Surgical navigation system and method

Abstract

The invention relates to a surgical navigation system. The surgical navigation system comprises a mechanical arm, a mechanical arm controlling device for controlling the mechanical arm, an ultrasonic probe arranged on the mechanical arm, and a computer for controlling the mechanical controlling device and the ultrasonic probe, wherein the mechanical arm is used for holding the ultrasonic probe; the mechanical arm controlling device is provided with a movement controlling card; the computer is provided with an ultrasonic image capturing card; the ultrasonic probe is in communication connection with the computer through the ultrasonic image capturing card; and the mechanical arm is in communication connection with the computer through the movement controlling card. The invention also provides a surgical navigation method. The surgical navigation system and method are capable of enhancing the precision of positioning and tracking of the ultrasonic probe in surgery, alleviating the working strength of doctors, and enabling the surgery to be accurate and safe.

Description

【Technical field】 [0001] The invention belongs to the field of medical machinery, and in particular relates to a surgical navigation system with a manipulator and a method thereof. 【Background technique】 [0002] At present, the surgical navigation device is usually a surgical instrument held by a doctor, and the end of the instrument is equipped with an optical marker or an electromagnetic marker. The three-dimensional space position of the surgical instrument is obtained in real time through an optical positioning tracking system or an electromagnetic positioning device, and finally the surgical instrument is connected to the workstation. The images in are displayed interactively in real time. In this way, the entire surgical operation and judgment are completed by the doctor, and the doctor completes the minimally invasive surgical operation under the visualization of the positioning and imaging system. The navigation system functions as a simple auxiliary tool, but this ...

AI Technical Summary

Problems solved by technology

In this way, the entire surgical operation and judgment are completed by the doctor, and the doctor completes the minimally invasive surgical operation under the visualization of the positioning and imaging system. The navigation system functions as a simple auxiliary tool, but this method also has shortcomings. When the operation time is too long, the hands are prone to fatigue, which leads to the vibration of the surgical tools, which leads to errors in the positioning and tracking of the surgical tools during the operation, which affects the accuracy of the entire operation; Instruments, such as: endoscopes, surgical knives, etc., but there is no way to hold the ultrasonic probe detection equipment

Take percutaneous nephrotomy surgery as an example. During the operation, ultrasound equipment is used to detect the position of stones and the condition after stone crushing. The surgeon needs to hold the endoscope in one hand and the laser treatment instrument in the other hand. There is no way to free your hands to hold the ultrasound probe. After each stone crushing, take out the laser treatment surgical instruments and put them aside, and then scan with the ultrasound equipment to observe whether the stones are completely crushed. If there are still residual stones, the doctor will again Put the ultrasound probe aside, hold the laser therapy surgical instrument again, and repeat the operation until all the stones are removed. This not only prolongs the operation time, but also increases the risk of the operation. At the same time, it is impossible for the ultrasound equipment to track the location of the lesion during the whole operation, which increases the number of doctors. work intensity

[0003] Due to the advantages of ultrasound, such as wide adaptability, low price, no radiation, fast and non-invasive, especially the real-time imaging principle of ultrasound, in neurosurgery and abdominal surgery at home and abroad, doctors basically use ultrasound equipment for real-time monitoring. Improve the safety and success rate of surgery. However, during the current operation, the ultrasound image is not fused with the preoperative three-dimensional structural image data to achieve real-time monitoring during the operation.

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