CN102579061A - Positioning method realized by aid of C-shaped arm and guiding system - Google Patents
Positioning method realized by aid of C-shaped arm and guiding system Download PDFInfo
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- CN102579061A CN102579061A CN2011100096848A CN201110009684A CN102579061A CN 102579061 A CN102579061 A CN 102579061A CN 2011100096848 A CN2011100096848 A CN 2011100096848A CN 201110009684 A CN201110009684 A CN 201110009684A CN 102579061 A CN102579061 A CN 102579061A
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Abstract
The invention relates to a positioning method realized by the aid of a C-shaped arm and a guiding system. The positioning method includes following steps: providing the C-shaped arm with an image corrector; obtaining a coordinate conversion relational expression; obtaining a relative space relational expression; moving the C-shaped arm; shooting for the first time; marking a point to be shot; and shooting for the second time. By the aid of the coordinate conversion relational expression and the relative space relational expression, shooting is carried out for the first time after space relation is calculated and positioning is realized, then the interested point to be shot is marked, shooting is carried out for the second time, a wound part can be adjusted to a shooting position only by twice shootings, so that shooting frequency can be reduced, and the quantity of radiation exposed under X rays is reduced.
Description
Technical field
The present invention relates to a kind of surgical operation images localization method, particularly relate to a kind of by the localization method that combines C type arm and guidance system.
Background technology
In traditional bone surgery; The decision sufferer is the maximum main cause of range of activity backward; The degree of accuracy that often depends on the nail putting position, however the relative position between skeleton is three-dimensional the distribution, and the hard and lighttight characteristic of skeleton is different from skin and flesh; Make that the doctor can't watch the orientation of learning skeleton with naked eyes in the operation process; Therefore in the existing bone surgery, all need to shine with behind the image picture of obtaining many skeletons via X-ray earlier, the doctor relends by the image picture and further determines the position that operation pathway or nail are put.
C type arm is a kind of of X-ray image documentation equipment, and it has the characteristics of high maneuverability, and enough can in operation process, bring in constant renewal in image, is the X-ray image documentation equipment that the most generally uses at present.Yet in the operation process; The doctor only by feat of clinical experience with planning operation pathway or nail position; Have the insufficient doubt of precision, therefore need by the continuous filmed image picture of C type arm, to guarantee the degree of accuracy of operating theater instruments or nail putting position; Adding in the C type arm shooting process needs constantly fine setting obtaining preferable image picture, so the X-ray image picture of tens of the needs shootings of often causing once performing the operation.Yet, when taking X-ray image picture in a large number, can make human body be exposed under the radiation of flood tide, not only can cause direct injury to sufferer, also make medical personnel's long term exposure easily under X-ray, and cause serious sequela.
Therefore, the chance how effectively number of times of minimizing shooting X-ray image picture, and reduction sufferer or medical personnel are exposed under a large amount of radiation is present urgent problem really.
This shows that above-mentioned existing surgical operation images localization method obviously still has inconvenience and defective, and demands urgently further improving in method and use.In order to solve the problem of above-mentioned existence; Relevant manufacturer there's no one who doesn't or isn't seeks solution painstakingly; But do not see always that for a long time suitable design is developed completion, and conventional method does not have appropriate method to address the above problem, this obviously is the problem that the anxious desire of relevant dealer solves.Therefore how to found a kind of new combination C type arm and the localization method of guidance system, real one of the current important research and development problem that belongs to, also becoming the current industry utmost point needs improved target.
Because the defective that above-mentioned existing surgical operation images localization method exists; The inventor is based on being engaged in this type of product design manufacturing abundant for many years practical experience and Professional knowledge; And cooperate the utilization of studying the science, actively study innovation, in the hope of founding a kind of new combination C type arm and the localization method of guidance system; Can improve general existing surgical operation images localization method, make it have more practicality.Through constantly research, design, and, found out the present invention of true tool practical value finally through after studying sample and improvement repeatedly.
Summary of the invention
Main purpose of the present invention is; Overcome the defective that existing surgical operation images localization method exists; And a kind of new combination C type arm and the localization method of guidance system, technical problem to be solved are provided is to make it pass through combining of localizer and guidance system, and cooperates the conversion of a plurality of coordinate systems; To obtain the relative tertiary location between adjustment of image device and subject matter on the C type arm; Make to combine the C type arm of guidance system to have positioning function accurately, and can promptly obtain the image picture that institute's desire is taken point, be very suitable for practicality by twice shooting.
Another object of the present invention is to; A kind of new combination C type arm and the localization method of guidance system are provided; Technical problem to be solved is to make it by combining guidance system and C type arm to be used; With the number of times of taking in the minimizing operation process, and then reduce sufferer or medical personnel's radiation exposed amount, thereby be suitable for practicality more.
The object of the invention and solve its technical problem and adopt following technical scheme to realize.Its that proposes according to the present invention may further comprise the steps: the C type arm with an adjustment of image device is provided, and wherein this adjustment of image device includes a correcting plane and one first localizer; Obtain a coordinate transformation relation formula, it is by a central point that measures this correcting plane and the distance of this first localizer, to obtain this coordinate transformation relation formula between this central point and this first localizer; Obtain a relative space relation formula, obtain this relative space relation formula between one second localizer on this first localizer and the subject matter by this guidance system; Move this C type arm, through calculating this coordinate transformation relation formula and this relative space relation formula obtaining the relative tertiary location of this central point and this second localizer, and move this C type arm and make this adjustment of image device be right against the anchor point of this second localizer; Carry out the first time and take, its anchor point to this second localizer is taken, and wherein this central point is corresponding to the image center in the captured video picture zone of this C type arm; Indicate a desire and take point, at this video picture zone subscript this desire is shown and takes point; And carry out the second time and take, it is by the position of moving this C type arm and then adjusting this video picture zone, makes this desire take point and moves to this image center and take.
The object of the invention and solve its technical problem and also can adopt following technical measures further to realize.
The localization method of aforesaid combination C type arm and guidance system, wherein said this adjustment of image device comprises a circular slab again, and by a plurality of supports this correcting plane and this circular slab is laterally arranged, this first localizer then is attached on the above-mentioned support.
The localization method of aforesaid combination C type arm and guidance system, wherein said this first localizer and this second localizer are the localizer that has the localizer of reflection subassembly or have light source.
The localization method of aforesaid combination C type arm and guidance system, the wherein said image center that should take for the first time is corresponding to the anchor point of this second localizer.
The localization method of aforesaid combination C type arm and guidance system is wherein saidly obtained one first coordinate system that this coordinate transformation relation formula comprises the following steps: to obtain this first localizer; Obtain one second coordinate system of this correcting plane; And according to this first coordinate system and this second coordinate system, to define this coordinate transformation relation formula.
The localization method of aforesaid combination C type arm and guidance system is wherein saidly obtained one first coordinate system that this relative space relation formula comprises the following steps: to obtain this first localizer; Obtain a system of 3 axes of this second localizer; And try to achieve this relative space relation formula according to this first coordinate system and this system of 3 axes, it calculates in the hope of this relative space relation formula by this guidance system this first coordinate system of location and this system of 3 axes again.
The localization method of aforesaid combination C type arm and guidance system, wherein said mobile this C type arm is by this C type arm of manual control.
The localization method of aforesaid combination C type arm and guidance system, wherein said mobile this C type arm is by handling this C type arm automatically
The present invention compared with prior art has tangible advantage and beneficial effect.Know by above; For achieving the above object; The invention provides the localization method of a kind of C of combination type arm and guidance system, it comprises the following steps: to provide the C type arm with an adjustment of image device, and wherein the adjustment of image device includes a correcting plane and one first localizer; Obtain a coordinate transformation relation formula, it is by a central point that measures correcting plane and the distance of first localizer, to obtain the coordinate transformation relation formula between the central point and first localizer; Obtain a relative space relation formula, obtain the relative space relation formula between one second localizer on first localizer and the subject matter by guidance system; Move C type arm, obtaining the relative tertiary location of the central point and second localizer, and mobile C type arm makes the adjustment of image device be right against the anchor point of second localizer through coordinates computed conversion relational expression and relative space relation formula; Carry out the first time and take, it is to take to the anchor point of second localizer, and wherein central point is the image center corresponding to the captured video picture zone of C type arm; Indicate a desire and take point, subscript illustrates desire and takes point in the video picture zone; And carry out the second time and take, it is by the position of moving C type arm and then adjustment video picture zone, makes desire take point and moves to image center and take.
By technique scheme, the present invention combines the localization method of C type arm and guidance system to have advantage and beneficial effect at least:
1, combines the C type arm of guidance system to have accurate localized function, can in twice shooting, promptly obtain the image picture that desire is taken point.
2,, can promote the accuracy of image capture, and then reduce the radiation amount that number of times and human body absorbed of taking by the enforcement of this localization method.
In sum, the present invention includes the following step: the arm of the C type with adjustment of image device is provided; Obtain the coordinate transformation relation formula; Obtain the relative space relation formula; Move C type arm; Carrying out the first time takes; Indicate desire and take point; And carry out the second time and take.Localization method of the present invention is by coordinate transformation relation formula and relative space relation formula; After calculating its spatial relationship and location, carry out the shooting first time; Continuing indicates after interested desire takes point, carries out secondary again and takes, and therefore only needs twice shooting can the injury be adjusted to and takes the location; Can reduce the shooting number of times whereby, and then reduce the radiation amount under the X-ray that is exposed to.The present invention has apparent progress technically, has tangible good effect, really is a novelty, progress, practical new design.
Above-mentioned explanation only is the general introduction of technical scheme of the present invention; Understand technological means of the present invention in order can more to know; And can implement according to the content of description, and for let above and other objects of the present invention, feature and advantage can be more obviously understandable, below special act preferred embodiment; And conjunction with figs., specify as follows.
Description of drawings
Fig. 1 is a kind of localization method flow chart that combines C type arm and guidance system of the embodiment of the invention.
Fig. 2 combines C type arm and a kind of C of the combination type arm of the localization method embodiment of guidance system and the sketch map of guidance system for the present invention.
Fig. 3 combines a kind of sketch map of adjustment of image device of the localization method embodiment of C type arm and guidance system for the present invention.
Fig. 4 combines a kind of flow chart of obtaining the coordinate transformation relation formula of the localization method embodiment of C type arm and guidance system for the present invention.
Fig. 5 combines a kind of flow chart of obtaining the relative space relation formula of the localization method embodiment of C type arm and guidance system for the present invention.
Fig. 6 combines the regional sketch map of a kind of video picture of the localization method embodiment of C type arm and guidance system for the present invention.
10:C type arm 11: receiving terminal
12: transmitting terminal 20: guidance system
30: adjustment of image device 31: correcting plane
31a: 32: the first localizers of central point
33: circular slab 34: support
35: anchor clamps 40: subject matter
41: the second localizer 41a: anchor point
50: video picture zone 51: image center
52: desire is taken some F1: first coordinate system
F2: the second coordinate system F3: system of 3 axes
The specific embodiment
Reach technological means and the effect that predetermined goal of the invention is taked for further setting forth the present invention; Below in conjunction with accompanying drawing and preferred embodiment; To the combination C type arm and its specific embodiment of localization method, method, step, characteristic and the effect thereof of guidance system that proposes according to the present invention, specify as after.
Fig. 1 is a kind of localization method flow chart that combines C type arm and guidance system of the embodiment of the invention.Fig. 2 is a kind of sketch map that combines C type arm 10 and guidance system 20 of the embodiment of the invention.Fig. 3 is the sketch map of a kind of adjustment of image device 30 of the embodiment of the invention.Fig. 4 is a kind of flow chart of obtaining the coordinate transformation relation formula of the embodiment of the invention.Fig. 5 is a kind of flow chart of obtaining the relative space relation formula of the embodiment of the invention.Fig. 6 is the sketch map in a kind of video picture zone 50 of the embodiment of the invention.
See also shown in Figure 1ly, present embodiment is a kind of localization method that combines C type arm 10 and guidance system 20, and it comprises the following steps: to provide the C type arm (S10) with an adjustment of image device; Obtain a coordinate transformation relation formula (S20); Obtain a relative space relation formula (S30); Move C type arm (S40); Carry out taking the first time (S50); Indicate a desire and take point (S60); And carry out taking the second time (S70).
C type arm (S10) with an adjustment of image device is provided: see also shown in Figure 2; The deformation of image that adjustment of image device 30 is produced in the time of can taking in order to the auxiliary C of correction type arm 10; Therefore adjustment of image device 30 is installed in receiving terminal 11 places of C type arm 10; Transmitting terminal 12 corresponding to C type arm 10 then is placed with a subject matter 40, and subject matter 40 is the injury of sufferer in the present embodiment.
See also shown in Figure 3; Adjustment of image device 30 includes a correcting plane 31, one first localizer 32, a circular slab 33 and a plurality of support 34; Wherein all stud with a plurality of steel balls (figure does not show) on correcting plane 31 and the circular slab 33 with aid mark as the correcting image distortion; And first localizer 32 is the localizer that has the localizer of reflection subassembly or have light source; Guidance system 20 can and receive by the light of the reflection subassembly of first localizer 32 reflection through emission light to the first localizer 32, again or receive the light that first localizer, 32 light sources are launched, and to learn the relative position of first localizer 32 in the space exactly.
Moreover; Adjustment of image device 30 is through receiving terminal 11 places (please simultaneously consult Fig. 2) of anchor clamps 35 to be located in C type arm 10; And circular slab 33 and correcting plane 31 are laterally arranged by a plurality of supports 34; First localizer 32 then is attached on the support 34, and therefore first localizer 32 is arranged at the side of adjustment of image device 30.
Obtain a coordinate transformation relation formula (S20): like Fig. 2 and shown in Figure 3; Because adjustment of image device 30 is a rigid structure; So the relative distance of the correcting plane 31 and first localizer 32 is fixed; Therefore can be by a central point 31a who measures correcting plane 31 and the distance of first localizer 32, to obtain the coordinate transformation relation formula of 32 of the central point 31a and first localizers.
See also shown in Figure 4ly, further detail, obtain one first coordinate system (S21) that the coordinate transformation relation formula comprises the following steps: to obtain first localizer; Obtain one second coordinate system (S22) of correcting plane; And definition coordinate transformation relation formula (S23).
Obtain one first coordinate system (S21) of first localizer: as shown in Figure 2, be to be main body and to define one first coordinate system F1 with first localizer 32.
Obtain one second coordinate system (S22) of correcting plane: be main body with correcting plane 31 again and define one second coordinate system F2.
Definition coordinate transformation relation formula (S23): by measuring the distance of first localizer 32 with the central point 31a of correcting plane 31; Again according to the relative coordinate between the first coordinate system F1 and the second coordinate system F2; And then define coordinate transformation relation formula F2=T1.F1, wherein T1 is a coordinate conversion matrix.
With Fig. 2 is example, supposes to know that through measuring the coordinate figure of central point 31a in the first coordinate system F1 of correcting plane 31 is (253,255; 150), then pass through the conversion of coordinate transformation relation formula after, can calculate and learn that the coordinate figure of central point 31a on the second coordinate system F2 is (100; 50; 50), therefore can pass through the coordinate transformation relation formula, any point is represented its coordinate figure with the first coordinate system F1 or the second coordinate system F2 in the transformed space easily.
Obtain a relative space relation formula (S30): please consult Fig. 2 simultaneously; Medical personnel can be installed in one second localizer 41 on the subject matter 40 earlier before taking; Be the injury of sufferer in the present embodiment, wherein second localizer 41 is similarly localizer with reflection subassembly or the localizer with light source.Then, relend by guidance system 20 and obtain first localizer 32 and the relative position of second localizer 41 in the space, and through calculating to obtain the relative space relation formula of first localizer 32 and second localizer 41.
See also shown in Figure 5ly, further detail, obtain one first coordinate system (S31) that the relative space relation formula comprises the following steps: to obtain first localizer; Obtain a system of 3 axes (S32) of second localizer; And calculating relative space relation formula (S33).
Obtain one first coordinate system (S31) of first localizer: as shown in Figure 2, be to be main body and to define the first coordinate system F1 with first localizer 32.
Obtain a system of 3 axes (S32) of second localizer: be main body with second localizer 41 again and define a system of 3 axes F3.
Calculate relative space relation formula (S33): the space distance that goes out first localizer 32 and second localizer 41 by guidance system 20 with optical alignment; Again according to first coordinate system F1 and the system of 3 axes F3; Try to achieve relative space relation formula F1=T2.F3 with calculating, wherein T2 is the space matrix.
Be example with Fig. 2 equally, suppose that the anchor point 41a that second localizer 41 is plugged is (120,58 at the coordinate figure of system of 3 axes F3; 100) coordinate figure that, via the relative space relation formula anchor point 41a is converted among the first coordinate system F1 earlier is (210,225; 300), change anchor point 41a to the second coordinate system F2 once more through the coordinate transformation relation formula again, and to try to achieve anchor point 41a be (105 at the coordinate figure of the second coordinate system F2; 65,102).Therefore any point in the space can pass through the combination of coordinate transformation relation and relative space relation formula, and then extrapolate its coordinate figure at the first coordinate system F1, the second coordinate system F2 or system of 3 axes F3.
Move C type arm (S40): the calculating through above-mentioned coordinate transformation relation formula and relative space relation formula also combines two formulas; Can be further the central point 31a of the anchor point 41a of second localizer 41 and correcting plane 31 be converted to the coordinate figure of same coordinate system; With the central point 31a that obtains correcting plane 31 and the relative tertiary location of second localizer 41, and make adjustment of image device 30 be right against second localizer 41 through moving C type arm 10 in view of the above.That is to say, can move C type arm 10, and make the central point 31a of the adjustment of image device 30 on the C type arm 10 be right against the anchor point 41a of second localizer 41 according to the central point 31a of correcting plane 31 and the relative tertiary location of second localizer 41.In addition, C type arm 10 can be by manual control moving it, or by the mobile orientation of instrument with automatic manipulation C type arm 10.
With Fig. 2 is example, supposes that the anchor point 41a of second localizer 41 is (120,58 at the coordinate figure of system of 3 axes F3; 100), after the calculating of relative space relation formula and coordinate transformation relation formula, can try to achieve anchor point 41a is (105,65 at the coordinate figure of the second coordinate system F2; 102) the central point 31a of adjustment of image device 30 is (80,60 at the coordinate figure of the second coordinate system F2, and during 10 starts of hypothesis C type arm; 20), need be moved further then that coordinate figure is (105,65 under C type arm 10 to the second coordinate system F2; 20) position is so that central point 31a is corresponding up and down with anchor point 41a.
Carry out the first time and take (S50): please consult Fig. 2 and Fig. 6 simultaneously; C type arm 10 is taken to the anchor point 41a place of second localizer 41; Because the shooting area of C type arm 10 is in the injury through 30 projections of adjustment of image device; Therefore the central point 31a of correcting plane 31 is corresponding to the image center 51 in the captured video picture zone 50 of C type arm 10; After moving C type arm 10, make the central point 31a of correcting plane 31 corresponding up and down again, so 51 3 of the anchor point 41a-image centers of central point 31a-second localizer 41 are to be positioned on the same vertical axis with the anchor point 41a of second localizer 41.
Indicate a desire and take point (S60): be as shown in Figure 6; Because present embodiment is localization method accurately; Make the details that the image picture carry out taking for the first time resultant video picture zone, back 50 can clear demonstration injury, so medical personnel can further indicate interested desire again and take point 52 on video picture zone 50.
Carry out taking for the second time (S70): move C type arm 10 once more and take the position that point 52 is adjusted video picture zone 50 to desire; Make image center 51 move to desire and take point 52; And let desire take the position that point 52 is overlapped in image center 51; So that desire is taken image center 51 convenient clear sight that point 52 can be positioned at video picture zone 50, can carry out the shooting second time.
Therefore; In position fixing process, can pass through above-mentioned localization method then; Obtain adjustment of image device 30, first localizer 32 and second localizer 41 origin coordinate system transform relational expression and the relative space relation formula in the space in the hard ware earlier, move C type arm 10 by this locating shooting area accurately, and when taking for the first time the details picture of gained; Further in video picture zone 50, indicate desire and take point 52, move the image picture of C type arm 10 once more to show in the fine setting video picture zone 50.As stated, only need to obtain the image picture that desire is taken point 52 exactly, therefore can reach to reduce and take number, and and then reduce the exposed amount that human body is exposed to radiation by the localization method of present embodiment through twice shooting.
The above only is preferred embodiment of the present invention, is not the present invention is done any pro forma restriction; Though the present invention discloses as above with preferred embodiment; Yet be not in order to limiting the present invention, anyly be familiar with the professional and technical personnel, in not breaking away from technical scheme scope of the present invention; When the technology contents of above-mentioned announcement capable of using is made a little change or is modified to the equivalent embodiment of equivalent variations; In every case be not break away from technical scheme content of the present invention, to any simple modification, equivalent variations and modification that above embodiment did, all still belong in the scope of technical scheme of the present invention according to technical spirit of the present invention.
Claims (8)
1. localization method that combines C type arm and guidance system is characterized in that it may further comprise the steps:
C type arm with an adjustment of image device is provided, and wherein this adjustment of image device includes a correcting plane and one first localizer;
Obtain a coordinate transformation relation formula, it is by a central point that measures this correcting plane and the distance of this first localizer, to obtain this coordinate transformation relation formula between this central point and this first localizer;
Obtain a relative space relation formula, obtain this relative space relation formula between one second localizer on this first localizer and the subject matter by this guidance system;
Move this C type arm, through calculating this coordinate transformation relation formula and this relative space relation formula obtaining the relative tertiary location of this central point and this second localizer, and move this C type arm and make this adjustment of image device be right against the anchor point of this second localizer;
Carry out the first time and take, its anchor point to this second localizer is taken, and wherein this central point is corresponding to the image center in the captured video picture zone of this C type arm;
Indicate a desire and take point, at this video picture zone subscript this desire is shown and takes point; And
Carry out the second time and take, it is by the position of moving this C type arm and then adjusting this video picture zone, makes this desire take point and moves to this image center and take.
2. the localization method of combination C type arm according to claim 1 and guidance system; It is characterized in that this adjustment of image device comprises a circular slab again; And this correcting plane and this circular slab being laterally arranged by a plurality of supports, this first localizer then is attached on the above-mentioned support.
3. the localization method of combination C type arm according to claim 1 and guidance system is characterized in that this first localizer and this second localizer are the localizer that has the localizer of reflection subassembly or have light source.
4. the localization method of combination C type arm according to claim 1 and guidance system is characterized in that the anchor point of this image center of taking for the first time corresponding to this second localizer.
5. the localization method of combination C type arm according to claim 1 and guidance system is characterized in that obtaining this coordinate transformation relation formula and comprises the following steps:
Obtain one first coordinate system of this first localizer;
Obtain one second coordinate system of this correcting plane; And
According to this first coordinate system and this second coordinate system, to define this coordinate transformation relation formula.
6. the localization method of combination C type arm according to claim 1 and guidance system is characterized in that obtaining this relative space relation formula and comprises the following steps:
Obtain one first coordinate system of this first localizer;
Obtain a system of 3 axes of this second localizer; And
Try to achieve this relative space relation formula according to this first coordinate system and this system of 3 axes, it calculates in the hope of this relative space relation formula by this guidance system this first coordinate system of location and this system of 3 axes again.
7. the localization method of combination C type arm according to claim 1 and guidance system is characterized in that moving this C type arm is by this C type arm of manual control.
8. the localization method of combination C type arm according to claim 1 and guidance system is characterized in that moving this C type arm is by handling this C type arm automatically.
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| US10980494B2 (en) | 2014-10-20 | 2021-04-20 | The University Of North Carolina At Chapel Hill | Systems and related methods for stationary digital chest tomosynthesis (s-DCT) imaging |
| US10835199B2 (en) | 2016-02-01 | 2020-11-17 | The University Of North Carolina At Chapel Hill | Optical geometry calibration devices, systems, and related methods for three dimensional x-ray imaging |
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