Operation-free registration mark and electromagnetic surgical navigation system

Abstract

The utility model provides an operation-free registration mark and an electromagnetic surgical navigation system. The operation-free registration mark comprises a base, a developing structure and an electromagnetic positioning structure, the base is used for being attached to the surface of a target in the using process. The developing structure can be used for developing in a medical image; and the electromagnetic positioning structure is arranged in the base and can be tracked to a spatial position by an electromagnetic tracking system. According to the utility model, automatic registration can be supported, the point selection registration operation of a doctor is avoided, the registration process is not blocked by sight, the registration success rate and the registration precision are both improved, and in the subsequent surgical navigation process, the electromagnetic tracking system can track the position of the electromagnetic positioning structure in the operation-free registration mark in real time, so that the accuracy of the operation-free registration mark is improved. Whether the patient moves is conveniently monitored, and navigation errors caused by movement of the patient are eliminated.

Description

Technical Field

[0001] The utility model relates to the technical field of surgical navigation, in particular to an operation-free registration mark and an electromagnetic surgical navigation system. Background Art

[0002] In recent years, surgical navigation technology has developed rapidly and has gradually been used in neurosurgery, oral surgery, orthopedics and other surgeries. Registration is a key step in surgical navigation, which is used to establish a mapping relationship between medical images (or three-dimensional models) and surgical space in order to guide doctors' surgical operations. Markers are required during the registration process. Markers can be developed under medical images and their spatial positions can be collected during surgery. There are some defects in the current markers: 1. The use process requires manual collection of the position of the marker in the surgical space, such as the doctor holding a tracking probe to select the position of the registration marker during surgery; 2. Only single-modality medical images are supported. When registration is required based on other types of medical images, other types of registration markers need to be replaced; 3. The position selected by the probe does not strictly coincide with the position of the marker, resulting in reduced registration accuracy; for example, replacing the development marker can easily cause the marker to shift, thereby affecting the registration accuracy; 4. When the optical tracking system tracks the spatial position of the positioning marker, the light is easily blocked, and multiple adjustments are required, which is inconvenient to use.

[0003] In order to at least partially solve the above technical problems, the utility model provides an operation-free registration mark and electromagnetic surgical navigation system. Utility Model Content

[0004] The utility model provides an operation-free registration mark and an electromagnetic surgery navigation system, which are used to solve the defect of the complicated registration process in the prior art.

[0005] The utility model provides an operation-free registration mark, comprising: a base, a developing structure, and an electromagnetic positioning structure;

[0006] The base is used to fit to a target surface during use;

[0007] The imaging structure can be visualized in medical images;

[0008] The electromagnetic positioning structure is arranged in the base and can be tracked to a spatial position by an electromagnetic tracking system.

[0009] According to the operation-free registration mark provided by the utility model, the development structure can be developed under at least two medical images.

[0010] According to the operation-free registration mark provided by the utility model, the developing structure comprises a multimodal developing material;

[0011] Or, the developing structure includes at least two developing components, each developing component is capable of developing under a medical image. (The two developing components have the same position indication)

[0012] According to the operation-free registration mark provided by the utility model, the developing structure is a sphere, and the developing structure includes a first developing material located at the center of the sphere and a second developing material covering the first developing material.

[0013] According to the operation-free registration mark provided by the utility model, the first developing material is an MRI developing material, and the second developing material is a CT developing material or an ultrasound developing material.

[0014] According to the operation-free registration mark provided by the utility model, the electromagnetic positioning structure includes at least two electromagnetic coils, and a preset point can be determined based on each electromagnetic coil, and the preset point coincides with the position indicated by the developing structure.

[0015] According to the operation-free registration mark provided by the utility model, an optical positioning structure is also provided on the base, and its spatial position can be located by an optical navigation system.

[0016] According to the operation-free registration mark provided by the utility model, the optical positioning structure is a depression or a protrusion, which is used to cooperate with an optical probe to collect its position; or, the optical positioning structure is an optical mark, which is used to be directly tracked by an optical navigation system.

[0017] According to the operation-free registration mark provided by the utility model, the optical positioning structure is a reflective layer or an active light-emitting structure on the surface of the developing structure.

[0018] According to the operation-free registration mark provided by the utility model, the optical positioning structure is detachably connected to the base, and / or the developing structure is detachably connected to the base.

[0019] According to the operation-free registration mark provided by the utility model, in a use state, the optical positioning structure and the developing structure have a fixed relative position relationship.

[0020] According to the operation-free registration mark provided by the utility model, the base is also provided with: a signal acquisition module and a wireless transmission module;

[0021] The signal acquisition module acquires the signal of the electromagnetic positioning structure;

[0022] The wireless transmission module is connected to the signal acquisition module to transmit the acquired signal to the electromagnetic tracking system.

[0023] According to the operation-free registration mark provided by the utility model, a memory is also provided on the base, the memory stores the identity information of the operation-free registration mark, and the wireless transmission module carries the identity information when transmitting the collection signal.

[0024] The utility model also provides an electromagnetic surgical navigation system, comprising: an electromagnetic tracking system, a host;

[0025] The electromagnetic tracking system is used to track the electromagnetic positioning structure in the operation-free registration mark as claimed in any of the preceding claims;

[0026] The host is used to perform registration calculations and navigation calculations.

[0027] The operation-free registration mark and electromagnetic surgical navigation system provided by the utility model have at least the following technical effects:

[0028] 1. The operation-free registration mark can be directly attached to the surface of the target object. It is easy to use and non-invasive. It also saves the doctor's "point selection registration" operation. The electromagnetic tracking system can automatically collect the spatial position of the electromagnetic positioning structure in the operation-free registration mark, and the registration efficiency is higher.

[0029] 2. The registration process is not blocked by sight, and the registration success rate and registration accuracy are improved. In the subsequent surgical navigation process, the electromagnetic tracking system can track the position of the electromagnetic positioning structure in real time, which is convenient for monitoring whether the patient moves and eliminating navigation errors caused by patient movement.

[0030] 3. The operation-free registration mark can be developed under a variety of medical images, supports the registration of multi-modal medical images, has better versatility, and also provides a variety of structural forms to achieve "multi-modal registration" to meet user needs.

[0031] 4. Reasonable setting of the position of the electromagnetic coil and the developing structure reduces the amount of registration calculation and improves the registration accuracy.

[0032] 5. An optical positioning structure is also set in the operation-free registration mark, which supports electromagnetic navigation registration and optical navigation registration at the same time through one registration mark, so as to give full play to the respective advantages of the two navigation systems; in addition, various forms of optical positioning structures and various schemes for setting the optical positioning structure to the base are also provided, which are suitable for different optical navigation systems.

[0033] 6. A memory is also provided in the operation-free registration mark to store the identity information of the operation-free registration mark. Adding the identity information to the collected electromagnetic positioning data can avoid data confusion, improve registration accuracy, and also improve the efficiency of registration calculation (for example, guiding the "pairing process of the operation-free registration mark point and the development point in the medical image" according to the identity information). BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 It is one of the structural schematic diagrams of the operation-free registration mark provided by the utility model;

[0036] Figure 2 This is the second structural schematic diagram of the operation-free registration mark provided by the utility model;

[0037] Figure 3 This is the third structural schematic diagram of the operation-free registration mark provided by the utility model;

[0038] Figure 4 This is the fourth structural diagram of the operation-free registration mark provided by the utility model;

[0039] Figure 5 This is one of the structural schematic diagrams of the electromagnetic surgical navigation system provided by the utility model. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0041] Combine the following Figure 1-Figure 5 A registration mark describing the free operation of the utility model, such as Figure 1 As shown, the operation-free registration mark of the present invention includes a base 10 , a developing structure 11 and an electromagnetic positioning structure 30 .

[0042] The base 10 is attached to a target surface during use. The target surface is a location near the surgical site, such as the patient's scalp, face, back, etc., or a head frame, hospital bed, etc. fixedly connected to the patient.

[0043] The developing structure 20 can be developed in medical images. For example, the developing structure 20 includes ceramics and metals that can be developed under CT. For another example, the developing structure 20 includes polyethylene and metals that can be developed under ultrasound. For another example, the developing structure 20 includes iron oxide particles, water, oily capsules, titanium alloys, etc. that can be developed under MRI. The developing structure 20 can be set in the base, for example, a cavity somewhere in the base 10 is filled with the above-mentioned developing material; the developing structure 20 can also be set outside the base 10, for example, the developing structure 20 is a shell filled with the above-mentioned developing material, and the shell is connected to the base 10 by means of threads, buckles, pins, etc.

[0044] An electromagnetic positioning structure 30 is disposed in the base 10 , and the electromagnetic positioning structure 30 can be tracked to a spatial position by an electromagnetic tracking system.

[0045] In the use state, the base 10, the developing structure 20, and the electromagnetic positioning structure 30 have a fixed positional relationship. During the registration process, according to the spatial position of the electromagnetic positioning structure 30 in the surgical space and the position of 20 in the medical image, combined with the fixed relative positional relationship between the electromagnetic positioning structure 30 and the developing structure 20, the mapping relationship between the medical image space and the surgical space can be calculated (i.e., the registration process is completed). Specifically, the use process example of the operation-free registration mark provided in this embodiment is as follows:

[0046] Before surgery,

[0047] Apply the hands-free registration marker to the target surface and capture the medical image;

[0048] Then, the spatial position of the electromagnetic positioning structure is automatically determined using an electromagnetic tracking system;

[0049] Based on the position of the developing structure in the medical image and the position of the electromagnetic positioning structure under the electromagnetic tracking system, a mapping relationship between the medical image space and the surgical space is established to complete the registration. It is understandable that only one set of "developing structure and electromagnetic positioning structure" can be set in each operation-free registration mark, and at least three operation-free registration marks are required to complete the registration during the registration process. Of course, at least three sets of "developing structure and electromagnetic positioning structure" can also be set in one operation-free registration mark, and only one operation-free registration mark can be used to complete the registration during the registration process.

[0050] The operation-free registration mark provided by the utility model does not require the doctor to perform a "point selection registration" operation. The electromagnetic tracking system can automatically collect the spatial position of the electromagnetic positioning structure, which is convenient for completing automatic registration. Moreover, the registration process is not blocked by the line of sight, and the registration success rate and registration accuracy are both improved. In the subsequent surgical navigation process, the electromagnetic tracking system can also track the position of the electromagnetic positioning structure in real time, which is convenient for monitoring whether the patient moves and eliminating navigation errors caused by patient movement.

[0051] Based on the above embodiment, in one embodiment, the developing structure 20 can be developed under at least two medical images.

[0052] For example, the developing structure 20 can be developed under CT and MRI at the same time, and for another example, the developing structure 20 can be developed under CT and ultrasound at the same time. By designing the developing structure 20 to be able to develop under multiple medical images, registration based on multiple modal medical images can be supported, thereby improving the versatility of the operation-free registration mark.

[0053] Based on the previous embodiment, in one embodiment, the development structure 20 can adopt multimodal development materials, such as stainless steel and titanium alloy that can be developed under CT and ultrasound, titanium alloy, gold nanoparticles, and ferrosoferric oxide nanoparticles that can be developed under CT and MRI, and can support multimodal navigation registration.

[0054] Further, the developing structure 20 adopts a multimodal developing material and has a regular shape, and the position of its centroid is the spatial position indicated by the developing structure 20. For example, the developing structure 20 is a sphere adopting a multimodal developing material, and the position of its center is the spatial position indicated by the developing structure 20. For another example, the developing structure 20 is a ring structure adopting a multimodal developing material, and the center of the ring is the spatial position indicated by the developing structure 20.

[0055] Based on the above embodiments, in one embodiment, the developing structure 20 includes at least two developing components, each of which is capable of developing under one medical image, so that the developing structure 20 as a whole can be developed under at least two medical images.

[0056] For example, the developing structure 20 is a sphere, which includes a first developing material located at the center of the sphere and a second developing material covering the first developing material. For another example, the developing structure 20 is an adjacent concentric ring, which includes an inner ring using the first developing material and an outer ring using the second developing material. The first developing material and the second developing material can be selected from MRI developing materials, CT developing materials, ultrasound developing materials, etc.

[0057] It can be understood that the above examples only show the state where each developing component is a whole. In some embodiments, each developing component can also be discrete and work independently, that is, each developing component has a fixed relative position relationship with the electromagnetic positioning structure, and is used to support the registration process of different types of medical images.

[0058] Based on any embodiment, in one embodiment, the electromagnetic positioning structure 30 includes at least two electromagnetic coils, and a preset point can be determined based on the center point of each electromagnetic coil, and the preset point coincides with the position indicated by the developing structure 20 .

[0059] Specifically, the electromagnetic positioning structure 30 and the developing structure 20 have a preset position conversion relationship. Figure 1 In the example of FIG. 1 , two electromagnetic coils are arranged in the base 10. Since a single electromagnetic coil can realize positioning with 5 degrees of freedom, the spatial position of a preset point can be determined according to the positions of the two electromagnetic coils, that is, the preset point is the position of the developing structure 20. Preferably, the two electromagnetic coils are arranged in a non-collinear state. Figure 1 It shows the state of two electromagnetic coils in parallel. Figure 2 It shows the state where two electromagnetic coils are at a certain angle.

[0060] Reference Figure 3 In the example, two or three electromagnetic coils are provided in the base 10, and the three electromagnetic coils can jointly determine the spatial position of a preset point, that is, the position of the developing structure 20. Preferably, when multiple electromagnetic coils are provided, each electromagnetic coil is arranged to be distributed in a polygon, and the centroid of the polygon is used as the preset point indicated by it, and the preset point coincides with the position indicated by the developing structure 20, so as to reduce the amount of calculation and improve the registration accuracy.

[0061] Based on any embodiment, in one embodiment, an optical positioning structure 40 is further provided on the base 10, and its spatial position can be located by an optical navigation system.

[0062] Specifically, refer to Figure 4In this embodiment, an optical positioning structure 40 is also provided on the operation-free registration mark, and its spatial position can be located by the optical navigation system. On this basis, combined with the position of the optical positioning structure 40 in the optical navigation space and the position of the developing structure 20 in the medical image, a mapping optical system between the medical image space and the optical navigation space can be established, that is, the optical navigation registration is completed. It can be seen that the operation-free registration mark provided in this embodiment can be registered in the electromagnetic navigation space, and can also be registered in the optical navigation space, which improves the versatility of the registration mark. In some scenarios, the operation-free registration mark provided in this embodiment is used for both optical navigation support and electromagnetic navigation registration. The two navigation systems are used simultaneously during the operation to achieve seamless connection and mutual reference of the two navigation systems, and have the advantages of both navigation systems.

[0063] Based on the previous embodiment, in one embodiment, the optical positioning structure 40 is a recessed structure, and the shape of the tip of the optical probe is adapted to the limitation of the recessed structure. For example, the recessed structure is "V-shaped", and the tip of the optical probe is correspondingly "V-shaped". For another example, the recessed structure is "hemispherical", and the tip of the optical probe is correspondingly "spherical". In another embodiment, the optical positioning structure 40 is a raised structure, and the tip of the optical probe is a corresponding cap-shaped structure. For example, the optical positioning structure 40 is a raised "spherical / hemispherical" structure, and the tip of the optical probe is a cap-shaped structure with a hemispherical groove. An optical marker is provided on the optical probe, and its spatial position can be tracked by the optical navigation system to determine the position of the probe tip. The above embodiment designs mutually adapted optical positioning structures 40 and optical probes, and the position of the optical positioning structure 40 can be collected without deviation.

[0064] In another embodiment, the optical positioning structure 40 may also be an optical marker that can be directly tracked to a spatial position by an optical navigation system. For example, the optical positioning structure 40 is an optical marker that can actively emit an infrared signal, and the infrared signal can be collected by the optical navigation system to determine the spatial position of the optical positioning structure 40. For another example, the optical positioning structure 40 is an optical marker that passively reflects a light signal, and the reflected light signal can be collected to determine its spatial position.

[0065] Based on the previous embodiment, in one embodiment, the optical positioning structure 40 is a reflective layer on the surface of the developing structure 20, so that the operation-free registration mark has a smaller volume and a more compact structure.

[0066] Based on the above embodiment, in one embodiment, the optical positioning structure 40 is configured to be detachably connected to the base 10. Similarly, the developing structure 20 can also be configured to be detachably connected to the base 10, so as to improve the convenience of use. In combination with the previous embodiment, the optical positioning structure 40 can be integral with the developing structure 20 and can be removed / installed on the base 10 together.

[0067] Based on any embodiment, in one embodiment, the optical positioning structure 40 and the developing structure 20 have a fixed relative position relationship, so that the position indicated by the optical positioning structure 40 coincides with the position indicated by the developing structure 20, so as to achieve optical registration. For example, a developing structure 20 and two optical positioning components are provided in the base 10, and the developing structure 20 is provided somewhere on the line connecting the two optical positioning components. For another example, two developing components and an optical positioning structure 40 are provided in the base 10, and the optical positioning structure 10 is provided somewhere on the line connecting the two developing components. For another example, the optical positioning structure 40 is a spherical shell coated with a reflective layer, and the spherical shell is filled with a developing material.

[0068] Based on any embodiment, in one embodiment, the base 10 is further provided with a signal acquisition module and a wireless transmission module.

[0069] Specifically, when in use, the signal acquisition module can collect the electromagnetic signal of the electromagnetic positioning structure 30, and then transmit it to the electromagnetic tracking system through the wireless transmission module, so that the electromagnetic tracking system can determine the spatial position of the electromagnetic positioning structure 30 according to the received signal.

[0070] Based on any embodiment, in one embodiment, a memory is also provided on the base 10, which can store the identity information of the registration mark. The wireless transmission module will attach the identity information when transmitting the acquisition signal, so as to facilitate the electromagnetic tracking system to identify different registration marks and avoid confusion. At the same time, the identity information can also guide the "pairing process of the registration mark point and the development point in the medical image" to achieve efficient pairing and improve registration efficiency.

[0071] The utility model also provides an electromagnetic surgical navigation system, including an electromagnetic tracking system 52 and a host 51;

[0072] The electromagnetic tracking system 52 is used to track the electromagnetic positioning structure in any of the aforementioned operation-free registration marks;

[0073] The host 51 is used to perform registration calculations and navigation calculations.

[0074] Specifically, the electromagnetic tracking system 52 may include a magnetic field transmitting source and a signal receiving unit. The magnetic field transmitting source is used to generate a magnetic field. The electromagnetic positioning structure generates an induction signal in the magnetic field. The induction signal is collected and sent to the signal receiving unit. After processing, the spatial position of the electromagnetic positioning structure is determined. The host is used to process data, complete registration calculations and subsequent navigation processes. The processing methods of registration calculations and navigation calculations can refer to the existing technology and will not be repeated here.

[0075] The electromagnetic surgical navigation system provided in this embodiment does not require the doctor to perform a "point selection and registration" operation. The electromagnetic tracking system can automatically collect the spatial position of the electromagnetic positioning structure, which is convenient for completing automatic registration. Moreover, the registration process is not blocked by line of sight, and the registration success rate and registration accuracy are both improved. In the subsequent surgical navigation process, the electromagnetic tracking system can also track the position of the electromagnetic positioning structure in real time, which is convenient for monitoring whether the patient moves and eliminating navigation errors caused by patient movement.

[0076] More embodiments of the electromagnetic surgical navigation system can refer to the operation-free registration mark described above, which will not be described in detail here.

[0077] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. Those skilled in the art may understand and implement the present invention without creative effort.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. An operation-free registration mark, characterized in that: include: Base, developing structure, electromagnetic positioning structure; The base is used to fit to a target surface during use; The imaging structure can be visualized in medical images; The electromagnetic positioning structure is arranged in the base and can be tracked to a spatial position by an electromagnetic tracking system.

2. The operation-free registration mark according to claim 1, characterized in that: The imaging structure can be visualized under at least two medical imaging conditions.

3. The operation-free registration mark according to claim 2, characterized in that: The developing structure comprises a multimodal developing material; Alternatively, the developing structure includes at least two developing components, each of which is capable of developing under a medical image.

4. The operation-free registration mark according to claim 3, characterized in that: The developing structure is a sphere, and includes a first developing material located at the center of the sphere and a second developing material covering the first developing material.

5. The operation-free registration mark according to claim 4, characterized in that: The first developing material is an MRI developing material, and the second developing material is a CT developing material or an ultrasound developing material.

6. The operation-free registration mark according to claim 1, characterized in that: The electromagnetic positioning structure includes at least two electromagnetic coils, and a preset point can be determined based on each electromagnetic coil, and the preset point coincides with the position indicated by the developing structure.

7. The operation-free registration mark according to claim 1, characterized in that: The base is also provided with an optical positioning structure, which can be positioned in space by an optical navigation system.

8. The operation-free registration mark according to claim 7, characterized in that: The optical positioning structure is a depression or a protrusion, and is used to cooperate with the optical probe to collect its position; Alternatively, the optical positioning structure is an optical marker whose position can be directly tracked by an optical navigation system.

9. The operation-free registration mark according to claim 8, characterized in that: The optical positioning structure is a reflective layer or an active light-emitting structure on the surface of the developing structure.

10. The operation-free registration mark according to claim 7, characterized in that: The optical positioning structure is detachably connected to the base, and / or the developing structure is detachably connected to the base.

11. The operation-free registration mark according to claim 7, characterized in that: In a use state, the optical positioning structure and the developing structure have a fixed relative position relationship.

12. The operation-free registration mark according to claim 1, characterized in that: The base is also provided with: a signal acquisition module and a wireless transmission module; The signal acquisition module acquires the signal of the electromagnetic positioning structure; The wireless transmission module is connected to the signal acquisition module to transmit the acquired signal to the electromagnetic tracking system.

13. The operation-free registration mark according to claim 12, characterized in that: The base is also provided with a memory, which stores the identity information of the registration mark, and the wireless transmission module carries the identity information when transmitting the collected signal.

14. An electromagnetic surgical navigation system, characterized in that: include: Electromagnetic tracking system, host; The electromagnetic tracking system is used to track the electromagnetic positioning structure in the operation-free registration mark according to any one of claims 1 to 13; The host is used to perform registration calculations and navigation calculations.

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