CN112402038B

Movatterモバイル変換

Info

Publication number: CN112402038B
Application number: CN202011312858.3A
Authority: CN
Inventors: 王炳强; 孙世民; 孙之建
Original assignee: Shandong Weigao Medical Technology Co Ltd
Current assignee: Shandong Weigao Medical Technology Co Ltd
Priority date: 2020-11-20
Filing date: 2020-11-20
Publication date: 2022-09-13
Anticipated expiration: 2040-11-20
Also published as: CN112402038A

Abstract

The invention provides an automatic identification method of an instrument matched with an electromagnetic navigation system, which comprises the following steps of fixing a tracking device on a connecting part at the tail end of a surgical instrument; placing the position reading device within the magnetic field of the magnetic field generator; the surgical instrument is positioned in the reading range of the position reading device, and the position information of the tail end of the surgical instrument is read through the tracking device; the front tip of the surgical instrument is matched with a position reading device for use, and the position information of the front tip of the surgical instrument is read; transmitting the two position information to an electromagnetic navigation system; the electromagnetic navigation system matches the received data with the prestored data, and when the matching is successful, an instrument icon corresponding to the surgical instrument is displayed in the electromagnetic navigation system; and if the displayed instrument icon is checked whether the instrument icon is the required surgical instrument, the planned operation is continued to be navigated. The method uses a uniform tracking device and a position reading device, and can distinguish and identify various surgical instruments by using the geometric layout difference of the surgical instruments.

Description

Automatic identification method of instrument used in cooperation with electromagnetic navigation system

Technical Field

The invention relates to the technical field of instrument identification, in particular to an automatic identification method of an instrument matched with an electromagnetic navigation system, wherein the instrument refers to a surgical instrument.

Background

In the ear-nose-throat operation process, different surgical instruments need to be replaced to complete different operation actions. In the conventional surgery, an assistant is required to give a required instrument to a doctor according to a doctor instruction, and the doctor visually confirms whether the instrument is the required instrument or not, so that the surgery can be continued. In the navigation operation, a plurality of surgical instruments are used, and different coil positions are required to be designed on each surgical instrument for distinguishing and accurately positioning, which has certain difficulty.

Disclosure of Invention

In order to solve the problems in the prior art, the application provides an automatic identification method of an instrument matched with an electromagnetic navigation system for use, which uses a uniform tracking device and a position reading device and can distinguish and identify various surgical instruments by using the difference of the geometric layout of the surgical instruments.

In order to achieve the above object, the present application provides an automatic identification method for an instrument used in cooperation with an electromagnetic navigation system, comprising the following steps:

step 1, fixing a tracking device on a connecting part arranged at the tail end of a surgical instrument, wherein the tracking device is used for being matched with an electromagnetic navigation system and reading position information of the tail end of the surgical instrument;

step 2, placing a position reading device in the magnetic field range of a magnetic field generator, wherein the magnetic field generator is connected to the electromagnetic navigation system through a control unit, and the position reading device is used for being matched with the electromagnetic navigation system and reading the position information of the front tip of the surgical instrument;

step 3, enabling the surgical instrument to be located in a reading range of the position reading device, enabling the tracking device to be located in a magnetic field range of the magnetic field generator, and reading position information of the tail end of the surgical instrument through the tracking device; the front tip of the surgical instrument is matched with the position reading device for use, and the front tip of the surgical instrument stays at a preset position in the position reading device for a preset time, so that the position reading device reads the position information of the front tip of the surgical instrument;

step 4, the position reading device and the tracking device respectively transmit the read position information of the surgical instrument to the control unit through the interface unit, and the control unit sends the obtained position information to the electromagnetic navigation system;

step 5, the electromagnetic navigation system analyzes and processes the received data: matching the received data with pre-stored data in an electromagnetic navigation system, wherein the pre-stored data comprises a plurality of groups of data, one group of data corresponds to the tail end position information and the front tip end position information of a surgical instrument, and outputting an error warning when the matching fails; when the matching is successful, displaying an instrument icon corresponding to the surgical instrument in the electromagnetic navigation system;

step 6, checking whether the displayed instrument icon is the needed surgical instrument, and if the displayed instrument icon is correct, continuing to navigate the planned operation; if the display is wrong, the surgical instrument is replaced and the identification is carried out again.

In some embodiments, the distance of the straight line connecting the front tip of each surgical instrument and the connecting portion for connecting the tracking device is taken as the identification distance, and the absolute value of the difference between the identification distances of any two surgical instruments is equal to or greater than 3 mm.

In some embodiments, the tracking device comprises a housing, a lining part and a buckle, wherein two first coil grooves which are not on the same horizontal plane are arranged on the lining part, an acute included angle between the two first coil grooves is 10-80 degrees, a first electromagnetic coil is arranged in each first coil groove, a first groove communicated with the two first coil grooves is further arranged on the lining part, a first winding post is arranged in the first groove, a first coil wire led out from the first electromagnetic coil is wound on the first winding post, the first coil wire is led out through a first wiring groove arranged on the lining part and a second wiring groove arranged on the housing, and the first coil wire is used for being connected with an interface unit; the upper end of the outer shell is open, an accommodating cavity is arranged in the outer shell and used for placing the lining part, a clamping groove is arranged in the outer shell and matched with a clamping jaw arranged on the lining part for use, so that the lining part is fixed on the outer shell; the lower end surface of the shell is provided with a connecting hole for connecting a surgical instrument, the connecting hole is used for being matched with a connecting part arranged on the surgical instrument for use, two first slide ways are symmetrically arranged on two side surfaces of the shell, two second slide ways are symmetrically arranged on two side surfaces of the shell, the first slide way is matched with the first slide block arranged on the inner wall of the buckle for use, the second slide way is matched with a second slide block arranged on the inner wall of the buckle for use, the buckle is sleeved on the shell and can slide back and forth relative to the shell, the shell is also provided with a limit boss to prevent the buckle from sliding out of the shell, the inner wall of the buckle is also symmetrically provided with two second grooves, the second groove is positioned below the first sliding block and the second sliding block and used for fixing surgical instruments.

In some embodiments, a push handle is further provided on the buckle.

In some embodiments, the second groove is used for cooperating with a positioning guide pillar disposed on a surgical instrument, when the buckle slides and the positioning guide pillar enters the second groove, the groove width of the second groove gradually decreases along the advancing direction of the positioning guide pillar, and the positioning guide pillar is clamped by the second groove to fix the surgical instrument and the tracking device together.

In some embodiments, the position reading device comprises a base and a base cover, the base and the base cover are connected together, two second coil grooves which are not in the same horizontal plane are arranged in the base, the included angle between the two second coil grooves is 10-80 degrees, a second electromagnetic coil is arranged in each second coil groove, a second winding column is further arranged in the base, a second coil wire led out from the second electromagnetic coil is wound on the second winding column and led out from a wire outlet hole arranged on the base, and the second coil wire is used for being connected with an interface unit; an identification groove is further arranged on the outer surface of the base and used for being matched with the front tip of a surgical instrument for use.

In some embodiments, the identification slot is located in a location area corresponding to an area between two second coil slots.

The beneficial effect of the scheme of the application lies in that the automatic identification method of the instrument used in cooperation with the electromagnetic navigation system uses the unified tracking device and the position reading device, and can distinguish and identify various surgical instruments by utilizing the difference of the geometric layout of the surgical instruments.

Drawings

FIG. 1 illustrates a schematic diagram of an automatic identification system of an instrument for use with an electromagnetic navigation system in an embodiment.

Fig. 2 shows a schematic structural diagram of a tracking apparatus in an embodiment.

Fig. 3 shows a schematic diagram of a partial explosion structure of the tracking device in an embodiment.

Fig. 4 shows a schematic structural diagram of the lining portion in the embodiment, in which (a) is a schematic structural diagram of one angle, and (b) is a schematic structural diagram of another angle.

Fig. 5 shows a schematic structural diagram of the housing in the embodiment, in which (a) is a schematic structural diagram at one angle, and (b) is a schematic structural diagram at another angle.

Fig. 6 shows a schematic structural diagram of the snap in the embodiment.

Fig. 7 shows a schematic configuration diagram of the position reading apparatus in the embodiment.

Fig. 8 shows a schematic structural diagram of a base in an embodiment, wherein (a) is a schematic structural diagram of one angle, and (b) is a schematic structural diagram of another angle.

Fig. 9 shows a schematic structural diagram of a base cover in an embodiment, in which (a) is a schematic structural diagram of one angle, and (b) is a schematic structural diagram of another angle.

FIG. 10 is a diagram illustrating the position reading apparatus used in conjunction with a surgical instrument according to an embodiment.

Fig. 11 shows a schematic view of a variety of surgical instruments.

Reference numerals: 101-magnetic field generator, 102-position reading device, 103-tracking device, 104-control unit, 105-interface unit, 106-electromagnetic navigation system, 107-surgical instrument, 108-connection part, 109-reading range, 1-housing, 2-lining part, 3-buckle, 11-connection hole, 12-first slide way, 13-limit boss, 14-second slide way, 15-card slot, 16-second wiring slot, 21-first coil slot, 22-first winding post, 23-card claw, 24-first wiring slot, 25-first electromagnetic coil, 26-first coil wire, 27-first groove, 31-second slider, 32-first slider, 33-second groove, 34-push handle, 4-base, 5-base cover, 41-identification groove, 42-first connecting hole, 43-second connecting hole, 44-second winding column, 45-connecting groove, 46-outlet hole, 47-second coil groove, 48-second electromagnetic coil, 51-third connecting hole, 52-fourth connecting hole and 53-connecting projection.

Detailed Description

The following further describes embodiments of the present application with reference to the drawings.

As shown in fig. 1, the automatic identification method of an instrument used with an electromagnetic navigation system according to the present application includes the following steps:

step 1, fixing atracking device 103 on a connectingpart 108 arranged at the tail end of asurgical instrument 107, wherein thetracking device 103 is used for being matched with anelectromagnetic navigation system 106 for use and reading position information of the tail end of thesurgical instrument 107.

And 2, placing theposition reading device 102 in the magnetic field range of themagnetic field generator 101, wherein themagnetic field generator 101 is connected to theelectromagnetic navigation system 106 through thecontrol unit 104, and theposition reading device 102 is used for being matched with theelectromagnetic navigation system 106 and reading the position information of the front tip of thesurgical instrument 107.

Step 3, enabling thesurgical instrument 107 to be located in thereading range 109 of theposition reading device 102, as shown in fig. 10, at this time, thetracking device 103 is located in the magnetic field range of themagnetic field generator 101, and reading the position information of the end of thesurgical instrument 107 through thetracking device 103; the front tip of thesurgical instrument 107 is used in cooperation with theposition reading device 102, and the front tip of thesurgical instrument 107 is stopped at a preset position in theposition reading device 102 for a preset time, for example, for 3 seconds, so that theposition reading device 102 reads the position information of the front tip of thesurgical instrument 107.

And 4, theposition reading device 102 and thetracking device 103 respectively transmit the read position information of thesurgical instrument 107 to thecontrol unit 104 through theinterface unit 105, and thecontrol unit 104 transmits the obtained position information to theelectromagnetic navigation system 106.

Step 5, theelectromagnetic navigation system 106 analyzes and processes the received data: matching the received data with pre-stored data in theelectromagnetic navigation system 106, wherein the pre-stored data includes a plurality of sets of data, one set of data corresponds to the distal end position information and the front tip position information of a surgical instrument, and outputting an error warning when the matching fails; when the matching is successful, an instrument icon corresponding to the surgical instrument is displayed in theelectromagnetic navigation system 106.

Specific surgical instruments are various in style, as shown in fig. 11, distances between front tips of the surgical instruments and a straight line connecting the connectingpart 108 for connecting thetracking device 103 are different, the straight line connecting distances are taken as identification distances, and in order to identify a plurality of surgical instruments, an absolute value of a difference between the identification distances of any two surgical instruments is required to be greater than or equal to 3mm, for example, the identification distance of a first surgical instrument is amm, and the identification distance of a second surgical instrument is bmm, i.e., i a-b i is required to be greater than or equal to 3mm, so that automatic identification of the two surgical instruments can be realized by the method of the present application.

In this embodiment, thetracking device 103 is configured as shown in fig. 2 to 6, and includes ahousing 1, aninner liner 2, and abuckle 3, wherein two first coil grooves 21 not on the same horizontal plane are disposed on theinner liner 2, the two first coil grooves 21 are disposed in a crossed manner, an acute included angle between the two first coil grooves is 10 ° to 80 °, a firstelectromagnetic coil 25 is disposed in each first coil groove 21, the firstelectromagnetic coil 25 can be fixed by medical glue, afirst groove 27 communicated with the two first coil grooves 21 is further disposed on theinner liner 2, a first windingpost 22 is disposed in thefirst groove 27, afirst coil wire 26 led out from the firstelectromagnetic coil 25 is wound on the first windingpost 22 for at least one turn, thefirst coil wire 26 is led out through afirst wire slot 24 disposed on theinner liner 2 and asecond wire slot 16 disposed on thehousing 1, thefirst coil wire 26 is used for connection with theinterface unit 105.

The upper end of theouter shell 1 is open, an accommodating cavity is arranged in theouter shell 1, the accommodating cavity is used for accommodating partial structures of thelining part 2, namely related structures such as a firstelectromagnetic coil 25, aclamping groove 15 is arranged in theouter shell 1, and theclamping groove 15 is matched with aclamping jaw 23 arranged on thelining part 2 for use so as to fix thelining part 2 on theouter shell 1; at the lower end face of thehousing 1, aconnection hole 11 for connecting asurgical instrument 107 is provided, theconnection hole 11 is used in cooperation with aconnection portion 108 provided on thesurgical instrument 107, and theconnection portion 108 is inserted into theconnection hole 11 in use.

Two first slide rails 12 are symmetrically arranged on two side surfaces of thehousing 1, twosecond slide rails 14 are symmetrically arranged on two side surfaces of thehousing 1, the first slide rails 12 are used in cooperation withfirst slide blocks 32 arranged on the inner wall of thebuckle 3, thesecond slide rails 14 are used in cooperation withsecond slide blocks 31 arranged on the inner wall of thebuckle 3, thebuckle 3 is sleeved on thehousing 1 and can slide back and forth relative to thehousing 1, alimiting boss 13 is further arranged on thehousing 1 to prevent thebuckle 3 from sliding out of thehousing 1, and in the embodiment, thelimiting boss 13 is used for limiting the sliding range of thesecond slide blocks 31; in order to facilitate the sliding of theclip 3 on thehousing 1, apush handle 34 is further provided on theclip 3. Twosecond grooves 33 are also symmetrically arranged on the inner wall of thebuckle 3, and thesecond grooves 33 are positioned below thefirst slide block 32 and thesecond slide block 31 and are used for fixing thesurgical instrument 107. In this embodiment, thesecond groove 33 is used to cooperate with a positioning guide pillar disposed on thesurgical instrument 107, thebuckle 3 is slid to make the positioning guide pillar enter thesecond groove 33, the groove width of thesecond groove 33 gradually decreases until the positioning guide pillar is clamped by thesecond groove 33, and thesurgical instrument 107 and the tracking device are fixed together.

In this embodiment, the structure of theposition reading apparatus 102 is as follows, as shown in fig. 7-9, and includes abase 4 and abase cover 5, where thebase 4 and thebase cover 5 are connected together, in this embodiment, aconnection groove 45 is provided on thebase 4, aconnection protrusion 53 used in cooperation with theconnection groove 45 is provided on thebase cover 5, theconnection protrusion 53 and theconnection groove 45 are connected by medical adhesive, and thebase 4 and thebase cover 5 are further connected together.

Twosecond coil grooves 47 which are not on the same horizontal plane are arranged in thebase 4, an included angle between the twosecond coil grooves 47 is 10-80 degrees, a secondelectromagnetic coil 48 is installed in eachsecond coil groove 47, the secondelectromagnetic coil 48 can be fixed by medical glue, asecond winding column 44 is further arranged in thebase 4, a second coil wire led out from the secondelectromagnetic coil 48 is wound on thesecond winding column 44 and led out from awire outlet 46 arranged on thebase 4, and the second coil wire is used for being connected with theinterface unit 105.

Thebase 4 is provided with base connection holes for connecting surgical instruments, in this embodiment, thebase 4 is provided with two base connection holes for connecting surgical instruments, which are respectively marked as afirst connection hole 42 and asecond connection hole 43, the corresponding position of thebase cover 5 is provided with base cover connection holes used in cooperation with the base connection holes, in this embodiment, thebase cover 5 is provided with athird connection hole 51 and afourth connection hole 52, and when thebase 4 and thebase cover 5 are connected together, each base connection hole and each base cover connection hole are in one-to-one correspondence for connecting surgical instruments. With such a configuration, theposition reading device 102 can be used independently, and the position information of the surgical instrument can be read by directly connecting the surgical instrument having a known function to theposition reading device 102 and then connecting theposition reading device 102 to the electromagnetic navigation system.

Anidentification slot 41 is also provided on the outer surface of thebase 4, theidentification slot 41 being adapted to cooperate with the front tip of a surgical instrument, in this embodiment theidentification slot 41 is located in an area corresponding to the area between twosecond coil slots 47. In use, the front tip of thesurgical instrument 107 is abutted against theidentification slot 41 for a preset time, and theposition reading device 102 reads the front tip position information of thesurgical instrument 107.

The automatic identification method of the instrument matched with the electromagnetic navigation system uses the unified tracking device and the position reading device, can distinguish and identify various surgical instruments by utilizing the difference of the geometric layout of the surgical instruments, and has the advantages of strong universality of the tracking device and the position reading device and high identification speed of the surgical instruments.

Claims

1. An automatic identification method of an instrument used in cooperation with an electromagnetic navigation system is characterized in that: the method comprises the following steps:

step 1, fixing a tracking device on a connecting part arranged at the tail end of a surgical instrument, wherein the tracking device is used for being matched with an electromagnetic navigation system and reading position information of the tail end of the surgical instrument; the tracking device comprises a shell, an inner lining part and a buckle, wherein two first coil grooves which are not on the same horizontal plane are arranged on the inner lining part, an acute angle included angle between the two first coil grooves is 10-80 degrees, a first electromagnetic coil is arranged in each first coil groove, a first groove communicated with the two first coil grooves is further formed in the inner lining part, a first winding column is arranged in the first groove, a first coil wire led out from the first electromagnetic coil is wound on the first winding column, the first coil wire is led out through a first wiring groove formed in the inner lining part and a second wiring groove formed in the shell, and the first coil wire is used for being connected with an interface unit; the upper end of the outer shell is open, an accommodating cavity is arranged in the outer shell and used for placing the lining part, a clamping groove is arranged in the outer shell and matched with a clamping jaw arranged on the lining part for use, so that the lining part is fixed on the outer shell; the lower end surface of the shell is provided with a connecting hole for connecting a surgical instrument, the connecting hole is used for being matched with a connecting part arranged on the surgical instrument for use, two first slide ways are symmetrically arranged on two side surfaces of the shell, two second slide ways are symmetrically arranged on two side surfaces of the shell, the first slide way is matched with the first slide block arranged on the inner wall of the buckle for use, the second slide way is matched with a second slide block arranged on the inner wall of the buckle for use, the buckle is sleeved on the shell and can slide back and forth relative to the shell, the shell is also provided with a limit boss to prevent the buckle from sliding out of the shell, the inner wall of the buckle is also symmetrically provided with two second grooves, the second groove is positioned below the first sliding block and the second sliding block and is used for fixing surgical instruments;

step 2, placing a position reading device in the magnetic field range of a magnetic field generator, wherein the magnetic field generator is connected to the electromagnetic navigation system through a control unit, and the position reading device is used for being matched with the electromagnetic navigation system and reading the position information of the front tip of the surgical instrument; the position reading device comprises a base and a base cover, wherein the base is connected with the base cover, two second coil grooves which are not on the same horizontal plane are arranged in the base, an included angle between the two second coil grooves is 10-80 degrees, a second electromagnetic coil is arranged in each second coil groove, a second winding column is further arranged in the base, a second coil wire led out from the second electromagnetic coil is wound on the second winding column and led out from a wire outlet hole formed in the base, and the second coil wire is used for being connected with an interface unit; the outer surface of the base is also provided with an identification groove which is used for being matched with the front tip of a surgical instrument for use;

step 3, enabling the surgical instrument to be in the reading range of the position reading device, and reading the position information of the tail end of the surgical instrument through the tracking device when the tracking device is in the magnetic field range of the magnetic field generator; the front tip of the surgical instrument is matched with the position reading device for use, and the front tip of the surgical instrument is stopped at a preset position in the position reading device for a preset time, so that the position reading device reads the position information of the front tip of the surgical instrument;

and 5, analyzing and processing the received data by the electromagnetic navigation system: matching the received data with pre-stored data in an electromagnetic navigation system, wherein the pre-stored data comprises a plurality of groups of data, one group of data corresponds to the tail end position information and the front tip end position information of one surgical instrument, and when the matching fails, outputting an error warning; when the matching is successful, displaying an instrument icon corresponding to the surgical instrument in the electromagnetic navigation system;

2. The method of claim 1, wherein the method further comprises: and recording the distance of a straight line connecting the front tip of each surgical instrument and a connecting part for connecting the tracking device as an identification distance, wherein the absolute value of the difference of the identification distances of any two surgical instruments is more than or equal to 3 mm.

3. The method of claim 1, wherein the method further comprises: a push handle is also arranged on the buckle.

4. The method of automatic identification of an instrument for use with an electromagnetic navigation system according to claim 1 or 3, characterized in that: the second groove is used for being matched with a positioning guide pillar arranged on a surgical instrument for use, when the buckle slides, the positioning guide pillar enters the second groove, the groove width of the second groove gradually decreases along the advancing direction of the positioning guide pillar, and the positioning guide pillar is clamped through the second groove so as to fix the surgical instrument and the tracking device together.

5. The method of claim 1, wherein the method further comprises: the location area where the identification slot is located corresponds to the area between two second coil slots.