Marker-free optical surgical navigation system and navigation method thereof

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.

Description

technical field [0001] The invention relates to the field of computer-aided surgical navigation, in particular to a marker-free optical surgical navigation system and a navigation method thereof. Background technique [0002] Surgical navigation system is an important development direction for precise and minimally invasive surgical treatment, and optical surgical navigation technology is the most widely used surgical navigation technology. Paste markers are widely used because they are less traumatic than mechanical fixation devices, easier to operate, and more accurate than anatomical markers. Optical navigation tracks the markers on the patient's body and surgical tools for tracking and positioning. Determine the location of markers and lesions on the preoperative 3D medical image; Intraoperative optical surgical navigation uses the positioning system to track the markers on the patient's body to obtain the patient's pose in real time, and register with the preoperative 3...

AI 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] At the same time, the existing surgical navigation still has the following deficiencies: first, it will fall during the navigation process and needs to be re-registered; second, the light of the marker point will be blocked if it is blocked; in addition, it is inconvenient to paste the marker point on some surgical sites

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