Surgical operation system under the guide of magnetic resonant image and the operation navigating method

Abstract

The present invention relates to a surgical system and surgical navigation method guided by magnetic resonance images, which include magnetic resonance imaging equipment, a tracking system, surgical instruments, a hospital bed set on the magnetic resonance imaging equipment, control and display equipment, and The computer and control software part connected to each system; it is characterized in that: a calibration needle and a calibration mold are also provided; the magnetic resonance imaging equipment, the surgical instrument and the hospital bed are respectively provided with a world coordinate system, a surgical The tracer of the instrument coordinate system and the patient bed coordinate system, the poses of the coordinate systems can be measured by the tracking system; the calibration needle and the calibration model are used to transform the lesion coordinates and surgical instrument coordinates into the same In a coordinate system, the calibration is realized. The invention can realize precise positioning of surgical instruments relative to magnetic resonance images, and an interventional surgery system and intraoperative navigation method guided by magnetic resonance images for preoperative planning and intraoperative precise navigation of interventional surgery.

Description

technical field [0001] The invention relates to a surgical system and a control method, in particular to a magnetic resonance image-guided surgical system and a surgical navigation method. Background technique [0002] Interventional surgery is a major development direction of modern surgery. The difference between interventional surgery or interventional therapy and traditional surgery is that it does not require surgery, and only requires a small incision to insert special catheters, cryo-needles, radiofrequency ablation needles, Surgical instruments such as guide wires penetrate into the lesion or surgical target in the human body, and then achieve the purpose of treatment through various physical / chemical effects, so as to solve the tumor resection, tissue biopsy, artificial equipment placement etc. Interventional surgery has the characteristics of no surgery, precise damage, small trauma, and fast recovery. It is considered to be an ideal alternative to many traditiona...

AI Technical Summary

Problems solved by technology

The calculation process of the former method is complex and the production cost of the calibration model is high, and it is necessary to repeatedly image and analyze the three-dimensional calibration model in different positions to obtain the position offset of the control point, which is difficult in practice

In the latter method, the design parameters of the gradient coil are only a major factor of image deformation, and the influence of other hardware and software modules of the magnetic resonance system on image deformation is not considered, so the image correction results often fail to meet the requirements

[0005] 2. When doctors perform magnetic resonance interventional therapy, they usually observe the magnetic resonance images of the lesion with the naked eye, and place the surgical instruments at the target position based on experience. This method cannot observe the interventional surgical instruments and the lesion site or location during the operation in real time. The actual error between the target points will affect the quality of the operation, making it difficult to guarantee the effect of the operation. Even if the error is large, the interventional operation must be repeated, causing the patient to suffer greater pain

[0006] 3. Since the doctor is holding the surgical instrument, in the navigation mode of converting the surgical instrument and the lesion into the same coordinate system, the shaking of the hand will cause errors, so a device that can flexibly adjust the clamping position and direction of the surgical instrument is needed , while there is no ready-made equipment in the prior art to use

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