WO2014067190A1 - Ultrasonic-based real-time wireless surgical navigation device - Google Patents

Abstract

An ultrasonic-based real-time wireless surgical navigation device comprises a wireless ultrasonic array probe (101), a computer system (102), and more than one pair of seen-through displaying glasses (103). The wireless ultrasonic array probe (101) comprises an ultrasonic transducer array, a UWB signal transmission unit, and a power source. The ultrasonic transducer array is used for detecting and positioning the lesions, muscle body and surgical instruments. The UWB signal transmission unit transmits a signal received by the ultrasonic transducer array to the computer system (102) in a wireless manner. The power source is used to supply power for the ultrasonic transducer array and the UWB signal transmission unit. The computer system (102) comprises a host, a display, and a UWB signal transceiver unit. The UWB signal transceiver unit is used to receive information sent by the ultrasonic transducer array, and then the host processes the information to obtain image information. The UWB signal transceiver unit further sends the image information to the seen-through displaying glasses (103) for display. The present invention is of a simple structure, is easy to operate, is highly safe, and has the low cost.

Description

 Ultrasonic-based real-time wireless surgical navigation device

Technical field

 The invention relates to an ultrasonic detecting technology, in particular to a wireless real-time surgical navigation device based on ultrasonic waves.

Background technique

As medical science continues to develop, surgical procedures are moving toward more and more sophisticated and increasingly complex directions. Traditional medical knowledge is difficult to meet the surgical needs due to various technical deficiencies. In recent years, the rapid development of medical imaging technology and image processing technology has gradually been applied in the medical field, and has formed a new research and clinical application hotspot: computer-assisted surgery. The navigation system is an indispensable part of it. It was first applied to neurosurgery in the late 1980s and then gradually used in other surgical fields, including orthopedics, orthopedics, and otolaryngology. It extends the surgeon's limited visual range, breaks through the boundaries of traditional surgery, and expands the concept of surgical and surgical instruments. It is of great significance for improving the accuracy of surgical positioning, reducing surgical damage, optimizing the surgical path and improving the success rate of surgery.

The currently used surgical navigation system generally has the following working principle: the doctor holds the surgical tool with the marked point to perform the operation on the patient's surgical target, and the spatial stereo positioning and aiming process of the surgical tool are under the real-time control of the tracker, most commonly used. The tracker is based on a diode that emits infrared light or a sphere that reflects infrared rays. The tracker can accurately give the intraoperative anatomy and preoperative or intraoperative X-ray, CT (computed tomography), MRI (magnetic resonance imaging), etc. The positional relationship between the multi-mode images, through the corresponding coordinate transformation, controls the surgical tool to reach the required site, thereby implementing the corresponding surgical operation. Its typical products are: S-Navi2.3 surgical navigation system developed by Medtronic, USA, which can track the position of surgical instruments in real time, feedback the trajectory of surgical instruments on 3D images in real time, and use the method of respiratory gating. According to the principle that the respiratory state of the intraoperative patient coincides with the respiratory state of the preoperative CT or MRI image, the time period of the patient's surgical space and the three-dimensional virtual image space is determined; the Surgiscope robot navigation system manufactured by Elekta, Sweden, The surgical navigation system can realize the three-dimensional reconstruction and measurement analysis of the nervous system image. In the operation, it can cooperate with the microscope, ventricle endoscope, stereotactic frame, etc., automatically guide the microsurgery system to search for the location of the lesion, and dynamically feedback the surgical process; Germany Orthopilot navigation and positioning system developed by Braun, mainly for navigation and positioning of orthopedic surgery; Praxim, Switzerland The Praxiteles system developed by Medivision is used primarily for skeletal grinding operations for anterior cruciate ligament function repair and total knee replacement.

 Summarize the existing equipment and methods for surgical navigation through X-ray, CT and MRI. The main problems are as follows:

(1) The existing surgical navigation system is essentially an imaging diagnostic system. The surgeon can only observe the display while performing the operation and cannot directly observe the lesion area, which greatly limits the application of the doctor's experience.

(2) The existing navigation system only tracks the surgical instrument in real time, and matches the position of the surgical instrument with the three-dimensional virtual image model established before the operation, and the imaging of the body tissue and the lesion is not real-time, the use of the dehydrating agent during the operation, Tissue effusion drainage, soft tissue resection, etc. can lead to displacement of the body tissue during surgery, which is inconsistent with the model established before surgery, which leads to a series of problems such as severe surgical injury.

 (3) X-rays and CTs are radioactive, and the impact of multiple scans on patients and medical staff cannot be ignored.

(4) MRI will produce a strong magnetic field during the working process. When the patient is equipped with a pacemaker, metal clip, metal internal fixation, artificial joint, metal denture, bracket, silver clip, shrapnel, etc., it cannot be used. This method greatly limits the use of MRI surgical navigation.

(5) X-ray, CT, MRI and other imaging equipment are cumbersome, bulky and extremely expensive, requiring special work space and environment, which greatly limits their use and promotion in mobile surgery platforms such as small and medium-sized hospitals and field surgery vehicles and ships. .

(6) The existing surgical navigation system has a single function. For example, a certain system can only perform cranial nerve surgery, and another system can only perform spinal surgery, etc., and the versatility is not strong.

Summary of the invention

The invention aims to overcome the shortcomings of the existing surgical navigation system, and proposes a wireless real-time surgical navigation device based on ultrasonic waves, and the specific technical solutions are as follows.

Ultrasonic-based real-time wireless surgical navigation device, comprising a wireless ultrasonic array probe, a computer system and a pair of transparent displayable glasses; the wireless ultrasonic array probe comprises an ultrasonic transducer array, a UWB signal transmitting unit and a power supply The ultrasonic transducer array is used for detecting and locating the lesion, the body and the surgical instrument, and the UWB signal transmitting unit wirelessly transmits the signal received by the ultrasonic transducer array to the computer system, and the power source is responsible for the ultrasonic transducer array and The UWB signal transmitting unit is powered; the computer system includes a host, a display, and a UWB signal transceiving unit, wherein The UWB signal transceiving unit is responsible for receiving the information transmitted by the ultrasonic transducer array for processing by the host to obtain image information, and the UWB signal transceiving unit wirelessly transmits the image information to the transparent display glasses for display.

Further preferably, the transparent displayable glasses comprise a transparent display lens, a UWB signal receiving unit and a power source, and the UWB signal receiving unit receives the signal from the computer system and transparently displays the information on the transparent display lens, and the power source is responsible for the UWB signal. The receiving unit supplies power.

Further preferably, the transparent display lens of the transparent display glasses adopts an organic electroluminescent material, and can transparently display image information transmitted by the computer system.

 Further preferably, the ultrasonic transducer array employs a flexible annulus structure, the hollow portion of the annulus structure providing a window for surgical implementation.

Further preferably, the ultrasonic transducer array is composed of two or more types of ultrasonic transducers, and different types of ultrasonic transducers emit ultrasonic waves of different frequencies for detecting and locating lesions, body tissues and surgical instruments, respectively. .

Further, the display in the computer system mainly provides a human-computer interaction interface, and does not display an ultrasonic image but is used to display parameters and settings of the computer system itself.

 The present invention has the following advantages over existing devices for surgical navigation through X-ray, CT, and MRI:

(1) OLED lens directly displays the image in front of the line of sight. The doctor only needs to view the ultrasound image and the operation area at the same time in direct view. It is not necessary to look up the display, and the surgeon's experience can be fully utilized to reduce the surgical damage. .

 (2) Real-time imaging of lesions, body and surgical instruments, overcoming the problem of body tissue displacement that is difficult to cope with in traditional surgical navigation systems.

 (2) Eliminate the impact of radioactivity on patients and medical staff, and have higher safety.

 (3) Ultrasonic array probe and computer system realize wireless transmission through UWB, making ultrasonic array probe

 The layout, replacement and cleaning and disinfection are very convenient, which makes the operation efficiency improve.

(4) The surgical work environment and site requirements are not high, and can be conveniently arranged on mobile carriers such as automobiles and ships, which is convenient for surgery in the field and in special environments.

 (5) The structure of the device is simple and light, and the price is cheaper than the existing equipment, which is convenient for promotion to small and medium-sized hospitals.

 (6) It is not limited to a specific type of surgery and has a wide range of applications.

DRAWINGS

 1 is a block diagram of a wireless real-time surgical navigation device system according to the present invention.

 2 is a schematic plan view of an ultrasonic transducer array of the present invention.

 3 is a flow chart showing the operation of the wireless real-time surgical navigation device of the present invention.

 4 is a schematic view of a doctor wearing a transparent display glasses to observe a lesion area.

detailed description

The embodiments of the present invention will be further described with reference to the accompanying drawings, and the implementation and protection of the present invention is not limited thereto, and other details are known to those skilled in the art. There are technologies.

As shown in Fig. 1, it is a system block diagram of the surgical navigation device in the present embodiment. The device is mainly composed of three parts, namely a wireless ultrasonic array probe 101, a computer system 102 and transparent display glasses 103. The function of the wireless ultrasonic array probe is to send and receive ultrasonic signals, which is equivalent to the sensor of the whole device, and is mainly composed of an ultrasonic transducer array, a UWB signal transmitting unit and a power source. The ultrasonic transducer array is used for detecting and locating the lesion, the body and the surgical instrument; the UWB signal transmitting unit wirelessly transmits the signal received by the ultrasonic transducer array to the computer system; the power source is responsible for the ultrasonic transducer array and the UWB The signal transmitting unit provides power. The main function of the computer system is to process and image the signals transmitted by the wireless ultrasonic array probe, and transmit the image signals wirelessly to the transparent display glasses, which are composed of a host, a display, and a UWB signal transceiving unit. The host mainly performs image processing and calculation; the UWB signal transceiving unit is responsible for receiving the information transmitted by the wireless ultrasonic array probe and transmitting the image information obtained by the host to the transparent display glasses; the display mainly provides a human-computer interaction interface, and does not display the ultrasonic wave itself. The image is used to display the parameters and settings of the computer system itself. The function of the transparent display glasses is to display the ultrasonic images transmitted from the computer system, which is equivalent to the display of the entire device, the glasses made of the OLED lenses (using transparent display technology), the UWB signal receiving unit and the power source. The glasses made by using the OLED lens can transparently display the image information transmitted by the computer system, and the UWB signal receiving unit receives the image signal from the computer system and displays the information on the OLED lens, and the power source is responsible for supplying power to the UWB signal receiving unit. The system can be equipped with multiple transparent display glasses for use by people who need real-time observation.

2 is a schematic plan view of the ultrasonic transducer array of the present invention. The ultrasonic transducer is generally in the form of an annulus, and the base for fixing the ultrasonic transducer 201 is a flexible base 202 made of an organic material, which ensures a close fit to the patient's body surface; the middle of the annular structure A surgical implementation window 203 is left, through which the doctor operates the surgical instrument to perform surgery on the patient. The shape and size of the surgical window can be set according to specific lesions and surgical needs, and in the present embodiment only circular surgery is given. window; The ultrasonic transducers are arranged in an array around the surgical window to ensure sufficient detailed and clear imaging of the lesions and the tissue around the lesions, to help the doctor avoid the surgical danger zone and facilitate the operation.

As shown in FIG. 3, it is a working flow chart of the surgical navigation device. Next, the result flow chart will explain in detail the workflow of the surgical navigation device.

(1) Before the operation, the wireless ultrasonic array probe is covered on the patient's body surface, the hollow part is aligned with the surgical area where the operation is performed, the whole surgical navigation device is turned on, and the doctor wears the transparent display glasses made by the OLED lens to prepare for the operation.

 (2) The host processes and images the ultrasonic signal transmitted from the wireless ultrasonic array probe to obtain a three-dimensional image of the lesion and the body.

(3) The UWB signal transceiving unit in the computer system transmits the three-dimensional image of the lesion and the body through the UWB signal receiving unit in the transparent display glasses to the OLED lens for display, and the doctor wears the transparent display glasses produced by the OLED lens, that is, Ultrasound images of the lesion can be observed without affecting the doctor's direct observation of the patient.

 (4) The doctor performs surgery on the patient under the guidance of the three-dimensional image.

(5) When the surgical instrument enters the ultrasonic imaging area near the lesion, the surgical navigation system immediately tracks, locates and images the surgical instrument. At this time, the image displayed on the OLED lens can reflect the lesion, the body and the surgical instrument in real time. Between the spatial positional relationship, the doctor can easily perform the operation under the guidance of the image until the end of the operation.

As shown in FIG. 4, in the working condition of the surgical navigation device of the present invention, the doctor wears a transparent display glasses to observe the lesion area. First, the doctor places the ring-shaped wireless ultrasonic array probe 101 on the body surface of the patient 401, and aligns the middle surgical window with the surgical field; then, when the entire surgical navigation device is working, the doctor wears the transparent display glasses 103 to observe the operation. In the area, the ultrasound image of the surgical area is displayed on the transparent display glasses. The doctor can observe the exact position of the lesion 402 in the patient 401 through the simple alignment of the line of sight, as well as the image of the body tissue around the lesion. Under the guidance, the doctor can perform surgery on the patient.

With the surgical navigation device of the present invention, each doctor and nurse in the operating room only needs to wear a pair of transparently visible glasses to look directly at the surgical field, and can observe the patient and the ultrasound without viewing the display. The image and the action of the surgeon. For the surgeon, there is no need to look up the monitor, you can use your own surgical experience as much as possible, which can greatly alleviate the fatigue of the operation and improve the success rate of the operation. For the assistant doctor and nurse, you can watch the action of the surgeon at the same time. The operation area and the operation image are more convenient for assisting the surgeon. The whole process is very intuitive and greatly improves the learning efficiency.

Claims (6)

1. Ultrasonic-based real-time wireless surgical navigation device, comprising: a wireless ultrasonic array probe, a computer system and a pair of transparent displayable glasses; the wireless ultrasonic array probe comprises an ultrasonic transducer array and a UWB signal transmitting unit And the power supply, the ultrasonic transducer array is used for detecting and locating the lesion, the body and the surgical instrument, and the UWB signal transmitting unit transmits the signal received by the ultrasonic transducer array to the computer system wirelessly, and the power source is responsible for translating the ultrasonic wave And the UWB signal transmitting unit is powered; the computer system includes a host, a display, and a UWB signal transceiving unit, wherein The UWB signal transceiving unit is responsible for receiving the information transmitted by the ultrasonic transducer array for processing by the host to obtain image information, and the UWB signal transceiving unit wirelessly transmits the image information to the transparent display glasses for display.
2. The ultrasonic-based real-time wireless surgical navigation device according to claim 1, wherein the transparently displayable glasses comprise a transparent display lens, a UWB signal receiving unit, and a power source, and the UWB signal receiving unit receives the signal from the computer system. And the information is transparently displayed on the transparent display lens, and the power supply is responsible for supplying power to the UWB signal receiving unit.
3. The ultrasonic-based real-time wireless surgical navigation device according to claim 1, wherein the transparent display lens of the transparent display glasses adopts an organic electroluminescent material, and can transparently display image information transmitted by the computer system.
4. The ultrasonic-based real-time wireless surgical navigation device according to claim 1, wherein the ultrasonic transducer array adopts a flexible annulus structure, and the hollow portion of the annulus structure is a surgically implemented window.
5. The ultrasonic-based real-time wireless surgical navigation device according to claim 1, wherein the ultrasonic transducer array is composed of two or more types of ultrasonic transducers, and different types of ultrasonic transducers emit different frequencies. Ultrasound is used for the detection and localization of lesions, body tissues and surgical instruments.
6. The ultrasonic-based real-time wireless surgical navigation device according to any one of claims 1 to 5, characterized in that the display in the computer system mainly provides a human-computer interaction interface, and is used for displaying without displaying an ultrasonic image. The parameters and settings of the computer system itself.

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