Dynamic registration and positioning device and method

Abstract

Embodiments of the invention provide a dynamic registration and positioning device and method. The device includes an optical positioning and tracking system, a clamping tool, a somatosensory camera and a processing device; the optical positioning and tracking system includes an infrared tracking camera and a tracker positioning tool, the tracker positioning tool is arranged on the tail end of theclamping tool, the somatosensory camera is arranged on the front end of the clamping tool, and the clamping tool is fixed on the tail end of a mechanical arm; and when the mechanical arm moves according to a planned path, the position information of the tracker positioning tool is collected in real time through the infrared tracking camera, the body surface data of the lungs of patients at each respiratory time phase are collected through the somatosensory camera, and the processing device obtains the body surface position information shot by the somatosensory camera according to the collected position information and the position transformational relation of the tracker positioning tool and the somatosensory camera, carries out the registration on the body surface data of the lungs of the patients at each respiratory time phase and the body surface position information with pre-operation CT data of the patients so as to obtain the registration parameters of each time phase at breathing phases of the patients. Therefore, non-invasive and non-radiation registration and positioning during operations can be realized.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of medical equipment, in particular to a dynamic registration and positioning device and method. Background technique [0002] Under environmental conditions where external objects are visible, it is still difficult to determine the position of non-visible points or objects inside the external endosome. In the case of external objects that cannot be broken, although external objects can be detected by scanning and other methods However, the positioning of internal non-visual target objects still cannot be carried out conveniently and quickly with a certain degree of precision and accuracy. [0003] For example, in traditional pulmonary nodule surgery, lung localization is usually achieved using preoperative localization methods and intraoperative localization methods. Among them, the preoperative positioning methods mainly include percutaneous injection of dyes, contrast agents or radi...

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Problems solved by technology

[0004] However, the traditional preoperative positioning method usually requires the implantation of invasive positioning materials on the patient, and the operation must be performed immediately, otherwise the p...

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