30 results about "Navigated surgery" patented technology

A device and method for automatically verifying, calibrating and surveying a navigable surgical instrument, wherein by means of a scanning device, the geometry of the instrument, in particular the shape of the functional elements (e.g., tips) and their spatial position with respect to an attachable reference system, are detected. By means of a data processing unit, a three-dimensional model of the instrument is calculated from the detected information concerning the geometry of the instrument including the reference system, wherein verification, calibration or surveying is performed with the aid of the ascertained information concerning the geometry of the instrument.

A surgical instrument comprises a base member adapted to be attached to a bone, a guide adjustably connected to the base member, a first marker removably attached to the base member and a second marker removably attached to the guide. In navigated surgery, the first and second markers enable the position of the guide to be determined relative to the position of the base member and bone, to which it is attached. The guide may have a planar cutting surface for guiding a blade or a circular aperture for guiding a drill.

A handpiece arrangement for a tool having a retaining member configured to receive a portion of the tool in a secure position, a guard configured to cover a portion of the tool, at least one mounting member configured to receive a portion of a tracking system and an actuator mounted to the handpiece. The actuator may be configured to control the exposure of the tool. A navigated surgery kit is also provided including a tracking system, a tool in communication with the tracking system, a platform in communication with the tracking system and the tool. The platform may have a processor, a computer readable storage medium having computer readable program code configured to selectively control shaping of an object with the tool via at least one hidden object associated with a predetermined navigated surgical operation.

A handpiece arrangement for a tool having a retaining member configured to receive a portion of the tool in a secure position, a guard configured to cover a portion of the tool, at least one mounting member configured to receive a portion of a tracking system and an actuator mounted to the handpiece. The actuator may be configured to control the exposure of the tool. A navigated surgery kit is also provided including a tracking system, a tool in communication with the tracking system, a platform in communication with the tracking system and the tool. The platform may have a processor, a computer readable storage medium having computer readable program code configured to selectively control shaping of an object with the tool via at least one hidden object associated with a predetermined navigated surgical operation.

The invention provides methods and apparatus for accurately cutting bones with a surgical cutting device, such as a sagittal saw, using a surgical navigation system without use of a complex cutting jig. A surgical navigation system is used to navigate a guide tube to be used to drill a k-wire into the bone. The k-wire will act as a guide to control at least one degree of freedom of a saw blade for making a cut in the bone. In an exemplary high tibial osteotomy procedure, in which two intersecting planar cuts must be made in the tibia in order to remove a wedge of bone, a surgical navigation marker is mounted on the guide tube. The surgeon uses the surgical navigation system to navigate the guide tube to the desired varus-valgus angle and height of the first cut and then drills a k-wire into the tibia at that varus-valgus angle using the guide tube. The process is repeated for the second cut. The surgeon then uses the two k-wires as guides for controlling the varus-valgus angle of a sagittal saw for the two planar cuts. The surgeon rests the saw blade flat on the respective k-wire to define the varus-valgus angle of the cut. The saw itself also is navigated, with the surgical navigation system providing a display showing the surgeon at least (1) the varus-valgus angle, (2) the cut depth, and (3) the anterior-posterior slope. The anterior-posterior slope and the depth of the cut is controlled freehand by the surgeon.

Systems and processes for use in computer aided or computer navigated surgery include probes with indicia which define axes relative to which images are desired. Computer functionality generates and stores the position and location of these indicia. After the indicia have been registered into the system, imaging apparatus may be moved, manually or automatically, into the correct position to capture the desired image. In various embodiments, probes may be left in place during, or removed prior, to imaging. In addition, several axes may be defined, and their location and position data generated and stored, so that the imaging device may move into each position in turn to capture a series of desired images.

The patent discloses a method and device for measuring the speed of sound of ultrasound waves used in a sonographic examination of a patient's body structure. Marker devices are attached to an ultrasound probe and to an ultrasound reflecting body structure such that the distance traveled by the ultrasound waves can be determined by a navigation system. Using this distance and the transit time of the ultrasound waves, the measured speed can be calculated. The calculated speed of sound may then be used to accurately scale the ultrasound images.

The invention relates to a navigation operation system, a registration method thereof and electronic equipment. The navigation operation system comprises a robot system and a navigation system which are in communication connection, the robot system comprises a mechanical arm, and the navigation system comprises navigation tracking equipment. The robot system is provided with a mechanical arm basecoordinate system established on the mechanical arm, and the mechanical arm base coordinate system is configured to be fixed relative to the position of a supporting device. The navigation system is provided with a reference coordinate system which can be recognized by the navigation tracking equipment, and the reference coordinate system is configured to be fixed relative to the position of the supporting device; the navigation operation system is configured to obtain the position relation between the mechanical arm and the navigation tracking equipment according to the position relation between the mechanical arm base coordinate system and the supporting device, and the position relation between the reference coordinate system and the supporting device, so that mechanical arm registration is not needed, the position between the mechanical arm and the navigation tracking equipment can be directly registered, the operation process is simplified, the operation time is shortened, and thereliability and real-time performance of mechanical arm tail end position collection can be guaranteed.

A system for performing a navigated surgery comprises a first target attached to a patient at a surgical site and a second target at the surgical site. An optical sensor is coupled to the user and detects the first target and second target simultaneously in a working volume of the sensor. An intra-operative computing unit (ICU) receives sensor data concerning the first target and second target, calculates a relative pose and provides display information. The sensor can be handheld, body-mounted or head-mounted, and communicate wirelessly with the ICU. The sensor may also be mountable on a fixed structure (e.g. proximate) and in alignment with the surgical site. The ICU may receive user input via the sensor, where the user input is at least one of sensor motions, voice commands, and gestures presented to the optical sensor by the user. The display information may be presented via a (heads-up) display unit.

The embodiment of the invention provides a registration method and system for a dental navigation operation. The registration method comprises the following steps of: setting artificial mark points onthe jaw of a patient in a noninvasive manner; clicking the artificial mark points set on the jaw of the patient by utilizing a probe of a visual navigation instrument or a drill bit of an implantingmobile phone according to the special structures of the artificial mark points; determining the coordinates of the tips of grooves in the artificial mark points in a coordinate system of the visual navigation instrument, and determining the coordinates of the tips of the grooves in the artificial mark points in a CT image space coordinate system; registering the corresponding relation of the two coordinate systems according to the coordinates of the tips of the grooves in the artificial mark points in the two coordinate systems; and finally obtaining the mapping relation between a virtual space coordinate system and the coordinate system of the visual navigation instrument, thereby finishing the registration of the dental implanting navigation operation.

The invention provides a navigation operation system, a computer readable storage medium and electronic equipment. The navigation operation system comprises a robot system, a navigation system and a control unit which are in communication connection, wherein the robot system comprises a mechanical arm, and the robot system is provided with a robot coordinate system on the mechanical arm; the navigation system comprises navigation tracking equipment and a bone target, and the navigation system is provided with a base coordinate system and a calibration target coordinate system which can be identified by the navigation tracking equipment; the base coordinate system and the robot coordinate system have a predetermined first conversion relationship, and the calibration target coordinate system and the base coordinate system have a predetermined second conversion relationship; the control unit identifies a calibration target coordinate system and determines the position of the mechanical arm under the calibration target coordinate system when the mechanical arm is in an expected pose according to the coordinate system of the bone target; and according to the position of the mechanical arm in the calibration target coordinate system, the second conversion relationship and the first conversion relationship, the expected position of the mechanical arm in the robot system coordinate system is obtained, the operation precision is ensured, and the operating space in the operation is expanded.

The invention discloses a vascular intervention navigation operation system. The vascular intervention navigation operation system comprises a terminal execution system, wherein the terminal execution system comprises a guide wire control module, a balloon / stent control module and a guide catheter control module. The guide wire control module comprises a rotating assembly and a traveling assembly, wherein the rotating assembly comprises a rotating wheel set, a rotating shaft concentrically connected with the rotating wheel set, a planet wheel arranged on the rotating shaft in a sleeving mode and capable of sliding relative to the rotating shaft, and a sun wheel meshed with the planet wheel, and a wire groove used for embedding a guide wire is formed in the sun wheel; and the traveling assembly comprises a traveling wheel set, a transmission lead screw concentrically connected with a bevel gear of the traveling wheel set, and a fixing disc used for supporting the sun wheel. The vascular intervention navigation operation system is used for remotely controlling rotation, advancing and retreating of the guide wire in an operation, and can also simultaneously control a balloon catheter or a stent catheter and advance or retreat of a guide catheter, various intervention operation consumables are combined in one system, the vascular intervention navigation operation system is compatible with intervention operation consumables of various manufacturers, operation is easy, and accuracy is high.

The embodiment of the invention provides an intraoperative registration method and device, a storage medium and a server. The method in the embodiment of the invention comprises the steps of acquiringa focus image; performing coarse registration on the focus image through a non-rigid registration algorithm and a probe to generate an initial matrix; through an iterative nearest point algorithm, generating a registration matrix according to a pre-collected source point set, a pre-generated target point set and an initial matrix, registration equipment does not need to be purchased, and the registration cost can be saved; the registration precision is ensured, so that the precision of a navigation operation is ensured, and the operation safety is further improved; the consumed time is short,and accurate registration can be efficiently realized.

A navigation surgical system, a registration method thereof and an electronic device are disclosed. The navigation surgical system includes a robotic system and a navigation system communicatively connected to the robotic system; the robotic system includes a robotic arm, the navigation system includes a navigation tracking device; the robotic system has a robotic-arm based coordinate system established according to the robotic arm, and the robotic-arm based coordinate system is fixed relative to a supporting device; the navigation system has a reference coordinate system that is recognizable by the navigation tracking device, the reference coordinate system is fixed relative to the supporting device; the navigation surgical system is configured to determine a relative position between the robotic arm and the navigation tracking device according to a relative position between the robotic-arm based coordinate system and the supporting device, and a relative position between the reference coordinate system and the supporting device.

The invention discloses a surgical navigation system employing wireless face registration and a face registration signal acquisition method. The surgical navigation system comprises a computer, a display, a navigation camera probe, a converter and a wireless face registration tool. The computer is electrically connected with the display. The navigation camera probe is electrically connected with the converter which is electrically connected with the computer. The wireless face registration tool is provided with an infrared sensor and an infrared transmitting end. The infrared sensor is used for receiving an infrared signal of the navigation camera probe and then triggering the infrared transmitting end to transmit infrared to the surface of a part requiring face registration. The navigation camera probe is used for acquiring an infrared signal of the surface of the part requiring face registration and transmitting the infrared signal to the computer through the converter; the computer processes the infrared signal and registers a processing result and an original model. The display is used for displaying a registration result. The surgical navigation system and the face registration signal acquisition method have the advantages that registration work before a navigated surgery can be simplified, contact of surgical tools with a patient is reduced, the risk that the patient is infected is decreased, and time for opening an actual wound of the patient is shortened.

The invention provides a navigation operation system, a registration method thereof and a computer readable storage medium. The navigation operation system comprises a robot system, a navigation system and a control unit which are in communication connection, wherein the robot system comprises a mechanical arm and is provided with a robot coordinate system established on the mechanical arm; the navigation system comprises navigation tracking equipment; and the navigation system is provided with a base coordinate system which can be identified by the navigation tracking equipment. The navigation operation system is configured as follows: the navigation tracking equipment tracks the position of the tail end of the mechanical arm in space; and the control unit executes kinematic model calibration on the mechanical arm according to the position of the tail end of the mechanical arm in the space, and obtains a first conversion relationship between the base coordinate system and the robot coordinate system according to the calibrated model of the mechanical arm. The navigation operation system can improve the positioning accuracy of the mechanical arm and improve the operation precision.

The invention relates to a surgical navigation method and system, in particular to a method and a system for realizing surgical navigation by using a real-time structured light technology. According to the method, real-time structured light is used for scanning a structured light coverage area of an operation area in real time to obtain three-dimensional point cloud data, and then registration is carried out through unmarked registration and preoperative images; meanwhile, the surgical instrument in the space is recognized through structured light, then the surgical instrument in the space is positioned, real-time 3D point cloud reconstruction and preoperative image superposition are synchronously carried out, and finally the purpose of precise navigation surgery is achieved. The invention further provides the system for implementing the method. The system comprises a DICOM module, a preoperative planning module, a three-dimensional scanning module, an unmarked registration module, a display module, a computer aided design (CAD) module and a computer vision enhancement module. According to the method and the system, the space relation between the focus and the operation instrument can be directly obtained, one-time space conversion is reduced, errors are reduced, and accurate positioning is achieved.

The invention relates to the technical field of medical instruments, in particular to an optical tracking structure for navigating a surgical power system. The structure comprises a connector for connecting and driving a surgical power instrument, and a navigation support is arranged on the connector. A plurality of reflective balls used for constructing a positioning surface for an optical tracking system are arranged on the navigation support in a following mode, an annular supporting surface is formed on the navigation support, and the plurality of reflective balls are distributed on the surface of the annular supporting surface in a surrounding mode. The optical tracking system performs optical tracking on the spatial position of a surgical power instrument within the angle range of 360 degrees through the plurality of reflective balls. According to the optical tracking structure for navigating the surgical power system, the tracking range of the optical tracking system on the surgical power instrument can be effectively enlarged, the navigation precision in the surgical process is ensured, and surgery navigation is smoother.

The invention discloses a tracer for a navigation operation and a positioning method, the tracer is installed at the tail end of a mechanical arm of a surgical robot and comprises an axis and a tracing body similar to a prism, the tracing body is composed of an upper end surface with four to six edges, a lower end surface with four to six edges and four to six trapezoidal surfaces which are distributed all over the periphery, the perimeter of the upper end surface is smaller than that of the lower end surface, each trapezoidal surface has an inclination angle from the upper end surface to the lower end surface, the inclination angle ranges from 60 degrees to 90 degrees, at least three non-collinear circular reflectors are attached to each trapezoidal surface, the shape or the size of the polygon formed by the circular reflectors is different on each trapezoidal surface, so that the optical tracker can identify the current trapezoidal surface, the circular reflectors are used for reflecting infrared light emitted by the optical tracker, and the spatial position of the operating end of the mechanical arm can be determined in the surgical robot system.

The invention discloses a navigation surgical instrument calibration system and a calibration method. The calibration system includes a navigator, a calibration platform, a calibration platform reference mark, a surgical instrument reference mark, a computer, and a display. During calibration, only the surgical instrument needs to be held and fixed on the calibration platform. Using the structural parameters of the calibration table, use the navigator to collect all the reference mark images of the surgical instrument and the calibration table at the same time, and directly calculate the axial vector and tip position of the surgical instrument through the geometric analysis algorithm software, and record The template position of the surgical instrument is used to complete the calibration of the surgical instrument. This system can complete the calibration of all parameters by collecting an image once, which can greatly reduce the number of image acquisitions, simplify the calibration process, improve the accuracy and reliability of the calibration, and save time and effort in the entire calibration process, with high efficiency and small errors; calibration process action It is simple and easy to operate, which can significantly reduce the risk of calibration failure and improve the success rate of calibration; the calibration table has a simple structure, is accurate and reliable, and is easy to manufacture and use.

The invention belongs to the field of clinical medicine manufacturing, and particularly provides a navigation display system for lung surgery puncture, which comprises a path planning module, an optical positioning module and a navigation display module, initializing a marking photosphere coordinate and a puncture path under the same physical coordinate system through a path planning module; then, an optical positioning module is used for combining the recognizable and displayable marking light ball with the steel needle to form a puncture navigation steel needle; and finally, uniformly representing the three-dimensional model of the puncture navigation steel needle and the three-dimensional model of the lung structure by an optical coordinate system through a navigation display module, and displaying the relationship between the puncture navigation steel needle and the lung structure in real time through an optical locator. The system is applied to a lung puncture positioning navigation operation, the optical coordinate of the puncture navigation steel needle is obtained through the optical tracking device, the optical coordinate and the physical coordinate are mutually converted, real-time display of the puncture navigation steel needle in the navigation system is achieved, the puncture success rate is increased, and the operation time of a patient is shortened.

The invention relates to the technical field of medical instruments, and provides a rapid registration device and a registration method for oral implant navigation surgery. The registration device comprises a connecting piece, a first marking plate and a second marking plate; the connecting piece is of an arc-shaped structure and comprises a first positioning plate and a second positioning plate, the first positioning plate is connected with the second positioning plate, first positioning holes are formed in the first positioning plate, and second positioning holes are formed in the second positioning plate; the first marking plate is detachably connected with the connecting piece through the second positioning holes, and a plurality of marking pieces are arranged on the first marking plate; and the second marking plate is detachably connected with the connecting piece through the second positioning holes, and a plurality of visual marking points are arranged on the second marking plate. By the adoption of the rapid registration device and registration method for the oral implant navigation surgery, the structure fixing precision is improved, meanwhile, registration can be rapidly achieved, different coordinate systems are unified, and a basis is provided for the subsequent navigation surgery.

Embodiments of the present application provide a calibration method and device for dental implant navigation surgery, and a tracking method and device for dental implant navigation surgery. The calibration method comprises: (110) obtaining a position of a scanning area (304) relative to a second visual marker (306) based on a spatial position of a first visual marker (305) disposed on a scanning device (302), a spatial position of the second visual marker (306) disposed on a surgical area (303), and a scanning position of the scanning area (304) obtained by scanning with the scanning device (302); and (120) registering the position of the scanning area (304) relative to the second visual marker (306) with a three-dimensional scene to obtain a transformation matrix, and applying the transformation matrix to the tracking of a surgical instrument. Therefore, the position change of a surgical instrument may be reflected in real time in the three-dimensional scene without implanting a marker point into the body of a patient, even if the patient's head moves during the surgery, thereby accurately tracking the surgical instrument in real time.

Orthopedic navigation surgical robot equipment is composed of an operation assembly used for surgical operation and a navigation assembly used for collecting and supervising relative position information of an orthopedic focus of a patient and a surgical instrument; the operation assembly is provided with a machine main body, a mechanical arm and a display device, and the mechanical arm and the display device are fixedly assembled on the machine main body; the navigation assembly is provided with a supporting part, an angle adjusting device for driving a detection head to perform angle adjustment, an electric lifting mechanism for driving the supporting part to integrally move up and down, a fixed seat and the detection head; one end of the electric lifting mechanism is fixedly assembled on the fixed seat, and the other end of the electric lifting mechanism is fixedly assembled with one end of the supporting part; and the angle adjusting device is assembled at the other end of the supporting part, and the detection head is assembled on the angle adjusting device. The equipment can assist an orthopedist in performing a precise minimally invasive orthopedic surgery, meanwhile, X-ray irradiation to medical staff in the surgery can be reduced, the surgery time can be shortened, and the surgery efficiency can be improved.

The present invention relates to the technical field of medical instruments, in particular to an optical tracking structure for navigating surgical power systems, including connectors for connecting and driving surgical power instruments, the connectors are provided with navigation brackets, and the navigation The bracket is followed by several reflective balls used to construct a positioning surface for the optical tracking system. A ring-shaped support surface is formed on the navigation bracket, and several reflective balls are distributed around the surface of the ring-shaped support surface. The optical The tracking system performs optical tracking of the spatial position of the surgical power instrument in a 360° angle range through several reflective balls. The invention provides an optical tracking structure for a navigation operation power system, which can effectively improve the tracking range of the operation power instrument by the optical tracking system, ensure the navigation accuracy in the operation process, and make the navigation operation more smooth.

The invention provides an orbital endoscope navigation operation training method and system, a device and equipment. The method comprises the following steps of acquiring a normal orbital operation video and a path orbital operation video marked with operator eyeball movement data; displaying the normal orbital operation video and the path orbital operation video in the same interface; and obtaining a visual path of a learner and displaying the visual path on the normal orbital operation video to be compared with the operator eyeball movement data on the path orbital operation video. Accordingto the method, a beginner can fully understand an operation intention of an operator, and can be subjected to sufficient and quantifiable training, so that the training efficiency of an orbital endoscope navigation operation is improved.

This application provides a training method, device, equipment, and system for orbital endoscopic navigation surgery, by acquiring normal orbital surgery videos and orbital surgery videos marked with the operator's eyeball movement data; displaying the normal orbital surgery videos in the same interface The orbital surgery video and the orbital surgery video of the path; the visual path of the learner is obtained and displayed on the normal orbital surgery video for comparison with the operator's eye movement data on the orbital surgery video of the path. The application can enable beginners to fully understand the operator's operation intention, and provide adequate and quantifiable training for beginners, so as to improve the training efficiency of orbital endoscopic navigation surgery.

The invention provides a navigation surgery system, a computer-readable storage medium and electronic equipment, including a robot system, a navigation system and a control unit connected by communication, the robot system includes a robot arm, and the robot system has a robot coordinate system on the robot arm; The navigation system includes a navigation tracking device and a bone target. The navigation system has a base coordinate system that can be recognized by the navigation tracking device and a calibration target coordinate system; the base coordinate system and the robot coordinate system have a predetermined first conversion relationship, and the calibration target coordinate system There is a predetermined second conversion relationship with the base coordinate system; the control unit identifies the calibration target coordinate system, and determines the position of the mechanical arm in the calibration target coordinate system when the mechanical arm is in the expected pose according to the coordinate system of the bone target; The position of the mechanical arm in the calibration target coordinate system, the second conversion relationship and the first conversion relationship obtain the expected position of the mechanical arm in the robot system coordinate system, thereby ensuring surgical accuracy and expanding the intraoperative operating space.