Beam assisted positioning method for craniotomy and positioning system of beam assisted positioning method for craniotomy

An auxiliary positioning and beam technology, applied in the field of neurosurgery, can solve problems such as prolonging the preoperative preparation time, increasing the workload of doctors, and difficulty in surgical positioning, so as to alleviate the fatigue of medical staff, improve safety and rationality, reduce The effect of preoperative preparation time

Active Publication Date: 2020-10-02
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There are problems such as drifting of preoperative positioning marks in craniotomy. This operation requires doctors to have high operating skills, and the surgical positioning is difficult.
Before the craniotomy, medical personnel determine the surgical path of scalp incision and skull fenestration according to the lesion. However, traditional surgery cannot accurately present the path of skull fenestration, so that medical personnel can only perform fenestration based on experience, which is prone to exist. Deviation, which may result in misalignment of the fenestration, requiring further cranial fenestration and edge grinding
[0003] The published patent CN109620405A proposes a mobile augmented reality navigation method for body surface incision in craniotomy. The steps of this method are relatively complicated, and identification images need to be printed, and identification heads need to be pasted on the patient's scalp, and the positioning accuracy is not high.
The published patent CN109493943A proposes a three-dimensional visual craniotomy positioning method combined with optical surgical navigation. lead time

Method used

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  • Beam assisted positioning method for craniotomy and positioning system of beam assisted positioning method for craniotomy

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Embodiment 1

[0031] Such as figure 1 As shown, a beam-assisted positioning system includes a preoperative planning system, a beam positioning device, and a binocular vision camera with a three-dimensional coordinate system registration function; wherein, the preoperative planning system includes a processor and a display connected to the processor; The beam positioning device includes a six-degree-of-freedom robotic arm set on the trolley, a beam emitter set at the end of the six-degree-of-freedom robotic arm, and a robotic arm controller that controls the movement of the six-degree-of-freedom robotic arm; the binocular vision camera is set on the camera On the bracket; the binocular vision camera and the controller of the robotic arm are respectively connected to the processor through wired or wireless means.

Embodiment 2

[0033] A beam-assisted positioning method for craniotomy based on the beam-assisted positioning system of embodiment 1, the specific steps are as follows:

[0034] S1, such as figure 2 As shown in Fig. 1, the patient's skull CT image is collected, and the CT slice data is used to perform multi-surface reconstruction in the image coordinate system, and the following is obtained: Figure 3(a) ~ Figure 3(d) Transverse, sagittal, coronal, and three-dimensional views of the patient's skull face and scalp shown;

[0035] In this step S1, the image processing is realized based on the development tool VTK, and the specific steps are:

[0036] S101. Using the ITK function library to read the loaded CT slice data; utilizing the different densities of muscles, bones and skin and thus having different pixel gray values ​​in the CT image, the gray value in the CT slice data is calculated Threshold segmentation is to classify by setting a reasonable threshold range. Specifically, the dat...

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Abstract

The present invention discloses a beam assisted positioning method for craniotomy and a positioning system of the beam assisted positioning method for craniotomy. The system comprises a preoperative planning system, a beam positioning device and a binocular vision camera with a three-dimensional coordinate system registration function; and the positioning method comprises: 1) based on CT images, conducting three-dimensional view reconstruction of skull surface and scalp of patients; 2) marking a head patch of the patients in three-dimensional views and planning a skull windowing path and a scalp incision path; 3) using the binocular vision camera to detect heads the patients the patch at a beam emitting device to obtain a transformation relationship between a three-dimensional view coordinate system and a beam coordinate system through spatial registration, so as to accurately drive beam emitted by the beam emitting device to be consistent with the planned surgical path; and 4) finallyusing a beam movement method to confirm the scalp incision path and skull windowing path by doctors. The positioning method and system avoid excessive dependence on human experience, reduce preoperative preparation time, relieve medical staff fatigue, and improve safety and rationality of the craniotomy.

Description

technical field [0001] The invention relates to the field of neurosurgery, in particular to a beam-assisted positioning method and a positioning system for craniotomy. Background technique [0002] Craniotomy, also known as craniotomy, is a type of cranial surgery, which refers to the use of mechanical equipment to open the patient's skull to perform some unconventional treatments. There are problems such as drifting of preoperative positioning marks in craniotomy. This operation requires doctors to have high operating skills, and the surgical positioning is difficult. Before the craniotomy, medical personnel determine the surgical path of scalp incision and skull fenestration according to the lesion. However, traditional surgery cannot accurately present the path of skull fenestration, so that medical personnel can only perform fenestration based on experience, which is prone to exist. Deviation, which may result in misalignment of the fenestration, necessitates further cr...

Claims

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Application Information

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IPC IPC(8): A61B34/20A61B90/13A61B90/00
CPCA61B34/20A61B90/13A61B90/37A61B90/39A61B2034/2065A61B2034/2055A61B2090/3983A61B2090/3937A61B2090/3904
Inventor 刘振忠张昊孙启源
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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