CN109567941B - A kind of autoregistration mouthpiece device and system - Google Patents
A kind of autoregistration mouthpiece device and system Download PDFInfo
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- CN109567941B CN109567941B CN201811288382.7A CN201811288382A CN109567941B CN 109567941 B CN109567941 B CN 109567941B CN 201811288382 A CN201811288382 A CN 201811288382A CN 109567941 B CN109567941 B CN 109567941B
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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
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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
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
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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
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic 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)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The present invention relates to a kind of autoregistration mouthpiece devices, including facing ontology, multiple positioning balls and a 5DOF magnetic position sensor are provided on the facing ontology, the positional relationship of the multiple positioning ball and 5DOF magnetic position sensor is fixed, and the mutual space length between the multiple positioning ball is unique and does not repeat.It can be realized effective position using autoregistration mouthpiece device of the invention, doctor helped to avoid obstacle.
Description
Technical field
The present invention relates to operating robot ancillary technique fields, more particularly to a kind of autoregistration mouthpiece device and are
System.
Background technique
The operation of cranium craniofacial orthopedics is by distraction osteogenesis, osteotomy and relocates the methods of bone collection for cranio-maxillofacial head subregion
It moves to achieve the purpose that correct Craniofacial anomalies.The difficult point of operation is mainly manifested in: complicated anatomic region structure, and surrounding is close
The institutional frameworks such as the important blood vessel of cloth and nerve, it is narrow or almost it is blind depending on surgical field of view and surgical physiology tremble and
The fatigue of long-term surgery operation.Cranium Maxillofacial surgery is very high to operation required precision, and traditional operation is difficult due to technological deficiency
Meet its required precision of performing the operation, keeps it bigger relative to other surgical risks, technical threshold is also relatively high.
Current operating robot product is mainly focused on the universal purposes of master-slave mode, for training operating robot
Development more lags, and the technology of artificial intelligence is in operating robot using less.And the operation of cranium craniofacial orthopedics is mainly to cranium jaw
Bone is operated, and narrow operating space needs doctor to avoid many obstacles to operate in art.Therefore needing one kind can be
The device being automatically positioned in art is to help doctor to avoid obstacle.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of autoregistration mouthpiece device and systems, can carry out automatically
Positioning.
The technical solution adopted by the present invention to solve the technical problems is: a kind of autoregistration mouthpiece device is provided, including
Facing ontology is provided with multiple positioning balls and a 5DOF magnetic position sensor, the multiple positioning on the facing ontology
The positional relationship of ball and 5DOF magnetic position sensor is fixed, the mutual space length between the multiple positioning ball it is unique and
It does not repeat.
The number of the positioning ball is 6.
The 5DOF magnetic position sensor is arranged on facing ontology using pluggable form.
The technical solution adopted by the present invention to solve the technical problems is: also providing a kind of autoregistration facing system, wraps
Computer and image acquiring device are included, including above-mentioned autoregistration mouthpiece device, described image acquisition device is suffered from for obtaining
Person wears the DICOM image when autoregistration mouthpiece device；The computer includes the first space coordinate determining module, the
Two space coordinate determining modules and coordinate transferring；The first space coordinate determining module is automatic using algorithm for pattern recognition
Identify the space coordinate that ball is positioned in the autoregistration mouthpiece device under DICOM image space coordinate system；The second space is sat
It marks in the autoregistration mouthpiece device that determining module is obtained using magnetic position sensor in operation under magnetic position sensor coordinate system
Position the space coordinate of ball；The coordinate transferring is established between image space coordinate system and magnetic position sensor coordinate system
It is registrated transformational relation, realizes the transformational relation between image space coordinate system and magnetic position sensor coordinate system with patient motion
It calculates and updates in real time.
The first space coordinate determining module is partitioned into positioning ball using high pass threshold partitioning algorithm in image space
Then the image-region at place obtains the image coordinate of the positioning ball centre of sphere using independent connected domain center extraction algorithm；According to branch
It holds vector machine and obtained image coordinate is differentiated and classified, and then classification volume is carried out to the image coordinate of the positioning ball centre of sphere
Code.
The second space coordinate determining module passes through spatial multiplex position according to direct kinematics principle, to the positioning ball centre of sphere
The mode of appearance transformation obtains the coordinate under its magnetic position sensor coordinate system in operative space.
The coordinate transferring establishes image space coordinate system and magnetic position sensor coordinate system by ICP registration Algorithm
Between registration transformational relation.
Beneficial effect
Due to the adoption of the above technical solution, compared with prior art, the present invention having the following advantages that and actively imitating
Fruit: the present invention can be realized multiple positioning balls and turn in image space coordinate system and the registration between magnetic position sensor coordinate system
It changes, update can be calculated in real time with patient motion, to remain correct registration relationship, realize effective position, help
Doctor avoids obstacle.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is wearing schematic of the invention.
Specific embodiment
Present invention will be further explained below with reference to specific examples.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, those skilled in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Range.
The first embodiment of the present invention is related to a kind of autoregistration mouthpiece devices, as shown in Figure 1, include facing ontology 1,
Multiple positioning balls 2 and a 5DOF magnetic position sensor 3, the multiple positioning ball 2 and 5 are provided on the facing ontology 1
The positional relationship of freedom degree magnetic position sensor 3 is fixed, and the mutual space length between the multiple positioning ball 2 is unique and does not weigh
It is multiple.
In present embodiment, the number of the positioning ball is 6, and is made of metal material.The 5DOF magnetic is fixed
Level sensor is arranged on facing ontology using pluggable form.Shown in Fig. 2 is schematic diagram when patient wears facing.Suffer from
It is preoperative to need to carry out CT scan to obtain corresponding DICOM image after person wears mouthpiece device, and in entire surgical procedure
Need to wear the mouthpiece device.
Second embodiment of the present invention is related to a kind of autoregistration facing system, including computer, image acquiring device
With the autoregistration mouthpiece device in first embodiment, for obtaining, patient's wearing is described to match described image acquisition device automatically
DICOM image when quasi- mouthpiece device；The computer determines mould including the first space coordinate determining module, second space coordinate
Block and coordinate transferring；The first space coordinate determining module is empty using algorithm for pattern recognition automatic identification DICOM image
Between the space coordinate of ball is positioned in autoregistration mouthpiece device under coordinate system；The second space coordinate determining module utilizes magnetic
Alignment sensor obtains the space coordinate that ball is positioned in the autoregistration mouthpiece device in operation under magnetic position sensor coordinate system；
The coordinate transferring establishes the registration transformational relation between image space coordinate system and magnetic position sensor coordinate system, realizes
Transformational relation between image space coordinate system and magnetic position sensor coordinate system calculates update with patient motion in real time.
The first space coordinate determining module uses under algorithm for pattern recognition automatic identification DICOM image space coordinate system
Autoregistration mouthpiece device in position ball space coordinate.Specifically, i.e. patient wears mouthpiece device progress CT scan life
At DICOM image, the first space coordinate determining module is partitioned into six using high pass threshold partitioning algorithm in image space
Then image-region where a metal ball obtains the image of six metal ball centre ofs sphere using independent connected domain center extraction algorithm
Coordinate.According to the common method of statistical-simulation spectrometry --- support vector machines (SVM) differentiated and classified to six coordinates, into
And sorting code number is carried out to the image coordinate of six metal ball centre ofs sphere.
The second space coordinate determining module obtains magnetic position sensor coordinate system in operation using magnetic position sensor
Under autoregistration mouthpiece device in position ball space coordinate.Specifically, utilizing magnetic orientation system pair in operative space
Entire scene is monitored in real time, and magnetic orientation system may recognize that entrained by patient equipped with a 5DOF magnetic orientation sensing
The autoregistration mouthpiece device of device, 5DOF magnetic position sensor possess local Coordinate System, which makes in operative space
It is indicated with 4 × 4 position auto―controls.According to the direct kinematics (Forward for solving different spaces coordinate system transformation
Kinematics) principle, six metal ball centre ofs sphere are converted by spatial multiplex pose, and it is fixed to can get its magnetic in operative space
Coordinate under level sensor coordinate system.
The coordinate transferring can establish image space coordinate system and magnetic orientation using existing ICP registration Algorithm
Registration transformational relation between sensor coordinate system.Conversion between image space coordinate system and magnetic position sensor coordinate system is closed
System calculates update with patient motion in real time, remains correct registration relationship.
It is not difficult to find that the present invention can be realized multiple positioning balls image space coordinate system and with magnetic position sensor coordinate
Registration conversion between system, can calculate in real time update with patient motion, to remain correct registration relationship, realize
Effective position helps doctor to avoid obstacle.
Claims (5)
1. a kind of autoregistration facing system, including computer and image acquiring device, which is characterized in that further include autoregistration
Mouthpiece device, the autoregistration mouthpiece device include facing ontology, and multiple positioning balls and one are provided on the facing ontology
The positional relationship of a 5DOF magnetic position sensor, the multiple positioning ball and 5DOF magnetic position sensor is fixed, described
Mutual space length between multiple positioning balls is unique and does not repeat, and described image acquisition device is for obtaining described in patient's wearing
DICOM image when autoregistration mouthpiece device；The computer includes the first space coordinate determining module, second space coordinate
Determining module and coordinate transferring；The first space coordinate determining module uses algorithm for pattern recognition automatic identification DICOM
The space coordinate of ball is positioned in autoregistration mouthpiece device under image space coordinate system；The second space coordinate determining module
The sky that ball is positioned in the autoregistration mouthpiece device in operation under magnetic position sensor coordinate system is obtained using magnetic position sensor
Between coordinate；The second space coordinate determining module passes through spatial multiplex position according to direct kinematics principle, to the positioning ball centre of sphere
The mode of appearance transformation obtains the coordinate under its magnetic position sensor coordinate system in operative space；The coordinate transferring is built
Registration transformational relation between vertical image space coordinate system and magnetic position sensor coordinate system, realizes image space coordinate system and magnetic
Transformational relation between alignment sensor coordinate system calculates update with patient motion in real time.
2. autoregistration facing system according to claim 1, which is characterized in that the number of the positioning ball is 6.
3. autoregistration facing system according to claim 1, which is characterized in that the 5DOF magnetic position sensor
It is arranged on facing ontology using pluggable form.
4. autoregistration facing system according to claim 1, which is characterized in that the first space coordinate determining module
The image-region being partitioned into image space using high pass threshold partitioning algorithm where positioning ball, then uses independent connected domain
Center extraction algorithm obtains the image coordinate of the positioning ball centre of sphere；According to support vector machines to obtained image coordinate carry out differentiate and
Classification, and then sorting code number is carried out to the image coordinate of the positioning ball centre of sphere.
5. autoregistration facing system according to claim 1, which is characterized in that the coordinate transferring passes through ICP
Registration Algorithm establishes the registration transformational relation between image space coordinate system and magnetic position sensor coordinate system.
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| CN201811288382.7A CN109567941B (en) | 2018-10-31 | 2018-10-31 | A kind of autoregistration mouthpiece device and system |
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| CN201811288382.7A CN109567941B (en) | 2018-10-31 | 2018-10-31 | A kind of autoregistration mouthpiece device and system |
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| CN109567941B true CN109567941B (en) | 2019-12-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112546459B (en) * | 2020-12-09 | 2023-07-18 | 成都理工大学 | Dental floss device and head tumor target area positioning method using same |
| CN113893049A (en) * | 2021-10-26 | 2022-01-07 | 上海优医基医疗影像设备有限公司 | Oral dental implant surgery system registration device, method and manufacturing method |
| CN114041886A (en) * | 2021-10-26 | 2022-02-15 | 上海优医基医疗影像设备有限公司 | Magnetic navigation oral dental implant surgery system and method |
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| CN101879092A (en) * | 2010-06-30 | 2010-11-10 | 珠海和佳医疗设备股份有限公司 | Registration assembly for electromagnetic positioning operation navigation system and calibration method thereof |
| CN102740792A (en) * | 2010-01-06 | 2012-10-17 | Civco医疗器械公司 | Active marker device for use in electromagnetic tracking system |
| CN106251284A (en) * | 2016-08-16 | 2016-12-21 | 苏州迪凯尔医疗科技有限公司 | Medical image registration method based on facing |
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| US10136968B2 (en) * | 2014-12-24 | 2018-11-27 | Isethco Llc | Disposable surgical intervention guides, methods, and kits |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102740792A (en) * | 2010-01-06 | 2012-10-17 | Civco医疗器械公司 | Active marker device for use in electromagnetic tracking system |
| CN101879092A (en) * | 2010-06-30 | 2010-11-10 | 珠海和佳医疗设备股份有限公司 | Registration assembly for electromagnetic positioning operation navigation system and calibration method thereof |
| CN106251284A (en) * | 2016-08-16 | 2016-12-21 | 苏州迪凯尔医疗科技有限公司 | Medical image registration method based on facing |
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Effective date of registration: 20221116 Address after: No. 888, Zhujiang Road, juegang Town, Rudong County, Nantong City, Jiangsu Province, 226499 Patentee after: NANTONG ROBERT MEDICAL TECHNOLOGY Co.,Ltd. Address before: 201318 1, Lane 588, Tianxiong Road, Pudong New Area, Shanghai_ Room 402, building 10, No. 28 Patentee before: SHANGHAI PANYAN ROBOT TECHNOLOGY Co.,Ltd. |