CN112932664A - Circular patch for surgical navigation system - Google Patents
Circular patch for surgical navigation system Download PDFInfo
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- CN112932664A CN112932664A CN202110110541.XA CN202110110541A CN112932664A CN 112932664 A CN112932664 A CN 112932664A CN 202110110541 A CN202110110541 A CN 202110110541A CN 112932664 A CN112932664 A CN 112932664A
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- Prior art keywords
- base
- navigation system
- circular patch
- surgical navigation
- ray opaque
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- 239000011248 coating agent Substances 0.000 claims abstract description 12
- 238000000576 coating method Methods 0.000 claims abstract description 12
- 239000000463 material Substances 0.000 claims description 3
- 239000012780 transparent material Substances 0.000 claims description 3
- 239000008188 pellet Substances 0.000 claims 1
- 230000003287 optical effect Effects 0.000 description 12
- 238000001356 surgical procedure Methods 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000007943 implant Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 239000011324 bead Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000700 radioactive tracer Substances 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
- A61B2034/207—Divots for calibration
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
A circular patch for a surgical navigation system belongs to a marking point tool for tracking a position in the surgical navigation system, and comprises a base (11), a reflective coating (12) and a small X-ray opaque ball (13); the circular patch is characterized in that the reflective coating (12) is arranged on the base (11), the X-ray opaque small ball (13) is arranged in the base (11), the center of the X-ray opaque small ball (13) coincides with the central axis of the base (11), the bottom surface of the lower cylinder of the base (11) is the tangent plane of the X-ray opaque small ball (13), and the outer surface of the lower cylinder of the base (11) is provided with a raised half round point (14) for being clamped into an object matched with the raised half round point.
Description
Technical Field
The invention relates to a marking point tool for tracking positions in a surgical navigation system, in particular to a circular patch which can be identified by X-rays and an optical tracker.
Background
With the widespread application of minimally invasive surgery and the increasing requirement on the positioning precision of instruments or internal implants in surgery in recent years, auxiliary positioning or surgery navigation systems based on medical image guidance have been greatly developed.
Such systems are generally divided into several large components: a CTCB machine, an optical tracker and a navigation robot; the CTCB machine is used for establishing a three-dimensional medical image, the optical tracker tracks the positions of the mechanical arm and the patient through a specific tracer, and the navigation robot is used for finishing the final operation. To complete the surgery, registration is first performed, i.e., coordinate transformation relationships between the CTCB machine, the optical tracker, and the navigation robot are established. And then planning the operation, namely, a doctor plans an operation path on the three-dimensional medical image model established by the CTCB machine. And finally, a surgical implementation part is carried out, namely, a planned surgical path is placed on the surgical path through a handheld surgical guide or an executing mechanism such as a mechanical arm is controlled to position the guide on the surgical path, and a doctor completes surgical operation or implantation of an implant through the aid of the guide.
The most central one of the above steps is to establish a system coordinate transformation relationship, namely registration, and finally realize the connection between the operation target and the executing mechanism, and finally the executing mechanism can position the path through the planned path in the three-dimensional image. With the great improvement of the precision of the optical tracker, a high-precision navigation system registration scheme is generally adopted, a coordinate conversion relation between a CTCB machine (with consistent surgical target coordinates) and the optical tracker is established, then the coordinate conversion relation between the optical tracker and a navigation robot is established, and finally the coordinates of the surgical target and the navigation robot are established.
In the above steps, to establish the coordinate transformation relationship between the CTCB machine and the optical tracker, a dedicated marker with more than 3 marking points needs to be provided, and the marking points on the marker need to be identified on both the medical image generated by the CTCB machine and the optical tracker. At present, no special tool is used as a marking point, the tool for identifying the CTCB machine is manually and directly installed on the calibrator, and the tool for identifying the optical tracker is also installed, so that the installation is inconvenient and the precision is difficult to ensure.
Disclosure of Invention
The purpose of the invention is: aiming at the defects or shortcomings in the prior art, the circular patch for the surgical navigation system is provided, can be identified in a medical image generated by a CTCB machine, can also be identified on an optical tracker, is convenient to install and use, and has guaranteed precision.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a circular patch for a surgical navigation system comprises a base, a reflective coating and an X-ray opaque ball; the reflecting coating is arranged on the base, and the X-ray opaque small ball is arranged in the base.
Further, the base is made of cylindrical X-ray transparent material.
Further, the base includes two upper and lower cylinders, the upper cylinder diameter slightly is greater than lower cylinder diameter, upper cylinder and lower cylinder integrated into one piece.
Further, the center of the X-ray opaque ball coincides with the central axis of the base.
Further, the bottom surface of the lower cylinder of the base is a section of the X-ray opaque small ball.
Furthermore, the outer surface of the lower cylinder of the base is provided with a raised half round point for being clamped into an object matched with the base.
Furthermore, the reflective coating is made of X-ray transparent materials, can reflect infrared rays, and is directly coated or attached to the top of the base.
Compared with the prior art, the invention has the following beneficial effects:
the circular patch for the surgical navigation system can be identified in a medical image generated by a CTCB machine, can also be identified by an optical tracker, is convenient to install and ensures the accuracy of the installation position.
Drawings
FIG. 1 is a schematic view of a circular patch structure for use in a surgical navigation system according to the present invention;
FIG. 2 is an exploded view of a circular patch for use in a surgical navigation system in accordance with the present invention;
FIG. 3 is a cross-sectional view of a circular patch for use in a surgical navigation system of the present invention.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-3, the present example provides a circular patch 1 for a surgical navigation system, which comprises a base 11, a reflective coating 12, and an X-ray opaque ball 13; the reflective coating 12 is disposed on the base 11, and the X-ray opaque beads 13 are disposed in the base 11.
The base 11 is made of a cylindrical X-ray transmitting material, and is divided into an upper cylinder and a lower cylinder in the embodiment, the total thickness is 4mm, the diameter of the upper cylinder is 12mm, the thickness of the upper cylinder is 1mm, and the diameter of the lower cylinder is 8 mm;
a space for installing the X-ray opaque small ball 13 is reserved on the circular axis of the base 11, the diameter of the X-ray opaque small ball is 2mm-3mm, and the X-ray opaque small ball is a 3mm small iron ball in the embodiment;
the reflective coating 13 is made of X-ray-permeable material, can reflect infrared rays, and is directly coated on or attached to the top of the base;
the base 11 is provided with a method for fixing the base to an object, and in the embodiment, the lower cylindrical surface of the base 11 is provided with the raised half round points, so that the base can be conveniently clamped on the object 2 matched with the base;
the center of the X-ray opaque small ball 13 is on the axis of the base 11 cylinder, and the bottom surface of the base 11 cylinder is the tangent plane of the small ball, so that the center of the small ball and the center of the circle of the reflective coating 12 on the circular patch can be accurately calculated.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical idea proposed by the present invention fall within the protection scope of the claims of the present invention. The technology not related to the invention can be realized by the prior art.
Claims (7)
1. A circular patch for a surgical navigation system, characterized by: comprises a base (11), a reflective coating (12) and X-ray opaque pellets (13); the reflective coating (12) is arranged on the base (11), and the X-ray opaque small ball (13) is arranged in the base (11).
2. The circular patch for surgical navigation system of claim 1, wherein: the base (11) is made of cylindrical X-ray transparent material.
3. The circular patch for surgical navigation system of claim 1, wherein: the base (11) comprises an upper cylinder and a lower cylinder, the diameter of the upper cylinder is slightly larger than that of the lower cylinder, and the upper cylinder and the lower cylinder are integrally formed.
4. The circular patch for surgical navigation system according to claim 2 or 3, characterized in that: the center of the X-ray opaque small ball (13) coincides with the central axis of the base (11).
5. The circular patch for surgical navigation system of claim 3, wherein: the bottom surface of the lower cylinder of the base (11) is a tangent plane of the X-ray opaque small ball (13).
6. The circular patch for surgical navigation system of claim 3, wherein: the outer surface of the lower cylinder of the base (11) is provided with raised half round points (14) for being clamped into an object matched with the base.
7. The circular patch for surgical navigation system of claim 1, wherein: the reflective coating (12) is made of X-ray-permeable material, can reflect infrared rays, and is directly coated or attached to the top of the base (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110110541.XA CN112932664A (en) | 2021-01-27 | 2021-01-27 | Circular patch for surgical navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110110541.XA CN112932664A (en) | 2021-01-27 | 2021-01-27 | Circular patch for surgical navigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112932664A true CN112932664A (en) | 2021-06-11 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110110541.XA Pending CN112932664A (en) | 2021-01-27 | 2021-01-27 | Circular patch for surgical navigation system |
Country Status (1)
| Country | Link |
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| CN (1) | CN112932664A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113520619A (en) * | 2021-08-26 | 2021-10-22 | 重庆市妇幼保健院 | Marking element for registering three-dimensional medical image system and binocular vision system and assembling method thereof |
| CN113545849A (en) * | 2021-08-26 | 2021-10-26 | 重庆市妇幼保健院 | Operation navigation marking device based on binocular vision and preparation method thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030059097A1 (en) * | 2000-09-25 | 2003-03-27 | Abovitz Rony A. | Fluoroscopic registration artifact with optical and/or magnetic markers |
| US20140200621A1 (en) * | 2013-01-16 | 2014-07-17 | Stryker Corporation | Navigation Systems and Methods for Indicating and Reducing Line-of-Sight Errors |
| CN204219049U (en) * | 2014-11-06 | 2015-03-25 | 上海逸动医学科技有限公司 | Reflective ball cover and witch ball |
| CN205215355U (en) * | 2015-12-22 | 2016-05-11 | 仲恺农业工程学院 | Mark point applied to optical operation navigation |
| US20160278875A1 (en) * | 2006-02-16 | 2016-09-29 | Globus Medical, Inc. | Surgical tool systems and methods |
| CN106539625A (en) * | 2017-01-10 | 2017-03-29 | 北京积水潭医院 | A kind of operating robot optical tracker positioner |
| CN107468351A (en) * | 2016-06-08 | 2017-12-15 | 北京天智航医疗科技股份有限公司 | A kind of surgery positioning device, alignment system and localization method |
| CN107961074A (en) * | 2016-10-20 | 2018-04-27 | 深圳先进技术研究院 | Reflecting sign body for optical operation navigation system |
-
2021
- 2021-01-27 CN CN202110110541.XA patent/CN112932664A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030059097A1 (en) * | 2000-09-25 | 2003-03-27 | Abovitz Rony A. | Fluoroscopic registration artifact with optical and/or magnetic markers |
| US20160278875A1 (en) * | 2006-02-16 | 2016-09-29 | Globus Medical, Inc. | Surgical tool systems and methods |
| US20140200621A1 (en) * | 2013-01-16 | 2014-07-17 | Stryker Corporation | Navigation Systems and Methods for Indicating and Reducing Line-of-Sight Errors |
| CN204219049U (en) * | 2014-11-06 | 2015-03-25 | 上海逸动医学科技有限公司 | Reflective ball cover and witch ball |
| CN205215355U (en) * | 2015-12-22 | 2016-05-11 | 仲恺农业工程学院 | Mark point applied to optical operation navigation |
| CN107468351A (en) * | 2016-06-08 | 2017-12-15 | 北京天智航医疗科技股份有限公司 | A kind of surgery positioning device, alignment system and localization method |
| CN107961074A (en) * | 2016-10-20 | 2018-04-27 | 深圳先进技术研究院 | Reflecting sign body for optical operation navigation system |
| CN106539625A (en) * | 2017-01-10 | 2017-03-29 | 北京积水潭医院 | A kind of operating robot optical tracker positioner |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113520619A (en) * | 2021-08-26 | 2021-10-22 | 重庆市妇幼保健院 | Marking element for registering three-dimensional medical image system and binocular vision system and assembling method thereof |
| CN113545849A (en) * | 2021-08-26 | 2021-10-26 | 重庆市妇幼保健院 | Operation navigation marking device based on binocular vision and preparation method thereof |
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