 can be connected to the first arm 5, the second arm 6, and the third arm 7 of the support mechanism 41 of the mirror body 8 in the operating microscope 1. It may be provided above.

The structure of the signal plate unit 17 is not limited to the four-joint structure of the present embodiment, but may be any structure that can realize at least one of turning, lifting and lowering, and tilting, or a combination thereof.

Next, a second embodiment of the present invention will be described with reference to FIG. In the first embodiment (see FIGS. 1 to 5), the support arm 42 to which the signal plate 18 of the signal plate unit 17 is fixed performs the turning, ascending, descending, and tilting operations sequentially, so that the position where the digitizer 29 can detect is darkened. On the other hand, in the present embodiment, a means for detecting the movement information of the signal board 18 with respect to the digitizer 29 is added,
When the signal cannot be detected by the digitizer 29, the support arm 42 is moved in a direction in which the possibility of detection of the signal plate 18 is high, based on the detection result from the detection information of the movement information of the signal plate 18, so that the signal is quickly transmitted. The plate 18 is configured to find a detectable position. The other configuration is the same as that of the first embodiment, and the same components as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and the description thereof is omitted.

FIG. 6 is a control block diagram of the workstation 100 in the medical navigation system according to the present embodiment. The workstation 100 includes a digitizer 29 as a photographing unit, a measuring unit 101 that receives output signals from encoders 27a to 27d as a change measuring unit, an A / D conversion unit 102, and a second index. A movement information detection unit 103 for detecting whether the movement is possible or not and a movement direction, a calculation unit 104, a monitor display unit 105, a database unit 106, and a motor control unit 107 are provided.

Next, the operation of the above configuration will be described.
In the present embodiment, after the digitizer 29 and the mirror 8 of the microscope 1 are arranged at appropriate positions for surgery, calibration is performed in the same manner as in the first embodiment. Thereby, the living body coordinate systems Ob-Xb, Yb, Zb are stored.

In this state, the rotation of the motors 28a to 28d of the signal plate unit 17 and the three LEDs 19a, 19b, 1 and 1 of the signal plate 18 photographed on the digitizer 29 are performed.
Control of an initial adjustment operation corresponding to the moving direction of 9c is performed. At this time, the motor control unit 107 controls a motor driving unit (not shown) to perform a series of operations such as turning, raising and lowering, and tilting the signal plate 18 a predetermined number of times, and the digitizer 29 takes an image thereof, and the detection information is stored in a database unit. 106. This initial adjustment operation is performed only once after the calibration.

The operation in the case where the signal plate 18 cannot be detected by the digitizer 29 due to the movement of the mirror 8 during the operation will be described. Here, during the operation, the movement information detecting unit 1
Numeral 03 detects whether or not the signal board 18 to be photographed by the digitizer 29 can be photographed, and also detects the direction of its movement.

When the signal board 18 cannot be detected by the digitizer 29, the movement information detecting unit 103 checks the moving direction of the signal board 18 immediately before the detection becomes impossible.
Then, in order to move the signal board 18 in the opposite direction, the database 10 indicates which one of the motors 28a to 28d of the signal board unit 17 should be rotated in which direction.
6, the motor control means 107 drives the motor drive means. Here, even if the mirror body 8 moves, the support arm 42 moves in a direction to offset the movement, and the digitizer 29 moves.
Is moved to the position where the signal board 18 is detected.

Therefore, in the present embodiment, in addition to obtaining the same effects as in the first embodiment, especially in the present embodiment, when the digitizer 29 becomes unable to detect the signal plate 18, a short time is taken. In this case, the operation can be performed more quickly and safely.

In this embodiment, the signal board unit 1
7, the rotation of each of the motors 28a to 28d, and the three LEDs 19a of the signal board 18 photographed on the digitizer 29,
Although the control of the initial adjustment operation corresponding to the moving directions of 19b and 19c is performed only once after the calibration, the present invention is not limited to this. May be reduced.

FIGS. 7 to 9 show a third embodiment of the present invention. In the present embodiment, the configuration of the medical navigation system of the first embodiment (see FIGS. 1 to 5) is changed as follows.

That is, in the first embodiment, the signal plate unit 17 has the articulated support arm 42, whereas in the present embodiment, a quadrangular pyramid-shaped unit main body 51 having no movable part is provided. The signal plate unit 17 is configured by providing three LEDs 52 as second indicators on each surface of the quadrangular pyramid of the unit main body 51. The other configuration is the same as that of the first embodiment.
Portions having the same configuration as in the first embodiment are denoted by the same reference numerals as in the first embodiment, and description thereof is omitted.

Here, the bottom surface of the quadrangular pyramid-shaped unit main body 51 of the signal plate unit 17 is fixed to a predetermined position of the mirror body 8 of the operating microscope 1 according to the present embodiment. FIG. 8 is a top view of a quadrangular pyramid-shaped unit main body 51 of the signal plate unit 17, and FIG. 9 is a side view thereof.

In FIG. 8, in the quadrangular pyramid-shaped unit main body 51 of the signal board unit 17, the second index mounting surface is formed by four surfaces of the quadrangular pyramid, namely, the A surface 53, the B surface 54, the C surface 55, and the D surface 56. Is configured. Here, A side 53
, Three LEDs 52a1, 52a2, 52a3 are fixed. Similarly, three LEDs 52b are provided on the B side 54.
1, 52b2 and 52b3 have three LEDs on the C-plane 55
52c1, 52c2, and 52c3 are fixed to the D surface 56, and three LEDs 52d1, 52d2, and 52d3 are fixed to the D surface 56, respectively.

These LEDs 52 are connected to an LED control device 57 as time-division lighting means in FIG. This LED control device 57 is connected to the workstation 21.

Next, the operation of the above configuration will be described.
In this embodiment, the digitizer 29 is the signal board unit 17.
3 provided on each surface of the quadrangular pyramid-shaped unit body 51.
If the signals of the two LEDs 52 cannot be detected, the workstation 21 sends a signal indicating that the LED cannot be measured to the LED control device 57.

Upon receiving this, the LED control device 57 controls the LEDs provided on the A-side 53 to D-side 56 of the signal board unit 17.
52 are sequentially turned on in time division. For example, at the interval of 0.5 seconds, A surface 53, B surface 54, C surface 55, and D surface 56
The EDs 52 are sequentially turned on. Here, the LED 52 of each surface
Is returned to the workstation 21 which is a measuring device, and the workstation 21 determines which of the A to D planes the currently lit LED 52 is.

Then, a surface on which all three LEDs 52 can be detected is selected as a reference surface. For example, when the LEDs 52d1, 52d2, and 52d3 on the D surface 56 are detected, the workstation 21 detects a state in which the LEDs 52d1, 52d2, and 52d3 on the D surface 56 are lit based on the synchronization signal. Here, the workstation 21 is LE
The time-division lighting of the LED 52 is stopped for the D control device 57,
Control is performed so that only the LEDs 52d1, 52d2, and 52d3 on the D surface 56 are turned on. In this state, the LE of the D surface 56 is
The positions of D52d1, 52d2, and 52d3 in the biological coordinate system are detected.

Since the signal plate unit 17 is fixed to the mirror body 8 at a predetermined position, the LED 52 on the D surface 56
The relative positions of d1, 52d2, 52d3 and the mirror 8 are also known. This and the LEDs 52d1 and 52d on the D surface 56
By clarifying the position of 2, 52d3 in the living body coordinate system, the coordinates and posture of the mirror body 8 in the living body coordinate system are calculated. The rest is the same as in the first embodiment.

Therefore, the above configuration has the following effects. That is, in the present embodiment, a quadrangular pyramid-shaped unit main body 51 having no movable portion is provided, and three LEDs 52 as second indices are provided on each surface of the quadrangular pyramid of the unit main body 51, respectively. Since the signal plate unit 17 has no movable part, the structure can be simplified. Therefore, there is an effect that the mirror body 8 of the surgical microscope 1 can be reduced in size and weight.

In the present embodiment, the signal board unit 1
Although 7 is constituted by the quadrangular pyramid-shaped unit main body 51, the invention is not limited to this, and may be triangular pyramid-shaped. Furthermore, LED
As long as there are a plurality of surfaces on which 52 can be installed, the shape is not limited to a pyramid and may be another shape.

FIG. 10 shows a fourth embodiment of the present invention. In the present embodiment, the configuration of the medical navigation system of the third embodiment (see FIGS. 7 to 9) is changed as follows.

That is, in this embodiment, a plurality of signal plate units 17 each having the quadrangular pyramid-shaped unit main body 51 of the third embodiment are provided. The configuration of the other parts is the same as that of the third embodiment, and the same reference numerals as those of the third embodiment denote the same parts as those of the third embodiment, and a description thereof will be omitted. I do.

As shown in FIG. 10, a first signal plate unit 17 is provided on the upper surface of the mirror body 8 of the operating microscope 1 according to the present embodiment.
A, the second signal plate unit 17B is fixed to the right surface, and the third signal plate unit 17C is fixed to the left surface.

The signal plate units 17A to 17C are the same as the quadrangular pyramid-shaped unit body 51 of the signal plate unit 17 of the third embodiment, and
1 is provided. The bottom surface of the unit main body 51 is fixed to the mirror body 8 of the surgical microscope 1, and three LEDs 52 are fixed to the remaining four surfaces (A surface 53 to D surface 56).

These LEDs 52 are connected to an LED control device 57 as time-division lighting means. Further, the LED control device 57 is connected to the workstation 21.

Next, the operation of the above configuration will be described.
In the present embodiment, the digitizer 29 includes three LEDs 52 provided on each surface of the three signal board units 17A to 17C.
Workstation 2
1 sends a signal indicating that the LED cannot be measured to the LED control device 57.

The LED control device 57 receiving this signal transmits the LED 5 provided on each surface of each of the signal board units 17A to 17C.
2 are sequentially turned on in time division. For example, the lights are sequentially turned on in the following order at 0.5 second intervals. That is, plane A, plane B, plane C, plane D of the first signal board unit 17A, plane A, plane B, plane C, and plane D of the second signal board unit 17B.
Plane, plane A, plane B and plane C of third signal board unit 17C
The lights are sequentially turned on in this order.

At this time, the synchronization signal for lighting the LEDs 52 on each surface is returned to the work station 21, and the work station 21 determines which surface of the signal board unit the currently lit LED 52 is. Then, a surface on which all three LEDs 52 can be detected is selected as a reference surface. Here, for example, when only the D surface of the first signal board unit 17A can detect all three LEDs 52, the workstation 21 instructs the LED control device 57 only the D surface of the first signal board unit 17A. Is controlled to be turned on.

In this state, the position of the surface D of the first signal plate unit 17A in the living body coordinate system is detected. And
The workstation 21 calculates the relative position of the mirror body 8 with respect to the first signal board unit 17A by a mathematical method. As a result, the first signal board unit 17 previously determined
The position and orientation of the mirror body 8 in the living body coordinate system are detected in accordance with the position of the plane A in the living body coordinate system. The rest is the same as in the first embodiment.

Therefore, in the above configuration, the same effects as those of the third embodiment can be obtained. In addition, in this embodiment, in particular, since there are a plurality of signal plate units, a wider range can be covered.

Further, since a plurality of small signal board units are arranged to cover a wide area without using a large signal board, a dead space is not taken, an empty space can be effectively used, and the size and weight can be reduced. .

In the present embodiment, three signal board units 17A to 17C are used, but the present invention is not limited to this, and two signal board units or four or more signal board units may be used.

Further, the present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made without departing from the spirit of the present invention. Next, other characteristic technical matters of the present application will be additionally described as follows. (Appendix 1) A first index having a positional correlation with the affected area,
A second index having a positional correlation with the optical system of the observation device, imaging means for imaging each of the first index and the second index, and the image of the affected part and the observation based on the imaging result of the imaging means. In an optical navigation system comprising arithmetic means for calculating a positional correlation in a three-dimensional space with an optical system of a device, changing means for changing the second index with respect to an optical system of the observation device in a three-dimensional space. And a displacement measuring means for measuring a value changed by the changing means, and a three-dimensional space between the diseased part and the optical system of the observation device based on the amount of change measured by the calculating means by the calculating means. An optical navigation system for calculating a positional correlation in the optical navigation system.

(Additional Item 2) The changing means may be configured so that the second
3. An optical navigation system according to claim 1, wherein said optical navigation system is a displacement means for displacing said index in said three-dimensional space.

(Additional Item 3) The changing means may include a plurality of sets of second indices provided on a surface of a polyhedron having a plurality of surfaces, and time division lighting means for lighting the second indices in a time division manner. Wherein the change measuring means measures time-division information of the time-division lighting means.
An optical navigation system as described.

(Additional Item 4) An additional item 2, wherein the photographing means includes a condition control unit for driving the changing means under a condition that the measuring means cannot be imaged and detecting a photographable portion. 4. The optical navigation system according to 3.

(Additional Item 5) A moving information detecting section for detecting a moving direction of the second index is provided, and the condition control section detects a photographable portion based on the moving information of the moving information detecting section. The optical navigation system according to claim 4, wherein the optical navigation system is characterized in that:

(Supplementary note 6) The supplementary items 1, 2 wherein the displacement means is a holding means comprising a plurality of arms and joints, and the change measuring means is provided near the joints. An optical navigation system according to any one of claims 4 and 5.

(Additional Item 7) The optical navigation system according to additional items 4 and 5, wherein the holding means is driven by a motor.

(Additional Item 8) The optical navigation system according to additional items 4 and 5, wherein the joint change measuring means is an encoder.

(Additional Item 9) The optical navigation system according to additional items 1 to 8, wherein a plurality of the displacement means are provided.

(Prior Art of Additional Items 1 to 9) As a conventional technique, there is Japanese Patent Application No. Hei 10-319190. this is,
This technology can be applied to optical navigation systems and the like. The first detecting means (signal means and digitizer) detects the three-dimensional position of the surgical microscope with respect to the operation part, and the second detecting means (encoder or CCD) detects the three-dimensional position of a surgical instrument such as a rigid endoscope with respect to the surgical microscope. (A camera or the like) to detect and calculate a three-dimensional position of a surgical instrument such as a rigid endoscope with respect to an operation site based on the detection results of the first and second detection means. Even when the surgical equipment is shielded from the digitizer, the position with respect to the surgical site can be grasped,
The content is that surgery can be performed smoothly.

(Problems to be Solved by Additional Items 1 to 9)
Japanese Patent Application No. 10-319190 is based on the premise that the three-dimensional position of the operating microscope can be reliably detected by the first detecting means with respect to the operation site. However, if the signal means provided on the surgical microscope and the digitizer are blocked by the surgeon's body, the assumption is broken and the position of the surgical microscope with respect to the surgical site cannot be detected. there were.

(Objects of Supplementary Items 1 to 9) An object of the present invention is to reliably detect a position without obstructing a position between a signal means provided on an operating microscope and a digitizer, thereby preventing position detection. An object of the present invention is to provide an optical navigation system.

(Means for Solving the Problem in Additional Item 1)
A first index having a positional correlation with the diseased part, a second index having a positional correlation with the optical system of the observation device, imaging means for imaging each of the first index and the second index, In an optical navigation system including an arithmetic unit that calculates a positional correlation between the affected part and the optical system of the observation device in a three-dimensional space based on an imaging result of the imaging unit, the second index is set to an optical value of the observation device. A change unit that changes coordinates in a three-dimensional space with respect to the system, and a displacement measurement unit that measures a value changed by the change unit, and the calculation unit is configured to calculate the value based on a change amount measured by the change measurement unit. An optical navigation system for calculating a positional correlation between an affected part and an optical system of the observation device in a three-dimensional space.

(Effects of Additional Items 1 to 9) Even if the space between the photographing means and the index for detecting the observation point is blocked, the change means moves to a position where the index is not blocked, and a new observation point is calculated based on the amount of movement. , The position of the observation device can be always detected, and a safe operation can be performed.

(Effects of Supplementary Items 1 to 9) As described above, according to the present invention, the index for detecting the observation point moves with respect to the photographing means by moving the observation device during the operation, or the photographing means Even if the distance between the target and the observation point detection index is obstructed by an obstacle, the changing means changes the index to a position at which the image can be taken by the imaging means, and the position is obtained based on the change amount. Can be detected, and a safe operation can be performed.

[0086]

According to the present invention, each of the first index having a positional correlation with the position of the affected part of the patient and the second index having a positional correlation with the position of the optical system of the observation device for observing the affected part are respectively provided. The photographing means for photographing is provided.
Calculate the initial positional correlation in the three-dimensional space between the position of the affected part and the position of the optical system of the observation device, and change the position when the imaging means and the second index for observation point detection are blocked. Means for changing the coordinates of the second index with respect to the position of the optical system of the observation device in the three-dimensional space, and based on the amount of change changed here, the three-dimensional space between the position of the affected part and the position of the optical system of the observation device. Since the means for recalculating the position correlation in the calculation means by means of the calculation means is provided, there is no possibility that the position of the operating microscope is not detected due to the movement of the operator during the operation, and the movement of the operator is limited. In addition, a stable operation can be performed by preventing the operation from being interrupted.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of an entire medical navigation system according to a first embodiment of the present invention.

FIG. 2 is a schematic configuration diagram of a main part of the medical navigation system according to the first embodiment.

FIG. 3 is a longitudinal sectional view showing a schematic configuration of a mirror body of a surgical microscope in the medical navigation system according to the first embodiment.

FIG. 4 is an exemplary perspective view showing a signal plate and a support arm in the medical navigation system according to the first embodiment;

FIG. 5 is an explanatory diagram for explaining an image displayed on a monitor screen in the medical navigation system according to the first embodiment.

FIG. 6 is a schematic configuration diagram of a main part showing a second embodiment of the present invention.

FIG. 7 is a schematic configuration diagram of an entire medical navigation system according to a third embodiment of the present invention.

FIG. 8 is a plan view of a signal plate unit in the medical navigation system according to the third embodiment.

FIG. 9 is a side view of a signal plate unit in the medical navigation system according to the third embodiment.

FIG. 10 is a schematic configuration diagram of an entire medical navigation system according to a fourth embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Operating microscope (observation apparatus) 8 Mirror 19a, 19b, 19c LED (2nd index) 21 Workstation (computing means) 30a, 30b CCD camera (photographing means) 34 Patient 37a, 37b, 37c Mark member (No. 1 index) 42 Support arm (change means)

Claims (1)

[Claims] A first index having a positional correlation with a position of an affected part of a patient; a second index having a positional correlation with a position of an optical system of an observation device for observing the affected part; Photographing means for photographing each of the index and the second index; and calculating an initial positional correlation in the three-dimensional space between the position of the diseased part and the position of the optical system of the observation device from the photographing result of the photographing means. Calculating means for changing the coordinates of the second index with respect to the position of the optical system of the observation device in the three-dimensional space; and displacement measuring means for measuring a value changed by the changing means. Means for recalculating the positional correlation in the three-dimensional space between the position of the diseased part and the position of the optical system of the observation device based on the amount of change measured by the change measuring means, and calculating the positional correlation by the calculating means. Characterized by Medical navigation system.