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Surgery and image integrated surgical planning and navigation method

A technology of surgical operation and navigation method, which is applied in the field of surgical planning and navigation integrating surgical images, and can solve the problem of limited field of view of optical trackers

Active Publication Date: 2022-01-18
NANKAI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But actual optical trackers have a limited field of view

Method used

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  • Surgery and image integrated surgical planning and navigation method
  • Surgery and image integrated surgical planning and navigation method
  • Surgery and image integrated surgical planning and navigation method

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Embodiment Construction

[0065] The technical solutions in the embodiments of the present invention will be clearly and completely described below, obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0066] 【Explanation of terms】

[0067] Integrated surgery image: describe the integrated spatial relationship of the environment of the surgical operating room, surgical operation, navigation arm, and human-computer interaction equipment. Orientation registration and planning path transfer from "preoperative-intraoperative" medical images and surgical operations.

[0068] 【Purpose of the invention】

[0069] (1) Provide a surgical planning and navigation system that integrates surgical images. The operating room and ...

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Abstract

The invention discloses a surgery and image integrated surgical planning and navigation method, which comprises the following steps of step 1, collecting a patient preoperative CT image with a positioning mark; step 2, establishing a surgery and image integrated joint coordinate system according to a three-dimensional optical tracker coordinate determined by an environmental motion capture system, and a medical instrument and surgical area coordinate positioned by a three-dimensional optical tracker, and carrying out registration on the surgery and image integrated joint coordinate system and the patient preoperative CT image with the positioning mark, wherein the surgery coordinate system is an operating room coordinate system, and the image coordinate system is a virtual image coordinate system; step 3, converting a surgery path under a virtual image coordinate system planned before surgery into the operating room coordinate system to realize intraoperative active navigation of a mechanical arm and a surgical instrument; and step 4, projecting a planned section to the surgical area, carrying out dynamic following, and performing an auxiliary surgical operation by combining with a force feedback device. The surgery and image integrated surgical planning and navigation method provided by the invention belongs to a marked registration method, and can be used for carrying out integrated spatial relation description on the environment of a surgical operating room, the surgical operation, a navigation arm and human-computer interaction equipment, pre-operative medical images and surgical operation orientation registration and planning path transmission are used, and therefore, accurate active navigation in the surgery is realized.

Description

technical field [0001] The invention relates to the field of surgical robots, in particular to a surgical planning and navigation method integrating surgical images. Background technique [0002] With the development of new materials and new technologies, robots are gradually applied in various fields, and many factories have robotic arms. Robotic arms can perform a large number of repetitive, high-precision operations. In surgical operations in the medical field, many key operations are extremely important, requiring doctors to be highly concentrated during the operation, which leads to fatigue. Handing over high-precision surgical operations to robotic arms can greatly reduce the burden on doctors and improve the success rate of surgery. [0003] A surgical robot is a robot that assists a doctor or completes surgery under the guidance of a doctor, and usually consists of a navigation module and a surgical operation module. The navigation module guides the surgical ope...

Claims

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Application Information

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IPC IPC(8): A61B34/20A61B34/30A61B34/10A61B90/00
CPCA61B34/20A61B34/30A61B34/70A61B34/76A61B34/10A61B90/37A61B2034/2055A61B2034/2068A61B2034/2065A61B2034/108A61B2034/107A61B2090/3762
Inventor 秦岩丁王鸿鹏韩建达马铭谦蒙一扬游煜根耿鹏秀
Owner NANKAI UNIV
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