CN106667555B - Medical sacral nerve puncture positioning and guiding system - Google Patents
Medical sacral nerve puncture positioning and guiding system Download PDFInfo
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- CN106667555B CN106667555B CN201710030099.3A CN201710030099A CN106667555B CN 106667555 B CN106667555 B CN 106667555B CN 201710030099 A CN201710030099 A CN 201710030099A CN 106667555 B CN106667555 B CN 106667555B
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- 210000005036 nerve Anatomy 0.000 title claims abstract description 27
- 230000000007 visual effect Effects 0.000 claims description 14
- 238000002591 computed tomography Methods 0.000 claims description 7
- 210000003484 anatomy Anatomy 0.000 claims description 4
- 210000001981 hip bone Anatomy 0.000 claims description 4
- 210000004003 subcutaneous fat Anatomy 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 239000003086 colorant Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 10
- 238000005516 engineering process Methods 0.000 description 6
- 210000000988 bone and bone Anatomy 0.000 description 3
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- 230000004064 dysfunction Effects 0.000 description 3
- 230000027939 micturition Effects 0.000 description 3
- 208000008589 Obesity Diseases 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 210000001035 gastrointestinal tract Anatomy 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000004007 neuromodulation Effects 0.000 description 2
- 235000020824 obesity Nutrition 0.000 description 2
- 230000008733 trauma Effects 0.000 description 2
- 206010010774 Constipation Diseases 0.000 description 1
- 208000034347 Faecal incontinence Diseases 0.000 description 1
- 206010071289 Lower urinary tract symptoms Diseases 0.000 description 1
- 206010046543 Urinary incontinence Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
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- 210000001635 urinary tract Anatomy 0.000 description 1
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- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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Abstract
The invention relates to a medical sacral nerve puncture positioning and guiding system, which solves the technical problem that in the existing sacral nerve adjustment operation process, the main experience of an operator is still relied on during sacral nerve puncture, and puncture is difficult to complete after one or more times of test. The medical sacral nerve puncture positioning and guiding system comprises an open main frame, wherein a computer host, a first display screen and a keyboard which are connected with the computer host are arranged on the open main frame; one side of the open main frame is connected with an arc-shaped frame, an arc-shaped inner ring of the arc-shaped frame faces downwards, and the arc-shaped inner ring is provided with a slideway; the slide way is provided with a first projection and collection box and a second projection and collection box in a sliding manner; the two projection and collection boxes are internally provided with a miniature projector, an image collector and a beam collecting light source; the cluster light sources of the two projection and collection boxes are directed to the circle center of the circle where the cambered surface is positioned and are not parallel to each other; the open main frame is also provided with a second display screen connected with the computer host at one side provided with the arc frame.
Description
Technical Field
The invention relates to a medical sacral nerve puncture positioning and guiding system, in particular to a medical sacral nerve puncture positioning and guiding system by means of 3D preoperative planning and body surface cross projection positioning technology.
Background
When the nervous system is diseased or damaged, various lower urinary tract symptoms (such as urgent urination, frequent urination, urinary incontinence, difficult urination) and/or intestinal tract dysfunction (such as fecal incontinence, constipation) can occur, and the life quality and the physical health of a patient are seriously affected. Sacral neuromodulation (sacral neuromodulation, SNM) has been increasingly used in clinical applications in recent years as an effective treatment for various refractory lower urinary tract dysfunction and intestinal tract dysfunction after failure of conservative treatment.
The first step of the operation method for sacral nerve regulation is to install a test electrode, wherein the 3 rd sacral nerve foramen puncture is a key link, and the blind puncture positioning is difficult because the surface characteristics of the foramen are not obvious, so that the possibility of repeated test and even final failure exists completely according to the personal clinical experience of an operator; in addition, although the X-ray or B-ultrasonic guidance in operation is partially assisted, although the bone anatomical mark is clearer, the bone anatomical mark cannot directly and accurately mark the skin puncture point and the puncture path, radioactivity exists, while the bone anatomical mark is not easy to identify, and the technical difficulty of directly and accurately marking the skin puncture point and the puncture path is high, so that the two technologies still cannot avoid the situation of repeated puncture test, even when the anatomical features of the body surface of a puncture area caused by obesity of a patient are not obvious, or the puncture hole position variation caused by trauma is overlarge, the puncture difficulty is greatly increased, and even the puncture fails. The above difficulties limit the application and popularization of sacral nerve regulation, so that the patients still suffer from diseases and cannot enjoy the curative effect brought by the technology. Therefore, the technical problem is effectively solved, and the urgent need of realizing safe, efficient and accurate puncture is solved.
Disclosure of Invention
The invention provides a medical sacral nerve puncture positioning and guiding system for assisting in puncture, which aims to solve the technical problems that in the current sacral nerve regulation operation process, the sacral nerve puncture is mainly dependent on subjective experience of an operator or depends on X-ray and B-ultrasonic, puncture is completed by one to multiple times of test, even the anatomical features of the body surface of a puncture area are not obvious due to obesity of a patient, or puncture hole position variation is too large due to trauma, and smooth puncture is difficult.
The invention is realized by adopting the following technical scheme: the medical sacral nerve puncture positioning and guiding system comprises an open main frame, wherein a computer host, a first display screen and a key mouse are arranged on the open main frame; one side of the open main frame is connected with an arc-shaped frame, an arc-shaped inner ring of the arc-shaped frame faces downwards, and the arc-shaped inner ring is provided with a slideway; the slide way is provided with a first projection and collection box and a second projection and collection box in a sliding manner; the two projection and collection boxes are internally provided with a miniature projector, an image collector and a beam collecting light source; the cluster light sources of the two projection and collection boxes are directed to the circle center of the circle where the cambered surface is positioned and are not parallel to each other; the two projection and collection boxes are driven by a stepping motor controlled by a computer host to slide on the arc-shaped frame, and a second display screen connected with the computer host is also arranged on one side of the open main frame provided with the arc-shaped frame;
acquiring a pre-operation acquired patient prone position CT scanning image and puncture needle length parameters by a computer host, and under the support of corresponding software, performing three-dimensional reconstruction on key anatomical structures such as hip bones, sacrum, coccyx, subcutaneous fat, skin and the like on the CT scanning image to acquire a corresponding human body structure 3D reconstruction graph;
the computer host combines the 3D reconstruction graph of the human body structure and the input puncture needle length parameters under the support of corresponding software to synthesize the 3D reconstruction graph with the virtual puncture needle, and generates two plane images to be projected under corresponding visual angles according to the actual space positions of the two projections and the acquisition box; the plane to-be-projected image corresponding to the first projection and collection box simulates the skin projection of the 3D reconstruction graph of the human body structure under the view angle of the first projection and collection box, and shadow Sa formed on the skin after the bundling light source arranged on the first projection and collection box irradiates the puncture needle; the front end of the shadow Sa is a Pa point, the tail end is a Pa1 point, and the middle part is provided with a Pa2 point; the plane to-be-projected image corresponding to the second projection and collection box simulates the skin projection of the 3D reconstruction graph of the human body structure under the visual angle of the second projection and collection box, and shadow Sb formed on the skin after the cluster light source arranged on the second projection and collection box irradiates the puncture needle; the front end of the shadow Sb is a Pb point, the tail end is a Pb1 point, and the middle part is a Pb2 point; pa and Pb are respectively taken as needle point endpoints of two puncture needle shadows and are overlapped, pa1 and Pb1 are respectively needle tail endpoints of two puncture needle shadows before puncture, and Pa2 and Pb2 are respectively needle tail endpoints of two puncture needle shadows after puncture; the first projection and the second projection and the acquisition box which are at a certain angle are used for projecting the two plane images to be projected to the area to be projected, acquiring real projection images and inputting the real projection images into the computer host 3, and real-time synchronous adjustment of the positions of the first projection and the second projection and the acquisition box is carried out by taking the overlapping of the skin projection of the 3D reconstruction graph and Pa1 and Pb1 as the standard. Furthermore, after the computer host obtains the corresponding 3D reconstruction image of the human body structure, calibration needs to be performed first, and the calibration steps are as follows:
after inputting the relative positions of the two projection and collection boxes in the actual space and the position height to be projected to the computer host, the computer host uses the first projection and collection box to project a 3D reconstruction graph of the human body structure under the view angle of the first projection and collection box to the human skin of a real prone position on an operating table, collects an actual image, and completes the calibration of the first projection and collection box by taking the projection image and the contour of the real human skin as calibration standards; and then the computer host uses the second projection and acquisition box to project the 3D reconstruction graph of the human body structure under the visual angle of the second projection and acquisition box to the real prone human skin on the operating table, acquires the actual image, and completes the calibration of the second projection and acquisition box by taking the coincidence of the projection image and the contour of the real human skin as a calibration standard.
The working principle of the invention is as follows: a three-dimensional reconstruction image processing subsystem, a preoperative planning analysis subsystem, a virtual reality positioning projection subsystem and a database subsystem are arranged in the computer host;
when the invention is used, after a prone position CT scanning image of a patient is obtained before operation, a thin-layer DICOM file is imported into the system, and three-dimensional reconstruction of key anatomical structures such as hip bones, sacrum, coccyx, subcutaneous fat, skin and the like is carried out in a three-dimensional reconstruction image processing subsystem; observing and reading the obtained 3D reconstruction graph through the first display screen and the second display screen, carrying out preoperative planning on puncture positions, directions and depths in the preoperative planning and analysis subsystem based on the image, storing the images into the database subsystem, and outputting the images to the positioning guide interface; the position of the system is adjusted to be put (beside an operating table on the opposite side of an operator), the first projection and collection box on the arc-shaped frame are adjusted to be at a proper position, the first projection and collection box is generally positioned right above a target puncture hole, or after planning and adjustment before the operation, semitransparent hip, sacrum, coccyx and skin contours are projected to the body surface, a computer host is used for adjusting the projection position and scaling factor to enable the projection position and scaling factor to be basically matched with an actual body surface mark, a second projection and collection box is arranged between the first projection and collection box and the main frame and forms a certain angle with the first projection and collection box, the computer host is used for adjusting the projection position and scaling factor to enable the projection position and scaling factor to be basically matched with the actual body surface mark, and the computer host is used for automatically analyzing and finely adjusting projection images of the first projection and the second projection and the collection box at the same time to enable the projection images to be completely overlapped; after necessary parameters such as the length of the puncture needle are input, the projection and collection box is combined with the workstation to automatically analyze the set relative positions of the first projection and collection box and the body surface, the first projection and collection box and the second projection and collection box in the actual space, the virtual reality positioning projection subsystem intelligently calculates the body surface projections (shown in fig. 3, 4 and 5) of the puncture needle on the skin under the visual angles of the first projection and collection box, and then simultaneously projects puncture points Pa, pb and a puncture needle body surface projection line segment Sa to the body surface with a certain color （Pa-Pa1） ，Sb （Pb-Pb1） Parallel automatic calibration (Pa and Pb are overlapped to be regarded as projection calibration error-free), after calibration error-free, projecting the projection Pa of the needle tail body surface after the puncture is completed by another color 2 ，Pb 2 The method comprises the steps of carrying out a first treatment on the surface of the At this time, the operator holds the puncture needle, places the needle tip at the puncture point Pa (i.e., pb), adjusts the direction of the puncture needle until it isBody surface shadows and Sa （Pa-Pa1） ，Sb （Pb-Pb1） After the line segments are overlapped, the needle is punctured along the current direction, and the depth is projected to Pa by the body surface of the needle tail 2 ，Pb 2 Coincidence, in the process, and appropriately combined with experience of an operator, can feel the due breakthrough in the process and the falling sensation after the sacral foramen is punctured, and is considered successful, so that accurate positioning and guiding are completed.
All the hardware components are commercially available, and the software technology is also the prior art, so that the method is easy to realize. According to the description of the working process, a person skilled in the art can write corresponding software to realize that a 3D reconstructed graph with a virtual puncture needle and plane images to be projected under two visual angles are synthesized based on the 3D reconstructed graph, and the two plane images to be projected are projected under different angles.
The invention has the beneficial effects that:
1. according to prone position CT data of a patient to be punctured, three-dimensional reconstruction is performed and pre-operation puncture planning is performed, so that the method is visual and quantitative, has obvious individuation characteristics, and can accurately analyze, judge and virtually preview a puncture scheme;
2. the application of the body surface cross projection positioning technology in the operation ensures that the space position of the puncture needle is visual, accurate and clear to display no matter before puncture or in the whole puncture process, and can be compared at any time, thereby improving the puncture success rate;
3. the application of the body surface cross projection positioning technology in the operation is simple to operate and easy to master, the popularization and the popularization of the technology are easy, and the complex puncture difficulty of the sacrum part condition can be reduced.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a schematic diagram of the functional structure of the present invention.
Fig. 3 is a schematic view (top view) of the present invention in a body surface projection.
Fig. 4 is an enlarged schematic view of the structure of fig. 3 a.
Fig. 5 is a schematic view (side view) of the body surface projection of the present invention.
Fig. 6 is a schematic diagram of a left-view structure of a medical sacral nerve puncture positioning and guiding system according to the present invention.
Fig. 7 is a schematic top view of a medical sacral nerve puncture positioning and guiding system according to the present invention.
Fig. 8 is a schematic view of a rear view structure (working state) of the medical sacral nerve puncture positioning guidance system according to the present invention.
Fig. 9 is a schematic view of a rear view structure (in an expanded state) of a medical sacral nerve puncture positioning guide system according to the present invention.
1-a braked universal wheel; 2-an open main frame; 3-a host computer; 4-mouse bonding; 5-a first display screen; 6-a first horizontal axis; 7-a display screen connecting rod; 8-a second horizontal axis; 9-a vertical slideway; 10-extending arms; 11-a second display screen; 12-inverse "L" axis; 13-an arc-shaped stand; 14-arc-shaped frames; 15-a first projection and acquisition box; 16-a second projection and acquisition box; 17-an operating bed; 18-sacrum, 19-puncture needle.
Detailed Description
The medical sacral nerve puncture positioning and guiding system comprises an open main frame 2, wherein a computer host 3, a first display screen 5 and a key mouse 4 (wireless key mouse can be selected) which are connected with the computer host 3 are arranged on the open main frame 2; one side of the open main frame 2 is connected with an arc-shaped frame 14, the inner arc-shaped ring of the arc-shaped frame 14 faces downwards, and the inner arc-shaped ring is provided with a slideway; the slide way is provided with a first projection and collection box 15 and a second projection and collection box 16 in a sliding manner; the two projection and collection boxes are internally provided with a miniature projector, an image collector and a beam collecting light source; the cluster light sources of the two projection and collection boxes are directed to the circle center of the circle where the cambered surface is positioned and are not parallel to each other; the two projection and collection boxes are driven by a stepping motor controlled by the computer host 3 to slide on the arc-shaped frame 14, and the open main frame 2 is also provided with a second display screen 11 connected with the computer host 3 at one side provided with the arc-shaped frame 14;
the computer host 3 acquires a pre-operation acquired patient prone position CT scanning image and puncture needle length parameters, and under the support of corresponding software, performs three-dimensional reconstruction of key anatomical structures such as hip bones, sacrum, coccyx, subcutaneous fat, skin and the like on the CT scanning image to acquire a corresponding human body structure 3D reconstruction graph;
at this time, calibration needs to be performed first, and the calibration steps are as follows: after inputting the relative positions of the two projection and collection boxes in the actual space and the position height to be projected to the computer host 3, the computer host 3 uses the first projection and collection box 15 to project the 3D reconstruction graph of the human body structure under the view angle of the first projection and collection box 15 to the human skin of a real prone position on the operating table 17, collects the actual image, takes the projection image and the contour of the real human skin as a calibration standard, and completes the calibration of the first projection and collection box 15; then, the computer host 3 uses the second projection and collection box 16 to project the 3D reconstruction pattern of the human body structure under the view angle of the second projection and collection box 16 to the real prone human skin on the operating table 17, collects the actual image, and completes the calibration of the second projection and collection box 16 by taking the projection image and the contour of the real human skin as calibration standards.
After calibration is completed, the computer host 3 combines the 3D reconstruction graph of the human body structure and the input puncture needle length parameters under the support of corresponding software to synthesize the 3D reconstruction graph with the virtual puncture needle, and generates two plane images to be projected under corresponding visual angles according to the actual space positions of the two projection and acquisition boxes 15 and 16; the planar to-be-projected image corresponding to the first projection and collection box 15 simulates the skin projection of the 3D reconstruction graph of the human body structure under the view angle of the first projection and collection box 15, and the shadow Sa formed on the skin after the cluster light source arranged on the first projection and collection box 15 irradiates the puncture needle; the front end of the shadow Sa is a Pa point, the tail end is a Pa1 point, and the middle part is provided with a Pa2 point; the plane to-be-projected image corresponding to the second projection and collection box 16 simulates the skin projection of the 3D reconstruction graph of the human body structure under the visual angle, and the shadow Sb formed on the skin after the cluster light source arranged on the second projection and collection box 16 irradiates the puncture needle; the front end of the shadow Sb is a Pb point, the tail end is a Pb1 point, and the middle part is a Pb2 point; pa and Pb are respectively taken as needle point endpoints of two puncture needle shadows and are overlapped, pa1 and Pb1 are respectively needle tail endpoints of two puncture needle shadows before puncture, and Pa2 and Pb2 are respectively needle tail endpoints of two puncture needle shadows after puncture; the first and second projection and collection boxes 15 and 16 with a certain angle are used for projecting the two plane images to be projected to the area to be projected, collecting the real projection images and inputting the real projection images into the computer host 3, and real-time synchronous adjustment of the positions of the first and second projection and collection boxes 15 and 16 is carried out by taking the overlapping of the skin projection of the 3D reconstructed graph and Pa1 and Pb1 as the standard.
The first and second projection and collection boxes 15 and 16 with a certain angle are used for projecting the two plane images to be projected to the area to be projected, and can avoid the shielding of the hands of an operator during projection.
The shadows Sa and Sb and Pa, pa1, pa2, pb1, pb2 are displayed and projected with different colors.
The first display screen 5 and the second display screen 11 can display the 3D reconstruction graph of the human body structure, the 3D graph of the puncture needle at two different positions and two plane images to be projected under the corresponding visual angles of the two projection and acquisition boxes 15 and 16 in the whole course.
The open main frame 2 comprises a base, a vertical plate vertically arranged on one side close to the base and a top platform arranged on the top of the vertical plate; the computer host 3 is arranged on the base, and the first display screen 5 and the keyboard 4 are arranged on the top platform; a vertical slideway 9 is arranged on the vertical plate, an extension arm 10 extending in the horizontal direction is arranged on the vertical slideway 9 in a sliding way, one end of the extension arm 10 is connected to the vertical slideway 9 in a sliding way, and the arc-shaped frame 14 is arranged at the other end of the extension arm 10 and is positioned at the opposite side of the open main frame 2; the vertical surface of the arc-shaped frame 14 is perpendicular to the vertical surface of the extension arm 10; the extension arm 10 is also driven by a corresponding stepping motor to realize up-and-down sliding, and the stepping motor is also controlled by the computer host 3; the second display 11 is mounted on the opposite side of the middle of the extension arm 10 from the open main frame 2.
The arc-shaped frame (generally horizontal position) and the extension arm (generally offset the head side, and the head side and the horizontal surface are about 80 degrees so as to avoid the connection line between the X-ray and the sacrum target hole in the operation or adjust according to the preoperation planning.
The extension arm 10 is connected with an inverse L-shaped shaft 12, and the inverse L-shaped shaft 12 is connected with an arc-shaped frame seat 13; the arc-shaped frame 14 is arranged on the arc-shaped frame base 13. The arc-shaped frame 13 can rotate around the reverse L-shaped shaft 12, as shown in fig. 8, which is a schematic structural view of the present invention in the working state, and in fig. 9, the arc-shaped frame rotates around the reverse L-shaped shaft 12 to be in the unfolded state.
The bottom of the open main frame 2 is provided with a braked universal wheel 1. The first display screen 5 is made on the top platform through a display screen connecting rod 7, the first display screen is connected with the display screen connecting rod 7 through a first horizontal shaft 6, and the display screen connecting rod 7 is connected with the top platform through a second horizontal shaft 8.
Claims (7)
1. The medical sacral nerve puncture positioning and guiding system comprises an open main frame (2), wherein a computer host (3), a first display screen (5) and a key mouse (4) are arranged on the open main frame (2), and the first display screen is connected with the computer host (3); the device is characterized in that one side of the open main frame (2) is connected with an arc-shaped frame (14), the inner arc-shaped ring of the arc-shaped frame (14) faces downwards, and the inner arc-shaped ring is provided with a slideway; a first projection and collection box (15) and a second projection and collection box (16) are arranged on the slide rail in a sliding manner; the two projection and collection boxes are internally provided with a miniature projector, an image collector and a beam collecting light source; the cluster light sources of the two projection and collection boxes are directed to the circle center of the circle where the cambered surface is positioned and are not parallel to each other; the two projection and collection boxes are driven by a stepping motor controlled by a computer host (3) to slide on an arc-shaped frame (14), and a second display screen (11) connected with the computer host (3) is further arranged on one side of the arc-shaped frame (14) of the open main frame (2);
the computer host (3) acquires a pre-operation acquired patient prone position CT scanning image and puncture needle length parameters, and under the support of corresponding software, performs three-dimensional reconstruction of key anatomical structures of hip bones, sacrum, coccyx, subcutaneous fat and skin on the CT scanning image to acquire a corresponding human body structure 3D reconstruction graph;
the computer host (3) combines the 3D reconstruction graph of the human body structure and the input puncture needle length parameters under the support of corresponding software to synthesize the 3D reconstruction graph with the virtual puncture needle, and generates two plane images to be projected under corresponding visual angles according to the actual space positions of the two projection and acquisition boxes (15 and 16); the plane to-be-projected image corresponding to the first projection and collection box (15) simulates skin projection of a 3D reconstruction graph of the human body structure under the view angle of the first projection and collection box (15), and shadow Sa formed on the skin after a cluster light source arranged on the first projection and collection box (15) irradiates a puncture needle; the front end of the shadow Sa is a Pa point, the tail end is a Pa1 point, and the middle part is provided with a Pa2 point; the plane to-be-projected image corresponding to the second projection and collection box (16) simulates the skin projection of the 3D reconstruction graph of the human body structure under the visual angle of the second projection and collection box (16), and the shadow Sb formed on the skin after the cluster light source arranged on the second projection and collection box (16) irradiates the puncture needle; the front end of the shadow Sb is a Pb point, the tail end is a Pb1 point, and the middle part is a Pb2 point; pa and Pb are respectively taken as needle point endpoints of two puncture needle shadows and are overlapped, pa1 and Pb1 are respectively needle tail endpoints of two puncture needle shadows before puncture, and Pa2 and Pb2 are respectively needle tail endpoints of two puncture needle shadows after puncture; the first projection and collection boxes (15, 16) with a certain angle are used for projecting the two plane images to be projected to the area to be projected, collecting the real projection images and inputting the real projection images into the computer host (3), and real-time synchronous adjustment of the positions of the first projection and collection boxes (15, 16) is carried out by taking the overlapping of the skin projection of the 3D reconstructed images and Pa1 and Pb1 as the standard.
2. The medical sacral nerve puncture positioning and guiding system according to claim 1, wherein after the computer host (3) obtains the corresponding 3D reconstruction pattern of the human body structure, calibration is required, and the calibration steps are as follows:
after inputting the relative positions of the two projection and collection boxes in the actual space and the position height to be projected to the computer host (3), the computer host (3) uses the first projection and collection box (15) to project a 3D reconstruction graph of the human body structure under the view angle of the first projection and collection box (15) to the skin of a human body in a true prone position on an operation table (17), collects an actual image, and completes the calibration of the first projection and collection box (15) by taking the coincidence of the projection image and the contour of the true skin of the human body as a calibration standard; and then the computer host (3) uses the second projection and collection box (16) to project the 3D reconstruction graph of the human body structure under the visual angle of the second projection and collection box (16) to the real prone human skin on the operating table (17), collects the actual image, and completes the calibration of the second projection and collection box (16) by taking the projection image and the contour of the real human skin as calibration standards.
3. A medical sacral nerve puncture positioning guide system according to claim 1 or 2, wherein the shadows Sa and Sb and Pa, pa1, pa2, pb1, pb2 are each displayed and projected with different colors.
4. A medical sacral nerve puncture positioning and guiding system according to claim 1 or 2, characterized in that the first and second display screens (5, 11) can display the 3D reconstruction graph of the human body structure and the 3D graph of the puncture needle at two different positions in the whole course, and two plane images to be projected under the corresponding visual angles of the two projection and acquisition boxes (15, 16).
5. A medical sacral nerve puncture positioning and guiding system according to claim 1 or 2, characterized in that the open main frame (2) comprises a base, a vertical plate vertically installed at one side close to the base and a top platform installed at the top of the vertical plate; the computer host (3) is arranged on the base, and the first display screen (5) and the keyboard and mouse (4) are arranged on the top platform; the vertical plate is provided with a vertical slideway (9), an extension arm (10) extending in the horizontal direction is arranged on the vertical slideway (9) in a sliding manner, one end of the extension arm (10) is connected to the vertical slideway (9) in a sliding manner, and the arc-shaped frame (14) is arranged at the other end of the extension arm (10) and is positioned at one side opposite to the open main frame (2); the vertical surface of the arc-shaped frame (14) is vertical to the vertical surface of the extension arm (10); the extension arm (10) is driven by a corresponding stepping motor to realize up-and-down sliding, and the stepping motor is also controlled by the computer host (3); the second display screen (11) is arranged at the opposite side of the middle part of the extension arm (10) to the open main frame (2).
6. A medical sacral nerve puncture positioning and guiding system according to claim 5, characterized in that the extension arm (10) is connected with an inverse "L" shaped shaft (12), and the inverse "L" shaped shaft (12) is connected with an arc-shaped stand (13); the arc-shaped frame (14) is arranged on the arc-shaped frame base (13).
7. A medical sacral nerve puncture positioning and guiding system according to claim 6, characterized in that the bottom of the open main frame (2) is provided with a braked universal wheel (1).
Priority Applications (1)
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| CN108742792A (en) * | 2018-06-01 | 2018-11-06 | 苏州介观智造新材料有限公司 | It is a kind of that the device and method of puncture angle is adjusted based on epidermis projection |
| CN108937992B (en) * | 2018-08-06 | 2020-10-23 | 清华大学 | In-situ visualization system for X-ray perspective imaging and calibration method thereof |
| CN112603500A (en) * | 2020-12-29 | 2021-04-06 | 南京中医药大学 | Auxiliary system and method for precise sacral foramen needling/puncturing |
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