CN110946653B - Operation navigation system - Google Patents

Abstract

The invention provides a surgical navigation system, which comprises: a spatial positioning module for guiding the moving path of medical instruments; a workstation including preloaded software for generating three-dimensional images according to medical images, receiving information, and generating surgical plans, The instruction is sent to the spatial positioning module, and the surgical tools matched with the spatial positioning module are virtually fused into the formed three-dimensional image. The workstation includes a communication interface, a processor, a display device and an input device, and the display device is used to display all the images. The interface of the software, the input device is used to input the user's command. The surgical navigation system of the present invention may also include positioning markers, or further include a tracking module and an ultrasound module. The surgical navigation system of the invention has quick response, simple operation and wide application range, and can be used for various surgical operations.

Description

A surgical navigation system

technical field

The present invention relates to the technical field of medical equipment, in particular to a surgical navigation system.

Background technique

Puncture surgery is one of the common types of surgery in clinical surgery, and specific examples include but are not limited to hematoma aspiration, cyst aspiration, edema aspiration, tissue biopsy, continuous drug administration, and the like.

In traditional puncture surgery, the location of the puncture needle is generally confirmed according to the CT image of the patient, and then the doctor will roughly determine the puncture path and puncture according to the location of the lesion. A CT scan is needed to correct the direction of travel of the puncture needle. Therefore, during the entire operation, the patient needs to undergo multiple CT scans, and the radiation exposure is relatively large. The design of the puncture path in this method is very dependent on the doctor's experience and judgment. There is also a risk of puncturing the blood vessel and causing bleeding. For small and deep lesions, there is still a large error and the risk of failing to reach the lesion.

The surgical navigation system has brought great convenience to medical operations since its inception, but there are still problems such as relying on the operator and poor accuracy.

SUMMARY OF THE INVENTION

In view of this, in order to solve the problems existing in the prior art, the present invention proposes a surgical navigation system, which has fast response speed, accurate navigation and positioning, simple operation and low price.

The present invention provides a surgical navigation system, which includes:

Workstation, the workstation includes a communication interface, a processor, a display device and an input device, the communication interface is used for communication connection, the processor contains preloaded software, the display device is used to display the interface of the software, and the input device is used to input user commands ;and

A spatial positioning module, the spatial positioning module includes:

Fixed connection device for fixing the structure to which its ends are connected;

A position adjustment device, including a base, a power structure, and two sets of moving components, each set of moving components contains two parts that can move relatively, and the power structure can promote the relative movement of the two parts;

Control device for regulating the power structure and for data communication;

Guiding devices for guiding surgical instruments;

in,

The position adjustment device is connected with the end of the fixed connection device, and the guide device is hinged with the two sets of moving assemblies of the position adjustment device, so that the guide device can reach the required position according to the movement of the two sets of moving assemblies.

In the surgical navigation system of the present invention, the software preloaded in the processor can generate a three-dimensional image according to the existing medical image (such as CT, MRI) data, or receive and display the generated three-dimensional image, and connect the guide device and the contents therein. The motion paths of the guided surgical instruments are displayed virtually in the three-dimensional image, and the blood vessels can be displayed in the three-dimensional image for the user's reference.

In the surgical navigation system of the present invention, the fixed connection device is any structure capable of fixing the position adjustment device relative to the patient, such as a universal arm, a bracket, and a multi-degree-of-freedom mechanical connection structure. In one embodiment, the fixed connection means is a gimbal arm comprising at least one joint, preferably a gimbal arm comprising three or more joints. In a preferred embodiment, the universal arm includes a fastening structure, a supporting arm, a first joint, a first adjusting arm, a second joint, a second adjusting arm, a third joint, and a connecting arm; the fastening structure is connected to the wall, The stage, the hospital bed, etc. are connected to realize the support and approximate position positioning of the spatial positioning module, and the connecting arm is connected to the position adjustment device.

In the first solution of the present invention, part of the structure of the spatial positioning module can be monitored in medical imaging, for example, a part of the base, the guide device or both can be detected in magnetic resonance imaging (MRI), X-ray computed tomography Its position and contours are monitored in scanning imaging (CT), or X-ray imaging. In one embodiment, the guiding device is a cylinder with a known size. When performing medical imaging with the patient in a relatively fixed position, its contour and position can be displayed in the medical imaging, thereby calculating its coordinates in the three-dimensional image. The coordinates in the system, based on which the position is adjusted. In another embodiment, a part of the guide is made of a material whose position and contour are clearly visible in medical imaging, eg two parallel arcs of different lengths, from which the coordinates and space of the guide can be calculated As for the position, those skilled in the art know that this structure can have various designs, as long as the position of the guide device relative to the target site can be determined through it. The guide device contains through holes, and the through holes can have different sizes of inner diameters according to needs, so as to be used with different surgical instruments.

In the second solution, the surgical navigation system of the present invention further includes a positioning marker, and the positioning marker can be selected in various ways, for example, a marker whose position can be monitored in medical imaging, and its position can be monitored in the tracking module. location markers, etc. Medical imaging methods include various existing suitable methods, such as magnetic resonance imaging (MRI), X-ray computed tomography (CT), or X-ray imaging, etc.; markers whose positions can be monitored in medical imaging may have A variety of different geometric shapes and materials, and can have a variety of installation structures, fixed or detachable installation, the number as long as the space position of the guide device can be determined, usually three or more, for example, It can be installed on the base, the guide device, or the connecting piece with the guide device; when the positioning marker is installed on the base, since the spatial position of the guide device needs to be calculated through the dynamic structure, in order to ensure the accuracy of the distance change, add A position feedback device is installed to calibrate the position change caused by the dynamic structure; when the positioning marker is installed on the guide device, the positioning is the most direct; when the positioning marker is installed on the connecting piece, since there are two connecting pieces, it is necessary to Determine each connector individually, and then determine the spatial position of the guide by the position of the connector.

When the surgical navigation system of the present invention includes a marker whose position can be monitored by the tracking module, it also includes a tracking module, and the tracking module can be an optical tracking module, an electromagnetic tracking module, or the like. When the positioning marker of the surgical navigation system of the present invention is an optical positioning marker whose position can be detected by the optical tracking module, the positioning marker/positioning accessory, the optical tracking module, and the reference mark are included. Optical positioning markers can be various markers that are optically recognized, such as commonly used spherical markers that can reflect infrared rays, patterns containing corner points, etc., as long as they can be used in conjunction with the corresponding tracking module; optical positioning markers It can also be assembled on a rigid structure to form a positioning accessory, wherein the optical positioning markers are arranged in a unique spatial distribution, and a unique coordinate system can be determined. In one embodiment, the positioning accessory is equipped with four spherical optical positioning markers. The rigid structure consists of a cone and a body, in which the optical positioning marker can actively emit light or passively reflect; during use, insert the cone of the positioning accessory into the through hole of the guide catheter, and the optical positioning marker emits or reflects light. After the light is captured by the camera, the position of the positioning fitting can be determined through calculation, thereby determining the spatial position of the guide catheter and the spatial position of its through hole. The reference mark is used in conjunction with the positioning accessories to perform coordinate system transformation. The reference mark is connected to the site to be operated on and maintains a fixed positional relationship during the operation. After the host of the present invention generates a three-dimensional image, it uses the reference mark as the basic coordinate system for registration, so that the positioning accessories and the guiding device can be displayed virtually in the three-dimensional image. , the relative position of the positioning accessory in the three-dimensional image can be re-determined according to the change of the reference mark, and adjusted to the required position as required. The tracking module has different structures according to the positioning markers used, for example, in the case of using electromagnetic positioning markers, it is an electromagnetic positioning device; in the case of using spherical reflective markers, the tracking module contains a light emitting unit and a camera unit; In the case of using a pattern with corner points as the optical positioning marker, the tracking module includes a camera unit, preferably a binocular camera unit.

In an example in conjunction with the second aspect, the tracking module includes: a moving base plate, a bracket, a light emitting unit and a camera unit; the moving base plate is equipped with wheels for free movement, preferably four wheels in one embodiment, and includes a stopper. The movable structure, when the mobile base moves to the desired position, it can pass the stop structure to prevent the position of the mobile bottom plate from changing during the operation; , a third bracket joint, and a second adjustment rod. The bracket can adjust the position of the light emitting unit and the camera unit, that is, the height and angle, so that the target area is located within the optimal working range of the light emitting unit and the camera unit. The workstation includes: workstation mobile base plate, host, input device, and display; the workstation mobile base plate is equipped with wheels and corresponding stop devices, which can be moved. When the desired position is reached, it is fixed by the stop structure to prevent the workstation from moving the position of the base plate. Changes during the operation; the host contains a processor and a communication interface, the processor can complete 3D reconstruction according to medical images, receive the information collected by the tracking module through the communication interface, generate a surgical plan, send the instructions to the spatial positioning module, and the spatial positioning module The supporting surgical tools are virtually fused into the formed three-dimensional image, and displayed to the user on the display. The input device is a keyboard, a mouse, or a voice input device.

In a third solution, the surgical navigation system of the present invention further includes a tracking module and an ultrasound module; the tracking module includes at least an image acquisition device, such as a camera, preferably a binocular camera, a positioning marker (or positioning accessory) and a reference mark, and also It can include a light emitting unit; the ultrasound module includes an ultrasound probe and an ultrasound diagnostic instrument, and a positioning marker is installed on the ultrasound probe. The diagnostic instrument can exist independently or be integrated into the mainframe of the surgical navigation system.

In an embodiment combined with the third solution, the surgical navigation system of the present invention includes a workstation, a spatial positioning module, a tracking module and an ultrasound module; the workstation and the spatial positioning module are basically as described above, and the tracking module includes a light emitting unit, a camera Units, positioning accessories, and reference marks. Both positioning accessories and reference marks have several spherical positioning markers that can reflect light. The unique structural design enables unique determination of their spatial positions. Positioning accessories can be independent, such as positioning The accessory can include a cone and a body, the cone is used for detachable insertion into the through hole of the guide device, and the body contains several optical positioning markers, which can determine its spatial position through reflected light; the positioning accessory can also be used as a guide device It is integrated with the guiding device; the reference mark adopts the same optical positioning marker as the positioning accessory, and also has a unique shape, which can uniquely determine its spatial position, and the reference mark has a certain relative position with the site to be operated during use. Relationships, such as connecting with the site to be operated on, such as connecting with bone nails, head frames, etc. fixed on the patient, and establishing the coordinate system of the tracking module based on the reference markers; the tracking module simultaneously tracks the positioning accessories, reference markers and the ultrasound probe. Positioning accessories similar to the guiding device, the positioning accessories of the ultrasonic probe can be integrated in the ultrasonic probe or detachable, as long as they have a definite imaging position relationship with the ultrasonic probe; the ultrasonic diagnostic instrument transmits the data scanned by the ultrasonic probe to the The workstation, based on the reference mark, changes the coordinates of the ultrasound image, and displays the virtual graphics of the guide catheter in the ultrasound image through the display device. The guide catheter is moved to the desired position and orientation.

In another embodiment combined with the third solution, the surgical navigation system of the present invention includes a workstation, a spatial positioning module, a tracking module and an ultrasound module; the workstation and the spatial positioning module are basically as described above, and the tracking module only includes a camera unit, The positioning accessory has several corner points, so that its spatial position can be uniquely determined by the software loaded by the camera unit and the workstation. The ultrasonic probe has the same positioning markers as the positioning accessory, namely the corner points; the ultrasonic diagnostic instrument scans the data of the ultrasonic probe It is transmitted to the workstation. The workstation uses the ultrasonic probe as the benchmark. Through the tracking module, the positioning accessories are calibrated with the coordinate system of the positioning markers of the ultrasonic probe. The coordinate system of the image is transformed, and the workstation can virtually fuse the guide catheter or medical instrument with the ultrasound image and display it on the display device.

In yet another embodiment combined with the third solution, the surgical navigation system of the present invention includes a workstation, a spatial positioning module, a tracking module and an ultrasound module; the tracking module is an electromagnetic tracking module, the ultrasound module contains magnetic positioning markers, and the spatial positioning module It contains a magnetic positioning marker, the electromagnetic tracking module contains a magnetic field generating device and a reference mark, and the electromagnetic tracking module can simultaneously track the position of the spatial positioning module, the ultrasonic module and the reference mark. The reference marker is closely connected with the skin near the site to be detected during use, and the electromagnetic tracking module tracks the position change of the reference marker for calibration, eliminating tracking errors caused by tissue displacement. The electromagnetic tracking module generates an electromagnetic field (first signal) and is sensed by the magnetic positioning marker, the magnetic positioning marker generates a second signal in response to the first signal, and the host then determines the spatial positioning module, the ultrasonic module and the reference marker based on the second signal s position.

The ultrasound image is transformed into coordinates, and the virtual graphics of the guide catheter are fused with the ultrasound image through the display device. The workstation plans the position of the guide catheter as required, and sends instructions to the spatial positioning module to make the guide catheter move to the required position and direction.

In the surgical navigation system of the present invention, the power structure is a motor, preferably, the motor is a non-magnetic motor, which can be used in a magnetic resonance environment, that is, the system of the present invention can be used in conjunction with a magnetic resonance apparatus (MRI).

Other features and advantages of the present invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the description, claims and drawings.

In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below, and are described in detail as follows in conjunction with the accompanying drawings.

Description of drawings

In order to illustrate the specific embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the specific embodiments or the prior art. Obviously, the accompanying drawings in the following description The drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts. The structures in the drawings are schematic and not necessarily in actual scale.

1 is a schematic diagram of a scheme of the surgical navigation system of the present invention;

FIG. 2 shows an embodiment of the fixed connection structure 100 in FIG. 1;

FIG. 3 shows an external appearance example of the position adjusting device 200 and the guide device 400 in FIG. 1;

Fig. 4 is the internal structure diagram of the position adjustment device 200 part and the guide device 400 part in Fig. 3;

FIG. 5 is a schematic diagram of an example in which the guiding device 400 of the present invention includes some special structures;

6 is a schematic diagram of an example of a guide device 400 containing a positioning marker;

7 is a schematic diagram of an example of a base containing a positioning marker;

8 is a schematic diagram of an example of each of the connectors containing a positioning marker;

9 is a schematic diagram of an example according to another aspect of the present invention;

FIG. 10 is a detailed structural diagram of the tracking module B in FIG. 9;

Figure 11 shows a schematic diagram of an example of positioning fitting 500-1 and reference numeral 500-2;

FIG. 12 shows a schematic diagram of the positioning accessory 500-1 in a use state;

13 is a schematic diagram showing a partial structure of an example of the second solution of the surgical navigation system of the present invention in a use state;

Figure 14 shows a schematic diagram of an example of positioning fitting 500-3 and reference numeral 500-4;

Fig. 15 shows a schematic diagram of the positioning accessory 500-3 in the use state;

FIG. 16 is a schematic diagram showing a partial structure of another example of the second solution of the surgical navigation system of the present invention in a use state;

Fig. 17 shows a schematic diagram of the partial structure of the third solution of the surgical navigation system of the present invention in a use state;

icon:

000-fixed object; 100-fixed connection device; 200-position adjustment device; 300-control module; 400-guide device; 101-fastening structure, 102-support arm, 103-first joint, 104-first adjusting arm , 105-second joint, 106-second adjusting arm, 107 third joint, 108-connecting arm; 211-first plane, 212-second plane, 213-first motor, 214-second motor, 221- The third plane, 222 - the fourth plane, 223 - the third motor, 224 - the fourth motor; 215 - the first connector, 225 - the second connector, 401 - the guide tube; B10 - the moving base plate, B20 - the bracket, B30-light emitting unit and camera unit, B201-pillar, B202-first bracket joint, B203-connecting rod, B204-second bracket joint, B205-first adjusting rod, B206-third bracket joint, B207-second Adjustment lever; C10-mobile base plate, C20-host, C30-input device, C40-display; 700-host, 800-input device 800, 900-display device; 500-1-positioning accessories, 500-3-positioning accessories, 500-5-positioning accessories, 500-2-reference mark, 500-4-reference mark; 601-positioning mark, 602-positioning mark, 603-positioning mark, 604-positioning mark, 605-positioning mark , 606-localization marker.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of them. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In order to facilitate the understanding of this embodiment, the surgical navigation system disclosed in the embodiment of the present invention is first introduced in detail.

1 , the first solution of the surgical navigation system of the present invention includes: a spatial positioning module and a workstation. The spatial positioning module includes: a fixed connection device 100; a position adjustment device 200; a control module 300; a guide device 400; An input device 800, a display device 900, and a communication interface.

FIG. 2 shows an embodiment of the fixed connection device 100 of the spatial positioning module. The fixed connection device 100 is used to connect the fixed object and the position adjustment device 200. The fixed object 000 can be a wall, a stage, a ceiling, a hospital bed, a head A frame, etc., preferably a hospital bed, to keep the distance between the position adjustment device 200 relative to the patient relatively close and stable; the fastening structure 101 connects the fixture 000 and the support arm 102, the first joint 103 connects the support arm 102 and the first adjustment arm 104, Preferably, universal adjustment is possible; the second joint 105 connects the first adjustment arm 104 and the second adjustment arm 106, the third joint 107 connects the second adjustment arm 106 and the connection arm 108; the fastening device 101 can be various clamping structures , such as spring clips. The support arm 102 , the first adjusting arm 104 , the second adjusting arm 106 and the connecting arm 108 are long rigid structures, such as a cylinder, a rectangular parallelepiped and the like.

Referring to Figures 3 and 4, which illustrate schematic diagrams of one example of a position adjustment device 200 and a guide device 400, a housing design 2001 of the position adjustment device 200 is shown in Figure 3 . FIG. 4 shows the internal structure of the position adjustment device 200 , and the position adjustment device 200 includes a base 201 , a power structure, a first moving assembly and a second moving assembly. The first moving assembly includes a first plane 211 and a second plane 212, and the corresponding power assemblies are a first motor 213 and a second motor 214; the second moving assembly includes a third plane 221 and a fourth plane 222 (not shown here). ), the corresponding power structures are the third motor 223 and the fourth motor 224; the first motor 213 controls the movement of the first plane 211 through the motion pair, the second motor 214 controls the movement of the second plane 212 through the motion pair, and the second plane The movement directions of 212 and the first plane 211 are perpendicular to each other, thereby driving the movement of the first connecting piece 215 connected to the first plane 211 in two dimensions; the third motor 223 controls the movement of the third plane 221 through the motion pair, and the first The four motors 224 control the movement of the fourth plane 222 through the motion pair, and the moving directions of the fourth plane 222 and the third plane 221 are perpendicular to each other, thereby driving the movement of the second connecting piece 225 connected to the third plane 221 in two dimensions ; Through the movement of the first connecting piece 215 and the second connecting piece 225, the controlled positioning of the guide catheter 401 in the three-dimensional space is achieved. The first, the second, the third, and the fourth here are not in order, and are only for the convenience of description, and can be used interchangeably within a certain range without affecting the function of the adjustment device 200 .

The position adjusting device 200 and the guiding device 400 are preferably made of materials with suitable strength (such as engineering plastics, etc.). In one embodiment, the motors (ie the first motor 213, the second motor 214, the third motor 223 and the fourth motor 224) is a non-magnetic motor, the fixed connection device 100, other parts of the position adjustment device 200 and the guide device 400 are made of magnetic resonance compatible materials, such as engineering plastics and rubber. This enables the spatial localization module to be used under magnetic resonance conditions.

The control module 300 controls the movement of the position adjusting device 200. The control module 300 may be a separate module or may be integrated in other parts; it controls the stepper motor through a wired or wireless connection, and in a specific instance controls the first motor 213 , the second motor 214 , the third motor 223 and the fourth motor 224 . The control module 300 may exist alone, and control the position adjustment device 200 through an effective communication connection, or may be integrated into the position adjustment device 200 . In another case, the control module can be integrated into the workstation.

Referring again to Figure 4, in one specific example, the guide catheter 401 of the guide device 400 is made of a material that can be easily identified and located in medical imaging (CT, MRI, or both CT and MRI), such as non-magnetic alloys, Non-magnetic metal, carbon fiber, etc., so that medical imaging can be performed together with the patient to obtain the relative position of the guide device relative to the patient. Based on the relative position, the movement path is designed so that the guide catheter can be adjusted to the required position and direction.

Referring to FIG. 5 , in another specific embodiment, parts 402 and 403 of the guide catheter 401 are composed of substances that can clearly display their contours and positions in medical imaging, and 402 and 403 are part of the wall of the guide catheter 401 , The outer shape is presented as two parallel arc structures with different lengths, so that the center position and direction of the through hole of the guide catheter 401 can be calculated. Obviously, the structural design of this embodiment is only exemplary, and any structure that can determine the center position and direction of the through hole through its calculation, such as a cross star, etc., is included in the scope of the present invention.

In another embodiment, the medical assistance robot of the present invention contains a marker capable of displaying the position in medical imaging so that the guide 400 can be positioned in the medical imaging. The localization markers can be different according to the imaging method, for example, localization markers that can be made of high-density materials suitable for CT technology, localization markers suitable for MRI technology, or titanium alloy markers that meet the requirements of both CT and MRI, etc.

In a specific embodiment, referring to FIG. 6 , the medical assistant robot of the present invention is embedded with three positioning markers 601 , 602 and 603 on the guide catheter 401 , the size and embedded position of the markers are known, and the size of the guide catheter 401 is known, Therefore, in medical imaging, the orientation and position of the guide catheter 401 can be calculated by the positions of the three positioning markers. The number of markers can be more than three. In another specific embodiment, the positioning markers 601, 602 and 603 are detachable and installed prior to use by connecting structures on the guide catheter.

In another specific embodiment, the medical assistant robot of the present invention is provided with positioning markers on the base 201 or at a fixed position relative to the base 201. Referring to FIG. 7, three positioning markers 601, 602 and 603 are shown. , since the installation position is known, the position of the base 201 can be determined by positioning the markers 601 , 602 and 603 in medical imaging, and the control module 300 or the host 700 can calculate the position of the guide catheter 401 based on the movement of the motor and the base 201 . orientation and location. In order to ensure that the movement distance calculated based on the motor rotation is correct, a position feedback device is installed in this solution to confirm that the movement distance recorded based on the motor rotation is completely correct. Obviously, the number of positioning markers can be more than three, the shape can be other shapes that can calculate the geometric center, and the positioning markers 601, 602 and 603 can also be detachable.

In yet another specific embodiment, the medical assistant robot of the present invention is provided with a positioning marker on the connector or a plane with a fixed positional relationship with the connector. Referring to FIG. 8 , an example is shown, including two sets of positioning markers. The first The set of markers 601, 602, and 603 can determine the spatial position of the first connector 215, and the second set of markers 604, 605, and 606 can determine the spatial position of the second connector 225, so that the direction of the guide catheter 401 and the Location. The number of each group of positioning markers can be more than three, the shape can be other shapes that can calculate the geometric center, and the positioning markers 601 , 602 and 603 can also be detachable.

The second solution of the surgical navigation system of the present invention includes: a spatial positioning module, a tracking module; a workstation; wherein, the tracking module or a part thereof can be integrated in the workstation.

In one embodiment, the spatial positioning module includes: a fixed connection device, a position adjustment device, a control module, and a guide device; the tracking module includes: a camera device, a positioning accessory and a reference mark; the workstation includes: a host computer, an input device, a display device, and a communication device interface.

In another embodiment, the spatial positioning module includes: a fixed connection device, a position adjustment device, a control module, and a guide device; the tracking module includes: a light emitting component, a camera device, a positioning accessory and a reference mark; the workstation includes: a host, an input device, Display device, and communication interface.

Fig. 9 shows an example of the second solution. The spatial positioning module includes a fixed connection device 100, a position adjustment device 200, and a guide device 400, showing the structure of the fixed connection device 100, the support arm 102 is a cone, and the first joint 103 can realize the rotation of the first adjusting arm 104 relative to the supporting arm 102, the second joint 105 can realize the rotation of the second adjusting arm 106 relative to the first adjusting arm 104, and can realize the angle locking, and the third joint 107 can realize the second The adjusting arm 106 rotates relative to the connecting arm 108; the fastening structure 101 is not shown. The tracking module B includes: a moving base B10, a bracket B20, a light emitting unit and a camera unit B30, a positioning accessory 500-1 and a reference mark 500-2 (see FIG. 11, not shown in FIG. 9); the moving base B10 is equipped with at least 3 wheels for free movement, in a preferred embodiment, there are four wheels, and a stop structure is included, when the mobile base B10 moves to the desired position, the stop structure can pass through the stop structure to prevent the position of the base plate B10 from moving during the operation. 10, the bracket B20 is composed of a strut B201, a first bracket joint B202, a connecting rod B203, a second bracket joint B204, a first adjustment rod B205, a third bracket joint B206, and a second adjustment rod B207, through the bracket B20 The positions of the light emitting unit and the camera unit B30 can be adjusted so that the target area is located within the optimal working range of the light emitting unit and the camera unit B30. Workstation C includes: workstation mobile base plate C10, host C20, input device C30, display C40; Workstation mobile base plate C10 is equipped with 4 wheels and stop devices, which can be moved. When reaching the desired position, it is fixed by the stop structure, The position of the base plate C10 is prevented from changing during the operation; the host C20 contains a processor and a communication interface, and the processor contains preloaded software, which can process the data, plan the path, receive data through the communication interface, and send instructions to The spatial positioning module virtually fuses the surgical tool matched with the spatial positioning module into the three-dimensional image imaged by the software, and displays it to the user on the display C40. The input device C30 is a keyboard, mouse or voice input device. The display C40 is a touch screen, that is, when the display C40 has both input and output functions, the input device C30 can be omitted.

The integration of the control module 300 in the host C20 is not shown, and in another example, the control module 300 exists only as an independent module.

The positioning accessory is a rigid structure equipped with a number of optically traceable markers, wherein the optical positioning markers are arranged in a unique spatial distribution and can determine a unique coordinate system, and the optically traceable markers include but are not limited to active luminescent markers, reflective markers objects, patterns with corners, etc.

Fig. 11 shows a specific example of the positioning fitting and the reference mark, the positioning fitting 500-1 is used in conjunction with the reference mark 500-2, and the positioning fitting 500-1 is equipped with four spherical optical positioning markers (the first spherical optical positioning mark) Location marker 511, second spherical optical location marker 512, third spherical optical location marker 513, fourth spherical optical location marker 514), reference mark 500-2 is equipped with four spherical optical location markers (the first spherical optical positioning marker 521, the second spherical optical positioning marker 522, the third spherical optical positioning marker 523, the fourth spherical optical positioning marker 524), the light emitted by the light emitting component is After the spherical optical positioning marker is reflected, it is received by the camera unit, and then the spatial position of the guide catheter 401 and the spatial position of the through hole of the guide catheter 401 are determined by calculation.

Refer to Fig. 12 for the use state, insert the taper 502 of the positioning fitting 500-1 into the through hole of the guide conduit 401, calibrate the position of the guide conduit 401 through the positioning fitting 500-1, and display the position of the conduit on the display. Preoperative planning is carried out, the guide catheter 401 is adjusted to a desired position, and then surgical instruments such as electric drills, guide wires, electrodes, etc. can be passed through the through hole of the guide catheter 401 to perform surgery.

Referring to FIG. 13, a use scheme of an embodiment of the second scheme is described. According to the preoperative CT and MRI data of the patient, the workstation generates or receives a three-dimensional image, and the reference marker 500-2 is fixedly connected to the patient's site to be operated on, for example, by rigid The structure is connected to the head, so that the relative position of the reference mark 500-2 and the patient's site to be operated remains unchanged during the operation, and the reference mark 500-2 is used as the reference datum, and the positioning accessory 500-1 is used to pass through the anatomical feature points, or the image It is registered with the characteristic structure points that can be seen in the anatomy, and the corresponding relationship between the established three-dimensional image and the site to be operated is obtained, and then the 500-1 is inserted into the guiding device 400, and the movement of the spatial positioning module is controlled by the optical tracking module and software, so that the guiding device 400 to reach the desired location.

Fig. 14 shows another specific example of the positioning fitting and the reference mark, the positioning fitting 500-3 is used in conjunction with the reference mark 500-4, and the positioning fitting 500-3 is equipped with four optical positioning markers (the first corner point optical positioning Marker 531, second corner optical positioning marker 532, third corner optical positioning marker 533, fourth corner optical positioning marker 534), reference mark 500-4 is equipped with four optical positioning markers (first Corner optical positioning marker 541, second corner optical positioning marker 542, third corner optical positioning marker 543, fourth corner optical positioning marker 544) The camera unit directly obtains the image information of the positioning accessories and reference marks, Then, the spatial position of the guide catheter 401 and the spatial position of its through hole are determined by calculation.

Refer to Fig. 15 for the use state, insert the taper 502 of the positioning fitting 500-3 into the through hole of the guide catheter 401, and use the reference mark 500-4 as a reference to demarcate the position of the guide catheter 401 by the positioning fitting 500-3. The matching display shows the position of the guide catheter 401. According to the preoperative planning, the guide catheter 401 is adjusted to the desired position, and then surgical instruments such as electric drills, guide wires, electrodes, etc. can be passed through the through hole of the guide catheter 401 , to perform surgery.

Referring to FIG. 16, the use scheme of an embodiment of the second scheme is described. According to the preoperative CT and MRI data of the patient, the workstation generates or receives a three-dimensional image, and the reference marker 500-4 is fixedly connected to the patient's site to be operated on, such as a rigid structure. Connect the head so that the relative position of the reference mark 500-4 and the patient's site to be operated remains unchanged during the operation. Using the reference mark 500-4 as the reference, use the positioning accessory 500-3 to pass through the anatomical feature points, or the image and the image. The characteristic structure points that are visible in anatomy are registered, and the established three-dimensional image is corresponding to the site to be operated, and then the positioning accessory 500-3 is inserted into the guiding device 400, and the movement of the spatial positioning module is controlled by the optical tracking module and software, so that the guiding The device 400 reaches the desired position.

Referring to Fig. 17, an embodiment of the third solution of the surgical navigation system of the present invention includes: a spatial positioning module, a tracking module, a workstation, and an ultrasound module; wherein the spatial positioning module and the workstation are as described in the first solution, and the tracking module includes a camera device , positioning accessories 500-3 and 500-5, and reference mark 500-4, the ultrasound module contains conventional ultrasound equipment, positioning accessories 500-5 are connected with the ultrasound probe of the ultrasound equipment, and the positioning accessory 500-5 can be used to determine the ultrasonic probe in The coordinate system position of the optical tracking module based on the reference mark 500-4, through the relative positional relationship between the positioning accessory 500-5 and the ultrasonic probe, the coordinate system of the ultrasound image is converted to the coordinate system based on the reference mark 500-4 , simultaneously obtain the position of the positioning accessory 500-3 of the spatial positioning module, and display the positioning accessory 500-3 in the image coordinate system with the help of the relative positional relationship with the reference mark 500-4, so as to obtain the orientation module 400 in the ultrasound image. positional relationship. The ultrasonic module can be an existing ultrasonic instrument, and a suitable positioning accessory 500-5 can be installed on the ultrasonic probe. The positioning fitting 500-5 may be fixedly installed or detachable.

Another embodiment of the third solution of the surgical navigation system of the present invention includes a spatial positioning module, a tracking module, a workstation, and an ultrasound module; wherein the spatial positioning module and the workstation are as described in the first solution; the tracking module is an electromagnetic tracking module, including Magnetic field generating device and reference marker; the reference marker contains a magnetic positioning marker, the spatial positioning module is connected to the magnetic positioning marker, and the ultrasonic module is connected to the magnetic positioning marker, and the magnetic field generating device is close to the part to be detected when in use, and generates an electromagnetic field (first signal) , the magnetic positioning marker generates a second signal in response to the first signal, so that the reference mark can be used as a reference to establish the relative positional relationship between the spatial positioning module and the ultrasonic module relative to the reference mark in the same coordinate system, and then based on the magnetic positioning marker Relative to the spatial positional relationship of the ultrasound probe, the positioning of the guidance module 400 in the ultrasound image can be achieved by unifying the ultrasound image and the coordinate system of the electromagnetic tracking module. The reference marks can preferably be attached to the skin of the site to be operated on, and when the site to be operated on changes with respiration, etc., the imaging can be adjusted based on the reference marks, so as to avoid affecting the positioning.

In the description of the embodiments of the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection, or It can be connected in one piece; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

Finally, it should be noted that the above-mentioned embodiments are only specific implementations of the present invention, and are used to illustrate the technical solutions of the present invention, but not to limit them. The protection scope of the present invention is not limited thereto, although referring to the foregoing The embodiment has been described in detail the present invention, those of ordinary skill in the art should understand: any person skilled in the art who is familiar with the technical field within the technical scope disclosed by the present invention can still modify the technical solutions described in the foregoing embodiments. Or can easily think of changes, or equivalently replace some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be covered in the present invention. within the scope of protection. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (16)

1. a surgical navigation system, is characterized in that, comprises: a workstation, the workstation includes a communication interface, a processor, a display device and an input device, the communication interface is used for communication connection, the processor contains preloaded software, the display device is used to display the interface of the software , the input device is used to input user commands; and A spatial positioning module, the spatial positioning module includes: Fixed connection device for fixing the structure to which its ends are connected; A position adjustment device, comprising a base, a power structure, and at least two sets of moving assemblies, each set of moving assemblies contains two planes arranged in parallel and relatively movable, and the power structure can urge the two planes of each set of moving assemblies to be relative to each other sports; a control device for regulating the power structure and making communication connections; A guide device containing through holes for guiding surgical instruments; in, The position adjustment device is connected with the end of the fixed connection device, and the guide device is respectively hinged with two sets of moving assemblies of the position adjustment device through two connecting pieces, and the moving assemblies make the connected connecting pieces opposite to each other. Since the base can move in two dimensions, the guide device connected by the two connecting pieces can reach the required position according to the movement of the two sets of moving components, so as to realize the through hole of the guide device in three-dimensional space. positioning in . 2 . The surgical navigation system according to claim 1 , wherein a part of the structure of the spatial positioning module can detect the position in medical imaging. 3 . 3 . The surgical navigation system according to claim 2 , wherein a part of the structure of the spatial positioning module whose position can be detected in medical imaging is a guide device or a part of the guide device. 4 . 4. The surgical navigation system according to claim 1, wherein the spatial positioning module further comprises a positioning marker. 5. The surgical navigation system according to claim 4, wherein the positioning marker is a marker whose position can be detected in medical imaging. 6. The surgical navigation system according to claim 5, wherein the medical imaging is magnetic resonance imaging (MRI), X-ray computed tomography (CT), or X-ray imaging. 7 . The surgical navigation system according to claim 4 , wherein the positioning marker is a marker whose position can be detected by the tracking module. 8 . 8 . The surgical navigation system according to claim 7 , wherein the surgical navigation system further comprises a tracking module, and the tracking module is used for tracking and determining the spatial position of the spatial positioning module. 9 . 9. The surgical navigation system according to claim 8, wherein the tracking module comprises a camera unit. 10. The surgical navigation system according to claim 8, wherein the tracking module comprises a camera unit and a light emission unit. 11. The surgical navigation system of claim 8, wherein the tracking module comprises an electromagnetic tracking unit. 12. The surgical navigation system according to any one of claims 9 to 11, wherein the tracking module further comprises a reference marker which can be fixedly connected to the target site. 13. The surgical navigation system according to claim 1, wherein the surgical navigation system further comprises a tracking module and an ultrasound module. 14. The surgical navigation system according to claim 13, wherein the tracking module is an optical tracking module, the ultrasound module contains an optical positioning marker, the spatial positioning module contains an optical positioning marker, and the An optical tracking module contains reference markers and is capable of simultaneously tracking the ultrasound module and the spatial positioning module. 15. The surgical navigation system according to claim 13, wherein the tracking module is an electromagnetic tracking module, the ultrasonic module contains a magnetic positioning marker, the spatial positioning module contains a magnetic positioning marker, and the electromagnetic The tracking module includes a magnetic field generating device and a reference marker, and the electromagnetic tracking module can simultaneously track the position of the spatial positioning module and the ultrasonic module. 16 . The surgical navigation system according to claim 15 , wherein the reference mark is closely connected with the skin near the site to be detected when in use, and the electromagnetic tracking module tracks the position change of the reference mark for calibration, so as to eliminate tissue displacement caused by 16 . tracking error.

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