Marker-free optical surgical navigation system and navigation method thereof

A surgical navigation and marker-free technology, which is applied in the surgical navigation system and other directions, can solve the problems of navigation drop, cumbersome and time-consuming operation process, and light occlusion of marker points, so as to reduce the operation process, reduce operation time, and solve the problem of marker drop Effect

Inactive Publication Date: 2016-12-14
SOUTH CHINA UNIV OF TECH
8 Cites 21 Cited by

AI-Extracted Technical Summary

Problems solved by technology

[0003] Before navigating, the doctor must manually click on the marker points on the patient's body and the image space marker points to register the marker points. If there is a large error and the accuracy of surgical registration cannot meet the clinical requirements, the registration process needs to be repeated
[0004...
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Abstract

The invention discloses a marker-free optical surgical navigation system and a navigation method thereof. The marker-free optical surgical navigation system comprises a structured light three-dimensional scanning system, an optical positioning system, a calibration board and a graphic workstation. The marker-free optical surgical navigation system continuously acquires surface information of a surgical area of a patient through structured light three-dimensional scanning, so that surface three-dimensional coordinates of the patient are acquired, coordinate transformation relation is obtained by virtue of real-time surface three-dimensional coordinates of the patient and preoperative three-dimensional medical image registry of the patient, positions of surgical instruments are traced in real time by virtue of the near infrared optical positioning system, and finally a three-dimensional medical image of a surgical site of the patient and surgery tools are displayed on display equipment in real time. The marker-free optical surgical navigation system disclosed by the invention has the advantages that marker-free optical surgical navigation on the patient is realized, a doctor does not need to carry out manual marker registry, operation processes and surgery time are reduced, the problem that a marker falls off is solved, and the marker-free optical surgical navigation system can be conveniently used under the condition that the marker is inconveniently pasted at some surgical sites.

Application Domain

Surgical navigation systems

Technology Topic

Surgical instrumentMarker free +10

Image

  • Marker-free optical surgical navigation system and navigation method thereof

Examples

  • Experimental program(1)

Example Embodiment

[0023] The present invention will be further described below in conjunction with specific embodiments.
[0024] Such as figure 1 As shown, the mark-free optical surgical navigation system provided by this embodiment includes a structured light three-dimensional scanning system, an optical positioning system, a calibration board (not shown in the figure) and a graphics workstation 6.
[0025] The structured light three-dimensional scanning system includes a visualization camera 2, a visualization camera 4, and a projector 5. A structured light coordinate system is established. The graphics workstation 6 controls the projector 5 to continuously project structured light to the patient's surgical area, and controls the visualization camera 2, and the visualization camera 4 Synchronous acquisition of structured light images of the patient's surface; through the principle of triangulation, a three-dimensional point cloud of the surface of the patient's surgical site under the structured light coordinate system is calculated.
[0026] The visualization camera 2 and the visualization camera 4 have a near infrared collection function.
[0027] The optical positioning system includes a near-infrared camera 1 and a near-infrared camera 3 to establish a positioning coordinate system. The near-infrared camera 1 is composed of a camera of the same model as the visualization camera, a near-infrared LED and a near-infrared filter, and the near-infrared LED emits The near-infrared light irradiates the marker on the surgical tool, and the reflected near-infrared light is collected by the near-infrared camera 1 and the near-infrared camera 3, and the position of the surgical tool in the positioning coordinate system is tracked by calculating the position of the marker on the surgical tool.
[0028] The calibration board is composed of a near-infrared LED dot matrix, which can be collected by the visualization camera and the near-infrared camera at the same time. It moves multiple times in the field of view of the four cameras, and the calibration obtains the near-infrared camera 1, the near-infrared camera 3, the visualization camera 2, and the visualization The internal and external parameters of the camera 4; and the coordinate conversion relationship between the structured light coordinate system and the positioning coordinate system is calculated.
[0029] The graphics workstation 6 is used to scan the surface of the surgical site in the three-dimensional medical image of the patient before the surgical registration and the structured light during the operation to obtain the point cloud of the patient's surface, calculate the conversion of various coordinate systems, and visually display the three-dimensional image of the patient and the surgical tool on the display device in real time Posture. The near-infrared camera 1, the near-infrared camera 3, the visualization camera 2, the visualization camera 4, and the projector 5 are respectively connected to the graphics workstation 6 through cables.
[0030] This embodiment also provides a navigation method for a marker-free optical surgical navigation system, which includes the following steps:
[0031] 1) Take three-dimensional medical images of the patient's surgical site before surgery, and extract the three-dimensional point cloud on the surface of the surgical site in the image coordinate system;
[0032] 2) Through the structured light three-dimensional scanning system, the three-dimensional point cloud of the surface of the patient's surgical site in the structured light coordinate system is obtained in real time, and converted to the global coordinate system, and the image coordinate system and the global coordinate system conversion relationship is obtained by registration;
[0033] 3) Track the posture of the surgical tool under the positioning system through the optical positioning system, and convert it to the global coordinate system;
[0034] 4) Calculate the posture of the surgical tool in the image coordinate system through the conversion relationship in step 2), and display the three-dimensional medical image of the patient's surgical site and the surgical tool on the display device in real time.
[0035] To sum up, the marker-free optical surgical navigation system of the present invention continuously obtains the surface information of the patient's surgical area through structured light three-dimensional scanning, thereby obtaining the three-dimensional coordinates of the patient's surface, and obtains the three-dimensional coordinates of the patient's real-time surface and the preoperative three-dimensional medical image registration. The coordinate conversion relationship is used to track the position of the surgical instrument in real time through the near-infrared optical positioning system, and finally the three-dimensional medical image of the patient's surgical site and the surgical tool are displayed in real time on the display device. The invention realizes optical surgical navigation without marking points for patients, and does not require doctors to manually register marking points, reduces the operation process and operation time, solves the problem of marking points falling, and is convenient for use in occasions where it is inconvenient for marking points to be pasted on certain surgical sites , It is worth promoting.
[0036] The above-mentioned embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of implementation of the present invention. Therefore, all changes made in accordance with the shape and principle of the present invention should be covered by the protection scope of the present invention.
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Description & Claims & Application Information

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