CN102920509A - Real-time wireless surgical navigation device based on ultrasonic - Google Patents
Real-time wireless surgical navigation device based on ultrasonic Download PDFInfo
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- CN102920509A CN102920509A CN2012104211676A CN201210421167A CN102920509A CN 102920509 A CN102920509 A CN 102920509A CN 2012104211676 A CN2012104211676 A CN 2012104211676A CN 201210421167 A CN201210421167 A CN 201210421167A CN 102920509 A CN102920509 A CN 102920509A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/0841—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/085—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
- A61B8/4472—Wireless probes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/372—Details of monitor hardware
Abstract
The invention provides a real-time wireless surgical navigation device based on ultrasonic. The real-time wireless surgical navigation device comprises a wireless ultrasonic array probe, a computer system and more than one pair of glasses with transparent display, wherein the wireless ultrasonic array probe comprises an ultrasonic transducer array, a UWB (Ultra Wide Band) signal transmitting unit and a power supply, the ultrasonic transducer array is used for detecting and positioning a focus of infection, a human body and a surgical instrument, the UWB signal transmitting unit wirelessly transmits a signal received by the ultrasonic transducer array to the computer system, and the power supply is responsible for supplying power for the ultrasonic transducer array and the UWB signal transmitting unit; and the computer system comprises a host, a display and a UWB signal transceiving unit, the UWB signal transceiving unit is responsible for receiving information transmitted by the ultrasonic transducer array to obtain image information after processing of the host, and the UWB signal transceiving unit also transmits the image information to the glasses with transparent display for display. The real-time wireless surgical navigation device has the advantages of simple structure, convenience in operation, high safety, low cost and the like.
Description
Technical field
The present invention relates to the ultrasonic listening technology, be specifically related to a kind of based on hyperacoustic wireless real-time operation navigation device.
Background technology
Along with the medical science development, surgical operation is towards future development more and more meticulousr, that become increasingly complex.Traditional medicine knowledge is because all deficiencies of technical existence, and is difficult to satisfy the operation demand.In recent years, the medical imaging technology of high speed development, image processing techniques are applied to medical domain gradually, and have formed a new research and clinical practice focus: computer assisted surgery.And navigation system is wherein indispensable ingredient, at first is applied to neurosurgery in late 1980s, promotes gradually subsequently to be used for other field of surgery, comprises plastic surgery, orthopaedics and department of otorhinolaryngology etc.It has extended the limited visual range of surgeon, has broken through the boundary of traditional surgery, has expanded the concept of surgical operation and surgical operating instrument.Be of great significance for tools such as improving location of operation precision, minimizing surgical injury, optimization operation pathway and raising success rate of operation.
The operation guiding system that uses at present generally has following operation principle: the doctor is hand-held is equipped with the operation tool of gauge point to patient's surgical target implementation and operation, the space multistory location of operation tool and aiming process are all under the real-time control of tracker, the most frequently used tracker is based on the spheroid of the ultrared diode of emission or reflected infrared ray, tracker can accurately provide in the art before the region of anatomy and art or X ray in the art, the CT(Computed tomography), the MRI(nuclear magnetic resonance) the position relationship between the multi-mode image such as, through corresponding Coordinate Conversion, the control operation tool meets the requirements of the position, thereby implements corresponding operation technique.Its typical product has: the S-Navi2.3 operation guiding system of Medtronic Inc.'s exploitation of the U.S., this system can real-time tracking operating theater instruments position, the movement locus of Real-time Feedback operating theater instruments on 3-dimensional image, and utilize the method for respiration gate control, the principle that breathing state when clapping CT or MRI image before the breathing state of patient in the art and the art coincide is determined the time phase that coincide of corrective surgery space and three-dimensional image space; The Surgiscope Algorithms of Robots Navigation System that the Elekta company of Sweden makes, this operation guiding system can be realized three-dimensional reconstruction and the Measurement and analysis of nervous system image, in operation, can cooperate with microscope, intraventricular endoscope, stereotactic frame etc., automatically guide microsurgery system search lesions position, simultaneously dynamical feedback operation process; The Orthopilot navigation positioning system of the Bei Lang company exploitation of Germany mainly is applicable to the Navigation and localization of bone surgery; The Praxiteles system of the Praxim Medivision company exploitation of Switzerland is mainly used in the anterior cruciate ligament function and repairs and the full skeleton grinding operation of knee replacement.
Sum up the existing Apparatus and method for that carries out surgical navigational by X ray, CT and MRI, mainly have following problem:
(1) existing operation guiding system belongs to the diagnostic imaging system in essence, and the surgeon can only observation display when implementing operation and can't the direct observation focal zone, has greatly limited the utilization of doctors experience.
(2) existing navigation system is the real-time tracking operating theater instruments, with the three-dimensional Image model coupling of setting up before the position of operating theater instruments and the art, and be not real-time to the imaging of when injected organism tissue and focus, the use of dehydrant in the operation process, organize hydrops drain, soft tissue excision etc. all can cause body tissue displacement in the art, thereby inconsistent with the model of setting up before the art, and then cause the serious series of problems such as surgical injury.
(3) all there are radioactivity in X ray, CT, and Multiple-Scan can not be ignored patient and medical personnel's impact.
(4) MRI produces in the course of the work and can produce very strong magnetic field, there are cardiac pacemaker, metal clip, metal inside-fixture, artificial joint, metal pontic, support, silver brain clip, shell fragment etc. all can't adopt the method when patient body is in-built, greatly limited the utilization of MRI surgical navigational.
(5) imaging devices such as X ray, CT, MRI are heavy, volume is large, price is extremely expensive, need special work place and environment, greatly limited its utilization and popularization in the mobile Surgery Platforms such as small-middle hospital and field operation car ship.
(6) existing operation guiding system function singleness can only be carried out the cranial nerve operation and an other cover system can only carry out operation on vertebra etc. such as a certain cover system, and versatility is not strong.
Summary of the invention
The object of the invention is to overcome many deficiencies of existing operation guiding system, proposes a kind ofly based on hyperacoustic wireless real-time operation navigation device, and specifically technical scheme is as follows.
A kind of based on hyperacoustic real-time radio operation navigation device, it comprises wireless ultrasonic array probe, the department of computer science secondary above glasses that can transparent demonstration of unifying; Described wireless ultrasonic array probe comprises ultrasound transducer array, UWB signal transmitter unit and power supply, ultrasound transducer array is used for the Detection location to focus, human body and operating theater instruments, UWB signal transmitter unit is transferred to computer system with the signal that ultrasound transducer array receives by wireless mode, and power supply is responsible for to ultrasound transducer array and the power supply of UWB signal transmitter unit; Described computer system comprises main frame, display and UWB signal transmitting and receiving unit, the information that the ultrasound transducer array of being responsible for UWB signal transmitting and receiving unit wherein receiving transmits obtains image information for after the host process, and UWB signal transmitting and receiving unit also is wirelessly sent to image information and can shows by transparent demonstration glasses.
Further preferred, described glasses that can transparent demonstration comprise transparent demonstration eyeglass, UWB signal receiving unit and power supply, the UWB signal receiving unit receives the signal from computer system, and information transparency is presented on the transparent demonstration eyeglass, and power supply is responsible for powering to the UWB signal receiving unit.
Further preferred, described transparent demonstration eyeglass that can transparent demonstration glasses adopts electroluminescent organic material, the image information of can transparent Display control computer system transmissions coming.
Further preferred, described ultrasound transducer array adopts the flexible circumferential structure, and the hollow space of zonary structure implements to provide window for operation.
Further preferred, described ultrasound transducer array is made of the ultrasonic transducer of two or more models, and the ultrasonic transducer of different model is launched the ultrasound wave of different frequency, is respectively applied to the detecting and locating of focus, when injected organism tissue and operating theater instruments.
Further, the display in the described computer system mainly provides a personal-machine interactive interface, does not show ultrasonography but is used for parameter and the setting of Display control computer system itself.
With the existing equipment that carries out surgical navigational by X ray, CT and MRI, the present invention has the following advantages:
(1) the OLED eyeglass directly is presented at sight line the place ahead with image, the doctor only need in the situation that ultrasonography and operative region be watched in direct-view easily simultaneously, need not to come back and watch display, can give full play to the experience of operative doctor, reduce surgical injury.
(2) focus, human body and operating theater instruments are all carried out realtime imaging, overcome the when injected organism tissue displacement problem that the traditional operation navigation system is difficult to tackle.
(2) eliminated the impact of radioactivity on patient and medical personnel, safety is higher.
(3) realize wireless transmission by UWB between ultrasonic array probe and the computer system, so that the ultrasonic array probe
Layout, replacing and cleaning and sterilizing all very convenient so that the operation efficient be improved.
(4) not high to operation working environment and site requirements, can be arranged in easily on the mobile vehicles such as automobile, steamer, be convenient to reach the special environment operation in the open air and implement.
(5) device structure is simply light, and the relative existing equipment of price is cheap, is convenient to promote to small-middle hospital.
(6) do not limit to a certain class and specifically perform the operation, applied widely.
Description of drawings
Fig. 1 is wireless real-time operation navigation device system block diagram of the present invention.
Fig. 2 is the floor map of ultrasound transducer array of the present invention.
Fig. 3 is the workflow diagram of wireless real-time operation navigation device of the present invention.
Fig. 4 is that the doctor wears the schematic diagram of can transparent demonstration glasses focal zone being observed.
The specific embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described further, for a person skilled in the art, enforcement of the present invention and protection are not limited to this, and in addition, except being described in detail, other are the prior art that those skilled in the art grasp.
As shown in Figure 1, be the system block diagram of operation navigation device in the present embodiment.This device mainly is made of three parts, is respectively wireless ultrasonic array probe 101, computer system 102 and can transparent demonstration glasses 103.The function of wireless ultrasonic array probe is the transmitting-receiving ultrasonic signal, is equivalent to the sensor of whole device, mainly by ultrasound transducer array, UWB signal transmitter unit and electric power generating composition.Ultrasound transducer array is used for the Detection location to focus, human body and operating theater instruments; UWB signal transmitter unit is transferred to computer system with the signal that ultrasound transducer array receives by wireless mode; Power supply is responsible for providing power supply to ultrasound transducer array and UWB signal transmitter unit.The major function of computer system is that the signal that the wireless ultrasonic array probe transmits is processed and imaging, and picture signal is transferred to transparent demonstration glasses by wireless mode, by main frame, display, UWB signal transmitting and receiving cell formation.Main frame mainly carries out image and processes and calculate; The image information that the wireless ultrasonic array probe transmits information and obtains after can transparent demonstration glasses transmission host process is responsible for receiving in UWB signal transmitting and receiving unit; Display mainly provides a personal-machine interactive interface, itself does not show ultrasonography but is used for parameter and the setting of Display control computer system itself.Function that can transparent demonstration glasses is the ultrasonography that the Display control computer system transmits, and is equivalent to the display of whole device, and glasses (adopting transparent Display Technique), UWB signal receiving unit and the power supply made by the OLED eyeglass form.The image information that wherein adopts glasses that the OLED eyeglass makes can transparent Display control computer system transmissions to come, the UWB signal receiving unit receives the picture signal from computer system, and information is presented on the OLED eyeglass, power supply is responsible for powering to the UWB signal receiving unit, one cover system can be equipped with a plurality of can transparent demonstration glasses, so for the librarian uses that need Real Time Observation more.
As shown in Figure 2, be the floor map of ultrasound transducer array of the present invention.Ultrasonic transducer is zonary structure generally, and the sheet base that is used for mounting ultrasonic transducer 201 is the flexible sheets base 202 that adopts organic material to make, and guarantees to keep fitting closely with patient body-surface; The middle part of zonary structure is left operation and is implemented window 203, the doctor implements operation by this window operation operating theater instruments to the patient, the shape of operation window and size can need to arrange according to concrete focus and operation, and have only provided in the present embodiment circular operation window; Ultrasonic transducer be centered around the operation window around be arranged in arrays, focus and perilesional when injected organism tissue are carried out enough in detail and detection imaging clearly guaranteeing, help the doctor to avoid the hazardous area of performing the operation, implement easily to perform the operation.
As shown in Figure 3, be the workflow diagram of described operation navigation device.Below, flow chart is elaborated to the workflow of described operation navigation device as a result.
(1) before the art, the wireless ultrasonic array probe is covered patient's body surface, hollow space is aligned the focal zone of implementing operation, whole operation navigation device start, the doctor wears the transparent demonstration glasses that the OLED eyeglass is made, and carries out preparing before the art.
(2) main frame ultrasonic signal that the wireless ultrasonic array probe is transmitted is processed and imaging, obtains the 3-D view of focus and human body.
(3) the UWB signal transmitting and receiving unit in the computer system is transferred to the OLED eyeglass with the 3-D view of focus and human body by the UWB signal receiving unit in can transparent demonstration glasses again and shows, the doctor wears the transparent demonstration glasses that described OLED eyeglass is made, namely can be observed the ultrasonography of focus, do not affect again the doctor to patient's direct observation simultaneously.
(4) doctor implements operation to the patient under the navigation of 3-D view.
(5) behind near the ultrasonic imaging zone operating theater instruments enters focus, operation guiding system again immediately to operating theater instruments follow the tracks of, location and imaging, at this moment the image that shows on the OLED eyeglass can react the spatial relation between focus, human body and the operating theater instruments three in real time, the doctor is under the guiding of image, implement easily operation, until operation finishes.
As shown in Figure 4, be under operation navigation device working condition of the present invention, the doctor wears the schematic diagram of can transparent demonstration glasses focal zone being observed.At first, the doctor is placed on the wireless ultrasonic array probe 101 of endless belt shape patient 401 body surface, and the operation window at middle part is aimed at operative region; Then when whole operation navigation device work, the doctor wears and can observe operative region by transparent demonstration glasses 103, the ultrasonography of operative region will be presented at can transparent demonstration glasses on, the doctor is by the simple alignment of sight line, just can observe the definite position of focus 402 in patient's 401 bodies, and the image of when injected organism tissue around the focus, under the guiding of image, the doctor just can implement to perform the operation to the patient.
When adopting operation navigation device of the present invention, each doctor of operating room and nurse only need to wear the glasses direct-view operative region that a pair can transparent demonstration, in the situation that need not to watch display, can either observe the action of patient, ultrasonography and operating doctor.For operating doctor, do not need to come back and watch display, can bring into play the surgical experience of oneself as far as possible, can greatly alleviate operation tired, improve success rate of operation; And for Medex, nurse, can watch simultaneously action, operative region and the operation image of operating doctor, and more be convenient to assist operating doctor, whole process is very directly perceived, has greatly improved the learning efficiency.
Claims (6)
1. one kind based on hyperacoustic real-time radio operation navigation device, it is characterized in that comprising wireless ultrasonic array probe, the department of computer science secondary above glasses that can transparent demonstration of unifying; Described wireless ultrasonic array probe comprises ultrasound transducer array, UWB signal transmitter unit and power supply, ultrasound transducer array is used for the detecting and locating to focus, human body and operating theater instruments, UWB signal transmitter unit is transferred to computer system with the signal that ultrasound transducer array receives by wireless mode, and power supply is responsible for to ultrasound transducer array and the power supply of UWB signal transmitter unit; Described computer system comprises main frame, display and UWB signal transmitting and receiving unit, the information that the ultrasound transducer array of being responsible for UWB signal transmitting and receiving unit wherein receiving transmits obtains image information for after the host process, and UWB signal transmitting and receiving unit also is wirelessly sent to image information and can shows by transparent demonstration glasses.
2. according to claim 1 a kind of based on hyperacoustic real-time radio operation navigation device, it is characterized in that described glasses that can transparent demonstration comprise transparent demonstration eyeglass, UWB signal receiving unit and power supply, the UWB signal receiving unit receives the signal from computer system, and information transparency is presented on the transparent demonstration eyeglass, power supply is responsible for powering to the UWB signal receiving unit.
3. according to claim 1 a kind of based on hyperacoustic real-time radio operation navigation device, it is characterized in that described transparent demonstration eyeglass that can transparent demonstration glasses adopts electroluminescent organic material, the image information of can transparent Display control computer system transmissions coming.
4. according to claim 1 a kind of based on hyperacoustic real-time radio operation navigation device, it is characterized in that described ultrasound transducer array adopts the flexible circumferential structure, the hollow space of zonary structure is implemented window for operation.
5. according to claim 1 a kind of based on hyperacoustic real-time radio operation navigation device, it is characterized in that described ultrasound transducer array is made of the ultrasonic transducer of two or more models, the ultrasonic transducer of different model is launched the ultrasound wave of different frequency, is respectively applied to the detecting and locating of focus, when injected organism tissue and operating theater instruments.
6. each is described a kind of based on hyperacoustic real-time radio operation navigation device according to claim 1 ~ 5, it is characterized in that the display in the described computer system mainly provides a personal-machine interactive interface, do not show ultrasonography and be used for parameter and the setting of Display control computer system itself.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012104211676A CN102920509A (en) | 2012-10-30 | 2012-10-30 | Real-time wireless surgical navigation device based on ultrasonic |
| PCT/CN2012/085006 WO2014067190A1 (en) | 2012-10-30 | 2012-11-22 | Ultrasonic-based real-time wireless surgical navigation device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012104211676A CN102920509A (en) | 2012-10-30 | 2012-10-30 | Real-time wireless surgical navigation device based on ultrasonic |
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| CN102920509A true CN102920509A (en) | 2013-02-13 |
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| CN2012104211676A Pending CN102920509A (en) | 2012-10-30 | 2012-10-30 | Real-time wireless surgical navigation device based on ultrasonic |
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| WO (1) | WO2014067190A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103211655A (en) * | 2013-04-11 | 2013-07-24 | 深圳先进技术研究院 | Navigation system and navigation method of orthopedic operation |
| CN105147331A (en) * | 2015-10-14 | 2015-12-16 | 苏州斯科特医学影像科技有限公司 | Application of three-dimensional ultrasound in artificial abortion |
| CN105193449A (en) * | 2015-10-14 | 2015-12-30 | 苏州斯科特医学影像科技有限公司 | Application of three-dimensional ultrasound in hystero-salpingography |
| CN105266844A (en) * | 2014-06-11 | 2016-01-27 | 柯惠Lp公司 | Swipe to see through ultrasound imaging for intraoperative applications |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2542114B (en) * | 2015-09-03 | 2018-06-27 | Heartfelt Tech Limited | Method and apparatus for determining volumetric data of a predetermined anatomical feature |
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| WO2014067190A1 (en) | 2014-05-08 |
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Application publication date: 20130213 |