CN115645050B - Surgical navigation system - Google Patents
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Abstract
The invention provides a surgical navigation system, which comprises a working module, an intra-operative image acquisition module, a display module and an execution module, wherein the execution module comprises a calibration unit and an execution unit; the calibration unit is used for connecting with a preset part of the object to unify the object into a preset coordinate system; the intra-operative image acquisition module acquires an intra-operative image of a specified part of the object; the working module establishes a surgery planning scheme according to preset CT image information, registers the preset CT image information with intraoperative image information, and transmits the preset CT image and the surgery planning scheme to the display module; the execution unit transmits the coordinate position information of the execution unit to the working module; the display module is used for displaying the preset CT image, the operation planning scheme and the coordinate position information of the execution unit. The surgical navigation system solves the technical problem that the optical navigation effect is affected due to the fact that a light source is shielded in surgery in the existing optical navigation technology. The invention also provides a control method of the operation navigation system.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a surgical navigation system.
Background
The existing operation navigation system mainly comprises an optical positioning instrument, and the principle is that an optical target, such as a spherical reflective mark or a sticker type reflective mark, is utilized to perform infrared reflection positioning, so that three-dimensional positioning of an object is realized. In the navigation process of the surgical navigation robot, a plurality of marking tools are utilized to describe the space pose information of a surgical instrument, a positioning scale and an affected part of a patient, the marking tools are unified under the same coordinate system through an optical positioning instrument, and the starting and stopping points and the positioning position of the robot during the planning of a surgical path are determined by means of space data provided by the coordinate system. Therefore, in the navigation positioning process of the operation path, the spatial pose information precision of each marking tool directly influences the accuracy of the operation path planning and the robot, and all marks must be ensured to be in a tracking range and cannot be blocked by a light source. However, during the operation, there may be a change in the surrounding environment, walking of the person, etc., and at this time, the effect of the optical locator may be affected. The existing optical navigation technology has the technical difficulty that the light source is shielded in the operation process to influence the optical navigation effect.
Accordingly, there is a need to provide a new surgical navigation system to solve the above-mentioned problems in the prior art.
Disclosure of Invention
The invention aims to provide a surgical navigation system, which solves the technical problem that the optical navigation effect is affected due to the shielding of a light source in the surgical process in the existing optical navigation technology.
In order to achieve the above purpose, the surgical navigation system of the present invention comprises a working module, an intra-operative image acquisition module, a display module and an execution module, wherein the execution module comprises a calibration unit and an execution unit;
The calibration unit is connected with the working module and is used for being connected with a preset part of an object to unify the object into a preset coordinate system;
The intraoperative image acquisition module is connected with the working module and is used for acquiring an intraoperative image of the appointed part of the object and transmitting the intraoperative image of the appointed part of the object to the working module;
The working module is connected with the display module and is used for establishing a surgery planning scheme according to preset CT image information, registering the preset CT image information with the intraoperative image information to obtain a registered transformation matrix, unifying the preset CT image information into the preset coordinate system, and transmitting the preset CT image information and the surgery planning scheme to the display module;
the execution unit is connected with the working module and is used for executing operation on the object and transmitting the coordinate position information of the execution unit to the working module so that the working module can transmit the coordinate position information of the execution unit to the display module;
the display module is used for displaying the coordinate position information of the execution unit.
The surgical navigation system has the beneficial effects that: the calibration unit is connected with the working module and is used for being connected with a preset part of an object to unify the object into a preset coordinate system; registering the preset CT image information with the intraoperative image information to obtain a registered transformation matrix so as to unify the preset CT image information into the preset coordinate system; the execution unit is connected with the working module and is used for executing operation on the object and transmitting coordinate position information of the execution unit to the working module. The navigation system can unify the object, the preset CT image and the execution unit into the preset coordinate system, so that the position of the execution unit in the preset CT image can be displayed, the relative position of the execution unit and the object in the actual space can be further known, the position navigation of the execution unit is realized, the preset CT image information establishes a surgical planning scheme, and reference can be provided for surgical operation. The operation navigation system does not need to use an optical navigation method, and solves the technical problem that the optical navigation effect is affected due to the fact that a light source is shielded in the operation process in the existing optical navigation technology.
Preferably, the calibration unit comprises a mechanical arm base, a first mechanical arm and a second mechanical arm, the execution unit comprises a third mechanical arm, the first mechanical arm, the second mechanical arm and the third mechanical arm are all arranged on the mechanical arm base, the first mechanical arm is used for being connected with a first part of an object, the second mechanical arm is used for being connected with a second part of the object, the third mechanical arm is used for performing operation, joint encoders are arranged on the first mechanical arm, the second mechanical arm and the third mechanical arm, the joint encoders are connected with the working module, the joint encoders transmit position data to the working module through encoder acquisition cards, and the working module calculates the pose of each arm based on a kinematic model.
Preferably, the first part is a femoral trochanter, the second part is an anterior superior iliac spine, and the display module is used for displaying the spatial positions of the acetabulum and the femoral head and the operation planning scheme.
Preferably, the third mechanical arm is connected with the bending grinding drill, the bending grinding drill comprises a grinding head, a bending part, a joint part and a fixing part, the grinding head, the bending part and the joint part are sequentially connected, the fixing part is arranged on the joint part, the fixing part is used for connecting the third mechanical arm, the joint part is used for connecting a power source, the bending part is a steel wire, the adjusting angle of the bending part comprises 0-60 degrees, and the grinding head is used for grinding the proliferation bone tissue during operation.
Preferably, the system further comprises a planning module, wherein the planning module is connected with the working module and is used for constructing a three-dimensional reconstruction model and an operation scheme according to preset CT image information and preset MRI image information and transmitting the three-dimensional reconstruction model and the operation scheme to the working module.
Preferably, the planning module comprises a segmentation unit and a fusion unit, the segmentation unit is connected with the fusion unit, the fusion unit is connected with the working module, the segmentation unit is used for segmenting the preset CT image information and the preset MRI image information according to preset rules and transmitting the segmented preset CT image information and the segmented preset MRI image information to the fusion unit, and the fusion unit is used for fusing the segmented preset CT image information and the segmented preset MRI image information and reconstructing an image to construct a three-dimensional reconstruction model and an operation scheme and transmitting the three-dimensional reconstruction model and the operation scheme to the working module.
Preferably, the surgical navigation system further comprises an evaluation and measurement module, wherein the evaluation and measurement module is connected with the working module and is used for obtaining a preset image, performing preoperative evaluation on the preset image and measuring information in the preset image, and transmitting an evaluation and measurement result to the working module.
Preferably, the surgical navigation system further includes a report generating module, which is connected to the planning module, the evaluation module, and the working module, respectively, and is configured to obtain a preset image, the evaluation result, the three-dimensional reconstruction model, and the operation scheme, then analyze the preset image, the evaluation result, the three-dimensional reconstruction model, and the operation scheme to generate a report, and transmit the report to the working module.
Preferably, the intra-operative image acquisition module is an intra-operative X-ray film shooting device, the intra-operative image information is an intra-operative X-ray film image of the appointed position of the object, and the appointed position is the pelvis positive side position.
The invention also provides a control method of the operation navigation system, which comprises the following steps:
S1: the calibration unit is connected with a preset part of the object to unify the object into a preset coordinate system;
S2: the intra-operative image acquisition module acquires an intra-operative image of the specified part of the object and transmits the intra-operative image of the specified part of the object to the working module;
s3: the working module establishes a surgery planning scheme according to preset CT image information, registers the preset CT image information with the intraoperative image information to obtain a registered transformation matrix, unifies the preset CT image information into the preset coordinate system, and transmits the preset CT image information and the surgery planning scheme to the display module;
s4: the display module displays the preset CT image information and the operation planning scheme;
S5: the execution unit executes an operation on the object, and transmits coordinate position information of the execution unit to the working module so that the working module transmits the coordinate position information of the execution unit to the display module;
s6: and the display module displays the coordinate position information of the execution unit.
The control method of the surgical navigation system has the beneficial effects that: the calibration unit is connected with the working module and is used for being connected with a preset part of an object to unify the object into a preset coordinate system; registering the preset CT image information with the intraoperative image information to obtain a registered transformation matrix so as to unify the preset CT image information into the preset coordinate system; the execution unit is connected with the working module and is used for executing operation on the object and transmitting coordinate position information of the execution unit to the working module. The navigation system can unify the object, the preset CT image and the execution unit into the preset coordinate system, so that the position of the execution unit in the preset CT image can be displayed, the relative position of the execution unit and the object in the actual space can be further known, the position navigation of the execution unit is realized, the preset CT image information establishes a surgical planning scheme, and reference can be provided for surgical operation. The operation navigation system does not need to use an optical navigation method, and solves the technical problem that the optical navigation effect is affected due to the fact that a light source is shielded in the operation process in the existing optical navigation technology.
Preferably, the step of connecting the calibration unit with a preset portion of the object to unify the object into a preset coordinate system includes:
The first mechanical arm is connected with a first part of an object, the second mechanical arm is connected with a second part of the object, the third mechanical arm performs operation, joint encoders are arranged on the first mechanical arm, the second mechanical arm and the third mechanical arm, the joint encoders are connected with the working module, the joint encoders transmit position data to the working module through encoder acquisition cards, and the working module calculates the pose of each arm based on a kinematic model.
Preferably, before the step of connecting the calibration unit with the preset part of the object to unify the object into the preset coordinate system is performed, the method further includes:
The planning module constructs a three-dimensional reconstruction model and an operation scheme according to preset CT image information and preset MRI image information, and transmits the three-dimensional reconstruction model and the operation scheme to the working module.
Preferably, the step of constructing a three-dimensional reconstruction model and an operation scheme by the planning module according to the preset CT image information and the preset MRI image information, and transmitting the three-dimensional reconstruction model and the operation scheme to the working module includes:
The segmentation unit segments the preset CT image information and the preset MRI image information according to a preset rule, and transmits the segmented preset CT image information and the segmented preset MRI image information to the fusion unit;
The fusion unit fuses the segmented preset CT image information and the preset MRI image information, and the preset CT image information and the preset MRI image information to reconstruct an image, constructs a three-dimensional reconstruction model and an operation scheme, and transmits the three-dimensional reconstruction model and the operation method to the working module.
Preferably, the planning module constructs a three-dimensional reconstruction model and an operation scheme according to preset CT image information and preset MRI image information, and before the step of transmitting the three-dimensional reconstruction model and the operation scheme to the working module is executed, the method further includes:
the evaluation and measurement module obtains a preset image, performs preoperative evaluation on the preset image, measures information in the preset image, and transmits an evaluation and measurement result to the working module.
Preferably, the planning module constructs a three-dimensional reconstruction model and an operation scheme according to preset CT image information and preset MRI image information, and transmits the three-dimensional reconstruction model and the operation scheme to the working module, after the step of executing is completed, the method further includes: the report generation module obtains a preset image, the evaluation value result, the three-dimensional reconstruction model and the operation scheme, analyzes the preset image, the evaluation value result, the three-dimensional reconstruction model and the operation scheme to generate a report, and transmits the report to the working module.
Drawings
FIG. 1 is a schematic diagram of a surgical navigation system according to some embodiments of the present invention;
FIG. 2 is a block diagram of a surgical navigation system in accordance with some embodiments of the present invention;
Fig. 3 is a flowchart of a control method of the surgical navigation system according to some embodiments of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. Unless otherwise defined, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the word "comprising" and the like means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof without precluding other elements or items.
Fig. 1 is a schematic structural diagram of a surgical navigation system according to some embodiments of the present invention, and fig. 2 is a structural block diagram of a surgical navigation system according to some embodiments of the present invention.
Referring to fig. 1 to 2, the surgical navigation system of the present invention includes a working module 1, an intra-operative image acquisition module 2, a display module 3, and an execution module 4, the execution module 4 including a calibration unit 41 and an execution unit 42; the calibration unit 41 is connected with the working module 1, and the calibration unit 41 is used for connecting with a preset part of an object to unify the object into a preset coordinate system; the intra-operative image acquisition module 2 is connected with the working module 1 and is used for acquiring an intra-operative image of the appointed part of the object and transmitting the intra-operative image of the appointed part of the object to the working module 2; the working module 1 is connected with the display module 3, and is used for establishing a surgery planning scheme according to preset CT image information, registering the preset CT image information with the intraoperative image information to obtain a registered transformation matrix, unifying the preset CT image information into the preset coordinate system, and transmitting the preset CT image information and the surgery planning scheme to the display module 3; the execution unit 42 is connected to the working module 1, and is configured to perform an operation on the object, and transmit coordinate position information of the execution unit 42 to the working module 1 so that the working module 1 transmits the coordinate position information of the execution unit 42 to the display module 3; the display module 3 is configured to display coordinate position information of the execution unit 42.
The surgical navigation system has the beneficial effects that: the calibration unit is connected with the working module and is used for being connected with a preset part of an object to unify the object into a preset coordinate system; registering the preset CT image information with the intraoperative image information to obtain a registered transformation matrix so as to unify the preset CT image information into the preset coordinate system; the execution unit is connected with the working module and is used for executing operation on the object and transmitting coordinate position information of the execution unit to the working module. The navigation system can unify the object, the preset CT image and the execution unit into the preset coordinate system, so that the position of the execution unit in the preset CT image can be displayed, the relative position of the execution unit and the object in the actual space can be further known, the position navigation of the execution unit is realized, the preset CT image information establishes a surgical planning scheme, and reference can be provided for surgical operation.
In some embodiments, the calibration unit 41 is connected to the working module 1, the intra-operative image acquisition module 2 is connected to the working module 1, the working module 1 is connected to the display module 3, the execution unit 42 is connected to the working module 1 through cables, the intra-operative image acquisition module is an intra-operative X-ray film shooting device, and the intra-operative image information is an intra-operative X-ray film image of the specified portion of the object. In some specific embodiments, the designated site is the pelvic frontal side position.
In some specific embodiments, the surgical planning scheme includes an anterolateral approach (anterolateral, AL) puncture navigation path, a modified anterolateral approach (modified anterior portals, MAP) puncture navigation path, and a distal anterolateral auxiliary approach (distal anterolateral accessory portal, DALA) puncture navigation path.
Referring to fig. 1, the calibration unit includes a robot arm base 413, a first robot arm 411 and a second robot arm 412, the execution unit includes a third robot arm 421, the first robot arm 411, the second robot arm 412 and the third robot arm 421 are all disposed on the robot arm base 413, the first robot arm 411 is used for being connected with a first portion of the object, the second robot arm 412 is used for being connected with a second portion of the object, the third robot arm 421 is used for performing an operation, joint encoders 410 are disposed on the first robot arm 411, the second robot arm 412 and the third robot arm 421, the joint encoders 410 are connected with the working module 1, the joint encoders 410 transmit position data to the working module 1 through encoder acquisition cards, and the working module 1 calculates the pose of each arm based on a kinematic model.
In some specific embodiments, the surgical navigation system is a hip multi-arm navigation system that may be used in association with arthroscopic procedures including, but not limited to, hip impact syndrome. The first mechanical arm 411 is used for connecting a calibration bone needle driven into a femoral trochanter of a subject to calibrate the femur, the second mechanical arm 412 is used for connecting a calibration bone needle driven into a anterior superior iliac spine of the subject to calibrate the acetabulum, the first mechanical arm 411 and the second mechanical arm 412 can be used interchangeably, and the calibration bone needle is a bone needle with scales. The third mechanical arm 421 is an instrument arm, various surgical instruments are connected in operation for navigating the operation of the doctor, and the joint encoder 410 is disposed on the first mechanical arm 411, the second mechanical arm 412, and the third mechanical arm 421.
The method comprises the steps of acquiring a CT image, an MRI image and an X-ray film image of an object before operation, taking the CT image, the MRI image and the X-ray film image as preset CT images, preset MRI images and preset X-ray film images, storing the preset CT images, the preset MRI images and the preset X-ray film images, calling the CT images, the preset MRI images and the preset X-ray film images when required, and setting a preset coordinate system in the working module. Taking a hip joint multi-arm navigation system as an example, when the hip joint multi-arm navigation system is used, firstly, a subject is placed at a designated position of an operation table, calibration spicules are respectively driven into a front upper iliac spine and a femoral trochanter of the subject, then, the first mechanical arm is connected with the calibration spicules of the front upper iliac spine of the subject, the second mechanical arm is connected with the calibration spicules of the front upper iliac spine of the subject, so as to finish calibration, joint encoders are arranged on the first mechanical arm and the second mechanical arm, the joint encoders are in rigid connection with the mechanical arms, the mechanical arms are in rigid connection with the front upper iliac spine of the subject and the femoral trochanter of the subject respectively through the calibration spicules, the joint encoders transmit spatial position information of the joint encoders to the working module through an encoder acquisition card, and the working module calculates the position of each arm and the position information of the front upper iliac spine and the femoral trochanter of the subject in the preset coordinate system based on a kinematical model, and the joint encoder acquisition position information method is a method in the prior art, and the method is not repeated. Through calibration, the actual space of the object can be unified into the preset coordinate system, and the position information of the anterior superior iliac spine and the femoral trochanter of the object in the preset coordinate system can be transmitted to the display module for display. When the third mechanical arm is rigidly connected with the puncture guide rod, the anchor guide device or the bending drill, the joint encoder on the third mechanical arm transmits real-time position information of the joint encoder in the preset coordinate system to the working module, the working module calculates three-dimensional coordinate positions of the tail end of the puncture guide rod, the anchor guide device or the bending drill in the preset coordinate system based on a kinematic model, and transmits the three-dimensional coordinate positions of the tail end of the puncture guide rod, the anchor guide device or the bending drill in the preset coordinate system to the display module for display. The method comprises the steps that an intraoperative X-ray film shooting device is used for obtaining an intraoperative X-ray film image of a pelvis positive side position of an object, the intraoperative X-ray film image has position information of a preset coordinate system, the operating module spatially registers the intraoperative X-ray film image and the preset CT image, the preset CT image is unified into the preset coordinate system, surgical instruments of the object, the preset CT image and the third mechanical arm can be unified into the preset coordinate system, when the surgical instruments are operated, three-dimensional coordinates of the instrument tail end in the preset coordinate system can be obtained through the joint encoder, and therefore relative position information of the preset CT image and the instrument tail end in the preset coordinate system can be obtained, and real-time position information of the instrument tail end can be displayed in the preset CT image.
In some embodiments, the working module includes a registration unit, the registration unit acquires real-time position information of the third mechanical arm and the surgical planning scheme, the registration unit acquires preoperative CT image data and intraoperative DR image data, and the preoperative CT image data is unified into an intraoperative coordinate system through a registration algorithm.
In some embodiments, the surgical planning scheme may be manually modified.
In some embodiments, the surgical navigation system further includes a calculation module and a prompt module, where the calculation module is connected with the working module and the prompt module respectively, and the calculation module obtains real-time position information of the execution unit and the surgical planning scheme, calculates an azimuth difference value between the real-time position information of the execution unit and a distance between the real-time position information of the execution unit and the surgical planning scheme that needs to be reached, where the calculation unit has a preset threshold, and when the calculation unit determines that the azimuth difference value is higher than the preset threshold, sends information to the prompt module, and the prompt module sends a prompt that exceeds the surgical planning scheme, where the prompt includes an alarm or an alarm mode with edge color change, and can correct the operation deviation in the operation in time.
In some specific embodiments, the surgical instrument is a grinding drill, the surgical planning scheme is a planned grinding area, the calculating unit calculates an azimuth difference between real-time position information of the tail end of the surgical instrument and the planned grinding edge to be reached, and when the azimuth difference between the real-time position information of the executing unit and the planned grinding edge to be reached is higher than the preset threshold, the calculating module sends an instruction to enable the prompting module to send out a critical or exceeding edge prompt. In other specific embodiments, the surgical instrument is an anchor guide, the surgical planning scheme includes placement direction and depth information of the anchor guide, the calculating unit calculates an azimuth difference value between real-time position information of the tail end of the surgical instrument and placement direction and depth information of the anchor guide, and when the azimuth difference value between the real-time position information of the tail end of the surgical instrument and placement direction and depth information of the anchor guide is higher than a preset threshold value, the calculating module sends an instruction to enable the prompting module to send out critical or beyond-edge prompt.
In some specific embodiments, the surgical instrument includes a piercing guide bar, an anchor guide, and a crimp drill. The bending grinding drill comprises a grinding head, a bending part, a joint part and a fixing part, wherein the grinding head, the bending part and the joint part are sequentially connected, the fixing part is arranged on the joint part and used for connecting the third mechanical arm, the joint part is used for connecting a power source, the bending part is a steel wire, the adjusting angle of the bending part comprises 0-60 degrees, the grinding head is used for grinding the proliferation bone tissue during operation, and the power source is a motor and used for providing power for grinding the drill and the planing tool. In some embodiments, the adjustment angle of the bend is 0 °,30 °, and 60 °.
In some specific embodiments, the surgical navigation system further comprises an instrument adapter and a sterile cover, wherein the instrument adapter is used for connecting and fixing the puncture guide rod, the bending abrasive drill and the anchor guide on the instrument arm, and the sterile cover is sleeved on the mechanical arm to meet the requirement of sterile operation in surgery.
Referring to fig. 2, the surgical navigation system further includes a cart 10. The working module 1 is a computer host, the display module 3 is a display, the display is positioned above the computer, the trolley 10 is used for placing the computer host and the display, the bottom surface of the trolley 10 is connected with the pulley 101, the pulley 101 facilitates the movement of the trolley, and the trolley 10 is moved to a required position during use, so that the trolley is convenient to prepare for operation. The computer host is connected with the keyboard and the mouse, and the display is a touch screen display, so that man-machine interaction is facilitated. The intra-operative image acquisition module 2 is an intra-operative X-ray film shooting device, and the intra-operative X-ray film shooting device is connected with the computer host and is used for acquiring intra-operative X-ray film images of the pelvis positive side position of the object.
Referring to fig. 1 to 2, the surgical navigation system further includes a planning module 5, the planning module 5 is connected to the working module 1, and is configured to construct a three-dimensional reconstruction model and an operation scheme according to preset CT image information and preset MRI image information, and transmit the three-dimensional reconstruction model and the operation scheme to the working module 1, and the working module 1 transmits the three-dimensional reconstruction model and the operation scheme to the display module 3.
In some embodiments, the planning module includes a segmentation unit and a fusion unit, the segmentation unit is connected with the fusion unit, the fusion unit is connected with the working module, the segmentation unit is configured to segment the preset CT image information and the preset MRI image information according to a preset rule, and transmit the segmented preset CT image information and the segmented preset MRI image information to the fusion unit, and the fusion unit is configured to fuse the segmented preset CT image information and the segmented preset MRI image information, and reconstruct an image, construct a three-dimensional reconstruction model and an operation scheme, and transmit the three-dimensional reconstruction model and the operation scheme to the working module.
In some specific embodiments, constructing the operation scheme includes determining an operation region and a non-operation region by the three-dimensional reconstruction model, and dividing or outlining the operation region and the non-operation region to make the operation region and the non-operation region more obvious to display.
In some specific embodiments, the planning module stores motion data of a normal human body, and the operation area and the non-operation area are determined by comparing the motion data of the normal human body with a preoperative X-ray image, a preoperative CT image, a preoperative MRI image, and the three-dimensional reconstruction model of the object, so as to establish the operation scheme.
In some specific embodiments, the segmentation unit is used for independently segmenting the target anatomical structure based on the CT image information and the MRI image information before the operation of the object, the fusion unit is used for fusing the segmented image information with the CT image information and the MRI image information before the operation to reconstruct an image, and the boundary between a focus and surrounding tissues is displayed in a fuzzy manner due to the limited resolution of CT on soft tissue organs, on the other hand, the MRI has high resolution on the soft tissues, and can be used for recognizing and positioning the focus, so that the CT image information and the MRI image information before the operation are fused and the respective advantages of the two images are combined to reconstruct the image, and the target anatomical structure image can be displayed more clearly. The constructed three-dimensional reconstruction model can clearly display the target anatomical structure, and can independently display the target anatomical structure, thereby being more convenient for doctors to observe and diagnose.
Referring to fig. 1, the surgical navigation system further includes an evaluation and measurement module 6, where the evaluation and measurement module 6 is connected to the working module 1, and is configured to obtain a preset image, perform preoperative evaluation on the preset image and measure information in the preset image, and transmit an evaluation and measurement result to the working module. The working module 1 transmits the evaluation measurement results to the display module 3.
In some specific embodiments, the evaluation and measurement module measures angles and distances of the target anatomy in different tangential planes of the preoperative X-ray film image, the preoperative CT image and the preoperative MRI image, and transmits measurement data to the working module, the working module transmits to the display module to display the edges of the target anatomy in a emphasized manner, and when the preoperative X-ray film image, the preoperative CT image, the preoperative MRI image and the measurement data are transmitted to the display module, the edge line can be manually drawn on the target anatomy through a mouse or a touch screen display, and the description data can be recorded, so that a doctor can conveniently plan an operation scheme.
Referring to fig. 2, the surgical navigation system further includes a report generating module 7, where the report generating module 7 is connected to the planning module 5, the evaluation and estimation module 6, and the working module 1, respectively, and is configured to obtain a preset image, the evaluation and estimation result, the three-dimensional reconstruction model, and the operation scheme, then analyze the preset image, the evaluation and estimation result, the three-dimensional reconstruction model, and the operation scheme to generate a report, and transmit the report to the working module 1. The work module 1 transmits the report to the display module 3. In some embodiments, the report generating module generates a detailed report for the preoperative X-ray image and the preoperative CT image, and transmits the preoperative X-ray image, the preoperative CT image, the preoperative MRI image, the evaluation result, the three-dimensional reconstruction model and the image of the operation scheme to the display module for arrangement display.
The present invention also provides a control method of the surgical navigation system, fig. 3 is a flowchart of a control method of the surgical navigation system according to some embodiments of the present invention, and referring to fig. 3, the control method includes the following steps:
S1: the calibration unit is connected with a preset part of the object to unify the object into a preset coordinate system;
S2: the intra-operative image acquisition module acquires an intra-operative image of the specified part of the object and transmits the intra-operative image of the specified part of the object to the working module;
s3: the working module establishes a surgery planning scheme according to preset CT image information, registers the preset CT image information and the intraoperative image information to obtain a registered transformation matrix, unifies the preset CT image information into the preset coordinate system, and transmits the registered preset CT image information and the surgery planning scheme to the display module;
s4: the display module displays the preset CT image information and the operation planning scheme;
S5: the execution unit executes an operation on the object, and transmits coordinate position information of the execution unit to the working module so that the working module transmits the coordinate position information of the execution unit to the display module;
s6: and the display module displays the coordinate position information of the execution unit.
In some embodiments, the step of connecting the calibration unit with the preset portion of the object to unify the object into the preset coordinate system includes:
The first mechanical arm is connected with a first part of an object, the second mechanical arm is connected with a second part of the object, the third mechanical arm performs operation, joint encoders are arranged on the first mechanical arm, the second mechanical arm and the third mechanical arm, the joint encoders are connected with the working module, the joint encoders transmit position data to the working module through an encoder acquisition card, and the working module calculates the pose of each arm based on a kinematic model.
In some embodiments, the calibration unit is connected to the preset portion of the object, and before performing the step of unifying the object into the preset coordinate system, the method further includes:
The planning module constructs a three-dimensional reconstruction model and an operation scheme according to preset CT image information and preset MRI image information, and transmits the three-dimensional reconstruction model and the operation scheme to the working module.
In some embodiments, the step of constructing a three-dimensional reconstruction model and an operation scheme by the planning module according to the preset CT image information and the preset MRI image information, and transmitting the three-dimensional reconstruction model and the operation scheme to the working module includes:
The segmentation unit segments the preset CT image information and the preset MRI image information according to a preset rule, and transmits the segmented preset CT image information and the segmented preset MRI image information to the fusion unit;
The fusion unit fuses the segmented preset CT image information and the preset MRI image information, and the preset CT image information and the preset MRI image information to reconstruct an image, constructs a three-dimensional reconstruction model and an operation scheme, and transmits the three-dimensional reconstruction model and the operation method to the working module.
In some embodiments, the calibration unit is connected to the preset portion of the object, and before performing the step of unifying the object into the preset coordinate system, the method further includes:
the evaluation and measurement module obtains a preset image, performs preoperative evaluation on the preset image, measures information in the preset image, and transmits an evaluation and measurement result to the working module.
In some embodiments, the planning module constructs a three-dimensional reconstruction model and an operation scheme according to the preset CT image information and the preset MRI image information, and transmits the three-dimensional reconstruction model and the operation scheme to the working module, after the step of executing is completed, further includes:
The report generation module obtains a preset image, the three-dimensional reconstruction model and the operation scheme, analyzes the preset image, the three-dimensional reconstruction model and the operation scheme to generate a report, and transmits the report to the working module.
While embodiments of the present invention have been described in detail hereinabove, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. It is to be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the following claims. Moreover, the invention described herein is capable of other embodiments and of being practiced or of being carried out in various ways.
Claims (5)
1. The surgical navigation system is characterized by comprising a working module, an intra-operative image acquisition module, a display module and an execution module, wherein the execution module comprises a calibration unit and an execution unit;
The calibration unit is connected with the working module and is used for being connected with a preset part of an object to unify the object into a preset coordinate system; the calibration unit comprises a mechanical arm base, a first mechanical arm and a second mechanical arm, the execution unit comprises a third mechanical arm, the first mechanical arm, the second mechanical arm and the third mechanical arm are all arranged on the mechanical arm base, the first mechanical arm is used for being connected with a first part of an object, the second mechanical arm is used for being connected with a second part of the object, the third mechanical arm is used for performing operation, joint encoders are arranged on the first mechanical arm, the second mechanical arm and the third mechanical arm, the joint encoders are connected with the working module, the joint encoders transmit position data to the working module through encoder acquisition cards, and the working module calculates the pose of each arm based on a kinematic model; the first part is a femoral trochanter, and the second part is an anterior superior iliac spine;
The third mechanical arm is connected with the bending abrasive drill, the bending abrasive drill comprises a grinding head, a bending part, a joint part and a fixing part, the grinding head, the bending part and the joint part are sequentially connected, the fixing part is arranged at the joint part and is used for connecting the third mechanical arm, the joint part is used for connecting a power source, the bending part is a steel wire, the adjusting angle of the bending part comprises 0-60 degrees, and the grinding head is used for grinding the proliferation bone tissue during operation;
The system comprises a working module, a planning module, a three-dimensional reconstruction module, a control module and a control module, wherein the working module is used for working according to CT image information and MRI image information, and transmitting the three-dimensional reconstruction module and the control module to the working module;
The intraoperative image acquisition module is connected with the working module and is used for acquiring an intraoperative image of a designated part of a subject and transmitting the intraoperative image of the designated part of the subject to the working module;
The working module is connected with the display module and is used for establishing a surgery planning scheme according to preset CT image information, registering the preset CT image information with the intraoperative image information to obtain a registered transformation matrix, unifying the preset CT image information into the preset coordinate system, and transmitting the preset CT image information and the surgery planning scheme to the display module;
the execution unit is connected with the working module and is used for executing operation on the object and transmitting the coordinate position information of the execution unit to the working module so that the working module can transmit the coordinate position information of the execution unit to the display module;
The display module is used for displaying the coordinate position information of the execution unit, the space positions of the acetabulum and the femoral head and the operation planning scheme.
2. The surgical navigation system according to claim 1, wherein the planning module includes a segmentation unit and a fusion unit, the segmentation unit is connected with the fusion unit, the fusion unit is connected with the working module, the segmentation unit is used for segmenting the preset CT image information and the preset MRI image information according to a preset rule, and transmitting the segmented preset CT image information and the segmented preset MRI image information to the fusion unit, and the fusion unit is used for reconstructing an image after fusing the segmented preset CT image information and the segmented preset MRI image information, the preset CT image information and the preset MRI image information, constructing a three-dimensional reconstruction model and an operation scheme, and transmitting the three-dimensional reconstruction model and the operation scheme to the working module.
3. The surgical navigation system of claim 1, further comprising an evaluation measurement module coupled to the working module for obtaining a preset image, then preoperatively evaluating the preset image and measuring information in the preset image, and transmitting the evaluation measurement to the working module.
4. A surgical navigation system according to claim 3, further comprising a report generation module, connected to the planning module, the evaluation module, and the working module, respectively, for obtaining a preset image, the evaluation result, the three-dimensional stereo reconstruction model, and the operation plan, then analyzing the preset image, the evaluation result, the three-dimensional stereo reconstruction model, and the operation plan to generate a report, and transmitting the report to the working module.
5. The surgical navigation system of claim 1, wherein the intra-operative image acquisition module is an intra-operative X-ray film capturing device, the intra-operative image information is an intra-operative X-ray film image of a designated site of the subject, the designated site being a positive pelvic lateral position.
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| CN110711030A (en) * | 2019-10-21 | 2020-01-21 | 北京国润健康医学投资有限公司 | Femoral head necrosis minimally invasive surgery navigation system and surgery method based on AR technology |
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| CN112641510B (en) * | 2020-12-18 | 2021-08-17 | 北京长木谷医疗科技有限公司 | Joint replacement surgery robot navigation and positioning system and method |
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| CN104586505A (en) * | 2014-09-19 | 2015-05-06 | 张巍 | Navigating system and method for orthopedic operation |
| CN110711030A (en) * | 2019-10-21 | 2020-01-21 | 北京国润健康医学投资有限公司 | Femoral head necrosis minimally invasive surgery navigation system and surgery method based on AR technology |
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