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Surgical navigation system and method based on spinal surgery auxiliary robot

A surgical navigation and robot technology, applied in the field of medical devices, can solve problems such as the inability to visually determine the vertebral body lesions in the surgical process, the patient's secondary trauma, and the lack of three-dimensional reconstruction of the spine and vertebrae, etc., to achieve spatial registration, facilitate surgery, The effect of improving surgical efficiency

Pending Publication Date: 2022-08-05
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the defects existing in the prior art, the main purpose of the present invention is to provide a surgical navigation system and method based on an auxiliary robot for spinal surgery, aiming to solve the problem that the existing surgical navigation system does not have a three-dimensional reconstruction of the spine and vertebrae and cannot visually determine vertebral body lesions The situation and reflect the PVP operation process, and rely on the normal vertebral body or other parts of the human body to install fixation devices as a reference to complete the space registration and cause secondary trauma to the patient

Method used

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  • Surgical navigation system and method based on spinal surgery auxiliary robot
  • Surgical navigation system and method based on spinal surgery auxiliary robot
  • Surgical navigation system and method based on spinal surgery auxiliary robot

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Embodiment 1

[0041] see figure 1 , a surgical navigation system based on an assistant robot for spine surgery, including:

[0042] an image processing module for processing the CT data of the patient's spine, segmenting the spine vertebra instance from the rest of the human body, and three-dimensionally reconstructing the segmented spine vertebra instance;

[0043] The spatial registration module is used to calculate the spatial registration relationship between the image coordinate system and the robot coordinate system;

[0044]a surgical navigation module, used by the doctor to select the position and surgical direction of the lesion area in the three-dimensional reconstructed spinal vertebra instance, and obtain the position and surgical direction of the lesion area in the robot coordinate system according to the spatial registration relationship, and According to the position of the lesion area and the surgical direction in the robot coordinate system, the doctor selects the installa...

Embodiment 2

[0048] This embodiment is basically the same as the first embodiment, and the special features are:

[0049] In this embodiment, the spatial registration module uses bio-electrodes pasted on the back of the patient as the target points, and the doctor picks up these target points in the image coordinate system and the robot coordinate system respectively, obtains the coordinate value of the target point, and performs Helmert transformation, Determine the spatial registration relationship between the image coordinate system and the robot coordinate system.

[0050] In this embodiment, the number of the target points is at least 5, and the method of picking up the target points in the robot coordinate system is that the doctor controls the space registration probe under the Y-axis end of the three-coordinate platform through the teleoperation stick to register with these targets. Point contact to get the coordinate values ​​of these target points in the robot coordinate system. ...

Embodiment 3

[0057] This embodiment is basically the same as the above-mentioned embodiment, and the special features are:

[0058] In this embodiment, a surgical navigation method based on a spinal surgery assistant robot includes preoperative planning, intraoperative execution, and postoperative evaluation;

[0059] 1) The steps of the preoperative planning include:

[0060] 1-1) The patient is anesthetized, and the target for the spatial registration is pasted on the back of the patient, and the patient is scanned by CT and the CT data of the patient's spine is transmitted to the doctor's work platform;

[0061] 1-2) According to the spine CT data of the patient, segment the spine vertebra instance from the rest of the human body, and three-dimensionally reconstruct the segmented spine vertebra instance;

[0062] 1-3) The doctor picks up the target point under the image coordinate system and the robot coordinate system respectively, obtains the coordinate value of the target point, and...

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Abstract

The invention discloses a surgical navigation system and method based on a spinal surgery auxiliary robot. The system comprises an image processing module, a space registration module, a surgical navigation module and a motion control module. The method comprises the steps of preoperative planning, intraoperative execution and postoperative evaluation. According to the spine vertebral body lesion position and the operation direction confirmed by a doctor in the image, the spine auxiliary operation robot can be automatically moved to position the operation direction under the robot coordinate system so as to guide the doctor to carry out the operation, the operation of the doctor is facilitated, the operation efficiency is improved, and the accuracy and safety of the operation are improved. Meanwhile, space registration of an image coordinate system and a robot coordinate system is completed in the mode that the arranged space registration probe picks up target spots pasted to the back of the patient, and secondary trauma to the patient is avoided.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a surgical navigation system and method based on an auxiliary robot for spinal surgery. Background technique [0002] At present, China is gradually entering an aging society, and the problem of osteoporosis has attracted more and more attention, and it has become one of the common metabolic bone diseases. Osteoporotic vertebral compression fracture (Osteoporotic Vertebral Compression Fracture, OVCF) is one of the common complications of osteoporosis, which is very harmful to the health of patients. Percutaneous Vertebroplasty (PVP) refers to the percutaneous injection of biological cement into the vertebral body through the pedicle or the outside of the pedicle to increase the strength and stability of the vertebral body, prevent collapse, relieve pain, and even partially recover. A minimally invasive spinal surgery technique for the purpose of vertebral body height. C...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/20A61B34/10A61B34/30A61B17/34
CPCA61B34/20A61B34/10A61B34/30A61B17/3403A61B17/3472A61B2034/105A61B2034/107A61B2034/108A61B2034/2065
Inventor 程鹏飞何永义杨浩
Owner SHANGHAI UNIV
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