CN110711030A - Femoral head necrosis minimally invasive surgery navigation system and surgery method based on AR technology - Google Patents
Femoral head necrosis minimally invasive surgery navigation system and surgery method based on AR technology Download PDFInfo
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- 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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
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- 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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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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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
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The invention discloses a femoral head necrosis minimally invasive surgery navigation system and a surgery method based on AR technology, wherein the navigation system comprises head-wearing AR equipment, a processor, an image acquisition assembly, an execution device, a space locator assembly, a probe and a 3D locating guide plate; the 3D positioning guide plate is fixed on the femoral neck bone spine and is provided with an operation guide opening; the space locator assembly is arranged on the 3D positioning guide plate, the probe, the operation part and the execution device; the image acquisition assembly acquires the related coordinate information of the space locator assembly and the surgical site; the processor registers the coordinate information with the three-dimensional model; generating a real operation space according to the coordinate information, fusing the real operation space, the three-dimensional model and the simulated operation path, displaying a fused image in the head-mounted equipment, and tracking and displaying the pose of the executing device in real time; reach wear-type AR equipment and execute device auxiliary technology and combine together, help the doctor to carry out the effect of accurate operation location.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to a femoral head necrosis minimally invasive surgery navigation system and a femoral head necrosis minimally invasive surgery method based on an AR technology.
Background
Femoral head necrosis is a common hip joint disease in orthopedics, seriously affects the work and life of patients and causes serious burden to both society and families. How to adopt a more optimized treatment scheme to relieve symptoms, reserve femoral heads to the maximum extent, prevent femoral heads from collapsing and preserve hip joint functions is a subject continuously explored in the field of orthopedics. At present, more hip protection methods are used for early and medium femoral head necrosis, but the curative effect is still controversial. How to make the femoral head necrosis hip-protection operation minimally invasive and how to make the minimally invasive operation precise are problems to be solved urgently at present.
Disclosure of Invention
The invention aims to provide a femoral head necrosis minimally invasive surgery navigation system and a femoral head necrosis minimally invasive surgery method based on an AR technology, so as to achieve minimally invasive and accurate femoral head necrosis minimally invasive surgery.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
in a first aspect, the invention provides a femoral head necrosis minimally invasive surgery navigation system based on an AR technology, which comprises a head-wearing AR device, a processor, an image acquisition assembly, an execution device, a space locator assembly, a probe and a 3D locating guide plate;
the 3D positioning guide plate is fixed on the femoral neck bone ridge, and an operation guide opening formed according to a virtual operation path is formed in the 3D positioning guide plate;
the space positioner assembly is arranged on the 3D positioning guide plate, the probe, the surgical site of the patient and the executing device;
the image acquisition assembly is electrically connected with the processor and is used for acquiring the position information of the probe, the spatial locator assembly and the depth information of the surgical site, converting the position information into coordinate information and transmitting the coordinate information to the processor;
the processor registers the coordinate information with a pre-stored virtual femoral head necrosis three-dimensional model, and further adjusts the direction of a surgical guide opening to be matched with a virtual surgical path; meanwhile, the processor generates a real operation space according to the coordinate information, can fuse the real operation space, the virtual femoral head necrosis three-dimensional model and the virtual operation path, displays a fused image in the head-mounted AR equipment, and tracks and displays the pose of the execution device in real time;
the executing device is electrically connected with the processor, and the processor controls the executing device to move.
Further, the image acquisition assembly comprises a binocular vision acquisition system and a depth camera, and the depth camera is arranged on the head-mounted AR equipment.
Furthermore, the space positioner component comprises a body surface positioning marker, a bone positioner and an execution device positioner, wherein the body surface positioning marker is fixed on the anterior superior iliac spine and the femoral greater tuberosity;
the bone positioner is fixed on the 3D positioning guide plate and comprises a plurality of needle rods, and the lower ends of the needle rods are tip structures;
the execution positioner is arranged on the execution device.
Furthermore, fluorescent positioning balls which are positioned and tracked by the image acquisition assembly in real time are arranged on the bone positioner, the probe and the execution device positioner.
Furthermore, a marker hole for passing through the bone positioner is formed in the 3D positioning guide plate.
Further, the execution device comprises a mechanical arm assembly and a lesion removing device, the lesion removing device is connected with the mechanical arm assembly, and the mechanical arm assembly is electrically connected with the processor.
Furthermore, the mechanical arm assembly comprises a base and a mechanical arm fixed on the base, the mechanical arm adopts a six-degree-of-freedom mechanical arm, and the execution device positioner is arranged at the tail end of the mechanical arm.
Furthermore, the focus clearing device comprises an orthopedic grinding drill or an orthopedic curette, and the focus clearing device has a lateral direction changing function.
Further, the head-mounted AR device includes AR glasses.
In a second aspect, the present invention provides a minimally invasive surgical method for femoral head necrosis, comprising the following steps:
acquiring images of a patient, and constructing a virtual femoral head necrosis three-dimensional model;
setting a virtual operation path according to the virtual femoral head necrosis three-dimensional model and the osteonecrosis area part, printing a 3D positioning guide plate through a 3D printer, and setting an operation guide opening on the 3D positioning guide plate;
the 3D positioning guide plate, the surgical part of the patient and the execution device are provided with a space positioner assembly, and the image acquisition device acquires the position information of the probe, the space positioner assembly and the depth information of the surgical part, converts the position information into coordinate information and transmits the coordinate information to the processor;
the processor registers the coordinate information with a pre-stored virtual femoral head necrosis three-dimensional model, and further adjusts the direction of a surgical guide opening to be matched with a virtual surgical path;
meanwhile, the processor generates a real operation space according to the coordinate information, can fuse the real operation space information, the virtual femoral head necrosis three-dimensional model and the virtual operation path, displays a fused image in the head-mounted AR equipment, and tracks and displays the pose of the execution device in real time;
the processor controls the execution device to adjust the posture and the position in real time to complete the operation.
By adopting the technical scheme, the femoral head necrosis minimally invasive surgery navigation system and the surgery method based on the AR technology have the technical effects that:
constructing a virtual femoral head necrosis three-dimensional model according to preoperative image analysis so as to plan an optimal operation path, wherein a space locator assembly is arranged on a 3D positioning guide plate, a patient operation part and an execution device; acquiring position information of the probe and the space locator assembly and depth information of the surgical site through the image acquisition assembly, converting the position information into coordinate information and transmitting the coordinate information to the processor; registering the coordinate information with a pre-stored virtual femoral head necrosis three-dimensional model, and further adjusting the direction of the surgical guide opening to be matched with the virtual surgical path; meanwhile, the processor generates a real operation space according to the coordinate information, can fuse the real operation space, the virtual femoral head necrosis three-dimensional model and the virtual operation path, displays a fused image in the head-mounted AR equipment, and tracks and displays the pose of the execution device in real time; the device helps doctors to perform accurate positioning, greatly reduces the working strength of surgeons, and improves the operation curative effect of femoral head necrosis treatment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of a femoral head necrosis minimally invasive surgery navigation system according to an embodiment of the present invention;
FIG. 2 is a schematic view of a 3D positioning guide provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a body surface positioning marker provided by an embodiment of the present invention;
fig. 4 is a schematic diagram of a probe provided in an embodiment of the present invention.
Reference numbers: 100-3D positioning guide plate, 110-surgical guide opening, 120-marker hole, 200-body surface positioning marker, 300-positioning ball and 400-probe.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that certain terms of orientation or positional relationship are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that "connected" is to be understood broadly, for example, it may be fixed, detachable, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
Referring to fig. 1, 2, 3 and 4, the invention provides a femoral head necrosis minimally invasive surgery navigation system based on an AR technology, which can accurately position a femoral head necrosis lesion range based on an augmented reality technology and a mechanical arm assisted femoral head necrosis minimally invasive surgery navigation system, combine a preoperative virtual model and intraoperative real-time display, perform three-dimensional registration, simultaneously help a doctor to accurately position and efficiently remove a necrosis lesion, and effectively improve accuracy of femoral head necrosis hip protection treatment.
The minimally invasive surgery navigation system for femoral head necrosis provided by the invention comprises: head-mounted AR equipment, treater, image acquisition subassembly, final controlling element, space locator subassembly, probe, 3D location baffle 100.
The 3D positioning guide plate 100 is fixed on the femoral neck bone ridge, and the 3D positioning guide plate 100 is provided with a surgery guide opening 110 which is formed according to the virtual femoral head necrosis three-dimensional model and used for guiding an executing device to perform surgery;
before the 3D positioning guide plate 100 is manufactured, CT/MRI image data acquisition is required before a patient operates, original CT/MRI image information of the patient is converted into digital data available for a system through medical image processing software (Mimics and the like), the digital data are reversely processed, segmentation, multi-modal image registration and three-dimensional reconstruction are carried out through feature extraction and curved surface fitting technologies, and a virtual femoral head necrosis three-dimensional model is constructed; according to the virtual femoral head necrosis three-dimensional model and the osteonecrosis area, an operation path is optimized, a 3D positioning guide plate 100 fixed on the femoral neck bone ridge is designed, and the solid 3D positioning guide plate 100 in the virtual three-dimensional model is manufactured through printing of a 3D printer.
It should be noted that, the path planning method described above includes: the 3D positioning guide plate 100 is manufactured by utilizing a virtual femoral head necrosis three-dimensional model, and the planned path is the shortest distance from the head-neck combination area to the central area of the osteonecrosis lesion.
The space locator assembly is arranged on the 3D positioning guide plate 100, the probe 400, the surgical part of the patient and the executing device, so that the image acquisition assembly can acquire the space position of the space locator assembly in real time conveniently;
the image acquisition assembly is electrically connected with the processor and is used for acquiring the position information of the probe and the space locator assembly and the depth information of the surgical site, converting the position information into coordinate information and transmitting the coordinate information to the processor;
the processor is registered with a virtual femoral head necrosis three-dimensional model prestored in the processor according to the coordinate information, and then the direction of the operation guide opening on the 3D positioning guide plate is adjusted to be matched with the virtual operation path;
meanwhile, the processor generates a real operation space according to the coordinate information, can fuse the real operation space information, the virtual femoral head necrosis three-dimensional model and the virtual operation path, displays a fused image in the head-mounted AR equipment, and tracks and displays the pose of the execution device in real time;
the head-mounted AR equipment is electrically connected with the processor and is used for displaying the fused image and the real-time pose information of the executing device;
the execution device is electrically connected with the processor, and the processor controls the execution device to move, so that the operation on the femoral head necrosis part is completed.
In one alternative, the head-mounted AR device includes AR glasses electrically connected to the processor, and a display in the AR glasses is used to display the fused image information and the position and posture information of the execution device, so that a doctor can conveniently obtain the intraoperative operation information.
In one alternative scheme, the processor is a computer, a preoperative planning module and a surgical control module are arranged in the processor, a user carries out human-computer interaction through operation, a virtual image is built, a virtual femoral head necrosis three-dimensional model is loaded, the user can go deep into a micro structure in the femoral head lesion, analysis is carried out from any angle, preoperative virtual surgical path planning is achieved, and the virtual femoral head necrosis three-dimensional model and the virtual surgical path are stored for disease to be used in surgery; the operation control module is mainly used for controlling the motion path of the operation mechanical arm and monitoring in real time during the operation according to the operation scheme and the operation path of the execution device.
In one alternative, the image acquisition assembly includes a binocular vision acquisition system and a depth camera disposed on the head mounted AR device, wherein the spatial locator assembly and the probe are required to be within an acquisition field of view of the binocular vision acquisition system and the depth camera. When the system is applied, the depth camera is used for acquiring depth image information of a surgical site; the binocular vision acquisition system is used for acquiring real-time position information of space locator assemblies on the probe, the bone locator and the execution device.
The processor obtains a conversion matrix of the head-mounted AR equipment, a real hip joint operation part and the execution device according to the spatial position of the head-mounted AR equipment, superposes a simulated operation path and a real operation space, and simultaneously registers the position of the execution device and an operation planning position to realize the integration and unification of the three of the virtual femoral head necrosis three-dimensional model, the real operation space and the simulated operation path.
In one alternative, the spatial locator assembly comprises a body surface locating marker 200, a bone locator and an execution device locator, the body surface locating marker 200 can be fixed on the anterior superior iliac spine and the femoral greater tuberosity to ensure that the body surface locating marker is within the visual field range of the binocular vision acquisition system and the depth camera; the body surface positioning marker 200 is a surface-adhesive mark made of opaque rubber or polyester material, and in specific implementation, a circular fluorescent patch with a diameter of 4mm and a thickness of 2mm can be adopted.
A bone positioner is fixed on the 3D positioning guide 100, the bone positioner including a plurality of needle rods; the lower end of the needle rod is of a tip structure and is used for being fixed on the femur.
The appearance of the 3D positioning guide plate 100 is preferably set to be arc-shaped, and is matched with the appearance of the neck of the femur of a human body, so that the neck of the femur can be conveniently fixed.
The 3D positioning guide 100 is provided with a surgical guide opening 110 having a length x width of 1.5cm x 1cm, which is matched with the size of the lesion removing apparatus, the 3D positioning guide 100 is further provided with a marker hole 120 for passing through a bone locator, and the 3D positioning guide 100 is fixed on the femoral neck by passing the needle rod through the marker hole 120.
The execution device positioner is arranged at the tail end of the execution device, so that the image acquisition assembly can conveniently acquire the position of the tail end of the execution device in an operation.
In an alternative, the bone positioner, the probe (refer to fig. 4) and the actuator positioner are provided with positioning balls 300 which are positioned and tracked by the image acquisition assembly in real time, and each positioning ball 300 has a fixed spatial position relationship, and the positioning balls 300 are required to have fluorescence characteristics and can be used for the image acquisition assembly to acquire positions.
In one alternative, the performing means comprises a robotic arm assembly and a lesion removal device, the lesion removal device being coupled to the robotic arm assembly, the robotic arm assembly being electrically coupled to the processor. Specifically, the mechanical arm assembly comprises a base and a mechanical arm fixed on the base, the six-axis mechanical arm adopts six joint axis mechanical arms in the prior art, and the mechanical arm has six degrees of freedom, so that the tail end of the mechanical arm can reach any spatial position in any pose in the moving range of a base joint, and the operation requirement is met.
The body surface positioning marker 200 is installed to the end of arm, through the coordinate of the body surface positioning marker 200 on the binocular vision collection system discernment arm, shows the implementation route of arm in real time, carries out accurate control to degree of depth and route according to planning before the art, reduces the error.
In an alternative scheme, the focus clearing device can be any type of orthopedic grinding drill in the prior art and can also be any type of orthopedic curette, the focus clearing device in the embodiment is an orthopedic turning pneumatic grinding drill, and an inner handle of the focus clearing device has a lateral turning function in an orthopedic deep operation space so as to meet the operation use requirement.
By adopting the femoral head necrosis minimally invasive surgery navigation system provided by the embodiment of the invention, traditional two-dimensional medical images such as CT/MRI (computed tomography/magnetic resonance imaging) of femoral head necrosis can be visually, comprehensively, specifically and accurately checked and calibrated, a surgical plan is optimized before a surgery based on surgical planning, and a visual and interactive operation platform is utilized in the surgery to realize accurate positioning of a femoral head necrosis focus, accurate surgical path establishment and real-time monitoring focus removal.
In addition, the embodiment of the invention also provides a surgical method based on the navigation system, which comprises the following steps:
carrying out CT/MRI image data acquisition before a patient operates, converting original CT/MRI image information of the patient into digital data available for a system through medical image processing software (Mimics), carrying out reverse processing on the digital data, and carrying out segmentation, multi-modal image registration and three-dimensional reconstruction through feature extraction and curved surface fitting technologies to construct a virtual femoral head necrosis three-dimensional model;
according to the femoral head necrosis model and the osteonecrosis area part, a doctor can go deep into a femoral head lesion internal micro structure, analysis is performed from any angle, preoperative surgical path planning is realized, a simulated surgical path is set, a 3D positioning guide plate 100 fixed on a femoral neck bone ridge is printed through a 3D printer, and a surgical guide opening 110 is arranged on the 3D positioning guide plate 100;
arranging a body surface positioning marker 200 on an anterior superior iliac spine and a femoral greater tuberosity, installing a 3D positioning guide plate 100 on a femoral neck spine, installing a bone positioner on the 3D positioning guide plate 100, installing an execution device positioner at the tail end of a mechanical arm, acquiring a femoral head neck anatomical key point by using a probe in a sliding manner, acquiring the position of the probe at the anatomical point and the positions of the body surface positioning marker 200, the bone positioner and the execution device positioner by using an image acquisition device and converting the positions into coordinate information, registering the coordinate information with a prestored virtual femoral head necrosis three-dimensional model by using a processor, and registering the direction of a surgical guide opening 110 with a path designed by the virtual femoral head necrosis three-dimensional model to unify surgical paths;
meanwhile, the processor generates a real operation space according to the coordinate information, can fuse the real operation space, the virtual femoral head necrosis three-dimensional model and the simulated operation path, displays a fused image in the head-mounted equipment, and tracks and displays the pose of the execution device in real time;
the processor controls the execution device to adjust the posture and the position in real time to complete the operation.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A femoral head necrosis minimally invasive surgery navigation system based on an AR technology is characterized by comprising a head-mounted AR device, a processor, an image acquisition assembly, an execution device, a space locator assembly, a probe and a 3D locating guide plate;
the 3D positioning guide plate is fixed on the femoral neck bone ridge, and an operation guide opening formed according to a virtual operation path is formed in the 3D positioning guide plate;
the space positioner assembly is arranged on the 3D positioning guide plate, the probe, the surgical site of the patient and the executing device;
the image acquisition assembly is electrically connected with the processor and is used for acquiring the position information of the probe, the spatial locator assembly and the depth information of the surgical site, converting the position information into coordinate information and transmitting the coordinate information to the processor;
the processor registers the coordinate information with a pre-stored virtual femoral head necrosis three-dimensional model, and further adjusts the direction of a surgical guide opening to be matched with a virtual surgical path; meanwhile, the processor generates a real operation space according to the coordinate information, can fuse the real operation space, the virtual femoral head necrosis three-dimensional model and the virtual operation path, displays a fused image in the head-mounted AR equipment, and tracks and displays the pose of the execution device in real time;
the executing device is electrically connected with the processor, and the processor controls the executing device to move.
2. The femoral head necrosis minimally invasive surgery navigation system of claim 1, wherein the image acquisition assembly comprises a binocular vision acquisition system and a depth camera disposed on the head mounted AR device.
3. The femoral head necrosis minimally invasive surgery navigation system of claim 1, wherein the spatial locator assembly comprises a body surface locating marker, a bone locator and an execution device locator, the body surface locating marker is fixed on an anterior superior iliac spine and a femoral greater tuberosity;
the bone positioner is fixed on the 3D positioning guide plate and comprises a plurality of needle rods, and the lower ends of the needle rods are tip structures;
the execution positioner is arranged on the execution device.
4. The minimally invasive surgery navigation system for femoral head necrosis according to claim 3, wherein a fluorescent positioning ball which is positioned and tracked by the image acquisition assembly in real time is arranged on the bone positioner, the probe and the execution device positioner.
5. The minimally invasive surgical navigation system for femoral head necrosis according to claim 3, wherein a marker hole for passing through the bone locator is formed in the 3D positioning guide plate.
6. The minimally invasive surgical navigation system for femoral head necrosis of claim 1, wherein the performing means comprises a robotic arm assembly and a lesion removal device, the lesion removal device being coupled to the robotic arm assembly, the robotic arm assembly being electrically coupled to the processor.
7. The minimally invasive surgery navigation system for femoral head necrosis according to claim 6, wherein the mechanical arm assembly comprises a base and a mechanical arm fixed on the base, the mechanical arm adopts a six-degree-of-freedom mechanical arm, and the actuator positioner is arranged at the tail end of the mechanical arm.
8. The femoral head necrosis minimally invasive surgery navigation system of claim 6, wherein the lesion removing device comprises an orthopedic burr or an orthopedic curette, and the lesion removing device has a lateral direction changing function.
9. The femoral head necrosis minimally invasive surgical navigation system of claim 1, wherein the head-mounted AR device comprises AR glasses.
10. A minimally invasive surgical method for femoral head necrosis is characterized by comprising the following steps:
acquiring images of a patient, and constructing a virtual femoral head necrosis three-dimensional model;
setting a virtual operation path according to the virtual femoral head necrosis three-dimensional model and the osteonecrosis area part, printing a 3D positioning guide plate through a 3D printer, and setting an operation guide opening on the 3D positioning guide plate;
the 3D positioning guide plate, the surgical part of the patient and the execution device are provided with a space positioner assembly, and the image acquisition device acquires the position information of the probe, the space positioner assembly and the depth information of the surgical part, converts the position information into coordinate information and transmits the coordinate information to the processor;
the processor registers the coordinate information with a pre-stored virtual femoral head necrosis three-dimensional model, and further adjusts the direction of a surgical guide opening to be matched with a virtual surgical path;
meanwhile, the processor generates a real operation space according to the coordinate information, can fuse the real operation space information, the virtual femoral head necrosis three-dimensional model and the virtual operation path, displays a fused image in the head-mounted AR equipment, and tracks and displays the pose of the execution device in real time;
the processor controls the execution device to adjust the posture and the position in real time to complete the operation.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111588999A (en) * | 2020-05-25 | 2020-08-28 | 李硕 | Operation guide model, head-wearing wearable device-assisted operation navigation system and method |
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| CN111345898A (en) * | 2020-03-18 | 2020-06-30 | 上海交通大学医学院附属第九人民医院 | Laser surgery path guiding method, computer equipment and system thereof |
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| CN111588999B (en) * | 2020-05-25 | 2022-07-08 | 李硕 | Operation guide model and head-wearing wearable equipment-assisted operation navigation system |
| CN113229941A (en) * | 2021-03-08 | 2021-08-10 | 上海交通大学 | Interventional robot contactless teleoperation system based on augmented reality and calibration method |
| CN113786228A (en) * | 2021-09-15 | 2021-12-14 | 苏州朗润医疗***有限公司 | Auxiliary puncture navigation system based on AR augmented reality |
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| CN117643501A (en) * | 2024-01-29 | 2024-03-05 | 苏州铸正机器人有限公司 | Spine registration guide plate, manufacturing method, model construction method and device |
| CN117643501B (en) * | 2024-01-29 | 2024-04-02 | 苏州铸正机器人有限公司 | Spine registration guide plate, manufacturing method, model construction method and device |
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