surgical navigation system

Abstract

The present invention discloses a surgical navigation system, comprising: a magnetic field generator for generating an electromagnetic field; a first electromagnetic positioning component fixed on a target object, the first electromagnetic positioning component for generating a first induced current under the electromagnetic field; a second electromagnetic positioning component fixed on a surgical instrument, the second electromagnetic positioning component for generating a second induced current under the electromagnetic field; a controller for acquiring the first induced current and the second induced current, and determining a first posture of the target object and a second posture of the surgical instrument according to the first induced current and the second induced current, respectively; the controller is further used to determine a conversion relationship between an image coordinate system of the three-dimensional medical image and a magnetic field coordinate system of the electromagnetic field according to a three-dimensional medical image of the target object, a first two-dimensional medical image containing the target object and the surgical instrument, the first posture and the second posture, and to guide the operation of the surgical instrument to achieve navigation.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical navigation, and in particular to a surgical navigation system. Background Art

[0002] Surgical procedures have made tremendous progress in recent years, but the difficulty and risk of operative procedures involving complex anatomical structures remain high. For example, spinal surgery, with its complex anatomy and proximity to vital blood vessels and nerves, requires precise placement of pedicle screws, a prerequisite for achieving optimal correction. However, this process can easily damage the large blood vessels and nerves surrounding the vertebral body, making precise screw placement a critical and technically challenging procedure.

[0003] Surgical guidance systems can help medical personnel locate lesions, reducing surgical difficulty and risk, and are increasingly used in surgical procedures. However, the accuracy of traditional surgical guidance systems needs to be improved, and they require real-time medical imaging to determine the patient's lesion location and the position of surgical instruments, which increases the patient's radiation dose. Summary of the Invention

[0004] The present invention provides a surgical navigation system to address the deficiencies in the related art.

[0005] Specifically, the present invention is achieved through the following technical solutions:

[0006] In a first aspect, a surgical navigation system is provided, comprising:

[0007] A magnetic field generator for generating an electromagnetic field;

[0008] a first electromagnetic positioning component, fixed on the target object, and configured to generate a first induced current under the electromagnetic field;

[0009] a second electromagnetic positioning assembly fixed to the surgical instrument, the second electromagnetic positioning assembly being configured to generate a second induced current under the electromagnetic field; wherein the surgical instrument is configured to perform a surgical operation on the target object;

[0010] a controller, configured to obtain the first induced current and the second induced current, and determine a first posture of the target object and a second posture of the surgical instrument according to the first induced current and the second induced current, respectively;

[0011] The controller is further used to determine the conversion relationship between the image coordinate system of the three-dimensional medical image and the magnetic field coordinate system of the electromagnetic field based on the three-dimensional medical image of the target object, the first two-dimensional medical image containing the target object and the surgical instrument, the first posture and the second posture, and guide the operation of the surgical instrument.

[0012] Optionally, the controller includes:

[0013] a calibration module, configured to determine a conversion relationship between the image coordinate system and the magnetic field coordinate system;

[0014] The conversion module is used to convert the real-time posture of the first electromagnetic positioning component and the real-time posture of the second electromagnetic positioning component into spatial coordinates in the image coordinate system according to the conversion relationship to guide the operation of the surgical instrument.

[0015] Optionally, the first electromagnetic positioning component includes:

[0016] a fixing needle, the needle head of the fixing needle being used for implantation into the target object;

[0017] The electromagnetic positioning coil is arranged inside the fixing needle, and is used to generate the first induced current under the electromagnetic field.

[0018] Optionally, the first electromagnetic positioning component further includes:

[0019] The identification unit is detachably fixed to the fixing needle, so that the controller determines the first posture according to the identification point on the identification unit.

[0020] Optionally, the identification unit includes:

[0021] A fixing seat, fixed on the fixing needle;

[0022] an identification frame, fixed on the fixing seat;

[0023] At least four marking balls are dispersedly arranged on the marking frame, and the marking balls serve as the marking points.

[0024] Optionally, the marking ball and / or the fixing needle are made of non-magnetic metal material.

[0025] Optionally, the second electromagnetic positioning component includes:

[0026] The electromagnetic positioning coil is used to generate the second induced current under the electromagnetic field.

[0027] Optionally, the surgical navigation system further comprises: a driver;

[0028] The controller is further configured to plan a movement path of the surgical instrument according to the current posture of the second electromagnetic positioning assembly and the spatial position;

[0029] The driver is used to drive the surgical instrument to move to the spatial position according to the movement path.

[0030] Optionally, the surgical navigation system further comprises: a display;

[0031] The controller is further configured to fuse the real-time posture of the first electromagnetic positioning component and the real-time posture of the second electromagnetic positioning component with the three-dimensional medical image according to the first conversion relationship and the second conversion relationship;

[0032] The display is used to display the fusion result.

[0033] Optionally, the surgical navigation system further comprises: a prompter;

[0034] The controller is further configured to send a shooting instruction to the shooting device when the surgical instrument completes the surgical operation, so as to trigger the shooting device to shoot the target object to obtain a second two-dimensional medical image;

[0035] The controller is further configured to determine a positional deviation between the position of the surgical operation and the target position in the second two-dimensional medical image, and generate a prompt message if the positional deviation is greater than a deviation threshold;

[0036] The prompter is used to prompt the prompt information.

[0037] The technical solutions provided by the embodiments of the present invention may have the following beneficial effects:

[0038] In this embodiment of the present invention, electromagnetic navigation and tracking technology is used to track the spatial position of the patient's lesion and the surgical instruments in real time for surgical navigation. This highly accurate technology avoids damage to surrounding structures of the vertebral body and vital organs and blood vessels during screw placement, thus preventing surgical complications. Furthermore, there is no need to capture the lesion or surgical instruments in real time during surgery, reducing the radiation dose to the patient from medical imaging.

[0039] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0041] Figure 1 is a structural diagram of a surgical navigation system according to an exemplary embodiment of the present invention;

[0042] Figure 2a is a schematic structural diagram of a fixing pin of a first electromagnetic positioning assembly according to an exemplary embodiment of the present invention;

[0043] Figure 2b is a structural schematic diagram of an identification unit of a first electromagnetic positioning assembly shown in an exemplary embodiment of the present invention;

[0044] Figure 2c This is a structural diagram of a first electromagnetic positioning component shown in an exemplary embodiment of the present invention.

[0045] Figure 3 is a structural schematic diagram of a surgical device according to an exemplary embodiment of the present invention;

[0046] Figure 4 is a flow chart of a surgical navigation method according to an exemplary embodiment of the present invention;

[0047] Figure 5 It is a structural diagram of another surgical navigation system shown in an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0048] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0049] The terms used in this invention are for the purpose of describing specific embodiments only and are not intended to limit the invention. The singular forms "a," "the," and "the" used in this invention and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0050] It should be understood that although the terms "first," "second," "third," etc. may be used in the present invention to describe various information, such information should not be limited to these terms. These terms are merely used to distinguish information of the same type from one another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. Depending on the context, the term "if" as used herein may be interpreted as "when," "when," or "in response to determining."

[0051] Figure 1Figure 1 is a schematic diagram illustrating the structure of a surgical navigation system according to an exemplary embodiment of the present invention. The surgical navigation system includes a first electromagnetic positioning assembly 1, a second electromagnetic positioning assembly 2, a controller 3, and a magnetic field generator 4. The controller is connected to the first electromagnetic positioning assembly 1, the second electromagnetic positioning assembly 2, and the magnetic field generator 4, respectively.

[0052] Under the control of controller 3, magnetic field generator 4 can be activated to generate a variable electromagnetic field, causing first electromagnetic positioning assembly 1 and second electromagnetic positioning assembly 2 within the electromagnetic field to generate induced current / voltage. The characteristics of the induced current / voltage depend on the combination of the position and orientation of the magnetic locator and the strength and phase of the varying magnetic field. Controller 3 can obtain the induced current / voltage of first electromagnetic positioning assembly 1 and second electromagnetic positioning assembly 2, respectively, convert the induced current / voltage into digital form, and transmit it to an external controller to calculate the position and posture of the first and second electromagnetic positioning assemblies. Alternatively, the controller can independently calculate the position and posture of the first and second electromagnetic positioning assemblies based on the induced current / voltage, thereby tracking the position and posture of the first and second electromagnetic positioning assemblies in the magnetic field coordinate system in real time. This position is the position of the locator coordinate system relative to the magnetic field coordinate system. The position and posture parameters include position and attitude parameters. The position and posture can be expressed using six degrees of freedom. The position parameters in the six degrees of freedom refer to the spatial coordinates (x, y, z), and the attitude parameters refer to the horizontal angle, pitch angle, and roll angle.

[0053] The first electromagnetic positioning component includes a fixing pin and a marking unit. Figure 2a This is a schematic structural diagram of a fixing needle of a first electromagnetic positioning component shown in an exemplary embodiment of the present invention. The fixing needle includes a needle head 111, a needle tail 112 and a needle body 113. The needle head 111 and the needle tail 112 are respectively located at the two ends of the needle body 113, and the fixing needle can be formed in one piece. The needle head 111 of the fixing needle can be implanted into the target object, and the needle tail 112 is used to fix the identification unit. An electromagnetic positioning coil is provided on the inside or outside surface of the needle body 113. If the electromagnetic positioning coil is provided on the inner and outer surfaces of the needle body 113, a number of grooves can be provided on the outer surface of the needle body, and the electromagnetic positioning coil is wound in the grooves to prevent the electromagnetic positioning coil from falling off. The material of the fixing needle is a non-magnetic metal material, such as stainless steel, titanium alloy, etc.

[0054] The target object may be, for example, a tissue or organ (lesion site) of a patient requiring surgery, such as the patient's head or cervical spine.

[0055] See also Figure 2b FIG1 is a structural diagram of an identification unit of a first electromagnetic positioning assembly according to an exemplary embodiment of the present invention. The identification unit includes a fixing base 121, an identification frame 122 and an identification ball 123. Figure 2cThe identification unit can be detachably fixed to the needle tail of the fixed needle through the fixing seat. The identification ball 123 is provided on the identification frame 122, and the number of the identification balls 123 is at least 4, and the at least 4 identification balls 123 can be dispersedly arranged on the identification frame. The diameter of the identification ball 123 is 2mm to 8mm, and the diameters of the at least 4 identification balls can be the same or different. The material of the identification ball is a non-magnetic metal material, such as aluminum alloy or titanium alloy. The material of the identification frame can be, but is not limited to, sampling hard plastic, such as POM (polyoxymethylene), PEEK (polyetheretherketone), etc. The fixing seat 121, the identification frame 122 and the identification ball 123 can be integrally formed; or the fixing seat 121 and the identification frame 122 are integrally formed, and the identification ball 123 is detachably provided on the identification frame 122; or the identification ball 123 and the identification frame 122 are integrally formed; or the fixing seat 121, the identification frame 122 and the identification ball 123 are all detachably provided.

[0056] When the first electromagnetic positioning component is fixed to the patient's lesion site, the identification unit is located outside the body. The identification unit is provided with an identification ball for realizing coordinate system calibration. With the help of the identification unit, a large surgical incision on the human body can be avoided.

[0057] The second electromagnetic positioning component includes an electromagnetic positioning coil, which can be pre-buried inside the surgical instrument or coated on the surface of the surgical instrument to facilitate positioning and tracking. The surgical instrument is used to perform a surgical operation on a target object.

[0058] Surgical navigation also requires the help of surgical equipment. Figure 3This is a schematic diagram of a surgical device according to an exemplary embodiment of the present invention, comprising a robotic arm trolley 31 and a camera 32. The robotic arm trolley 31 is equipped with a surgical instrument 311 and a multi-axis robotic arm 312. The surgical instrument 311, driven by the multi-axis robotic arm 312, can perform surgical operations on a patient. The multi-axis robotic arm 312 can be raised and lowered, moved forward and backward, moved left and right, and rotated about a base. The camera 32 comprises a scanning bed 321, a gantry assembly 322, a support assembly 323, and a camera assembly 324. The support assembly 323 supports the scanning bed 321 and can be moved up and down, left and right, forward and backward, and rotated to adjust the position of the scanning bed 321. The gantry assembly 322 can also be moved up and down, left and right, forward and backward, and rotated to adjust the position of the camera assembly. This allows the camera assembly 324 to capture medical images of the patient 33 on the scanning bed 321 from any angle, meeting the needs of medical personnel for observing the patient's lesions and surgical instruments from different angles. The frame assembly 322 is not limited to the C-arm shown in the figure; an O-arm can also be used. The robotic arm trolley 31 and the imaging device 32 can establish a communication connection via wired or wireless means. Of course, the robotic arm trolley may also include a control system (not shown in the figure), and the imaging device may also include a control system to control the movement of their respective multi-axis robotic arms.

[0059] The following is an example of surgery on the diseased spine (target object), combined with Figure 1 、 Figure 2a to Figure 2c and Figure 3 The process of surgical navigation is explained in detail.

[0060] Before performing surgical navigation, the first electromagnetic positioning component needs to be fixed on the diseased spine, for example, the needle of the first electromagnetic positioning component is implanted into the spinous process of the diseased spine, and the identification unit is located outside the body to monitor the position and change state of the diseased spine during the operation; the second electromagnetic positioning component is fixed on the surgical instrument to monitor the position and change state of the surgical instrument during the operation.

[0061] Figure 4 FIG. 1 is a flowchart of a surgical navigation method according to an exemplary embodiment of the present invention, which is applied to a controller. The method may include the following steps:

[0062] Step 401: Acquire a two-dimensional medical image of a diseased spine captured by a photographing device.

[0063] Before imaging, the imaging device must be positioned so that the patient's affected spine is within the imaging device's field of view. The resulting two-dimensional medical image is a two-dimensional image acquired during surgery on the affected spine, and includes not only the affected spine but also the first electromagnetic positioning assembly affixed to the affected spine.

[0064] Currently, X-ray images (two-dimensional images) are generally obtained by using an X-ray machine during surgery for navigation.

[0065] The two-dimensional medical image obtained in step 401 is used to determine the conversion relationship between the electromagnetic field coordinate system and the device coordinate system of the imaging device, and to determine the conversion relationship between the image coordinate system and the device coordinate system of the three-dimensional medical image described below. Specifically, the two-dimensional medical image is used to calibrate the three coordinate systems. Accuracy in calibrating the three coordinate systems using a single two-dimensional medical image is difficult to guarantee. Therefore, at least two two-dimensional medical images obtained by capturing the target object at different shooting angles are obtained. Different shooting angles, i.e., different positions of the imaging device, allow the two-dimensional medical images captured at different shooting angles to mutually constrain each other during coordinate system calibration. This significantly improves accuracy compared to coordinate system calibration using only a single shooting angle.

[0066] It should be noted that different shooting angles can be achieved by adjusting the posture of the rack assembly.

[0067] Step 402: Acquire a three-dimensional medical image of the target object, and determine a first conversion relationship between an image coordinate system of the three-dimensional medical image and a magnetic field coordinate system of the electromagnetic field based on the position coordinates of the first electromagnetic positioning component in the two-dimensional medical image, the first position of the first electromagnetic positioning component when the two-dimensional medical image was captured, and the three-dimensional medical image.

[0068] Before surgery, medical personnel typically need to capture medical images of the target patient to make a preliminary diagnosis and develop a surgical plan. To facilitate preoperative diagnosis and planning, medical images with high spatial resolution, such as CT images, PET images, and MRI (magnetic resonance imaging), are typically acquired. In this embodiment, coordinate calibration and surgical navigation can be performed using preoperatively acquired 3D medical images.

[0069] When determining the first transformation relationship, the second transformation relationship between the device coordinate system of the shooting device and the magnetic field coordinate system can be determined first based on the position coordinates and the first posture, and image registration can be performed on the three-dimensional medical image and the two-dimensional medical image. The third transformation relationship between the image coordinate system and the device coordinate system is determined based on the result of the image registration, and then the first transformation relationship is determined based on the second transformation relationship and the third transformation relationship.

[0070] The first posture of the first electromagnetic positioning component can be determined based on the induced current or induced voltage generated by the first electromagnetic positioning component under the electromagnetic field. The first posture represents the posture of the diseased spine when taking a two-dimensional medical image.

[0071] During surgical navigation, the controller turns on the magnetic field generator, which generates an electromagnetic field. When the first electromagnetic positioning component is in an electromagnetic field environment, its electromagnetic positioning coil will generate an induced current or an induced voltage. The intensity of the induced current or the induced voltage can reflect the relative position change and relative posture change between the magnetic field generator and the first electromagnetic positioning component. Based on the induced current or the induced voltage, the position and posture of the first electromagnetic component in the magnetic field coordinate system can be monitored in real time, that is, the transformation relationship T1 between the coordinate system of the first electromagnetic component and the magnetic field coordinate system.

[0072] Since the fixing needle of the first electromagnetic positioning component is implanted in the spine, it is impossible to set the identification ball, so it is realized with the help of the identification ball on the identification unit. When the fixing needle and the identification unit are detachable, the fixing needle corresponds to a coordinate system, and the identification unit corresponds to a coordinate system. During the operation, the fixing needle is always implanted in the spine to track the posture of the spine. The identification unit can be disassembled, so the coordinate system of the fixing needle can be used as the coordinate system of the first electromagnetic positioning component. The coordinate system of the identification unit and the mutual coordinate system of the fixing needle can be calibrated in advance and can be directly retrieved and used during the operation, so as to know the position coordinates of the identification ball in the coordinate system of the identification unit (which can be determined by measurement), and then know the spatial position of the identification ball in the coordinate system of the fixing needle, which is recorded as Ball(x,y,z). According to the formula Ball 磁场 (x,y,z)=T1*Ball(x,y,z) can calculate the spatial coordinates of the marker ball in the magnetic field coordinate system. 磁场 (x,y,z).

[0073] When determining the second transformation relationship T2 between the device coordinate system and the magnetic field coordinate system, the second position of the first electromagnetic positioning assembly in the device coordinate system can be determined based on the position coordinates of the first electromagnetic positioning assembly in the two-dimensional medical image and the projection transformation matrix of the imaging device. The second transformation relationship T2 can then be determined based on the second position and the first position. The projection transformation matrix can be obtained through preoperative calibration.

[0074] The position coordinates of the first electromagnetic positioning component can be represented by the coordinates of the marker ball. Based on the image recognition algorithm, the area where the marker ball is located in the two-dimensional medical image is identified, and the two-dimensional coordinates B(x, y) of the center of each marker ball in the two-dimensional medical image are calculated. Based on the two-dimensional coordinates B(x, y), the projection transformation matrix A and the formula B(x, y) = A*Ball 设备 (x, y, z) can determine the second posture of the first electromagnetic positioning component in the device coordinate system Ball 设备 (x,y,z), and then according to the second posture Ball 设备 (x,y,z), spatial coordinates Ball 磁场 (x,y,z) and the formula Ball 设备(x,y,z)=T2*Ball 磁场 (x, y, z) can determine the second conversion relationship T2 between the device coordinate system of the shooting device and the magnetic field coordinate system of the electromagnetic field.

[0075] The location and size of the lesion reflected in the 2D medical image are related to the position of the imaging device. Determining the spatial correspondence between the 3D medical image and the 2D medical image is equivalent to determining the correspondence between the imaging device's position and the 3D medical image, and thus determining the third transformation relationship T3 between the image coordinate system of the 3D medical image and the device coordinate system. If a 2D tomographic image was acquired preoperatively, a 3D medical image must be reconstructed from it.

[0076] In one embodiment, performing image registration on a two-dimensional medical image and a three-dimensional medical image may include:

[0077] S1. Establish a two-dimensional simulated image corresponding to the three-dimensional medical image based on a digital image reconstruction algorithm (DRR).

[0078] In order to facilitate preoperative medical diagnosis, medical images with high spatial resolution are generally obtained before surgery, while only two-dimensional images, such as X-ray images, can be obtained during surgery. Therefore, when achieving image registration during surgery, it is necessary to reduce the three-dimensional medical image to two dimensions, that is, to establish a two-dimensional simulated image (DRR image) corresponding to the three-dimensional medical image based on the DRR algorithm.

[0079] S2. Perform image registration on the two-dimensional simulation image and the two-dimensional medical image.

[0080] During image registration, a custom registration space coordinate system can be created. For example, using the global coordinate system of the imaging device, one or more DRR images are reconstructed from the 3D medical image data within the global coordinate system of the imaging device. Each DRR image is then sequentially registered with the multiple 2D images obtained in step 401 to obtain information such as the patient's real-time position during surgery and the size transformation of the lesion in the image. Image registration algorithms can employ, but are not limited to, rigid body transformations, affine transformations, projective transformations, and elastic transformations.

[0081] In order to improve the accuracy of image registration and reduce the amount of calculation, in one embodiment, during the process of image registration of a two-dimensional medical image and a three-dimensional medical image, a first region where the target object (spine) is located in the two-dimensional medical image and a second region where the target object (spine) is located in the three-dimensional medical image can be first identified, and when performing image registration, only the first region and the second region are image registered.

[0082] After the second conversion relationship and the third conversion relationship are determined, the first conversion relationship T1 = T2 * T3 can be determined by, but is not limited to, the following formula.

[0083] Step 403: Convert the real-time posture of the first electromagnetic positioning component and the real-time posture of the second electromagnetic positioning component into spatial coordinates in the image coordinate system according to the first conversion relationship to guide the operation of the surgical instrument.

[0084] The second electromagnetic positioning component is fixed on the surgical instrument, and the second electromagnetic positioning component is located in the electromagnetic field generated by the magnetic field generator.

[0085] The real-time posture of the first electromagnetic positioning component and the real-time posture of the second electromagnetic positioning component are respectively determined according to the induced current or induced voltage generated by each in the electromagnetic field. By monitoring the real-time posture, the real-time positioning and tracking of the posture of the target object and the posture of the surgical instrument are achieved.

[0086] After the first conversion relationship is determined, the identification unit on the identification pin can be removed. According to the first conversion relationship determined above, the real-time position and posture of the first electromagnetic positioning component, the real-time position and posture of the second electromagnetic positioning component, and the three-dimensional medical image can be unified in the same coordinate system to achieve fusion of the three. For example, but not limited to, the following formula M can be used. 磁场 =T1*M ct , converting the real-time position of the first electromagnetic positioning component and the real-time position of the second electromagnetic positioning component into the spatial coordinates of the image coordinate system of the three-dimensional medical image. 磁场 Indicates the position of the first electromagnetic positioning component or the second electromagnetic positioning component, M ct Indicates that M 磁场 The spatial coordinates are converted to the image coordinate system. Thus, a dynamic image of the real-time positional relationship between the lesion and the surgical instrument in the 3D medical image can be obtained. The dynamic image displayed in real time on the screen can guide the medical staff in the operation of the surgical instrument and realize surgical navigation.

[0087] Before surgery, medical personnel can use preoperative 3D medical images to develop a surgical plan. For example, they can mark the pin placement position Mct' (target position) on the 3D medical image. Mct' represents the surgical path in the coordinate system of the 3D medical image, that is, the pin placement path, which can be a spatial line segment with a start point and an end point.

[0088] According to M' 磁场 = T1*Mct' to calculate the spatial position M' in the magnetic field coordinate system corresponding to the pin placement position marked on the three-dimensional medical image 磁场 This spatial position is also the location where the nail needs to be placed to guide the operation of the surgical instrument.

[0089] Figure 5 This is a structural diagram of another surgical navigation system shown in an exemplary embodiment of the present invention. The surgical navigation system also includes a display. The controller can also fuse the real-time posture of the first electromagnetic positioning component and the real-time posture of the second electromagnetic positioning component with the three-dimensional medical image according to the first conversion relationship and the second conversion relationship, and send the fusion result to the display for display. The real-time posture of the first electromagnetic positioning component represents the real-time posture of the diseased spine, and the real-time posture of the second electromagnetic positioning component represents the real-time posture of the surgical instrument. Data fusion is to fuse the real-time posture of the surgical instrument and the real-time posture of the shooting device with the three-dimensional medical image. Displaying the fusion result can obtain a dynamic image of the real-time position relationship between the diseased spine and the surgical instrument. Among them, the display can be an ordinary display screen or a mixed reality head-mounted display.

[0090] In this embodiment, electromagnetic navigation and tracking technology is used to track the spatial position of the vertebral body and the surgical instruments in real time, and the results are displayed. This tracking is highly accurate, with no image drift. The dynamic images displayed on the monitor allow medical personnel to perform simultaneous surgery while observing the monitor, achieving visual navigation during the procedure. This prevents damage to surrounding structures of the vertebral body and vital organs and blood vessels during the screw placement process, thus eliminating the possibility of surgical complications. Furthermore, there is no need to capture the lesion or surgical instruments in real time during the procedure, reducing the radiation dose to the patient from medical imaging.

[0091] In one embodiment, medical personnel can manually control the multi-axis robotic arm of the surgical instrument by observing the display, so that the surgical instrument can be driven by the multi-axis robotic arm to perform surgical operations on the patient, for example, implanting fixation screws into the spine to achieve good correction.

[0092] In another embodiment, the surgical navigation system further includes a driver that can realize automatic control of a multi-axis robotic arm. Specifically, medical personnel can select a pin placement position (surgical operation position) on a three-dimensional medical image displayed on a display. The controller can plan the movement path of the surgical instrument based on the pin placement position, the conversion relationship between various coordinate systems, the current position of the surgical instrument, and the position of the camera. The driver can drive the surgical instrument to move according to the movement path to the spatial position corresponding to the pin placement position, and then perform the surgical operation. Through path planning, the surgical instrument can operate along the shortest path, which can improve the safety and efficiency of surgical instrument positioning.

[0093] In another embodiment, ultrasonic sensors, infrared sensors, cameras, etc. can also be set on the robotic arm trolley to enable the robotic arm trolley to have an obstacle avoidance function, so as to avoid collision with surrounding objects or people during the movement of the surgical instrument.

[0094] In another embodiment, when the surgical instrument completes the surgical operation, the controller can trigger the camera to capture the target object to obtain a two-dimensional medical image. The two-dimensional medical image can reflect the specific location of the surgical operation, that is, the location of the screw placement. A three-dimensional simulated image corresponding to the two-dimensional medical image can be reconstructed based on the image registration results and displayed on a display. The display displaying the three-dimensional simulated image can share a display with the display relationship dynamic image, that is, the two three-dimensional simulated images are displayed on a single display. Of course, the two three-dimensional simulated images can also be displayed on different displays. Medical personnel can determine whether the specific location of the surgical operation is as expected based on the two three-dimensional medical images, for example, whether the fixing screw is in the correct position. If it is not as expected, timely correction can be made to avoid serious medical accidents.

[0095] In another embodiment, the surgical navigation system further includes a prompter. When the surgical instrument completes the surgical operation, the controller can further calculate the position of the surgical operation in the 3D simulated image, for example, the position offset of the fixed screw implantation position from the calibrated screw placement position Mct on the 3D medical image. If the position offset is greater than a threshold, indicating that the surgical procedure does not meet expectations and that reoperation may be required, a prompt message can be generated and sent to the prompter, causing the prompter to display the prompt message. The prompt message can be, but is not limited to, sent via voice, text, or other means.

[0096] In another embodiment, an electromagnetic positioning coil can be implanted in the fixation screw to track the implantation position of the fixation screw using electromagnetic navigation tracking technology, and to promptly alert medical personnel if the implantation path of the fixation screw deviates from the expected path. The fixation screw is used to stabilize the spine for treatment.

[0097] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of the present invention, the features and functions of two or more units / modules described above may be embodied in a single unit / module. Conversely, the features and functions of a single unit / module described above may be further divided and embodied by multiple units / modules.

[0098] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A surgical navigation system, characterized in that: include: A magnetic field generator for generating an electromagnetic field; a first electromagnetic positioning component, fixed on the target object, and configured to generate a first induced current under the electromagnetic field; a second electromagnetic positioning assembly fixed to the surgical instrument, the second electromagnetic positioning assembly being configured to generate a second induced current under the electromagnetic field; wherein the surgical instrument is configured to perform a surgical operation on the target object; a controller, configured to obtain the first induced current and the second induced current, and determine a first posture of the target object and a second posture of the surgical instrument according to the first induced current and the second induced current, respectively; The controller is also used to determine the conversion relationship between the image coordinate system of the three-dimensional medical image and the magnetic field coordinate system of the electromagnetic field based on the three-dimensional medical image of the target object, the first two-dimensional medical image containing the target object and the surgical instrument, the first posture and the second posture, and guide the operation of the surgical instrument; including: obtaining a first two-dimensional medical image obtained by photographing the target object with a photographing device, obtaining a three-dimensional medical image of the target object, and determining the first conversion relationship between the image coordinate system of the three-dimensional medical image and the magnetic field coordinate system of the electromagnetic field based on the position coordinates of the first electromagnetic positioning component in the first two-dimensional medical image, the first posture of the first electromagnetic positioning component when photographing the two-dimensional medical image, and the three-dimensional medical image, and converting the real-time posture of the first electromagnetic positioning component and the real-time posture of the second electromagnetic positioning component into spatial coordinates in the image coordinate system according to the first conversion relationship to guide the operation of the surgical instrument.

2. The surgical navigation system according to claim 1, wherein: The controller includes: a calibration module, configured to determine a conversion relationship between the image coordinate system and the magnetic field coordinate system; The conversion module is used to convert the real-time posture of the first electromagnetic positioning component and the real-time posture of the second electromagnetic positioning component into spatial coordinates in the image coordinate system according to the conversion relationship to guide the operation of the surgical instrument.

3. The surgical navigation system according to claim 1, wherein: The first electromagnetic positioning component includes: a fixing needle, the needle head of the fixing needle being used for implantation into the target object; The electromagnetic positioning coil is arranged inside the fixing needle, and is used to generate the first induced current under the electromagnetic field.

4. The surgical navigation system according to claim 3, wherein: The first electromagnetic positioning component further includes: The identification unit is detachably fixed on the fixing needle.

5. The surgical navigation system according to claim 4, wherein: The identification unit includes: A fixing seat, fixed on the fixing needle; an identification frame, fixed on the fixing seat; At least four marking balls are dispersedly arranged on the marking frame, and the marking balls serve as the marking points.

6. The surgical navigation system according to claim 5, characterized in that: The marking ball and / or the fixing needle are made of non-magnetic metal material.

7. The surgical navigation system according to claim 1, wherein: The second electromagnetic positioning component includes: The electromagnetic positioning coil is used to generate the second induced current under the electromagnetic field.

8. The surgical navigation system according to claim 1, wherein: The surgical navigation system further includes: a driver; The controller is further configured to determine the spatial position of the target position in the three-dimensional medical image in the magnetic field coordinate system according to the conversion relationship, and plan a movement path of the surgical instrument according to the current posture of the second electromagnetic positioning component and the spatial position; The driver is used to drive the surgical instrument to move to the spatial position according to the movement path.

9. The surgical navigation system according to claim 1, wherein: The surgical navigation system further includes: a display; The controller is further configured to fuse the real-time posture of the first electromagnetic positioning component and the real-time posture of the second electromagnetic positioning component with the three-dimensional medical image according to the conversion relationship; The display is used to display the fusion result.

10. The surgical navigation system according to claim 1, wherein: The surgical navigation system further includes: a prompter; The controller is further configured to send a shooting instruction to the shooting device when the surgical instrument completes the surgical operation, so as to trigger the shooting device to shoot the target object to obtain a second two-dimensional medical image; The controller is further configured to determine a positional deviation between a position of the surgical operation and a target position in the second two-dimensional medical image, and generate a prompt message if the positional deviation is greater than a deviation threshold; The prompter is used to prompt the prompt information.

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