WO2021227548A1 - Digital guide system for mandibular osteotomy - Google Patents
Digital guide system for mandibular osteotomy Download PDFInfo
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- WO2021227548A1 WO2021227548A1 PCT/CN2021/072835 CN2021072835W WO2021227548A1 WO 2021227548 A1 WO2021227548 A1 WO 2021227548A1 CN 2021072835 W CN2021072835 W CN 2021072835W WO 2021227548 A1 WO2021227548 A1 WO 2021227548A1
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- mandible
- surgical instrument
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- mandibular
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- 210000004373 mandible Anatomy 0.000 claims abstract description 91
- 238000005520 cutting process Methods 0.000 claims abstract description 66
- 230000000007 visual effect Effects 0.000 claims abstract description 44
- 238000001356 surgical procedure Methods 0.000 claims abstract description 41
- 230000003287 optical effect Effects 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 19
- 239000002184 metal Substances 0.000 claims description 11
- 230000003190 augmentative effect Effects 0.000 claims description 9
- 238000002591 computed tomography Methods 0.000 claims description 9
- 239000011521 glass Substances 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 4
- 230000008676 import Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 210000000214 mouth Anatomy 0.000 description 2
- 210000003625 skull Anatomy 0.000 description 2
- 210000000216 zygoma Anatomy 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 210000001847 jaw Anatomy 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
- A61B17/176—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the jaw
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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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
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
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- 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
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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
- A61B2034/2055—Optical tracking systems
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- A—HUMAN NECESSITIES
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- 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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- 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
- A61B2034/2072—Reference field transducer attached to an instrument or patient
Definitions
- the invention relates to the technical field of computer-assisted medical treatment, in particular to a digital guidance system for mandibular cutting operations.
- the three-dimensional image of the patient’s skull is obtained by CT to reconstruct the overall three-dimensional model of the mandible; then, the mandible model is 3D printed out as a physical model, and both sides are aligned on the physical model.
- the buccal position needs to be cut for surgical planning, and the trajectory of surgical cutting and trimming is drawn; finally, after verification on the physical model, the actual operation is performed on the recipient.
- the external appearance or skin of the recipient cannot be destroyed, and the part to be operated can only be exposed by peeling the gums inside the oral cavity, and then holding the surgical instrument for the operation.
- the above-mentioned mandibular cutting surgery has the following defects: (1) Due to the special surgical site, surgical access and surgical instruments of the mandible, the doctor's field of view and observation angle are greatly restricted, which can only be determined by experience and limited observation The relative position of the surgical instrument and the jawbone is prone to large errors or even mistakes; (2) Due to the lack of accurate measurement methods, it is impossible to ensure the symmetry of the trajectory of the left cheek bone and the right cheek bone, which often results in postoperative Jaws are asymmetry or limited in symmetry; (3) Preoperative CT images are only used to build a three-dimensional geometric model of the skull or mandible.
- the present invention provides a digital guidance system for mandibular cutting surgery to solve the problem of the limited operation field of view due to the special surgical site of the mandible, which leads to errors in judging the relative position of the surgical instrument and the mandible. problem.
- the present invention provides a digital guidance system for mandibular cutting surgery, including: a global camera support (1), a visual tracker (2) fixedly connected to the global camera support (1), and the visual tracker (2) ) Electrically connected graphic workstation (3), surgical instrument optical tracking mark (4) pasted on the surgical instrument, and tooth fixed connection mark (5) fixedly connected to the mandibular teeth; among them,
- the global camera bracket (1) is used to support and fix the visual tracker (2) and adjust the viewing angle direction of the visual tracker (2);
- the visual tracker (2) is used to detect and track the optical tracking mark (4) of the surgical instrument during the operation, and track the posture of the surgical instrument by detecting and tracking the fixed connection mark of the tooth (5). ) Realize the detection and tracking of the mandible's position and posture, and send the posture detection and tracking information of the surgical instrument and the posture detection and tracking information of the mandible to the graphics workstation (3);
- the graphics workstation (3) is used to run medical image processing software to generate a three-dimensional model of the mandible from the medical CT scan image of the mandible; run the medical image navigation IGS software for mandibular cutting surgery to import and display in the VR display environment
- the three-dimensional model of the mandible, the surgical cutting plan and the virtual surgical instrument; the real visual space and the medical image space are registered and registered through the fixed connection mark (5) of the teeth; the update is updated according to the received posture detection and tracking information of the surgical instrument
- the position and posture of the virtual surgical instrument is updated according to the received posture detection and tracking information of the mandible to update the posture of the three-dimensional model of the mandible.
- the above-mentioned digital guidance system for mandibular cutting surgery provided by the present invention further includes: an electromagnetic tracker (6) electrically connected to the graphics workstation (3);
- the electromagnetic tracker (6) is used to monitor the posture change of the mandible during the operation, and send the posture change information of the mandible to the graphics workstation (3); wherein, the mandible is located during the operation Within the working range of the electromagnetic tracker;
- the graphics workstation (3) is used to comprehensively receive the posture detection and tracking information of the mandible and the posture change information of the mandible, and update the posture of the three-dimensional model of the mandible.
- the digital guidance system for mandibular cutting surgery provided by the present invention further includes: augmented reality glasses (7) wirelessly connected to the graphics workstation (3);
- the augmented reality glasses (7) are used to superimpose and display the three-dimensional models of the mandible and the mandible, superimpose and display surgical instruments and virtual surgical instruments, and display a surgical cutting plan.
- the vision tracker (2) is a binocular stereo vision optical measurement system.
- the surgical instrument optical tracking mark (4) is a combined mark composed of three X corner points.
- the fixed tooth connection mark (5) is a soft mark containing at least three metal points (8),
- the gap between the teeth of the mandible is sleeved on the teeth of the mandible; the metal point (8) is visible by the visual tracker (2) during the operation and is visible in the medical CT scan image.
- the graphics workstation (3) is specifically used to fix the metal points on the mark (5) through the teeth (8) Correspondence between the spatial coordinates in the visual tracker (2) and the medical CT scan image respectively to realize the registration and registration of the real visual space and the medical image space.
- the graphics workstation (3) is also used to send out when the posture change of the mandible exceeds a set threshold Alarm prompt sound; when the posture of the surgical instrument end exceeds the allowable error of the surgical cutting plan during the operation, the alarm prompt sound will be emitted.
- the digital guidance system for the mandibular cutting operation provided by the present invention is mainly used for accurately observing the relative posture of the surgical instrument and the mandibular surgical site, reducing the difficulty of the operation and improving the quality of the operation. Simultaneously observe the surgical instruments and the mandible through the visual tracker, and visually display the relative position relationship between the end of the surgical instrument and the surgical site of the mandible on the display screen, and monitor the posture changes of the mandible through the visual tracker, and make real-time corrections.
- the pose of the three-dimensional model of the mandible in VR can not only accurately compare the consistency of the actual cutting position during the operation with the planned cutting position before the operation, but also solve the narrow operation field of view, inconvenience of direct observation and inaccuracy during the mandibular cutting operation.
- the problem of determining the relative position of the surgical instrument and the mandible can quantify the error between the implementation of the operation and the planned operation, thereby improving the quality of the operation.
- Fig. 1 is a schematic structural diagram of a digital guidance system for mandibular cutting surgery provided by an embodiment of the present invention
- Fig. 2 is a working flow chart of a digital guidance system for mandibular cutting surgery provided by an embodiment of the present invention.
- An embodiment of the present invention provides a digital guidance system for mandibular cutting surgery, as shown in FIG. 1, including: a global camera bracket 1, a visual tracker 2 fixedly connected to the global camera bracket 1, and a visual tracker 2 electrical
- the connected graphic workstation 3 the surgical instrument optical tracking mark 4 pasted on the surgical instrument, and the tooth fixed connection mark 5 fixedly connected to the mandibular teeth; among them,
- the global camera bracket 1 is used to support and fix the visual tracker 2 and adjust the viewing angle of the visual tracker 2;
- the visual tracker 2 is used to detect and track the posture of the surgical instrument by detecting and tracking the optical tracking mark 4 of the surgical instrument during the operation, and to achieve the detection and tracking of the mandible by detecting and tracking the fixed connection mark 5 of the tooth. And send the posture detection and tracking information of the surgical instruments and the posture detection and tracking information of the mandible to the graphics workstation 3;
- Graphics workstation 3 used to run medical image processing software, generate a three-dimensional model of the mandible from medical CT (Computed Tomograph) scan images of the mandible; run the IGS (Image Guidance Surgery) software for mandibular cutting surgery medical image navigation , Import and display the three-dimensional model of the mandible, surgical cutting plan and virtual surgical instruments in the VR (Virtual Reality) display environment; register the real visual space with the medical image space through the fixed connection mark 5 of the tooth; according to the received operation
- the posture detection and tracking information of the instrument, the posture of the virtual surgical instrument is updated, and the posture of the three-dimensional model of the mandible is updated according to the received posture detection and tracking information of the mandible.
- the digital guidance system for mandibular cutting surgery may further include: an electromagnetic tracker 6 electrically connected to the graphics workstation 3; the electromagnetic tracker 6 can monitor the mandible during the operation
- the posture change of the mandible is sent to the graphics workstation 3; the posture change information of the mandible monitored by the electromagnetic tracker 6 can be used at certain moments, such as due to surgical instruments or doctors during the operation.
- the visual tracker 2 When the limbs are blocked and the fixed connection mark 5 of the teeth cannot be observed, it is a supplement to the visual tracker 2 to detect the posture information of the mandible.
- the graphics workstation 3 can comprehensively receive the posture detection and tracking information of the mandible and the information of the mandible.
- Posture change information update the posture of the three-dimensional model of the mandible, which can further ensure the safety and accuracy of the operation. It should be noted that during the operation, the mandible needs to be within the working range of the electromagnetic tracker. In this way, the movement of the mandible will cut the magnetic lines of the electromagnetic tracker 6 so that the electromagnetic tracker 6 can monitor the position of the mandible. Variations, specifically, the electromagnetic tracker 6 can be placed on the operating table close to the mandible.
- augmented reality glasses 7 wirelessly connected to the graphics workstation 3; during the operation, the augmented reality glasses 7 are worn on On the doctor’s head, the doctor can observe the real mandible and surgical instruments through the augmented reality glasses 7, and the augmented reality glasses 7 can also display the three-dimensional model of the mandible, the surgical cutting plan and the virtual surgical instruments sent by the graphics workstation 3.
- the three-dimensional model of bone and mandible is superimposed and displayed.
- Surgical instruments and virtual surgical instruments are superimposed and displayed. In this way, the doctor can observe the mandible and the position to be cut in perspective, avoiding the doctor's diversion during the operation to observe the VR display of the graphics workstation 3 And affect the accuracy of surgery.
- the global camera bracket may be a triangular camera bracket. It should be noted that once the viewing angle of the visual tracker is determined, it remains still during the operation.
- the visual tracker can use the MicronTracker binocular stereo vision optical measurement system.
- the visual tracker can also be other types of visual trackers that can perform detection and tracking, which is not limited here.
- the mandibular cutting surgery medical image navigation IGS software running on the graphics workstation can be the general medical operation software Mimics, or it can also be a dedicated surgery
- the planning software is not limited here.
- the optical tracking mark for surgical instruments can use the combined mark composed of three X angle points used by the MicronTracker binocular stereo vision optical measurement system. Identify different surgical instruments.
- the optical tracking mark of the surgical instrument may also be another type of mark capable of optical tracking, and it is not limited here.
- the tooth fixed connection mark 5 may be a soft mark containing at least three metal points 8. It can be sleeved on the teeth of the mandible through the gap between the teeth of the mandible.
- the metal spot 8 can be detected and tracked by the visual tracker 2 during the operation, and the metal spot 8 is visible in the medical CT scan image.
- the graphics workstation 3 can fix the metal points 8 on the mark 5 through the teeth fixed on the visual tracker 2 and the medical
- the correspondence of the spatial coordinates in the CT scan image realizes the registration and registration of the real visual space and the medical image space, so that the doctor can observe the relative pose relationship between the surgical object and the surgical instrument in a unified coordinate system space.
- the graphics workstation can also sound an alarm when the posture change of the mandible exceeds a set threshold; moreover, it can also be used during the operation.
- a set threshold moreover, it can also be used during the operation.
- an alarm will sound, so that the safety and accuracy of the operation can be improved.
- the model or style of the global camera bracket is changed, the binocular stereo optical tracker is changed, the optical tracking mark of the surgical instrument is changed, and the number of mark points on the fixed connection mark of the tooth is changed. All belong to the scope of the present invention.
- the processing software generates a three-dimensional model of the mandible; then, the generated three-dimensional model of the mandible is input into the VR environment of the mandibular cutting operation medical image navigation IGS software of the graphics workstation 3 for display, and the doctor performs the surgical planning (that is, confirms the surgical cutting Entry point, cutting surface and cutting trajectory) and determine the three-dimensional coordinates of the mark on the fixed tooth connection mark 5 in the medical image space.
- the subject wears the fixed tooth connection mark 5 (to ensure that the position is consistent with the CT scan) lying on the operating table to prepare for the operation
- the visual tracker 2 obtains the mark on the fixed tooth connection mark 5 in the visual tracker 2
- Three-dimensional coordinates denoted as From the three-dimensional coordinates of the marks on the teeth fixed connection mark 5 in the visual tracker 2 and their corresponding three-dimensional coordinates in the medical image space, the registration matrix from the real physical space to the medical image space is solved for T ⁇ C ⁇ IGS ⁇ , Should meet
- the doctor holds the surgical instrument pasted with the surgical instrument optical tracking mark 4 to perform the mandibular cutting operation on the recipient.
- a doctor when a doctor holds a surgical instrument pasted with a surgical instrument optical tracking mark 4 to perform a mandibular cutting operation on a subject, it is specifically implemented in the following manner: First, the doctor inserts the surgical instrument into the mandible in the recipient’s mouth to prepare the mandible At the surgical position, the visual tracker 2 detects the position of the surgical instrument in real time through the optical tracking mark 4 of the surgical instrument, and according to the detected position of the surgical instrument, it uses the registration matrix T ⁇ C ⁇ IGS ⁇ to change the position of the surgical instrument.
- the posture is transformed into the medical image space to update the posture of the virtual surgical instrument in the IGS; then, the doctor adjusts the posture of the surgical instrument and observes the relative position of the virtual surgical instrument, the three-dimensional model of the mandible, and the surgical planning position in the IGS After the actual operation cutting position is consistent with the planned cutting position, the actual surgical cutting will start; finally, during the operation, the visual tracker 2 will also detect and track the position and attitude change of the mandible by detecting and tracking the fixed connection mark 5 of the teeth.
- an alarm will sound to remind the doctor that the actual position of the mandible has moved, and the posture of the three-dimensional model of the mandible in the IGS software will be corrected in real time to ensure the operation process The accuracy of the relative pose between the middle surgical instrument and the mandible.
- the digital guidance system for the mandibular cutting operation provided by the present invention is mainly used for accurately observing the relative posture of the surgical instrument and the mandibular surgical site, reducing the difficulty of the operation and improving the quality of the operation. Simultaneously observe the surgical instruments and the mandible through the visual tracker, and visually display the relative position relationship between the end of the surgical instrument and the surgical site of the mandible on the display screen, and monitor the posture changes of the mandible through the visual tracker, and make real-time corrections.
- the pose of the three-dimensional model of the mandible in VR can not only accurately compare the consistency of the actual cutting position during the operation with the planned cutting position before the operation, but also solve the narrow operation field of view, inconvenience of direct observation and inaccuracy during the mandibular cutting operation.
- the problem of determining the relative position of the surgical instrument and the mandible can quantify the error between the implementation of the operation and the planned operation, thereby improving the quality of the operation.
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Abstract
Description
Claims (8)
- 一种下颌骨切削手术的数字化引导***,其特征在于,包括:全局相机支架(1)、与所述全局相机支架(1)固定连接的视觉跟踪仪(2)、与所述视觉跟踪仪(2)电性连接的图形工作站(3)、粘贴在手术器械上的手术器械光学跟踪标记(4)以及固定连接在下颌骨牙齿上的牙齿固定连接标记(5);其中,A digital guidance system for mandibular cutting surgery, characterized by comprising: a global camera support (1), a visual tracker (2) fixedly connected to the global camera support (1), and the visual tracker ( 2) Electrically connected graphic workstation (3), surgical instrument optical tracking mark (4) pasted on the surgical instrument, and tooth fixed connection mark (5) fixedly connected to the mandibular teeth; among them,所述全局相机支架(1)用于支撑固定所述视觉跟踪仪(2)并调整所述视觉跟踪仪(2)的视角方向;The global camera bracket (1) is used to support and fix the visual tracker (2) and adjust the viewing angle direction of the visual tracker (2);所述视觉跟踪仪(2)用于在手术过程中,通过检测跟踪所述手术器械光学跟踪标记(4)实现对手术器械的位姿的检测跟踪,通过检测跟踪所述牙齿固定连接标记(5)实现对下颌骨的位姿的检测跟踪,并将手术器械的位姿检测跟踪信息和下颌骨的位姿检测跟踪信息发送给所述图形工作站(3);The visual tracker (2) is used to detect and track the optical tracking mark (4) of the surgical instrument during the operation, and track the posture of the surgical instrument by detecting and tracking the fixed connection mark of the tooth (5). ) Realize the detection and tracking of the mandible's position and posture, and send the posture detection and tracking information of the surgical instrument and the posture detection and tracking information of the mandible to the graphics workstation (3);所述图形工作站(3),用于运行医学影像处理软件,将下颌骨的医学CT扫描图像生成下颌骨的三维模型;运行下颌骨切削手术医学影像导航IGS软件,在VR显示环境中导入和显示下颌骨的三维模型、手术切割方案和虚拟手术器械;通过所述牙齿固定连接标记(5)将真实视觉空间与医学影像空间进行注册配准;根据接收的手术器械的位姿检测跟踪信息,更新虚拟手术器械的位姿,根据接收的下颌骨的位姿检测跟踪信息,更新下颌骨的三维模型的位姿。The graphics workstation (3) is used to run medical image processing software to generate a three-dimensional model of the mandible from the medical CT scan image of the mandible; run the medical image navigation IGS software for mandibular cutting surgery to import and display in the VR display environment The three-dimensional model of the mandible, the surgical cutting plan and the virtual surgical instrument; the real visual space and the medical image space are registered and registered through the fixed connection mark (5) of the teeth; the update is updated according to the received posture detection and tracking information of the surgical instrument The position and posture of the virtual surgical instrument is updated according to the received posture detection and tracking information of the mandible to update the posture of the three-dimensional model of the mandible.
- 如权利要求1所述的下颌骨切削手术的数字化引导***,其特征在于,还包括:与图形工作站(3)电性连接的电磁跟踪仪(6);The digital guidance system for mandibular cutting surgery according to claim 1, further comprising: an electromagnetic tracker (6) electrically connected to the graphics workstation (3);所述电磁跟踪仪(6)用于在手术过程中监测下颌骨的位姿变化,并将下颌骨的位姿变化信息发送给所述图形工作站(3);其中,在手术过程中下颌骨位于所述电磁跟踪仪的工作范围内;The electromagnetic tracker (6) is used to monitor the posture change of the mandible during the operation, and send the posture change information of the mandible to the graphics workstation (3); wherein, the mandible is located during the operation Within the working range of the electromagnetic tracker;所述图形工作站(3)用于综合接收的下颌骨的位姿检测跟踪信息和下颌骨的位姿变化信息,更新下颌骨的三维模型的位姿。The graphics workstation (3) is used to comprehensively receive the posture detection and tracking information of the mandible and the posture change information of the mandible, and update the posture of the three-dimensional model of the mandible.
- 如权利要求1所述的下颌骨切削手术的数字化引导***,其特征在于,还包括:与所述图形工作站(3)无线通讯连接的增强现实眼镜(7);The digital guidance system for mandibular cutting surgery according to claim 1, further comprising: augmented reality glasses (7) wirelessly connected to the graphics workstation (3);所述增强现实眼镜(7)用于将下颌骨和下颌骨的三维模型叠加显示,将手 术器械和虚拟手术器械叠加显示,并显示手术切割方案。The augmented reality glasses (7) are used to superimpose and display the three-dimensional models of the mandible and the mandible, superimpose and display surgical instruments and virtual surgical instruments, and display the surgical cutting plan.
- 如权利要求1所述的下颌骨切削手术的数字化引导***,其特征在于,所述视觉跟踪仪(2)为双目立体视觉光学测量***。The digital guidance system for mandibular cutting surgery according to claim 1, wherein the visual tracker (2) is a binocular stereo vision optical measurement system.
- 如权利要求1所述的下颌骨切削手术的数字化引导***,其特征在于,所述手术器械光学跟踪标记(4)为由三个X角点组成的组合标记。The digital guidance system for mandibular cutting surgery according to claim 1, wherein the optical tracking mark (4) of the surgical instrument is a combined mark composed of three X corner points.
- 如权利要求1所述的下颌骨切削手术的数字化引导***,其特征在于,所述牙齿固定连接标记(5)为包含至少三个金属点(8)的软性标记,通过下颌骨牙齿间的缝隙套接在下颌骨牙齿上;所述金属点(8)在手术过程中被所述视觉跟踪仪(2)可见,且在所述医学CT扫描图像中可见。The digital guidance system for mandibular cutting surgery according to claim 1, characterized in that the fixed tooth connection mark (5) is a soft mark containing at least three metal points (8), which passes between the teeth of the mandible The gap is sleeved on the teeth of the mandible; the metal point (8) is visible by the visual tracker (2) during the operation and is visible in the medical CT scan image.
- 如权利要求6所述的下颌骨切削手术的数字化引导***,其特征在于,所述图形工作站(3),具体用于通过所述牙齿固定连接标记(5)上的金属点(8)分别在所述视觉跟踪仪(2)和所述医学CT扫描图像中空间坐标的对应,实现真实视觉空间与医学影像空间的注册配准。The digital guidance system for mandibular cutting surgery according to claim 6, characterized in that the graphic workstation (3) is specifically used to fix the metal points (8) on the markings (5) through the teeth. The correspondence between the visual tracker (2) and the spatial coordinates in the medical CT scan image realizes the registration and registration of the real visual space and the medical image space.
- 如权利要求1~7任一项所述的下颌骨切削手术的数字化引导***,其特征在于,所述图形工作站(3),还用于当下颌骨的位姿变化超过设定阈值时,发出报警提示声;当手术过程中手术器械末端的位姿超出手术切割方案允许的误差时,发出报警提示声。The digital guidance system for mandibular cutting surgery according to any one of claims 1 to 7, characterized in that the graphics workstation (3) is also used to send out when the posture change of the mandible exceeds a set threshold Alarm prompt sound; when the posture of the surgical instrument end exceeds the allowable error of the surgical cutting plan during the operation, the alarm prompt sound will be emitted.
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