Augmented reality surgical navigation device and method for flexible instrument
An augmented reality and surgical navigation technology, applied in surgical navigation system, surgery, surgical system user interface, etc., can solve the problems that it is difficult for doctors to directly observe the shape of flexible instruments, increase the difficulty of surgical operation, and cannot accurately locate flexible instruments.
Active Publication Date: 2021-09-07
TSINGHUA UNIV
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Problems solved by technology
The method based on visual images is easy to use, but it cannot deal with obstacles. As for medical images, it is difficult to obtain three-dimensional information. The current conventional intraoperative ultrasound positioning or intraoperative X-ray fluoroscopy positioning requires high operating skills of doctors, which greatly increases the The operation is difficult, and X-ray fluoroscopy imaging has a large amount of radiation to doctors and patients; electromagnetic sensors are easily interfered by surrounding ferromagnetic materials, and electromagnetic compatible surgical instruments and related accessories are required. The working environment is harsh and the cost is high.
Limited by the narrow working environment in the body, the existing methods for obtaining shape information of flexible devices make it difficult for doctors to directly observe the shape of flexible devices in the body and accurately locate flexible devices
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[0032] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0033] Limited by the narrow working environment in the body, it is difficult for doctors to directly observe the shape of the flexible device in the body, and cannot accurately locate the flexible device. In addition, the navigation screen of the existing surgical navigation system is usually far away from the surgical area. The operator operates surgical instruments according to the display...
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The invention provides an augmented reality surgical navigation device and method for a flexible instrument. The device comprises a flexible instrument shape sensing module and an augmented reality module, wherein the flexible instrument shape sensing module comprises a grating sensor array and an optical fiber sensing demodulator and is used for detecting the shape of the flexible instrument and sending three-dimensional shape information obtained through detection to the augmented reality module; the augmented reality module comprises a binocular camera and a three-dimensional display screen, and is used for obtaining the spatial position of the flexible instrument through the binocular camera, generating a three-dimensional image corresponding to the flexible instrument according to the three-dimensional shape information and the spatial position, and displaying the three-dimensional image on the three-dimensional display screen; and the grating sensor array is composed of four optical fibers and is arranged inside or on the surface of the flexible instrument in a spiral surrounding mode. The position and shape of the flexible instrument in the body can be accurately positioned.
Description
technical field [0001] The invention relates to the technical field of medical instruments, in particular to an augmented reality surgical navigation device and method for flexible instruments. Background technique [0002] During minimally invasive surgery, the spatial information of medical devices in the patient's body plays a vital role in the accurate operation of medical devices. However, many medical devices will inevitably change in shape after entering the body, making it difficult to locate them in space. Factors such as convenience require flexible devices that actively change shape, such as endoscopes and soft robots. [0003] Current technologies for obtaining shape information of flexible devices mainly include: visual images, medical images, or electromagnetic tracking. The method based on visual images is easy to use, but it cannot deal with obstacles. As for medical images, it is difficult to obtain three-dimensional information. The current conventional i...
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IPC IPC(8): A61B34/20
CPCA61B34/20A61B34/25A61B2034/2061
Inventor 马龙飞廖洪恩张欣然
Owner TSINGHUA UNIV