A Surgical Instrument Navigation System Based on Multi-camera Coordinate Fusion

Abstract

The invention provides a surgical instrument navigation system based on multi-view camera coordinate fusion. The system comprises a camera module, a decision module, a calculation module, a position determining module and a display module, wherein the camera module obtains position information of a surgical instrument and patient during operation, and a dynamic benchmark, the surgical instrument and the patient are provided with positioning devices respectively; the decision module performs decision according to an image obtained by a camera; the calculation module obtains the world coordinates of the dynamic benchmark and surgical instrument which are bonded with the positioning devices and the position coordinate of the patient bonded with the positioning device through calculation afterthe decision module judges that camera information is valid; the position determining module correspondingly determines three-dimensional positions after obtaining the world coordinates; the displaymodule displays the positions of the corresponding patient and surgical instrument in real time. The surgical instrument navigation system based on the multi-view camera coordinate fusion has the advantages that the positions of the surgical instrument and patient during the operation can be accurately determined, the navigation is accurate, and the good effect of the operation is achieved.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a surgical instrument navigation system based on multi-eye camera coordinate fusion. Background technique [0002] The tracking method commonly used in surgical navigation is optical tracking, but this tracking method requires a direct line of sight between the camera and the tracking target, that is, there should be no occlusion between the camera and the target. However, considering the specific operating environment and the limited scope of the operating room, there is inevitably a certain degree of occlusion due to the doctor's activity or the change of the patient's position and posture. In this case, the tracking of the target will be lost, or the accuracy will be reduced, which will affect the effect of the operation. [0003] In response to the above problems, it has been proposed to build a multi-eye optical system or an ultrasonic system for target tracking...

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Problems solved by technology

[0005] Therefore, an object of the present invention is to propose a surgical instrument navigation system based on multi-eye camera coordinate fusion, which can solve the problem that the optical tracking system loses the locator in the field of view, and the multi-view angle ensures that the intraoperative locator does not Loss, so as to accurately determine the position of surgical instruments and patients, improve the accuracy of surgery, and ensure the success rate of surgery

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