A surgical microscope with surgical navigation and a dental surgical navigation system

Abstract

This utility model discloses a surgical microscope and dental surgical navigation system with surgical navigation, including a base, a transverse arm assembly, and a microscope. The transverse arm assembly includes a first transverse arm and a second transverse arm. The first transverse arm is rotatably connected to the base, and the second transverse arm is rotatably connected to the first transverse arm. The microscope is mounted on the second transverse arm via a balance arm. The transverse arm assembly further includes a transverse arm pivot, through which the second transverse arm is rotatably connected to the first transverse arm. A navigation component and a telescopic adjustment component are also provided. One end of the telescopic adjustment component is mounted on the navigation component, and the other end of the telescopic adjustment component is rotatably connected to the transverse arm pivot. The navigation component can move and / or rotate towards or away from the microscope. This utility model reduces space occupation and improves operational convenience.

Description

Technical Field

[0001] This utility model relates to the field of diagnostic and therapeutic technology, and more particularly to a surgical microscope with surgical navigation and a dental surgical navigation system. Background Technology

[0002] Modern medicine has made substantial progress in areas such as in vitro diagnostics, microsurgery, medical imaging, and minimally invasive treatments, with a plethora of cross-disciplinary and multi-faceted diagnostic and treatment methods emerging. Due to the continuous development of medical imaging equipment and the rapid advancements in medical imaging technology, sub-disciplines such as CT, MR, interventional radiography, ultrasound, and nuclear medicine have been gradually established, and the discipline of medical imaging technology has also gradually taken shape.

[0003] Medical imaging information is becoming more sensitive, intuitive, specific, and early-developing. Image analysis is evolving from qualitative to quantitative, and from displaying diagnostic information to providing surgical pathway plans; image cameras and displays are evolving from two-dimensional analog to three-dimensional fully digital; image storage is evolving from hard film copies to soft copies and filmless systems, and even to networked image transmission; and it is evolving from single image technologies to comprehensive image technologies.

[0004] To adapt to the digitalization, networking, and integration of medical imaging, it is necessary to establish a perspective that integrates the three disciplines of diagnosis, technology, and engineering. A single discipline can no longer fulfill the functions of modern medical imaging.

[0005] Taking root canal treatment as an example, the dentist needs to completely open the pulp chamber, locate all the root canals, and treat them. Humans generally have 1-4 root canals per tooth, with the posterior teeth having the most. In cases of multi-rooted teeth, due to age-related changes, the deposition of reparative dentin, pulp stones, pulp chamber calcification, or variations in root canal morphology, making it difficult to locate the root canal orifices, it is necessary to utilize the three-dimensional anatomy of the tooth to understand and view the anatomical morphology of the pulp chamber from various directions and positions. X-rays taken using various projection methods are used to understand and indicate the number, shape, location, direction, and curvature of the roots and root canals; the relationship between the roots and the crown; and various possible variations in the anatomical morphology of the roots and root canals. Since some teeth can have up to four root canals, and there may be complex situations such as lateral root canals, accessory root canals, apical bifurcation, and apical furcation, these can be missed even under magnified observation. It is necessary to estimate the possible location of the root canal. If necessary, a small ball bur can be used to remove a small amount of dentin at the possible or expected location of the root canal in the developmental groove. Then, a sharp probe can be used to try to pierce any calcified areas to point out the root canal orifice. The dentin collar at the neck of the tooth is removed to expose the location of the root canal orifice. In other words, if there is calcification of the root canal orifice, the dentist needs to repeatedly probe each possible location, which inevitably leads to the removal of too much healthy tooth tissue.

[0006] Currently, preoperative dental X-rays are frequently used to help dentists determine the drilling point and depth for the target tooth. However, this requires dentists to dedicate time to memorizing the root and crown morphology, and may even suspend surgery to re-examine the X-rays. Furthermore, human observation errors can easily lead to deviations in the drill entry point, and the drilling path and depth rely on the dentist's experience, making accurate positioning impossible. Therefore, surgical microscopes and dental surgical navigation are widely used in modern dental practice.

[0007] Due to the limited space in existing dental clinics, one side of the dental chair needs to accommodate a sink, lighting, instrument table, etc. (as shown in the figure). Therefore, only one side can accommodate a surgical microscope and a dental navigation device. However, existing surgical microscopes and dental navigation devices each have their own independent bases, taking up considerable space. Consequently, in actual practice, dentists often have to choose between using either a surgical microscope or a dental navigation device. Furthermore, if dentists use both simultaneously during treatment, operating them independently is inconvenient and can easily obstruct the view of either the microscope or the navigation lens. Therefore, solving these technical problems is a direction that those skilled in the art need to address.

[0008] Meanwhile, medical imaging is an indispensable aid in dental surgery. For example, patent application number 202011129874.9, entitled "Dental Navigation Surgical Registration Method and System," is used for surgical navigation. However, it has certain limitations: it only supports navigation for a single dental surgical instrument and surgical path. Therefore, improving the precision of dental surgery and enhancing the adaptability of different dental surgical instruments to surgical navigation are directions that those skilled in the art need to strive towards. Summary of the Invention

[0009] The purpose of this invention is to provide a surgical microscope and dental surgical navigation system with surgical navigation. By using this structure, the space occupied is reduced, the convenience of operation is improved, and precise dental surgery can be achieved. It is applicable to different dental surgical instruments and expands the scope of application.

[0010] To achieve the above objectives, the technical solution adopted by this utility model is: a surgical microscope with surgical navigation, including a support and a microscope. The support includes a base and a cross arm assembly mounted on the base. The cross arm assembly includes a first cross arm and a second cross arm. The first cross arm is rotatably connected to the base, and the second cross arm is rotatably connected to the first cross arm. The microscope is mounted on the second cross arm via a balance arm. The crossarm assembly also includes a crossarm pivot, and the second crossarm is rotatably connected to the first crossarm through the crossarm pivot. The bottom of the crossarm pivot is located below the bottom of the second crossarm. It also includes a navigation component and a telescopic adjustment component. The navigation component is installed at one end of the telescopic adjustment component, and the other end of the telescopic adjustment component is rotatably connected to the cross arm pivot. The connection between the telescopic adjustment component and the cross arm pivot is located below the second cross arm. The navigation component can move and / or rotate toward or away from the microscope.

[0011] In the above technical solution, when the second cross arm rotates around the cross arm pivot, it can simultaneously drive the telescopic adjustment component to rotate with the second cross arm.

[0012] In the above technical solution, the telescopic adjustment component includes a first link and a second link. The navigation component is installed at the first end of the second link, and the second end of the second link is connected to the first end of the first link. The second link can rotate relative to the first link around a second pivot. The second end of the first link is rotatably connected to the pivot of the cross arm.

[0013] In the above technical solution, the second end of the second connecting rod is also rotatably connected to the second rotating shaft, and the second connecting rod can rotate relative to the second rotating shaft around the third rotating shaft; The second rotating shaft is arranged parallel to the cross arm rotating shaft, and the third rotating shaft is arranged perpendicular to the second rotating shaft.

[0014] In the above technical solution, the second connecting rod can rotate relative to the first connecting rod within a range of 180° around the second pivot. And / or, the second link may rotate within a range of 100° relative to the second axis of rotation about the third axis of rotation.

[0015] In the above technical solution, the first end of the second connecting rod is provided with a universal joint, the navigation component is connected to the universal joint via a mounting component, and the navigation component can rotate circumferentially relative to the mounting component.

[0016] In the above technical solution, the second link is a balance arm structure. The second link includes an elastic element and two parallel balance bars. The elastic element is disposed between the two balance bars. One end of the elastic element is rotatably connected to one of the balance bars, and the other end of the elastic element is rotatably connected to the other balance bar. One end of each of the two balance bars is rotatably connected to the second rotating shaft, and the other end of each of the two balance bars is rotatably connected to the universal joint. The balance bars can rotate relative to the second rotating shaft around an eighth rotating shaft, which is perpendicular to the second rotating shaft.

[0017] In the above technical solution, the base includes a base and a column mounted on the base, and the first cross arm is rotatably connected to the top of the column.

[0018] In the above technical solution, a mounting part is installed on the column, and the mounting part can be adjusted to a position along the axial direction of the column; A host mounting bracket is also provided, which is connected to the mounting part via a connecting component; And / or, an electrical control box is also installed on the side of the mounting part.

[0019] In the above technical solution, the host is detachably mounted on the host mounting bracket, and the host is electrically connected to the navigation component, or the host is electrically connected to the navigation component and the microscope.

[0020] In the above technical solution, the microscope is also equipped with an image enhancement device, which superimposes the optical path of the navigation component onto the optical path of the microscope; And / or, the image enhancement device is a dual-path image enhancement device.

[0021] This utility model also provides a dental surgery navigation system, including a display device, a storage unit, a locator, at least one reference device, and the above-mentioned surgical microscope with surgical navigation. The display device is used to present navigation visual content; The storage unit can store and provide a three-dimensional structural digital image of the surgical object, and the display device can display the three-dimensional structural digital image; The locator is used for mounting various dental surgical instruments. The locator has a connection part that is detachably connected to the dental surgical instrument, and a second marking part that can be identified by an imaging device within a 360° range. The reference device is used to locate the target lesion. The reference device includes a fixation part that is connected to the patient and a third marking part that can be recognized by the imaging device. The navigation component is a visual navigation instrument, which is used to capture images of the patient's surgical area and detect the relative positions of the locator, reference device, and dental surgical instruments to be tracked.

[0022] In the above technical solution, the visual navigation instrument is a binocular lens with optical automatic tracking.

[0023] The above technical solution also includes at least one calibrator, which is used to obtain the coordinates of dental surgical instruments in the coordinate system of the visual navigation instrument.

[0024] The above technical solution also includes a registration device, which has a tip and a fourth marker portion that can be recognized by the imaging device.

[0025] In the above technical solution, the dental surgical instrument is detachably connected to the locator via a connector.

[0026] This utility model also provides an image navigation method for dental surgery, which uses the above-mentioned dental surgery navigation system and includes the following steps: S1. Obtain the relative position between the target lesion and the marker: Fix the surgical object and the marker, image the surgical object and the marker, and obtain a three-dimensional structural digital image; The marker is located by a three-dimensional structural digital image, a three-dimensional spatial coordinate system is established, the relative position between the target lesion and the marker is obtained, and the coordinates of the marker and the target lesion in the three-dimensional structural digital image spatial coordinate system are determined. S2. Registration of the target affected area space and markers: Connect the reference device to the jaw surface where the target affected area is located or to the markers. Obtain the coordinates of the target affected area space and markers in the visual navigation instrument coordinate system through the reference device, or through the combination of the registration device and the reference device, or through the combination of the reference device, the calibrator and the three-dimensional structural digital image, and map them to the three-dimensional structural digital image space coordinate system. S3. Calibration of dental surgical instruments: Connect the dental surgical instruments and the locator, and obtain the coordinates of the dental surgical instruments in the coordinate system of the visual navigation instrument by aligning the calibration positions of the dental surgical instruments and the locator, and map them to the three-dimensional structure digital image space coordinate system. S4. Surgical Navigation: Based on the coordinates of dental surgical instruments in the visual navigation instrument coordinate system, the target lesion space, and the coordinates of markers in the visual navigation instrument coordinate system, the actual surgical operation is guided by a three-dimensional structural digital image to achieve precise surgical navigation.

[0027] In the above technical solution, the spatial transformation relationship between the three-dimensional structural digital image spatial coordinate system and the visual navigation instrument coordinate system is determined based on the coordinates in the visual navigation instrument coordinate system and the coordinates in the three-dimensional structural digital image spatial coordinate system. Then, based on the spatial transformation relationship, during the operation, the coordinates of the dental surgical instruments in the visual navigation instrument coordinate system, the target lesion space, and the coordinates of the markers in the visual navigation instrument coordinate system are transformed to the three-dimensional structural digital image spatial coordinate system for display. The surgical operation is guided by the three-dimensional structural digital image, achieving precise surgical navigation.

[0028] In the above technical solution, the calibrator has a calibration position and a first optical tracking mark. The first optical tracking mark has a known position in the coordinate system of the visual navigation instrument. When the working end of the dental surgical instrument contacts the corresponding calibration position on the calibrator, the coordinates of the dental surgical instrument in the coordinate system of the visual navigation instrument can be obtained.

[0029] In the above technical solution, the dental surgical instrument achieves the calibration of the working tip position, and / or axial calibration, and / or length calibration, and / or width calibration by contacting the corresponding calibration position.

[0030] In the above technical solution, the register has a tip and a fourth mark portion that can be recognized by the imaging device. The fourth mark portion is disposed away from the tip and includes a plurality of fourth optical tracking marks disposed on the surface of the register. When obtaining the coordinates of the target lesion space and the marker in the visual navigation instrument coordinate system by combining the register and the reference, first contact the corresponding calibration position on the calibrator to obtain the coordinates of the register in the visual navigation instrument coordinate system. Then, place the tip in the center of each marker in sequence to perform marking. Based on the position of the fourth optical tracking mark, obtain the coordinates of the target lesion space and the marker in the visual navigation instrument coordinate system.

[0031] In the above technical solution, the second marking part includes a plurality of second optical tracking marks arranged on the outer surface of the locator. The visual navigation instrument can simultaneously identify at least three second optical tracking marks located on different planes. The visual navigation instrument obtains the three-dimensional coordinates of the dental surgical instrument in the coordinate system of the visual navigation instrument based on the plurality of second optical tracking marks located on different planes.

[0032] In the above technical solution, the reference device includes a fixing part that connects to the jaw surface where the target affected area is located or to a marker; The third marking section includes at least three third optical tracking marks disposed on the surface of the reference.

[0033] Due to the application of the above technical solution, this utility model has the following advantages compared with the prior art: 1. In this utility model, a navigation component is installed on the support for mounting the microscope. The navigation component is connected to the telescopic adjustment component and the cross arm assembly. This allows the navigation component to be combined with the microscope, reducing the space occupied by the equipment. It enables the simultaneous use of the surgical microscope and surgical navigation in a small treatment space, which is convenient and improves the ease of operation. 2. In this invention, the navigation component can be adjusted in position independently or together with the microscope, which improves the convenience of diagnosis and treatment; 3. This utility model also includes a main unit mounting frame, which can be connected to the column via an adjustable connecting component and mounting part. This allows for easy adjustment of the main unit's position, facilitating operator observation and making it suitable for different operators, thus improving the applicability and comfort during use. 4. In this utility model, the navigation screen of the navigation component can be combined with the screen of the microscope. When the operator observes through the microscope, he / she can not only observe the screen of the microscope, but also the superimposed image of the navigation screen and the microscope, making the operator more comfortable and convenient when observing the image, and improving the convenience of surgical operation. 5. In this utility model, a reference device and a registration device are used to register the target area space and landmarks, and a locator is used to register different dental surgical instruments, thereby obtaining their coordinates in the coordinate system of the visual navigation instrument. By combining these coordinates with the coordinate system of the three-dimensional structure digital image, the corresponding precise position can be accurately and in real time. Surgical navigation is performed through the navigation path. Compared with the previous method, it can be applied to different dental surgical instruments, has a wider range of applications, and improves surgical efficiency. 6. In this utility model, different dental surgical instruments can be installed using the same locator, and surgical navigation and positioning can be performed using the second optical tracking mark on the same locator. There is no need to set a second optical tracking mark on each dental surgical instrument, which can effectively reduce costs. 7. In this utility model, different markers, registration devices and reference devices can be selected according to different surgical conditions of patients for registration and navigation, thereby improving the applicability of the surgery and improving surgical efficiency; 8. In this invention, CT images and detailed scan images of the target oral cavity surface can be combined to obtain a more accurate three-dimensional structural digital image, thereby improving the convenience of surgical operation, reducing the difficulty of surgery, and improving the accuracy of surgical navigation; 9. In this utility model, the navigation screen in the visual navigation instrument can also be combined with the display screen of the surgical microscope and displayed through a display device. When the operator observes through the surgical microscope and performs surgery, he / she can not only observe the screen of the surgical microscope, but also simultaneously observe the superimposed image of the navigation screen and the surgical microscope. This makes it more comfortable and convenient for the operator to observe the image, and the superimposed image can be used for surgical navigation, thus improving the convenience of surgical operation. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the surgical microscope with surgical navigation in Embodiment 1 of this utility model; Figure 2 yes Figure 1 Enlarged view of the central navigation components and telescopic adjustment components; Figure 3 This is a schematic diagram of the connection structure between the telescopic adjustment component and the navigation component in another embodiment of this utility model (the second link adopts an elastic element and a balance bar structure). Figure 4 This is a schematic diagram of the connection between the host mounting bracket and the column in Embodiment 1 of this utility model; Figure 5 This is a structural schematic diagram of the connection between the host mounting bracket and the column in Embodiment 1 of this utility model from another perspective; Figure 6 This is a structural schematic diagram of the optimal field of view of the navigation component in this utility model; Figure 7 This is the navigation flowchart in this utility model; Figure 8 This is a schematic diagram of the positioner in this utility model; Figure 9 This is a cross-sectional view of the connection between the dental surgical instrument and the positioner in this utility model; Figure 10 This is a schematic diagram of the positioning sleeve in this utility model; Figure 11 This is a structural schematic diagram of the calibrator from one perspective (calibration position direction) in this utility model. Figure 12 This is a structural schematic diagram of the calibrator from another perspective (direction of the first optical tracking mark) in this utility model; Figure 13 This is a schematic diagram of the structure of a reference device in this utility model; Figure 14 This is a schematic diagram of the structure of another reference device in this utility model; Figure 15 yes Figure 14 A schematic diagram of the cross-sectional structure; Figure 16 This is a schematic diagram of the structure of another reference device in this utility model; Figure 17 This is a schematic diagram of the structure of another reference device in this utility model; Figure 18 This is a schematic diagram of the structure of another reference device in this utility model; Figure 19 yes Figure 18 A schematic diagram of the cross-sectional structure; Figure 20 This is a schematic diagram of the structure of another reference device in this utility model; Figure 21 This is a schematic diagram of the structure of another reference device in this utility model; Figure 22 This is a schematic diagram of the registration device in this utility model; Figure 23 This is a schematic diagram of the calibrator and implantation mobile phone-type instruments performing axial calibration in this utility model; Figure 24 This is a schematic diagram of the length calibration of the calibrator and bone scalpel-like instruments in this utility model; Figure 25This is a schematic diagram of the calibrator and bone scalpel-like instruments used for width calibration in this utility model; Figure 26 This is a schematic diagram of the calibrator and ultrasonic working instruments used in this utility model to calibrate the position of the working tip.

[0035] The components include: 1. Microscope; 11. Navigation component; 12. Main unit mounting bracket; 121. Positioning hook; 122. Fixing block; 123. Limiting plate; 2. Base; 21. Base plate; 22. Column; 23. Mounting unit; 231. Electrical control box; 3. Crossarm assembly; 31. First crossarm; 32. Second crossarm; 33. Counterweight arm; 34. Crossarm pivot; 4. Telescopic adjustment component; 42. First connecting rod; 43. Second connecting rod; 44. Second pivot; 45. Third pivot; 46. Universal joint; 47. Mounting component; 48. Eighth pivot; 49. Ninth pivot; 431. Elastic component; 432. Balance bar; 5. Connecting components; 51. Third connecting plate; 52. Fourth connecting plate; 53. Fourth pivot; 54. Fifth pivot; 6. Positioner; 61. Connecting part; 62. Second optical tracking mark; 63. Positioning sleeve; 64. Screw sleeve; 65. Through hole; 66. Conical head; 67. Conical surface; 68. Elastic claw; 69. Groove; 601. Protrusion; 7. Reference device; 71. Fixing part; 72. Third optical tracking mark; 8. Calibrator; 81. First optical tracking mark; 82. Calibration bit; 821. Calibration bit 2; 822. Calibration bit 3; 823. Calibration bit 4; 824. Calibration bit 1L; 825. Calibration bit 1R; 9. Register; 91. Tip; 92. Fourth optical tracking mark; 01. Dental surgical instruments. Detailed Implementation

[0036] The present invention will be further described below with reference to the accompanying drawings and embodiments: Example 1: See Figure 1-26 As shown, a surgical microscope with surgical navigation includes a support and a microscope 1. The support includes a base 2 and a transverse arm assembly 3 mounted on the base. The transverse arm assembly 3 includes a first transverse arm 31 and a second transverse arm 32. The first transverse arm 31 is rotatably connected to the base 2, and the second transverse arm 32 is rotatably connected to the first transverse arm 31. The microscope 1 is mounted on the second transverse arm 32 via a balance arm 33. The crossarm assembly 3 further includes a crossarm pivot 34, and the second crossarm 32 is rotatably connected to the first crossarm 31 through the crossarm pivot 34. The bottom of the crossarm pivot 34 is located below the bottom of the second crossarm 32. It also includes a navigation component 11 and a telescopic adjustment component 4. The navigation component 11 is mounted on one end of the telescopic adjustment component 4, and the other end of the telescopic adjustment component 4 is rotatably connected to the cross arm pivot 34. The connection between the telescopic adjustment component 4 and the cross arm pivot 34 is located below the second cross arm 32. The navigation component can move and rotate towards or away from the microscope. When moving towards or away from the microscope, the distance between the navigation component and the microscope can be increased or decreased by rotating or adjusting the telescopic adjustment component. When rotating the navigation component relative to the telescopic adjustment component, if the lens of the navigation component faces the microscope, the navigation component rotates towards the microscope; if the lens of the navigation component is not facing the microscope or is facing away from the microscope, the navigation component rotates away from the microscope. The navigation component is a visual navigation instrument, which is a binocular lens with automatic optical tracking. The navigation component uses an existing structure. For example, it may consist of a housing, two lenses mounted on the housing, and at least two motors. The outer surface of the housing's center is rotatably connected to a telescopic adjustment component. The two lenses are symmetrically positioned on either side of the housing and rotatably mounted on it. The motor shafts of the two motors are perpendicular to each other. One motor drives the navigation component to rotate relative to the telescopic adjustment component, achieving at least a 180-degree rotation. The other motor drives the two binocular lenses to rotate on the navigation component, thus achieving automatic tracking and automatic lens angle adjustment. Alternatively, a single motor can be used, with the housing and telescopic navigation component fixedly connected. This motor can only drive the binocular lenses to rotate on the housing, achieving automatic tracking and navigation. Another option is to use a single motor mounted on the telescopic adjustment component, not inside the housing, capable of enabling the navigation component to rotate around the telescopic adjustment component and / or driving the binocular lenses to rotate relative to the housing (or other driving methods that achieve the corresponding functions).

[0037] In this invention, the microscope 1 is mounted on the second horizontal arm 32 via a balance arm 33. The navigation component is rotatably connected to the horizontal arm pivot via a telescopic adjustment component. In this embodiment, one end of the first horizontal arm is rotatably connected to the base, and one end of the second horizontal arm is rotatably connected to the other end of the first horizontal arm via a horizontal arm pivot. The microscope is connected to the other end of the second horizontal arm via a balance arm. That is, the microscope is positioned at one end of the second horizontal arm, and the telescopic adjustment component is positioned at the other end of the second horizontal arm. In one embodiment, when the microscope position is adjusted and the second horizontal arm is simultaneously rotated relative to the horizontal arm pivot, the telescopic adjustment component will not rotate accordingly, and the position of the navigation component will not change. If the microscope position is adjusted and the first horizontal arm is simultaneously rotated around the base via the second horizontal arm, the position of the horizontal arm pivot relative to the base will change. At this time, the telescopic adjustment component will change with the change in the position of the horizontal arm pivot, thereby causing the navigation component to move accordingly, thus realizing the movement of the navigation component and the microscope's field of view together. In another embodiment, the bottom of the second crossarm contacts the top surface of the telescopic adjustment component (there is a certain friction between them; when the telescopic adjustment component is not subjected to external force, this friction can simultaneously drive the telescopic adjustment component to rotate relative to the crossarm pivot). Alternatively, a damping element is provided between them, i.e., the damping element is located between the bottom of the second crossarm and the top surface of the telescopic adjustment component (when the telescopic adjustment component is not subjected to external force, the damping force between the damping element, the second crossarm, and the telescopic adjustment component can simultaneously drive the telescopic adjustment component to rotate). Therefore, when the second crossarm rotates around the crossarm pivot, it can simultaneously drive the telescopic adjustment component to rotate with the second crossarm. Of course, the telescopic adjustment component can also rotate independently relative to the crossarm pivot. That is, when the second crossarm is restricted from rotating relative to the crossarm pivot (when the second crossarm does not rotate relative to the crossarm pivot), the telescopic adjustment component can rotate independently relative to the crossarm pivot, thus independently adjusting the position and angle of the navigation component; or when the telescopic adjustment component is restricted so that it does not rotate around the crossarm pivot, it can also independently drive the second crossarm to rotate relative to the crossarm pivot. In this method, when adjusting the microscope position, grasping the microscope and rotating the second horizontal arm relative to its axis of rotation causes the telescopic adjustment component to rotate simultaneously with the second horizontal arm due to damping or friction. This means the viewing angles of the limiting and navigation components move synchronously, ensuring that the field of view for subsequent dental surgery does not require separate readjustment. How to use it depends on the operator's habits and other factors; normal adjustments and usage are necessary.

[0038] See Figure 1As shown, the base 2 includes a base 21 and a column 22 mounted on the base 21, with the first cross arm 31 rotatably connected to the top of the column 22. In this embodiment, the base, column, first cross arm, and second cross arm are existing structures, identical or similar to those in patent application number 202320321164.9, entitled "A Base, Column, and Cross Arm Assembly in a Surgical Microscope." The balance arm is also an existing structure, similar or identical to the rotation mechanism in patent application number 202321096294.3, entitled "A Surgical Microscope and Its Rotation Mechanism." Therefore, the microscope can be easily adjusted in angle and position on the column via the balance arm and cross arm assembly. However, the bottom of the cross arm pivot passes through the second cross arm and is located below it, used for mounting the telescopic adjustment component.

[0039] In this embodiment, the telescopic adjustment component 4 is located below the second horizontal arm 32. This ensures that the telescopic adjustment component is not interfered with by the second horizontal arm when rotating relative to the horizontal arm's pivot axis, allowing for a large rotation angle. This, in turn, ensures a wider range of adjustable angles and positions for the navigation component, making it more applicable. Furthermore, the telescopic adjustment component is connected to the horizontal arm assembly. When the microscope position is adjusted via the horizontal arm assembly, both the telescopic adjustment component and the navigation component are simultaneously adjusted. After the initial position adjustment of the navigation component (by adjusting the telescopic adjustment component separately, allowing it to rotate independently relative to the horizontal arm's pivot axis, adjusting the relative position and angle between the navigation component and the microscope), and due to friction or damping force, the second horizontal arm's rotation simultaneously drives both the telescopic adjustment component and the navigation component to rotate accordingly. This ensures that the viewing angles of the navigation component and the microscope are at the same position, preventing discrepancies between the microscope's and the navigation component's viewing angles. This guarantees the effectiveness of subsequent surgery and surgical navigation, eliminating the need for separate readjustment of the navigation component after microscope adjustment, and improving surgical convenience.

[0040] See Figure 1 , 2 As shown, the telescopic adjustment component 4 includes a first link 42 and a second link 43. The navigation component 11 is installed on the first end of the second link 43. The second end of the second link 43 is connected to the first end of the first link 42. The second link 43 can rotate relative to the first link 42 around the second pivot 44. The second end of the first link 42 is rotatably connected to the cross arm pivot 34.

[0041] The second end of the first connecting rod 42 is rotatably connected to the cross arm pivot 34. The first and second ends of the first connecting rod 42 are respectively located at both ends of the first connecting rod 42, and the first and second ends of the second connecting rod 43 are respectively located at both ends of the second connecting rod 43.

[0042] In this embodiment, taking the rotatable connection between the rear end of the first horizontal arm and the top of the column as an example, the second end of the first connecting rod is located at the rear end of the first connecting rod, and the first end is located at the front end of the first connecting rod. The rear end of the first connecting rod is directly rotatably connected to the horizontal arm pivot. The horizontal arm pivot and the second pivot are vertically arranged, parallel to the column. In this way, when the first column rotates around the horizontal arm pivot, the first connecting rod can rotate on the horizontal plane to adjust the position of the front end of the first connecting rod. The second connecting rod can rotate around the first connecting rod through the second pivot, and it can also rotate on the horizontal plane to adjust the position of the navigation component. Through the rotation of the first and second connecting rods on the horizontal plane, the position of the navigation component on the horizontal plane can be adjusted, and the distance between the navigation component and the column and the microscope can be adjusted, so that the navigation component can be rotated to the corresponding position most conveniently, and the lens of the navigation component is directly facing the patient's surgical location for navigation.

[0043] See Figure 1 , 2 As shown, the second end of the second connecting rod 43 is also rotatably connected to the second rotating shaft 44, and the second connecting rod 43 can rotate relative to the second rotating shaft 44 around the third rotating shaft 45; The second rotating shaft 44 is arranged parallel to the cross arm rotating shaft 34, and the third rotating shaft 45 is arranged perpendicular to the second rotating shaft 44.

[0044] Furthermore, in this embodiment, to facilitate adjustment of the navigation component's height, the second link is rotatably connected to the second link via a third pivot. The third pivot allows the second link to rotate up and down around the second pivot, thereby adjusting the navigation component's height. Preferably, in this embodiment, the connection points of the second and third pivots are damped structures, and the connection point between the first link and the crossarm pivot is also damped. This ensures that when the first and second links rotate to their corresponding positions, they are stably positioned, preventing the navigation component from suddenly falling during use and ensuring stable diagnostic navigation.

[0045] The second link can rotate within a 180° range relative to the first link about a second axis; the second link can rotate within a 100° range relative to the second axis about a third axis.

[0046] In this embodiment, the rotation angle of the second link relative to the first link is limited to prevent excessive rotation and collision with the column, which could damage the navigation component. Furthermore, the rotation of the first link and the crossarm pivot allows for a larger rotation angle of the navigation component. Further, when the first and second links are aligned, the first link can rotate 90° to each side, achieving a 180° rotation range. Preferably, when the first and second links are parallel, the second link can rotate 70° upwards and 30° downwards. This limitation on the vertical rotation angle allows for maximum adjustment of the navigation component's lens angle while preventing excessive rotation that could cause collision between the navigation component and the second crossarm.

[0047] See Figure 6 As shown, in this embodiment, the optimal horizontal field of view of the dual-lens camera is 45°. Therefore, in the optimal state, when the first and second links are aligned, rotating the second link 67.5° to each side achieves a 180° field of view. The optimal vertical field of view of the dual-lens camera is 30°. In the optimal state, when the first and second links are aligned, rotating the second link 45° upwards and 15° downwards achieves a 90° field of view. Therefore, by adjusting the angles of the first and second links, the optimal navigation angle and the best field of view for the surgical procedure can be ensured.

[0048] See Figure 1 , 2 As shown, the first end of the second connecting rod 43 is provided with a universal joint 46, the navigation component 11 is connected to the universal joint 46 via the mounting member 47, and the navigation component 11 can rotate circumferentially relative to the mounting member 47.

[0049] The mounting component can house a drive unit (instead of a motor within the navigation component, it is housed within the mounting component). This drive unit propels the navigation component to rotate circumferentially around the axis of the mounting component and also rotates the lens within the navigation component (the drive unit can also be housed within the navigation component, i.e., one or two motors can be installed within the navigation component). To enable fine-tuning of the navigation component's angle at the end of the second link or to achieve high-precision adjustment of the navigation component's end, ensuring the navigation component is directly facing the desired navigation location and automatically tracks the target area, the mounting component is rotatably connected to the end of the second connecting rod via a universal joint. This allows for adjustment of the navigation component's position after the positions of the first and second links are adjusted, using the universal joint to achieve high-precision positioning of the navigation component through the cooperation of the first and second links and the universal joint.

[0050] As another example, see Figure 3As shown, the second link 43 has a different structure. The second link 43 is a balance arm structure, comprising an elastic element 431 and two parallel balance bars 432. The elastic element 431 is positioned between the two balance bars 432. One end of the elastic element 431 is rotatably connected to one balance bar 432, and the other end is rotatably connected to the other balance bar 432. The elastic element is a gas spring. An angle is formed between the elastic element and the balance bars, which is greater than 5° and less than 90°.

[0051] One end of each of the two balance bars 432 is rotatably connected to the second rotating shaft 44, and the other end of each balance bar 432 is rotatably connected to the universal joint 46. Each balance bar 432 can rotate relative to the second rotating shaft 44 around an eighth rotating shaft 48, which is perpendicular to the second rotating shaft 44. The other end of each balance bar 432 can rotate relative to the universal joint 46 around a ninth rotating shaft 49, which is parallel to the eighth rotating shaft 48.

[0052] In this embodiment, the second link can rotate relative to the second pivot without damping. Using damping would cause the first end of the second link to automatically drop during rotation, preventing the navigation component from being positioned at the intended location. Therefore, the second link employs a balance arm structure, ensuring that even with a slightly heavier navigation component, it remains stably positioned at the appropriate height during prolonged use, guaranteeing stability and safety. Furthermore, the two balance arms and their side fulcrums form a parallelogram structure, supported by gas springs (elastic elements), providing stable balance and ensuring stable positioning even at any rotation angle.

[0053] See Figure 1 , 4 As shown, a mounting part 23 is installed on the column 22, and the position of the mounting part 23 in the axial direction of the column 22 can be adjusted. A main unit mounting bracket 12 is also provided, which is connected to the mounting part 23 via a connecting component 5. The main unit is detachably mounted on the main unit mounting bracket 12, and the main unit is electrically connected to the navigation component 11, or the main unit is electrically connected to the navigation component 11 and the microscope 1. An electrical control box 231 is also installed on the side of the mounting part 23. The main unit mounting bracket is used for the installation and placement of the main unit, thus facilitating quick assembly and disassembly of the main unit.

[0054] The main unit is a computer, display screen, or tablet computer with a screen, capable of displaying the navigation image captured by the navigation component. If electrically connected to both the navigation component and the microscope, it can simultaneously display the images from both, facilitating diagnostic operations. Alternatively, if the main unit is only electrically connected to the navigation component, a separate display screen (not shown in the diagram) will be provided to display the microscope image. Preferably, the main unit is electrically connected to both the navigation component and the microscope, simultaneously displaying both the navigation and microscope images (and may also have other functions described later in the instruction manual), further enhancing the doctor's diagnostic capabilities. Another implementation option is that the main unit can be rotatably mounted on a column (and can also slide up and down on the column), and is not detachable from the column. This allows for adjustment of the main unit's height and angle to suit different operators.

[0055] The electrical control box houses the electrical components, which are used to connect to the microscope and navigation components. The main unit connects to the microscope and navigation components via these electrical components. The electrical control box is located on one side of the mounting bracket, while the main unit mounting bracket is located on the other side, ensuring that the adjustment of the main unit mounting bracket is not interfered with by the electrical control box.

[0056] In this embodiment, since the positions and angles of the microscope and navigation components may be changed, in order to facilitate the adjustment of the host's angle, height, and position, please refer to... Figure 4 , 5 As shown, the connecting component 5 includes a third connecting plate 51 and a fourth connecting plate 52. The first end of the third connecting plate 51 is connected to the mounting part 23, and the first end of the fourth connecting plate 52 is connected to the second end of the third connecting plate 51. The host mounting bracket 12 is connected to the fourth connecting plate 52 (the host mounting bracket can be connected to the top of the fourth connecting plate or to the second end of the fourth connecting plate; in this embodiment, the host mounting bracket is connected to the second end of the fourth connecting plate). The first and second ends of the third connecting plate 51 are respectively located at the rear end and the front end of the third connecting plate 51, and the first and second ends of the fourth connecting plate 52 are respectively located at the rear end and the front end of the fourth connecting plate 52.

[0057] The third connecting plate 51 can rotate relative to the mounting part 23 around the fourth rotating axis 53, and the fourth connecting plate 52 can rotate relative to the third connecting plate 51 around the fifth rotating axis 54. The main unit mounting frame 12 is fixedly connected to the fourth connecting plate 52. The fourth rotating axis is parallel to the column or crossarm rotating axis, and the fourth and fifth rotating axes are perpendicular to each other. Taking the illustrated direction as an example, the fourth rotating axis is vertically positioned, and the fifth rotating axis is horizontally positioned. Therefore, the third connecting plate can rotate around the mounting part via the fourth rotating axis to adjust the circumferential position of the main unit mounting frame relative to the column. The fourth connecting plate can rotate around the third connecting plate via the fifth rotating axis to adjust the angle between the front end face of the main unit mounting frame and the column, so that the front end face of the main unit mounting frame is positioned closer to or further away from the column to adapt to the optimal viewing angle for the operator. Preferably, the rotational connection between the third connecting plate and the mounting part has damping, and the rotational connection between the fourth connecting plate and the third connecting plate also has damping, thereby ensuring that the main unit mounting frame can remain in any position when rotated, ensuring that the viewing angle of the main unit does not change.

[0058] The main unit mounting bracket is a plate-like structure, or a perforated plate-like structure, which reduces material usage. See [link / reference]. Figure 4 , 5As shown, the host mounting bracket 12 is a plate-shaped structure, with its rear bottom fixedly connected to the fourth connecting plate. To limit the host's position, at least one upward-facing positioning hook 121 is provided on the front side of the bottom of the host mounting bracket 12. The positioning hook is an L-shaped structure with an upward opening, thereby forming an upward-opening U-shaped groove between the positioning hook and the host mounting bracket. In this embodiment, two positioning hooks are spaced apart on the bottom front side of the host mounting bracket. For example, when the host is a tablet computer, the rear side of the host rests against the host mounting bracket, and the bottom of the host is inserted into the U-shaped groove formed by the two positioning hooks and the host mounting bracket. The positioning hooks prevent the host from falling downwards or with its bottom facing forward. Furthermore, to limit the top of the host without affecting the installation and removal of the host and the host mounting bracket, limiting components are respectively provided on the left and right sides of the front side of the host mounting bracket. These limiting components include a fixing block 122 and a limiting plate 123. The fixing block is fixedly installed on the host mounting bracket, and a mounting groove is provided on the front side wall of the fixing block. The two ends of the mounting groove communicate with the left and right sides of the fixing block, respectively. The outer end of the limiting plate is set in the mounting groove and is locked in place within the mounting groove by bolts. The inner end of the limiting plate extends out of the mounting groove and is located directly in front of the host mounting bracket. There is a gap between the rear side of the inner end of the limiting plate and the front side of the host mounting bracket, and this gap is greater than the thickness of the host. The host mounting bracket, the inner side of the fixing block, and the rear side of the limiting plate form an inwardly opening U-shaped opening, with the two U-shaped openings facing each other. During installation, the bottom two sides of the main unit are inserted through the U-shaped openings and into the U-shaped grooves. The bottom of the main unit rests against the positioning hooks, while the top two sides are within the U-shaped openings. In other words, the bottom of the main unit is supported and limited by the positioning hooks, and the top front of the main unit is limited by the limiting plate and fixing block. This method makes installation and disassembly of the main unit convenient and quick. Furthermore, a flexible protective layer can be installed inside the U-shaped grooves and U-shaped openings to prevent damage from collisions.

[0059] Of course, the host mounting rack can also be other structures, as long as it allows the host to be easily installed on the host mounting rack and easily removed from the host mounting rack. No specific restrictions are made in this application.

[0060] In this invention, the microscope and navigation components can be connected to the main unit via a wire or wirelessly. Preferably, a wired connection is used, ensuring zero-delay display and guaranteeing accuracy and safety during the diagnostic process.

[0061] In another embodiment, the microscope is further equipped with an image enhancement device that superimposes the optical path of the navigation component onto the optical path of the microscope; this combines the navigation image and the microscope image, serving as surgical navigation during surgery. The combined navigation image and microscope image are then displayed on a display component (the host computer's screen).

[0062] If the microscope is a binocular microscope, then the image enhancement device is a dual-path image enhancement device.

[0063] Among them, the enhanced imaging device adopts the patent application number: 202310219040.4, patent name: A dual-optical-path enhanced imaging device and an image enhancement device in an enhanced imaging system, which combines a microscope and a navigation component, making surgical operations more convenient.

[0064] See Figure 7-26 As shown, this utility model also provides a dental surgical navigation system, including a display device, a storage unit, a locator 6, an enhanced imaging device, at least one reference 7, at least one calibrator 8, and the aforementioned surgical microscope with surgical navigation; in this embodiment, the display device and the storage unit can be integrated into the host, or directly integrated into the host, thereby reducing costs and facilitating use.

[0065] The display device is used to present navigation visual content; The storage unit can store and provide a three-dimensional structural digital image of the surgical object, and the display device can display the three-dimensional structural digital image; The locator is used for mounting various dental surgical instruments 01. The locator 6 has a connection part 61 that is detachably connected to the dental surgical instrument 01, and a second marking part that can be identified by the imaging device within a 360° range. The image enhancement device is mounted on the surgical microscope. The image enhancement device superimposes the optical path of the imaging device onto the optical path of the surgical microscope, and the superimposed image is displayed by the display device. The image enhancement device is a dual-optical-path image enhancement device. The reference device 7 is used to locate the target lesion. The reference device 7 includes a fixing part 71 connected to the patient and a third marking part that can be recognized by the imaging device. The navigation component is a visual navigation instrument, which is used to capture images of the patient's surgical area and detect the relative positions of the locator, reference device, and dental surgical instruments to be tracked. In this invention, the visual navigation instrument is a binocular lens with automatic optical tracking. The calibrator 8 is used to obtain the coordinates of dental surgical instruments in the coordinate system of the visual navigation instrument.

[0066] In this invention, preoperative CT scans and other examination images of the surgical subject (patient) are stored in a storage unit and displayed on a display device. The locator has a second marker that can be tracked by a visual navigation instrument in 360°, and different dental surgical instruments can be connected to this locator. Therefore, when using different dental surgical instruments, they can all be tracked by the visual navigation instrument, enabling surgical navigation for different instruments. A reference is used to position itself on the patient, allowing the visual navigation instrument to track the coordinates of the target lesion. The calibrator is used to obtain the coordinates of the dental surgical instruments in the coordinate system of the visual navigation instrument. The image enhancement device combines the navigation screen and the surgical microscope image, serving as surgical navigation during surgery. The combined navigation screen and surgical microscope image are displayed on the display device (on the main unit), facilitating navigation surgery by the operator based on the combined surgical navigation screen and surgical microscope image.

[0067] Among them, the enhanced imaging device adopts the patent application number: 202310219040.4, patent name: A dual-optical-path enhanced imaging device and an image enhancement device in an enhanced imaging system, which combines a microscope and a navigation component, making surgical operations more convenient.

[0068] This utility model also provides an image navigation method for dental surgery, which uses the above-mentioned dental surgery navigation system and includes the following steps: S1. Obtain the relative position between the target lesion and the marker: Fix the surgical object and the marker, image the surgical object and the marker, and obtain a three-dimensional structural digital image; wherein, the marker is fixed on the jawbone in the oral cavity.

[0069] The marker is located by a three-dimensional structural digital image, a three-dimensional spatial coordinate system is established, the relative position between the target lesion and the marker is obtained, and the coordinates of the marker and the target lesion in the three-dimensional structural digital image spatial coordinate system are determined. The marker is located by a three-dimensional structural digital image, a three-dimensional spatial coordinate system is established, the relative position between the target lesion and the marker is obtained, and the coordinates of the marker and the target lesion in the three-dimensional structural digital image spatial coordinate system are determined. The three-dimensional structural digital image includes CT images or a combination of CT images and surface detail images of the target affected area. Preferably, after fixing the surgical subject and markers (the markers are fixed inside the oral cavity), a CT scan is performed first, followed by an oral scan to obtain surface detail images of the surgical subject's (patient's) teeth, soft tissues, etc. The CT images and the surface detail images of the target affected area are then combined to obtain a more accurate three-dimensional structural digital image. To ensure accurate combination of the CT images and the surface detail images of the target affected area, at least three points, preferably three to six points, are marked on both the CT images and the surface detail images of the target affected area. By matching the marked points on the CT images with those on the surface detail images of the target affected area, the data from the CT images and the surface detail images of the target affected area are precisely fused together.

[0070] S2. Registration of the target affected area space and markers: Connect the reference device to the jaw surface where the target affected area is located or to the markers. Obtain the coordinates of the target affected area space and markers in the visual navigation instrument coordinate system through the reference device, or through the combination of the registration device and the reference device, or through the combination of the reference device, the calibrator and the three-dimensional structural digital image, and map them to the three-dimensional structural digital image space coordinate system. The reference device includes a fixation part connected to the patient and a third marking part that can be recognized by the imaging device. The fixation part is connected to the jaw surface where the target lesion is located or to a marker. The third marking part includes at least three third optical tracking marks 72 disposed on the surface of the reference device 7 (in the attached figures, the intersections of the cross and the X are each a third optical tracking mark). The third optical tracking marks can be recognized by the visual navigation instrument, thereby obtaining the coordinates of the target lesion space and the marker in the coordinate system of the visual navigation instrument.

[0071] In this invention, in step S2, to meet the positioning needs of jawbones in various positions, including those with missing teeth and edentulism, registration is performed according to the patient's actual situation, and there are corresponding registration methods: 1. For positioning the patient's upper left and lower right teeth, where at least three teeth are present, the visual navigation instrument automatically registers by tracking the third optical tracking mark on the corresponding reference. This reference, such as... Figure 13 As shown; 2. For patient positioning, specifically for the upper middle and upper right teeth where at least three teeth are present, the visual navigation instrument automatically registers itself by tracking the third optical tracking mark on the corresponding reference. This reference, such as... Figure 14 , 15 As shown; 3. For positioning the patient's lower left and upper right teeth, where at least three teeth are present, the visual navigation instrument automatically registers by tracking the third optical tracking mark on the corresponding reference. This reference, such as... Figure 16 As shown.

[0072] 4. For scenarios where the patient has only a single tooth (reference device such as...) Figure 17 (as shown), or for scenarios where there are at least two molars (referencer as shown). Figure 18 , 19 As shown), select 3-6 marker points on the three-dimensional structural digital image (preferably a CT image), and trace the points in three directions (maxillary side, occlusal side, and lingual side) near each marker point. The visual navigator then automatically tracks the third optical tracking mark on the corresponding reference to achieve automatic registration.

[0073] 5. Used in scenarios where the jawbone is completely edentulous or only has loose teeth or loose dentures (reference device such as...). Figure 19 , 20 As shown), it is equipped with at least three markers. The tip of the register is placed at the center of each marker to perform point marking, sequentially moving from one side of the markers towards the other. The register has multiple fourth optical tracking marks. During the registration process, these fourth optical tracking marks are visible to the visual navigation unit. The visual navigator then automatically tracks the third optical tracking marks on the corresponding reference to achieve automatic registration. See also... Figure 22 The diagram shows a registration device. The registration device 9 has a tip 91 and a fourth marking portion that can be recognized by the imaging device. The fourth marking portion is positioned away from the tip and includes multiple fourth optical tracking marks 92 disposed on the surface of the registration device. When obtaining the coordinates of the target affected area space and the marker in the visual navigation instrument coordinate system by combining the registration device with the reference device, the tip is first placed sequentially at the center of each marker to perform marking. The coordinates of the target affected area space and the marker in the visual navigation instrument coordinate system are obtained based on the position of the fourth optical tracking marks. (In the attached diagram, the intersections of the "+" and "X" are each a fourth optical tracking mark).

[0074] S3. After the registration of the target affected area space and the markers is completed, the dental surgical instruments are calibrated. The calibration of the dental surgical instruments involves connecting the dental surgical instruments and the locator, aligning the dental surgical instruments with the calibration positions of the calibrator, and combining the locator to obtain the coordinates of the dental surgical instruments in the visual navigation instrument coordinate system, and mapping them to the three-dimensional structure digital image space coordinate system. S4. Surgical Navigation: Based on the coordinates of dental surgical instruments in the visual navigation instrument coordinate system, the target lesion space, and the coordinates of markers in the visual navigation instrument coordinate system, the actual surgical operation is guided by a three-dimensional structural digital image to achieve precise surgical navigation.

[0075] Specifically, based on the coordinates in the visual navigation instrument coordinate system and the coordinates in the three-dimensional structural digital image space coordinate system, the spatial transformation relationship between the three-dimensional structural digital image space coordinate system and the visual navigation instrument coordinate system is determined. Then, based on the spatial transformation relationship, during the operation, the coordinates of the dental surgical instruments in the visual navigation instrument coordinate system, the target lesion space, and the coordinates of the markers in the visual navigation instrument coordinate system are transformed to the three-dimensional structural digital image space coordinate system for display. The actual surgical operation is guided by the three-dimensional structural digital image, achieving precise surgical navigation.

[0076] In this invention, after the dental surgical instruments are calibrated, their coordinates in the visual navigation instrument coordinate system can be determined. At the same time, after the target lesion space and the marker are registered, their coordinates in the visual navigation instrument coordinate system can be determined, and the corresponding coordinates are mapped in the three-dimensional structure digital image space coordinate system. In this way, during the surgical operation, the movement of the dental surgical instruments and the movement of the target lesion can be tracked by the visual navigation instrument, so that every surgical action can be recorded and navigated.

[0077] In this invention, before dental surgery, a three-dimensional structural digital image is imported into a storage unit. The display device will display the three-dimensional structural digital image. After registration and calibration according to the above steps S2 and S3, the corresponding surgical navigation path is selected. In the subsequent step S4, surgical planning is performed according to the corresponding surgical navigation path or the required dental surgery. The surgical navigation path is planned and the actual surgical operation is guided by the three-dimensional structural digital image, thereby achieving precise surgical navigation.

[0078] See Figure 11 , 12 As shown in Figures 23-26, the calibrator is used to obtain the coordinates of a dental surgical instrument in the coordinate system of the visual navigation instrument. The calibrator 8 has a calibration position 82 and a first optical tracking mark 81. The first optical tracking mark has a known position in the coordinate system of the visual navigation instrument. When the working end of the dental surgical instrument contacts the corresponding calibration position on the calibrator, the coordinates of the dental surgical instrument in the coordinate system of the visual navigation instrument can be obtained (see attached figure). Figure 12 In the middle, the intersection of the "+" and the intersection of the "X" are both first optical tracking marks.

[0079] The dental surgical instrument achieves the calibration of the working tip position, and / or axial calibration, and / or length calibration, and / or width calibration by contacting the corresponding calibration position.

[0080] In this invention, the following commonly used dental surgical instruments are mainly used in dental surgery: 1. Implant handpiece instruments; 2. Bone scalpel instruments; 3. Ultrasonic working tip instruments.

[0081] The calibration positions include calibration position 2 (821), calibration position 3 (822), calibration position 4 (823), and two calibration positions 1 (824 and 825). Each calibration position 1 has a cylinder on it. Calibration position 2 is located in the middle between calibration positions 1L and 1R, and has a recess on it. Calibration position 3 also has a recess, and has a white mark on its side.

[0082] When calibrating implantation handpieces, remove the implantation handpiece's drill bit, insert the cylinder from the 1L or 1R calibration position into the drill bit mounting position of the implantation handpiece, ensuring it is within the range recognizable by the visual navigation instrument, and then rotate it around the cylinder until the axial calibration of the implantation handpiece is complete. (See [link to documentation]). Figure 23 As shown.

[0083] When calibrating bone saw blades, within the range recognizable by the visual navigation instrument, place the cutting center of the bone saw blade in the recess of calibration position 3, with the blade resting against the center of the white mark and the side wall of the white mark, until the length of the bone saw blade is calibrated. Then place the bone saw blade on the plane of the calibrator and calibrate the width using the visual navigation instrument to calibrate the length and width of the bone saw blade. See [link to documentation]. Figure 24 , 25 As shown.

[0084] When calibrating ultrasonic working instruments, install the corresponding drill bit on the instrument, place the drill bit tip in the recess of calibration position 2, and keep it stable until the working tip position calibration of the ultrasonic working instrument is completed. (See [link to relevant documentation]). Figure 26 As shown.

[0085] Simultaneously, before using the tip of the registration device to perform point marking on each marker, it is necessary to determine the coordinates of the registration device (especially the registration device tip) in the coordinate system of the visual navigation instrument. When determining the coordinates of the registration device tip in the visual navigation instrument's coordinate system, within the recognizable range of the visual navigation instrument, the registration device tip is placed in the recess of calibration position 2 and kept stable. The visual navigation instrument identifies calibration position 2, the fourth marking section on the registration device, and the calibration position and first optical tracking mark on the registration device to calibrate the position of the registration device tip. After the registration device tip position calibration is completed, the registration device tip is placed at the center of each marker to perform point marking, sequentially from one side of the markers towards the other side, thus achieving point marking of the markers. The registration principle of the registration device is basically the same as that of dental surgical instruments. It is used for marker positioning in scenarios where the jawbone is completely edentulous or only has loose teeth or loose dentures, thereby obtaining the target area space and the coordinates of the markers in the coordinate system of the visual navigation instrument.

[0086] See Figure 8-10 As shown, the second marking part of the locator 6 includes a plurality of second optical tracking marks 62 arranged on the outer surface of the locator 6. The visual navigation instrument can simultaneously identify at least three second optical tracking marks 62 located on different planes. The visual navigation instrument obtains the three-dimensional coordinates of the dental surgical instrument 01 in the visual navigation instrument coordinate system based on the plurality of second optical tracking marks 62 located on different planes. (Appendix) Figure 8 In the image, the point where the two black spots intersect with the two white spots is the second optical tracking marker. Figure 9 In the middle, the intersection of the "+" and the intersection of the "X" are both second optical tracking marks.

[0087] The calibrator features a QR code. Before calibrating dental instruments, the main unit scans this QR code to extract the pre-set calibrator information. During the calibration process, the visual navigation instrument determines the calibrator's position and orientation based on a first optical tracking marker. The instrument's coordinates are then calibrated according to the positional relationship between the corresponding calibration position and the dental instrument (the instrument's position is further determined by multiple second optical tracking markers).

[0088] In fact, the outer surface of the locator is circumferentially arranged with multiple second optical tracking marks. When the operator grasps the locator or dental surgical instruments, at least three second optical tracking marks located on different planes will be within the field of view of the visual navigation instrument, thereby ensuring the accuracy of visual positioning and the precision of navigation during the operation.

[0089] Furthermore, in order to enable the locator to be compatible with different dental surgical instruments without the need to set a second optical tracking mark on different dental surgical instruments, the dental surgical instrument 01 is detachably connected to the connection part 61 of the locator 6 via a connector.

[0090] The connector includes a hollow positioning sleeve 63 and a threaded sleeve 64. A through hole 65 is provided in the middle of the connecting part. The positioning sleeve 63 is installed on the outside of the dental surgical instrument 01. A tapered head 66 is provided on the outer surface of the positioning sleeve 63 facing one end of the locator 6. The inner surface of the end of the through hole 65 has a tapered surface 67 that matches the tapered head 66. An external thread matching the threaded sleeve 64 is provided on the outer surface of the locator 6. The positioning sleeve is located away from the operating end of the dental surgical instrument. During installation, the positioning sleeve is inserted into the through hole, the tapered head abuts against the tapered surface, and the threaded sleeve is fitted onto the outside of the dental surgical instrument and screwed into the external thread of the locator until the threaded sleeve abuts against the end face of the tapered head, thereby achieving the connection and fixation of the surgical instrument and the locator. Furthermore, the tapered head is located at one end of the positioning sleeve, and multiple elastic claws 68 are arranged around the other end of the positioning sleeve. The inner surface of the elastic claws abuts against the outer surface of the dental surgical instrument. When connecting the positioning sleeve and the surgical instrument, the inner diameter of the positioning sleeve matches the outer diameter of the connection point of the dental surgical instrument. The positioning sleeve is directly fitted onto the outside of the dental surgical instrument, while the elastic jaws abut against the outer surface of the dental surgical instrument, thereby achieving the connection and positioning limitation between the positioning sleeve and the dental surgical instrument. Furthermore, to ensure the firmness of the connection between the positioning sleeve and the dental surgical instrument, tape or other materials can be wrapped around the outside of the elastic jaws to fix them to the dental surgical instrument. Alternatively, the elastic jaws can be welded to the dental surgical instrument.

[0091] To prevent the positioning sleeve from rotating relative to the positioner during operation, at least one groove 69 is provided on the outer surface of the conical head 66, and a protrusion 601 matching the groove 69 is provided on the conical surface 67. The protrusion 601 is inserted into the groove 69, and the protrusion 601 and the groove 69 constitute a foolproof structure, which plays a circumferential limiting role.

[0092] The locator is designed in an ergonomic shape to facilitate the user's gripping of the locator during surgery. In this embodiment, it adopts a tower-shaped structure, which is not only easy to grip but also reduces the use of materials and lowers costs.

[0093] The marker is an impression or a bone nail; When the marker is a bone nail, there are at least three markers.

[0094] The markers used may be impressions or bone screws, depending on the preoperative examination results to determine the surgical area and select the appropriate marker. Bone screws are used when the jaw is completely edentulous or only has loose teeth or loose dentures; otherwise, impressions are used. Impressions are attached to the teeth using impression adhesive. Bone screws, on the other hand, need to be fixed to the jawbone through the gum line, with the center of the screw head exposed externally.

[0095] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0096] In this document, the directional terms such as front, back, top, and bottom are defined based on the location of the components in the accompanying drawings and their relative positions to each other, solely for the purpose of clarity and convenience in expressing the technical solution. It should be understood that the use of these directional terms should not limit the scope of protection claimed in this application.

[0097] Where there is no conflict, the above embodiments and features described herein can be combined with each other.

[0098] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A surgical microscope with surgical navigation, comprising a support and a microscope, the support including a base and a transverse arm assembly mounted on the base, the transverse arm assembly including a first transverse arm and a second transverse arm, the first transverse arm being rotatably connected to the base, the second transverse arm being rotatably connected to the first transverse arm, and the microscope being mounted on the second transverse arm via a balance arm; characterized in that: The crossarm assembly also includes a crossarm pivot, and the second crossarm is rotatably connected to the first crossarm through the crossarm pivot. The bottom of the crossarm pivot is located below the bottom of the second crossarm. It also includes a navigation component and a telescopic adjustment component. The navigation component is installed at one end of the telescopic adjustment component, and the other end of the telescopic adjustment component is rotatably connected to the cross arm pivot. The connection between the telescopic adjustment component and the cross arm pivot is located below the second cross arm. The navigation component can move and / or rotate toward or away from the microscope.

2. The surgical microscope with surgical navigation according to claim 1, characterized in that: When the second cross arm rotates around the cross arm pivot, it can simultaneously drive the telescopic adjustment component to rotate with the second cross arm.

3. The surgical microscope with surgical navigation according to claim 1, characterized in that: The telescopic adjustment component includes a first link and a second link. The navigation component is installed at the first end of the second link. The second end of the second link is connected to the first end of the first link. The second link can rotate relative to the first link around a second pivot. The second end of the first link is rotatably connected to the pivot of the cross arm.

4. The surgical microscope with surgical navigation according to claim 3, characterized in that: The second end of the second connecting rod is also rotatably connected to the second rotating shaft, and the second connecting rod can rotate relative to the second rotating shaft about the third rotating shaft; The second rotating shaft is arranged parallel to the cross arm rotating shaft, and the third rotating shaft is arranged perpendicular to the second rotating shaft.

5. The surgical microscope with surgical navigation according to claim 4, characterized in that: The second link can rotate within a range of 180° relative to the first link about the second axis of rotation; And / or, the second link may rotate within a range of 100° relative to the second axis of rotation about the third axis of rotation.

6. The surgical microscope with surgical navigation according to claim 3, characterized in that: The first end of the second connecting rod is provided with a universal joint, and the navigation component is connected to the universal joint via a mounting component, and the navigation component can rotate circumferentially relative to the mounting component.

7. The surgical microscope with surgical navigation according to claim 6, characterized in that: The second link is a balance arm structure. The second link includes an elastic element and two parallel balance bars. The elastic element is disposed between the two balance bars. One end of the elastic element is rotatably connected to one of the balance bars, and the other end of the elastic element is rotatably connected to the other balance bar. One end of each of the two balance bars is rotatably connected to the second rotating shaft, and the other end of each of the two balance bars is rotatably connected to the universal joint. The balance bars can rotate relative to the second rotating shaft around an eighth rotating shaft, which is perpendicular to the second rotating shaft.

8. The surgical microscope with surgical navigation according to claim 1, characterized in that: The base includes a base and a column mounted on the base, with the first cross arm rotatably connected to the top of the column.

9. The surgical microscope with surgical navigation according to claim 8, characterized in that: A mounting part is installed on the column, and the mounting part can be adjusted to the position along the axis of the column; A host mounting bracket is also provided, which is connected to the mounting part via a connecting component; And / or, an electrical control box is also installed on the side of the mounting part.

10. The surgical microscope with surgical navigation according to claim 9, characterized in that: The host is detachably mounted on the host mounting bracket. The host is electrically connected to the navigation component, or the host is electrically connected to both the navigation component and the microscope.

11. The surgical microscope with surgical navigation according to claim 1, characterized in that: The microscope is also equipped with an image enhancement device, which superimposes the optical path of the navigation component onto the optical path of the microscope. And / or, the image enhancement device is a dual-path image enhancement device.

12. A dental surgical navigation system, characterized in that: It includes a display device, a storage unit, a locator, at least one reference, and a surgical microscope with surgical navigation as described in any one of claims 1-11; The display device is used to present navigation visual content; The storage unit can store and provide a three-dimensional structural digital image of the surgical object, and the display device can display the three-dimensional structural digital image; The locator is used for mounting various dental surgical instruments. The locator has a connection part that is detachably connected to the dental surgical instrument, and a second marking part that can be identified by an imaging device within a 360° range. The reference device is used to locate the target lesion. The reference device includes a fixation part that is connected to the patient and a third marking part that can be recognized by the imaging device. The navigation component is a visual navigation instrument, which is used to capture images of the patient's surgical area and detect the relative positions of the locator, reference device, and dental surgical instruments to be tracked.

13. The dental surgical navigation system according to claim 12, characterized in that: The visual navigation instrument is a binocular lens with optical automatic tracking.

14. The dental surgical navigation system according to claim 12, characterized in that: It also includes at least one calibrator for obtaining the coordinates of dental surgical instruments in the visual navigation instrument coordinate system.

15. The dental surgical navigation system according to claim 12, characterized in that: It also includes a registration device having a tip and a fourth marking portion that can be recognized by the imaging device.

16. The dental surgical navigation system according to claim 15, characterized in that: The dental surgical instrument is detachably connected to the locator via a connector.

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