CN107402373A - Domain type locating module - Google Patents
Domain type locating module Download PDFInfo
- Publication number
- CN107402373A CN107402373A CN201610333296.8A CN201610333296A CN107402373A CN 107402373 A CN107402373 A CN 107402373A CN 201610333296 A CN201610333296 A CN 201610333296A CN 107402373 A CN107402373 A CN 107402373A
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- signal
- positioning
- frequency signal
- locating module
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Surgical Instruments (AREA)
Abstract
The present invention discloses a kind of domain type locating module, including a positioning signal transmitting and receiving unit, with a reception antenna array, one first bandpass filter, one low-noise amplifier, one second bandpass filter, one frequency mixer, one power divider, one power amplifier and a transmitting antenna array, a wherein modulation frequency signal launches the FM signal after the amplification to a positioning mark via after the power amplifier amplified signal by the transmitting antenna array, the positioning tag splice receives a positioning mark frequency signal of FM signal back reflection wave mode identical with the FM signal, after the reception antenna array obtains the positioning mark frequency signal, pass through first bandpass filter, the low-noise amplifier, second bandpass filter and the power divider are to reduce noise.The present invention can effectively filter out out-of-band interference signal and noise, be calculated with more accurately doing distance.
Description
Technical field
The present invention is received and dispatched positioning signal using communication on a kind of domain type locating module, particularly one kind
Unit launches modulation frequency and reflects a difference on the frequency of the modulation frequency with positioning mark, calculate the positioning signal Transmit-Receive Unit and
The positioning target distance, and noise jamming can effectively be reduced with Transmit-Receive Unit of the present invention, surgical navigational is carried out with profit
Operation.
Background technology
With the increase of this aging population ratio, along with modern life characteristic influences, such as fat, sitting, its vertebra produces
Sick control with changed scale increases year by year；After pregnancies with conservative treatment failure, generally require to assist vertebra to mitigate pain by implant
And maintain basic function.
In the prior art, as U.S. Patent number US 8435171 discloses a kind of automatic design aids and applies the operation between patient
Interface, it helps mechanical arm position using wireless location technology detecting operating theater instruments with introscope, and then by following the trail of surgical device
Tool position reaches human-computer interface control function to be remotely controlled the introscope visual field.
In addition, connect as TaiWan, China patent No. TW I235523 disclose using the implanted of multi-direction reception signal power supply
Receive antenna and multidirectional electric signal or electric power input is provided, exempt or reduce the limitation of single direction input, reduce the dead of input
Angle, make implanted component at every moment can normal work, and when simultaneously using multigroup implanted component, and do not have to consideration side
To sex chromosome mosaicism, make all implanted components all can normal work, allow the operator to simpler operation.
However, it is above-mentioned in the prior art, have no further to disclose how for patient bone and medical image to carry out space
Coordinate Conversion and surgical navigational application.
The content of the invention
It is an object of the present invention to provide a kind of domain type locating module for vertebra, and it is received and dispatched by Frequency Adjustable positioning signal
Unit launches FM signal to planting in the positioning mark on each vertebra section of vertebra, after positioning mark reflects FM signal, by hair
Penetrate with the difference on the frequency of FM signal during reception to calculate the distance and complete coordinate setting, wherein the positioning signal Transmit-Receive Unit
To launch more than 24G modulation frequency signals, the positioning mark is reflected after the modulation frequency signal to the positioning Transmit-Receive Unit, and by
First bandpass filter, a low-noise amplifier, one second bandpass filter signal transacting, can be effectively filtered out out-of-band whereby
Interference signal and noise, calculated with more accurately doing distance.
Domain type locating module provided by the invention includes a positioning signal transmitting and receiving unit, including：
One positioning signal transmitting and receiving unit, has a reception antenna array, one first bandpass filter, a low-noise amplifier, one
Second bandpass filter, a frequency mixer, a power divider, a power amplifier and a transmitting antenna array, the wherein frequency modulation
Frequency signal is launched via after the power amplifier amplified signal by the transmitting antenna array；
Multiple positioning marks, after receiving the modulation frequency signal, reflection and the positioning mark frequency of modulation frequency signal identical one
Signal is to the positioning signal Transmit-Receive Unit；
After wherein the reception antenna array obtains the positioning mark frequency signal, put by first bandpass filter, the low noise
Big device, second bandpass filter and the power divider are to filter out out-of-band interference signal and noise.
Wherein the plurality of positioning mark is respectively arranged on a vertebra section of a vertebra.
Wherein also include an operating theater instruments, after receiving the modulation frequency signal, one apparatus frequency signal of passback extremely should
Positioning signal Transmit-Receive Unit, wherein the apparatus frequency signal and the modulation frequency signal are same waveform.
Wherein also include a processing unit, according to the signal difference of the positioning mark frequency signal and the modulation frequency signal, with
One algorithm calculates the positioning subject distance between the plurality of positioning mark and the positioning signal Transmit-Receive Unit, and according to the positioning subject distance
A vertebral space coordinate is calculated, according to the signal difference of the apparatus frequency signal and the modulation frequency signal, is calculated with the algorithm
The operating theater instruments and an apparatus distance of the positioning signal Transmit-Receive Unit, and an instrument spatial is calculated according to the apparatus distance and sat
Mark, a surgical navigational operation is carried out according to the vertebral space coordinate and the instrument spatial coordinate.
The wherein algorithm is frequency modulation continuous wave location algorithm, and this is fixed according to received by the same time for the processing unit
The signal difference of position mark frequency signal and the modulation frequency signal calculates the positioning subject distance, and the processing unit same time is according to this
The signal difference of apparatus frequency signal and the modulation frequency signal calculates the apparatus distance.
Wherein the plurality of positioning mark also includes an identifier, and the operating theater instruments also includes an instrument identification and accorded with, positioning letter
After number Transmit-Receive Unit is to receive the identifier and instrument identification symbol, the identifier is defined into corresponding by the processing unit
Instrument identification symbol is defined into the corresponding instrument spatial coordinate by the vertebral space coordinate, the processing unit.
Wherein the processing unit calculates the vertebral space coordinate, the processing according to the positioning subject distance with triangulation location
Unit calculates the instrument spatial coordinate according to the apparatus with triangulation location.
Wherein the positioning signal Transmit-Receive Unit is at least two positioning signal Transmit-Receive Units, and it is respectively arranged at vertebra week
Edge, the two positioning mark frequency signal of the processing unit according to received by the two positioning signals Transmit-Receive Unit calculate corresponding
The two positioning subject distance, then the vertebral space coordinate is calculated with triangulation location.
Wherein the positioning signal Transmit-Receive Unit is at least two positioning signal Transmit-Receive Units, and it is respectively arranged at the operating theater instruments
Periphery, the two apparatuses frequency signal of the processing unit according to received by the two positioning signals Transmit-Receive Unit calculate corresponding
The two apparatuses distance, then the vertebral space coordinate is calculated with triangulation location.
Wherein the swept frequency range of the positioning signal Transmit-Receive Unit is 24GHz-24.4GHz.
Brief description of the drawings
Figure 1A is the schematic diagram of surgical navigational operation.
Figure 1B is the schematic diagram of the domain type locating module of the present invention.
Fig. 2 is the block diagram that the present invention is applied to surgical navigational operation.
Fig. 3 A and Fig. 3 B are the modulation frequency signal schematic representation of the present invention.
Fig. 4 is the image schematic diagram that the present invention is applied to surgical navigational operation.
Fig. 5 is the positioning mark antenna schematic diagram that the present invention is applied to surgical navigational operation.
Fig. 6 is the operating theater instruments antenna schematic diagram that the present invention is applied to surgical navigational operation.
In figure：
10 locating modules；
11 vertebras；
12 positioning marks；
12A, 12B antenna；
12A1,12B1 positioning mark frequency signal；
13A, 13B antenna；
13A1,13B1 apparatus frequency signal；
121 positioning mark frequency signals；
121A identifiers；
13 operating theater instruments；
131 apparatus frequency signals；
131A instrument identifications accord with；
14 positioning signal Transmit-Receive Units；
140 modulation frequency signals；
141 reception antenna arrays；
142 first bandpass filters；
1421 second bandpass filters；
143 low-noise amplifiers；
144 frequency mixers；
145 power dividers；
146 power amplifiers；
147 transmitting antenna arrays；
148 video and graphic arrays；
L1, L11 position subject distance；
L2, L21 apparatus distance；
20 processing units；
30 surgical operation images；
31 vertebra images；
311 vertebral space coordinates；
32 operating theater instruments images；
321 instrument spatial coordinates；
D1, D2 signal difference；
The T1 times；
S1, S2 angle.
Embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, so that those skilled in the art can be with
It is better understood from the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
Figure 1A to Fig. 4 is referred to, Figure 1A is the schematic diagram of surgical navigational operation, and Figure 1B is the domain type positioning mould of the present invention
The schematic diagram of block, Fig. 2 present invention are applied to the block diagram of surgical navigational operation, and Fig. 3 A and Fig. 3 B are the surgical navigational of the present invention
The modulation frequency signal schematic representation of operation, Fig. 4 are the image schematic diagram that the present invention is applied to surgical navigational operation.First, in ridge
After vertebra operation consent first shoots vertebra CT (Computed tomography) image, then shoot and be implanted in supraspinal
Two image laminations are then surgical operation images 30, therefore surgical operation images 30 can wrap by the C-arm images of the described positioning mark 12 of invention
Vertebra image 31 and operating theater instruments image 32 are included, domain type locating module of the present invention is then imported again and is led with carrying out operation
Boat operation, and domain type locating module of the present invention, including：Locating module 10, locating module 10 include：Positioning signal Transmit-Receive Unit
14, to launch modulation frequency signal 140 to the plurality of positioning mark 12 and operating theater instruments 13.
Referring next to Figure 1B, positioning signal Transmit-Receive Unit 14 has a reception antenna array 141, the first bandpass filter
142nd, the second bandpass filter 1421, low-noise amplifier 143, frequency mixer 144, power divider 145, power amplifier 146,
Transmitting antenna array 147 and video and graphic array 148, believe wherein a modulation frequency signal amplifies via the power amplifier 146
The FM signal after the amplification is launched to directly in the positioning of vertebra 11 mark 12, the positioning by the transmitting antenna array 147 after number
Tag splice receives a positioning mark frequency signal 121 of FM signal back reflection wave mode identical with the FM signal, passes through reception antenna
After array 141 obtains positioning mark frequency signal, put by the first bandpass filter 142, the second bandpass filter 1421, low noise
Big device 143 and power divider 145 are to filter out out-of-band interference signal and noise.
For further, the FM signal swept frequency range that positioning signal Transmit-Receive Unit 14 is launched for 24GHz-
24.4GHz, FM signal will can separate the echo-signal of environment clutter and object, reduce environmental disturbances.
Multiple positioning marks 12, are respectively arranged on a vertebra section of vertebra 11, and each positioning marks 12 to receive frequency modulation frequency
After rate signal 140, passback positioning mark frequency signal 121 to the positioning signal Transmit-Receive Unit 14, the positioning signal Transmit-Receive Unit 14
Positioning mark frequency signal 121 is received, wherein the positioning mark frequency signal 121 and the modulation frequency signal 140 are same waveform, more
Specifically, there is antenna in the plurality of positioning mark 12, by the signal reflex after antenna receives modulation frequency signal 140
The positioning signal Transmit-Receive Unit 14 is returned, therefore it is same waveform to position mark frequency signal 121 with the modulation frequency signal 140.
In addition, operating theater instruments 13, after receiving the modulation frequency signal 140, returns the apparatus frequency signal 131 to this
Positioning signal Transmit-Receive Unit 14, the instruments frequency signal 131 of positioning signal Transmit-Receive Unit 14, wherein the apparatus frequency signal
131 and the modulation frequency signal 140 are same waveform, more specifically, have antenna in the operating theater instruments 13, when the antenna connects
Receive and the positioning signal Transmit-Receive Unit 14 returned into the signal reflex after modulation frequency signal 140, thus apparatus frequency signal 131 with
The modulation frequency signal 140 is same waveform.
Processing unit 20, the positioning signal Transmit-Receive Unit 14 is electrically connected with, according to positioning mark frequency signal 121 and the frequency modulation
The signal difference D1 of frequency signal 140, the positioning between the plurality of positioning mark 12 and the positioning signal Transmit-Receive Unit 14 is calculated with algorithm
Subject distance L1, the wherein algorithm are frequency modulation continuous wave (Frequency modulated continuous waveform;
FMCW) location algorithm, the processing unit 20 position mark frequency signal 121 and the modulation frequency according to received by same time T1
Signal difference D1 between signal 140 calculates vertebral space to calculate positioning subject distance L1 according to positioning subject distance L1
Coordinate 311.
In above-mentioned, specifically, because transmission speed is fast, the time difference is minimum, therefore the present invention takes same time T1 conducts to take
Sample.
In an embodiment, the positioning signal Transmit-Receive Unit 14 is at least two positioning signal Transmit-Receive Units 14, and it sets respectively
It is placed in the periphery of vertebra 11, the two positioning mark frequency of the processing unit 20 according to received by two positioning signal Transmit-Receive Units 14
Signal 121 calculates corresponding two positioning subject distance L1, L11, then calculates the vertebral space coordinate with triangulation location
311。
In addition, signal difference D2 of the processing unit 20 according to apparatus frequency signal 131 and the modulation frequency signal 140, with frequency
Rate modulation continuous wave location algorithm calculates the apparatus distance L2 of the operating theater instruments 13 and the positioning signal Transmit-Receive Unit 14, according to simultaneously
Instrument spatial coordinate 321 is calculated according to apparatus distance L2.
In an embodiment, the positioning signal Transmit-Receive Unit 14 is at least two positioning signal Transmit-Receive Units 14, and it sets respectively
It is placed in the periphery of operating theater instruments 13, two apparatus frequency of the processing unit 20 according to received by two positioning signal Transmit-Receive Units 14
Rate signal 131 calculates corresponding two apparatuses distance L2, L21, then calculates the vertebral space coordinate with triangulation location
321。
Further, Fig. 4 is refer to, the plurality of positioning mark 12 also includes identifier 131A, and the operating theater instruments 13 also includes
Instrument identification accords with 121A, after the positioning signal Transmit-Receive Unit 14 is to receive identifier 121A and instrument identification symbol 131A,
Identifier 121A is defined into the corresponding vertebral space coordinate 311 by the processing unit 20, and the processing unit 20 is by the device
Tool identifier 131A is defined into the corresponding instrument spatial coordinate 321, is just accorded with by identifier 121A and the instrument identification
131A can confirm whether corresponding positioning mark 12 and operating theater instruments 13 are correct.
Further illustrate, referring to Fig. 5, each positioning mark 12 still further comprises at least two antenna 12A, 12B, it is received
After the modulation frequency signal 140, two positioning mark frequency signal 12A1, the 12B1 is returned to the positioning signal Transmit-Receive Unit 14, should
Processing unit 20 calculates two antennas 12A, the 12B by the two positioning mark frequency signal 12A1,12B1 and positioning signal is received and dispatched
The distance of unit 14, calculates the implantation vertebra of positioning mark 12 and angle that an acquiescence is performed a surgical operation between guidance path with this
S1, to confirm that it is whether identical with acquiescence guidance path of performing a surgical operation that vertebra is planted in positioning mark implantation.
In addition, referring to Fig. 6, the operating theater instruments 13 still further comprises at least two apparatus antenna 13A, 13B, it is received should
After modulation frequency signal 140, two apparatuses frequency signal 13A1, the 13B1 is returned to the positioning signal Transmit-Receive Unit 14, the processing
Unit 20 calculates apparatus two antenna 13A, the 13B by the two apparatuses frequency signal 13A1,13B1 and positioning signal receives and dispatches list
The distance of member 14, the operating theater instruments is calculated with this and gives tacit consent to the angle S2 between guidance path of performing a surgical operation, to confirm the hand
Whether the operation of art apparatus is identical with acquiescence guidance path of performing a surgical operation.
As described above, using the present invention, preoperative planning information can be first imported before operation on vertebra, then according to the vertebral space
Coordinate, the instrument spatial coordinate and positioning mark and the data such as operating theater instruments angle carry out surgical navigational operation.
The present invention realizes more vertebra section location tracking navigated surgery techniques using wireless location technology, is determined by frequency modulation type radio frequency
Position technology adds identifier discriminating function, and positioning day wire tag is set in vertebra section, and positioning day wire tag is set by independent trails
Vertebra section rather than calculate that whole vertebras are considered as rigid body by mode using numerical value, and then lift medical image registration precision and speed
(acceleration convergence algorithm), and the present invention can possess enough bandwidth of operation to cover FMCW swept frequency ranges (24GHz -24.4GHz),
Strengthen indoor positioning precision and reach mm level errors, lift surgery implant injection security and precision, it is of the invention in addition
Switching modulation scheme is added, the echo-signal of environment clutter and object will can be separated on frequency spectrum, reduces environmental disturbances, together
When this navigation system be applied to meropodium operation on vertebra (vertebra lateral bending correction, more piece spinal fracture), make to apply art not by large-scale infrared
Line witch ball telltale mark apparatus limits.
Image guided surgery of the present invention has more third dimension, more focuses except that can provide surgeon when instrumentation
Outside data and accurate image information, more it can completely plan pre-operative step and preview, reach real-time imaging in operation and guide
With affected area develop, and it is postoperative assessment intern teaching with research use, and at present first be directed to using operation on vertebra as
Clinical practice direction, improve existing operation on vertebra navigation system direct-view property masking problem, human body electromagnetic absorption rate influences fixed in addition
Position precision, breaks through internal positioning tracking technology bottleneck, following according to this indoor positioning technologies, towards NOTES perform the operation application or
Abdominal operation application, positioning function is produced for the focus of sufferer, shortens operating time, also reduces the possibility of operation risk.
The present invention can effectively lift doctor and perform operation on vertebra security and apply art quality, while reduce penetration in operation
Medical image usage amount simultaneously mitigates the free radiation absorbed dose of medical personnel；Other medical image airmanship is following intelligent operation
Accessory system essential core basis, it is following further combined with surgery mechanical arm and high focusing penetrability therapeutic equipment (HIFU, gal
Agate knife, proton therapeutic) high precisely treatment can be achieved, patient's postoperative complications are reduced with influenceing.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
Enclose not limited to this.The equivalent substitute or conversion that those skilled in the art are made on the basis of the present invention, in the present invention
Protection domain within.Protection scope of the present invention is defined by claims.
Claims (10)
- A kind of 1. domain type locating module, it is characterised in that including：One positioning signal transmitting and receiving unit, has a reception antenna array, one first bandpass filter, a low-noise amplifier, one Second bandpass filter, a frequency mixer, a power divider, a power amplifier and a transmitting antenna array, the wherein frequency modulation Frequency signal is launched via after the power amplifier amplified signal by the transmitting antenna array；Multiple positioning marks, after receiving the modulation frequency signal, reflection and the positioning mark frequency of modulation frequency signal identical one Signal is to the positioning signal Transmit-Receive Unit；After wherein the reception antenna array obtains the positioning mark frequency signal, put by first bandpass filter, the low noise Big device, second bandpass filter and the power divider are to filter out out-of-band interference signal and noise.
- 2. domain type locating module according to claim 1, it is characterised in that wherein the plurality of positioning mark is respectively arranged at On one vertebra section of one vertebra.
- 3. domain type locating module according to claim 1, it is characterised in that wherein also include an operating theater instruments, to After receiving the modulation frequency signal, one apparatus frequency signal of passback to the positioning signal Transmit-Receive Unit, wherein the apparatus frequency are believed Number with the modulation frequency signal be same waveform.
- 4. domain type locating module according to claim 1, it is characterised in that wherein also include a processing unit, according to The signal difference of the positioning mark frequency signal and the modulation frequency signal, the plurality of positioning mark and the positioning signal are calculated with an algorithm A positioning subject distance between Transmit-Receive Unit, and a vertebral space coordinate is calculated according to the positioning subject distance, according to apparatus frequency The signal difference of rate signal and the modulation frequency signal, one that the operating theater instruments and the positioning signal Transmit-Receive Unit are calculated with the algorithm Apparatus distance, and an instrument spatial coordinate is calculated according to the apparatus distance, according to the vertebral space coordinate and the instrument spatial Coordinate carries out a surgical navigational operation.
- 5. domain type locating module according to claim 4, it is characterised in that wherein the algorithm is frequency modulation continuous wave Location algorithm, the signal of the processing unit positioning mark frequency signal and the modulation frequency signal according to received by the same time Difference calculates the positioning subject distance, and the processing unit same time is according to the apparatus frequency signal and the signal of the modulation frequency signal Difference calculates the apparatus distance.
- 6. domain type locating module according to claim 4, it is characterised in that wherein the plurality of positioning mark also includes a mark Know symbol, the operating theater instruments also includes an instrument identification and accorded with, and the positioning signal Transmit-Receive Unit is receiving the identifier and the apparatus After identifier, the identifier is defined into the corresponding vertebral space coordinate by the processing unit, and the processing unit is by the apparatus Identifier is defined into the corresponding instrument spatial coordinate.
- 7. domain type locating module according to claim 4, it is characterised in that wherein the processing unit is according to the positioning mark Distance calculates the vertebral space coordinate with triangulation location, and the processing unit calculates this according to the apparatus with triangulation location Instrument spatial coordinate.
- 8. domain type locating module according to claim 4, it is characterised in that wherein the positioning signal Transmit-Receive Unit is extremely Few two positioning signal Transmit-Receive Units, it is respectively arranged at the vertebra periphery, and the processing unit is received and dispatched single according to two positioning signal The two positioning mark frequency signal received by member calculates the corresponding two positioning subject distance, then is calculated with triangulation location The vertebral space coordinate.
- 9. domain type locating module according to claim 4, it is characterised in that wherein the positioning signal Transmit-Receive Unit is extremely Few two positioning signal Transmit-Receive Units, it is respectively arranged at the operating theater instruments periphery, and the processing unit is received according to two positioning signal The two apparatuses frequency signal received by bill member calculates the corresponding two apparatuses distance, then is calculated with triangulation location The vertebral space coordinate.
- 10. domain type locating module according to claim 1, it is characterised in that the wherein positioning signal Transmit-Receive Unit Swept frequency range is 24GHz-24.4GHz.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610333296.8A CN107402373A (en) | 2016-05-19 | 2016-05-19 | Domain type locating module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610333296.8A CN107402373A (en) | 2016-05-19 | 2016-05-19 | Domain type locating module |
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| CN107402373A true CN107402373A (en) | 2017-11-28 |
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| CN201610333296.8A Pending CN107402373A (en) | 2016-05-19 | 2016-05-19 | Domain type locating module |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108154778A (en) * | 2017-12-28 | 2018-06-12 | 深圳科创广泰技术有限公司 | Based on motion-captured and mixed reality ophthalmologic operation training system and method |
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