SURGICAL NAVIGATION SYSTEM, COMPUTER FOR PERFORMING SURGICAL NAVIGATION METHOD, AND STORAGE MEDIUM

Abstract

A surgical navigation system comprising a spatial positioning marker component (600) on a surgical instrument, a tracer on a bone structure, a binocular camera (501), and a computer (502). The tracer is provided with a navigation tracer surface (200). The spatial positioning marker component (600) comprises a navigation surface (601). The binocular camera (501) is connected to the computer (502), and transmits acquired information of the tracer and the spatial positioning marker component (600) to the computer (502). The computer (502) and a computer readable storage medium each separately store a computer program for performing a surgical navigation method. The method comprises; generating three-dimensional models of a bone and the surgical instrument, and obtaining tracer registration information and calibration information of the spatial positioning marker component (600); receiving real-time information of the tracer and the spatial positioning marker component (600) acquired by the binocular camera (501); and calculating spatial position information of the bone and the surgical instrument, and fusing, in real-time, the information with the three-dimensional models to obtain a dynamic image of a real-time positional relationship therebetween. The invention eliminates intraoperative registration used for surgical navigation, simplifies surgical processes, and improves surgical precision.

Claims

1. A surgical navigation system, comprising: a positioning marker installing on a surgical instrument; a tracer for fixing on the bone to be operated on; a binocular camera for spatial positioning based on binocular vision; and a graphics workstation computer as a navigation terminal; wherein the tracer has at least one navigation tracking surface for navigation and positioning; the positioning marker comprises at least one navigation surface for tracking surgical the instrument; the binocular camera is connected to the computer, and is capable of transmitting the acquired information of the tracer and the positioning marker to the computer.

2. The surgical navigation system of claim 1, wherein the tracer has at least one bone fitting surface for fitting and fixing to the bone to be operated on.

3. The surgical navigation system of claim 2, wherein the tracer comprises a surgical guide produced by 3D printing, and the navigation tracking surface is set on the surgical guide.

4. The surgical navigation system of claim 3, wherein the surgical guide comprises a guide body, and the navigation tracking surface is directly formed on the guide body; or, the navigation tracking surface is arranged on a navigation tracking carrier, and the navigation tracking carrier is arranged on the guide body; the navigation tracking surface is a plane attached with a tracking pattern of visual recognition by visible light, or a plane attached with an imaging sheet with one or more feature points, or a tracking surface formed by a plurality of feature points.

5. The surgical navigation system of claim 1, wherein the positioning marker is a polyhedron and comprises at least two navigation surfaces.

6. The surgical navigation system of claim 1, wherein the computer includes the following units: a data receiving and storing unit, used for receiving and storing the information transmitted by the binocular camera; and an image reconstruction unit, used for importing and reconstructing a three-dimensional model of the bone to be operated on and a three-dimensional model of the surgical instrument, and using the information acquired by the binocular camera to reconstruct three-dimensional images and postures of the surgical instrument during the operation to obtain visual navigation.

7. A computer device for performing a surgical navigation method, comprising: a memory; a processor; and a computer program stored on the memory; wherein the computer device is applied to a surgical navigation system, and when the computer program is executed by the processor, caused the processor to perform a surgical navigation method, and the method comprises steps of: receiving images of the bone to be operated on and images of a surgical instrument and generating three-dimensional models thereof; obtaining registration information of a tracer fixed on the bone and calibration information of a positioning marker on a surgical instrument; receiving real-time information of the tracer and the positioning marker acquired by a binocular camera; calculating spatial position information of the bone to be operated on and the surgical instrument by the binocular vision positioning algorithm according to the real-time information of the tracer and the positioning marker; fusing the spatial position information with the three-dimensional models in real time; and obtaining dynamic images of a real-time positional relationship between the bone and the surgical instrument, so as to obtain surgical navigation.

8. The computer device of claim 7, wherein the tracer comprises a surgical guide produced by 3D printing, on which is provided at least one navigation tracking surface that can cooperate with the binocular camera for optical positioning; the tracer has at least one bone fitting surface for being fixed to the bone to be operated on; the positioning marker is a polyhedron and is provided with at least two navigation surfaces that can cooperate with the binocular camera for optical positioning.

9. The computer device of claim 8, wherein the method further comprises steps of: before surgery, designing a three-dimensional model of the tracer and printing the three-dimensional model of the tracer according to the 3D model of the bone to be operated on, and importing an image of the three-dimensional model of the tracer into the computer device; and before surgery, performing three-dimensional scanning of the surgical instrument to obtain three-dimensional images thereof, calibrating the positioning marker, and importing the three-dimensional images into the computer device.

10. A computer-readable storage medium having a computer program stored thereon, wherein the computer-readable storage medium is used in a computer device of the surgical navigation system according to claim 1, and when the computer program is executed by a processor, caused the processor to perform a surgical navigation method, and the method comprises steps of: receiving images of the bone to be operated on and images of the surgical instrument and generating three-dimensional models thereof; obtaining registration information of the tracer fixed on the bone and calibration information of the positioning marker on the surgical instrument; receiving real-time information of the tracer and the positioning marker acquired by the binocular camera; calculating spatial position information of the bone to be operated on and the surgical instrument by the binocular vision positioning algorithm according to the real-time information of the tracer and the positioning marker; fusing the spatial position information with the three-dimensional models in real time; and obtaining dynamic images of a real-time positional relationship between the bone and the surgical instrument, so as to obtain surgical navigation.

11. A surgical guide, comprising: a main body; a base; a reinforcing beam connecting the base and the main body; at least one bone fitting surface set on the main body; a navigation tracking surface set on the main body; wherein the navigation tracking surface is a plane attached with a tracking pattern of visual recognition by visible light, and the plane is directly formed on the main body.

12. The surgical guide of claim 11, wherein the surgical guide defines a needle guide hole and a fixing hole; the fixed hole is used for engaging with a fixing nail to strengthen fixation of the surgical guide to the subject; the needle guide hole is used to guide surgical instruments.

13. The surgical guide of claim 12, wherein the fixing hole is defined in the base; the bone fitting surface is formed at any surface of the main body corresponding to the surface of the bone to be operated on; the base is provided with a needle guide tube, the reinforcing beam connecting the needle guide tube and the main body, and the needle guide hole is defined in the needle guide tube.

14. The surgical guide of claim 11, wherein the main body has an arch adapted to a spinous process on the bone to be operated on.

15. A surgical navigation method applied to the surgical navigation system of claim 1, comprising steps of: receiving images of the bone to be operated on and images of the surgical instrument and generating three-dimensional models thereof; obtaining registration information of the tracer fixed on the bone and calibration information of a positioning marker on the surgical instrument; receiving real-time information of the tracer and the positioning marker acquired by the binocular camera; calculating spatial position information of the bone to be operated on and the surgical instrument by the binocular vision positioning algorithm according to the real-time information of the tracer and the positioning marker; fusing the spatial position information with the three-dimensional models in real time; and obtaining dynamic images of a real-time positional relationship between the bone and the surgical instrument, so as to obtain surgical navigation.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG. 1 is a schematic diagram of a surgical navigation system in accordance with a first embodiment of the present invention;

[0036] FIG. 2 is a first perspective view of a tracer in the surgical navigation system in accordance with a first embodiment of the present invention;

[0037] FIG. 3 is a second perspective view of the tracer in the surgical navigation system in accordance with the first embodiment of the present invention;

[0038] FIG. 4 is a reverse perspective view of the tracer in the surgical navigation system in accordance with the first embodiment of the present invention;

[0039] FIG. 5 is a first application diagram of the tracer in the surgical navigation system in accordance with the first embodiment of the present invention;

[0040] FIG. 6 is a second application diagram of the tracer in the surgical navigation system in accordance with the first embodiment of the present invention;

[0041] FIG. 7 is a first application diagram of the tracer in the surgical navigation system in accordance with a second embodiment of the present invention;

[0042] FIG. 8 is a schematic diagram of a spatial positioning marker component in the surgical navigation system in accordance with a first embodiment of the present invention;

[0043] FIG. 9 is a schematic diagram of the spatial positioning marker component in the surgical navigation system in accordance with a second embodiment of the present invention;

[0044] FIG. 10 is a flowchart of a surgical navigation method executed by a computer program in the present invention; and

[0045] FIG. 11 illustrates the principle of obtaining image information of a tested object by binocular stereo vision.

DETAILED DESCRIPTION OF THE INVENTION

[0046] Please refer to FIG. 1, a surgical navigation system in accordance with an embodiment of the present invention includes a spatial positioning marker component (not marked) installing on a surgical instrument, a tracer (not shown) for fixing on the bone to be operated on, and a binocular camera 501 used for spatial positioning based on binocular vision, and a graphics workstation computer 502 used as a navigation terminal. The preoperative images 503 of the bone are imputed into the computer 502. The binocular camera is connected to the computer to transmit the acquired information of the tracer and the spatial positioning marker component to the computer, and tracks the tracer and the surgical instrument for spatial positioning based on the visual principle. In the figure, Y represents the reference coordinate of the surgical site of the subject and the surgical instrument. The principle of binocular stereo vision for obtaining the image information of a tested object is shown in FIG. 11.

[0047] The main functions of the graphics workstation computer 502 comprise: reconstructing images, importing and reconstructing the 3D model of the patient's bone and the 3D model of the surgical instrument, and storing three-dimensional images (and positioning information) of various surgical instruments, which can be conveniently switched in the operation, such as storing the patient's preoperative CT 3D reconstruction images and the registration information of the 3D-printed tracer; performing real-time image tracking and image fusion, where the images include preoperative CT three-dimensional images and intraoperative three-dimensional images of surgical instruments; receiving real-time images of the binocular camera; and acquiring real-time positioning information of the tracer on the patient and the spatial positioning marker component on the surgical instrument by the binocular camera 501 for binocular visual spatial positioning; calculating position and posture information of the 3D-printed tracer and the spatial positioning marking component of the surgical instrument by the binocular visual positioning algorithm, and fusing the position information with the three-dimensional images in real time to reconstruct the three-dimensional images and postures of the surgical instruments in the computer, so as to obtain visual navigation during the operation. The graphics workstation computer has functions of identifying boundary or quantifying the deviation in the key operation and provide safe operation.

[0048] The computer comprises the following units:

[0049] a data receiving and storing unit, used for receiving and storing the information transmitted by the binocular camera; and

[0050] an image reconstruction unit, used for importing and reconstructing a three-dimensional model of the bone to be operated on and a three-dimensional model of the surgical instrument, and using the information acquired by the binocular camera to reconstruct three-dimensional images and postures of the surgical instrument during the operation to obtain visual navigation.

[0051] Please refer to FIGS. 2-9 together, which respectively illustrate the embodiments of the tracer and the spatial positioning marker component. The tracer comprises at least one navigation tracking surface used for navigation and positioning, and the spatial positioning marker component comprises at least one navigation surface used for tracking surgical the instrument.

[0052] Please refer to FIGS. 2-7, the tracer is made by 3D printing. The tracer in the first embodiment includes a guide body 100. A bone fitting surface 101 is provided under the guide body. The surgical guide is made based on 3D reconstruction of preoperative bone images. The bone fitting surface 101 completely fits with a bone surface 302 of the vertebra 300 to be operated on. A navigation tracking surface 200 is also provided on the surgical guide, and the navigation tracking surface 200 is directly set on the surface of the guide body 100.

[0053] In this embodiment, the tracer defines a needle guide hole 103 and a fixing hole 104. The fixed hole 104 is used for engaging with screws or other fixing nails to strengthen fixation of the tracer on the vertebra 300 and make the fixation more stable. The needle guide hole 103 is used to guide surgical needles or other instruments. Specifically, the guide body 100 in this embodiment includes a main body 110 and a base 120, the fixing hole 104 is defined in the base 120. The bone fitting surface 101 is formed at a bottom surface of the base 120, or, the bone fitting surface 101 is provided on any surface of the guide body 100 corresponding to the surface of the bone to be operated on. The base 120 is provided with a needle guide tube 130 and a reinforcing beam 105 connecting the needle guide tube 130 and the main body 110, and the needle guide hole 103 is defined in the needle guide tube 130. The main body 110 is provided with an arch 102 adapted to the spinous process 301 on the vertebrae.

[0054] In this embodiment, the navigation tracking surface 200 is a plane set on the top of the guide body 100, the navigation tracking surface 200 is attached with a tracking pattern 201 of visual recognition by visible light, and the plane is directly formed on the guide body 100.

[0055] The tracer is formed by 3D reconstruction of the bone based on the patient's preoperative CT images, and then designing a reverse template consistent with the anatomical shape of the bone using 3D editing software; besides the bone fitting surface and auxiliary structures, the navigation tracking surface 200 is set on the top of the surgical guide, and a tracking pattern 201 of visual recognition by visible light is set on the navigation tracking surface 200. In other embodiments, feature points, reflective points, etc. can also be set for intraoperative registration or navigation.

[0056] The technical solutions of the present invention can make the guide body with the navigation tracking surface thereon stably fixed to the complex bone, adapt to different parts of the bone of different patients without deviation, provide high navigation accuracy, reduce the intraoperative imaging, and simplify the surgical process. The registration and tracking of the spatial position within the surgical area can be obtained through the pattern or feature marking points on the navigation surface. The navigation tracking surface is designed according to the navigation requirements. For example, the navigation tracking surface is a plane with a minimum of 10*10 mm and is attached with a tracking pattern of visual recognition by visible light. There are also many other technical methods for registration and tracking, such as X-ray, infrared and so on. In other embodiments, there may be no fixing holes or needle guide holes defined in the trace. The needle guide hole is used to guide surgical instruments during surgical drilling or nail placement. When digital navigation or surgical robots are used, the position and angle of the drilling or nail placement have been determined through preoperative or intraoperative planning, therefore, the needle guide hole may be not set.

[0057] As shown in FIG. 7, in the second embodiment, the tracer includes a guide body 401 and a navigation tracking surface thereon. The guide body 401 is directly fixed on the bone, is attached to the bone with a complete fit between the bone fitting surface of the guide body and the bone surface, so that the tracer can be clamped at the spinous process of the vertebra. The guide body 401 is provided with a platform 402 as a navigation tracking carrier, and the platform 402 is provided with a tracking pattern 403 of visual recognition by visible light.

[0058] The bone fitting surface is in perfect fit with the bone to be operated on, and the error is small. After the tracer is fixed to the bone, the relative spatial position is unique, and the tracer acts as an extension of the bone. The spatial position of the navigation tracking surface on the tracer is known, therefore, there is no need for fluoroscopic image and registration during the operation, and tracer can be directly used for positioning and tracking.

[0059] Referring to FIGS. 8 and 9, a spatial positioning marker component 600 installed on a specific part of the surgical instrument, is a polyhedron and has at least two navigation surfaces 601 and 602. The navigation surfaces can be completely photographed by the binocular camera during the operation, and spatial positioning can be performed by a computer. Compared with the first embodiment in FIG. 8, positioning posts 603 are set for fixed and positioning in the second embodiment in FIG. 9.

[0060] The spatial positioning marker component 600 can also be manufactured using 3D printing. Design a 3D structure of the spatial positioning marker component that matches the 3D model of the surgical instrument using 3D editing software, and then manufacture the spatial positioning marker component by 3D printing and fix it to the surgical instrument. The spatial positioning marker component may also have more than two navigation surfaces thereon, for example, there are 3 or 4 navigation surfaces. The number of navigation surfaces depends on the operating requirements of the surgical instrument. Visual tracking and positioning require a complete shot of one navigation surface.

[0061] Please refer to FIGS. 1 to 10 together, the method of applying the surgical navigation system of the present invention for surgical navigation, mainly comprises steps of:

[0062] receiving images of the bone to be operated on and images of a surgical instrument and generating three-dimensional models thereof; obtaining registration information of a tracer fixed on the bone and calibration information of a spatial positioning marker component on the surgical instrument;

[0063] receiving real-time information of the tracer and the spatial positioning marker component acquired by a binocular camera;

[0064] calculating spatial position information of the bone to be operated on and the surgical instrument by the binocular vision positioning algorithm according to the real-time information of the tracer and the spatial positioning marker component; and fusing the spatial position information with the three-dimensional models in real time; and obtaining dynamic images of a real-time positional relationship between the bone and the surgical instrument, so as to obtain surgical navigation.

[0065] The tracer and the spatial positioning marker component on the surgical instrument are disclosed as the above-mentioned embodiments, and the optical positioning method are performed between the binocular camera and both the spatial positioning marker component of the tracer and the surgical instrument. Use dual cameras or multiple cameras to observe the target, and then reconstruct the spatial position of the target based on the principle of vision. The device occupies a small space and has high accuracy. Binocular stereo vision is based on the principle of parallax, and is a method as illustrated in FIG. 11, comprising: acquiring two images of the tested object from different positions by imaging device, and obtaining the three-dimensional geometric information of the tested object by calculating the position deviation between the corresponding points of the images.

[0066] Specifically, as shown in FIG. 1 and FIG. 10, taking a navigation method for a spine surgery as an example, the method comprises steps of: first: performing a diagnosis for the subject, obtaining bone images through CT scan before surgery, and performing 3D reconstruction of the bone in a computer device; obtaining a 3D-printed tracer by: performing 3D reconstruction of the bone and editing the model thereof based on the bone images acquired before surgery, and then printing by a 3D printer; wherein during the operation, the doctor makes an incision at the patient's surgical site and peels off the soft tissue, and fixes the tracer on the bone of the patient, then the tracer becomes an extension of the bone, and the pattern on the navigation tracking surface can be optically positioned; performing three-dimensional scanning of surgical instruments to obtain three-dimensional images thereof, installing the spatial positioning marker component, calibrating the spatial positioning marker component, where the spatial positioning marker component installed to the surgical instrument has 2 to 4 navigation surfaces which can be optically positioned with the 3D-printed tracer; and importing the 3D models of the bone, the tracer and the surgical instrument into the computer.

[0067] During the operation, initializing the images of the 3D models in the computer, acquiring images through the binocular camera, tracking the spatial position information of the tracer and the surgical instrument, transmitting the acquired video data to the computer in real time by the binocular camera connected to the computer, calculating the relative positional relationship between the bone of the subject and the surgical instrument according to the real-time images by the binocular vision positioning algorithm in the computer, fusing the position information of the surgical instrument and the bone with the 3D models of the bone and the surgical instrument obtained from the preoperative images, obtaining real-time dynamic images of the positional relationship between the bone and the surgical instrument, and displaying the dynamic images of the bone and the surgical instrument in real time through a monitor connected to the computer, so that doctors can perform the surgery by observing the monitor, thereby a visual navigation for the surgery is obtained.

[0068] Before surgery, performing CT scan and 3D reconstruction of the surgical site of the subject, and then designing and producing the 3D-printed tracer (surgical guide) using 3D editing software, wherein the models of the bone and the tracer are imported to the graphics workstation computer of the surgical system before surgery; and before surgery, the surgical instrument to be used in the operation has been scanned in three dimensions and imported into the computer (or the library of the surgical instruments to be prepared); calibrating the navigation markers to make the posture and position error within an acceptable range.

[0069] The computer mainly executes the real-time fusion of images and the quantitative monitoring of the position information of the surgical instrument; first, accepting initial instructions to start 3D reconstruction of the images of the patient and fuse the 3D images of the surgical instrument; during the operation, receiving the real-time images from the binocular camera and analyze to obtain the position information of the surgical site and the surgical instrument, and fusing the 3D model and display on the navigation display.

[0070] The present invention also provides a computer device, comprising a memory and a processor, and a computer program is stored on the memory. When the computer program is executed by the processor, causes the processor to perform the above-mentioned surgical navigation method.

[0071] The present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, causes the processor to perform the above-mentioned surgical navigation method.

[0072] The surgical navigation system of the present invention can be applied to spinal surgery, pelvic or thoracic spine surgery, joint surgery, trauma surgery, bone tumor or orthopedic surgery.

[0073] The foregoing are only preferred embodiments of the present invention, and the scope of protection of the present invention is not limited thereto. Any equivalent transformation based on the technical solution of the present invention shall fall within the protection scope of the present invention.