Paster type ultrasonic system based on optical positioning tracking

Abstract

The invention belongs to the technical field of spinal interventional surgical navigation, and particularly relates to a patch type ultrasonic system based on optical positioning tracking, which comprises a tracking device, a tracking body and ultrasonic equipment, the tracking body is a positioning ball, the positioning ball is arranged on a positioning frame, and the positioning frame and the positioning ball can be in different structural layouts to cope with different surgical scenes. The ultrasonic equipment comprises an ultrasonic patch and an external ultrasonic system, the positioning balls are fixed on the ultrasonic patch at certain intervals and orientation, and are fixed on the surface of the ultrasonic patch in a mechanical connection or fitting manner, so that the small balls cannot influence the ultrasonic imaging function of the ultrasonic patch. The patch ultrasound and the infrared reflective ball are combined and applied to intraoperative navigation, so that the positioning registration process of preoperative CT and intraoperative ultrasound can be simplified, and the operation precision and efficiency are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of spinal intervention surgery navigation, and specifically refers to a patch-type ultrasound system based on optical positioning and tracking. Background Art

[0002] Spinal interventional surgery is required to correct spinal deformity and maintain its structural stability, among which spinal fusion surgery is a common method. In current clinical practice, image navigation system (IGS) provides key surgical assistance functions. The current surgical practice requires complicated manual operations, which not only requires a long surgical exposure time, but is also limited by limited registration accuracy. At present, intraoperative ultrasound in spinal surgery faces challenges such as high positioning error, insufficient robustness and long registration time. Summary of the invention

[0003] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a patch-type ultrasound system based on optical positioning and tracking. By combining patch ultrasound with infrared reflective balls and applying them in intraoperative navigation, it can simplify the positioning and alignment process of preoperative CT and intraoperative ultrasound, and improve surgical accuracy and efficiency.

[0004] The technical solution adopted by the present invention is as follows: The present invention provides a patch-type ultrasound system based on optical positioning tracking, including a tracking device, a tracking body and an ultrasound device, wherein the tracking body is a positioning ball, and the positioning ball is arranged on a positioning frame. The positioning frame and the positioning ball can be of different structural layouts to cope with different surgical scenarios. The ultrasound device includes an ultrasound patch and an external ultrasound system, and the positioning ball is fixed on the ultrasound patch. The positioning ball is fixed at a certain distance and orientation, and is fixed to the patch surface by mechanical connection or bonding to ensure that the small ball does not affect the ultrasound imaging function of the ultrasound patch.

[0005] The positioning ball can be detected and tracked in real time by the tracking device, and the position and orientation of the ultrasound probe in three-dimensional space can be accurately determined.

[0006] Furthermore, the ultrasonic patch includes an elastic bonding layer, an electrode layer, a backing layer, a piezoelectric layer, an electrode layer and an elastic bonding layer from top to bottom. The piezoelectric layer material is made of PZT or PVDF, the elastic bonding layer is made of PDMS or silicone, the piezoelectric material is provided with circuit leads, the circuit leads are flexible circuits, and the encapsulation is made of water-resistant and electrically insulating materials such as epoxy resin.

[0007] Furthermore, the external ultrasound system includes a digital-to-analog converter, a power amplifier and a signal processing unit. Ultrasound images of deep soft tissues can be obtained in real time during surgery through patch ultrasound.

[0008] Furthermore, in order to make the positioning ball have high contrast in CT, the positioning ball is made of high X-ray attenuation material.

[0009] Furthermore, the tracking device is a binocular vision camera, which is equipped with a high-resolution (2-12MP) and high-frame-rate (≥30FPS) infrared camera to capture clear positioning ball images and reduce motion blur, and the camera should be equipped with an infrared filter focused on the infrared reflection band (850-940nm) of the positioning ball to enhance visual contrast; and a uniformly illuminated infrared light source is configured to ensure uniform light in the working area to avoid overly bright or dark areas affecting positioning accuracy. The equipment needs to be accurately calibrated for the camera, including internal and external parameter calibration, to ensure accurate three-dimensional positioning and stable installation of the equipment.

[0010] Furthermore, in order to make the positioning ball clearly traceable in binocular vision, the surface of the positioning ball is modified, a material with a high reflectivity to infrared light is selected, and the surface is frosted or sandblasted to form diffuse reflection. A layer of infrared reflective coating can be applied to the surface of the positioning ball.

[0011] Furthermore, at least three positioning balls are provided, and the three positioning balls constitute a rigid body coordinate system to achieve three-dimensional positioning and posture tracking. The balls should be evenly distributed on the surface of the ultrasonic patch, and ensure that they are non-collinear and non-coplanar to avoid the non-uniqueness of the positioning solution. When laying out, the balls should be prevented from being blocked and can be easily tracked by the binocular vision system.

[0012] Furthermore, the binocular vision camera is provided with a display screen, a color camera and a positioning laser.

[0013] The beneficial effects achieved by the present invention using the above scheme are as follows: This scheme provides a patch-type ultrasound system based on optical positioning and tracking. By combining patch ultrasound with infrared reflective balls and applying them in intraoperative navigation, it can simplify the positioning and registration process of preoperative CT and intraoperative ultrasound, and improve surgical accuracy and efficiency. Specifically, in the preoperative CT scan, the position of the infrared reflective balls can be accurately identified; during the operation, the spatial position of the patch ultrasound probe is determined by real-time tracking of these infrared balls. With the help of a binocular vision system, by capturing the three-dimensional coordinates of the reflective balls, the preoperative CT image can be accurately positioned in the global coordinate system of the operation. At the same time, the reflective balls can also accurately locate the position of the patch probe, thereby obtaining the relative position of the ultrasound image in the global three-dimensional space. In this way, the real-time ultrasound image can be accurately registered to the preoperative CT image, avoiding the complex manual registration steps in traditional surgical procedures. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the layout of the tracking device of this solution;

[0015] Figure 2 Schematic diagram of the structure of the ultrasonic patch of this scheme.

[0016] Among them, 1. binocular vision camera; 2. positioning ball; 3. positioning frame; 4. elastic bonding layer; 5. electrode layer; 6. backing layer; 7. piezoelectric layer DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0018] Example

[0019] A precision fusion ultrasound system includes a tracking device, a tracking body and an ultrasound device. The tracking body is a positioning ball 2, which is arranged on a positioning frame 3. The positioning frame 3 and the positioning ball 2 can be of different structural layouts to cope with different surgical scenarios. The ultrasound device includes an ultrasound patch and an external ultrasound system. The positioning ball 2 is fixed on the ultrasound patch. The positioning ball 2 is fixed at a certain distance and orientation and is fixed to the patch surface by mechanical connection or bonding to ensure that the small ball does not affect the ultrasound imaging function of the ultrasound patch.

[0020] The positioning ball 2 can be detected and tracked in real time by the tracking device, and the position and orientation of the ultrasound probe in three-dimensional space can be accurately determined.

[0021] The ultrasonic patch includes an elastic bonding layer 4, an electrode layer 5, a backing layer 6, a piezoelectric layer 7, an electrode layer 5 and an elastic bonding layer 4 from top to bottom. The piezoelectric layer 7 is made of PZT or PVDF, and the elastic bonding layer 4 is made of PDMS or silicone. The piezoelectric material is provided with circuit leads, and the circuit leads are flexible circuits. The encapsulation is made of water-resistant and electrically insulating materials such as epoxy resin.

[0022] The external ultrasound system includes a digital-to-analog converter, a power amplifier and a signal processing unit. Ultrasound images of deep soft tissues can be obtained in real time during surgery through patch ultrasound.

[0023] Patch ultrasound is different from traditional ultrasound in that it is lightweight, has less weight burden, and can fit tightly to the skin during surgery.

[0024] In order to make the positioning ball 2 have high contrast in CT, the positioning ball 2 is made of a high X-ray attenuation material, such as a metal material, a barium-based compound, and an iodine-based compound.

[0025] The tracking device is a binocular vision camera 1, which is equipped with a high-resolution (2-12MP) and high-frame-rate (≥30FPS) infrared camera to capture clear positioning ball 2 images and reduce motion blur. The camera should be equipped with an infrared filter focused on the infrared reflection band (850-940nm) of the positioning ball 2 to enhance visual contrast; and a uniformly illuminated infrared light source should be configured to ensure uniform light in the working area to avoid overly bright or dark areas affecting positioning accuracy. The equipment needs to be accurately calibrated with the camera, including internal and external parameter calibration, to ensure accurate three-dimensional positioning and stable installation of the equipment.

[0026] In order to make the positioning ball 2 clearly traceable in binocular vision, the surface of the positioning ball 2 is modified, and a material with a high reflectivity to infrared light is selected, such as a metal, such as an aluminum or silver-plated sphere, or a plastic with a reflective coating. The surface is frosted or sandblasted to form diffuse reflection. A layer of infrared reflective coating can be applied on the surface of the positioning ball 2 and decorated with a light color or white.

[0027] In this embodiment, four positioning balls 2 are provided. Four or more balls can increase redundancy, improve positioning accuracy and robustness. The balls should be evenly distributed on the surface of the ultrasonic patch, and ensure that they are non-collinear and non-coplanar to avoid the non-uniqueness of the positioning solution. When laying out, the balls should be prevented from being blocked and can be easily tracked by the binocular vision system.

[0028] The binocular vision camera 1 is provided with a display screen, a color camera, and a positioning laser.

[0029] In the embodiments, the ultrasound patch can also be implanted in instruments and surgical tools. Since the ultrasound patch is fixed in a specific position, no manual adjustment is required during the operation. This design reduces the reliance on manual operation by professionals. The fixed position of the ultrasound patch can be accurately planned before the operation to ensure continuous and stable ultrasound imaging in key anatomical areas. The advantage of this solution is that it realizes the efficient fusion of preoperative and intraoperative images and dynamic navigation during the operation, which helps to improve the accuracy and safety of the operation.

[0030] In another embodiment, the ultrasonic patch is replaced by an ultrasonic probe, and the positioning ball 2 is fixed on the ultrasonic probe via a positioning frame 3 .

[0031] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

[0033] The present invention and its implementation methods are described above, and such description is not restrictive. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design structures and embodiments similar to the technical solution without creativity, which should all fall within the protection scope of the present invention.

Claims

1. A patch-type ultrasound system based on optical positioning and tracking, characterized in that: The invention comprises a tracking device, a tracking body and an ultrasonic device. The tracking body is a positioning ball which is arranged on a positioning frame. The ultrasonic device comprises an ultrasonic patch and an external ultrasonic system. The positioning ball is fixed on the ultrasonic patch.

2. The patch-type ultrasound system based on optical positioning tracking according to claim 1, characterized in that: The ultrasonic patch includes an elastic bonding layer, an electrode layer, a backing layer, a piezoelectric layer, an electrode layer and an elastic bonding layer from top to bottom. The piezoelectric layer material is PZT or PVDF, the elastic bonding layer is PDMS or silicone, the piezoelectric material is provided with circuit leads, the circuit leads are flexible circuits, and the encapsulation is made of water-resistant and electrically insulating materials such as epoxy resin.

3. The patch-type ultrasound system based on optical positioning tracking according to claim 2, characterized in that: The peripheral ultrasound system includes a digital-to-analog converter, a power amplifier and a signal processing unit.

4. The patch-type ultrasound system based on optical positioning tracking according to claim 1, characterized in that: The positioning ball is made of a high X-ray attenuation material.

5. The patch-type ultrasound system based on optical positioning tracking according to claim 1, characterized in that: The tracking device is a binocular vision camera, which is equipped with an infrared camera with a resolution of 2-12MP and a frame rate ≥30FPS, and the camera should be equipped with an infrared filter, and the infrared reflection band of the positioning ball is 850-940nm; and a uniformly illuminated infrared light source is configured, and the camera is calibrated, including internal and external parameter calibration.

6. The patch-type ultrasound system based on optical positioning tracking according to claim 4, characterized in that: The surface of the positioning ball is modified to a material with a high reflectivity to infrared light, the surface is frosted or sandblasted to form diffuse reflection, and the surface of the positioning ball is coated with a coating for infrared reflection.

7. The patch-type ultrasound system based on optical positioning tracking according to claim 6, characterized in that: At least three positioning balls are provided.

8. The patch-type ultrasound system based on optical positioning tracking according to claim 1, characterized in that: The binocular vision camera is provided with a display screen, a color camera and a positioning laser.

Images