CN201422889Y - Surgery navigation equipment - Google Patents
Surgery navigation equipment Download PDFInfo
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- CN201422889Y CN201422889Y CN2009200570828U CN200920057082U CN201422889Y CN 201422889 Y CN201422889 Y CN 201422889Y CN 2009200570828 U CN2009200570828 U CN 2009200570828U CN 200920057082 U CN200920057082 U CN 200920057082U CN 201422889 Y CN201422889 Y CN 201422889Y
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- navigation device
- operation navigation
- infrared
- mechanical hand
- catcher
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Abstract
The utility model discloses a surgery navigation equipment which comprises a computer host, an arm connected with the computer host, manipulators connected with the arm, a monitor and a capturer arranged on the manipulators; the surgery navigation equipment also comprises a surgery navigation tool coordinated with the capturer, the surgery navigation tool comprises an optical tracing mark arrangedon the tool, and the optical tracing mark is traced and captured by the capturer through passive infrared optical positioning mode. The surgery navigation equipment has simple structure, reliable operation and positioning, can reduce the surgery incision as much as possible, relieves pain for patients, has wide application range, strong compatibility and low cost.
Description
Technical field
This utility model relates to a kind of operation navigation device, and more particularly, this utility model relates to a kind of computer assisted optical operation navigation equipment.
Background technology
In traditional surgical operation, how accurately determine lesions position and in operative treatment accurate location, be the key factor that influences surgical effect in the surgical operation.Previous location of operation normally adopts iconography modes such as nuclear magnetic resonance, NMR, CT, earlier to being judged at the definite position of pathological changes, and utilizes its image data to formulate operation plan.Yet there is its inherent shortcoming in such mode, is difficult to very accurately determine lesions position, thereby brings difficulty for the selection of otch in the operation process.Usually, accuracy in order to ensure operation, generally in operation, adopt bigger otch at present, so that operating doctor can be observed the internal of patient's operative site more, thereby guarantee carrying out smoothly of operation to greatest extent, yet, nonetheless, the doctor still only can observe directly the organ surface outside being exposed in operation process, and can't direct observation for the inside of organ, has strengthened the difficulty of operation.
Subsequently, the computer-asisted intra-operative navigation system occurred, this is the surgical placement field, particularly the once breakthrough in prosthetic replacement's assist location field.This technology adopts optical positioning system as detection instrument, the relative position relation that shows prosthese and skeletal structure by virtual image in real time, the relative position relation of hip prosthesis and skeletal structure for example, and in navigation system, set up the virtual image of hip prosthesis, by the seizure to the real space displacement, the image of setting up between virtual image and material object shows relation again.The computer system interface allows the doctor based on two dimension or three-dimensional simulation image, using third dimension answers directional orientation tool to carry out the navigating surgery operation of artificial hip joint replacing, because analog image intuitive display, the doctor is readily appreciated that and grasps anatomical position relation in the navigation procedure, reduce operative incision most possibly, reduce patient's misery, and finish operative process smoothly.
Surgery systems and surgical navigational method under a kind of guide of magnetic resonant image are disclosed in Chinese patent CN101019765 number.This system comprises MR imaging apparatus, tracking system, and operating theater instruments is arranged on the sick bed on the described MR imaging apparatus, control and display device, and computer that is connected with each system and control software section; Also be provided with and demarcate pin and demarcate mould; Be respectively arranged with the tracer that constitutes world coordinate system, operating theater instruments coordinate system and sick bed coordinate system on the MR imaging apparatus, on the operating theater instruments and on the sick bed, the pose of described each coordinate system can be measured by described tracking system; Described demarcation pin and peg model are used for described focus coordinate and operating theater instruments coordinate transform realizing demarcating to same coordinate system jointly.This utility model utilizes magnetic resonance image (MRI) to come the positioning operation apparatus, must comprise MR imaging apparatus in the mechanism, and complex structure is with high costs, and uses singlely, only can be applicable to the magnetic resonance applications field.
Chinese patent discloses a kind of orthopaedics operation navigation system that is used for the bone fracture restoration operation of closed intramedullary pin for CN101224104 number.It comprises binocular stereo vision sensing device and marker, the binocular stereo vision sensing device comprises: dominant frequency is not less than the computer of 1G, be arranged on the localizer on the locator bracket, be arranged on two ccd video cameras in the localizer, the double-channel signal lock unit that links to each other with image pick-up card, described marker is provided with at least 3 active illuminating diodes, plugs rigidly on one of them marker and is connected with intramedullary pin, and wherein another marker plugs with the special-purpose electric drill of operation rigidly and is connected.Yet this orthopaedics operation navigation system is provided with the active illuminating diode and identifies its particular location on marker, and this inevitable requirement is provided with circuit on marker, so complex structure and operating process are complicated relatively, and cost is higher.
Therefore, provide a kind of novel operation navigation device to become the problem that industry need solve.
Summary of the invention
The purpose of this utility model provide a kind of simple in structure, be widely used and accurate reliably operation navigation device.
For realizing goal of the invention of the present utility model, this utility model provides a kind of operation navigation device, and it comprises host computer, the arm that is connected with host computer, be connected in mechanical hand on the arm, be arranged at display and catcher on the mechanical hand; Wherein, operation navigation device also comprises the guiding tool of operation with the catcher cooperating, and this guiding tool of operation then comprises setting optical tracking labelling thereon, and this optical tracking labelling is captured by trace by passive infrared optical alignment mode.
In operation navigation device of the present utility model, two infrared optics positioners that catcher may further include the support that is connected with mechanical hand and is arranged at the support two ends respectively.
In operation navigation device of the present utility model, optical positioning apparatus may further include photographic head, infrared filter and the infrared LED lamp with infrared acquisition function, and the light of this infrared LED lamp emission is reflected by the optical tracking labelling of guiding tool of operation.
In addition, in operation navigation device of the present utility model, host computer comprises the CD-ROM drive and/or the USB interface of supporting setting, this CD-ROM drive and/or USB interface can read CT data information and nuclear magnetic resonance data data, and CD-ROM drive and/or USB interface can be arranged on the position of ergonomics when meeting work away from host computer, with handled easily personnel's operation.
In operation navigation device of the present utility model, mechanical hand can be two, and it is connected with described display and catcher respectively, and mechanical hand has three degree of freedom.
In operation navigation device of the present utility model, the quantity of optical tracking labelling is 3 more than 3, and is not located along the same line.The Infrared of optical tracking labelling reflection is caught simultaneously by the photographic head of two optical positioning apparatus.
In operation navigation device of the present utility model, the infrared LED lamp can be several, for example more than 3 or 3; These infrared LED lamps can form annular circuit board, and this annular circuit board is preferably coaxial with photographic head.
In operation navigation device of the present utility model, two infrared optics positioners can be with respect to connected mechanical hand spaced set, can certainly be according to the locus needs with two asymmetric both sides that are arranged on mechanical hand of infrared optics positioner.
The beneficial effects of the utility model are: 1, mechanical hand is simple in structure, operation is reliable, and the motion that the three degree of freedom that has can guarantee display and catcher freely, the location is reliable, can comprehensive catching position information and cooperate doctor's work requirements, safe and reliable, and can reduce operative incision as far as possible, reduce patient's misery; 2, this utility model adopts passive infrared optical alignment tracking mode, the optical tracking labelling of guiding tool of operation itself is not launched light, only can realize accurate location by passive reflection ray, complicated circuit need be set in guiding tool of operation, simplify the structure, and it is with low cost, simple to operate; 3, this utility model can read multiple image data by CD-ROM drive and USB interface, and for example CT data information, nuclear magnetic resonance data data or the like make of the present utility model being widely used, and be compatible strong, also realized effective reduction of cost simultaneously; And CD-ROM drive and USB interface can be arranged on the position of ergonomics when meeting work away from host computer, with handled easily personnel's operation.
Below in conjunction with the drawings and specific embodiments; further specify this utility model; but this utility model is not limited to these specific embodiment, any on this utility model essence spirit improvement or substitute, still belong to scope required for protection in this utility model claims.
Description of drawings
Fig. 1 is the structural representation of the guiding tool of operation of this utility model operation navigation device.
Fig. 2 is the structural representation of this utility model operation navigation device.
Fig. 3 is the structural representation of the catcher of this utility model operation navigation device.
Fig. 4 is the work sketch map of this utility model operation navigation device.
The specific embodiment
Arrive shown in Figure 4 as Fig. 1, operation navigation device of the present utility model comprises host computer 1, the arm 2 that is connected with host computer 1, be connected in two mechanical hands 3 and 4 on the arm 2, be arranged at the display 5 on the mechanical hand 3, be arranged on the mechanical hand 4 catcher 6 and with the guiding tool of operation 15 of catcher 6 cooperatings.Host computer 1 comprises input equipment such as CD-ROM drive 7, USB interface 8 and keyboard, the mouse of supporting setting, and host computer 1 is communicated with by the circuits in the arm 2 and miscellaneous part realization data and power line.CD-ROM drive 7 and USB interface 8 can read patient CT data information, nuclear magnetic resonance data data and other image datas, thereby realize the location to lesions position.Mouse and keyboard can adopt wireless device.
The catcher 6 that is used for optical alignment, two infrared optics positioners 62 that comprise the support 61 that is connected with mechanical hand 4 and be arranged at support 61 two ends respectively.Two infrared optics positioners 62 are with respect to mechanical hand 4 spaced sets.Optical positioning apparatus 62 comprises the photographic head 621 with infrared acquisition function, infrared filter 622 and the annular infrared LED lamp 623 that is provided with around photographic head 621, and it can realize the image acquisition to locating and tracking system.Infrared LED lamp 623 is coaxial with photographic head 621, and certainly, infrared LED lamp 623 also can adopt other shapes except that annular, circuit is set in the optical positioning apparatus 62 also realizes being connected with host computer 1 by the circuits in the mechanical hand 4.Optical positioning apparatus 62 images acquired information also send the image information of collecting to host computer 1 by data wire.Host computer 1 for example comprises the location of the location algorithm of treatment of picture and three dimensions point being come the implementation space three-dimensional position by the internal processes algorithm.
This utility model adopts passive infrared optical alignment tracking mode to realize.As shown in Figure 1 guiding tool of operation 15 and catcher 6 cooperatings, it comprises setting optical tracking labelling 151 thereon, optical tracking labelling 151 is generally 3, and is not located along the same line, and also more optical tracking labelling 151 can be set as required.Optical tracking labelling 151 itself is not initiatively launched light, and the infrared ray that the infrared LED lamp 623 of only passive catoptrics positioner 62 is sent, when the infrared ray rayed is on optical tracking labelling 151, the light of optical tracking labelling 151 reflections is gathered simultaneously by two photographic head 621, can catch optical tracking labelling 151 position at any time according to the difference of reflection ray, catcher 6 is by the positional information feedback to the computer main frame 1 of data wire with the optical tracking labelling 151 that collects, the three-dimensional position of realizing optical tracking labelling 151 through the image processing algorithm and the three-dimensional localization algorithm of computer program is determined then, thereby the 3-D view that can realize the Virtual Space is effectively corresponding with the position of human body of real space, and show corresponding positional information on display 5, the doctor is according to the indication of display 5 operation that can accurately undergo surgery.
Claims (10)
1, a kind of operation navigation device, it comprises host computer, the arm that is connected with described host computer, be connected in mechanical hand on the described arm, be arranged at display and catcher on the described mechanical hand, it is characterized in that, described operation navigation device also comprises the guiding tool of operation with described catcher cooperating, described guiding tool of operation comprises setting optical tracking labelling thereon, described optical tracking labelling by passive infrared optical alignment mode by described catcher trace trap.
2, operation navigation device as claimed in claim 1 is characterized in that, two infrared optics positioners that described catcher comprises the support that is connected with described mechanical hand and is arranged at described support two ends respectively.
3, operation navigation device as claimed in claim 2, it is characterized in that, described optical positioning apparatus comprises photographic head, infrared filter and the infrared LED lamp with infrared acquisition function, and the light of described infrared LED lamp emission is reflected by the optical tracking labelling of described guiding tool of operation.
As the described operation navigation device of one of claim 1-3, it is characterized in that 4, described host computer comprises and is used to read CT data information and the CD-ROM drive nuclear magnetic resonance data data, supporting setting and/or USB interface.
5, operation navigation device as claimed in claim 4 is characterized in that, described CD-ROM drive and/or USB interface are to be positioned at the position of leaving described host computer and to be connected with described host computer.
As the described operation navigation device of one of claim 1-3, it is characterized in that 6, described mechanical hand is two, it is connected with described display and catcher respectively.
As the described operation navigation device of one of claim 1-3, it is characterized in that 7, described mechanical hand has three degree of freedom.
8, operation navigation device as claimed in claim 3 is characterized in that, the quantity of described optical tracking labelling is more than 3 or 3, and is not located along the same line.
9, operation navigation device as claimed in claim 3 is characterized in that, the Infrared of described optical tracking labelling reflection is caught simultaneously by the photographic head of described two optical positioning apparatus.
10, operation navigation device as claimed in claim 3 is characterized in that, a plurality of described infrared LED lamps form annular circuit board, and this annular circuit board is coaxial with described photographic head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200570828U CN201422889Y (en) | 2009-05-22 | 2009-05-22 | Surgery navigation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200570828U CN201422889Y (en) | 2009-05-22 | 2009-05-22 | Surgery navigation equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201422889Y true CN201422889Y (en) | 2010-03-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009200570828U Expired - Fee Related CN201422889Y (en) | 2009-05-22 | 2009-05-22 | Surgery navigation equipment |
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| CN (1) | CN201422889Y (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791451A (en) * | 2010-04-01 | 2010-08-04 | 天津大学 | Acupuncture manipulator mechanism for applying to magnetic nuclear resonance environment |
| CN101889857B (en) * | 2009-05-22 | 2012-09-19 | 许杰 | Operation navigation device |
| CN103417301A (en) * | 2012-05-22 | 2013-12-04 | 科维蒂恩有限合伙公司 | Surgical navigation system |
| CN103735316A (en) * | 2013-12-18 | 2014-04-23 | 宁波市全灵医疗设备股份有限公司 | Navigation device in orthopedics department and preparation method of navigation device |
| CN103919611A (en) * | 2014-04-28 | 2014-07-16 | 张文峰 | Orthopaedic robot navigation locating device |
| CN105073056A (en) * | 2013-02-21 | 2015-11-18 | 株式会社高永科技 | Tracking system and tracking method using same |
| US9439627B2 (en) | 2012-05-22 | 2016-09-13 | Covidien Lp | Planning system and navigation system for an ablation procedure |
| US9439623B2 (en) | 2012-05-22 | 2016-09-13 | Covidien Lp | Surgical planning system and navigation system |
| CN105943182A (en) * | 2016-06-01 | 2016-09-21 | 苏州肯美威机械制造有限公司 | Cylindrical medical infrared navigator |
| US9498182B2 (en) | 2012-05-22 | 2016-11-22 | Covidien Lp | Systems and methods for planning and navigation |
| CN109620348A (en) * | 2019-01-14 | 2019-04-16 | 艾瑞迈迪科技石家庄有限公司 | A kind of calibration of osteotomy guide block and tracking and system |
| US11707329B2 (en) | 2018-08-10 | 2023-07-25 | Covidien Lp | Systems and methods for ablation visualization |
-
2009
- 2009-05-22 CN CN2009200570828U patent/CN201422889Y/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101889857B (en) * | 2009-05-22 | 2012-09-19 | 许杰 | Operation navigation device |
| CN101791451A (en) * | 2010-04-01 | 2010-08-04 | 天津大学 | Acupuncture manipulator mechanism for applying to magnetic nuclear resonance environment |
| CN101791451B (en) * | 2010-04-01 | 2011-10-26 | 天津大学 | Acupuncture manipulator mechanism for applying to magnetic nuclear resonance environment |
| US9439623B2 (en) | 2012-05-22 | 2016-09-13 | Covidien Lp | Surgical planning system and navigation system |
| US9439627B2 (en) | 2012-05-22 | 2016-09-13 | Covidien Lp | Planning system and navigation system for an ablation procedure |
| CN103417301A (en) * | 2012-05-22 | 2013-12-04 | 科维蒂恩有限合伙公司 | Surgical navigation system |
| US9439622B2 (en) | 2012-05-22 | 2016-09-13 | Covidien Lp | Surgical navigation system |
| US9498182B2 (en) | 2012-05-22 | 2016-11-22 | Covidien Lp | Systems and methods for planning and navigation |
| CN105073056A (en) * | 2013-02-21 | 2015-11-18 | 株式会社高永科技 | Tracking system and tracking method using same |
| CN103735316A (en) * | 2013-12-18 | 2014-04-23 | 宁波市全灵医疗设备股份有限公司 | Navigation device in orthopedics department and preparation method of navigation device |
| CN103735316B (en) * | 2013-12-18 | 2016-01-27 | 宁波德美家医疗科技有限公司 | A kind of orthopedic navigation device and preparation method thereof |
| CN103919611A (en) * | 2014-04-28 | 2014-07-16 | 张文峰 | Orthopaedic robot navigation locating device |
| CN105943182A (en) * | 2016-06-01 | 2016-09-21 | 苏州肯美威机械制造有限公司 | Cylindrical medical infrared navigator |
| US11707329B2 (en) | 2018-08-10 | 2023-07-25 | Covidien Lp | Systems and methods for ablation visualization |
| CN109620348A (en) * | 2019-01-14 | 2019-04-16 | 艾瑞迈迪科技石家庄有限公司 | A kind of calibration of osteotomy guide block and tracking and system |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100317 Termination date: 20110522 |