Intraoperative navigation system

Abstract

The utility model belongs to the technical field of medical treatment, and discloses an intraoperative navigation system which comprises an X-ray machine, a processor and a navigation assembly, the X-ray machine is used for collecting image data before an operation and connected with the processor, the processor is used for receiving imaging data of the X-ray machine and forming a bone model, the navigation assembly comprises a depth camera and a marker, the depth camera is installed on the X-ray machine, and the marker is installed on the X-ray machine. The relative spatial position of the depth camera and the X-ray machine is calibrated, an instrument required in an installation operation is positioned on the marker, the depth camera is used for identifying the instrument, the spatial form and position of the instrument are positioned through the relative position data of the instrument and the marker and tracking is carried out, and the depth camera is connected with the processor. The processor is used for presenting tracking data of the depth camera and the bone model in the same space coordinate system; after one-time positioning is conducted through X-rays before an operation, the instrument is tracked through the navigation assembly, then calculation is conducted through the processor, real-time navigation is conducted in the operation, and therefore adjustment in the operation can be conducted according to complex operation conditions.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical instrument technical field especially, and it is a kind of intraoperative navigation system. BACKGROUND

[0002] In traditional orthopedic surgery, the doctor needs to first hit the Kirschner wire, and then check the position of the placed Kirschner wire by X-ray perspective human body, and can only place the nail after confirming the position is correct, so as to ensure the accuracy of the nail position. With the emergence of navigation technology, surgical robots are increasingly used in orthopedic surgery, which can reconstruct the human bone model before surgery and calculate the best nail path, and the human body and the reconstructed model are overlapped by collecting the marker points again during surgery to realize intraoperative navigation positioning.

[0003] However, the surgical robot can only plan the surgical path before surgery and operate according to the planned path during surgery by CT reconstruction of the bone model and X-ray positioning, and cannot adjust and navigate in real time according to the complex surgical situation. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of intraoperative navigation system, which can navigate instrument in real time during surgery.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] An intraoperative navigation system includes an X-ray machine, a processor and a navigation assembly, the X-ray machine is used to collect image data before surgery, the X-ray machine is connected to the processor, the processor is used to receive the imaging data of the X-ray machine and form a bone model, the navigation assembly includes a depth camera and a marker, the depth camera is installed on the X-ray machine, the relative spatial position of the depth camera and the X-ray machine is calibrated, the marker is positioned and installed with the instrument required during surgery, the depth camera is used to identify the instrument, the spatial form and position of the instrument are positioned and tracked by the relative position data of the instrument and the marker, the depth camera is connected to the processor, and the processor is used to present the tracking data of the depth camera and the bone model in the same spatial coordinate system.

[0007] Preferably, the navigation assembly further includes a calibration plate, and the depth camera and the X-ray machine repeatedly and synchronously detect the spatial position of the calibration plate to calibrate the relative spatial position of the depth camera in the X-ray machine.

[0008] Preferably, a plurality of mounting holes are arranged at the side wall of the marker, the hole depth of the plurality of mounting holes is a fixed value, the hole diameters of the plurality of mounting holes are different, and the top of the instrument abuts against the hole bottom of the mounting hole to position the top position of the instrument.

[0009] As preferred, the tail of the instrument is provided with a marker plate, and the depth camera identifies the instrument through a plurality of marker points on the marker plate.

[0010] As preferred, the top of the marker is provided with a marker point, and the depth camera locates the spatial form of the instrument through the marker point of the marker and the marker point of the marker plate.

[0011] As preferred, the intraoperative navigation system further comprises a processing table, and the X-ray machine and the processor are installed on the processing table, and the operation area of the processing table is located in the imaging area of the X-ray machine and the imaging area of the depth camera.

[0012] As preferred, the X-ray machine comprises a C-shaped arm and an imaging unit, the imaging unit is used for collecting image data, one end of the C-shaped arm is connected to the processing table, the imaging unit is arranged at the other end of the C-shaped arm, and the depth camera is installed on the C-shaped arm.

[0013] As preferred, the navigation assembly further comprises a connecting frame, the connecting frame comprises a first connecting part and a second connecting part connected to each other, one end of the first connecting part is in a U shape, the C-shaped arm is clamped at the two ends of the first connecting part along the width direction of the C-shaped arm, one end of the second connecting part is connected to the other end of the first connecting part, and the other end of the second connecting part is connected to the depth camera.

[0014] As preferred, one end of the second connecting part is hinged to the other end of the first connecting part, and the rotation shaft of the second connecting part is parallel to the width direction of the C-shaped arm.

[0015] As preferred, the processor comprises a display screen, the display screen is used for presenting the bone model in a spatial coordinate system, and the instrument is imaged in the spatial coordinate system according to the tracking data of the depth camera on the instrument.

[0016] The utility model discloses the beneficial effects of:

[0017] The utility model provides a kind of intraoperative navigation system comprising X-ray machine, processor and navigation assembly, X-ray machine is used to preoperative acquisition image data, X-ray machine connects processor, processor is used to receive the imaging data of X-ray machine and forms bone model, navigation assembly includes depth camera and marker, depth camera is installed in X-ray machine, the relative spatial position calibration of depth camera and X-ray machine, marker is positioned and installed instrument required in operation, depth camera is used to identify instrument, and the spatial form and position of instrument are positioned and tracked by the relative position data of instrument and marker, depth camera connects processor, processor is used to present the tracking data of depth camera with bone model in same spatial coordinate system;The utility model provides a kind of intraoperative navigation system can be positioned after once by X-ray before operation, instrument is tracked using navigation assembly, then calculated by processor, real-time navigation in operation, so as to adjust in operation according to complex surgical condition. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the structure schematic of a kind of intraoperative navigation system provided by the utility model embodiment Figure One ;

[0019] Figure 2 It is the structure schematic of a kind of intraoperative navigation system provided by the utility model embodiment Figure Two .

[0020] In the drawing:

[0021] 1, X-ray machine;11, C-shaped arm;12, imaging unit;2, processor;21, display screen;3, processing platform;41, depth camera;42, connecting frame;421, first connecting part;422, second connecting part;43, calibration plate;5, marker plate;6, marker. DETAILED DESCRIPTION

[0022] The utility model will be further explained in detail in connection with the drawings and embodiment.It can be understood that the specific embodiment described here is only used to explain the utility model, and is not limited to the utility model.In addition, it needs to be explained that, for the convenience of description, only part related to the utility model is shown in the drawing, not all structures.

[0023] In the description of the utility model, unless another explicit specification and limitation, the term "connected", "connected", "fixed" should be broad-sense understanding, for example, it can be fixed connection, or detachable connection, or integral;It can be mechanical connection, or electrical connection;It can be directly connected, or indirectly connected through intermediate medium, it can be the communication inside two elements or the interaction relationship of two elements.For ordinary skilled in the art, the specific meaning of the above-mentioned terms in the utility model can be understood according to specific circumstances.

[0024] In the utility model, unless another definite provision and limitation, first feature is in second feature "on" or "under" can include that first and second features are in direct contact, also can include that first and second features are not in direct contact but contact through other feature between them.Moreover, first feature is in second feature "on", "above" and "upper surface" includes that first feature is in second feature directly above and obliquely above, or just indicates that first feature horizontal height is higher than second feature.First feature is in second feature "under", "below" and "under surface" includes that first feature is in second feature directly below and obliquely below, or just indicates that first feature horizontal height is less than second feature.

[0025] In the description of the embodiment, the terms "upper", "lower", "right", "left", "horizontal", "vertical", and other orientation or position relationships are based on the orientation or position relationships shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0026] The embodiment provides an intraoperative navigation system, which can navigate an instrument in real time during operation, so as to adjust the operation in real time according to complex operation conditions.

[0027] Please refer to Figure 1 and Figure 2 An intraoperative navigation system comprises an X-ray machine 1, a processor 2 and a navigation assembly, the X-ray machine 1 and the navigation assembly are connected to the processor 2. Further, the X-ray machine 1 is used for collecting bone image data of a patient before operation, the navigation assembly is used for tracking the spatial form and position of a positioning instrument in real time during operation, and the processor 2 is used for receiving the bone image data collected by the X-ray machine 1, forming a bone model in a spatial coordinate system, and also enabling the instrument to be presented in the form of a virtual probe in the same spatial coordinate system through the instrument form and position data collected by the navigation assembly, so that the position of the instrument relative to the bone model can be observed in real time during operation, and the operation is adjusted in real time.

[0028] For example, the intraoperative navigation system provided by the embodiment further comprises a processing table 3, the X-ray machine 1 and the processor 2 are installed on the processing table 3, and the patient completes image collection and operation in an operation area of the processing table 3.

[0029] Specifically, the X-ray machine 1 comprises a C-shaped arm 11 and an imaging unit 12, wherein the imaging unit 12 is used for collecting bone image data of a patient, one end of the C-shaped arm 11 is connected to the processing table 3, and the imaging unit 12 is arranged at the other end of the C-shaped arm 11, preferably, the C-shaped arm 11 can move or rotate relative to the processing table 3 to cooperate with the operation.

[0030] It should be noted that the operation area of the processing table 3 is located in the imaging area of the X-ray machine 1, specifically, in the imaging area of the imaging unit 12.

[0031] Preferably, the processor 2 comprises a display screen 21, which can present the bone model in the spatial coordinate system and present the instrument in the form of a virtual probe in the same spatial coordinate system according to the tracking data of the instrument by the navigation assembly, so as to observe the position of the instrument in the bone model in real time during the operation for intraoperative adjustment.

[0032] Further, the navigation assembly comprises a depth camera 41 connected to the processor 2, which can identify the type of the instrument, and on the other hand, can locate the spatial shape and position of the instrument and track in real time during the operation, and transmit the collected shape and position data of the instrument to the processor 2, so as to present the instrument in the form of a virtual probe in the same spatial coordinate system, so as to observe the position of the instrument in the bone model in real time during the operation for intraoperative adjustment.

[0033] In detail, the depth camera 41 can obtain the distance of each point in the image from the camera, plus the two-dimensional coordinates of the point in the 2D image, so as to obtain the three-dimensional spatial coordinates of each point in the image.

[0034] Specifically, the tail of the instrument is provided with a marker plate 5, which is made of light materials such as plastic, etc., and the marker plate 5 is provided with marker points on the top, and the corresponding information of the type of the instrument and the marker point parameters is input in advance in the processor 2, so that the depth camera 41 can identify the type of the instrument according to the marker points, and the marker plate 5 is designed as a non-hollow plate in this embodiment, which greatly improves the recognition accuracy of the camera and avoids the interference of sundries. Preferably, the marker points of different types of instruments can be arranged differently, and can also be set to different colors, which improves the recognition accuracy of the depth camera 41 through the differentiated setting.

[0035] In this embodiment, the depth camera 41 is installed on the X-ray machine 1, specifically, on the C-shaped arm 11, and the operation area of the processing table 3 is located in the imaging area of the depth camera 41, so as to collect the spatial shape and position of the instrument.

[0036] For example, in this embodiment, the depth camera 41 is installed in the 45° area obliquely above the C-shaped arm 11.

[0037] Preferably, the navigation assembly further comprises a connecting frame 42, the depth camera 41 is connected to the C-arm 11 through the connecting frame 42. The connecting frame 42 comprises a first connecting part 421 and a second connecting part 422 connected to each other, one end of the first connecting part 421 is in U shape, the C-arm 11 is clamped on both ends of the first connecting part 421 along the width direction, facilitating disassembly and assembly, further, one end of the second connecting part 422 is connected to the other end of the first connecting part 421, the depth camera 41 is connected to the other end of the second connecting part 422, and the depth camera 41 is arranged close to the treatment table 3.

[0038] Before use, the depth camera 41 and the imaging unit 12 of the X-ray machine 1 need to be calibrated. For example, refer to Figure 1 The navigation assembly further comprises a calibration plate 43, through which the calibration of the depth camera 41 is realized.

[0039] Specifically, the depth camera 41 and the imaging unit 12 of the X-ray machine 1 are calibrated by repeatedly detecting the spatial position of the calibration plate 43 at the same time, and the detected data information is transmitted to the processor 2 respectively, and the detection results are coincided by the control program of the processor 2, so as to calibrate the relative spatial position of the depth camera 41 to the imaging unit 12 of the X-ray machine 1.

[0040] Preferably, the top of the calibration plate 43 is divided into modules of different colors, so as to facilitate the detection of the depth camera 41 and the imaging unit 12 of the X-ray machine 1.

[0041] Further preferably, one end of the second connecting part 422 is hinged to the other end of the first connecting part 421, and the rotation axis of the second connecting part 422 is parallel to the width direction of the C-arm 11, so that the second connecting part 422 can rotate in the vertical direction to drive the depth camera 41 to rotate in the vertical direction. For example, a mark turntable is arranged at one end of the first connecting part 421 close to the second connecting part 422 with the rotation axis of the second connecting part 422 as the center, the second connecting part 422 is manually rotated along the circumference, and the rotation angle is recorded according to the mark turntable, and the rotation angle parameter is input into the processor 2, so as to calculate the position of the depth camera 41 without affecting the relative spatial position relationship between the depth camera 41 and the C-arm 11. Through the above setting, the visual range of the depth camera 41 is increased, and the flexibility of the operation is increased.

[0042] The navigation assembly further comprises a marker 6, the marker 6 is positioned and installed with instruments required in the operation, and the depth camera 41 locates and tracks the spatial form and position of the instruments through the relative position data of the instruments and the marker 6.

[0043] Specifically, the marker 6 is placed in the operating area of the treatment table 3, the structural data of the marker 6 is input into the processor 2 in advance, and the spatial position of the marker 6 is first located by the depth camera 41. Optionally, the top of the marker 6 is uniformly distributed with marker points, and the spatial form of the instrument is located by the depth camera 41 through the marker points of the marker 6 and the marker points of the marker plate 5.

[0044] Further, a plurality of mounting holes are arranged at the side wall of the marker 6, the diameters of the plurality of mounting holes are different, so as to mount instruments of different sizes and different types, and the hole depths of the plurality of mounting holes are constant values, the top of the instrument abuts against the hole bottom of the mounting hole, so that the spatial position of the top of the instrument can be located according to the hole depth and the marker points of the marker plate 5.

[0045] The intraoperative navigation system provided in the embodiment is used in the following steps:

[0046] Patient identification: The X-ray machine 1 collects the bone image data of the patient before the operation, the processor 2 receives the bone image data collected by the X-ray machine 1, and forms a bone model in the spatial coordinate system;

[0047] Depth camera 41 calibration: The depth camera 41 and the imaging unit 12 of the X-ray machine 1 repeatedly detect and calibrate the spatial position of the calibration plate 43 at the same time for multiple times, and respectively transmit the detected data information to the processor 2, and the control program of the processor 2 calculates to make the detection results coincide, so as to calibrate the relative spatial position of the depth camera 41 to the imaging unit 12 of the X-ray machine 1, and remove the calibration plate 43;

[0048] Instrument identification and positioning: The top of the instrument required for the operation is abutted against the mounting hole matched with the marker 6, the depth camera 41 collects the marker point information of the marker plate 5 at the tail of the instrument, and compares with the parameters in the processor 2 to identify the type of the instrument, further, the spatial form of the instrument is located by the depth camera 41 through the marker points of the marker 6 and the marker points of the marker plate 5, the spatial position of the top of the instrument is located according to the hole depth and the marker points of the marker plate 5, and the data is transmitted to the processor 2, the instrument is presented in the form of a virtual probe in the same spatial coordinate system by the processor 2, and the position of the instrument relative to the bone model is observed in real time during the operation through the display screen 21.

[0049] The intraoperative navigation system provided in the embodiment can be positioned once by the X-ray before the operation, track the instrument by the depth camera 41, and calculate by the processor 2 to navigate in real time during the operation, so as to adjust during the operation according to the complex operation condition.

[0050] Obviously, the above embodiments of the present application are merely examples for clearly illustrating the present application, and are not intended to limit the implementation modes of the present application. For those skilled in the art, various obvious changes, re-adjustments and replacements can be made without departing from the protection scope of the present application. Here, it is not necessary and also impossible to enumerate all the implementation modes. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application claim.

Claims

1. An intraoperative navigation system, characterized in that, The system includes an X-ray machine (1), a processor (2), and a navigation component. The X-ray machine (1) is used to acquire image data before surgery. The X-ray machine (1) is connected to the processor (2). The processor (2) is used to receive the imaging data from the X-ray machine (1) and form a bone model. The navigation component includes a depth camera (41) and a marker (6). The depth camera (41) is installed on the X-ray machine (1). The relative spatial position of the depth camera (41) and the X-ray machine (1) is calibrated. The instruments required during surgery are positioned and installed on the marker (6). The depth camera (41) is used to identify the instruments. The spatial shape and position of the instruments are located and tracked by the relative position data between the instruments and the marker (6). The depth camera (41) is connected to the processor (2). The processor (2) is used to present the tracking data of the depth camera (41) and the bone model in the same spatial coordinate system. The device has a marking plate (5) at its tail, and the marking plate (5) has multiple marking points. The depth camera (41) identifies the device through the marking points. The top of the marker (6) is evenly distributed with marker points, and the depth camera (41) uses the marker points of the marker (6) and the marker points of the marking plate (5) to locate the spatial shape of the instrument.

2. The intraoperative navigation system according to claim 1, characterized in that, The navigation component also includes a calibration plate (43), and the depth camera (41) and the X-ray machine (1) repeatedly and synchronously detect the spatial position of the calibration plate (43) to calibrate the relative spatial position of the depth camera (41) on the X-ray machine (1).

3. The intraoperative navigation system according to claim 1, characterized in that, The sidewall of the marker (6) is provided with a plurality of mounting holes at intervals. The depth of the plurality of mounting holes is a fixed value and the diameter of the plurality of mounting holes is different. The top of the instrument abuts against the bottom of the mounting hole to position the top of the instrument.

4. The intraoperative navigation system according to claim 1, characterized in that, The intraoperative navigation system further includes a processing table (3), on which the X-ray machine (1) and the processor (2) are both installed, and the operating area of ​​the processing table (3) is located in the imaging area of ​​the X-ray machine (1) and the imaging area of ​​the depth camera (41).

5. The intraoperative navigation system according to claim 4, characterized in that, The X-ray machine (1) includes a C-arm (11) and an imaging unit (12). The imaging unit (12) is used to acquire image data. One end of the C-arm (11) is connected to the processing stage (3), and the imaging unit (12) is disposed at the other end of the C-arm (11). The depth camera (41) is mounted on the C-arm (11).

6. The intraoperative navigation system according to claim 5, characterized in that, The navigation component also includes a connecting frame (42), which includes a first connecting part (421) and a second connecting part (422) connected together. One end of the first connecting part (421) is U-shaped, and the two ends of the C-shaped arm (11) along its width direction are engaged at one end of the first connecting part (421). One end of the second connecting part (422) is connected to the other end of the first connecting part (421), and the depth camera (41) is connected to the other end of the second connecting part (422).

7. The intraoperative navigation system according to claim 6, characterized in that, One end of the second connecting part (422) is hinged to the other end of the first connecting part (421), and the axis of rotation of the second connecting part (422) is parallel to the width direction of the C-shaped arm (11).

8. An intraoperative navigation system according to any one of claims 1-7, characterized in that, The processor (2) includes a display screen (21) for displaying the bone model in a spatial coordinate system and imaging the device in the spatial coordinate system based on the tracking data of the device by the depth camera (41).

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