Coupling method of extracranial and extracranial coordinate systems based on force sensor in neurosurgical stereotaxic surgery

Abstract

The invention relates to a coupling method of an extracranial and extracranial coordinate system based on a force sensor in neurosurgical brain stereotaxic surgery. The method installs a microprobe on a high-precision force sensor, and the force sensor is installed on the extracranial coordinate system where the surgical equipment is located. on the Z axis. Firstly, by using the marking points on the surface of the skull, a certain axial plane of the extracranial equipment coordinate system is parallel to the corresponding axial plane of the intracranial coordinate system, and then using the vertical plane perpendicular to the midsagittal plane through the origin of the intracranial coordinates The intersection point of the line and the surface of the skull is used to move the origin of the extracranial coordinate system to coincide with the origin of the intracranial coordinate system to achieve the purpose of coupling the extracranial and extracranial coordinate systems. The method is ingeniously designed, has high precision, solves a series of problems existing in the prior art, is convenient to operate, and has remarkable effects.

Description

technical field [0001] The invention relates to a coupling method of an extracranial and extracranial coordinate system based on a force sensor in neurosurgical brain stereotaxic surgery, and belongs to the technical field of brain stereotaxic positioning. Background technique [0002] Diseases inside the brain, such as Parkinson's disease, epilepsy, tumors or hematomas, usually require surgically directed 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 the precise coupling of 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 the tomographic images of medical imaging scan...

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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