Flexible positioning device for navigation for robot surgery under X-ray and navigation method for robot surgery under X-ray

A robotic surgery and flexible positioning technology, applied in surgical navigation systems, surgical robots, surgery, etc., can solve the problems of inability to update large areas, lack of flexibility in rigid connections, and inability to consider the impact of surgery, reducing the number of X-ray exposures , the effect of reducing workload and reducing injuries

Pending Publication Date: 2018-12-28
SHANGHAI INNOMOTION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] 2) It is a positioning point to find through the positioning mark, and it is impossible to update the overall position of the large area;
[0006] 3) There is a lack of flexibility in the rigid connection, and it is impossible to consider the impact on the operation when the deformation of the lesion exceeds a certain amount during the operation

Method used

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  • Flexible positioning device for navigation for robot surgery under X-ray and navigation method for robot surgery under X-ray
  • Flexible positioning device for navigation for robot surgery under X-ray and navigation method for robot surgery under X-ray
  • Flexible positioning device for navigation for robot surgery under X-ray and navigation method for robot surgery under X-ray

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] The flexible non-invasive positioning device provided in this example includes a flexible sheet 1 and several metal markers 2 that are developed under X-rays and recognized by infrared equipment, wherein the flexible sheet 1 is provided with a positioning window 11, and several metal markers 2 are positioned around The windows 11 are asymmetrically and evenly distributed on the flexible sheet 1. When the flexible sheet 1 is fixed on the patient's body surface around the patient's surgical site through the positioning window 11, the spatial positions of several metal markers 2 reflect the space of the surgical site. Location.

[0039] This example does not specifically limit the shape of the flexible sheet 1, that is, the shape of the flexible sheet 1 can be any regular or irregular shape, and because the structures of various parts of the human body are different, correspondingly, the size and shape of the positioning window 11 are not limited. Specifically defined, the...

Embodiment 2

[0050] Based on Example 1, this example provides another metal marker 2 with a structure, such as Figure 4 As shown, the metal marker 2 of this example is a spherical metal reflective ball, in order to match the spherical metal reflective ball pasted on the flexible sheet 1, this example also includes a support 3, the support 3 of this example can be It is made of plastic, or it can be made of metal that can be developed under X-rays. The metal reflective ball metal marker 2 is fixed on the top of the support 3 , and the bottom of the support 3 is pasted on the flexible sheet 1 .

[0051] In this example, the installation method of the metal reflective ball and the supporting part 3 is as follows: the metal reflective ball is provided with a threaded hole, the supporting part of the supporting part 3 is conical, and the supporting part 3 is provided with a threaded hole at the tip of the supporting part. The matching screw, the metal reflective ball is screwed to the screw of...

Embodiment 3

[0055] Based on Embodiment 1 and Embodiment 2, this example provides a navigation method suitable for robot surgery under X-ray, which is specifically implemented through the following steps.

[0056] S1: Fix the flexible positioning device of Embodiment 1 or Embodiment 2 on the patient's body surface around the patient's surgical site through the positioning window.

[0057] S2: The flexible positioning device is photographed at the same time by X-ray equipment and infrared equipment to obtain plane X-ray images and infrared images.

[0058] S3: Transform the coordinates of the metal markers in the planar X-ray image and the infrared image into the local coordinate system of the flexible positioning device, and establish the coordinates of the metal marker in the planar X-ray image and the infrared image in the local coordinate system The relative relationship of the coordinates of the metal markers.

[0059] Since the flexible positioning device itself has a coordinate syst...

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Abstract

A flexible positioning device for navigation for robot surgery under X-ray and a navigation method for robot surgery under X-ray are provided. The flexible positioning device comprises a flexible sheet and a plurality of metal markers developed in X-ray and recognized by an infrared device; the flexible sheet is provided with a positioning window that is regular or irregular; the metal markers arearranged around the positioning window and distributed asymmetrically and evenly on the flexible sheet; after the flexible sheet is wound around a surgical part of a patient via the positioning window and fixed to the surface of the patient, the spatial positions of the metal markers reflect the spatial position of the surgical part. Compared with existing planar X-ray image repeated transillumination, the flexible positioning device and the navigation method have the advantages that a relation is constructed between primary X-ray and infrared after simultaneous photographing, the infrared device then reads, in real time, spatial position data of the metal markers, the dynamic changes in the spatial position data are reflected to planar X-ray images so as to acquire spatial posture changes of the surgical part of the patient, and the position of a surgical instrument or surgical manipulator with infrared positioning is further reflected to X-ray film for the purpose of navigation.

Description

technical field [0001] The invention relates to the technical field of robot surgical navigation in an X-ray transmission environment, in particular to a flexible positioning device and a navigation method suitable for robot surgical navigation under X-ray. Background technique [0002] When the robot performs surgery in the environment of X-ray transmission, it is necessary to perform surgical navigation and positioning on the surgical robot, but the captured X-ray images are planar images, and in reality, the patient's diseased parts, such as joints, are prone to displacement, angle, etc. The state changes, and the spatial changes of the lesion cannot be reflected in the X-ray image. In order to accurately locate these lesion, the existing spatial positioning method is: make an incision on the lesion, and in order to expose the target site, the positioning mark is clamped by the clamp , nailing or other methods are rigidly fixed at the incision, and the location of the les...

Claims

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Application Information

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IPC IPC(8): A61B34/20A61B34/30
CPCA61B34/20A61B34/30A61B2034/2068A61B2034/207
Inventor 王少白候尧张元智兰天
Owner SHANGHAI INNOMOTION
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