CN113520619A - Marking element for registering three-dimensional medical image system and binocular vision system and assembling method thereof - Google Patents
Marking element for registering three-dimensional medical image system and binocular vision system and assembling method thereof Download PDFInfo
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- CN113520619A CN113520619A CN202110990313.6A CN202110990313A CN113520619A CN 113520619 A CN113520619 A CN 113520619A CN 202110990313 A CN202110990313 A CN 202110990313A CN 113520619 A CN113520619 A CN 113520619A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
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- 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
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3937—Visible markers
- A61B2090/3941—Photoluminescent markers
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Abstract
The invention provides a marking element for registering a three-dimensional medical image system and a binocular vision system and an assembling method thereof. The invention realizes high registration efficiency of surgical navigation by a smart and simple structure, can assemble the registration marking element of the invention only by three parts with specific structures and a small amount of liquid meeting the nuclear magnetic imaging requirement, skillfully fuses the clear marking point required by the nuclear magnetic imaging and the observation point required by binocular vision on one element, has simple operation, can quickly match the medical three-dimensional image and the binocular vision to the same marking point without multi-point measurement by only sticking the registration marking element to the body surface position near the surgical part of a patient, and greatly improves the registration efficiency.
Description
Technical Field
The invention belongs to the technical field of surgical navigation instruments, and particularly relates to a marking element for registering a three-dimensional medical image system and a binocular vision system.
Background
When binocular vision surgical navigation is carried out, a coordinate system of a medical three-dimensional image before a patient operation and a binocular vision system are required to be registered, a proper body surface position and a proper registration device are selected for visual marking, the registration accuracy is greatly affected, and once deviation occurs, the surgical safety is endangered.
Currently, the registration methods adopted in the operation of the surgical navigation system are divided into point registration and surface registration. Point registration is to take a plurality of distinguishable mark points on the image of the patient in the operation point and calculate the transformation relation between the image coordinate system and the patient coordinate system through the one-to-one correspondence of the mark points; the surface registration is to take a point cloud from continuous points on the patient and to obtain the transformation relation between the image coordinate system and the patient coordinate system through the matching between the point cloud and the patient image shape.
However, the existing registration method measures different positions of the body surface of the surgical site of a patient by using a target with an active luminous ball before operation, a system fits a structure which is the same as a medical three-dimensional image according to measurement data, and then performs coordinate system registration.
Disclosure of Invention
The invention aims to provide a marking element for registering a three-dimensional medical image system and a binocular vision system, which is at least used for solving the technical problems of large limitation, complex operation and low registering efficiency of the existing registering method/device.
In order to achieve the purpose, the invention adopts the following technical scheme.
A marking element for registration of a three-dimensional medical imaging system with a binocular vision system, comprising: the magnetic imaging device comprises a cylinder, wherein a cavity of the cylinder is filled with liquid meeting the requirements of magnetic imaging, a circular light-reflecting mark is fixedly arranged at the top of the cylinder, and the circle center of the circular light-reflecting mark coincides with the axis of the cylinder.
In order to further improve the registration precision, the cavity of the cylinder is a cylindrical cavity, and the top surface of the inner cavity is perpendicular to the axis of the cylinder.
In order to further improve the registration precision and reduce the error between the body surface measurement and the internal operation position, the top of the cylinder is provided with a groove, and the side wall of the groove is radially provided with a notch or a hole; the circular reflective mark is fixed on the reflective mark carrier, the reflective mark carrier is adhered to the bottom wall of the groove, and the side wall of the reflective mark carrier is opposite to the notch or the hole.
As a preferred scheme, the round reflective mark adopts a glass bead reflective sticker layer or a glass bead reflective sticker; the reflective mark carrier adopts a nylon layer or a resin layer with the height not more than 5 mm.
Preferably, the cylinder is made of nylon material or resin with the diameter not more than 20mm and the height not more than 8 mm.
In order to reduce the influence of the manufacturing process on the registration precision, the bottom of the cylinder is provided with a liquid injection hole with the aperture of 0.8-1.5 mm.
More preferably, the diameter of the cylinder is 15mm, the height of the cylinder is 6.5mm, the diameter of the gap or the hole is 1mm, the wall thickness of the cylinder is 1-5mm, the inner diameter of the groove is 13mm, the height of the groove wall is 1.5mm, and the aperture of the liquid injection hole is 1 mm; the outer diameter of the reflective marker carrier is 13mm, and the height position is 1.5 mm; the inner diameter of the mounting groove on the reflective marker carrier is 12mm, the height of the groove wall is 0.5mm, the outer diameter of the circular reflective marker is 12mm, and the thickness of the circular reflective marker is 0.5 mm.
For convenient use, the bottom of the cylinder is a curved surface structure adapted to the body surface of a human body, and the bottom of the cylinder is provided with an adhesive layer so as to realize that the cylinder can be adhered to the skin of the human body.
Another object of the present invention is to provide a method for assembling the marking element with high assembly accuracy, comprising the steps of:
step 7, measuring whether the circle center of the circular reflective marker is on the axis of the cylinder by using binocular measuring equipment, and if not, inserting an adjusting tool into a notch or a hole on the side wall of the groove to radially adjust the position of the reflective marker carrier until the circle center of the circular reflective marker is superposed with the axis of the cylinder;
and 8, after the glue is adjusted in place and the glue is dried, taking down the cylinder from the operation table to finish assembly.
In order to further reduce the assembly error, in step 4, the liquid filled in the inner cavity is cylindrical, that is, the liquid filled in the inner cavity is cylindrical.
The marking element for registering the three-dimensional medical image system and the binocular vision system has the following beneficial effects:
(1) the high registration efficiency of surgical navigation is realized by a smart and simple structure, the registration marking element can be assembled only by three parts with specific structures and a small amount of liquid meeting the nuclear magnetic imaging requirement, the clear marking point required by nuclear magnetic imaging and the observation point required by binocular vision are skillfully fused on one element, the operation is simple, the registration is carried out only by attaching the registration marking element to the body surface position near the surgical site of a patient, the medical three-dimensional image and the binocular vision can be quickly matched to the same marking point without multi-point measurement, and the registration efficiency is greatly improved;
(2) the registration precision is high, the registration error of the registration can be accurately ensured to be within 0.2mm, and the registration error between the body surface measurement and the internal operation position is greatly reduced;
(3) the manufacturing cost is low, and the production cost of a single registration mark element is only about dozens of yuan RMB;
(4) the method breaks through the limitation that the existing registration method, device or device is only suitable for all-rigid-body operation parts, can be used for registration of any part of the body surface, and is particularly suitable for registration of operations such as cranial nerve, spinal correction, bone fracture and partial puncture.
Drawings
Fig. 1 is an exploded view of a marking element for registration of a three-dimensional medical imaging system with a binocular vision system in example 1;
FIG. 2 is a first perspective view of the reflective marker support mounted on a cylinder in example 1;
fig. 3 is a schematic perspective view of the second reflective marker carrier mounted on the cylinder in embodiment 1.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
Example 1
Referring to fig. 1 to 3, a marking element for registering a three-dimensional medical imaging system and a binocular vision system comprises a cylinder 1, wherein a cavity of the cylinder 1 is filled with liquid meeting the requirement of magnetic resonance imaging, the liquid preferably adopts vitamin E or water, a circular reflective marker 2 is fixedly arranged at the top of the cylinder 1, and the circle center of the circular reflective marker 2 coincides with the axis of the cylinder 1.
Wherein, the cavity of cylinder 1 is cylindrical cavity, and the top surface of inner chamber is perpendicular to the axis of cylinder 1. The top of the cylinder 1 is provided with a groove 2, the side wall of the groove 2 is radially provided with four gaps 3, and the four gaps 3 are uniformly distributed in the circumferential direction; two liquid injection holes 5 with the aperture of 1.5mm are arranged at the bottom of the cylinder 1, wherein one liquid injection hole is used for inserting a syringe needle, and the other liquid injection hole is used for exhausting air; the bottom of the cylinder 1 is a curved surface structure which is adapted to the body surface of a human body, and an adhesive layer is arranged at the bottom of the cylinder 1 so as to realize that the cylinder 1 can be adhered to the skin of the human body; the round reflective marker 2 is fixed on the reflective marker carrier 4, the reflective marker carrier 4 is adhered to the bottom wall of the groove 2, and the side wall of the reflective marker carrier 4 is opposite to the notch 3.
Wherein, the cylinder 1 is made of resin, the diameter of the cylinder 1 is 15mm, the height is 6.5mm, the diameter of the gap 3 is 1mm, the wall thickness is 1-5mm, the inner diameter of the groove 2 is 13mm, the height of the groove wall is 1.5mm, and the aperture of the liquid injection hole 5 is 1 mm; the reflective marking carrier 4 adopts a nylon layer or a resin layer, the outer diameter of the reflective marking carrier 4 is 13mm, and the height position is 1.5 mm; the inner diameter of the mounting groove 6 on the reflective marker carrier 4 is 12mm, and the height of the groove wall is 0.5 mm; the circular reflective mark 2 adopts a glass bead reflective sticker layer or a glass bead reflective sticker, and the outer diameter of the circular reflective mark 2 is 12mm, and the thickness of the circular reflective mark is 0.5 mm.
In this embodiment, the bottom surface of the reflective mark carrier 4, the bottom surface of the groove 2, and the bottom surface of the mounting groove 6 are all flat surfaces.
The assembling method of the marking element for registering the three-dimensional medical image system and the binocular vision system in the embodiment comprises the following steps:
step 7, measuring whether the circle center of the circular reflective marker 2 is on the axis of the cylinder 1 by using binocular measuring equipment, and if not, inserting an adjusting tool (when the wall surface of the notch 3 is provided with threads, the adjustment can be carried out by adopting the cooperation of a glass bead screw and a screwdriver) into the notch 3 on the side wall of the groove 2 to radially adjust the position of the reflective marker carrier 4 until the circle center of the circular reflective marker 2 is superposed with the axis of the cylinder 1;
and 8, after the glue is adjusted in place and is dried, taking down the cylinder 1 from the operating platform to finish assembly.
The using method of the marking element for registering the three-dimensional medical image system and the binocular vision system in the embodiment comprises the following steps: the method comprises the steps of sticking a marking element to the area near the surgical part on the body surface of a patient by medical double-faced adhesive, carrying out nuclear magnetic scanning on the patient, pushing the patient into an operating room, enabling the marking element to be located in the visual field range of binocular vision equipment, identifying a cylinder 1 through three-dimensional reconstruction software, identifying a circular reflecting mark 2 through the binocular vision equipment, and carrying out binocular and nuclear magnetic data registration through the physical structure relationship between the cylinder 1 and the circular reflecting mark 2.
Example 2
A marking element for registering a three-dimensional medical imaging system with a binocular vision system, referring to example 1, which is mainly different from example 1 in that: four screw holes are radially arranged on the side wall of the groove 2 to replace the notch 3 in the embodiment 1.
The marking element used for registering the three-dimensional medical image system and the binocular vision system in the embodiment has the following beneficial effects: (1) the high registration efficiency of surgical navigation is realized by a smart and simple structure, the registration marking element can be assembled only by three parts with specific structures and a small amount of liquid meeting the nuclear magnetic imaging requirement, the clear marking point required by nuclear magnetic imaging and the observation point required by binocular vision are skillfully fused on one element, the operation is simple, the registration is carried out only by attaching the registration marking element to the body surface position near the surgical site of a patient, the medical three-dimensional image and the binocular vision can be quickly matched to the same marking point without multi-point measurement, and the registration efficiency is greatly improved; (2) the registration precision is high, fitting is not needed through multi-point data, the registration error can be accurately ensured to be within 0.2mm, and the registration error between body surface measurement and an internal operation position is greatly reduced; (3) the manufacturing cost is low, and the production cost of a single registration mark element is only about dozens of yuan RMB; (4) the method breaks through the limitation that the existing registration method, device or device is only suitable for all-rigid-body operation parts, can be used for registration of any part of the body surface, and is particularly suitable for registration of operations such as cranial nerve, spinal correction, bone fracture and partial puncture.
Claims (10)
1. A marking element for registration of a three-dimensional medical imaging system with a binocular vision system, comprising: the magnetic resonance imaging device comprises a cylinder (1), wherein a cavity of the cylinder (1) is filled with liquid meeting the requirements of magnetic resonance imaging, a circular light-reflecting mark (2) is fixedly arranged at the top of the cylinder (1), and the circle center of the circular light-reflecting mark (2) is coincided with the axis of the cylinder (1).
2. A marking element as claimed in claim 1, wherein: the cavity of the cylinder (1) is a cylindrical cavity, and the top surface of the inner cavity is vertical to the axis of the cylinder (1).
3. A marking element as claimed in claim 2, wherein: the top of the cylinder (1) is provided with a groove (2), and the side wall of the groove (2) is radially provided with a notch (3) or a hole; the circular reflective marker (2) is fixed on the reflective marker carrier (4), the reflective marker carrier (4) is adhered to the bottom wall of the groove (2), and the side wall of the reflective marker carrier (4) is over against the notch (3) or the hole.
4. A marking element as claimed in claim 3, wherein: the round reflective mark (2) adopts a glass bead reflective sticker layer or a glass bead reflective sticker; the reflective mark carrier (4) adopts a nylon layer or a resin layer with the height not more than 5 mm.
5. A marking element as claimed in claim 4, wherein: the cylinder (1) is made of nylon material or resin with the diameter not more than 20mm and the height not more than 8 mm.
6. A marking element according to any one of claims 1 to 5, characterized in that: the bottom of the cylinder (1) is provided with a liquid injection hole (5) with the aperture of 0.8-1.5 mm.
7. A marking element as claimed in claim 6, wherein: the diameter of the cylinder (1) is 15mm, the height is 6.5mm, the diameter of the gap (3) or the hole is 1mm, the wall thickness is 1-5mm, the inner diameter of the groove (2) is 13mm, the height of the groove wall is 1.5mm, and the aperture of the liquid injection hole (5) is 1 mm; the outer diameter of the reflective mark carrier (4) is 13mm, and the height position is 1.5 mm; the inner diameter of the mounting groove (6) on the reflective mark carrier (4) is 12mm, the height of the groove wall is 0.5mm, and the outer diameter of the circular reflective mark (2) is 12mm and the thickness is 0.5 mm.
8. A marking element as claimed in claim 6, wherein: the bottom of the cylinder (1) is a curved surface structure adapted to the body surface of a human body, and the bottom of the cylinder (1) is provided with an adhesive layer, so that the cylinder (1) can be adhered to the skin of the human body.
9. A method of assembling a marker element according to any of claims 3 to 8, characterised by the steps of:
step 1, cleaning each part of a marking element, and keeping the parts clean and dry;
step 2, fixing the cylinder (1) on the horizontal plane of the operating table, and ensuring that the axis of the cylinder (1) is vertical to the horizontal plane of the operating table;
step 3, adjusting the binocular measuring equipment to ensure that the cylinder (1) in the assembling process is always in the effective visual field of the binocular measuring equipment;
step 4, sucking liquid meeting the nuclear magnetic imaging requirements by using an injector, injecting the liquid into the cavity of the cylinder (1), and stopping injecting after the inner cavity is filled with the liquid;
step 5, adhering the circular reflective marker (2) on a reflective marker carrier (4);
step 6, coating a proper amount of glue on the top of the cylinder (1), and quickly adhering the reflective marker carrier (4) on the top of the cylinder (1);
step 7, measuring whether the circle center of the circular reflective marker (2) is on the axis of the cylinder (1) by using binocular measuring equipment, and if not, inserting an adjusting tool into the notch (3) or the hole in the side wall of the groove (2) to radially adjust the position of the reflective marker carrier (4) until the circle center of the circular reflective marker (2) is superposed with the axis of the cylinder (1);
and 8, after the glue is adjusted in place and the glue is dried, taking down the cylinder (1) from the operation table to finish assembly.
10. The assembly method of claim 9, wherein: in step 4, the liquid filled in the inner cavity is cylindrical.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110990313.6A CN113520619A (en) | 2021-08-26 | 2021-08-26 | Marking element for registering three-dimensional medical image system and binocular vision system and assembling method thereof |
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| CN202110990313.6A CN113520619A (en) | 2021-08-26 | 2021-08-26 | Marking element for registering three-dimensional medical image system and binocular vision system and assembling method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116407274A (en) * | 2021-12-30 | 2023-07-11 | 北京和华瑞博医疗科技有限公司 | Reflective positioning devices and surgical instruments |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116407274A (en) * | 2021-12-30 | 2023-07-11 | 北京和华瑞博医疗科技有限公司 | Reflective positioning devices and surgical instruments |
| CN116407274B (en) * | 2021-12-30 | 2025-03-18 | 北京和华瑞博医疗科技有限公司 | Reflective positioning device and surgical instrument |
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Application publication date: 20211022 |