TWI730242B - Surgical instrument positioning system and positioning method thereof - Google Patents

Abstract

The present invention discloses a surgical instrument positioning system and a positioning method thereof. The human body natural feature information data presented by medical images (such as CT) taken before surgery is first input into the positioning system of the present invention, and 3D data is reconstructed, and then the The position information of the handheld device obtained by the light sensing element is returned to the positioning system. Then, feature points can be automatically suggested or designated by the positioning system or manually selected by the operator to establish the coordinate relationship between the patient's position and the handheld device, and solve the problem of the conventional technology for the doctor during the operation. Affect the problem.

Description

Surgical instrument positioning system and positioning method thereof

The invention is a system and a positioning method for positioning surgical instruments during surgery.

When performing a precision surgical operation, the position of the knife or puncture is one of the important factors for a successful operation. Therefore, the position of the surgical puncture needle is usually confirmed through image guidance during this type of operation, so as to avoid the operation process. Mistakes caused by differences in distances and the effects of surgery. Common applications of this type of surgery include: pedicle screw placement surgery, live sampling surgery, spinal nerve block surgery, or dental implants.

In one of the conventional surgical techniques, the surgeon needs to repeatedly irradiate the X-ray image to guide the forward direction of the puncture needle in order to be able to grasp the position of the instrument to confirm the final position of the puncture needle. Through precise placement of the puncture needle, it can provide a guide path for subsequent surgical instruments to achieve precise and error-free treatment. However, for the aforementioned invasive surgery, an external guidance system (or navigation system) can also be used to record or inform the surgeon of the current location of the surgical instrument.

One of the guiding methods is to attach a reflective element to the surgical instrument. Before the operation, the surgical instrument is registered in the guidance system to confirm the relative positional relationship between the reflective element and the surgical instrument. During the operation, a number of light-reflecting elements are also installed on the site where the operation is performed (on the human body) for the guidance system to analyze the relative positional relationship between the surgical instrument and the site where the operation is performed.

However, the practice of arranging reflective elements on the surgical site can easily create obstacles to the practitioner during the surgical procedure, such as affecting the movement path of the appliance. In view of this, it should be known that in the prior art, how to solve the inconvenience and difficulty of the current surgical guidance system is the problem to be solved by the present invention. In view of the above problems, the present invention provides a surgical instrument positioning system and Its positioning method solves the aforementioned shortcomings.

The present invention mainly replaces the conventional technique (reflective elements are provided on the corresponding part) by designating a certain position of the body as a characteristic point. In this way, the problems of the conventional technology can be overcome. The main purpose of the present invention is to provide a surgical instrument positioning system and its positioning method. The method of the present invention is based on the analysis of the surgical site or the surrounding surface image data, which is specified by the surgeon or suggested by the system or selected by the system At least three locations, and correspondingly set and record the first coordinate data and the second coordinate data, so as to establish the first coordinate data as the first feature point, the second feature point and the third feature point in the positioning system, and then The first feature point, the second feature point, and the third feature point can be set as absolute positions. The computer is equipped with a surgical instrument display software that can calculate the real-time image of the light sensor element from the data returned by the light sensor element and the aforementioned first coordinate data, second coordinate data, and third coordinate data The relative position of the position data is then displayed on the screen accordingly. Through the present invention, there is no need to install a number of reflective elements on or around the site to be operated on, so as to overcome the obstacles caused by the surgeon in the process of performing the operation.

In order to achieve the foregoing objective, the present invention discloses a surgical instrument positioning system that can be used to confirm the position of the front end of a hand-held instrument relative to a surgical site in a human body during an operation. The surgical instrument positioning system includes a light sensing element , An image capture device, An electronic computer and a display device. The light sensing element is arranged on the hand-held appliance. The image capturing device is used to continuously capture the surface image data of the surgical site and the real-time image position data of the light sensor element. The electronic computer is connected to the image capturing device in telecommunication, and can receive the surface image data and the real-time image position data of the light sensing element. The electronic computer calculates the position of the handheld device relative to the human body and the position of the image data according to the position of the light sensing element. The computer is then equipped with a surgical instrument display software to analyze the surface image data, find at least three suitable locations, and correspondingly set and record them as a first coordinate data, a second coordinate data, and a third coordinate data. The analysis to find a suitable location can also be directly specified by the user or suggest to the user after the analysis, and the first coordinate data, the second coordinate data, and the third coordinate data are respectively established as a first Feature points, a second feature point and a third feature point. The display device is electrically connected to the electronic computer to display the first feature point, the second feature point, the third feature point, and the real-time analog image of the handheld device.

In the aforementioned surgical instrument positioning system, the first coordinate data, the second coordinate data, and the third coordinate data are set as absolute positions, and the real-time image position data of the light sensor element is the first coordinate data, the first coordinate data and the third coordinate data. The relative position of the second coordinate data and the third coordinate data.

One way of inputting the first coordinate data, the second coordinate data, and the third coordinate data is through an input device that is electrically connected to the computer, and the user can match the content presented by the display device , Manipulate the input device to select the first feature point, the second feature point, and the third feature point to input the surgical instrument positioning system. It can also be used to directly click on the feature points of the surgical instrument or automatically scan (line-to-line or face-to-face) to achieve the purpose of positioning. The surgical instrument display software can use the image capture device to confirm whether the light sensor element is Reach the corresponding position.

In order to accurately calculate the positioning information required by the system, the first feature point, the second feature point, and the third feature point can be features of the human body. The features of the human body include the corners of the eyes, the tip of the nose, the gap between the teeth, the trend of tooth lines, or Tooth sockets, etc. have partially recognizable images.

The present invention discloses a surgical instrument positioning method. When performing a surgical operation, confirm the position of the front end of the hand-held instrument relative to the surgical site in the human body. The surgical instrument positioning method includes the following steps: (A) Provide a light sensor The component is set on the handheld device; (B) an image capturing device is provided to continuously or intermittently capture the surface image data of the human body and the real-time image position data of the light sensor; (C) according to the The surface image data and the position of the light sensing element calculate the position of the handheld device relative to the human body and the position of the image data; (D) Provide a surgical instrument display software to analyze at least three positions of the surface image data, and set and record it accordingly A first coordinate data, a second coordinate data, and a third coordinate data, and the first coordinate data, the second coordinate data, and the third coordinate data are respectively established as a first feature point, a second feature point and A third feature point; and (E) providing a display device to display the first feature point, the second feature point and the third feature point, and the real-time position or simulated image of the handheld device.

In the foregoing surgical instrument positioning method, after step (E), the following steps are further included: the first feature point, the second feature point, and the third feature point are selected by an input device, and the display device displays the first feature point, the second feature point, and the third feature point. The surgical instrument display software displays the image capturing device to confirm whether the light sensing element reaches the position of the first feature point, the second feature point or the third feature point.

The flow of the calculation method in the aforementioned surgical instrument display software is as follows: (a) loading medical images; (b) medical image processing; (c) 3D data reconstruction; (d) judging feature data; (e) obtaining actual spatial features Data; (f) Obtain the initial alignment matrix or (f-1) feature point correspondence algorithm to obtain the image and actual space conversion matrix; (g) Obtain the surface data in the actual space; (h) Surface correspondence calculation Method to obtain the conversion matrix between the image and the actual space.

The judgment method of step (d) of the calculation method can be automatic judgment or manual judgment; and the judgment feature data of step (d) of the calculation method is point, surface or part.

The step (g) of the calculation method is to obtain surface data in real space using contact or non-contact methods.

When the judgment method of step (d) of the calculation method can be automatic judgment, the flow of the automatic judgment feature data is as follows: (d-1) Load medical images; (d-2) Image filtering, noise removal, and enhancement ; (D-3) Histogram analysis, image frequency analysis; (d-4) Data grouping and condition setting; (d-5-1) Growth according to different thresholds, ranges, and frequency regions; (d-5-2) According to the growth or segmentation of the anatomical structure area; (d-6) Gradient and divergence calculation; (d-7) Feature location judgment; (d-8) Output feature location coordinates, shape, and type.

From the above description, it can be known that the surgical instrument positioning system and positioning method of the present invention can achieve the goal that the inventor wants to achieve. The patient's own biological characteristics are used as the absolute positioning position, and only the hand-held instrument is used as the absolute positioning position. There is no need to install several reflective elements on the site to be operated, so as to solve the operation obstacles caused by the surgeon during the operation.

10‧‧‧Surgical instrument positioning system

12‧‧‧Handheld device

14‧‧‧Light sensor

16‧‧‧Image capture device

18‧‧‧Computer

20‧‧‧Display device

22‧‧‧Input device

Figure 1 is a schematic diagram of the surgical instrument positioning system of the present invention.

Figure 2 is a flowchart of the surgical instrument positioning method of the present invention.

Figure 3 is another flowchart of the surgical instrument positioning method of the present invention.

Figure 4 is the feature information registration method of the surgical instrument positioning method of the present invention.

Fig. 5 is a flowchart of the automatic judgment of characteristic data of the surgical instrument positioning method of the present invention.

The present invention is a surgical instrument positioning system and positioning method related to surgery. In the following, in conjunction with the drawings, the implementation aspects of the surgical instrument positioning system and the positioning method proposed by the present invention will be further described.

First, please refer to Figure 1, which is a schematic diagram illustrating the surgical instrument positioning system of the present invention. As shown in the figure, a surgical instrument positioning system 10 of the present invention, during a surgical operation, confirms the position of the front end of the hand-held instrument 12 relative to the site to be operated on in the human body, wherein the surgical instrument positioning system 10 includes a light sensing element 14. An image capturing device 16, an electronic computer 18, and a display device 20.

As mentioned above, the light sensor element 14 of the present invention is arranged on the handheld device 12. The image capturing device 16 is used to continuously or intermittently capture part of the surface image data of the human body and the real-time image position of the light sensor element 14 data. The computer 18 is electrically connected to the image capturing device 16 for receiving surface image data and real-time image position data of the light sensor element 14.

Next, the electronic computer 18 calculates the position of the hand-held device 12 based on the position of the light sensing element 14. The computer 18 is equipped with a surgical instrument display software, which can analyze the surface image data, and correspondingly set and record the three positions as the first coordinate data, the second coordinate data, and the third coordinate data. The second coordinate data and the third coordinate data are respectively established as a first feature point, a second feature point, and a third feature point. The display device 20 is electrically connected to the computer 18 to display the first feature point, the second feature point, and the third feature point. The real-time position of the three characteristic points and the handheld device 12 or the 3D simulation environment.

In the surgical instrument positioning system 10 described above, the first coordinate data, the second coordinate data, and the third coordinate data are absolute positions, and the real-time image position of the light sensor 14 The data is the relative position of the first coordinate data, the second coordinate data and the third coordinate data.

In addition, in the present invention, the electronic computer 18 can be connected to an input device 22 by telecommunications. The input device 22 can display an analog image by the display device 20, and the first feature point, the second feature point, and the third feature can be selected in the system. Click and confirm the settings for the system to record the relationship between the relative positions of the feature points, and the surgical instrument display software can use the image capture device 16 to confirm whether the surgical instrument equipped with the light sensor element 14 has reached the first feature point, the second feature point or The position of the third characteristic point.

Furthermore, in the surgical instrument positioning system 10 disclosed in the present invention, the handheld instrument 12 is a surgical probe, the electronic computer 18 may be a computer, a portable computer or a tablet computer, the display device 20 may be a screen, and the light sensor 14 It can be a reflective element or an active light-emitting element, and the input device 22 is a mouse or a touchpad. In addition, the first feature point, the second feature point, and the third feature point may be human body features, and the human body features include eye corners, nose tips, tooth gaps, or tooth sockets. The first feature point, the second feature point, and the third feature point can also be established based on the bone structure of the human body. The bone structure of the human body can be the shape of a single tooth, the trend of the tooth line, or the position of the tooth socket.

According to the above, according to the technical content disclosed in the present invention, the surgical instrument positioning system 10 adopts the function of feature point selection. If it is implemented in dental implant surgery, the patient does not need to wear an occlusion when taking a tomographic scan. Board, you can perform optical registration.

The surgeon can select feature points based on experience and preferences, and select obvious human feature points, such as the corners of the eyes, nose tip, tooth gap, tooth socket or the tip of the tooth surface, etc., and the system can record the order in which the doctor clicks the feature points. The visual angle of the software during selection. When the surgical instrument is used in the operation to click on the actual position, the surgical instrument display software can help guide the operator to the position to be selected. Of course, you can also use automatic scanning (line-to-line or face-to-face) to complete the click operation.

According to the different regions, it can be combined with different characteristics analysis, such as teeth, according to their shape, line trend, etc., determine the position of the tooth socket or the obvious point, line or surface feature; or determine the adjacent spacing relationship, Further according to its boundary characteristics, find its interdental characteristics. Among them, after analyzing the surface image data, the software can calculate the most suitable position as the feature point, and then display it on the display device for reference by the surgeon. Alternatively, infrared rays are used to create a light spot around the area to be treated, and the light spot keeps irradiating a position adjacent to the treated area, which can also achieve the purpose of being a characteristic point.

According to the technical presentation of the above-mentioned system embodiment, the present invention can also enumerate another method embodiment here. Refer to Figure 2, which illustrates the flow chart of the surgical instrument positioning method of the present invention. As shown in the figure, a surgical instrument of the present invention The positioning method can confirm the position of the front end of the hand-held instrument relative to the human body during the surgical operation. The positioning method of the surgical instrument includes the following steps. As shown in step (A), a light sensor element is provided and placed on the hand-held instrument As shown in step (B), an image capturing device is provided to continuously capture the surface image data of the human body and the real-time image position data of the light sensor element. As shown in step (C), the position of the handheld device is calculated based on the surface image data and the position of the light sensor.

Then, as shown in step (D), provide surgical instrument display software, through which at least three positions of the surface image data are analyzed, and correspondingly set and recorded as the first coordinate data, the second coordinate data and the third coordinate data, The first coordinate data, the second coordinate data, and the third coordinate data are respectively established as the first feature point, the second feature point, and the third feature point. Finally, as shown in step (E), a display device is provided to display The first feature point, the second feature point, the third feature point and the instant position of the hand-held device are obtained.

In the surgical instrument positioning method as described above, the first coordinate data, the second coordinate data, and the third coordinate data are absolute positions, and the real-time image position data of the light sensor element are the first coordinate data and the second coordinate data The relative position with the third coordinate data.

Next, referring to Figure 3, another flow chart of the surgical instrument positioning method of the present invention is illustrated. As shown in the figure, the surgical instrument positioning method disclosed in the present invention includes the following steps after step (E): As shown in step (F), an input device is provided to select the first feature point, the second feature point, or the third feature point or automatic scanning (line-to-line) through the surgical instrument display software displayed on the display device Or face-to-face). Finally, as shown in step (G), the surgical instrument display software can use the image capture device to confirm whether the light sensor element reaches the first feature point, the second feature point, or the third feature point. The location.

Next, referring to Figure 4, the method of registering human body physical feature information in the surgical instrument positioning method of the present invention is described. The calculation method in the surgical instrument display software is as follows: (a) loading medical images; (b) Medical image processing; (c) 3D data reconstruction; (d) judging feature data; (e) obtaining actual spatial feature data; (f) obtaining initial alignment matrix or (f-1) feature point corresponding algorithm to obtain images And actual space conversion matrix; (g) obtain surface data in actual space; (h) surface correspondence algorithm to obtain image and actual space conversion matrix.

Next, referring to Figure 5, it is an explanation of the flow chart of automatically determining feature data in the surgical instrument positioning method of the present invention. The flow is as follows: (d-1) Load medical image, such as CT; (d-2) Image Filtering, noise removal, and enhancement to highlight specific lines or points or surfaces; (d-3) Histogram analysis and image frequency analysis to confirm the characteristics of these points, lines and surfaces; (d- 4) Data grouping and condition setting, grouping the characteristics of approximate results; (d-5-1) Growing according to different thresholds, ranges, and frequency regions; (d-5-2) Growing or segmenting according to anatomical structures; (d) -6) Gradient and divergence calculation; (d-7) Judgment of the characteristic part; (d-8) Output the coordinates, shape and type of the characteristic part.

Furthermore, the surgical instrument positioning method as described above, wherein the hand-held instrument is a surgical probe, the display device is a screen, the light sensing element is a reflective element, and the input device is a mouse or a touch pad. The first feature point, the second feature point, and the third feature point may be human body features, and the human body features include eye corners, nose tips, tooth gaps, or tooth sockets. And the first feature point, the second feature point, and the third feature point are established based on the bone structure of the human body. The bone structure of the human body can be the shape of a single tooth, the trend of the tooth line, or the position of the tooth socket.

In summary, the surgical instrument positioning system and positioning method disclosed in the present invention are based on analyzing at least three positions of surface image data, and correspondingly set and record them as first coordinate data, second coordinate data, and third coordinate data , To establish each coordinate data as the first feature point, the second feature point and the third feature point, so the first feature point, the second feature point and the third feature point can be set as absolute positions, which can be carried on the computer When the surgical instrument display software is available, the relative position of the real-time image position data of the light sensor element can be calculated. In this way, the operator does not need to install several reflective elements on the surgical site, which will prevent the operator from being affected during the operation. Obstacles to the operation. Take dental implant surgery for example, the patient’s head may need to be turned left and right. When the first feature point, the second feature point and the third feature point are set to absolute positions, the electronic computer can calculate the light sensor element. The relative position of the real-time image location data allows the surgeon to move the patient's treatment site arbitrarily, which further demonstrates the effectiveness of the present invention.

Although the foregoing embodiments and examples of the present invention are disclosed as above, they are not intended to limit the present invention. Changes and modifications made without departing from the spirit and scope of the present invention are all claims within the scope of the patent of the present invention. For the scope of the patent defined by the present invention, please refer to the attached claims.

10‧‧‧Surgical instrument positioning system

12‧‧‧Handheld device

14‧‧‧Light sensor

16‧‧‧Image capture device

18‧‧‧Computer

20‧‧‧Display device

22‧‧‧Input device

Claims (10)

A surgical instrument positioning system can confirm the position of the front end of a hand-held instrument relative to a human body during a surgical operation. The surgical instrument positioning system includes: a light sensing element arranged on the hand-held instrument; an image capture Device to continuously or intermittently capture the surface image data of the human body and the real-time image position data of the light sensor element; an electronic computer, which is electrically connected to the image capture device, can receive the surface image data and According to the real-time image position data of the light sensor element, the electronic computer calculates the position of the hand-held device relative to the human body and the image data position according to the light sensor element position, and the electronic computer carries and executes a surgical instrument display software to analyze the surface At least three positions of the image data are correspondingly set and recorded as a first coordinate data, a second coordinate data, and a third coordinate data, and the first coordinate data, the second coordinate data, and the third coordinate data A first feature point, a second feature point, and a third feature point are respectively established, wherein the first feature point, the second feature point, and the third feature point are human body features; and a display device, which is electrically connected The electronic computer displays the first feature point, the second feature point, the third feature point and the real-time position of the handheld device or displays a simulated three-dimensional image of the handheld device and its surroundings. For example, the surgical instrument positioning system described in item 1 of the scope of patent application, wherein the first coordinate data, the second coordinate data, and the third coordinate data are absolute positions, and the real-time image position data of the light sensor element is The first coordinate data, the second coordinate data, and the third block The relative position of the target data; the surgical instrument positioning system further includes: an input device electrically connected to the electronic computer, and the input device can click the first feature by the surgical instrument display software displayed by the display device Point or the second feature point or the third feature point, and the surgical instrument display software can use the image capturing device to confirm whether the hand-held instrument combined with the light sensing element reaches the first feature point or the second feature The point or the position of the third feature point; and the first feature point, the second feature point, and/or the third feature point can be the corner of the eye, the tip of the nose, the gap between teeth, the trend of tooth lines, or the tooth socket. For the surgical instrument positioning system described in the second item of the scope of patent application, the light sensing element is a reflective element or an active light emitting element. A method for positioning a surgical instrument. During a surgical operation, the position of the front end of a hand-held instrument relative to a human body can be confirmed. The positioning method for a surgical instrument includes the following steps: (A) Provide a light sensing element to be installed on the On the handheld device; (B) Provide an image capturing device to continuously capture the surface image data of the human body and the real-time image position data of the light sensor element; (C) According to the surface image data and the position of the light sensor element Calculate the position of the handheld device relative to the human body and the position of the image data; (D) Provide a surgical instrument display software to analyze at least three positions of the surface image data, and correspondingly set and record it as a first coordinate data, a second coordinate data Coordinate data and a third coordinate data, and the first coordinate data, the second coordinate data and the third coordinate data are respectively established as a first feature point, a second feature point and a third feature point, wherein the The first feature point, the second feature point, and the third feature point are human body features; and (E) a display device is provided to display the first feature point, the second feature point, and the third feature point. Feature points and the real-time position of the handheld device or 3D simulation image. For example, the surgical instrument positioning method described in item 4 of the scope of patent application, wherein the first coordinate data, the second coordinate data, and the third coordinate data are absolute positions, and the real-time image position data of the light sensor element is The relative positions of the first coordinate data and the second coordinate data and the third coordinate data; after step (E), the following step is further included: providing an input device for clicking the first feature point or the first Two feature points or the third feature point, and the surgical instrument display software can use the image capturing device to confirm whether the hand-held instrument combined with the light sensing element reaches the first feature point or the second feature point or the second feature point The position of the three characteristic points; among them, the first characteristic point, the second characteristic point and the third characteristic point can be the corner of the eye, the tip of the nose, the gap between the teeth, the trend of the tooth line or the tooth socket. For example, the surgical instrument positioning method described in item 4 of the scope of patent application, wherein the calculation method in the surgical instrument display software is as follows: (a) loading medical images; (b) medical image processing; (c) 3D data reconstruction; (d) Judging feature data; (e) Obtaining actual spatial feature data; (f) Obtaining the initial alignment matrix or (f-1) feature point correspondence algorithm to obtain the image and actual space conversion matrix; (g) Obtaining the actual Surface data in space; (h) Surface mapping algorithm to obtain the image and actual space conversion matrix. The surgical instrument positioning method as described in item 6 of the scope of patent application, wherein the calculation method steps (d) The judgment method is automatic judgment or manual judgment. Such as the surgical instrument positioning method described in item 6 of the scope of patent application, wherein the judging characteristic data in step (d) of the calculation method is a point, a surface or a location. Such as the surgical instrument positioning method described in item 6 of the scope of patent application, wherein step (g) of the calculation method obtains surface data in real space by using contact or non-contact methods. For example, the surgical instrument positioning method described in item 7 of the scope of patent application, wherein the process of automatically determining the characteristic data is as follows: (d-1) loading medical images; (d-2) image filtering, denoising, and enhancement; d-3) Histogram analysis, image frequency analysis; (d-4) Data grouping and condition setting; (d-5-1) Growth according to different thresholds, ranges, and frequency regions; (d-5-2) According to anatomy Structure area growth or segmentation; (d-6) Gradient and divergence calculation; (d-7) Feature location judgment; (d-8) Output feature location coordinates, shape, and type.

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