A registration device and a surgical navigation system

Abstract

The present invention provides a registration device and a surgical navigation system, which include a base, wherein the base is provided with an indication structure and at least two imaging positioning structures, wherein the at least two imaging positioning structures can develop and determine a spatial position in a medical image, wherein the spatial position indicated by the indication structure and the top end of a matching registration probe is the same as the spatial position, and the base can be fitted and fixed to a target surface during use; in the registration device provided by the present invention, the indication structure is provided on the base to reduce the registration error caused by the process of spatial position acquisition by the registration probe, and the spatial position acquired by the registration probe is completely consistent with the position indicated by the imaging positioning structure, and there is no need to collect more data or perform complex calculations to correct the deviation between the probe acquisition position and the development mark, thereby improving the registration accuracy and efficiency.

Description

Technical Field

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

[0002] High-precision surgical operations rely on the assistance of surgical navigation systems. Preoperative registration (establishing a mapping relationship between medical images and patient space) is the technical basis of positioning navigation. How to obtain a more convenient and concise registration, and to obtain high-precision, non-invasive registration is a development direction. Although the existing "assembled" registration device can achieve non-invasive registration, the registration accuracy still needs to be improved. For example, the "A registration auxiliary device" with application number 202011506857.2 fixes the fixed frame to the patient, and then connects the component with the development mark to the fixed frame. The registration device has problems with repeatability and accuracy during the connection process. Secondly, the above-mentioned development component can only display the position in one medical image. In order to develop under different medical images, different types of development components need to be replaced and installed on the fixed frame. This method makes the registration process more cumbersome. On the other hand, since the development mark itself occupies a certain space, there is a certain collection deviation when the front end of the probe (usually spherical) selects and collects the development mark. If "the probe is used to collect other positions and the deviation is eliminated based on the relative position relationship between the position and the development mark", it is necessary to collect more orientation information (i.e., the deviation direction) and perform additional processing, which makes the registration calculation process more complicated and the registration efficiency lower.

[0003] In order to solve one or more of the above problems, the present invention provides a registration device and a hand speed navigation system. Summary of the invention

[0004] In the first aspect, the present invention provides a registration device, which includes a base, wherein the base is provided with an indication structure and at least two imaging positioning structures, wherein the at least two imaging positioning structures can develop and determine a spatial site in a medical image, wherein the spatial position indicated by the indication structure and its matching registration probe after matching is the same as the spatial site, and the base can be attached and fixed to the target surface during use.

[0005] The indicating structure can be a depression, or a raised structure such as a boss, a convex ball, or a sphere. One end of the registration probe is provided with a matching structure. For example, the indicating structure is a depression, and a matching sphere is provided at the tip of the probe; the indicating structure is a convex ball, and a matching depression structure is provided at the tip of the probe.

[0006] The base is provided with a side for fitting with the human body surface, and can be fixed to the human body surface by glue. It can be understood that the glue can be added during use, or can be pre-set by release paper or the like.

[0007] Optionally, the at least two imaging positioning structures are of the same type of imaging positioning structures and can be respectively developed in the same type of medical image.

[0008] Optionally, the at least two imaging positioning structures include at least two first imaging positioning structures that can be developed in a first medical image, and at least two second imaging positioning structures that can be developed in a second medical image.

[0009] Optionally, the spatial position may be determined separately or jointly according to the developing position of the first imaging positioning structure in the first medical image and the developing position of the second imaging positioning structure in the second medical image.

[0010] Optionally, the at least two imaging positioning structures include at least one first imaging positioning structure that can be developed in a first medical image, and at least one second imaging positioning structure that can be developed in a second medical image;

[0011] The spatial position can be jointly determined according to the developing position of the first imaging positioning structure in the first medical image and the developing position of the second imaging positioning structure in the second medical image.

[0012] Optionally, the first medical image and the second medical image are selected from any of the following: CT, X-ray, ultrasound, magnetic resonance, DSA, and fluorescence imaging. Preferably, the first imaging positioning structure and the second imaging positioning structure are both spheres.

[0013] Preferably, the first imaging positioning structure or the second imaging positioning structure is configured to uniquely determine the spatial position through its sphere center, such as the midpoint of a line connecting two sphere centers, the intersection of two groups of sphere center lines, or the geometric center of a polygon formed by connecting lines of several sphere center outer contours.

[0014] Preferably, imaging positioning structures of the same type are arranged to have the same radius.

[0015] Optionally, the imaging positioning structure may be any structure whose geometric center is easy to determine, such as a cube; preferably, the first imaging positioning structure and the second imaging positioning structure are both spheres; optionally, the first imaging positioning structure or the second imaging positioning structure is arranged so that the center of the sphere is non-collinear, and in the same non-collinear plane, the spatial position can be uniquely determined by the center of the sphere; optionally, the radii of the same type of imaging positioning structures are the same.

[0016] Optionally, the imaging positioning structure is a double-layer spherical structure, the inner layer of which can be developed in a first medical image (such as CT), and the outer layer can be developed in a second medical image (such as magnetic resonance imaging), forming a composite structure.

[0017] Optionally, the imaging positioning structure uses a multimodal developing material and can be developed in at least two medical images simultaneously.

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

[0019] Furthermore, the surgical navigation system also includes a registration probe and a host. The registration probe is used to collect the position of the indicating structure, and the workstation is used to process the medical image and the position of the collected indicating structure to obtain a registration relationship.

[0020] Optionally, the surgical navigation system includes a robotic arm, the registration probe is mounted on the robotic arm, the robotic arm and the registration probe collect the positions of multiple indicating structures in various postures and transmit them to a workstation for registration calculation. Optionally, the surgical navigation system includes a tracking system, the registration probe includes a needle body and a bracket, the bracket is provided with a tracking mark adapted to the tracking system, the doctor holds the registration probe to collect the positions of multiple indicating structures, the tracking system determines the spatial position of the indicating structure 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 indicating structure to obtain a registration relationship.

[0021] The registration device and surgical navigation system of the embodiments of the present invention include at least the following technical effects:

[0022] 1. The base can be directly attached to the patient's skin. The simple structural design reduces installation operations during use and reduces displacement and precision loss caused by component installation.

[0023] 2. Setting an indication structure on the base can reduce the registration error caused by the process of registering the spatial position of the probe. The spatial position indicated by each imaging positioning structure coincides with the point collected by the probe (i.e., the spatial position indicated by the indication structure). There is no need to calculate the "relative distance and deviation direction between the collection point and the development point", and there is no need to correct the deviation, which improves the registration accuracy and efficiency.

[0024] 3. In medical images, the development positions of multiple imaging positioning structures can accurately locate the coordinates of the spatial site, which improves the positioning accuracy of the spatial site compared to directly determining the spatial site with a single development mark.

[0025] 4. Through the design of two imaging positioning structures or composite structures, it can be used for two medical imaging methods, which is beneficial to the fusion registration of medical images and improves the registration accuracy;

[0026] 5. Used in combination with the matching registration probe and navigation system, it can simplify the use process and improve registration accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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.

[0028] Figure 1 It is one of the structural schematic diagrams of the registration device provided by the present invention;

[0029] Figure 2 This is the second structural schematic diagram of the registration device provided by the present invention;

[0030] Figure 3 This is the third structural schematic diagram of the registration device provided by the present invention;

[0031] Figure 4 This is the fourth structural schematic diagram of the registration device provided by the present invention;

[0032] Figure 5 This is the fifth structural diagram of the registration device provided by the present invention;

[0033] Figure 6 This is the sixth structural schematic diagram of the registration device provided by the present invention;

[0034] Figure 7 This is the seventh structural schematic diagram of the registration device provided by the present invention.

[0035] Reference numerals:

[0036] 10 - base, 110 - indication structure, 120 - imaging positioning structure, 121 - imaging positioning structure, 122 - imaging positioning structure. DETAILED DESCRIPTION

[0037] 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.

[0038] Embodiment 1:

[0039] See also Figure 1 , Figure 1An embodiment of the registration device of the present invention is shown, which includes a base 10, and a side of the base 10 for contacting with the human body surface can be in any suitable shape, such as a circle, an ellipse, a rectangle, an irregular shape, etc. An indication structure 110 and at least two imaging positioning structures 120 are provided on the base 10, and the spatial distribution of each imaging positioning structure 120 indicates a spatial position, and this spatial position coincides with the indicated spatial position of the depression 110.

[0040] Specifically, the at least two imaging positioning structures 120 can be developed in the medical image, and a spatial position (i.e., the spatial position under the medical image, that is, the position of the indicator structure 110 in the medical image space) can be determined according to the development distribution of each imaging positioning structure 120. For example, Figure 1 The midpoints of the two imaging positioning structures 120 coincide with the position of the indicator structure 110. The position of the indicator structure 110 in the real space can be collected by the registration probe, that is, the indicator structure 110 and the matching registration probe top end indicate the same spatial position after matching. Therefore, the registration relationship can be obtained by aligning the positions of the indicator structure 110 in the medical image space and the real space.

[0041] The indicating structure can be a depression, or a raised structure such as a boss, a convex ball, or a sphere. One end of the registration probe is provided with a matching structure. For example, if the indicating structure is a depression, a matching sphere is provided at the tip of the probe; if the indicating structure is a convex ball, a matching depression structure is provided at the tip of the probe. The above-mentioned depression-shaped indicating structure can be a groove in a conical or hemispherical shape, and the top of the registration probe can be a corresponding cone or sphere. The shapes of the two can be matched with each other, so that the registration probe can collect the spatial position of the depression. After the top of the registration probe is placed in the depression, the position indicated by the probe is the spatial position indicated by the depression, which is also the position indicated by each imaging positioning structure 120.

[0042] In addition, the imaging positioning structure 120 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 can be the same or different. The imaging positioning structure 120 includes a material that is easy to develop under medical imaging, for example, the imaging positioning structure 120 is a stainless steel ball or a titanium alloy ball that can be developed under X-ray, CT, and ultrasound imaging. For example, the imaging positioning structure 120 is a plastic ball that can be developed under magnetic resonance imaging and includes any of the following: superparamagnetic iron oxide (SPIO) particles, iron oxide particles, gadolinium ions, manganese ions, water, or cod liver oil.

[0043] Embodiment 2:

[0044] See also Figure 2 , Figure 2Another embodiment of the registration device of the present invention is shown, which includes a base 10, an indication structure 110, and three imaging positioning structures 120. The side of the base 10 that is used to fit the surface of the human body can be of any suitable shape, such as a circle, an ellipse, a rectangle, an irregular shape, etc.; the base 10 is provided with an indication structure 110 that cooperates with the end of the positioning probe. Optionally, the end of the positioning probe is a ball head, and the ball head matches the concave indication structure 110, that is, during use, after the ball head matches the concave, the center of the ball head (that is, the spatial position indicated by the indication structure 110) coincides with the center of gravity of the triangle formed by the three imaging positioning structures 120, and the center of gravity of the triangle is the spatial position determined by each imaging positioning structure. Of course, the incenter, circumcenter, orthocenter, and paracenter of the triangle can also be used as the spatial position indicated by each imaging positioning structure. The three imaging positioning structures 120 can be developed under the same type of medical images, which is convenient for calculating and obtaining the development position and determining the spatial position. Furthermore, the positions of the imaging positioning 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 spatial position indicated by it, making the calculation process faster. Furthermore, the three imaging positioning structures 120 adopt the same shape to reduce the positioning error of each imaging positioning structure 120 itself.

[0045] Embodiment 3:

[0046] See also Figure 3 , Figure 3 Another embodiment of the registration device of the present invention is shown, which includes a base 10. The side of the base 10 that is used to fit the surface of the human body can be of any suitable shape, such as circular, elliptical, rectangular, irregular, etc.; the base 10 is provided with an indication structure 110 that matches the end of the positioning probe. Optionally, the end of the positioning probe is a ball head, and the ball head matches the concave indication structure 110. That is, during use, after the ball head matches the indication structure 110, the center of the ball head (that is, the spatial position indicated by the indication structure 110) is aligned with the imaging positioning structure 120 ( Figure 3120 (not shown in the figure) coincides with the spatial position indicated by the indicating structure 110. Specifically, the imaging positioning structure 120 includes two types: two first imaging positioning structures 121 that can be developed under the first medical image, and two second imaging positioning structures 122 that can be developed under the second medical image. The midpoints of the two first imaging positioning structures 121 coincide with the spatial position indicated by the indicating structure 110, which can support registration based on the first medical image. The midpoints of the two second imaging positioning structures also coincide with the spatial position of the indicating structure 110, which can support registration based on the second medical image. Of course, the structure can also be adjusted as needed, and the preset points on the line connecting the two imaging positioning structures can be used as the indicated spatial positions. For example, the 1 / 3, 3 / 4 and other position points of the line connecting the centers of the two imaging positioning structures are used as the indicated spatial positions. It can be understood that the above-mentioned 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, DSA, fluorescence imaging, etc.

[0047] The 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 parts or replace the entire registration device with a new one, which reduces errors and improves registration accuracy.

[0048] Embodiment 4:

[0049] See also Figure 4 , shows another embodiment of the registration device of the present invention, which includes a base 10, and the side of the base 10 used for contacting with the human body surface can be in any suitable shape, such as circular, elliptical, rectangular, irregular, etc.; the base 10 is provided with an indication structure 110 and an imaging positioning structure 120 ( Figure 6 (not shown in the figure 120), the imaging positioning structure 120 includes three first imaging positioning structures 121 and three second imaging positioning structures 122. The centroids of the triangles with the three first imaging positioning structures 121 as vertices coincide with the spatial position of the indication structure 110, and can support registration based on the first medical image. The centroids of the triangles with the three second imaging positioning structures 122 as vertices also coincide with the spatial position indicated by the indication structure 110, and can support registration based on the second medical image. It can be understood that the above-mentioned first medical image is a medical image different from the second medical image, and the two can be respectively selected from: CT, X-ray, ultrasound, magnetic resonance, DSA, fluorescence imaging, etc. That is, the above-mentioned first imaging positioning structure 121 and the second positioning structure 122 respectively determine the spatial positions based on different medical images, and can support the registration of different medical images.

[0050] Furthermore, the number of first imaging positioning structures 121 can be more, and the positions of each first imaging positioning structure 121 on the base 10 are distributed in the form of regular polygons, and the geometric center of the regular polygon is used as the spatial position indicated by it, so that the calculation process is faster. Similarly, the number of second imaging positioning structures 122 can also be more, and each second imaging positioning structure is distributed in the form of regular polygons on the base 10. Furthermore, the first imaging positioning structure 121 and the second imaging positioning structure 122 are both spherical to improve the imaging positioning accuracy of the imaging positioning structure itself.

[0051] Embodiment 5:

[0052] Still refer to Figure 3 , shows another embodiment of the registration device of the present invention, which includes a base 10, and the side of the base 10 used for contacting with the human body surface can be any suitable shape, such as circular, elliptical, rectangular, irregular shape, etc.; the base 10 is provided with an indication structure 110 that cooperates with the end of the positioning probe, and an imaging positioning structure 120 (specifically including two first imaging positioning structures 121 and two second imaging positioning structures 122). The connecting line segments of the two first imaging positioning structures 121 and the connecting line segments of the two second imaging positioning structures 122 intersect to form an intersection point, and the intersection point is used as the spatial position indicated by each imaging positioning structure, that is, the above-mentioned first imaging positioning structure 121 and the second positioning structure 122 jointly determine the spatial position. Further, the end of the positioning probe is a ball head, and the ball head matches the concave indicating structure 110, that is, during use, after the ball head matches the concave indicating structure 110, the center of the ball head (that is, the spatial position indicated by the indicating structure 110) coincides with the aforementioned intersection point; preferably, the intersection point is the midpoint of the connecting line segment of the center of the two groups of imaging positioning structures.

[0053] Further, the first imaging positioning structure 121 is X-ray-impermeable, such as a stainless steel ball or a titanium alloy ball. The second imaging positioning structure 122 can be imaged in magnetic resonance imaging, 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 the two second imaging positioning structures 122 can be the same or different.

[0054] Embodiment 6:

[0055] Reference Figure 5, shows another embodiment of the registration device of the present invention, which includes a base 10, and the side of the base 10 that is used to fit the surface of the human body can be of any suitable shape, such as circular, elliptical, rectangular, irregular, etc.; the base 10 is provided with an indication structure 110 that cooperates with the end of the positioning probe, and an imaging positioning structure 120, and the imaging positioning structure 120 specifically includes a first imaging positioning structure 121 and an imaging positioning structure 122. The midpoint of the line connecting the first imaging positioning structure 121 and the one imaging positioning structure 122 is the indicated spatial position. Furthermore, the end of the positioning probe is a ball head, and the ball head matches the concave indicating structure 110, that is, during use, after the ball head matches the concave indicating structure 110, the center of the ball head (that is, the spatial position indicated by the indicating structure 110) coincides with the aforementioned midpoint.

[0056] The first imaging positioning structure 121 can be developed in the first medical image, and the second imaging positioning structure 122 can be developed in the second medical image. After the first medical image and the second medical image are subjected to multimodal image fusion (or registration), the two exist simultaneously in the fused image, and jointly indicate the above-mentioned spatial position. For example, the first imaging positioning structure 121 is X-ray-impermeable, such as a stainless steel ball or a titanium alloy ball. The second imaging positioning structure 122 can be imaged in magnetic resonance, such as a plastic ball containing any of the following: superparamagnetic iron oxide (SPIO) particles, iron oxide particles, gadolinium ions, manganese ions, water or cod liver oil balls. The diameters of the two second imaging positioning structures 122 can be the same or different.

[0057] Embodiment 7:

[0058] Reference Figure 6, shows another embodiment of the registration device of the present invention, which includes a base 10, and the side of the base 10 that is used to fit the surface of the human body can be of any suitable shape, such as a circle, an ellipse, a rectangle, an irregular shape, etc.; the base 10 is provided with an indication structure 110 that matches the end of the positioning probe, and an imaging positioning structure 120, and the imaging positioning structure 120 specifically includes a first imaging positioning structure 121 and two imaging positioning structures 122. The centroid of the triangle formed by the first imaging positioning structure 121 and the two imaging positioning structures 122 as vertices is the indicated spatial location. Furthermore, the number of the first imaging positioning structures 121 can be more, and the number of the second imaging positioning structures 122 can also be more. Preferably, the positions of the various imaging positioning 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 indicated spatial location, so that the calculation process is faster. Furthermore, the end of the positioning probe is a ball head, which matches the recessed indicating structure 110. That is, during use, after the ball head matches the recessed indicating structure 110, the center of the ball head (that is, the spatial position indicated by the indicating structure 110) coincides with the aforementioned center of gravity.

[0059] The first imaging positioning structure 121 can be developed in the first medical image, and the second imaging positioning structure 122 can be developed in the second medical image. After the multimodal image fusion, the two together indicate the above-mentioned spatial position in the fused image. For example, the first imaging positioning structure 121 is X-ray impermeable, such as a stainless steel ball or a titanium alloy ball. The second imaging positioning structure 122 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 the two second imaging positioning structures 122 can be the same or different.

[0060] Embodiment 8:

[0061] See also Figure 7 , shows another embodiment of the registration device of the present invention, which includes a base 10, and the side of the base 10 used for contacting with the human body surface can be any suitable shape, such as circular, elliptical, rectangular, irregular, etc.; three imaging positioning structures 120 and an indication structure 110 that cooperates with the end of the positioning probe are arranged on the base 10. Optionally, the end of the positioning probe is a ball head, and the ball head matches the recess 110, that is, during use, after the ball head matches the recess, the center of the ball head coincides with the center of gravity of the triangle formed by connecting the centers of the three imaging positioning structures 120. Optionally, the end of the positioning probe is a cap-shaped groove, which matches the indication structure 110 in the form of a convex ball, that is, during use, after the end of the positioning probe matches the indication structure 110, the center of the cap-shaped groove is a convex ball, which is also the center of gravity of the triangle formed by connecting the centers of the three imaging positioning structures 120.

[0062] Furthermore, the number of imaging positioning structures 120 can be two, and a certain point (e.g., the midpoint, 1 / 3 position point) on the line connecting the centers of the two imaging positioning structures 120 is used as a spatial position, and the spatial position coincides with the spatial position of the indicating structure. The number of imaging positioning structures 120 can be three or more, and preferably, the positions of the imaging positioning structures 120 on the base 10 are distributed in the form of regular polygons, and the geometric center of the regular polygon is used as the spatial position indicated by it, so that the calculation process is faster.

[0063] The imaging positioning structure 120 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. Alternatively, the imaging positioning structure 120 uses a multimodal development 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.

[0064] 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, DSA, fluorescence imaging, etc. For example, the inner layer of the imaging positioning structure 120 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 center of the imaging positioning structure 120. The diameters of the three imaging positioning structures 120 can be the same or different.

[0065] Embodiment 9:

[0066] A surgical positioning navigation system of the present invention is shown, which includes the registration device described in any one of the aforementioned embodiments of the present invention, a registration probe, and a workstation.

[0067] In a type of surgical positioning navigation system product, the system also includes a robotic arm and a registration probe. 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 of multiple indication structures in various postures and transmit them to the workstation. The workstation processes the medical images and the positions of the collected indication structures to obtain the registration relationship.

[0068] In another type of surgical positioning navigation system product, the system also includes a tracking system and a registration probe. The registration probe is used in conjunction with the tracking system. The registration probe includes a needle body and a bracket. The bracket is provided with a tracking marker, such as an electromagnetic marker for an electromagnetic tracking system, or an optical marker for an optical tracking system. The doctor holds the registration probe to collect the positions of multiple indication structures. The tracking system tracks the spatial position of the registration probe through the tracking marker, determines the spatial position of the indication structure 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 indication structure to obtain the registration relationship.

[0069] 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.

[0070] 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 registration device, characterized in that: It includes a base, which is provided with an indication structure and at least two imaging positioning structures. The at least two imaging positioning structures can be developed to determine a spatial site in a medical image. The spatial position indicated by the indication structure and its matching registration probe after matching is the same as the spatial site. The base can be attached and fixed to the target surface during use.

2. The registration device according to claim 1, characterized in that: The at least two imaging positioning structures are of the same type and can be developed in the same medical image.

3. The registration device according to claim 1, characterized in that: The at least two imaging positioning structures include at least two first imaging positioning structures that can be developed in a first medical image, and at least two second imaging positioning structures that can be developed in a second medical image.

4. The registration device according to claim 3, characterized in that: The spatial position may be determined according to the developing position of the first imaging positioning structure in the first medical image and the developing position of the second imaging positioning structure in the second medical image.

5. The registration device according to claim 1, characterized in that: The at least two imaging positioning structures include at least one first imaging positioning structure that can be developed in a first medical image, and at least one second imaging positioning structure that can be developed in a second medical image; The spatial position may be determined based on fusing the first medical image with the second medical image according to the developing position of the first imaging positioning structure in the first medical image and the developing position of the second imaging positioning structure in the second medical image.

6. The registration device according to any one of claims 3 to 5, characterized in that: The first medical image and the second medical image are respectively selected from any one of the following: CT, X-ray, ultrasound, magnetic resonance imaging, DSA, and fluorescence imaging.

7. The registration device according to any one of claims 3 to 5, characterized in that: The first imaging positioning structure and the second imaging positioning structure are both spheres.

8. The registration device according to claim 7, characterized in that: The first imaging positioning structure or the second imaging positioning structure is configured so that the spatial position can be determined through the spherical center thereof.

9. The registration device according to claim 7, characterized in that: The radius of the same type of imaging positioning structures is the same.

10. The registration device according to claim 1, characterized in that: The imaging positioning 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.

11. The registration device according to claim 1, characterized in that: The imaging positioning structure adopts a multimodal developing material and can be developed in at least two medical images at the same time.

12. A surgical navigation system, characterized in that: The invention comprises the registration device as described in any one of claims 1 to 11.

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