Ultrasonic osteotome navigation system

Abstract

The invention relates to the field of medical equipment, and provides an ultrasonic osteotome navigation system which comprises a first positioning module used for synchronously obtaining position data of an ultrasonic osteotome in a spinal focus area; and the navigation module is used for calculating to obtain surgical navigation data according to the acquired intraoperative image data and position information of the spinal focus area so as to guide the ultrasonic osteotome to perform the surgery. The first positioning module is integrated on the ultrasonic osteotome to synchronously obtain the position data of the ultrasonic osteotome in the spine focus area, and according to the position data and the intraoperative image data of the spine focus area operation, the operation navigation data is generated to guide the ultrasonic osteotome to perform the operation. According to the mode that the position of the ultrasonic osteotome in the spine focus area is synchronously obtained in real time in the operation process so as to guide the ultrasonic osteotome to conduct the operation, intraoperative navigation can be accurately and safely conducted on the ultrasonic osteotome.

Description

Technical Field

[0001] The present application relates to the field of medical equipment, and in particular to an ultrasonic osteotome navigation system. Background Art

[0002] As a surgical tool that uses high-frequency vibration to accurately cut bones without damaging surrounding soft tissues, the basic principle of ultrasonic bone scalpel is based on the different impedance characteristics of different tissues to ultrasound, thereby achieving high-precision cutting. However, although ultrasonic bone scalpels have higher safety and accuracy than traditional bone saws, they still have certain surgical operation risks, including miscutting, thermal damage, vibration damage, and equipment failure. Therefore, in order to improve the safety and effectiveness of the operation, navigation of the actions performed by the ultrasonic bone scalpel during the operation can ensure the high accuracy and safety of the operation. That is, by navigating the ultrasonic bone scalpel during the operation, the operator can accurately locate the location of the bone lesion area and avoid important nerves and blood vessels to reduce surgical risks. Navigation not only improves operational efficiency and makes the operation process smoother, but also reduces damage to surrounding healthy tissues through precise positioning, which helps the patient's postoperative recovery.

[0003] The inventor has found through research that in the treatment of spinal diseases, the existing solution for intraoperative navigation of ultrasonic bone scalpels is to install a positioning device on the navigator to obtain the position of the patient's spinal lesion area, remove the positioning device, and then install the ultrasonic bone scalpel on the positioning device to perform surgery according to the position of the spinal lesion area. However, although this navigation method that can only locate and then guide the ultrasonic bone scalpel to perform spinal surgery realizes intraoperative navigation of the ultrasonic bone scalpel, it cannot accurately obtain the position of the ultrasonic bone scalpel in the spinal lesion area in real time. Therefore, this navigation method of the ultrasonic bone scalpel cannot accurately and safely navigate the ultrasonic bone scalpel during surgery. Summary of the invention

[0004] The present application provides an ultrasonic bone knife navigation system to solve the problem that the existing navigation scheme for spinal surgery using an ultrasonic bone knife first locates and then guides the ultrasonic bone knife to perform surgery, but cannot accurately and safely navigate the ultrasonic bone knife during surgery.

[0005] The first aspect of the present application provides an ultrasonic bone knife navigation system, the system comprising: a first positioning module and a navigation module, and the first positioning module is integrated on the ultrasonic bone knife, wherein:

[0006] The first positioning module is used to synchronously obtain the position data of the ultrasonic osteotome in the spinal lesion area;

[0007] The navigation module is used to calculate the surgical navigation data based on the intraoperative image data and position information of the spinal lesion area to guide the ultrasonic osteotome to perform spinal surgery.

[0008] In some embodiments of the present application, the position data includes: movement direction data, posture trajectory data, and the first positioning module includes:

[0009] The motion submodule is used to obtain the acceleration, angular velocity, and position coordinates of the ultrasonic bone knife during the operation, and calculate the motion direction data of the ultrasonic bone knife during the operation based on the acceleration and angular velocity;

[0010] The posture submodule is used to calculate the posture trajectory data of the ultrasonic bone knife during surgery based on the position coordinates, movement direction, acceleration, and angular velocity.

[0011] In some embodiments of the present application, the ultrasonic osteotome navigation system further includes: a first data acquisition module, and:

[0012] The first data acquisition module is used to acquire the respiratory data of the spinal lesion area during the operation;

[0013] The navigation module is also used to calculate the surgical navigation data of the ultrasonic bone knife based on the respiratory data and position data to guide the ultrasonic bone knife to perform spinal surgery.

[0014] In some embodiments of the present application, the ultrasonic osteotome navigation system further includes: a second data acquisition module, and:

[0015] The second data acquisition module is used to acquire the patient's physiological data during the operation;

[0016] The navigation module is also used to calculate the surgical navigation data of the ultrasonic bone knife based on the physiological data, intraoperative imaging data, and position data to guide the ultrasonic bone knife to perform spinal surgery.

[0017] In some embodiments of the present application, the respiratory data includes: respiratory amplitude data and respiratory rhythm data, and the first data acquisition module includes:

[0018] A pressure sensor is used to obtain the respiratory amplitude data of the spinal lesion area during surgery;

[0019] An inertia calculator is used to obtain respiratory rhythm data of the spinal lesion area during surgery.

[0020] In some embodiments of the present application, the ultrasonic osteotome navigation system further includes: a data annotation module, and:

[0021] The data annotation module is used to perform risk annotation on the acquired preoperative imaging data of the spinal lesion area to obtain annotated preoperative imaging data;

[0022] The navigation module is also used to calculate surgical navigation data based on the labeled preoperative image data, intraoperative image data, and position information for use in spinal surgery with an ultrasonic osteotome.

[0023] In some embodiments of the present application, the ultrasonic osteotome navigation system further includes: a second positioning module, and:

[0024] The second positioning module is used to annotate the intraoperative image data according to the annotated preoperative image data to obtain the annotated intraoperative image data;

[0025] The navigation module is also used to calculate surgical navigation data based on the annotated intraoperative image data and position information to guide the use of an ultrasonic osteotome for spinal surgery.

[0026] In some embodiments of the present application, the ultrasonic osteotome navigation system further includes:

[0027] The data preprocessing module is used to segment and reconstruct the preoperative image data and transmit the processing results to the data standard module for processing.

[0028] In some embodiments of the present application, the ultrasonic osteotome navigation system further includes: a preoperative planning module, and:

[0029] The preoperative planning module is used to generate surgical path planning data based on the acquired patient's preoperative physical condition data and preoperative imaging data;

[0030] The navigation module is also used to calculate surgical navigation data based on surgical path planning data, annotated intraoperative image data, and position information to guide the use of an ultrasonic osteotome for spinal surgery.

[0031] In some embodiments of the present application, the surgical navigation data includes: safe area data, and / or risk area data, and / or surgical warning data, and / or ultrasonic bone knife cutting data.

[0032] This application has the following beneficial effects:

[0033] The ultrasonic bone knife navigation system provided in the above-mentioned embodiment of the present application includes: a first positioning module, which is used to synchronously obtain the position data of the ultrasonic bone knife in the spinal lesion area; a navigation module, which is used to calculate the surgical navigation data based on the intraoperative image data and position information of the spinal lesion area obtained to guide the ultrasonic bone knife to perform surgery. The present application integrates the first positioning module on the ultrasonic bone knife to achieve synchronous acquisition of the position data of the ultrasonic bone knife in the spinal lesion area, and generates surgical navigation data based on the position data and the intraoperative image data of the spinal lesion area to guide the ultrasonic bone knife to perform surgery. This method of synchronously obtaining the position of the ultrasonic bone knife in the spinal lesion area in real time during the operation to guide the ultrasonic bone knife to perform surgery can accurately and safely navigate the ultrasonic bone knife during the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0035] Figure 1 It is a schematic diagram of the framework of the first embodiment of the ultrasonic osteotome navigation system provided by the present application;

[0036] Figure 2 It is a schematic diagram of the framework of the second embodiment of the ultrasonic osteotome navigation system provided by the present application;

[0037] Figure 3 It is a schematic diagram of the framework of the third embodiment of the ultrasonic osteotome navigation system provided by the present application;

[0038] Figure 4 It is a schematic diagram of the framework of the fourth embodiment of the ultrasonic osteotome navigation system provided by the present application;

[0039] Figure 5 It is a schematic diagram of the framework of the fifth embodiment of the ultrasonic osteotome navigation system provided by the present application;

[0040] Figure 6 It is a schematic diagram of the framework of the sixth embodiment of the ultrasonic osteotome navigation system provided by the present application;

[0041] Figure 7 It is a schematic diagram of the framework of the seventh embodiment of the ultrasonic osteotome navigation system provided by the present application;

[0042] Figure 8 It is a schematic diagram of the framework of the eighth embodiment of the ultrasonic osteotome navigation system provided by the present application;

[0043] Fig. 9 It is a schematic diagram of the framework of the ninth embodiment of the ultrasonic osteotome navigation system provided by the present application;

[0044] Fig.10 is an example schematic diagram of preoperative imaging data of a spinal lesion area provided in the present application;

[0045] Fig.11 This is an example schematic diagram of the segmentation and reconstruction of preoperative image data of the spinal lesion area provided by the present application;

[0046] Fig.12 It is a framework diagram of the tenth embodiment of the ultrasonic bone knife navigation system provided in the present application. DETAILED DESCRIPTION

[0047] The scheme of the embodiment of the present application is described in detail below in conjunction with the drawings of the specification.

[0048] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0049] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the objects associated before and after are in an "or" relationship. In addition, "many" in this article means two or more than two. In addition, the term "at least one" in this article means any combination of at least two of any one or more of a plurality of, for example, including at least one of A, B, and C, can mean including any one or more elements selected from the set consisting of A, B, and C.

[0050] As described in the background technology, the existing solution for intraoperative navigation of ultrasonic bone scalpel is to install a positioning device on the navigator to obtain the position of the patient's spinal lesion area, remove the positioning device, and then install the ultrasonic bone scalpel on the positioning device to perform surgery according to the position of the spinal lesion area. However, although this navigation method that can only locate and then guide the ultrasonic bone scalpel to perform spinal surgery realizes intraoperative navigation of the ultrasonic bone scalpel, it is impossible to accurately obtain the position of the ultrasonic bone scalpel in the spinal lesion area in real time. Therefore, this navigation method of the ultrasonic bone scalpel cannot accurately and safely navigate the ultrasonic bone scalpel during surgery.

[0051] In order to solve the above problems, the present application proposes a new ultrasonic bone knife navigation solution. In the solution of the present application, the present application integrates the first positioning module on the ultrasonic bone knife to achieve synchronous acquisition of the position data of the ultrasonic bone knife in the spinal lesion area, and generates surgical navigation data based on the position data and the intraoperative imaging data of the spinal lesion area to guide the ultrasonic bone knife to perform surgery. This method of synchronously acquiring the position of the ultrasonic bone knife in the spinal lesion area in real time during the operation to guide the ultrasonic bone knife to perform surgery can accurately and safely navigate the ultrasonic bone knife during the operation.

[0052] The present application is described below with reference to the accompanying drawings and specific embodiments.

[0053] According to one embodiment of the present application, Figure 1 As shown, the ultrasonic bone knife navigation system of the present application includes: a first positioning module, used to synchronously obtain the position data of the ultrasonic bone knife in the spinal lesion area; a navigation module, used to calculate the surgical navigation data based on the intraoperative image data and position information of the acquired spinal lesion area to guide the ultrasonic bone knife to perform spinal surgery.

[0054] As can be seen from the above description, the above embodiment of the present application first collects the spatial position information of the ultrasonic bone knife in real time through the first positioning module, and obtains the intraoperative image data of the lesion area at the same time; then, the navigation module aligns and fuses the position data of the ultrasonic bone knife with the image data of the lesion area, and calculates the relative position relationship between the ultrasonic bone knife and the lesion area, and generates surgical navigation data; finally, based on these data, the cutting path and depth of the ultrasonic bone knife are guided in real time. This method can accurately calculate surgical navigation data, significantly improve the accuracy and safety of the operation, reduce damage to surrounding healthy tissues, shorten the operation time, reduce surgical risks, and provide efficient and reliable navigation support for spinal surgery.

[0055] Each module is described in detail below.

[0056] 1. The first positioning module

[0057] According to some embodiments of the present application, the position data includes: movement direction data, posture trajectory data, and Figure 2 As shown, the first positioning module includes: a motion submodule, which is used to obtain the acceleration, angular velocity, and position coordinates of the ultrasonic bone knife during the operation, and calculate the movement direction data of the ultrasonic bone knife during the operation based on the acceleration and angular velocity; a posture submodule, which is used to calculate the posture trajectory data of the ultrasonic bone knife during the operation based on the position coordinates, movement direction, acceleration, and angular velocity.

[0058] As can be seen from the above description, the above embodiment of the present application obtains the acceleration, angular velocity and position coordinates of the ultrasonic bone knife during the operation, and calculates its movement direction based on these data. These data of the ultrasonic bone knife during the operation can be used to realize comprehensive and accurate monitoring and analysis of the operation of the ultrasonic bone knife, so as to obtain more accurate movement direction data of the ultrasonic bone knife during the operation; and by integrating the position coordinates, movement direction, acceleration and angular velocity data of the ultrasonic bone knife during the operation, the position coordinates and movement direction provide the basic path information of the ultrasonic bone knife during the operation, while the acceleration and angular velocity reveal the speed change and rotation characteristics of the ultrasonic bone knife during the operation. Based on these rich dynamic parameters, the posture submodule can reconstruct the three-dimensional motion mode and posture change of the ultrasonic bone knife, thereby accurately depicting its detailed motion trajectory throughout the operation. This comprehensive data analysis method can accurately calculate its posture trajectory data during the operation. Therefore, more accurate movement direction data and posture trajectory data of the ultrasonic bone knife are obtained through the above embodiment of the present application, and more accurate surgical navigation data can be obtained.

[0059] According to one embodiment of the present application, the motion submodule is configured to obtain the acceleration, angular velocity, and position coordinates of the ultrasonic bone knife during surgery in a rectangular coordinate system.

[0060] As can be seen from the above description, the unified coordinate system of the above embodiments of the present application enables different types of motion data (such as acceleration, angular velocity and position coordinates) to be directly associated and integrated without complicated coordinate conversion. This unified approach reduces the errors that may be introduced by coordinate conversion, simplifies the data processing process, and improves calculation efficiency and accuracy.

[0061] According to one embodiment of the present application, Figure 3 As shown, the motion submodule includes: an accelerometer for obtaining the acceleration of the ultrasonic bone knife during the operation; a gyroscope for obtaining the angular velocity of the ultrasonic bone knife during the operation; and a positioner for obtaining the position coordinates of the ultrasonic bone knife during the operation.

[0062] Among them, the accelerometer, gyroscope and positioner are all integrated on the handle of the ultrasonic bone knife.

[0063] From the above description, it can be seen that the above embodiment of the present application realizes accurate and comprehensive collection of the movement direction data of the ultrasonic bone knife by integrating the corresponding instrument on the ultrasonic bone knife to obtain the corresponding data, thereby obtaining more accurate movement direction data of the ultrasonic bone knife during the operation.

[0064] 2. First Data Acquisition Module

[0065] According to one embodiment of the present application, Figure 4 As shown, the ultrasonic bone knife navigation system also includes: a first data acquisition module, and: the first data acquisition module is used to obtain the respiratory data of the spinal lesion area during the operation; the navigation module is also used to calculate the surgical navigation data of the ultrasonic bone knife based on the respiratory data and position data to guide the ultrasonic bone knife to perform spinal surgery.

[0066] As can be seen from the above description, the above embodiment of the present application obtains the respiratory data of the patient's spinal lesion area to perform real-time compensation and calibration on the position data of the ultrasonic osteotome to ensure the accuracy of navigation, thereby avoiding cutting deviations caused by the patient's respiratory movement. This real-time calibration function can improve the accuracy and safety of the operation and reduce the risk of the operation.

[0067] According to one embodiment of the present application, the respiratory data includes: respiratory amplitude data and respiratory rhythm data, and Figure 5 As shown, the first data acquisition module includes: a pressure sensor for acquiring the respiratory amplitude data of the spinal lesion area during the operation; an inertial calculator for acquiring the respiratory rhythm data of the spinal lesion area during the operation. The inertial calculator is an IMU.

[0068] It can be seen from the above description that the above embodiments of the present application monitor the respiratory amplitude data and respiratory rhythm data of the patient's spinal lesion area in real time, and calibrate these data with the position data in real time to ensure the accuracy of navigation.

[0069] 3. Second Data Acquisition Module

[0070] According to one embodiment of the present application, Figure 6 As shown, the ultrasonic bone knife navigation system also includes: a second data acquisition module, and: the second data acquisition module is used to obtain the patient's physiological data during the operation; the navigation module is also used to calculate the surgical navigation data of the ultrasonic bone knife based on the physiological data, intraoperative imaging data, and position data to guide the ultrasonic bone knife to perform spinal surgery.

[0071] For example, the patient's heart rate, blood oxygen and other physiological data can be obtained through the medical monitor interface to monitor the patient's overall condition.

[0072] As can be seen from the above description, the above embodiment of the present application uses the second data acquisition module to obtain the patient's physiological data (such as heart rate, blood oxygen, etc.) during the operation in real time, and combines it with the intraoperative imaging data and the position data of the ultrasonic bone knife. The navigation module calculates and generates surgical navigation data to guide the ultrasonic bone knife to perform spinal surgery. By introducing real-time monitoring of intraoperative physiological data, this embodiment can not only accurately plan the surgical path, but also comprehensively evaluate the patient's overall condition, promptly detect and respond to physiological abnormalities that may occur during the operation, thereby significantly improving the safety and controllability of the operation, reducing surgical risks, and providing more comprehensive and dynamic navigation support for spinal surgery.

[0073] 4. Data Annotation Module

[0074] According to one embodiment of the present application, Figure 7 As shown, the ultrasonic bone knife navigation system also includes: a data annotation module, and: the data annotation module is used to perform risk annotation on the acquired preoperative image data of the spinal lesion area to obtain the annotated preoperative image data; the navigation module is also used to calculate the surgical navigation data for the ultrasonic bone knife to perform spinal surgery based on the annotated preoperative image data, intraoperative image data, and position information. According to one embodiment of the present application, in the preoperative stage, three-dimensional image data of the patient's spinal lesion area is obtained through high-precision CT scanning, and used as preoperative image data.

[0075] For example, high-risk areas in the lesion area (such as dura mater, blood vessels, nerves, spinal cord, etc.) are marked. By marking these areas, the navigation system can monitor the distance and position relationship between the ultrasonic bone knife and these high-risk areas in real time during the operation, providing the surgeon with accurate navigation information.

[0076] From the above description, it can be seen that the above embodiments of the present application significantly improve the accuracy of surgical navigation data and risk prediction capabilities through preoperative risk labeling and intraoperative real-time data fusion, ensuring that high-risk areas can be accurately avoided during surgery, reducing the risk of surgical complications, and improving surgical safety and success rates, providing more comprehensive and reliable navigation support for spinal surgery.

[0077] 5. Second positioning module

[0078] According to one embodiment of the present application, Figure 8 As shown, the ultrasonic bone knife navigation system also includes: a second positioning module, and: the second positioning module is used to mark the intraoperative image data according to the marked preoperative image data to obtain the marked intraoperative image data; the navigation module is also used to calculate the surgical navigation data according to the marked intraoperative image data and position information to guide the ultrasonic bone knife to perform spinal surgery.

[0079] From the above description, it can be seen that the above embodiment of the present application realizes real-time synchronization of preoperative annotation data to intraoperative imaging data through the second positioning module, which significantly improves the timeliness and accuracy of intraoperative annotation, avoids errors caused by intraoperative tissue deformation or position displacement, enhances the real-time and reliability of surgical navigation, further optimizes surgical path planning, reduces surgical risks, and provides more efficient and safe navigation support for spinal surgery.

[0080] 6. Data Preprocessing Module

[0081] According to one embodiment of the present application, Fig. 9 As shown, the ultrasonic bone knife navigation system also includes: a data preprocessing module, which is used to segment and reconstruct preoperative image data and transmit the processing results to the data standard module for processing.

[0082] like Fig.10 As shown in the figure, it is a schematic diagram of the preoperative image data of the spinal lesion area. After segmentation and reconstruction, the following is obtained: Fig.11 Schematic diagram shown.

[0083] As can be seen from the above description, the above embodiment of the present application uses image processing technology to segment and reconstruct the anatomical structure of the spinal lesion area, which can clearly present the morphology, position and relationship of the spine with surrounding tissues. This processing method significantly improves the accuracy and visualization of preoperative image data, and provides a more accurate data basis for subsequent risk labeling and surgical navigation, thereby optimizing surgical path planning, reducing surgical risks, improving the safety and success rate of surgery, and providing comprehensive and reliable navigation support for spinal surgery.

[0084] 7. Preoperative Planning Module

[0085] According to one embodiment of the present application, Fig.12 As shown, the ultrasonic bone knife navigation system also includes: a preoperative planning module, and: the preoperative planning module is used to generate surgical path planning data based on the acquired patient's preoperative physical condition data and preoperative imaging data; the navigation module is also used to calculate the surgical navigation data based on the surgical path planning data, the annotated intraoperative imaging data, and the position information to guide the ultrasonic bone knife to perform spinal surgery.

[0086] For example, surgical path planning data can be developed based on the patient's preoperative physical condition data, including parameters such as cutting path and cutting depth, thereby improving the safety and effectiveness of the operation.

[0087] As can be seen from the above description, the above embodiment of the present application combines the cutting path planned before surgery and the annotation of high-risk areas with the surgical path planning data, calculates the relative position and distance between the ultrasonic bone knife and the target tissue in real time, and displays it in an intuitive way. Therefore, during the operation, the position and cutting path of the ultrasonic bone knife can be clearly seen, so that the cutting operation can be performed more accurately, providing comprehensive and reliable navigation support for spinal surgery.

[0088] In addition, according to the ultrasonic bone scalpel navigation system of the above embodiment, according to one embodiment of the present application, the surgical navigation data includes: safe area data, and / or risk area data, and / or surgical warning data, and / or ultrasonic bone scalpel cutting data. According to one embodiment of the present application, the ultrasonic bone scalpel navigation system of the present application also includes: a display screen for preoperative image data, and / or intraoperative image data, and / or displaying surgical navigation data.

[0089] For example, the navigation module monitors the position data of the ultrasonic bone knife in the spinal lesion area. When the ultrasonic bone knife approaches the high-risk area marked by the risk, the navigation system will generate surgical navigation data (such as safe area data, and / or risk area data, and / or surgical warning data, and / or ultrasonic bone knife cutting data). Specifically, the system can remind the surgeon in a variety of ways, including (1) safe area data and risk area data, that is, superimposing a color-coded risk layer on the display screen, where green represents the safe area and red represents the risk area, so that the surgeon can intuitively see the distance and position relationship between the ultrasonic bone knife and the high-risk area; (2) surgical warning data, that is, the system sends an audible and visual alarm signal on the display screen or the ultrasonic bone knife to remind the surgeon to pay attention to the current cutting status; (3) ultrasonic bone knife cutting data, that is, the system can automatically adjust the cutting parameters of the ultrasonic bone knife, such as cutting speed, cutting depth, etc., according to the risk threshold set before the operation, to reduce the surgical risk. When the ultrasonic bone knife approaches the high-risk area, the system will automatically reduce the cutting speed and suspend cutting if necessary until the surgeon takes corresponding measures to ensure the safety of the operation. This automatic intervention function can effectively avoid surgical risks caused by negligence or improper operation during the operation, and improve the safety and success rate of the operation.

[0090] For example, the navigation module monitors the patient's physiological data during surgery. When the patient's blood oxygen saturation changes abnormally, it may indicate that the patient has respiratory or circulatory system problems, which may be related to potential bleeding at the cutting site. If not treated, it will affect the safety of the operation. Therefore, the navigation system of the present application can combine physiological data with the position data of the ultrasonic bone knife in the spinal lesion area and intraoperative imaging data to provide the surgeon with more comprehensive surgical environment information; when the patient's physiological data during surgery exceeds the normal range, it may indicate that the patient is in a high-risk state. Specifically, when the patient's heart rate suddenly accelerates or the blood oxygen saturation decreases, the system can trigger a risk warning mechanism to remind the surgeon to take timely measures. The system can inform the surgeon of abnormal changes in the patient's physiological data through sound and light alarms, display screen prompts, etc., so that the surgeon can promptly assess the patient's condition and adjust the surgical plan as needed.

[0091] In summary, compared to the existing solution of intraoperative navigation of the ultrasonic bone knife, a positioning device is installed on the navigator to obtain the position of the patient's spinal lesion area, and the positioning device is removed, and then the ultrasonic bone knife is installed on the positioning device to perform surgery according to the position of the spinal lesion area. The above embodiment of the present application integrates the first positioning module on the ultrasonic bone knife to achieve synchronous acquisition of the position data of the ultrasonic bone knife in the spinal lesion area, and generates surgical navigation data based on the position data and the intraoperative image data of the spinal lesion area to guide the ultrasonic bone knife to perform surgery. This method of synchronously acquiring the position of the ultrasonic bone knife in the spinal lesion area in real time during the operation to guide the ultrasonic bone knife to perform surgery can accurately and safely perform intraoperative navigation on the ultrasonic bone knife. In addition, the position data of the ultrasonic bone knife is continuously compensated and calibrated in real time through the respiratory data of the spinal lesion area during the operation, and / or the preoperative image data after annotation, and / or the intraoperative image data after annotation, and / or the surgical path planning data, and / or the patient's physiological data during the operation to ensure the accuracy of navigation. This real-time calibration function can improve the accuracy and safety of the operation and reduce the risk of surgery.

[0092] The above descriptions are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

[0093] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

Claims

1. An ultrasonic osteotome navigation system, characterized in that: The system comprises: a first positioning module and a navigation module, and the first positioning module is integrated on the ultrasonic osteotome, wherein: The first positioning module is used to synchronously obtain the position data of the ultrasonic osteotome in the spinal lesion area; The navigation module is used to calculate surgical navigation data based on the acquired intraoperative image data of the spinal lesion area and the position information to guide the ultrasonic osteotome to perform spinal surgery.

2. The ultrasonic osteotome navigation system according to claim 1, characterized in that: The position data includes: movement direction data, posture trajectory data, and the first positioning module includes: A motion submodule, used to obtain the acceleration, angular velocity, and position coordinates of the ultrasonic bone knife during the operation, and calculate the motion direction data of the ultrasonic bone knife during the operation according to the acceleration and the angular velocity; The posture submodule is used to calculate the posture trajectory data of the ultrasonic osteotome during the operation according to the position coordinates, the movement direction, the acceleration, and the angular velocity.

3. The ultrasonic osteotome navigation system according to claim 1, characterized in that: The system further includes: a first data acquisition module, and: The first data acquisition module is used to acquire the respiratory data of the spinal lesion area during the operation; The navigation module is also used to calculate the surgical navigation data of the ultrasonic bone knife based on the breathing data and the position data to guide the ultrasonic bone knife to perform spinal surgery.

4. The ultrasonic osteotome navigation system according to claim 1, characterized in that: The system further comprises: a second data acquisition module, and: The second data acquisition module is used to acquire the patient's physiological data during surgery; The navigation module is also used to calculate the surgical navigation data of the ultrasonic bone knife based on the physiological data, the intraoperative image data, and the position data to guide the ultrasonic bone knife to perform spinal surgery.

5. The ultrasonic osteotome navigation system according to claim 3, characterized in that: The respiratory data includes: respiratory amplitude data and respiratory rhythm data, and the first data acquisition module includes: A pressure sensor, used to obtain the respiratory amplitude data of the spinal lesion area during the operation; An inertial calculator is used to obtain respiratory rhythm data of the spinal lesion area during surgery.

6. The ultrasonic osteotome navigation system according to claim 1, characterized in that: The system further includes: a data annotation module, and: The data annotation module is used to perform risk annotation on the acquired preoperative image data of the spinal lesion area to obtain the annotated preoperative image data; The navigation module is also used to calculate the surgical navigation data based on the labeled pre-operative image data, the intra-operative image data, and the position information for the ultrasonic bone knife to perform spinal surgery.

7. The ultrasonic osteotome navigation system according to claim 6, characterized in that: The system further includes: a second positioning module, and: The second positioning module is used to mark the intraoperative image data according to the marked preoperative image data to obtain the marked intraoperative image data; The navigation module is also used to calculate surgical navigation data based on the labeled intraoperative image data and the position information to guide the ultrasonic osteotome to perform spinal surgery.

8. The ultrasonic osteotome navigation system according to claim 6, characterized in that: The system further comprises: The data preprocessing module is used to segment and reconstruct the preoperative image data and transmit the processing results to the data standard module for processing.

9. The ultrasonic osteotome navigation system according to claim 7, characterized in that: The system further comprises: a preoperative planning module, and: The preoperative planning module is used to generate surgical path planning data based on the acquired patient's preoperative physical condition data and the preoperative imaging data; The navigation module is also used to calculate the surgical navigation data based on the surgical path planning data, the annotated intraoperative image data, and the position information to guide the ultrasonic bone knife to perform spinal surgery.

10. The ultrasonic osteotome navigation system according to claim 1, characterized in that: The surgical navigation data includes: safe area data, and / or risk area data, and / or surgical warning data, and / or cutting data of the ultrasonic bone knife.

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