CN101049248A - Optical, magnetic, electric composite navigational surgery positioning device and method - Google Patents
Optical, magnetic, electric composite navigational surgery positioning device and method Download PDFInfo
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- CN101049248A CN101049248A CN 200710017894 CN200710017894A CN101049248A CN 101049248 A CN101049248 A CN 101049248A CN 200710017894 CN200710017894 CN 200710017894 CN 200710017894 A CN200710017894 A CN 200710017894A CN 101049248 A CN101049248 A CN 101049248A
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Abstract
An electric, magnetic and optical navigations combined locating system for medical operation features that the magnetic source and marking point are arranged on operation tool, at least three magnetic receivers and a group of two CCD cameras, which are electrically connected to a computer, are respectively fixed to and above the operation table for taking the information about the position of operation tool in optical, magnetic and electric coordinate systems and its posture.
Description
Technical field
The invention belongs to the surgical navigational field of locating technology, relate generally to optical operation navigation method and electromagnetic navigation method, specifically is exactly a kind of optical, magnetic, electric composite navigational surgery localization method.
Background technology
In traditional bone surgery, the doctor is according to the affected part image picture that obtains in advance, and at first the surgery planning before formation three-dimensional imaging and the art in the brain of oneself carries out clinical operation then.The surgical clinical experience and the technical ability of doctor's individuality is often depended in the success or not of this operation, and deviations appears in the parameter that can't need in the art quantize easily, is difficult to reach best surgical effect.
In order to solve the problems referred to above that exist in traditional bone surgery, and along with computer technology, medical image technology, image acquisition and processing technology, Image Reconstruction Technology and development of high-tech, the computer-asisted intra-operative navigation technology has appearred in recent years.It is that medical image before patient's art is carried out three-dimensional reconstruction, by the navigation positioning system in the operation, accurately real-time tracking location is carried out in the position of operating theater instruments in surgical field of view, 3-dimensional image on patient's reference monitor is observed the physical location of operating theater instruments, make operation safer, thorough, alleviate patient's misery effectively, reduce the generation of postoperative complication simultaneously.
Stereotactic system is the key of computer-asisted intra-operative navigation technology, it is the bridge between medical image, operative site and the operating theater instruments, can determine the object space position, obtain the three-dimensional coordinate of target in its measuring range in real time, it connects image information and surgical target, be virtual bridge, be directly connected to the precision of computer assisted surgery system and the success or failure of operation to reality.Realize that at present the localized method of surgical navigational has mechanical positioning mode, ultrasonic locating method, optical alignment method and electromagnetic location method etc.Machinery positioning mode technology maturation can not get clogged, and operating theater instruments is changed easy, but free movement space is limited, and the complicated in mechanical structure of system is huge, and can't follow the tracks of mobile object; The ultrasonic locatization low price, calibration is convenient, but easily affected by environment, low precision, and interference phenomenon is blocked in existence; The optical operation navigation system is present most popular localization method, it is by the video camera object observing, locus according to the principle of stereoscopic vision reconstructed object, that the positioning accuracy height of optical navigation system, operating theater instruments are changed is convenient, can follow the tracks of a plurality of targets, speed is fast, but the interference that its easy operation receiveing person, assistant and operating theater instruments etc. are blocked, be subject to the influence of background light, and cost an arm and a leg; Electromagnetic navigation system is made up of magnetic field transmitter and receptor, according to the intensity and the phase place of the information of reception, computer memory position and direction, the equipment of electromagnetic navigation system is simple, volume is little, not stopped by optical signal, but its precision is lower, working range is little, is subject to the interference of ferromagnetic material.
Chinese patent application number is called " a kind of human body orthopedic navigation system " for the application for a patent for invention of 200610122578.X discloses a key name, be to adopt a C type arm or G type arm X line machine, space servo-positioning device and computer combination, the threedimensional model registration that is obtained with CT or MR tomoscanner, usage space servo-positioning device realizes that the navigation and the control of operation process put in place, whole system is based on machinery location and controlled, positioning accuracy is low, and equipment is many, and cost is big.
The inventor once orientated key word with regard to this theme as with optical, magnetic, electric composite navigational surgery, in Chinese science and technology journal data storehouse, Chinese science and technology Economic News data base, CSTAD, china academia meeting paper data base, CSTDB, CDDB, Chinese patent database (CD), CDMD, CEKD (CEKD), china academia Full-text Periodical Database (CNKI), national science and technology achievement net, http://www.google.com, Shaanxi Province technology library document resource share service system (SNSTL), national newspapers and periodicals index (science and technology version), scientific and technical research achievement communique, Chinese scientific and technological materials catalogue, china medical abstract, progress prize in science and technology project of awarding a prize in Shaanxi Province's is retrieved this subject, does not all retrieve the pertinent literature of similar structures and location of operation method.Do not find and the closely-related information of the present invention, do not retrieve report the same or document yet with the present invention.
Summary of the invention
The objective of the invention is to overcome the shortcoming and defect that above-mentioned localization method exists, a kind of optical, magnetic, electric composite navigational surgery localization method is provided.Adopting said method positions the computer assisted surgery system, has both overcome to penetrate the limitation that non-printing opacity barrier stops in the optical guidance, avoids the little deficiency of electromagnetic location working range again.Simultaneously, photosignal can be with higher precision to being rectified a deviation and compensated by the nonlinear characteristic of magnetoelectricity element, the uncertain magnetoelectricity navigation error that is produced of disturbing, and the magnetoelectricity signal can carry out reorientation to the result of optical alignment with its penetration capacity, thereby improve the navigation and positioning accuracy of whole system greatly.
Below the present invention is described in detail:
The present invention is a kind of optical, magnetic, electric composite navigational surgery positioning device, its be implemented in: this device includes operating theater instruments, operating-table, computer, the machine vision device that is connected with computer data and scaling board, magnetic source and index point are installed on the operating theater instruments of the present invention, uniform distribution is equipped with three magnetic receptors at least on the operation edge of table, the magnetic receptor also is connected with Computer signal, machine vision device is at least one group of two CCD camera, is fixedly mounted on the top of operating-table.
Directly on operating-table, carry out the photoelectricity location, the localized device of magnetoelectricity also is installed on operating-table and the operating theater instruments, guaranteed the formation of the elements of a fix, the two CCD cameras that are connected with computer data are fixed on the top of operating-table, not only gather the image information of operative site in real time, by the image of unlike signal on the picked-up operating-table, the photoelectricity location is unified in the same coordinate with the localized coordinate of magnetoelectricity simultaneously.
The present invention still is a kind of optical, magnetic, electric composite navigational surgery localization method, it is implemented in being: this method comprises photoelectricity location and magnetoelectricity location, and two kinds of positioning modes are demarcated in unified coordinate system, need to adopt foregoing optical, magnetic, electric composite navigational surgery positioning device, concrete step includes:
The first step: at first scaling board is placed on the operating-table, if the xoy plane of space coordinates o-xyz is on scaling board, the z axle is perpendicular to the scaling board face, with image and information gathering and the imaging of machine vision device to scaling board, determine the relative position of machine vision device in space coordinates, set up the photoelectricity elements of a fix system this moment, and it has been kept in the computer, used in order to the optical alignment of operating theater instruments;
Second step: utilize the machine vision device collection that the image of the operating-table of magnetic receptor has been installed, thereby can obtain the positional information of magnetic receptor in space coordinates, the magnetic receptor is positioned in the photoelectricity elements of a fix system, make that magnetoelectricity elements of a fix system is that initial point overlaps with the photoelectricity elements of a fix, its positional information is kept at the magnetoelectricity location of preparing against operating theater instruments in the computer uses, realized the unification of photoelectricity location and the localized coordinate system of magnetoelectricity this moment;
The 3rd step: before the art with CT or MR tomoscanner to being carried out tomoscan by the operative site for the treatment of of operator, and then carry out three-dimensional reconstruction, the three-dimensional (3 D) manikin image of this acquisition is deposited in the computer;
The 4th step: in the operation process, the three-dimensional (3 D) manikin that has in image scene that is collected by machine vision device and the computer carries out registration, overlap fully until the image of three-dimensional (3 D) manikin with the actual operation position, then by operating theater instruments in the optical alignment coordinate positional information and the positional information complex navigation in the magnetoelectricity elements of a fix, obtain the pose of operating theater instruments in space coordinates, promptly obtain the blade of operating theater instruments and the locus for the treatment of operative site, with its spatial relation data and pictorial display to the display of computer, for operation technique personnel reference, be beneficial to the mobile effectively operating theater instruments of operator, the blade of operating theater instruments is contacted exactly with the pathological changes for the treatment of operative site, reach the localized purpose of surgical navigational.
The present invention adopts the CCD camera directly the pictorial information that operating-table carries out photoelectricity location and the scene of undergoing surgery simultaneously again, magnetoelectricity location to be obtained, with the positional information complex navigation in the positional information in the optical alignment coordinate and the magnetoelectricity elements of a fix, obtain the pose of operating theater instruments in space coordinates.Use simultaneously in order to guarantee that photoelectricity location and magnetoelectricity are positioned in the surgical navigational position fixing process, it must be demarcated two kinds of positioning modes in unified coordinate system.Machine vision device is fixed on the top of operating-table, with the scaling board method machine vision device is demarcated, thereby can obtain the relative position coordinates of machine vision device in space coordinates, and it is kept in the computer, use in order to the optical alignment of operating theater instruments.This scaling method does not need mobile scaling board, and the stated accuracy height.Three magnetic receptors are installed on the operating-table by uniform distribution, utilize two CCD cameras to determine the positional information of magnetic receptor in space coordinates, being about to the magnetic receptor is positioned in the space coordinates, it is kept at the magnetoelectricity location of preparing against operating theater instruments in the computer uses, like this, just can realize the concordance of photoelectricity location and the localized coordinate system of magnetoelectricity.
Because the present invention comprehensively uses optical navigation location and magnetoelectricity navigator fix, and positioning accuracy is further improved.When work in the optical navigation location, the magnetoelectricity navigator fix plays the effect of assist location; When light is blocked, promptly optical navigation is located when ineffective, and the magnetoelectricity navigator fix just plays mastery reaction, make navigator fix have still less constraints and the precision of Geng Gao.Having solved staff under the situation of photoelectricity location, utensil effectively gathers pictorial information to machine vision device and blocks can not accurately locating of being brought, a kind of problem that has the blind area in the surgical navigational that overcomes is provided, can improve pinpoint data of operation and image in real time, ensured operation safety on the slave unit, also therefore can effectively improve operating efficient and success rate, alleviate patient's misery, reduce usefulness such as medical treatment cost.
Description of drawings:
Accompanying drawing is a composition sketch map of the present invention.
The specific embodiment:
Embodiment 1: referring to accompanying drawing, the present invention is as optical, magnetic, electric composite navigational surgery positioning device, include operating theater instruments, operating-table, computer, the machine vision device that is connected with computer data and scaling board, magnetic source 4 and index point 6 are installed on the operating theater instruments 3, magnetic receptor 2 is installed on the limit of operating-table 1, machine vision device 5 is one group of two CCD camera, be fixed on the top of operating-table 1, three magnetic receptors 2 are installed on operating-table 1 limit, magnetic receptor 2 also is connected with computer 7 signals, is that uniform distribution is installed on the operating-table 1.
Embodiment 2: general arrangement is with embodiment 1, and machine vision device 5 is the multi-eye stereo sighting device, specifically adopts three CCD cameras, can further improve navigation and positioning accuracy like this.
Embodiment 3: general arrangement is with embodiment 1, and machine vision device 5 adopts two groups of two CCD cameras, and relative fixed is installed on the top of operating-table 1, so also is in order further to improve navigation and positioning accuracy.
Embodiment 4: as the optical, magnetic, electric composite navigational surgery localization method, the present invention locatees photoelectricity location and magnetoelectricity for these two kinds of positioning modes demarcation in unified coordinate system, needs to adopt above-mentioned optical, magnetic, electric composite navigational surgery positioning device, and concrete step includes:
The first step: at first scaling board is placed on the operating-table 1, if the xoy plane of space coordinates o-xyz is on scaling board, the z axle is perpendicular to the scaling board face, image and information gathering and imaging with 5 pairs of scaling boards of machine vision device, determine the relative position of machine vision device 5 in space coordinates, set up the photoelectricity elements of a fix system this moment, and it has been kept in the computer 7, used in order to the optical alignment of operating theater instruments 3;
Second step: utilize machine vision device 5 to gather the image of the operating-table that magnetic receptor 2 has been installed, thereby can obtain the positional information of magnetic receptor 2 in space coordinates, magnetic receptor 2 is positioned in the photoelectricity elements of a fix system, make that magnetoelectricity elements of a fix system is that initial point overlaps with the photoelectricity elements of a fix, its positional information is kept at the magnetoelectricity location of preparing against operating theater instruments 3 in the computer 7 uses, realized the unification of photoelectricity location and the localized coordinate system of magnetoelectricity this moment;
The 3rd step: before the art with CT or MR tomoscanner to being carried out tomoscan by the operative site for the treatment of of operator, and then carry out three-dimensional reconstruction, the three-dimensional (3 D) manikin image of this acquisition is deposited in the computer 7;
The 4th step: in the operation process, the three-dimensional (3 D) manikin that has in image scene that is collected by machine vision device 5 and the computer mates, overlap fully until the image of three-dimensional (3 D) manikin with the actual operation position, then by the positional information complex navigation in the positional information in the optical alignment coordinate and the magnetoelectricity elements of a fix, the pose of the operating theater instruments 3 that obtains by machine vision device 5 and go up the positional information of index point 6, in conjunction with the positional information of magnetic source 4 on operating theater instruments 3 that detects by magnetic receptor 2, can extrapolate operating theater instruments 3 is the blade and the spatial relation for the treatment of operative site of scalpel, thereby obtain scalpel blade and the locus for the treatment of operative site, with its spatial relation data and pictorial display to the display of computer 7, for operation technique personnel reference, be beneficial to the mobile effectively operating theater instruments of operator, the blade of operating theater instruments is contacted exactly with the pathological changes for the treatment of operative site, reach the localized purpose of surgical navigational.
At the operation process of reality, be not to need the location of pure equipment to drive and operation, need accurate in locating and reference, also need the sensation of concrete operation technique, both combinations could be more accurate.
The present invention is that the problem that exists from solve bone surgery is started with, the accurate positioning that is provided, optical, magnetic, electric composite navigational surgery positioning device that precision is high and method can be applied to bigger scope, in operations such as Orthopeadic Surgery joint replacement, internal fixation of spine, wound internal fixation.
Claims (2)
1. optical, magnetic, electric composite navigational surgery positioning device, this device includes operating theater instruments, operating-table, computer, the machine vision device that is connected with computer data and scaling board, it is characterized in that: magnetic source (4) and index point (6) are installed on the operating theater instruments (3), uniform distribution is equipped with three magnetic receptors (2) at least on operating-table (1) limit, magnetic receptor (2) also is connected with computer (7) signal, machine vision device (5) is at least one group of CCD camera, is fixedly mounted on the top of operating-table (1).
2. optical, magnetic, electric composite navigational surgery localization method is characterized in that: this method comprises photoelectricity location and magnetoelectricity location, and two kinds of positioning modes are demarcated in unified coordinate system, needs the described device of employing claim (1), and concrete step includes:
The first step: at first scaling board is placed on the operating-table (1), if the xoy plane of space coordinates o-xyz is on scaling board, the z axle is perpendicular to the scaling board face, with image and information gathering and the imaging of machine vision device (5) to scaling board, determine the relative position of machine vision device (5) in space coordinates, set up the photoelectricity elements of a fix system this moment, and it has been kept in the computer (7), used in order to the optical alignment of operating theater instruments (3);
Second step: utilize machine vision device (5) collection that the image of the operating-table of magnetic receptor (2) has been installed, thereby can obtain the positional information of magnetic receptor (2) in space coordinates, magnetic receptor (2) is positioned in the photoelectricity elements of a fix system, make that magnetoelectricity elements of a fix system is that initial point overlaps with the photoelectricity elements of a fix, its positional information is kept at the magnetoelectricity location of preparing against operating theater instruments (3) in the computer (7) uses, realized the unification of photoelectricity location and the localized coordinate system of magnetoelectricity this moment;
The 3rd step: before the art with CT or MR tomoscanner to being carried out tomoscan by the operative site for the treatment of of operator, and then carry out three-dimensional reconstruction, the three-dimensional (3 D) manikin image of this acquisition is deposited in the computer (7);
The 4th step: in the operation process, the three-dimensional (3 D) manikin that has in image scene that is collected by machine vision device (5) and the computer carries out registration, overlap fully until the image of three-dimensional (3 D) manikin with the actual operation position, then by operating theater instruments (3) in the optical alignment coordinate positional information and the positional information complex navigation in the magnetoelectricity elements of a fix, obtain the pose of operating theater instruments (3) in space coordinates, promptly obtain the blade of operating theater instruments (3) and the locus for the treatment of operative site, with its spatial relation data and pictorial display to the display of computer (7), for operation technique personnel reference.
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