CN107174343A - Three-dimensional orthopedic surgical navigational spatial registration method based on infrared optics alignment system - Google Patents
Three-dimensional orthopedic surgical navigational spatial registration method based on infrared optics alignment system Download PDFInfo
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- CN107174343A CN107174343A CN201710492952.3A CN201710492952A CN107174343A CN 107174343 A CN107174343 A CN 107174343A CN 201710492952 A CN201710492952 A CN 201710492952A CN 107174343 A CN107174343 A CN 107174343A
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- arms
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- image
- infrared optics
- attitude information
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/90—Guides therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B2017/564—Methods for bone or joint treatment
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of three-dimensional orthopedic surgical navigational spatial registration method based on infrared optics alignment system, comprise the following steps：S1：The attitude information of C arms and the attitude information of image are obtained respectively using infrared optics alignment system, the first target body and the second target body, while starting the sequence acquisition work station of C arms, gather the sequence image of die body；S2：The sequence image obtained using step S1 carries out geometric correction to C arms, obtains the geological information of C arms；S3：The attitude information and three-dimensional digital image of C arms in the geological information and practical application of the attitude information and image orientation information of the step S1 C arms obtained, step S2 the C arms obtained are combined, the conversion that space coordinate is tied to image coordinate system is completed using the registration technique based on genetic algorithm；S4：The effect that step S3 is obtained includes in client in real time.The inventive method safely, effectively, it is practical, monitoring in real time can be achieved, the security of operation can be effectively improved.
Description
Technical field
The present invention relates to medical instruments field, the three-dimensional orthopedic operation more particularly to based on infrared optics alignment system is led
Method for registering between aviation.
Background technology
In spinal surgery pedicle nail implant surgery, how to ensure in preferable position pedicle screw, to greatest extent
Operation risk is reduced, is still a great problem of clinical medicine circle.Not yet there is preferable three-dimensional orthopedic surgical navigational in the prior art
Spatial registration method.
The content of the invention
Goal of the invention：It is an object of the invention to provide it is a kind of it is safe, practical, can effectively realize monitor in real time based on
The three-dimensional orthopedic surgical navigational spatial registration method of infrared optics alignment system.
Technical scheme：Three-dimensional orthopedic surgical navigational spatial registration side of the present invention based on infrared optics alignment system
Method, comprises the following steps：
S1：Using infrared optics alignment system, the first target body and the second target body obtain respectively C arms attitude information and
The attitude information of image, while starting the sequence acquisition work station of C arms, gathers the sequence image of die body；
S2：The sequence image obtained using step S1 carries out geometric correction to C arms, obtains the geological information of C arms；
S3：By the several of the attitude information and image orientation information of the step S1 C arms obtained, step S2 the C arms obtained
The attitude information and three-dimensional digital image of what information and the C arms in practical application combine, using based on heredity calculation
The registration technique of method completes the conversion that space coordinate is tied to image coordinate system；
S4：The effect that step S3 is obtained includes in client in real time.
Further, first target body is used for the attitude information for obtaining C arms, and the first target body includes support and is distributed in
Four passive reflective small balls of NDI on support.
Further, distance is more than 60mm between any two bead, and any one bead is small to other any twos
The difference of the distance between ball is more than 7mm so that the first target body, which turns into, independent rigid body, and each bead can be positioned by infrared optics
System unique identification.
Further, each bead of first target body is just to infrared optics alignment system.
Further, second target body is used for the attitude information for obtaining image, and the second target body includes cube, cube
The body-centered position of body is provided with steel ball, and the center in a cubical face is provided with support, support that four NDI are distributed with is passive
Reflective small ball.
Further, the cube is made of polymethyl methacrylate.
Further, the radius of the steel ball is 1.5mm.
Beneficial effect：Match somebody with somebody the invention discloses a kind of three-dimensional orthopedic surgical navigational space based on infrared optics alignment system
Quasi- method, by the sky of the C arms in the attitude information of C arms, image space azimuth information, the geological information of C arms, practical application
Between the three-dimensional digital image of azimuth information and C arms be effectively combined, the registration technique based on genetic algorithm is successfully realized
Space coordinate is tied to the conversion of image coordinate system, and final effect is included in client in real time.The inventive method safely, have
Effect, practical, achievable monitoring in real time, can effectively improve the security of operation.
Brief description of the drawings
Fig. 1 is the flow chart of the method for the specific embodiment of the invention.
Embodiment
With reference to embodiment and accompanying drawing, technical scheme is described further.
Present embodiment discloses a kind of three-dimensional orthopedic surgical navigational space based on infrared optics alignment system and matched somebody with somebody
Quasi- method, as shown in figure 1, comprising the following steps：
S1：Using infrared optics alignment system, the first target body and the second target body obtain respectively C arms attitude information and
The attitude information of image, while starting the sequence acquisition work station of C arms, gathers the sequence image of die body；
S2：The sequence image obtained using step S1 carries out geometric correction to C arms, obtains the geological information of C arms；
S3：By the several of the attitude information and image orientation information of the step S1 C arms obtained, step S2 the C arms obtained
The attitude information and three-dimensional digital image of what information and the C arms in practical application combine, using based on heredity calculation
The registration technique of method completes the conversion that space coordinate is tied to image coordinate system；
S4：The effect that step S3 is obtained includes in client in real time.
Wherein, the first target body is used for the attitude information for obtaining C arms, and the first target body includes support and is distributed on support
Four passive reflective small balls of NDI.Distance is more than 60mm, any one bead to other any twos between any two bead
The difference of the distance between bead is more than 7mm.First target body is arranged on C arm image amplifiers, and the first target body each is small
Ball is just to infrared optics alignment system.
Second target body is used for the attitude information for obtaining image, and the second target body includes cube, cubical body-centered position
The steel ball that radius is 1.5mm is installed, the center in a cubical face, which is provided with support, support, is distributed with 4 NDI quilts
Dynamic reflective small ball.Cube is made of polymethyl methacrylate.
Claims (7)
1. the three-dimensional orthopedic surgical navigational spatial registration method based on infrared optics alignment system, it is characterised in that：Including following
Step：
S1：Obtain the attitude information and image of C arms respectively using infrared optics alignment system, the first target body and the second target body
Attitude information, while start C arms sequence acquisition work station, gather die body sequence image；
S2：The sequence image obtained using step S1 carries out geometric correction to C arms, obtains the geological information of C arms；
S3：By the geometry letter of the attitude information and image orientation information of the step S1 C arms obtained, step S2 the C arms obtained
The attitude information and three-dimensional digital image of breath and the C arms in practical application combine, using based on genetic algorithm
Registration technique completes the conversion that space coordinate is tied to image coordinate system；
S4：The effect that step S3 is obtained includes in client in real time.
2. the three-dimensional orthopedic surgical navigational spatial registration method according to claim 1 based on infrared optics alignment system,
It is characterized in that：First target body is used for the attitude information for obtaining C arms, and the first target body includes support and is distributed in support
On four passive reflective small balls of NDI.
3. the three-dimensional orthopedic surgical navigational spatial registration method according to claim 2 based on infrared optics alignment system,
It is characterized in that：Between any two bead distance be more than 60mm, any one bead to other any two beads it
Between distance difference be more than 7mm.
4. the three-dimensional orthopedic surgical navigational spatial registration method according to claim 2 based on infrared optics alignment system,
It is characterized in that：Each bead of first target body is just to infrared optics alignment system.
5. the three-dimensional orthopedic surgical navigational spatial registration method according to claim 1 based on infrared optics alignment system,
It is characterized in that：Second target body is used for the attitude information for obtaining image, and the second target body includes cube, cubical
Body-centered position is provided with steel ball, and the center in a cubical face is provided with support, support that 4 NDI are distributed with is passively reflective
Bead.
6. the three-dimensional orthopedic surgical navigational spatial registration method according to claim 5 based on infrared optics alignment system,
It is characterized in that：The cube is made of polymethyl methacrylate.
7. the three-dimensional orthopedic surgical navigational spatial registration method according to claim 5 based on infrared optics alignment system,
It is characterized in that：The radius of the steel ball is 1.5mm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710492952.3A CN107174343A (en) | 2017-06-26 | 2017-06-26 | Three-dimensional orthopedic surgical navigational spatial registration method based on infrared optics alignment system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110731817A (en) * | 2019-10-11 | 2020-01-31 | 浙江大学 | radiationless percutaneous spine positioning method based on optical scanning automatic contour segmentation matching |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110731817A (en) * | 2019-10-11 | 2020-01-31 | 浙江大学 | radiationless percutaneous spine positioning method based on optical scanning automatic contour segmentation matching |
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