Neurosurgical operation navigation function remote sharing device and method

Abstract

The invention relates to a neurosurgical operation navigation function remote sharing device and method.The device comprises a remote probe, a remote terminal with a motion capture function, a mechanical arm and a local control device.The remote probe and the remote terminal are located at remote positions without a neural navigation system; the mechanical arm and the local control device are located at the local position provided with the neural navigation system. The remote probe is used for being held by an operator at a remote position and carrying out related operation; the remote terminal is used for capturing pose and motion information of the remote probe in real time and sending the pose and motion information to the local control device; the mechanical arm is used for clamping an original probe of the neural navigation system, and the local control device is in data communication with a remote terminal and is used for receiving pose and motion information of the remote probe and controlling the mechanical arm to perform synchronous action. According to the device and the method, the nerve navigation function can be remotely shared in a scene without a nerve navigation system at low cost.

Description

Technical Field

[0001] This invention relates to the field of medical devices, specifically to a remote sharing device and method for neurosurgical navigation functions. Background Technology

[0002] With the rapid development of science and technology, modern medicine is undergoing a profound transformation from evidence-based medicine to precision medicine, focusing on the accurate diagnosis, assessment, and treatment of diseases. In this transformation, neurosurgical navigation technology plays an invaluable role as a key driving force in precision surgical treatment, greatly improving surgical accuracy. Numerous clinical applications have already demonstrated the accuracy and safety of neurosurgical navigation in surgical procedures.

[0003] However, a significant problem is that current neurosurgical navigation systems are mainly concentrated in high-level hospitals and advanced neurosurgical centers, and have not yet been widely adopted in primary care hospitals. Neurosurgeons in primary care hospitals, compared to those in high-level hospitals, may face challenges due to relatively insufficient surgical experience, and their need for surgical aids may be more urgent.

[0004] Unfortunately, given the cost of these advanced surgical aids and the frequency of use in primary hospitals, it is foreseeable that for a considerable period of time, most primary hospitals and medical institutions in underdeveloped areas will still find it difficult to equip themselves with neurosurgical navigation and surgical robots. This limits the widespread adoption of the technology and the overall improvement in the quality of neurosurgical procedures. It also limits the ability of advanced neurosurgical centers to further guide primary hospitals in exploring regionally standardized treatment plans for neurosurgical diseases such as cerebral hemorrhage, promoting appropriate technologies, and conducting multi-center clinical research. Summary of the Invention

[0005] The purpose of this invention is to provide a device and method for remotely sharing neurosurgical navigation functions, which can realize the remote sharing of neuronavigation functions in scenarios where a neuronavigation system is not provided at low cost.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a remote sharing device for neurosurgical navigation function, comprising a remote probe, a remote terminal with motion capture function, a robotic arm and a local control device, wherein the remote probe and the remote terminal are located at a remote location not equipped with a neuronavigation system, and the robotic arm and the local control device are located at a local location equipped with a neuronavigation system. The remote probe is used to be held and operated by an operator at a remote location; the remote terminal is used to capture the pose and motion information of the remote probe in real time and send it to the local control device. The robotic arm is used to hold the original probe of the neural navigation system. The local control device communicates with the remote terminal to receive the pose and motion information of the remote probe and control the robotic arm to perform synchronous movements.

[0007] Furthermore, the remote probe is equipped with a positioning module. The remote terminal can identify the position and attitude of the remote probe by detecting the positioning module, and thus capture the pose and motion information of the remote probe in real time.

[0008] Furthermore, the remote terminal includes a motion capture device and a control unit with a remote communication module. The motion capture device is connected to the control unit. The motion capture device is used to capture the pose and motion information of the remote probe in real time. The control unit is equipped with a remote control program module, which is used to control the operation of the motion capture device, acquire the pose and motion information of the remote probe, and then send it to the local control device through the remote communication module.

[0009] Furthermore, the remote terminal is a mobile terminal with a built-in or external depth lens. The mobile terminal is equipped with a remote control program module for controlling the operation of the depth lens, acquiring the pose and motion information of the remote probe, and then sending it to the local control device through the remote communication function on the mobile terminal.

[0010] Furthermore, both the local control device and the remote terminal have video communication functions, and the local control device and the remote terminal establish video communication to realize video interaction between local and remote operators. The local control device is connected to the neural navigation system and transmits the navigation content displayed on the neural navigation system to the local control device in real time. The local control device synchronously displays the navigation content on the remote terminal through video communication established with the remote terminal; or the local control device is equipped with a high-definition camera device, which is positioned directly in front of the neural navigation system screen to capture the navigation content displayed on the neural navigation system. The local control device displays the captured image, i.e., the navigation content displayed on the neural navigation system, on the remote terminal in real time through video communication established with the remote terminal.

[0011] Furthermore, a local video communication device is installed at a local location, and a remote video communication device is installed at a remote location. Video communication is established between the local video communication device and the remote video communication device to realize video interaction between local and remote operators. The local video communication device is connected to the neural navigation system and transmits the navigation content displayed on the neural navigation system to the local video communication device in real time. The local video communication device synchronously displays the navigation content on the remote video communication device through video communication established with the remote video communication device; or the local video communication device is equipped with a high-definition camera device, which is positioned directly in front of the neural navigation system screen to capture the navigation content displayed on the neural navigation system. The local video communication device displays the captured image, i.e., the navigation content displayed on the neural navigation system, in real time on the remote video communication device through video communication established with the remote video communication device.

[0012] Furthermore, after the robotic arm grips the original probe, the local control device calculates the original probe's pose information based on the robotic arm's current pose information. The local control device receives the pose and motion information of the remote probe sent by the remote terminal, establishes a spatial change relationship between the remote probe and the original probe based on the remote probe's pose information, realizes the pose association between the remote probe and the original probe, and then calculates the robotic arm's motion trajectory based on the motion information of the remote probe and the established spatial change relationship, and controls the robotic arm to perform synchronous movements so that the original probe follows the remote probe's movement in real time.

[0013] Furthermore, a positioning marker is provided at a remote location for positioning during medical imaging examinations and probe positioning; the positioning marker is fixed to the patient's body surface during use and can be identified by the medical imaging examination system during medical imaging examinations (MRI / CT).

[0014] Furthermore, the local control device communicates wirelessly with the remote terminal via a wireless communication network.

[0015] This invention also provides a method for remotely sharing neurosurgical navigation functions. Based on the aforementioned device, it enables remote application and function sharing of a neuronavigation system, comprising the following steps: S1. At the local location, acquire medical image data from MRI / CT scans of out-of-town patients awaiting surgery and import them into the neuronavigation system to establish a surgical plan; S2. After the out-of-town patient is positioned and head is fixed, the original probe is held by the robotic arm at the local location, the remote sharing device for neurosurgical navigation is activated to initialize and establish the positional association between the remote probe and the original probe. S3. At the remote location, the remote operator sequentially touches various positioning markers or positioning signs fixed to the patient's body surface using a remote probe. Before each touch, the local operator selects the positioning marker or sign to be located on the neuronavigation system and informs the remote operator via video communication. Then, the remote operator moves the remote probe so that its tip touches the corresponding positioning marker or sign. At this time, the remote terminal sends the position and motion information of the remote probe to the local control device. The local control device controls the robotic arm to perform synchronous movements based on the received position and motion information of the remote probe. The robotic arm moves the original probe synchronously to the corresponding position. At this time, the local operator confirms on the neuronavigation system that the current positioning marker or sign has been located. The above operation is repeated until all positioning markers or signs are located, thus completing the navigation recognition registration. S4. At a remote location, the navigation content displayed on the neuronavigation system is received and synchronously displayed via a remote terminal. Under the guidance of neuronavigation, the remote operator holds the remote probe and performs related operations according to the surgical plan. During this process, the remote terminal captures the pose and motion information of the remote probe in real time and sends it to the local control device. The local control device receives the pose and motion information of the remote probe and controls the robotic arm to perform synchronous movements, so that the original probe held on the robotic arm follows the movement of the remote probe in real time. The movement of the original probe is as if it is moving according to the surgical plan at the local location. The neuronavigation system captures the movement of the original probe in real time and continuously updates the navigation content, thereby realizing the remote sharing of neuronavigation function even when a neuronavigation system is not equipped at the remote location.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a device and method for remote sharing of neurosurgical navigation function. The device and method can remotely share the neuronavigation function of the locally equipped neuronavigation system, and the implementation cost is low. It not only improves the utilization rate of the neuronavigation system, but also effectively meets the surgical needs of primary hospitals and improves the surgical accuracy and safety of primary hospitals. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the remote sharing device for neurosurgical navigation function according to an embodiment of the present invention.

[0018] In the diagram: 1-Remote probe; 2-Location marker; 3-Remote terminal; 4-Robotic arm; 5-Local control device; 6-Motion capture device; 7-Control unit; 8-Neuro-navigation system; 9-Existing probe of the neuro-navigation system; 10-Motion capture device of the neuro-navigation system. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0021] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0022] like Figure 1 As shown, this embodiment provides a remote sharing device for neurosurgical navigation function, including a remote probe 1, a remote terminal 3 with motion capture function, a robotic arm 4, and a local control device 5. The remote probe 1 and the remote terminal 3 are located at a remote location without a neuronavigation system, while the robotic arm 4 and the local control device 5 are located at a local location equipped with a neuronavigation system.

[0023] The remote probe 1 is used to be held and operated by an operator at a remote location. The remote terminal 3 is used to capture the pose and motion information of the remote probe 1 in real time and send it to the local control device.

[0024] The robotic arm 4 is used to hold the original probe 9 of the neuronavigation system 8. The local control device 5 communicates with the remote terminal 3 to receive the pose and motion information of the remote probe and control the robotic arm to perform synchronous movements.

[0025] In order to identify the remote probe, in this embodiment, the remote probe 1 is equipped with a positioning module. The remote terminal 3 identifies the position and attitude of the remote probe by detecting the positioning module, and then captures the pose and motion information of the remote probe in real time.

[0026] In this embodiment, the remote terminal 3 includes a motion capture device 6 and a control unit 7 with a remote communication module. The motion capture device 6 is connected to the control unit 7. The motion capture device 6 is used to capture the pose and motion information of the remote probe in real time. The control unit 7 is equipped with a remote control program module, which is used to control the motion capture device to work, acquire the pose and motion information of the remote probe 1, and then send it to the local control device 5 through the remote communication module.

[0027] In other embodiments, the remote terminal may also be a mobile terminal with a built-in or external depth camera, such as a mobile phone or tablet. The mobile terminal is equipped with a remote control program module for controlling the depth camera to work, acquiring the pose and motion information of the remote probe, and then sending it to the local control device through the remote communication function on the mobile terminal.

[0028] In this embodiment, both the local control device 5 and the remote terminal 3 have video communication functions. The local control device 5 and the remote terminal 3 establish video communication to realize video interaction between local and remote operators.

[0029] In other embodiments, a local video communication device can be configured at a local location and a remote video communication device can be configured at a remote location. Video communication can be established between the local video communication device and the remote video communication device to realize video interaction between local and remote operators.

[0030] To achieve synchronous display of navigation content on a neural navigation system at a remote location, different implementation schemes are possible: 1. For a neural navigation system capable of exporting navigation data, the local control device 5 (or local video communication device) is connected to the neural navigation system 8 and transmits the navigation content displayed on the neural navigation system 8 to the local control device 5 (or local video communication device) in real time. The local control device 5 (or local video communication device) synchronously displays the navigation content on the remote terminal 3 (or remote video communication device) through video communication established between the local control device 5 (or local video communication device) and the remote terminal 3 (or remote video communication device).

[0031] 2. For neural navigation systems that cannot export navigation data, the local control device 5 (or local video communication device) is equipped with a high-definition camera. The high-definition camera is positioned directly in front of the neural navigation system screen to capture the navigation content displayed on the neural navigation system. The local control device 5 (or local video communication device) displays the captured images, i.e., the navigation content displayed on the neural navigation system, in real time on the remote terminal 3 (or remote video communication device) through video communication established between the local control device 5 (or local video communication device) and the remote terminal 3 (or remote video communication device).

[0032] After the robotic arm 4 grips the original probe 9, the local control device 5 calculates the original probe's pose information based on the robotic arm's current pose information. The local control device 5 receives the pose and motion information of the remote probe sent by the remote terminal 3. Based on the remote probe's pose information, it establishes a spatial change relationship between the remote probe and the original probe, realizing the pose association between the remote probe and the original probe. Then, based on the remote probe's motion information and combined with the established spatial change relationship, it calculates the robotic arm's motion trajectory and controls the robotic arm 4 to perform synchronous movements so that the original probe 9 follows the remote probe 1 in real time.

[0033] In this embodiment, a positioning marker 2 is also provided at a remote location for positioning during medical imaging examinations and probe positioning, thereby enabling navigation recognition and registration and ensuring the smooth progress of subsequent neuronavigation. The positioning marker is fixed to the patient's body surface during use and can be recognized by the medical imaging system during medical imaging examinations (MRI / CT). Positioning based on the positioning marker 2 allows for more accurate navigation recognition and registration. This is a preferred implementation. Of course, if no positioning marker is placed on the patient's body surface during MRI / CT scans, landmarks within the natural anatomical structures of the human body can also be used as positioning markers, such as the corners of the eyes, the center of the eyebrows, and the tip of the nose. Navigation recognition and registration can also be achieved based on these landmarks.

[0034] In this embodiment, the local control device 5 communicates wirelessly with the remote terminal 3 via a wireless communication network such as 5G.

[0035] This embodiment also provides a method for remote sharing of neurosurgical navigation functions. Based on the above-mentioned device, the remote application and function sharing of the neuronavigation system are realized by following the steps below.

[0036] S1. At the local location, acquire medical image data from MRI / CT scans of patients awaiting surgery in other locations and import them into the neuronavigation system to establish a surgical plan.

[0037] S2. After the out-of-town patient is positioned and their head is fixed, the original probe is held in place by a robotic arm at the local location. The remote sharing device for neurosurgical navigation is activated to initialize and establish the positional association between the remote probe and the original probe.

[0038] S3. At the remote location, the remote operator sequentially touches various positioning markers or positioning marks fixed to the patient's body surface using a remote probe to achieve navigation recognition and registration. For patients with positioning markers on their head during MRI / CT scans, the positioning markers are touched; while for patients without positioning markers on their head during MRI / CT scans, positioning marks on the patient's body surface, such as the corner of the eye, the center of the forehead, and the tip of the nose, are touched.

[0039] Before each touch, the local operator selects the positioning marker or sign to be located on the neural navigation system and informs the remote operator via video communication. Then, the remote operator moves the remote probe so that its tip touches the corresponding positioning marker or sign. At this time, the remote terminal sends the position and motion information of the remote probe to the local control device. The local control device controls the robotic arm to perform synchronous movements based on the received position and motion information of the remote probe. The robotic arm moves the original probe to the corresponding position synchronously. At this time, the local operator confirms on the neural navigation system that the current positioning marker or sign has been located.

[0040] Repeat the above steps until all location markers or signs are located, thus completing the navigation recognition registration.

[0041] S4. At a remote location, the navigation content displayed on the neuronavigation system is received and synchronously displayed via a remote terminal. Under the guidance of neuronavigation, the remote operator holds the remote probe and performs related operations according to the surgical plan. During this process, the remote terminal captures the pose and motion information of the remote probe in real time and sends it to the local control device. The local control device receives the pose and motion information of the remote probe and controls the robotic arm to perform synchronous movements, so that the original probe held on the robotic arm follows the movement of the remote probe in real time. The movement of the original probe is as if it is moving according to the surgical plan at the local location. The neuronavigation system captures the movement of the original probe in real time and continuously updates the navigation content, thereby realizing the remote sharing of neuronavigation function even when a neuronavigation system is not equipped at the remote location.

[0042] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A neurosurgical operation navigation function remote sharing device, characterized by, The remote probe, the remote terminal with motion capture function, the mechanical arm and the local control device, the remote probe and the remote terminal are located in a remote location without a neural navigation system, and the mechanical arm and the local control device are located in a local location equipped with a neural navigation system; The remote probe is used for being held by an operator in a remote location and performing relevant operations; the remote terminal is used for capturing the pose and motion information of the remote probe in real time and sending to the local control device; The mechanical arm is used for holding an original probe of the neural navigation system, and the local control device communicates with the remote terminal to receive the pose and motion information of the remote probe and control the mechanical arm to perform synchronous actions.

2. The neurosurgical navigation function remote sharing apparatus according to claim 1, wherein The remote probe is provided with a positioning module, and the remote terminal detects the positioning module to identify the position and attitude of the remote probe, and then captures the pose and motion information of the remote probe in real time.

3. The neurosurgical navigation function remote sharing apparatus according to claim 1, wherein The remote terminal includes a motion capture device and a control unit with a remote communication module, the motion capture device is connected with the control unit, the motion capture device is used for capturing the pose and motion information of the remote probe in real time, the control unit is installed with a remote control program module, which is used for controlling the motion capture device to work, obtaining the pose and motion information of the remote probe, and then sending to the local control device through the remote communication module.

4. The neurosurgical navigation function remote sharing apparatus according to claim 1, wherein The remote terminal is a mobile terminal with a built-in or externally connected depth lens, and the mobile terminal is installed with a remote control program module, which is used for controlling the depth lens to work, obtaining the pose and motion information of the remote probe, and then sending to the local control device through the remote communication function of the mobile terminal.

5. The neurosurgical navigation function remote sharing apparatus according to claim 1, wherein The local control device and the remote terminal both have video communication function, and the local control device and the remote terminal establish video communication to realize video interaction between the local operator and the remote operator. The local control device is connected with the neural navigation system and transmits the navigation content displayed on the neural navigation system to the local control device in real time, and the local control device synchronously displays the navigation content on the remote terminal through the video communication between the local control device and the remote terminal; or the local control device is provided with a high-definition camera device, the high-definition camera device is opposite to the screen of the neural navigation system to shoot the navigation content displayed on the neural navigation system, and the local control device displays the shot image, i.e. the navigation content displayed on the neural navigation system, on the remote terminal in real time through the video communication between the local control device and the remote terminal.

6. The neurosurgical navigation function remote sharing apparatus according to claim 1, wherein The local video communication equipment is arranged in the local location, and the remote video communication equipment is arranged in the remote location, and the local video communication equipment and the remote video communication equipment establish video communication to realize video interaction between the local operator and the remote operator. The local video communication device is connected with the neuronavigation system and transmits the navigation content displayed on the neuronavigation system to the local video communication device in real time, and the navigation content is synchronously displayed on the remote video communication device through the video communication between the local video communication device and the remote video communication device; or the local video communication device is provided with a high-definition camera device, the high-definition camera device is opposite to the screen of the neuronavigation system to capture the navigation content displayed on the neuronavigation system, and the local video communication device displays the captured image, i.e. the navigation content displayed on the neuronavigation system, on the remote video communication device in real time through the video communication between the local video communication device and the remote video communication device. 7.The neurosurgical operation navigation function remote sharing device according to claim 1, wherein, The local control device calculates the pose information of the original probe according to the current pose information of the mechanical arm after the mechanical arm clamps the original probe; the local control device receives the pose and motion information of the remote probe sent by the remote terminal, establishes the spatial change relationship between the remote probe and the original probe based on the pose information of the remote probe, realizes the pose association between the remote probe and the original probe, then calculates the motion trajectory of the mechanical arm based on the motion information of the remote probe and the established spatial change relationship, and controls the mechanical arm to perform synchronous action, so that the original probe can follow the remote probe in real time. 8.The neurosurgical operation navigation function remote sharing device according to claim 1, wherein, A positioning marker is arranged at the remote location, which is used for medical image examination positioning and probe positioning; the positioning marker is fixed on the surface of the patient's body during use and can be recognized by the medical image examination system during the medical image examination (MRI / CT). 9.The neurosurgical operation navigation function remote sharing device according to claim 1, wherein, The local control device performs wireless communication with the remote terminal through a wireless communication network.

10. A method for sharing a neurosurgical operation navigation function remotely, characterized by, Based on the device of any one of claims 1-9, remote application and function sharing of the neuronavigation system are realized, including the following steps: S1, in the local location, medical image data of a patient to be operated in a remote location is obtained and imported into the neuronavigation system to establish an operation plan; S2, when the patient to be operated in the remote location is in a good operation body position and the head is fixed, the original probe is clamped by the mechanical arm in the local location, the neuronavigation function remote sharing device is started, and the pose association between the remote probe and the original probe is established. S3, in the remote location, the remote operator touches each positioning marker fixed on the patient's body surface or the positioning mark on the patient's body surface in turn through the remote probe; before each touch, the local operator first selects the positioning marker or the positioning mark to be positioned next on the neural navigation system and informs the remote operator through the video communication mode; then the remote operator moves the remote probe so that the tip of the remote probe touches the corresponding positioning marker or positioning mark, at which time the remote terminal sends the pose and motion information of the remote probe to the local control device, and the local control device controls the mechanical arm to perform synchronous action according to the received pose and motion information of the remote probe, and the mechanical arm drives the original probe to move to the corresponding position synchronously; at this time, the local operator confirms that the current positioning marker or positioning mark has been positioned on the neural navigation system; repeat the above operation until the positioning of all positioning markers or positioning marks is completed, that is, the navigation recognition registration is completed; S4, in the remote location, the remote terminal receives and synchronously displays the navigation content displayed on the neural navigation system, and the remote operator holds the remote probe to perform related operations according to the surgical plan under the guidance of the neural navigation; in this process, the remote terminal captures the pose and motion information of the remote probe in real time and sends it to the local control device, and the local control device receives the pose and motion information of the remote probe and controls the mechanical arm to perform synchronous action, so that the original probe clamped on the mechanical arm follows the motion of the remote probe in real time; the motion of the original probe is as if it is moving according to the surgical plan in the local location, and the neural navigation system captures the motion of the original probe in real time and constantly updates the navigation content, so as to realize the remote sharing of the neural navigation function in the case that the neural navigation system is not equipped in the remote location.

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