Imaging navigation method and system

Abstract

The present invention relates to the technical field of instrument positioning and navigation, and discloses an imaging navigation method and system. The navigation method comprises the steps of: planning a preset needle insertion path of a guide needle; controlling the guide needle to pass through a positioning device formed based on infrared touch technology, generating a real-time needle insertion path of the guide needle during the process, and comparing it with the preset needle insertion path, and then calculating and adjusting the perspective angle or perspective position of an imaging device relative to the guide needle based on the real-time needle insertion path, so that it is at an optimal perspective angle, thereby reconfirming the position accuracy of the guide needle, and timely correcting the deviation between the real-time needle insertion path and the preset needle insertion path. By utilizing the coordinated operation of the positioning device and the imaging device to form a complete control closed loop, the deviation that may occur during the navigation process of the guide needle is greatly reduced, and additional surgical trauma is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of instrument positioning and navigation, and further to an imaging navigation method and system. Background Art

[0002] In current orthopedic surgeries, it is often necessary to place nails on the affected parts of patients. Usually, 2D images are used to guide the placement of nails. The doctor forms a 3D image in his mind and judges the location of the nails. This method is very dependent on the doctor's experience and subjective judgment, and the positioning accuracy is not high. In addition, when the patient is displaced, it is easy for the nail placement path to deviate from the preset path. Therefore, the existing technology has certain insecurity and unreliability in the nail placement process, which will have a certain impact on the completion of the operation.

[0003] In summary, there is a need to improve the current technology. Summary of the invention

[0004] In view of the above technical problems, the purpose of the present invention is to provide an imaging navigation method and system, which does not need to rely on the doctor's subjective judgment, and has greatly improved the degree of automation and positioning accuracy, making the nail placement process more reliable and efficient.

[0005] In order to achieve the above object, the present invention provides an imaging navigation method, comprising the steps of:

[0006] Plan the preset insertion path of the guide needle;

[0007] Controlling the guide needle to pass through a positioning device formed based on infrared touch technology, and generating a real-time insertion path of the guide needle, and comparing it with the preset insertion path;

[0008] Based on the real-time needle insertion path, the perspective angle or perspective position of the imaging device relative to the guide needle is calculated and adjusted to confirm and correct the deviation between the real-time needle insertion path and the preset needle insertion path.

[0009] In some embodiments, the positioning device includes a first positioning frame and a second positioning frame, the first positioning frame and the second positioning frame are arranged side by side, and the first positioning frame and the second positioning frame are both hollow-out designs;

[0010] The controlling of the guide needle to pass through the positioning device formed based on infrared touch technology and generating the real-time needle insertion path of the guide needle specifically comprises the following steps:

[0011] Controlling the guide needle to first pass through the first positioning frame to obtain the first needle insertion point at this time;

[0012] Then controlling the guide needle to pass through the second positioning frame to obtain the second needle insertion point at this time;

[0013] The real-time needle insertion path of the guide needle is calculated based on the first needle insertion point and the second needle insertion point.

[0014] In some embodiments, before controlling the guide needle to first pass through the first positioning frame, a spatial rectangular coordinate system is generated based on the positioning device, the first positioning frame is located in the spatial rectangular coordinate system, and the obtaining of the first needle insertion point at this time further includes the steps of:

[0015] Let the first positioning frame correspond to the first infrared matrix;

[0016] When the guide needle passes through the first infrared matrix, the first intersection point between the guide needle and the first infrared matrix and the coordinates of the first intersection point are obtained, and the first intersection point is defined as the first needle insertion point.

[0017] In some embodiments, the second positioning frame is located in the spatial rectangular coordinate system, and the steps of obtaining the second needle insertion point at this time and calculating the real-time needle insertion path of the guide needle based on the first needle insertion point and the second needle insertion point further include the steps of:

[0018] Let the second positioning frame correspond to the second infrared matrix;

[0019] When the guide needle passes through the second infrared matrix, a second intersection point between the guide needle and the second infrared matrix and the coordinates of the second intersection point are obtained, and the second intersection point is defined as the second needle insertion point;

[0020] The real-time insertion path of the guide needle is calculated based on the coordinates of the first needle insertion point and the coordinates of the second needle insertion point.

[0021] In some embodiments, before the control guide needle passes through the positioning device formed based on infrared touch technology, the following steps are also included:

[0022] The positioning device is fixed to the surgical site, and a plurality of distinguishing elements are arranged on the positioning device;

[0023] Acquiring three-dimensional image information of the surgical site and the positioning device;

[0024] Among them, a plurality of the distinguishing elements are respectively arranged on the edge of the first positioning frame and the edge of the second positioning frame, so as to distinguish the body position direction of the human body.

[0025] In some embodiments, the step of calculating and adjusting the perspective angle or perspective position of the imaging device relative to the guide needle based on the real-time needle insertion path specifically comprises the following steps:

[0026] Inputting the real-time needle insertion path into the imaging system of the imaging device, and calculating the optimal posture of the imaging device through the imaging system;

[0027] The imaging device is controlled to rotate or translate so that the current posture of the imaging device is adjusted to the optimal posture.

[0028] In some embodiments, after controlling the imaging device to rotate or translate so that the current posture of the imaging device is adjusted to the optimal posture, the method further includes the following steps:

[0029] Allowing the imaging device to acquire imaging information of the guide needle in an optimal position;

[0030] Obtaining a second needle insertion path of the guide needle based on the imaging information;

[0031] The needle insertion deviation is obtained according to the second needle insertion path and the real-time needle insertion path.

[0032] Another aspect of the present invention also provides an imaging navigation system for locating a needle insertion path of a guide needle, comprising:

[0033] An imaging device is movably arranged so that the perspective angle or perspective position of the imaging device relative to the guide needle can be adjusted;

[0034] The positioning device has an infrared touch module, which is used to obtain the insertion path of the guide needle through the infrared touch module when the guide needle passes through the positioning device.

[0035] In some embodiments, the positioning device includes at least two positioning frames arranged in parallel, and adjacent positioning frames are fixed by a support member, and each positioning frame has a hollow perforation for the guide needle to pass through, so that when the guide needle passes through the hollow perforation, at least two needle entry points are formed through the infrared touch module;

[0036] The imaging navigation system further includes a calculation unit for calculating and generating the needle insertion path according to the needle insertion point.

[0037] In some embodiments, the imaging device is a C-arm X-ray machine, the positioning frame is made of X-ray transparent material, and the positioning frame is provided with a plurality of metal balls, and the plurality of metal balls are unevenly distributed around the positioning frame, so as to distinguish the body position and direction of the human body by the distribution of the metal balls during fluoroscopic imaging.

[0038] Compared with the prior art, the imaging navigation method and system provided by the present invention have the following beneficial effects:

[0039] 1. The present application realizes closed-loop precision control of the guide needle. The guide needle passes through the positioning device to form its needle insertion path. The optimal perspective angle of the imaging device is calculated based on its needle insertion path. After the imaging device moves into place, perspective imaging can be performed at this position, thereby reconfirming the needle insertion path to reduce the risk of navigation path deviation.

[0040] 2. In this application, the infrared touch technology and the positioning device are integrated into a design, and the guide needle can form precise coordinates when passing through the positioning device. The needle insertion path calculated using the coordinates is more accurate, which greatly reduces the deviation of the needle insertion path. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The preferred implementation modes will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

[0042] Figure 1 is an overall flow chart of an embodiment of the present application;

[0043] Figure 2 is a partial flow chart of an embodiment of the present application;

[0044] Figure 3 is a partial flow chart of another embodiment of the present application;

[0045] Figure 4 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0046] Figure 5 is a front view of a positioning device in one embodiment of the present application;

[0047] Figure 6 is a top view of a positioning device in one embodiment of the present application;

[0048] Figure 7 It is an overall flow chart of one of the embodiments of the present application.

[0049] Description of the accompanying drawings: positioning device 1; positioning frame 10; first positioning frame 11; second positioning frame 12; imaging device 2; metal ball 3; support member 4. DETAILED DESCRIPTION

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0051] In order to simplify the drawings, only the parts related to the invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0052] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0053] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0055] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0056] It should be noted that in current surgeries, very high accuracy is required for the guidance of the guide needle. Under normal circumstances, the positioning of the guide needle is generally achieved through an optical navigation system or a robotic arm positioning system. For example, in an optical navigation system, an infrared probe monitors the tracer installed at the surgical site and the tracer on the guide needle fixture in real time. Before navigation begins, the coordinate systems of the navigation system and the imaging system need to be aligned. After navigation begins, the imaging system is withdrawn from the operating table. This navigation system has many problems, the most obvious of which is that the tracer at the surgical site and the tracer on the guide needle fixture are very likely to deviate from their positions due to accidental shaking during installation and during surgery, which will have a greater impact on subsequent alignment, causing the guide needle's insertion path to deviate significantly from the expected path.

[0057] In addition, before navigation, the robotic arm positioning system simultaneously images the robotic arm's mounted ruler and the surgical site, and the robotic arm positioning system establishes the robotic arm's coordinate system by analyzing the coordinate relationship of the positioning ruler in the image; after navigation begins, the robotic arm replaces the guide positioning cylinder, and the robotic arm automatically adjusts the needle insertion point and angle of the positioning cylinder. The robotic arm positioning system only plays the role of a surgical robot, and there is no way to achieve closed-loop control of the guide needle's insertion path, nor can it determine the needle insertion depth.

[0058] Based on the above problems, please refer to the attached manual. Figure 1 An imaging navigation method provided by the present invention is described. The imaging navigation method provided by the present invention can effectively reduce the deviation of the needle insertion path, and does not need to rely on the subjective judgment of medical staff. It mostly adopts electronic and automated equipment, improves standardized process operations, and avoids hidden dangers caused by misjudgment in surgery.

[0059] Reference Manual Attached Figure 1 The present invention provides an imaging navigation method, comprising the following steps:

[0060] S1. Plan the preset insertion path of the guide needle.

[0061] S2. Control the guide needle to pass through the positioning device formed based on infrared touch technology, generate a real-time insertion path of the guide needle, and compare it with the preset insertion path.

[0062] S3. Based on the real-time needle insertion path, calculate and adjust the perspective angle or perspective position of the imaging device relative to the guide needle to confirm and correct the deviation between the real-time needle insertion path and the preset needle insertion path.

[0063] In this embodiment, it is first worth mentioning that the positioning device uses infrared touch technology. Compared with the common positioning using holes, openings and other structures, this design in the present application can form a more accurate needle insertion path and reduce the possibility of navigation path deviation.

[0064] Among them, the movement of the imaging device in step S3 is triggered by the real-time needle insertion path generated in step S2, so that it can move to a more suitable position or angle to capture images, so as to achieve the purpose of confirming the accuracy of the guide needle position, thereby forming a closed-loop control logic. Compared with the current technology, this closed-loop control logic can further reduce the deviation on the navigation path, and at the same time, the position information of the guide needle is confirmed at least twice, making the surgical process more reliable.

[0065] It should also be noted that other embodiments also include a step of obtaining three-dimensional imaging information of the guide needle, and the image of the guide needle can be displayed to the doctor or corresponding medical staff, thereby further improving the observability of the operation and allowing medical staff to observe the relevant conditions of the guide needle more directly and quickly.

[0066] In one embodiment, the Figure 5 The positioning device includes a first positioning frame 11 and a second positioning frame 12. The first positioning frame 11 and the second positioning frame 12 are arranged in parallel, and the first positioning frame 11 and the second positioning frame 12 are both hollow-out.

[0067] From the above content, we can know that the first positioning frame 11 and the second positioning frame 12 both use infrared touch technology. It is easy to understand that infrared transmitting tubes and infrared receiving tubes are arranged on the four sides of the positioning frame, which correspond to each other to form an infrared matrix. The hollow design also corresponds to the infrared matrix. When the guide needle passes through this infrared matrix, it will inevitably block the horizontal infrared and vertical infrared rays passing through the position, and this position will be reported to the system. After calculation by the system, it can be determined where the position is in the infrared matrix, and naturally it can be obtained at which point the guide needle passes through the positioning frame.

[0068] In step S2, controlling the guide needle to pass through the positioning device formed based on the infrared touch technology and generating the real-time insertion path of the guide needle also includes the following steps, please refer to the attached Figure 2 :

[0069] S21, controlling the guide needle to first pass through the first positioning frame to obtain the first needle insertion point at this time.

[0070] S22, controlling the guide needle to pass through the second positioning frame to obtain the second needle insertion point at this time.

[0071] S23, calculating the real-time insertion path of the guide needle based on the first needle insertion point and the second needle insertion point.

[0072] It can be seen from the above content that when the guide needle passes through the first positioning frame and the second positioning frame, the position where the guide needle passes can be identified due to the use of infrared touch technology, thus forming the above-mentioned first needle insertion point and the second needle insertion point.

[0073] Step S23 is based on the needle insertion points identified in steps S21 and S22, and obtains the position information of the guide needle through certain calculations. Of course, in this embodiment, the calculation method is not limited. It can be calculated through a specific program, or it can be manually recorded and the needle insertion point data is entered into a computer for calculation. In other words, the calculation method can be fully automatic or semi-automatic.

[0074] In one embodiment, before the control guide needle passes through the first positioning frame in step S21, a spatial rectangular coordinate system needs to be generated based on the positioning device. The first positioning frame is located in the spatial rectangular coordinate system. Figure 4 and Figure 5 It is understood that the first positioning frame 11 and the second positioning frame 12 are designed in upper and lower layers, and in the case of the attached figure, the upper positioning frame is the first positioning frame 11, and the lower positioning frame is the second positioning frame 12. In this case, when using this positioning device, it is fixed to the corresponding surgical site of the patient. Then, the first positioning frame 11 is farther away from the patient's body than the second positioning frame 12. When the guide needle is inserted, it will first pass through the first positioning frame 11 and then pass through the second positioning frame 12.

[0075] Of course, in other embodiments, the positioning device can also be fixed to the side of the patient, that is, the positioning device is converted to be used in a vertical direction, and this simple change should also be included in the protection scope of the present application.

[0076] Furthermore, if Figure 3 As shown, obtaining the first needle point at this time in step S21 also includes the steps of:

[0077] S211, making the first positioning frame correspond to the first infrared matrix.

[0078] S212. When the guide needle passes through the first infrared matrix, obtain the first intersection point between the guide needle and the first infrared matrix and the coordinates of the first intersection point, and define the first intersection point as the first needle insertion point.

[0079] It should be noted that the first infrared matrix in the spatial rectangular coordinate system in step S211 can also be imagined as a plane with infrared touch technology. From the above content, it can be seen that when the guide needle passes through this plane, the guide needle will form a shielding position relative to the first infrared matrix, and this shielding position will produce an intersection, which is the first intersection in the above content. It is easy to understand that the first intersection here is also the first needle point in the above content.

[0080] In addition, due to the high accuracy of infrared touch technology, the coordinates of the first needle insertion point are also very accurate, and the precise coordinate value can be directly obtained, so that the needle insertion path can be directly calculated through the coordinates, minimizing the error caused by inaccurate coordinate acquisition.

[0081] Based on the above content, the second positioning frame is also located in the spatial rectangular coordinate system, and the step S22 of obtaining the second needle insertion point at this time, and the step S13 of calculating the real-time needle insertion path of the guide needle based on the first needle insertion point and the second needle insertion point also includes the steps of:

[0082] S221, making the second positioning frame correspond to the second infrared matrix.

[0083] S222. When the guide needle passes through the second infrared matrix, obtain the second intersection point between the guide needle and the second infrared matrix and the coordinates of the second intersection point, and define the second intersection point as the second needle insertion point.

[0084] S231. Calculate the real-time insertion path of the guide needle according to the coordinates of the first needle insertion point and the coordinates of the second needle insertion point.

[0085] The principle of obtaining the first needle threading point is similar to the above content. After passing through the first infrared matrix, the guide needle passes through the second infrared matrix again, and also generates an intersection with it. This intersection corresponds to the second needle threading point here.

[0086] To further explain, for the first needle insertion point and the second needle insertion point, the first needle insertion point determines the needle insertion position of the guide needle relative to the positioning device, and the second needle insertion point determines the needle exit position of the guide needle relative to the positioning device. Therefore, when the position information of both are obtained, the system can calculate the real-time insertion path of the guide needle, as well as related information such as the spatial inclination angle.

[0087] In one embodiment, please refer to the attached Figure 7 In the overall flow chart, before the control guide needle in the above step S2 passes through the positioning device formed based on the infrared touch technology, the following steps are also included:

[0088] S01. Fix the positioning device to the surgical site and set a number of distinguishing elements on the positioning device.

[0089] S02. Acquire three-dimensional image information of the surgical site and the positioning device.

[0090] Among them, a plurality of distinguishing elements are respectively arranged on the edge of the first positioning frame and the edge of the second positioning frame, and are used to distinguish the body position direction of the human body.

[0091] It should be noted that there are many ways to fix the positioning device relative to the surgical site, such as directly tying the positioning device to the patient's body with a strap. Similarly, it can also be achieved by using similar fixing parts such as fixing clips. They are not explained one by one in this embodiment, but it is conceivable that this fixing method can be independently replaced or modified without affecting the effect of this embodiment.

[0092] Here, the distinguishing elements play a role in distinguishing the image orientation, that is, the patient's head orientation, foot orientation, and left and right arm orientation are determined through distinguishing elements of different numbers or contours, thereby determining whether the orientation of the guide needle insertion is correct.

[0093] In one embodiment, the step S3 of calculating and adjusting the perspective angle or perspective position of the imaging device relative to the guide needle based on the real-time needle insertion path specifically includes the following steps:

[0094] S31, inputting the real-time needle insertion path into the imaging system of the imaging device, and obtaining the optimal posture of the imaging device through calculation by the imaging system.

[0095] S32: Control the imaging device to rotate or translate so that the current posture of the imaging device is adjusted to an optimal posture.

[0096] It should be noted that the real-time needle insertion path is input into the imaging system of the imaging device in step S31, which is generally automatically input by the program. After the real-time needle insertion path of the guide needle is obtained according to the coordinates of the first needle insertion point and the second needle insertion point in the above step, the real-time needle insertion path is sent to the corresponding processing unit. In the present embodiment, the processing unit is the imaging system of the imaging device. The imaging system obtains the optimal posture of the imaging device according to the real-time needle insertion path analysis. The optimal posture is the best shooting angle that can be achieved at this position to facilitate the subsequent further observation of the guide needle.

[0097] Based on the optimal posture obtained in step S31, the imaging device can be controlled to move in step S32. Of course, the control here can be automatic by the machine, or the medical staff can make a diagnosis of the condition based on the obtained guide needle information and then operate the imaging device to make it move.

[0098] Further, based on the above embodiment, after the imaging device is controlled to rotate or translate in step S32 so that the current posture of the imaging device is adjusted to the optimal posture, the following steps are further included:

[0099] S33, enabling the imaging device to obtain imaging information of the guide needle in the optimal position.

[0100] S34. Obtain a second needle insertion path for the guide needle based on the imaging information.

[0101] S35. Obtaining a needle insertion deviation according to the second needle insertion path and the real-time needle insertion path.

[0102] It can be understood that in step S32, the imaging device has been controlled to move to the optimal position. At this time, fluoroscopic imaging is performed at this position to obtain the real-time position information of the guide needle, thereby further verifying and confirming the results of the steps of inserting the needle, obtaining the real-time needle insertion path, etc. in the above content.

[0103] In addition, after performing fluoroscopic imaging on the guide needle, the position information and needle insertion path of the guide needle can be obtained again. The needle insertion path at this time (obtained through fluoroscopic imaging) and the real-time needle insertion path (not obtained through fluoroscopic imaging) are compared, and a certain deviation value may be obtained. This deviation value may be infinitely close to zero, which can also be understood as the patient's body moving slightly during this process, which is more conducive to the insertion of the guide needle; of course, it is also possible to produce a larger deviation value, which means that the patient's body has moved more obviously, and the first and second needle insertion points need to be calibrated again to form a new real-time needle insertion path. Through this repeated verification method, the possible deviation of the navigation system is minimized.

[0104] In one embodiment, the reference specification Figure 4 According to another aspect of the present invention, the present invention further provides an imaging navigation system for locating the insertion path of a guide needle, comprising an imaging device 2 and a positioning device 1, wherein the imaging device 2 is movably arranged so that the perspective angle or perspective position of the imaging device 2 relative to the guide needle can be adjusted; the positioning device 1 has an infrared touch module for acquiring the insertion path of the guide needle through the infrared touch module when the guide needle passes through the positioning device.

[0105] It can be understood that the infrared touch module can be set up to directly determine the position where the guide needle passes, thereby improving the positioning accuracy of the imaging navigation system. At the same time, the imaging device 2 can be moved according to the specific situation, so that the imaging device 2 can maintain the best perspective angle for the guide needle, so as to more directly observe the needle insertion position, needle insertion depth and other information of the guide needle, thereby improving the reliability and safety of the navigation system.

[0106] In another embodiment, based on the above embodiment, please refer to the attached specification Figure 5 and Figure 6 The positioning device 1 includes at least two positioning frames 10, each positioning frame 10 has a hollow perforation for the guide needle to pass through, so that when the guide needle passes through the hollow perforation, at least two needle entry points are formed by the infrared touch module.

[0107] The principle of applying the infrared touch module / technology to the positioning frame 10 has been described in detail above and will not be repeated here. In this embodiment, the number of positioning frames 10 is not limited. The attached figure shows the setting of two positioning frames 10, that is, the first positioning frame 11 and the second positioning frame 12 are set. Multiple positioning frames 10 can also be set. The number of needle insertion points generated when the guide needle passes through the positioning frame 10 will also increase accordingly. This setting can continuously determine the needle insertion position of the guide needle.

[0108] It should also be noted that there is generally a certain interval between the positioning frames 10, so adjacent positioning frames 10 are supported by support members 4, and multiple support members 4 can be arranged at intervals along the circumferential direction, thereby preventing the positioning frames 10 from being misplaced, tilted, or even collapsed during operation.

[0109] Based on the above content, it can be imagined that the imaging navigation system also includes a calculation unit for calculating and generating the needle insertion path according to the needle insertion point. Of course, in this embodiment, the specific type of the calculation unit is not specifically limited, and technical personnel in this field can replace it according to specific circumstances.

[0110] In one embodiment, the imaging device 2 in the above embodiment is a C-arm X-ray machine, and the positioning frame 10 is made of a material that is transmissive to X-rays.

[0111] In addition, Figure 6 As shown, the positioning frame 10 is provided with a plurality of metal balls 3, which are unevenly arranged around the positioning frame 10, and are used to distinguish the body position and direction of the human body by the arrangement of the metal balls 3 during perspective imaging.

[0112] It should be noted that the metal balls 3 are arranged around the positioning frame 10, and the metal balls 3 arranged on each side are different in number or arrangement pattern. The positioning frame 10 can be regarded as a plane rectangular coordinate system. The positive direction of the X-axis, the negative direction of the X-axis, the positive direction of the Y-axis and the negative direction of the Y-axis can be distinguished through the metal balls 3 with different arrangements on the four sides. After the positioning device is fixed on the patient's affected part, the imaging device 2 distinguishes the patient's body position through the metal balls 3.

[0113] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. An imaging navigation system for orthopedic surgery, characterized in that: The needle path used to locate the guide needle includes: An imaging device is movably arranged so that the perspective angle or perspective position of the imaging device relative to the guide needle can be adjusted; A positioning device, having an infrared touch module, for obtaining a real-time insertion path of the guide needle through the infrared touch module when the guide needle passes through the positioning device; Wherein, the imaging navigation system can plan a preset needle insertion path for the guide needle, and compare the real-time needle insertion path with the preset needle insertion path; Furthermore, the real-time needle insertion path is input into the imaging system of the imaging device, and the optimal posture of the imaging device is calculated by the imaging system; A control module, used for controlling the imaging device to rotate or translate, so that the current posture of the imaging device is adjusted to the optimal posture; and enabling the imaging device to perform a first imaging of the guide needle in the optimal posture, obtain a second needle insertion path of the guide needle, and then enable the second needle insertion path to be compared with the real-time needle insertion path, and obtain a deviation value between the two; A judgment module is used to issue a corresponding judgment result based on the deviation value, and the judgment result includes a first judgment result and a second judgment result. The first judgment result is issued when the deviation value approaches zero, and is used to determine that the patient's position has not moved significantly. The second judgment result is issued when the deviation value exceeds an acceptable range, and is used to enable the system to regenerate the real-time needle insertion path, and then reduce the navigation path deviation by repeatedly performing comparison and calibration.

2. An imaging navigation system according to claim 1, characterized in that: The positioning device comprises a first positioning frame and a second positioning frame, the first positioning frame and the second positioning frame are arranged side by side, and the first positioning frame and the second positioning frame are both hollow-out in design; When the guide needle passes through the positioning device, the guide needle first passes through the first positioning frame to obtain the first needle insertion point at this time; the guide needle then passes through the second positioning frame to obtain the second needle insertion point at this time; The real-time needle insertion path is calculated based on the first needle insertion point and the second needle insertion point.

3. The imaging navigation system according to claim 2, characterized in that: The imaging navigation system generates a spatial rectangular coordinate system based on the positioning device, the first positioning frame is located in the spatial rectangular coordinate system, and the first positioning frame corresponds to the first infrared matrix; When the guide needle passes through the first infrared matrix, the first intersection point between the guide needle and the first infrared matrix and the coordinates of the first intersection point are obtained, and the first intersection point is the first needle insertion point.

4. The imaging navigation system according to claim 3, characterized in that: The second positioning frame is located in the spatial rectangular coordinate system, and the second positioning frame corresponds to the second infrared matrix; When the guide needle passes through the second infrared matrix, a second intersection point between the guide needle and the second infrared matrix and the coordinates of the second intersection point are obtained, and the second intersection point is the second needle insertion point; The real-time needle insertion path of the guide needle is calculated based on the coordinates of the first needle insertion point and the coordinates of the second needle insertion point.

5. The imaging navigation system according to claim 2, characterized in that: The positioning device is used to be fixed to the surgical site; and a number of distinguishing elements are arranged on the positioning device; Among them, a plurality of the distinguishing elements are respectively arranged on the edge of the first positioning frame and the edge of the second positioning frame, so as to distinguish the body position direction of the human body.

6. The imaging navigation system according to claim 1, characterized in that: The positioning device comprises at least two positioning frames arranged in parallel, and adjacent positioning frames are fixed by a support member, and each positioning frame has a hollow through hole for the guide needle to pass through, so that when the guide needle passes through the hollow through hole, at least two needle entry points are formed through the infrared touch module; The imaging navigation system further includes a calculation unit for calculating and generating the needle insertion path according to the needle insertion point.

7. The imaging navigation system according to claim 6, characterized in that: The imaging device is a C-arm X-ray machine, the positioning frame is made of X-ray transparent material, and the positioning frame is provided with a plurality of metal balls, which are unevenly arranged around the positioning frame, and are used to distinguish the body position and direction of the human body through the arrangement of the metal balls during fluoroscopic imaging.

Images