A surgical tool and navigation system for surgical navigation

Abstract

The utility model relates to medical instrument technical field discloses a kind of surgical tool and navigation system for surgical operation navigation, surgical tool includes integrated tool main body and tool positioning frame, tool main body has tool front end, at least 3 non-collinear optical markers are provided on tool positioning frame, and identification mark is provided on tool main body or tool positioning frame;Optical marker can reflect light or actively emit infrared light, and identification mark records the space coordinate information of each optical marker, tool front end.The utility model uses, through identification mark, the three-dimensional digital model of the surgical tool can be directly called;Need not be calibrated when operating, solve the problem that the surgical instrument assembly needs to be carried out before using existing surgical navigation tool, calibration, debugging, such as repeated calibration failure, still need to replace consumable reflector ball and recalibrate again, seriously increase the operation preparation time.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a surgical tool and navigation system for surgical navigation. Background Technology

[0002] Surgical navigation systems combine modern medical imaging and stereotactic positioning technologies. Through 3D reconstruction, they intuitively locate lesions and plan surgical pathways, while using spatial positioning technology to provide real-time feedback on the position of surgical instruments. Compared to the limitations of traditional surgical methods, such as inaccurate positioning, limited field of vision, and lack of real-time feedback, current surgical navigation systems can intuitively display the position of surgical instruments relative to the patient's actual anatomical tissues during surgery, enabling precise treatment and significantly improving surgical accuracy and safety.

[0003] In surgical navigation, the first step is to locate the surgical instruments. This is typically achieved using a registration method based on infrared reflective points. The principle involves binding infrared reflective points to the surgical instruments and using computer vision technology to identify the reflective points captured by an infrared camera, thereby indirectly locating the surgical instruments. In the prior art, patent CN220193149U discloses a surgical instrument calibration device for a surgical navigation system, including an instrument positioning frame and an instrument calibration frame. The instrument positioning frame includes a first infrared reflective tool and a positioning structure. The first infrared reflective tool has multiple first reflective points. The positioning structure is used to attach the surgical instruments. The instrument calibration frame includes a second infrared reflective tool and a calibration reference plate. The second infrared reflective tool has multiple second reflective points. The calibration reference plate has several positioning grooves for attaching the working parts of the surgical instruments.

[0004] While the surgical instrument calibration device of the aforementioned prior art surgical navigation system has the advantages of being easy to use, having high calibration accuracy, and being highly applicable, it requires the use of a special registration fixture. Before use, the matching surgical instruments need to be assembled, calibrated, and adjusted on-site. If repeated calibration fails, the consumable reflective ball needs to be replaced and recalibrated, which significantly increases the surgical preparation time. Utility Model Content

[0005] In view of this, the purpose of this utility model is to provide a surgical tool and navigation system for surgical navigation. By calibrating the relative spatial position information of the front end of the surgical tool and the optical marker during production and associating the information with a specific identification mark, the three-dimensional digital model of the surgical tool can be directly accessed through the identification mark during use. There is no need to perform calibration during surgery, which solves the problem that existing surgical navigation tools require the assembly, calibration, and debugging of surgical instruments before use. If repeated calibration fails, the consumable reflective ball needs to be replaced and recalibrated, which seriously increases the surgical preparation time.

[0006] This utility model solves the above-mentioned technical problems through the following technical means:

[0007] In a first aspect, this utility model discloses a surgical tool for surgical navigation, comprising an integrated tool body and a tool positioning frame. The tool body has a tool front end, and the tool positioning frame is provided with at least three non-collinear optical markers. The tool body or the tool positioning frame is provided with an identification mark. The optical markers can reflect light or actively emit infrared light, and the identification mark records the spatial coordinate information of each optical marker and the tool front end.

[0008] Furthermore, the identification mark is one of the following: QR code, one-dimensional barcode, color code, or dot code. These identification marks can record the spatial position information of each optical marker relative to the tool's tip. After capturing the identification mark with a camera, the corresponding information can be identified.

[0009] Furthermore, the identification mark also records the shape information of the tool body. The shape information of the tool body is simultaneously read, facilitating surgery by medical personnel.

[0010] Furthermore, a label is affixed to the tool positioning frame, and the identification mark is set on the label. This arrangement allows for convenient production by first printing the specific identification mark with information onto the label, and then simply affixing the label with the identification mark to the tool positioning frame.

[0011] Furthermore, the tool body includes one of a probe, a peeling finger, and a suction tube.

[0012] Furthermore, the optical markers include one of the following: a retroreflective sphere, a retroreflective sticker, and an LED bead that actively emits infrared light. All of these optical markers can be tracked by an infrared binocular camera, allowing for the creation of a three-dimensional digital model of the surgical instrument.

[0013] Furthermore, the number of optical markers is three or four. Three or four optical markers can ensure accuracy and meet tracking requirements, while also reducing costs and the risk of occlusion.

[0014] Furthermore, the tool positioning frame is provided with a connecting part, which is fixedly connected to the tool body.

[0015] Secondly, this utility model also discloses a navigation system for surgical navigation, including the aforementioned surgical tools and camera. The identification mark is used to record the spatial coordinate information of each optical marker and the front end of the tool. The spatial coordinate information of each optical marker and the front end of the tool corresponds to one identification mark. The camera can scan and identify the information of the identification mark.

[0016] Furthermore, the camera is an infrared binocular camera. This technical solution enables the infrared binocular camera to scan and identify the identification mark while tracking the optical marker, eliminating the need for additional cameras and simplifying the entire system.

[0017] The beneficial effects of this utility model are:

[0018] 1. The surgical tool of this utility model includes a tool body and a tool positioning frame. The tool body and the tool positioning frame can be fixed at the factory, and the relative spatial position information of the front end of the tool body and the optical markers on the tool positioning frame can be calibrated. The parameter information is recorded in the identification mark, and each set of surgical tools is given a specific identification mark. In this way, when using it, medical personnel only need to scan the identification mark on each set of surgical tools with an infrared binocular camera to retrieve the three-dimensional digital model of the surgical tool. There is no need to calibrate it again during surgery. It is simple and convenient to use, and the data is more accurate.

[0019] 2. The surgical tools of this utility model are associated with a specific identification mark and can be used repeatedly or disposable. After disposable use, medical staff can discard them directly without the need for further disinfection of the surgical tools, which reduces the workload of the hospital and avoids cross-infection that may be caused by incomplete disinfection. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of a surgical tool for surgical navigation according to Embodiment 1 of this utility model. Figure 1 ;

[0021] Figure 2 This is a three-dimensional structural diagram of a surgical tool for surgical navigation according to Embodiment 1 of this utility model. Figure 2 ;

[0022] Figure 3 This is a three-dimensional structural diagram of a surgical tool for surgical navigation according to Embodiment 2 of this utility model. Figure 1 ;

[0023] Figure 4 This is a three-dimensional structural diagram of a surgical tool for surgical navigation according to Embodiment 2 of this utility model. Figure 2 ;

[0024] Figure 5 A schematic diagram of a navigation system for surgical navigation in Embodiment 3 of this utility model;

[0025] in, Figure 1 and Figure 2 In the middle: tool body 101, tool positioning frame 102, connecting rod 103, tool front end 104, retroreflective ball 105, identification mark 106;

[0026] Figure 3 and Figure 4 In the middle: tool body 201, tool positioning frame 202, connecting rod 203, tool front end 204, retroreflective sticker 205, identification mark 206.

[0027] Figure 5 Chinese: Surgical tools 1, infrared binocular camera 2. Detailed Implementation

[0028] The present invention will now be described in detail with reference to the accompanying drawings:

[0029] Example 1

[0030] This embodiment describes a surgical tool for surgical navigation, such as... Figure 1 and Figure 2 As shown, the tool includes a tool body 101, a tool positioning frame 102, and a connecting rod 103. The tool body 101 and the tool positioning frame 102 are fixedly connected as a whole during production via the connecting rod 103. The tool body 101 has a tool tip 104, and the tool positioning frame 102 is equipped with four non-collinear optical markers. A label is affixed to the tool positioning frame 102, and the label is printed with an identification mark 106. In other embodiments, the identification mark 106 can also be located on the tool body 101, as long as it can support the identification mark 106 and be displayed in front of a camera for scanning during use; alternatively, the identification mark 106 can be directly printed on the tool positioning frame 102 or the tool body 101.

[0031] The optical marker can reflect light or actively emit infrared light. The optical marker can be a retroreflective ball 105, a sticker with retroreflective function, or an LED light bead that actively emits infrared light. In this embodiment, the retroreflective ball 105 is used.

[0032] In this embodiment, the identification mark 106 records the relative spatial position information of each optical marker and the tool tip 104, as well as the shape information of the tool body 101. The identification mark 106 can be one of a QR code, a one-dimensional barcode, a color code, or a dot code. These identification marks 106 can record the spatial position information of each optical marker and the tool tip 104. After capturing the identification mark 106 with a camera, the corresponding information can be read from the identification mark 106. In this embodiment, a QR code is used as the identification mark 106.

[0033] The tool body 101 of this utility model can be a probe, a dissecting finger, or a suction tube. In other embodiments, it can also be a surgical instrument such as a surgical scalpel, a surgical grinding head, or a surgical bone saw.

[0034] It should be noted that, depending on the type of surgery, instrument design, and comprehensive evaluation of system performance, the number of optical markers can also be greater than or equal to 3. The final number scheme can be clinically validated to ensure a balance between accuracy and practicality.

[0035] This invention relates to a surgical tool for surgical navigation. During manufacturing, the tool body 101 and tool positioning frame 102 are fixed together as a single unit via a connecting rod 103 and shipped as a whole. The relative spatial position information of the front end of the tool body and the optical markers on the tool positioning frame 102 is calibrated, and the shape information of the tool body 101 is recorded. Parameter information is recorded in the identification mark 106, and each set of surgical tools is assigned a specific identification mark 106. Thus, during use, medical personnel only need to scan the identification mark 106 on each set of surgical tools with an infrared binocular camera to retrieve the three-dimensional digital model of the surgical tool, eliminating the need for calibration during surgery. This method is simple and convenient to use, and the data is more accurate.

[0036] Because the tool positioning frame 102 and some surgical instruments are relatively inexpensive, they are difficult to thoroughly clean and disinfect after use. Therefore, each surgical instrument of this invention corresponds to a specific identification mark 106 and can be used only once. After use, medical staff can discard them directly without further disinfection, which reduces the workload of the hospital and avoids cross-infection that may be caused by incomplete disinfection.

[0037] Example 2

[0038] Compared with Example 1, Example 2 is as follows: Figure 3 and Figure 4 As shown, the only difference is that the optical marker in this embodiment is a sticker 205 with retroreflective function.

[0039] Specifically, the tool includes a tool body 201, a tool positioning frame 202, and a connecting rod 203. The tool body 201 and the tool positioning frame 202 are fixedly connected as a whole during production via the connecting rod 203. The tool body 201 has a tool tip 204, and the tool positioning frame 202 is equipped with four non-collinear optical markers. A label is affixed to the tool positioning frame 202, and the label is printed with an identification mark 206. In this embodiment, the optical markers are stickers 205 with retroreflective function.

[0040] The identification mark 206 in this embodiment records the relative spatial position information of each optical marker and the tool tip 204, as well as the shape information of the tool body 201; the identification mark 206 in this embodiment is a QR code.

[0041] The tool body 201 of this utility model can be a probe, a dissecting finger, or a suction tube. In other embodiments, it can also be a surgical instrument such as a surgical scalpel, a surgical grinding head, or a surgical bone saw.

[0042] Example 3

[0043] This utility model also discloses a navigation system for surgical navigation, such as... Figure 5 As shown, the system includes a surgical tool 1 (as described in Embodiment 1) and an infrared binocular camera 2. The identification mark 106 is used to record the spatial coordinate information of each optical marker and the tool's tip. Each optical marker and the spatial coordinate information of the tool's tip corresponds to one identification mark. The infrared binocular camera 2 can scan and identify the identification mark 106. With this navigation system, medical personnel only need to align the identification mark on each set of surgical tools with the infrared binocular camera to scan and read the three-dimensional digital model of the surgical tool. No further calibration is required during surgery, making it simple and convenient to use, and providing more accurate data.

[0044] The above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications and substitutions should be covered within the scope of the claims of this utility model. Technologies, shapes, and structural parts not described in detail in this utility model are all known technologies.

Claims

1. A surgical tool for surgical navigation, characterized in that: The tool includes an integrated tool body and a tool positioning frame. The tool body has a tool tip, and the tool positioning frame is provided with at least three non-collinear optical markers. The tool body or the tool positioning frame is provided with an identification mark. The optical markers can reflect light or actively emit infrared light, and the identification mark records the spatial coordinate information of each optical marker and the tool tip.

2. A surgical tool for surgical navigation according to claim 1, characterized in that: The identification mark is one of the following: QR code, one-dimensional barcode, color code, or dot code.

3. A surgical tool for surgical navigation according to claim 1, characterized in that: The identification mark also records the shape information of the tool body.

4. A surgical tool for surgical navigation according to claim 1, characterized in that: A label is affixed to the tool positioning frame, and the identification mark is set on the label.

5. A surgical tool for surgical navigation according to any one of claims 1-4, characterized in that: The tool body includes one of a probe, a peeling finger, and a suction tube.

6. A surgical tool for surgical navigation according to any one of claims 1-4, characterized in that: The optical markers include one of the following: a retroreflective sphere, a retroreflective sticker, and an LED bead that actively emits infrared light.

7. A surgical tool for surgical navigation according to any one of claims 1-4, characterized in that: The number of optical markers is three or four.

8. A surgical tool for surgical navigation according to any one of claims 1-4, characterized in that: The tool positioning frame is provided with a connecting part, which is fixedly connected to the tool body.

9. A navigation system for surgical navigation, characterized in that: The surgical tool and camera included in any one of claims 1-8, wherein the identification mark is used to record at least the spatial coordinate information of each optical marker and the tool tip, and each optical marker and the spatial coordinate information of the tool tip of the surgical tool corresponds to one identification mark, and the camera can scan and identify the information of the identification mark.

10. A navigation system for surgical navigation according to claim 9, characterized in that: The camera is an infrared binocular camera.

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