Force-sensor-based coupling method for extracranial and intracranial coordinate systems in brain stereotactic surgery of neurosurgery

Abstract

The invention relates to a force-sensor-based coupling method for extracranial and intracranial coordinate systems in brain stereotactic surgery of neurosurgery. The method comprises the steps that a micro probe is mounted on the high-precision force sensor, and the force sensor is mounted on the Z-axis of the extracranial coordinate system where surgical equipment is located; a certain axial face of the extracranial coordinate system of the equipment is made to be parallel to a corresponding axial face of the intracranial coordinate system through mark points on the surface of the skull; the origin of the extracranial coordinate system is moved to coincide with an intracranial origin according to the mark point, namely the intersection point between a vertical line where the origin of the intracranial coordinate system is perpendicular to a median sagittal plane and the surface of the skull, so coupling between the extracranial coordinate system and the intracranial coordinate system is achieved. The method is ingenious in design concept and high in accuracy, and solves a series of problems existing in the prior art, operation is convenient, and the effect is remarkable.

Description

Technical field [0001] The invention relates to a method for coupling intracranial and extracranial coordinate systems based on force sensors in neurosurgery brain stereotaxic, and belongs to the technical field of brain stereotaxic. Background technique [0002] Intracranial diseases, such as Parkinson's disease, epilepsy, tumors or hematomas, usually require surgical directional surgery to remove or cure them. The primary problem is to determine the specific location of the lesion to achieve precise positioning of surgical tools such as minimally invasive electrodes or puncture needles. This process requires precise coupling between the intracranial brain tissue coordinate system and the medical equipment coordinate system. The intracranial brain tissue coordinate system is to reconstruct the patient's intracranial space and construct a coordinate system to connect the intracranial brain tissue through tomographic images of medical imaging scanning technology such as computeriz...

AI Technical Summary

Problems solved by technology

[0005] Both framed and frameless stereotaxic methods have certain problems. The framed method has disadvantages: four corner posts fasten the base ring to the patient's head with screws, which will cause trauma to the head. Cannot be installed; the frame installed on the base ring causes the patient to have a sense of oppression and pain during the entire imaging and operation process; the involuntary movement of the patient due to pain may cause the inconspicuous displacement of the frame, resulting in a serious loss of surgical operation accuracy; due to age Due to factors such as gender, race, and other factors, the brain size of different patients varies greatly, and the frame has certain compatibility problems; the frame will affect the installation of the MRI coil; the frame will cause distortion of the magnetic field of the MRI scanner, resulting in potential artifacts in imaging , resulting in loss of target accuracy; the frame will block the surgical site, especially the multi-lesion site; the outflow of blood or cerebrospinal fluid during the operation may cause infection between patients through the brain stereotaxic frame

[0006] The frameless stereotaxic method is relatively convenient, but there are also some problems: this method requires specific markers that can be displayed under medical imaging scanning technology, which increases the cost of positioning, and is not applicable in the absence of markers; markers move It will cause positioning accuracy errors or even positioning failure; it is difficult to meet the requirements of rapid and accurate positioning for emergency minimally invasive surgery for cerebrovascular accidental damage under emergency conditions; positioning is based on the marking points on the surface of the human body's own skull, such as the tip of the nose, earlobes, and corners of the eyes, etc. There are also some problems in the feature position. When there are many feature marker points selected, there is no direct connection between these feature points. It is troublesome and error-prone for doctors to manually locate these feature points in 3D image data; ultrasound, infrared, magnetic field Or visible light and other mark recognition methods have relatively low positioning accuracy and require complex procedures, which have certain program risks and poor reliability

[0007] Although the above methods can realize the coupling of the intracranial brain tissue coordinate system and the medical equipment coordinate system, there are many problems. There is an urgent need to find a convenient and efficient coupling method

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