Please select the most similar patent number from A, B, C and D. Which number is?
A TMS positioning navigation method used for transcranial magnetic stimulation treatment, mainly comprising the following steps: first, acquiring RGBD image data of the face of the patient to obtain stable RGBD image data and 3D point cloud image data; using a face detection algorithm on the RGBD images of the face of the patient to obtain patient facial feature point information; performing spatial positioning on the face of the patient to obtain 3D coordinate values of the patient facial feature points in a spatial coordinate system of the camera; constructing a model of the head of the patient, matching the spatial pose of the model of the head of the patient with the actual spatial pose of the head of the patient to determine the actual spatial pose of the stimulation points of the patient, and planning a movement path for a mechanical arm in order to complete first positioning; finally, storing the data of the spatial pose of the magnetic stimulation points of the head of the patient and the data of the movement path plan of the mechanical arm in the first positioning; at the next treatment, one-click positioning can be implemented by just invoking the data stored during the first positioning.
A: A navigation and positioning system and method for a joint replacement surgery robot. The system comprises: a preoperative planning module (1), configured to perform segmentation and reconstruction of a hip joint according to obtained medical image data of the hip joint to obtain a hip joint three-dimensional model, perform preoperative planning, and determine a surgical scheme; an optical navigation and positioning module (2), configured to generate a navigation instruction according to the surgical scheme, register the hip joint three-dimensional model according to a spatial position relationship between the hip joint of a patient and a surgical probe to obtain a hip joint solid model, and determine a skeletal surgical position of the patient according to the hip joint solid model; and a mechanical arm control module (3), configured to move an end effector to the skeletal surgical position of the patient, and control the end effector to perform osteotomy, rasping and press-fit operations on the hip joint according to the navigation instruction. An orthopedic surgery robot performs preoperative planning, and completes surgical operation at a high level, thereby greatly reducing the operating intensity of a physician, saving surgical time, and improving operating precision.
B: The present invention relates to a design idea of a radioactive seed implanting template and a manufacturing method thereof. The manufacturing method comprises the following steps: (1) collecting image data about tumor portions of patients by using a scanning system; (2) a curing plan system reading the image data obtained in step (1) and drawing up a radioactive seed implanting plan according to the image data, to obtain picture data comprising locations, quantity and directions of needle passages and seed distribution information; (3) an image control system and a template design system processing the picture data on the basis of the picture data comprising locations, quantity and directions of needle passages and seed distribution information in step (2), and performing design to obtain a template digital model having patient facial morphology information, and locations, quantity and direction distribution information of needle passages; and (4) a template forming system forming a physical object by using the template digital model in step (3) as the template, to obtain a physical radioactive seed implanting template after preparation. The template of the present invention is accurate and stable in positioning, and basically eliminates the setup errors.
C: A magnetic resonance navigation device for driving a magnetic stimulator coil to automatically adjust the position, comprising an image workstation (1). The image workstation (1) is connected to a spatial positioning sensor (3), a mechanical arm controller (6) and a physiological signal detection device (9) respectively. The mechanical arm controller (6) is connected to a mechanical arm (5). An end joint of the mechanical arm (5) is connected to a transcranial stimulation coil (2) and a second tracker (7) respectively. The transcranial stimulation coil (2) is connected to a transcranial magnetic stimulator. The spatial positioning sensor (3) is connected to a probe tracker (8). The probe tracker (8) is connected to a first tracker (4). The first tracker (4) is connected to an external marker point (10). This magnetic resonance navigation device enables precise navigation of the RTMS magnetic stimulation probe, visual displaying of the magnetic stimulation position and precise control of the stimulation position, thereby improving the treatment efficiency and reducing side effects.
D: An intracerebral hematoma puncture guiding instrument capable of precise positioning, which is adapted to different head sizes by means of adjusting the relative distance between a single fork slider (5) and threaded screw holes (6) on a double fork base (4), achieving a reliable fixed connection between a guiding instrument and the head of a patient by means of a tip portion of a bone nail (7) directly bearing against a bone layer of the head; the spatial position of a puncture point and a positioning point may be adjusted by means of a combination of the vertical and horizontal translational movement of a cross-shaped sliding block assembly (9) in a spatial positioning apparatus (2) and the rotational movement of a spherical hinge assembly, thereby ensuring that the positioning point and puncture point cover all surgical areas for intracerebral hematoma puncturing; the structural constraint by which the positioning point and the puncture point are collinear is maintained by means of the coaxial coplanar relationship of a catheter seat assembly (11) and a positioning seat assembly (12), and a puncture path is ensured, by means of a guiding function of a catheter seat (14), to extend on a line connecting the positioning point and the puncture point so as to ensure the accuracy of an operation.
Answer: C