TWM605788U - Positioning system - Google Patents
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Abstract
Description
本新型創作是有關於一種定位技術,且特別是有關於一種手術定位系統。The new creation relates to a positioning technology, and particularly to a surgical positioning system.
手術導航系統是外科手術治療精準化和微創化的重要發展方向,其中光學手術導航技術是應用最廣泛的一種手術導航技術。在目前的光學手術導航技術中,施術者須透過在手術目標上進行粘貼標記點的方式來進行定位。對此,雖然粘貼標記點有著比採用機械固定裝置的方式而有可產生較小創傷及操作簡單的優點,並且比解剖標記的精度高而被廣泛採用。Surgical navigation system is an important development direction for precision and minimally invasive surgical treatment, and optical surgical navigation technology is the most widely used surgical navigation technology. In the current optical surgical navigation technology, the surgeon must locate the surgical target by pasting marked points on the surgical target. In this regard, although the pasting of marking points has the advantages of less trauma and simple operation compared with the use of mechanical fixing devices, it is more accurate than anatomical markings and is widely used.
由於光學手術導航技術是通過跟蹤患者身上及手術工具上的標記點進行跟蹤定位,因此在手術過程前,導航系統需通過三維醫學圖像來確定標記點和病灶位置,並且在手術過程中,導航系統的定位系統可利用跟蹤患者身上的標記點,來即時獲取患者位姿。導航系統可將前述資訊與術前取得的三維醫學圖像一併註冊,並將其轉換到圖像坐標系中來顯示於導航介面。Since the optical surgical navigation technology tracks and locates the marked points on the patient's body and surgical tools, the navigation system needs to use three-dimensional medical images to determine the marked points and the location of the lesion before the operation, and during the operation, navigate The positioning system of the system can track the marked points on the patient to obtain the patient's pose in real time. The navigation system can register the aforementioned information together with the three-dimensional medical image obtained before the operation, and convert it to the image coordinate system for display on the navigation interface.
然而,現有的手術導航技術具有缺點,例如在手術導航過程中,容易發生標記點掉落,導致需要重新進行標記粘貼及註冊的操作。並且,用於照明標記點的照明光線容易被遮擋而發生定位失敗的情況。另外,某些手術部位有不方便粘貼標記點的問題。有鑑於此,以下將提出幾個實施例的解決方案。However, the existing surgical navigation technology has shortcomings. For example, during the surgical navigation process, the marker points are likely to fall, resulting in the need to re-apply the operations of marker pasting and registration. In addition, the illuminating light used to illuminate the marking point is easily blocked and positioning fails. In addition, some surgical sites have the problem of inconvenience to stick markers. In view of this, the following will propose solutions in several embodiments.
本新型創作提供一種定位系統以及定位方法,可提供用於手術過程中的手術部位定位功能。The new creation provides a positioning system and a positioning method, which can provide the function of positioning the surgical site during surgery.
本新型創作的定位系統包括處理器、可移動設備以及定位物件。可移動設備包括耦接處理器的攝影機以及光源。定位物件具有多個定位圖案。定位物件為多面體結構。所述多個定位圖案分別位於定位物件的不同的多個表面。當定位物件固定設置於目標物件上,且可移動設備相應於目標物件的位置而固定位置後,光源照射定位物件,並且攝影機拍攝定位物件,以取得包括有定位物件的至少二個表面上的至少二個定位圖案的影像。處理器依據包括有所述至少二個定位圖案的影像來計算目標物件的目標物件座標,以定位目標物件。The positioning system of the present invention includes a processor, a movable device and a positioning object. The movable device includes a camera and a light source coupled to the processor. The positioning object has a plurality of positioning patterns. The positioning object is a polyhedron structure. The multiple positioning patterns are respectively located on multiple different surfaces of the positioning object. When the positioning object is fixedly arranged on the target object, and the movable device fixes the position corresponding to the position of the target object, the light source illuminates the positioning object, and the camera shoots the positioning object to obtain at least two surfaces including the positioning object. Images of two positioning patterns. The processor calculates the target object coordinates of the target object according to the image including the at least two positioning patterns to locate the target object.
本新型創作的定位方法包括以下步驟:當定位物件固定設置於目標物件上,且可移動設備相應於目標物件的位置而固定位置後,透過可移動設備的光源照射定位物件,並且透過可移動設備的攝影機拍攝定位物件,以取得包括有定位物件的至少二個表面上的至少二個定位圖案的影像;以及依據包括有所述至少二個定位圖案的影像來計算目標物件的目標物件座標,以定位目標物件。定位物件為多面體結構。所述多個定位圖案分別位於定位物件的不同的多個表面。The positioning method of the present invention includes the following steps: when the positioning object is fixedly arranged on the target object, and the movable device is fixed in position corresponding to the position of the target object, the positioning object is illuminated by the light source of the movable device and the movable device is passed through The camera captures a positioning object to obtain images of at least two positioning patterns on at least two surfaces including the positioning object; and calculates the target object coordinates of the target object according to the images including the at least two positioning patterns, to Position the target object. The positioning object is a polyhedron structure. The multiple positioning patterns are respectively located on multiple different surfaces of the positioning object.
基於上述,本新型創作的定位系統以及定位方法可在固定位置拍攝固設於目標物件上的定位物件的至少二個定位圖案,並且通過影像處理及運算來取得定位物件的位置,而可有效地推算目標物件的目標物件座標。Based on the above, the positioning system and positioning method created by the present invention can shoot at least two positioning patterns of a positioning object fixed on the target object at a fixed position, and obtain the position of the positioning object through image processing and calculation, which can effectively Calculate the target object coordinates of the target object.
為讓本新型創作的上述特徵和優點能更明顯易懂,下文特舉實施例,並配合所附圖式作詳細說明如下。In order to make the above-mentioned features and advantages of the new creation more obvious and understandable, the following embodiments are specially cited, and the accompanying drawings are described in detail as follows.
為了使本揭露之內容可以被更容易明瞭,以下特舉實施例做為本揭露確實能夠據以實施的範例。另外,凡可能之處,在圖式及實施方式中使用相同標號的元件/構件/步驟,係代表相同或類似部件。In order to make the content of this disclosure more comprehensible, the following embodiments are specifically cited as examples on which this disclosure can indeed be implemented. In addition, wherever possible, elements/components/steps with the same reference numbers in the drawings and embodiments represent the same or similar components.
圖1是本新型創作的一實施例的定位系統的示意圖。參考圖1,定位系統100包括處理器110、記憶體120、攝影機130、光源140以及定位物件150。處理器110耦接記憶體120、攝影機130以及光源140。在本實施例中,攝影機130以及光源140可整合在可移動設備中,以讓使用者可依據不同手術情境來調整攝影機150的拍攝位置、方向及角度。處理器110以及記憶體120也可整合在可移動設備中,但本新型創作並不限於此。在一實施例中,處理器110以及記憶體120也可整合在電腦主機中,並且所述電腦主機電性連接於可移動設備。另外,定位系統100還可額外包括顯示設備,並且所述顯示設備耦接處理器110,以使處理器110可將定位資訊顯示於所述顯示設備所提供的手術導航功能的顯示畫面中。在本實施例中,攝影機130可例如是紅外線攝影機或可見光攝影機,並且光源140可相應地例如是紅外線光源或可見光光源。Figure 1 is a schematic diagram of a positioning system according to an embodiment of the present invention. 1, the
在本實施例中,定位物件150可為多面體結構,例如十二面體結構,並且多個定位圖案分別位於定位物件150的不同的多個表面。在本實施例中,當定位物件150固定設置於目標物件上,且所述可移動設備相應於目標物件的位置而固定位置後,光源140可照射定位物件150,並且攝影機130拍攝定位物件150,以取得包括有定位物件的至少二個表面上的至少二個定位圖案的影像。在本實施例中,處理器110可依據包括有所述至少二個定位圖案的影像來計算定位物件的座標,並且可接著進一步計算目標物件的目標物件座標,以定位目標物件。在本實施例中,目標物件可為手術器械,並且定位物件150可經由安裝座來固定設置於目標物件上。In this embodiment, the
在本實施例中,處理器110可例如是可程式設計的一般用途或特殊用途的微處理器(Microprocessor)、數位訊號處理器(Digital Signal Processor,DSP)、可程式設計控制器、專用積體電路(Application Specific Integrated Circuit,ASIC)、圖形處理器(Graphics Processing Unit,GPU)或其他類似元件或上述元件的組合。在本實施例中,記憶體120可用於儲存攝影機130所取得的影像,以及本新型創作各實施例所提到的資料、運算結果以及運算程式等,以供處理器110存取。值得注意的是,處理器110可例如執行開源計算機資源庫(Open Source Computer Vision Library,OpenCV)中的相機校準以及三維重建的演算法來實現各實施所述的定位運算以及座標取得。In this embodiment, the
圖2A是本新型創作的一實施例的定位物件的結構示意圖。參考圖2A,沿著物件中心軸線151C,定位物件150可拆解為包括外殼151、內部組件152以及安裝座153。外殼151為多面體結構151P,並且具有多個表面。外殼151可栓鎖於內部組件152。內部組件152可包括設置有其他功能模組,例如射頻天線、定位標籤等。內部組件152可栓鎖於安裝座153。安裝座153可固定設置於目標物件上,其中目標物件可例如是一種手術器械,例如針狀體,並且所述針狀體可例如固定在手術部位上。在本實施例中,定位物件150可例如是以機械加工方式透過五軸加工製程來製成外殼151的多面體結構151P,並且定位物件150可利用光纖雷射加工製程在多面體結構151P的多個表面加工出定位圖案。Fig. 2A is a schematic structural diagram of a positioning object according to an embodiment of the new creation. Referring to FIG. 2A, along the central axis 151C of the object, the
圖2B是本新型創作的一實施例的定位物件的多個定位圖案的示意圖。參考圖2A以及圖2B,本實施例的多面體結構151P為十二面體結構,並且多面體結構151P的多個表面經展開後,可呈現如圖2B所示的多個定位圖案151_1~151_9。需說明的是,如圖2A所示,由於本實施例的多面體結構151P的一部分表面將用於形成栓鎖結構,因此本實施例的多面體結構151P的九個表面可具有定位圖案151_1~151_9。在本實施例中,定位圖案151_1~151_9可為不同的多個快速響應矩陣圖碼(Quick Response Code,QR code),但本新型創作並不限於此。在本實施例中,定位圖案151_1~151_9可分別提供空間座標資訊,以作為計算六自由度(Degree of Freedom, DOF)姿態數據之用。具體而言,處理器110可依據具有多面體結構151P的至少二個表面的至少二個快速響應矩陣圖碼的影像來進行運算,其中處理器110可利用轉置矩陣進行影像座標與世界座標系統(World Coordinate System,WCS)之間的轉換,來計算出定位物件150的六自由度且具有方向性的姿態空間座標。FIG. 2B is a schematic diagram of multiple positioning patterns of positioning objects according to an embodiment of the new creation. 2A and 2B, the
圖3是本新型創作的一實施例的定位方法的流程圖。參考圖1至圖3,圖3的定位方法的流程可適用於圖1的定位系統100。在步驟S310,當設置有攝影機130以及光源140的可移動設備相應於目標物件的位置而固定位置後,處理器110對可移動設備進行位置校正,以取得攝影機130的位置資訊。在步驟S320,可移動設備的光源140照射定位物件150,並且可移動設備的攝影機130拍攝定位物件150,以取得包括有定位物件150的至少二個表面上的至少二個定位圖案的影像。在本實施例中,所述至少二個定位圖案可分別提供空間座標資訊,以作為處理器110計算六自由度姿態數據之用。攝影機130可為六自由度攝影機。Fig. 3 is a flowchart of a positioning method according to an embodiment of the new creation. 1 to 3, the process of the positioning method in FIG. 3 can be applied to the
在步驟S330,處理器110可依據包括有至少二個定位圖案的影像來計算目標物件的目標物件座標,以定位目標物件。對此,本實施例的處理器110可例如分析攝影機130所取得的影像中的所述至少二個定位圖案的各別的四個角落的位置資訊以及位置關係,例如取得四個角的位置坐標,來推算所述至少二個定位圖案的各別的中心圖案座標(三維座標)以及圖案角度。換言之,攝影機130所取得的影像只要至少可讓處理器110辨識出所述至少二個定位圖案,則處理器110可經由計算所述至少二個定位圖案的各別的中心圖案座標(三維座標)以及圖案角度的結果來推算出定位物件150的三維座標,並更進一步取得目標物件的定位資訊。In step S330, the
舉例而言,攝影機130拍攝的圖片可例如包括如圖2B所示的定位圖案151_1~151_4。處理器110可依據定位圖案151_1~151_4來取得各定位圖案151_1~151_4分別與攝影機130的距離,並且計算定位圖案151_1~151_4個別的圖案角度,因此可推算定位物件150的三維座標。接著,處理器110可基於定位物件150以及已知物件尺寸(或規格)的目標物件的相關參數來進一步推算目標物件座標。值得注意的是,本實施例的定位圖案151_1~151_4分別與攝影機130之間的距離可由預先對定位物件150以及攝影機130(可移動設備)進行位置校正來取得。For example, the pictures taken by the
圖4A是本新型創作的一實施例的定位物件與目標物件的示意圖。圖4B是本新型創作的一實施例的定位系統的操作示意圖。參考圖4A,在本實施例中,以骨科手術為例,目標物件411~416可例如為脊突釘,並且用於分別固定於脊椎401的多個脊椎骨上。在本實施例中,目標物件411~416的一部分,例如目標物件411、413、416,可進一步裝設有定位物件421~423。FIG. 4A is a schematic diagram of a positioning object and a target object according to an embodiment of the new creation. Fig. 4B is a schematic diagram of the operation of the positioning system according to an embodiment of the new creation. Referring to FIG. 4A, in this embodiment, taking orthopedic surgery as an example, the target objects 411 to 416 may be, for example, spinal screws, and are used to be fixed on multiple vertebrae of the
參考圖4B,定位系統400可具有如上述圖1的定位系統100的各功能元件。在本實施例中,可移動設備400B可包括設置有攝影機430以及光源440。以針對定位物件423進行定位為例,如上述圖3的步驟S310,當可移動設備400B相應於目標物件416的位置而固定位置後,本實施例的定位系統400的處理器可對可移動設備400B進行位置校正,以取得可移動設備400B的攝影機430的位置資訊、目標物件411~416以及可移動設備400B與目標物件416之間的距離。Referring to FIG. 4B, the
接著,如上述圖3的步驟S320,可移動設備400B的光源440照射定位物件423,並且可移動設備400B的攝影機430拍攝定位物件423,以取得包括有定位物件423的至少二個表面上的至少二個定位圖案的影像。接著,如上述圖3的步驟S330,本實施例的定位系統400的處理器可依據包括有至少二個定位圖案的影像來計算定位物件423的物件座標,並且可通過定位物件423的物件座標來推算目標物件416的目標物件座標,以定位目標物件416。Next, as in step S320 of FIG. 3, the light source 440 of the
在本實施例中,攝影機430可依序拍攝定位物件421、422,以進行如上述說明的定位物件423的定位手段,而可取得整體詳盡定位資訊,其中定位資訊可包括目標物件411、413、416分別在脊椎401上的多個座標,例如對應於脊椎401的某三節脊椎骨的三個三維座標資訊。另外,本實施例的定位系統400還可包括顯示設備450,並且顯示設備450可將目標物件411、413、416的定位資訊顯示於顯示設備450的顯示畫面,而供施術者可依據其顯示介面中包括有目標物件411、413、416的定位結果的相關手術導航資訊來進行手術。In this embodiment, the camera 430 can sequentially photograph the positioning objects 421, 422 to perform the positioning method of positioning the
圖5是本新型創作的另一實施例的定位系統的示意圖。參考圖5,定位系統500包括處理器510、記憶體520、攝影機530、光源540、定位物件550以及射頻模組560。定位物件550包括定位標籤及射頻天線551。在本實施例中,處理器510耦接記憶體520、攝影機530、光源540以及射頻模組560。射頻模組560例如包括無線信號收發器。Figure 5 is a schematic diagram of a positioning system according to another embodiment of the present invention. 5, the
在本實施例中,定位系統500可透過攝影機530、光源540來進行如上述圖1至圖4實施例的影像定位手段,因此在此不再贅述。然而,相較於圖1實施例,本實施例的定位系統500可先由定位物件550中的射頻天線551提供目標物件的初始目標物件座標至射頻模組560,並且處理器510可接著依據透過攝影機530所取得的目標物件座標來校正初始目標物件座標。換言之,本實施例的定位系統500可結合兩種定位手段來取得準確的定位資訊。定位系統500可先利用定位系統500可取得初步定位資訊,再接著利用攝影機530取得精密定位資訊。In this embodiment, the
圖6是本新型創作的另一實施例的定位方法的流程圖。參考圖5以及圖6,本實施例的定位方法可適用於圖5的定位系統500,並且也可搭配如圖4B的手術情境來理解。在步驟S610,當定位系統500的可移動設備(具有攝影機530以及光源540)相應於目標物件的位置而固定位置後,對可移動設備進行位置校正。例如,處理器510可取得攝影機530相對於目標物件的位置資訊或攝影機530的三維座標。在步驟S620,當定位物件550固定設置於目標物件上,處理器510透過設置在定位物件550的射頻天線551取得目標物件的初始目標物件座標。在步驟S630,處理器510可通過攝影機530的拍攝結果來判斷定位物件550是否被遮擋,而導致攝影機530無法有效拍攝定位物件550的影像。若是,則在步驟S640,處理器510將依據初始目標物件座標來定位目標物件,並且處理器510可輸出警示信息,例如警示聲音或影像來提醒施術者。Fig. 6 is a flowchart of a positioning method according to another embodiment of the new creation. Referring to FIG. 5 and FIG. 6, the positioning method of this embodiment can be applied to the
若定位物件550未被遮擋,則在步驟S650,處理器510透過可移動設備的光源540照射定位物件550,並且透過可移動設備的攝影機530拍攝定位物件550,以取得包括有定位物件550的至少二個表面上的至少二個定位圖案的影像。在步驟S660,處理器510依據包括有所述至少二個定位圖案的影像來計算目標物件的目標物件座標。在步驟S670,處理器510可依據透過攝影機530所取得的目標物件座標來校正透過射頻模組560所取得初始目標物件座標,以定位目標物件。If the
綜上所述,本新型創作的定位系統以及定位方法可提供一種可應用於手術過程中的具有高定位準確性的手術定位功能。並且,在本新型創作的一些實施情境中,定位系統以及定位方法可先利用射頻定位的方式來取得目標物件的初始的定位資訊,並且搭配光學影像定位的定位結果來校正初始的定位資訊,而提供準確且具有高可靠性的定位效果。In summary, the positioning system and positioning method created by the present invention can provide a surgical positioning function with high positioning accuracy that can be applied during surgery. Moreover, in some implementation scenarios of the creation of the present invention, the positioning system and the positioning method can first use radio frequency positioning to obtain the initial positioning information of the target object, and use the positioning result of the optical image positioning to correct the initial positioning information. Provide accurate and highly reliable positioning effects.
雖然本新型創作已以實施例揭露如上,然其並非用以限定本新型創作,任何所屬技術領域中具有通常知識者,在不脫離本新型創作的精神和範圍內,當可作些許的更動與潤飾,故本新型創作的保護範圍當視後附的申請專利範圍所界定者為準。Although the creation of this new type has been disclosed in the above embodiments, it is not intended to limit the creation of this new type. Anyone with ordinary knowledge in the technical field can make some changes and changes without departing from the spirit and scope of the new creation. Retouching, therefore, the scope of protection of the creation of the new model shall be subject to the scope of the attached patent application.
100、400、500:電子裝置
110、510:處理器
120、520:記憶體
130、430、530:攝影機
140、440、540:光源
150、421、422、423、550:定位物件
151C:物件中心軸線
151P:多面體結構
152:內部組件
153:安裝座
151_1~151_9:定位圖案
400B:可移動設備
401:脊椎
411~416:目標物件
450:顯示設備
551:射頻天線
560:射頻模組
S310~S330、S610~S670:步驟
100, 400, 500:
圖1是本新型創作的一實施例的定位系統的示意圖。 圖2A是本新型創作的一實施例的定位物件的結構示意圖。 圖2B是本新型創作的一實施例的定位物件的多個定位圖案的示意圖。 圖3是本新型創作的一實施例的定位方法的流程圖。 圖4A是本新型創作的一實施例的定位物件與目標物件的示意圖。 圖4B是本新型創作的一實施例的定位系統的操作示意圖。 圖5是本新型創作的另一實施例的定位系統的示意圖。 圖6是本新型創作的另一實施例的定位方法的流程圖。 Figure 1 is a schematic diagram of a positioning system according to an embodiment of the present invention. Fig. 2A is a schematic structural diagram of a positioning object according to an embodiment of the new creation. FIG. 2B is a schematic diagram of multiple positioning patterns of positioning objects according to an embodiment of the new creation. Fig. 3 is a flowchart of a positioning method according to an embodiment of the new creation. FIG. 4A is a schematic diagram of a positioning object and a target object according to an embodiment of the new creation. Fig. 4B is a schematic diagram of the operation of the positioning system according to an embodiment of the new creation. Figure 5 is a schematic diagram of a positioning system according to another embodiment of the present invention. Fig. 6 is a flowchart of a positioning method according to another embodiment of the new creation.
100:定位系統 100: positioning system
110:處理器 110: processor
120:記憶體 120: memory
130:攝影機 130: Camera
140:光源 140: light source
150:定位物件 150: Positioning objects
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