A navigation registration device and a surgical navigation system

Abstract

The present invention provides a navigation registration device and a surgical navigation system, wherein the navigation registration device comprises: a base, wherein the base is attached to a target surface during use, wherein a first indicating structure is arranged on the base and can indicate a first spatial point; and a developing positioning member, wherein at least two developing structures that can be developed in a medical image are arranged on the developing positioning member, wherein the developing positioning member is used to be detachably connected to the base, and in a connected state, at least part of the developing structures indicates the first spatial point. The developing positioning member of the present invention is detachably connected to the base, and in an installed state, the spatial points indicated by the multiple developing structures indicated by the developing positioning member coincide with the spatial points indicated by the indicating structures on the base, and there is no need to correct the acquisition deviation, so that the points in the medical image are directly aligned with the spatial points acquired in the surgical space, thereby improving the registration accuracy.

Description

Technical Field

[0001] The present invention relates to medical equipment, and in particular to a navigation registration device and a surgical navigation system. Background Art

[0002] Positioning navigation is of great help to surgical operations. Preoperative registration (establishing a mapping relationship between medical images and patient space) is the technical basis of positioning navigation. How to obtain a high-precision registration relationship more conveniently and simply, and how to register non-invasively are the current development directions.

[0003] At present, the in vitro registration mark is commonly used in the device for assisting positioning navigation to realize registration. Since the registration mark occupies a certain space, when the spatial position is collected by contacting the surface of the mark with the front end of the probe (usually spherical), the center of the probe tip cannot coincide with the center of the mark, so there is a certain collection deviation. CN205514897U discloses an imaging marker, which is provided with a groove above the developing body, the developing body can be developed in the medical image, the probe can collect the spatial position of the groove, and the registration is performed according to the developing mark under the medical image and the groove position collected by the probe. The defect of this scheme is that the developing body and the groove are in different positions, and the deviation between the developing mark and the groove in the imaging marker and the orientation information in the medical image need to be corrected before the registration can be performed. Although this scheme improves the accuracy, it needs to collect more data to calculate the orientation and correct the deviation, and its registration efficiency needs to be improved. On the other hand, the current registration mark only supports one form of medical imaging, and cannot support multimodal image registration, which limits the registration accuracy and the scope of application of surgical navigation.

[0004] In order to solve or partially solve the above technical problems, the present invention provides a navigation registration device. Summary of the invention

[0005] In order to solve or at least partially solve the above technical problems, the present invention provides a navigation registration device, comprising:

[0006] A base, wherein the base is attached to a target surface during use, and a first indicating structure is provided on the base, capable of indicating a first spatial point;

[0007] A developing positioning member is provided with at least two developing structures capable of developing in medical images, and the developing positioning member is used to be detachably connected to the base. In the connected state, at least part of the developing structure indicates the first spatial point.

[0008] Optionally, the first indication structure may be a groove, or a raised structure such as a boss or a convex ball, which can be acquired in cooperation with the alignment probe to the position of the first spatial point. One end of the indication structure registration probe is provided with a matching structure. For example, the indication structure is a depression, and a matching sphere is provided at the tip of the probe; the indication structure is a protrusion, and a matching depression structure is provided at the tip of the probe; or, the first indication structure is a tracking mark, and the tracking mark can be tracked by the tracking system to the position of the first spatial point.

[0009] Optionally, the navigation registration device further comprises more groups of developing positioning members; each developing positioning member can be installed replaceably on the base, or installed on the base at the same time.

[0010] Furthermore, the developing structure in each developing positioning member can be developed in different medical images.

[0011] Optionally, the imaging positioning member is provided with a first type of imaging structure that can be imaged and positioned in a first medical image, and a second type of imaging structure that can be imaged in a second medical image.

[0012] Further, the first spatial point can be obtained according to the first type of developing structure, and the first spatial point can be obtained according to the second type of developing structure.

[0013] Optionally, each developing structure is a sphere, and the centers of each sphere are arranged in the same non-collinear plane, and the first spatial point can be uniquely determined according to the positions of each center.

[0014] Optionally, the first type of developing structure is arranged on a first surface of the developing positioning member, indicating the first spatial point, and the second type of developing structure is arranged on a second surface of the developing positioning member, indicating a second spatial point.

[0015] Furthermore, the navigation registration device also includes a matching component, the matching component is provided with a second indication structure, the matching component is used to be detachably connected to the base, and in a connected state, the second indication structure indicates the second spatial point.

[0016] Optionally, the developing structure uses a multimodal developing material and can be developed in at least two medical images simultaneously.

[0017] Optionally, the developing structure is a double-layer spherical structure, the inner layer of which can be developed in the first medical image, and the outer layer of which can be developed in the second medical image.

[0018] The present invention provides a surgical navigation system, comprising any one of the aforementioned navigation registration devices.

[0019] The navigation registration device provided by the present invention includes at least the following innovative features:

[0020] 1. The device is attached to the target surface through a base, avoiding additional trauma and reducing patient pain.

[0021] 2. When installed on the base, the developing structure of the developing positioning piece and the indicating structure on the base indicate the same spatial point. When performing registration, there is no need to correct the deviation, which reduces the amount of calculation and improves the registration efficiency and accuracy.

[0022] 3. In some schemes, multiple sets of imaging positioning parts can be installed on the base at the same time or installed on the base in a replaceable manner, which reduces the volume / weight of the device in use and improves the registration accuracy; in some schemes, individual imaging positioning parts can be developed under different medical images, supporting multi-modal registration with a simple structure.

[0023] 4. The imaging positioning component is designed to include multiple types of imaging structures, or is designed to use multi-modal imaging materials, or is designed to be a double-layer spherical structure, which supports imaging under multiple medical images, improves registration and navigation accuracy, and expands the application scope of positioning navigation.

[0024] 5. The device can be used in combination with the matching positioning probe and navigation system to simplify the use process and improve registration accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work.

[0026] Figure 1 It is one of the structural schematic diagrams of the navigation registration device provided by the present invention;

[0027] Figure 2 yes Figure 1 A top view of a navigation registration device;

[0028] Figure 3 This is the second structural diagram of the navigation registration device provided by the present invention;

[0029] Figure 4 yes Figure 2 A top view of a navigation registration device;

[0030] Figure 5 This is the third structural diagram of the navigation registration device provided by the present invention;

[0031] Figure 6 This is the fourth structural diagram of the navigation registration device provided by the present invention;

[0032] Figure 7 This is the fifth structural diagram of the navigation registration device provided by the present invention;

[0033] Figure 8 This is the sixth structural diagram of the navigation registration device provided by the present invention;

[0034] Fig. 9 yes Figure 8 A schematic diagram of a base of a navigation registration device is shown;

[0035] Fig.10 yes Figure 8 The schematic diagram and cross-sectional diagram of the development structure of the navigation registration device shown in the state of being connected to the base;

[0036] Fig.11 yes Figure 8 The schematic diagram and cross-sectional diagram of the matching component of the navigation registration device when it is connected to the base.

[0037] Reference numerals:

[0038] 10-base, 101-first indication structure, 102-base body, 103-notch; 104-slide groove; 20-development positioning member, 201-first development structure, 202-second development structure, 205-fifth development structure, 206-sixth development structure, 30-development positioning member, 301-third development structure, 302-fourth development structure, 40-matching assembly, 401-first development structure, 402-matching structure, 403-second indication structure. DETAILED DESCRIPTION

[0039] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Embodiment 1:

[0041] Figure 1 , Figure 2 An embodiment of the navigation registration device of the present invention is shown. As shown in the figure, the navigation registration device includes a base 10 and a development positioning member 20.

[0042] The base 10 is used to adhere to the target surface (i.e., the patient surface) during use, for example, it can be adhered to the target surface by means of adhesives, release paper, etc., and the side that adheres to the target surface can be any suitable shape, such as circular, elliptical, rectangular, irregular shape, etc. A first indication structure 101 is provided on the base 10, which can indicate the first spatial point.

[0043] The imaging positioning member 20 is provided with at least two imaging structures capable of being developed in medical images. Figure 1 , Figure 2 Only the state in which the first developing structure 201 and the second developing structure 202 are provided on the developing positioning member 20 is illustrated. During use, the developing positioning member 20 can be detachably connected to the base 10. In the connected state, at least part of the developing structure indicates the above-mentioned first spatial point.

[0044] When determining the indicated first spatial point based on at least part of the developing structure, it is necessary to determine the first spatial point based on a pre-set positional relationship. For example, when using two developing structures to determine the first spatial point, a point (e.g., a midpoint, a 1 / 3 position point) on the line connecting the centers of the first developing structure 201 and the second developing structure 202 can be used as the indicated spatial position, and the spatial position coincides with the first spatial point. For another example, when using three developing structures to determine the first spatial point, the positions of the centroid, incenter, circumcenter, orthocenter or lateral center of the triangle formed by the three developing structures can be used as the indicated first spatial point. Of course, more developing structures can also be used to determine the first spatial point. Preferably, the positions of the various developing structures on the base 10 are distributed in the form of regular polygons, and the geometric center of the regular polygon is used as the first spatial position indicated, so that the calculation process is faster.

[0045] The navigation registration device of this embodiment can be used according to the following process: during the preoperative medical image acquisition process, the base 10 is adhered to the patient's surface and fixed, and the development positioning member 20 is installed on the base 10 (similarly, the development positioning member 20 can be installed on the base 10 first, and then adhered and fixed to the patient's surface together), and medical images of the patient are acquired. Each development structure in the development positioning member 20 can be developed under the medical image, and the first spatial point can be indicated based on the development structure displayed in the medical image; during the navigation registration process, the development positioning member 20 is removed from the base 10, and the position of the first indicating structure is directly acquired to obtain the first spatial point; the first spatial point in the medical image is aligned with the first spatial point acquired based on the first indicating structure in the navigation registration to achieve registration.

[0046] Embodiment 2:

[0047] On the basis of Example 1, the above-mentioned first indication structure can be a groove, specifically a groove in a V-shaped, hemispherical or other shape. During the operation, the spatial position of the groove (i.e., the first spatial point) can be collected by the registration probe, and the top of the registration probe can be V-shaped, spherical, etc., as long as it matches the shape of the groove. Taking the hemispherical groove and the top of the spherical probe as an example, when the top of the registration probe is placed in the groove 101, the position of the center of the probe ball is the spatial position indicated by the groove 101, and the spatial position also corresponds to the position indicated by each developing structure in the medical image. The first indication structure can also be a raised structure such as a boss, a convex ball, etc., which can cooperate with the groove of the corresponding shape at the end of the registration probe to collect the spatial position of the first indication structure. The first indication structure can also be a tracking mark, such as an electromagnetic mark, which can be directly tracked by the electromagnetic tracking system to the first spatial point it indicates, and another example is an optical mark, which can be directly tracked by the optical tracking system to the first spatial point it indicates.

[0048] The developing structure (such as the first developing structure 201 and the second developing structure 202) can be in a regular shape, such as a triangular pyramid, a cube, a sphere, etc., preferably a sphere, and the diameters of the spheres of the developing structures can be the same or different. The developing structure includes a material that is easy to develop under medical imaging, for example, stainless steel and titanium alloy materials that can be developed under X-ray, CT, and ultrasound imaging, and for example, superparamagnetic iron oxide (SPIO), iron oxide, gadolinium ions, manganese ions, water, cod liver oil, etc. that can be developed under magnetic resonance imaging.

[0049] Embodiment 3:

[0050] See also Figure 3 , Figure 4 , shows another embodiment of the navigation registration device of the present invention, which includes a base 10 and a developing positioning member 20 and a developing positioning member 30.

[0051] The base 10 is used to adhere to the target surface (i.e., the patient surface) during use, for example, it can be adhered to the target surface by means of adhesives, release paper, etc., and the side that adheres to the target surface can be any suitable shape, such as circular, elliptical, rectangular, irregular shape, etc. A first indication structure 101 is provided on the base 10, which can indicate the first spatial point.

[0052] Reference Figure 3 , the developing positioning member 20 and the developing positioning member 30 can be installed on the base at the same time, for example, the developing positioning member 30 is installed on the base 10 through the "small diameter" thread, and the developing positioning member 20 is installed on the base 10 through the "large diameter" thread, forming a "concentric circle" installation. For another example, the developing positioning member 20 is installed on one side of the base 10, and the developing positioning member 30 is installed on the other side of the base 10, forming a "parallel" installation.

[0053] Reference Figure 4 The developing positioning member 20 is provided with two developing structures capable of developing in medical images, including a first developing structure 201 and a second developing structure 202. The developing positioning member 30 is provided with two developing structures capable of developing in medical images, including a third developing structure 301 and a fourth developing structure 302.

[0054] In the installed state, the first spatial point can be determined by using the developing structure in the developing positioning member 20 and the developing structure in the developing positioning member 30. Figure 4 The scheme of determining the first spatial point by connecting the two developing structures in the developing positioning member 20 and the two developing structures in the developing positioning member 30 is illustrated. Of course, the developing positioning member 20 and the developing positioning member 30 can also work independently, and the first spatial point can be independently determined based on the developing structure in the developing positioning member 20, and the first spatial point can also be independently determined based on the developing structure in the developing positioning member 30.

[0055] The above describes an example in which each developing positioning member is simultaneously installed on the base 10. Similarly, each developing positioning structure can also be designed to be replaceably installed on the base 10. It can be understood that at this time, a universal mounting position is set on the base 10, and each developing positioning member is adapted to this mounting position. The developing structure in the developing positioning member installed on the base 10 can be developed under medical imaging to indicate the first spatial point.

[0056] Furthermore, the developing structures in the developing positioning members 20 and 30 can be developed in different medical images. When navigation registration is required based on a certain type of medical image, the corresponding developing positioning member can be selected and installed on the base to collect the medical image of that type. Of course, multiple developing positioning members can also be used in one registration process to achieve multi-modal registration.

[0057] Embodiment 4:

[0058] See also Figure 5 , Figure 5 Another embodiment of the navigation registration device of the present invention is shown, which includes a base 10 and a development positioning member 20.

[0059] The base 10 is used to adhere to the target surface (i.e., the patient surface) during use, for example, it can be adhered to the target surface by means of adhesives, release paper, etc., and the side that adheres to the target surface can be any suitable shape, such as circular, elliptical, rectangular, irregular shape, etc. A first indication structure 101 is provided on the base 10, which can indicate the first spatial point.

[0060] The developing positioning member 20 is provided with a first type of developing structure that can be developed under the first medical image, specifically including a first developing structure 201 and a second developing structure 202, the midpoint of which coincides with the first spatial point position indicated by the indicating structure 101, and can support registration based on the first medical image. The developing positioning member 20 is also provided with a second type of developing structure that can be developed under the second medical image, specifically including a fifth developing structure 205 and a sixth developing structure 206, the midpoint of which coincides with the first spatial point position indicated by the indicating structure 101, and can support registration based on the second medical image.

[0061] Figure 5 Only the scheme of determining the first spatial point by the midpoint of the two imaging structures is illustrated. The structure can also be adjusted as needed, and the preset point on the line connecting the two imaging structures can be used as the indicated spatial position. For example, the position point of 1 / 3 or 3 / 4 of the line connecting the centers of the two imaging positioning structures can be used as the indicated spatial position. Each type of imaging structure can also include 3 or more, and the first spatial point is jointly determined according to the positions of multiple imaging structures. It can be understood that the above-mentioned first medical image is a medical image of a different type from the second medical image, and the two can be selected from: CT, X-ray, ultrasound, magnetic resonance, nuclear medicine examination, fluorescence imaging, etc.

[0062] The navigation registration device provided in this embodiment can support the registration of at least two types of medical images. During use, there is no need to replace components or replace the entire registration device with a new one, which reduces errors and improves registration accuracy.

[0063] Embodiment 5:

[0064] Reference Figure 5 , Figure 6 , showing some further embodiments of the navigation registration device of the present invention, which includes a base 10 and a developing positioning member 20.

[0065] The base 10 is used to adhere to the target surface (i.e., the patient surface) during use, for example, it can be adhered to the target surface by means of adhesives, release paper, etc., and the side that adheres to the target surface can be any suitable shape, such as circular, elliptical, rectangular, irregular shape, etc. A first indication structure 101 is provided on the base 10, which can indicate the first spatial point.

[0066] The developing positioning member 20 is provided with a first type of developing structure that can be developed under the first medical image, and a second type of developing structure that can be developed under the second medical image. After the developing positioning member 20 is mounted on the base 10 and attached to the target object, the target object (and the registration navigation device) is imaged with the above two medical images, and then the two medical images are registered and fused. In the registered fused image, the first spatial point can be jointly determined based on the positions of the two types of developing structures.

[0067] For example, refer to Figure 6 , the first type of developing structure includes the first developing structure 201, and the second type of developing structure includes the fifth developing structure 205. In the registration fusion image, the preset point on the line connecting the first developing structure 201 and the fifth developing structure 205 is determined as the first spatial point, such as the midpoint, 1 / 3, 2 / 3, 1 / 4, 3 / 4 and other preset points. Further, the first developing structure 201 is X-ray opaque, such as a stainless steel ball, a titanium alloy ball, etc. The fifth developing structure 205 can be imaged in magnetic resonance, such as a plastic ball containing superparamagnetic iron oxide (SPIO) particles, iron oxide particles, gadolinium ions, manganese ions, water or cod liver oil balls. The diameters of each developing structure can be the same or different.

[0068] For example, refer to Figure 5 The first type of developing structure includes a first developing structure 201 and a second developing structure 202, and the second type of developing structure includes a fifth developing structure 205 and a sixth developing structure 206. In the registered fusion image, the intersection of the line connecting the first developing structure 201 and the second developing structure 202 and the line connecting the fifth developing structure 205 and the sixth developing structure 206 is determined as the first spatial point, and the two types of developing structures jointly determine the first spatial point.

[0069] Embodiment 6:

[0070] Figure 7 An embodiment of the navigation registration device of the present invention is shown. As shown in the figure, the navigation registration device includes a base 10, a developing positioning member 20, and a matching component 40.

[0071] The base 10 is used to adhere to the target surface (i.e., the patient surface) during use, for example, it can be adhered to the target surface by means of adhesives, release paper, etc., and the side that adheres to the target surface can be any suitable shape, such as circular, elliptical, rectangular, irregular shape, etc. A first indication structure 101 is provided on the base 10, which can indicate the first spatial point.

[0072] One side of the developing positioning member 20 is provided with a first type of developing structure that can be developed under the first medical image, specifically including a first developing structure 201 and a second developing structure 202. The other side of the developing positioning member 20 is provided with a second type of developing structure that can be developed under the second medical image, specifically including a fifth developing structure 205 and a sixth developing structure 206.

[0073] During the medical image acquisition process, the imaging positioning member 20 is detachably connected to the base 10, and the base 10 is attached to the target surface to perform the first medical image acquisition and the second medical image acquisition on the target object (and the navigation registration device). At this time, the midpoint (or other preset point) of the line connecting the first imaging structure 201 and the second imaging structure 202 in the first medical image indicates the above-mentioned first spatial point, and the midpoint (or other preset point) of the line connecting the fifth imaging structure 205 and the sixth imaging structure 206 in the second medical image indicates the second spatial point.

[0074] During the navigation registration process, the developing positioning member 20 is removed from the base 10, and the position of the first indicating structure is directly collected to obtain a first spatial point; the first spatial point in the first medical image is registered with the first spatial point collected based on the first indicating structure in the navigation registration, so as to realize the navigation registration based on the first medical image. Alternatively, after the developing positioning member 20 is removed from the base 10, the matching component 40 is installed on the base 10, and the spatial position indicated by the second indicating structure on the matching component 40 is directly collected, that is, the second spatial point is obtained, and the first spatial point in the second medical image is registered with the first spatial point collected based on the first indicating structure in the navigation registration, so as to realize the navigation registration based on the first medical image.

[0075] It is understandable that more of each type of imaging structure can be set. For example, three imaging structures are used to determine the first / second spatial point, and the positions of the centroid, incenter, circumcenter, orthocenter or lateral center of the triangle formed by the three imaging structures can be used as the first / second spatial point indicated. The number of each type of imaging structure can be more. Preferably, the positions of each imaging structure on the base 10 are distributed in a regular polygonal shape, and the geometric center of the regular polygon is used as the spatial position indicated by it, so that the calculation process is faster. Each imaging structure is a sphere, and the spheres of each sphere are set in the same non-collinear plane. According to the position of each sphere center, the spatial point can be uniquely determined under the medical image of the corresponding modality.

[0076] More types of developing structures can also be set. For example, a third type of developing structure is also set on the other side of the developing positioning member 20, and the third type of developing structure indicates a third spatial point. A third indicating structure is also set on the matching component 40, which also indicates the third spatial point. For another example, the first type of developing structure in the developing positioning member 20 is set on the first layer, the second type of developing structure is set on the second layer, and the third type of developing structure is set on the third layer, that is, a layered arrangement. In addition, a "thicker" matching component is also configured. The "thicker" matching component is provided with a third indicating structure. After being installed on the base 10, it can indicate the third spatial point, and cooperate with the third type of developing structure to support the corresponding type of navigation registration.

[0077] Embodiment 7:

[0078] Still refer to Figure 1 On the basis of Example 1, the developing structure adopts a multimodal developing material, which can be developed in at least two medical images at the same time, such as stainless steel and titanium alloy materials that can be developed in ultrasound and CT at the same time, and gold nanoparticles and ferroferric oxide nanoparticles that can be developed in CT and magnetic resonance at the same time.

[0079] Alternatively, the imaging structure may be a double-layer spherical structure, the inner layer of which can be developed in the first medical image, and the outer layer of which can be developed in the second medical image. It is understandable that the first medical image is a medical image different from the second medical image, and the two can be selected from: CT, X-ray, ultrasound, magnetic resonance, nuclear medicine examination, fluorescence imaging, etc. For example, the inner layer of the imaging structure is a sphere that is not transparent to X-rays, and the outer layer is a shell made of a material that can be imaged in magnetic resonance. The core and the shell overlap as the spherical center of the imaging structure, and the diameters of the spheres of each imaging structure can be the same or different.

[0080] Embodiment 8:

[0081] See also Figure 8-11 The navigation registration device 100 includes: a base 10, a developing positioning member 20, and a matching component 40; the developing positioning member 20 includes a first developing structure 201 (CT developing), a second developing structure 202 (MRI developing), and a rotating leg 204; different viewing angles of the matching component 40 include a matching structure 402 and a second indication structure 403.

[0082] See also Fig. 9 , showing a base 10 from different perspectives, which includes a base body 102, a first indication structure 101, a notch 103, and a slide rail 104. In this example, three groups of notches 103 and slide rails 104 are included, and those skilled in the art will appreciate that two or more groups of notches 103 and slide rails 104 may be used, such as two or four groups.

[0083] See attached Fig.10 , a schematic diagram (left) and a cross-sectional diagram (right) of a developing positioning member of a navigation registration device in a connected state with a base;

[0084] See attached Fig.11 , a schematic diagram (left) and a cross-sectional diagram (right) of the matching component of the navigation registration device when it is connected to the base. When the matching component is connected to the base, the spatial position indicated by the second indication structure 403 is the same as the spatial position point indicated by the second development structure 202 when the development positioning member is connected to the base.

[0085] Embodiment 9:

[0086] A surgical navigation system of the present invention is shown, which includes the navigation registration device described in any one of the aforementioned embodiments of the present invention.

[0087] In a type of surgical navigation system product, the system also includes a robotic arm and a registration probe. The first indication structure is a groove, and the groove can be used by the registration probe to collect the first spatial point indicated by it. The registration probe is used in conjunction with the robotic arm, and the registration probe is installed on the robotic arm. The robotic arm and the registration probe collect the positions indicated by multiple grooves in various postures and transmit them to the workstation. The workstation processes the medical image and the position indicated by the groove to obtain the registration relationship.

[0088] In another type of surgical navigation system product, the system also includes a tracking system and a registration probe. The first indication structure is a groove, and the groove can be used by the registration probe to collect the first spatial point indicated by it. The registration probe includes a needle body and a bracket, and a tracking mark is provided on the bracket. The registration probe is used in conjunction with the tracking system, such as an electromagnetic marker in conjunction with an electromagnetic tracking system, and another example is an optical marker in conjunction with an optical tracking system. The doctor holds the registration probe to collect the positions indicated by multiple grooves. The tracking system tracks the spatial position of the registration probe through the tracking mark, determines the spatial position of the groove indicated by the top of the registration probe corresponding to the top of the registration probe, and transmits it to the workstation. The workstation processes the medical image and the position of the collected recessed structure to obtain a registration relationship.

[0089] In another type of surgical navigation system product, the system also includes a tracking system. The first indication structure in the navigation registration device is a tracking marker, which can be directly tracked by the tracking system to the position of the first spatial point indicated by it. The workstation processes the medical image and the position of the first indication structure to obtain a registration relationship.

[0090] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present invention and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention 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 embodiments of the present invention.

Claims

1. A navigation registration device, characterized in that: include: A base, wherein the base is attached to a target surface during use, and a first indicating structure is provided on the base, capable of indicating a first spatial point; A developing positioning member is provided with at least one developing structure capable of developing in a medical image, and the developing positioning member is detachably connected to the base. In a connected state, at least part of the developing structure indicates the first spatial point.

2. The navigation registration device according to claim 1, characterized in that: The first indication structure is a groove, and the groove can cooperate with the position where the registration probe is collected to the first spatial point; or, The first indication structure is a protrusion, and the protrusion can cooperate with the registration probe to collect the posture of the first space point; or, The first indication structure is a tracking marker, which can be tracked by a tracking system to the position of the first spatial point.

3. The navigation registration device according to claim 1, characterized in that: comprising two or more developing positioning members; Each of the developing positioning members can be installed to the base replaceably, or installed to the base at the same time.

4. The navigation registration device according to claim 3, characterized in that: The developing structure in each of the developing positioning members can be developed in different medical images.

5. The navigation registration device according to claim 1, characterized in that: The imaging positioning member is provided with a first type of imaging structure that can be imaged and positioned in a first medical image, and a second type of imaging structure that can be imaged in a second medical image.

6. The navigation registration device according to claim 5, characterized in that: The first spatial point can be obtained according to the first type of developing structure, and the first spatial point can be obtained according to the second type of developing structure.

7. The navigation registration device according to any one of claims 1 to 6, characterized in that: Each developing structure is a sphere, and the centers of each sphere are arranged in the same plane. The first spatial point can be uniquely determined according to the positions of each center.

8. The navigation registration device according to claim 5, characterized in that: The first type of developing structure is arranged on the first surface of the developing positioning member, indicating the first spatial point, and the second type of developing structure is arranged on the second surface of the developing positioning member, indicating the second spatial point.

9. The navigation registration device according to claim 8, characterized in that: It also includes a matching component, which is provided with a second indication structure. The matching component is used to be detachably connected to the base. In the connected state, the second indication structure indicates the second spatial point.

10. The navigation registration device according to claim 1, characterized in that: The developing structure adopts multimodal developing materials and can develop in at least two medical images at the same time.

11. The navigation registration device according to claim 1, characterized in that: The developing structure is a double-layer spherical structure, the inner layer of which can be developed in the first medical image, and the outer layer of which can be developed in the second medical image.

12. A surgical navigation system, characterized in that: A navigation registration device comprising any one of claims 1-11.

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