Surgical tool and navigation system for surgical navigation

Abstract

The invention relates to the technical field of medical instruments, and discloses a surgical tool for surgical navigation and a navigation system.The surgical tool comprises a tool body and a tool positioning frame which are integrated, the tool body is provided with a tool front end, and the tool positioning frame is provided with at least three non-collinear optical markers; an identification mark is arranged on the tool main body or the tool positioning frame; the optical markers can reflect light or actively emit infrared light, and the identification marks record space coordinate information of each optical marker and the front end of the tool. When the surgical tool is used, the three-dimensional digital model of the surgical tool can be directly called through the identification mark; the surgical navigation tool is simple in structure and convenient to use, calibration during surgery is not needed, and the problems that surgical instruments need to be assembled, calibrated and debugged before an existing surgical navigation tool is used, if repeated calibration fails, consumable reflective balls need to be replaced and then calibration is conducted again, and the surgery preparation time is seriously increased are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a surgical tool and a navigation system for surgical navigation. Background Art

[0002] The surgical navigation system combines modern medical imaging technology and stereotactic technology, intuitively locates the lesion position through three-dimensional reconstruction and plans the surgical path, and uses spatial positioning technology to real-time feedback the position of surgical instruments. Compared with the limitations of traditional surgery such as inaccurate positioning, limited vision, and lack of real-time feedback, the current surgical navigation system can intuitively display the position of surgical instruments relative to the patient's real anatomical tissues during surgery, achieve precise treatment, and greatly improve the accuracy and safety of surgery.

[0003] In surgical navigation, the positioning of surgical tools is required first. Usually, the registration method based on infrared reflective points can be used for the positioning of surgical tools; the principle is to bind the infrared reflective points to the surgical tools, and use computer vision technology to identify the reflective points captured by the infrared camera, and then indirectly realize the positioning of the surgical tools. In the prior art, the patent with the publication number of CN220193149U discloses a surgical instrument calibration device for a surgical navigation system, including an instrument positioning frame and an instrument calibration frame; the instrument positioning frame includes a first infrared reflective tool and a positioning structure; a plurality of first reflective points are provided on the first infrared reflective tool; the positioning structure is used to combine with the surgical instrument; the instrument calibration frame includes a second infrared reflective tool and a calibration reference plate; a plurality of second reflective points are provided on the second infrared reflective tool; the calibration reference plate is recessed with several positioning grooves for combining with the working part of the surgical instrument.

[0004] Although the surgical tool calibration device of the above-mentioned prior art surgical navigation system has the advantages of convenient use, high calibration accuracy, and strong applicability; however, it requires the use of a special registration tooling, and the matching surgical tools need to be assembled, calibrated, and debugged at the surgical site before use. If the repeated calibration fails, it is also necessary to replace the consumable reflective ball and then re-calibrate, which seriously increases the surgical preparation time. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a surgical tool and a navigation system for surgical navigation. By calibrating the relative spatial position information between the front end of the surgical tool and the optical marker during production and associating the information with a specific identification mark; during use, the three-dimensional digital model of the surgical tool can be directly called through the identification mark; there is no need to calibrate during surgery, and the problem that the surgical navigation tool needs to be assembled, calibrated, and debugged before use, and if the repeated calibration fails, it is also necessary to replace the consumable reflective ball and then re-calibrate, which seriously increases the surgical preparation time is solved.

[0006] The present invention solves the above technical problems through the following technical means:

[0007] In a first aspect, the present invention discloses a surgical tool for surgical navigation, including an integral tool body and a tool positioning frame. The tool body has a tool front end, and at least three non-collinear optical markers are provided on the tool positioning frame. An identification mark is provided on the tool body or the tool positioning frame; the optical markers can reflect light or actively emit infrared light, and the identification mark records the spatial coordinate information of each optical marker and the tool front end.

[0008] Further, the identification mark is one of a two-dimensional code, a one-dimensional bar code, a ColorCode code, and a Dot Code code. These identification marks can all record the spatial position information of each optical marker and the tool front end. After the identification mark is photographed by a camera, the corresponding information can be identified.

[0009] Further, the identification mark also records the shape information of the tool body. The shape information of the tool body is read simultaneously, which is convenient for medical staff during the operation.

[0010] Further, a label is pasted on the tool positioning frame, and the identification mark is provided on the label. With such a setting, during production, a specific identification mark with information can be printed on the label first, and then the label with the identification mark can be pasted on the tool positioning frame, which is very convenient.

[0011] Further, the tool body includes one of a probe, a dissection finger, and a suction tube.

[0012] Further, the optical marker includes one of a small ball with retroreflection, a sticker with retroreflection function, and an LED lamp bead that actively emits infrared light. These optical markers above can all be tracked by an infrared binocular camera, and then a three-dimensional digital model of the surgical tool is established.

[0013] Further, the number of the optical markers is three or four. Three or four optical markers can not only ensure the accuracy and meet the tracking requirements, but also reduce the cost and the risk of occlusion.

[0014] Further, a connecting portion is provided on the tool positioning frame, and the connecting portion is fixedly connected to the tool body.

[0015] Second aspect, the present invention also discloses a navigation system for surgical navigation, including the above-mentioned surgical tool and camera. The identification mark is at least used to record the spatial coordinate information of each optical marker and the tool tip. The spatial coordinate information of the optical marker and the tool tip of each surgical tool corresponds to one identification mark, and the camera can scan and identify the information of the identification mark.

[0016] Furthermore, the camera is an infrared binocular camera. This technical solution enables the infrared binocular camera to track the optical marker and scan and identify the identification mark at the same time, without the need to add other cameras, making the whole system simpler.

[0017] Advantages of the present invention:

[0018] 1. The surgical tool of the present invention includes a tool body and a tool positioning frame. The tool body and the tool positioning frame can be fixed during factory production, and the relative spatial position information of the tool tip of the tool body and the optical marker on the tool positioning frame is calibrated, and the parameter information is recorded in the identification mark, and each set of surgical tools is given a specific identification mark; thus, during use, medical staff only need to align the identification mark on each set of surgical tools with the infrared binocular camera for scanning, and the three-dimensional digital model of the surgical tool can be called up, without the need for calibration during surgery, which is simple and convenient to use and the data is more accurate.

[0019] 2. The surgical tool of the present invention corresponds to a specific identification mark, and can be used cyclically or disposable; after being used once, medical staff can directly discard it without the need to disinfect the surgical tool, which reduces the workload of the hospital and also avoids cross-infection that may be caused by incomplete disinfection. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a three-dimensional structural schematic diagram of a surgical tool for surgical navigation in Embodiment 1 of the present invention Figure 1 ;

[0021] Figure 2 is a three-dimensional structural schematic diagram of a surgical tool for surgical navigation in Embodiment 1 of the present invention Figure 2 ;

[0022] Figure 3 is a three-dimensional structural schematic diagram of a surgical tool for surgical navigation in Embodiment 2 of the present invention Figure 1 ;

[0023] Figure 4 is a three-dimensional structural schematic diagram of a surgical tool for surgical navigation in Embodiment 2 of the present invention Figure 2 ;

[0024] Figure 5 Schematic diagram of a navigation system for surgical navigation in Embodiment 3 of the present invention;

[0025] Among them, Figure 1 and Figure 2 there are: tool body 101, tool positioning frame 102, connecting rod 103, tool front end 104, retroreflective small ball 105, identification mark 106;

[0026] Figure 3 and Figure 4 there are: tool body 201, tool positioning frame 202, connecting rod 203, tool front end 204, sticker with retroreflective function 205, identification mark 206.

[0027] Figure 5 there are: surgical tool 1, infrared binocular camera 2. Detailed implementation manners

[0028] The present invention will be described in detail below with reference to the accompanying drawings:

[0029] Embodiment 1,

[0030] This embodiment is a surgical tool for surgical navigation. As shown in Figure 1 and Figure 2 , it includes a tool body 101, a tool positioning frame 102 and a connecting rod 103. The tool body 101 and the tool positioning frame 102 are fixedly connected as a whole by the connecting rod 103 during production. The tool body 101 has a tool front end 104. Four non - collinear optical markers are installed on the tool positioning frame 102, and a label is pasted on the tool positioning frame 102, and an identification mark 106 is printed on the label. In other embodiments, the identification mark 106 can also be set on the tool body 101, as long as it can carry the identification mark 106 and can be displayed in front of the camera and scanned during use; in addition, the identification mark 106 can also be directly printed on the tool positioning frame 102 or the tool body 101.

[0031] Among them, the optical marker can reflect light or actively emit infrared light. The optical marker can be a small ball 105 with retroreflection, or a sticker with retroreflective function, or an LED lamp bead that actively emits infrared light. In this embodiment, the small ball 105 with retroreflection is adopted.

[0032] The identification mark 106 of this embodiment records the relative spatial position information of each optical marker with respect to the tool front end 104, as well as the shape information of the tool body 101. Among them, the identification mark 106 can be one of a two-dimensional code, a one-dimensional bar code, a ColorCode code, and a Dot Code code. These identification marks 106 can record the spatial position information of each optical marker with respect to the tool front end 104. After using a camera to photograph the identification mark 106, the corresponding information can be read from the identification mark 106. The identification mark 106 selected in this embodiment is a two-dimensional code.

[0033] The tool body 101 of the present invention can be a probe, a peeling finger, or a suction tube, and can also be a surgical instrument such as a surgical spatula, a surgical burr, or a surgical bone saw in other embodiments.

[0034] It should be noted that, based on a comprehensive evaluation of the type of surgery, instrument design, and system performance, the number of optical markers can also be other numbers greater than or equal to 3. The final number scheme can be verified clinically to ensure a balance between accuracy and practicality.

[0035] For the surgical tool for surgical navigation of the present invention, when leaving the factory, the tool body 101 and the tool positioning frame 102 can be fixed as a whole through the connecting rod 103 and shipped in a package. The relative spatial position information of the front end of the tool body and the optical markers on the tool positioning frame 102 is calibrated, and the shape information of the tool body 101 is recorded. The parameter information is recorded in the identification mark 106, and each set of surgical tools is given a specific identification mark 106. In this way, during use, medical staff only need to scan the identification mark 106 on each set of surgical tools with an infrared binocular camera to call out the three-dimensional digital model of the surgical tool, without the need for calibration during the operation, which is simple and convenient to use and the data is more accurate.

[0036] Because the tool positioning frame 102 and some surgical instruments themselves are relatively inexpensive and difficult to thoroughly clean and disinfect after use, each surgical tool of the present invention corresponds to a specific identification mark 106 and can be used once. After one-time use, medical staff can directly discard it without the need to disinfect the surgical tool again, reducing the workload of the hospital and avoiding cross-infection that may be caused by incomplete disinfection.

[0037] Embodiment 2

[0038] Comparing this Embodiment 2 with Embodiment 1, as Figure 3 and Figure 4 shown, the difference is only that the optical marker in this embodiment is a sticker 205 with retroreflective function.

[0039] Specifically, it includes a tool body 201, a tool positioning frame 202, and a connecting rod 203. The tool body 201 and the tool positioning frame 202 are fixedly connected as a whole by the connecting rod 203 during production. The tool body 201 has a tool front end 204. Four non-collinear optical markers are installed on the tool positioning frame 202, and a label is pasted on the tool positioning frame 202, with an identification mark 206 printed on the label. The optical marker in this embodiment is a sticker 205 with retroreflective function.

[0040] The identification mark 206 in this embodiment records the relative spatial position information of each optical marker with respect to the tool front end 204, as well as the shape information of the tool body 201. The identification mark 206 selected in this embodiment is a QR code.

[0041] The tool body 201 of the present invention can be a probe, a peeling finger, or a suction tube, and can also be a surgical instrument such as a surgical scalpel, a surgical burr, or a surgical bone saw in other embodiments.

[0042] Embodiment 3

[0043] The present invention also discloses a navigation system for surgical navigation, as Figure 5 shown, including the surgical tool 1 and the infrared binocular camera 2 of Embodiment 1. The identification mark 106 is at least used to record the spatial coordinate information of each optical marker and the tool front end. The spatial coordinate information of the optical marker and the tool front end of each surgical tool 1 corresponds to one identification mark, and the infrared binocular camera 2 can scan and identify the identification mark 106. For such a navigation system, when used by medical staff, they only need to align the identification mark on each set of surgical tools with the infrared binocular camera and scan it once to read the three-dimensional digital model of the surgical tool, without the need for calibration during the operation, which is simple and convenient to use, and the data is more accurate.

[0044] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention. The technologies, shapes, and structures not described in detail in the present invention are all well-known technologies.

Claims

1. A surgical tool for surgical navigation, characterized in that: It includes an integrated tool body and a tool positioning frame, the tool body has a tool front end, the tool positioning frame is provided with at least 3 non-collinear optical markers, and the tool body or the tool positioning frame is provided with an identification mark; the optical marker can reflect light or actively emit infrared light, and the identification mark records the spatial coordinate information of each optical marker and the tool front end.

2. A surgical tool for surgical navigation according to claim 1, characterized in that: The identification mark is one of a two-dimensional code, a one-dimensional barcode, a ColorCode code, and a Dot Code code.

3. A surgical tool for surgical navigation according to claim 1, characterized in that: The identification mark also records the shape information of the tool body.

4. A surgical tool for surgical navigation according to claim 1, characterized in that: A label is attached to the tool positioning frame, and the identification mark is arranged on the label.

5. A surgical tool for surgical navigation according to any one of claims 1 to 4, characterized in that: The tool body includes one of a probe, a stripping finger, and a suction tube.

6. A surgical tool for surgical navigation according to any one of claims 1 to 4, characterized in that: The optical marker includes one of a small ball with retroreflective function, a sticker with retroreflective function and an LED lamp bead with active infrared light emission.

7. A surgical tool for surgical navigation according to any one of claims 1 to 4, characterized in that: The number of the optical markers is 3 or 4.

8. A surgical tool for surgical navigation according to any one of claims 1 to 4, characterized in that: The tool positioning frame is provided with a connecting portion, and the connecting portion is fixedly connected to the tool body.

9. A navigation system for surgical navigation, characterized in that: It includes the surgical tool and camera described in any one of claims 1-8, the identification mark is at least used to record the spatial coordinate information of each optical marker and the front end of the tool, each optical marker and the spatial coordinate information of the front end of the tool of the surgical tool corresponds to an identification mark, and the camera can scan and identify the information of the identification mark.

10. The navigation system for surgical navigation according to claim 9, characterized in that: The camera is an infrared binocular camera.

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