CN102579061A - Positioning method combined with C-arm and guidance system - Google Patents

Abstract

The invention relates to a positioning method combining a C-shaped arm and a guide system, which comprises the following steps: providing a C-arm with an image corrector; obtaining a coordinate conversion relation; obtaining a relative spatial relation; moving the C-shaped arm; carrying out first shooting; marking a point to be shot; and performing a second shot. The positioning method of the invention calculates the spatial relationship and positions by the coordinate conversion relational expression and the relative spatial relational expression, then carries out the first shooting, and carries out the second shooting after continuously marking the interested points to be shot, therefore, the injury can be adjusted to the shooting positioning by only two times of shooting, thereby reducing the shooting times and further reducing the radiation quantity exposed to X-ray.

Description

Positioning method combined with C-arm and guidance system

technical field

The invention relates to a positioning method of an operation image, in particular to a positioning method by combining a C-arm and a guiding system.

Background technique

In traditional orthopedic surgery, the biggest factor that determines the patient's range of motion is the accuracy of the placement of the bone nails. However, the relative positions of the bones are three-dimensional, and the bones are hard and opaque. Due to the skin and flesh, the doctor cannot see the position of the bones with the naked eye during the operation. Therefore, in the current orthopedic surgery, it is necessary to obtain multiple images of the bones through X-ray irradiation, and then the doctor can make further decisions based on the images. Surgical pathway or placement of bone screws.

The C-arm is a type of X-ray imaging equipment. It has the characteristics of high mobility and can continuously update the image during the operation. It is currently the most commonly used X-ray imaging equipment. However, during the operation, the doctor only relies on clinical experience to plan the surgical path or the position of the bone screw, and there may be doubts about the lack of accuracy. Therefore, it is necessary to use the C-arm to continuously take images to ensure the placement of surgical instruments or bone screws. The accuracy, coupled with the continuous fine-tuning of the C-arm during the shooting process to obtain better images, often results in the need to take dozens of X-ray images after one operation. However, when a large number of X-ray images are taken, the human body will be exposed to a huge amount of radiation, which will not only cause direct harm to patients, but also easily expose medical staff to X-rays for a long time, resulting in serious sequelae .

Therefore, how to effectively reduce the number of times of taking X-ray images and reduce the chances of patients or medical staff being exposed to a large amount of radiation is an urgent problem to be solved at present.

It can be seen that the above-mentioned existing surgical image positioning method obviously still has inconvenience and defects in method and use, and needs to be further improved urgently. In order to solve the above-mentioned problems, the relevant manufacturers have tried their best to find a solution, but no suitable design has been developed for a long time, and the general method has no suitable method to solve the above-mentioned problems. This is obviously related. The problem that the industry is eager to solve. Therefore, how to create a new positioning method that combines the C-arm and the guidance system is one of the current important research and development topics, and it has also become a goal that the industry needs to improve.

In view of the defects in the above-mentioned existing surgical image positioning methods, the inventor actively researches and innovates based on years of rich practical experience and professional knowledge engaged in the design and manufacture of such products, and cooperates with the application of academic theories, in order to create a new one. Combining the positioning method of the C-arm and the guidance system can improve the general existing surgical image positioning method and make it more practical. Through continuous research, design, and after repeated trial samples and improvements, the present invention with practical value is finally created.

Contents of the invention

The main purpose of the present invention is to overcome the defects of the existing surgical image positioning method and provide a new positioning method combining the C-arm and the guide system. The technical problem to be solved is to make it pass through the positioner and the guide system. The combination of the guidance system and the conversion of multiple coordinate systems are used to obtain the relative spatial position between the image corrector on the C-arm and the target, so that the C-arm combined with the guidance system has a precise positioning function and can be used The image picture of the desired shooting point can be obtained by two shootings, which is very suitable for practical use.

Another object of the present invention is to provide a new positioning method that combines the C-arm and the guide system. The technical problem to be solved is to make it use the guide system in conjunction with the C-arm to reduce the number of surgical procedures. The number of shots in the middle, thereby reducing the radiation exposure of patients or medical staff, which is more suitable for practical use.

The purpose of the present invention and the solution to its technical problems are achieved by adopting the following technical solutions. According to the present invention, it includes the following steps: providing a C-arm with an image corrector, wherein the image corrector includes a correction plane and a first positioner; obtaining a coordinate transformation relation, which is obtained by measuring The distance between a center point of the calibration plane and the first locator, so as to obtain the coordinate transformation relation between the center point and the first locator; obtain a relative spatial relation, and obtain the coordinate transformation relation by the guidance system The relative spatial relationship between the first locator and a second locator on a target; move the C-arm, and obtain the center point and the first locator by calculating the coordinate transformation relationship and the relative spatial relationship The relative spatial position of the two locators, and move the C-arm so that the image corrector is facing the positioning point of the second locator; take the first shot, and shoot for the locating point of the second locator, wherein The center point corresponds to the image center of the imaging area captured by the C-arm; mark a point to be photographed, and mark the desired imaging point on the imaging area; and take a second shot by moving the The C-arm further adjusts the position of the imaging area, so that the desired shooting point is moved to the center of the image for shooting.

The purpose of the present invention and its technical problems can also be further realized by adopting the following technical measures.

In the aforementioned positioning method combining a C-arm and a guiding system, the image corrector further includes a circular plate, and the correction plane and the circular plate are arranged in parallel by means of a plurality of brackets, and the first A locator is attached to the bracket.

In the aforementioned positioning method combining a C-arm and a guiding system, the first positioner and the second positioner are positioners with reflective components or positioners with light sources.

In the aforementioned positioning method combining the C-arm and the guidance system, the center of the image captured for the first time corresponds to the positioning point of the second positioner.

The aforementioned positioning method combining the C-arm and the guidance system, wherein said obtaining the coordinate transformation relation includes the following steps: obtaining a first coordinate system of the first locator; obtaining a second coordinate of the calibration plane system; and according to the first coordinate system and the second coordinate system, the coordinate conversion relation is defined.

The aforementioned positioning method combining the C-arm and the guidance system, wherein said obtaining the relative spatial relationship includes the following steps: obtaining a first coordinate system of the first locator; obtaining a first coordinate system of the second locator Three-coordinate system; and obtain the relative spatial relationship formula according to the first coordinate system and the third coordinate system, locate the first coordinate system and the third coordinate system by the guidance system, and then calculate to obtain The relative spatial relation.

In the aforementioned positioning method combining the C-arm and the guiding system, the moving of the C-arm is by manually manipulating the C-arm.

The aforementioned positioning method combining a C-arm and a guiding system, wherein said moving the C-arm is by automatically manipulating the C-arm

Compared with the prior art, the present invention has obvious advantages and beneficial effects. As can be seen from the above, in order to achieve the above object, the present invention provides a positioning method combining a C-arm and a guidance system, which includes the following steps: providing a C-arm with an image corrector, wherein the image corrector includes a Calibration plane and a first locator; obtain a coordinate transformation relation, which is to obtain the coordinate transformation relationship between the center point and the first locator by measuring the distance between a center point of the calibration plane and the first locator Formula; Obtain a relative spatial relational formula, obtain the relative spatial relational formula between the first locator and a second locator on a target through the guidance system; move the C-arm, by calculating the coordinate conversion relational formula and relative Spatial relationship to obtain the relative spatial position of the center point and the second locator, and move the C-arm so that the image corrector is facing the positioning point of the second locator; take the first shot, which is aimed at the second locator Shoot at the positioning point, wherein the center point is the image center corresponding to the imaging area taken by the C-arm; mark a desired shooting point, and mark the desired shooting point on the imaging area; and perform the second shooting, which is By moving the C-arm to adjust the position of the imaging area, move the desired shooting point to the center of the image and start shooting.

With the above technical solution, the positioning method of the present invention combining the C-arm and the guidance system has at least the following advantages and beneficial effects:

1. The C-arm combined with the guidance system has the function of precise positioning, and can obtain the image of the desired shooting point within two shots.

2. With the implementation of this positioning method, the accuracy of image capture can be improved, thereby reducing the number of times of shooting and the amount of radiation absorbed by the human body.

In summary, the present invention includes the following steps: providing a C-arm with an image corrector; obtaining a coordinate transformation relation; obtaining a relative space relation; moving the C-arm; taking the first shot; Take a second shot. The positioning method of the present invention utilizes the coordinate transformation relational formula and the relative spatial relational formula, calculates the spatial relationship and performs the first shooting after positioning, and then carries out the second shooting after marking the points of interest to be shot. Therefore, only Two shots can be used to adjust the injury to the shooting position, thereby reducing the number of shots and thereby reducing the amount of radiation exposure under X-rays. The present invention has significant progress in technology, has obvious positive effects, and is a novel, progressive and practical new design.

The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable , the following preferred embodiments are specifically cited below, and are described in detail as follows in conjunction with the accompanying drawings.

Description of drawings

Fig. 1 is a flow chart of a positioning method combining a C-arm and a guidance system according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a combination of a C-arm and a guidance system in an embodiment of a positioning method combining a C-arm and a guidance system according to the present invention.

FIG. 3 is a schematic diagram of an image corrector according to an embodiment of a positioning method combining a C-arm and a guiding system according to the present invention.

FIG. 4 is a flow chart of obtaining a coordinate transformation relation in an embodiment of a positioning method combining a C-arm and a guidance system according to the present invention.

FIG. 5 is a flow chart of obtaining a relative spatial relationship in an embodiment of a positioning method combining a C-arm and a guidance system according to the present invention.

Fig. 6 is a schematic diagram of an imaging area of an embodiment of a positioning method combining a C-arm and a guidance system according to the present invention.

10: C-arm 11: Receiver

12: Transmitter 20: Guidance system

30: Image corrector 31: Correction plane

31a: center point 32: first locator

33: Circular plate 34: Bracket

35: Fixture 40: Object

41: second locator 41a: anchor point

50: Imaging area 51: Image center

52: The point to be photographed F1: The first coordinate system

F2: Second coordinate system F3: Third coordinate system

Detailed ways

In order to further explain the technical means and effects of the present invention to achieve the intended purpose of the invention, the specific implementation of the positioning method combined with the C-arm and the guidance system proposed according to the present invention will be described below in conjunction with the accompanying drawings and preferred embodiments. , method, step, feature and effect thereof, detailed description is as follows.

Fig. 1 is a flow chart of a positioning method combining a C-arm and a guidance system according to an embodiment of the present invention. FIG. 2 is a schematic diagram of a combination of a C-arm 10 and a guiding system 20 according to an embodiment of the present invention. FIG. 3 is a schematic diagram of an image corrector 30 according to an embodiment of the present invention. FIG. 4 is a flow chart of obtaining coordinate transformation relational expressions according to an embodiment of the present invention. FIG. 5 is a flowchart of obtaining a relative spatial relationship formula according to an embodiment of the present invention. FIG. 6 is a schematic diagram of a display area 50 according to an embodiment of the present invention.

Please refer to FIG. 1, the present embodiment is a positioning method combining a C-arm 10 and a guidance system 20, which includes the following steps: providing a C-arm with an image corrector (S10); obtaining a coordinate Convert relational formula (S20); Obtain a relative spatial relational formula (S30); Move the C-arm (S40); Take the first shot (S50); Mark a desired shooting point (S60); And take the second shot ( S70).

Provide a C-arm with an image corrector (S10): Please refer to FIG. 2, the image corrector 30 can be used to assist in correcting the image distortion produced by the C-arm 10 when shooting, so the image corrector 30 is installed on A target 40 is placed at the receiving end 11 of the C-arm 10 and corresponding to the transmitting end 12 of the C-arm 10 . In this embodiment, the target 40 is the wound of the patient.

3, the image corrector 30 includes a correction plane 31, a first positioner 32, a circular plate 33 and a plurality of supports 34, wherein the correction plane 31 and the circular plate 33 are all inlaid with a plurality of Steel balls (not shown) are used as auxiliary marks for correcting image distortion, and the first locator 32 is a locator with a reflective component or a locator with a light source. The guide system 20 can emit light to the first locator 32 and The light reflected by the reflective component of the first locator 32 is received, or the light emitted by the light source of the first locator 32 is received, so as to accurately know the relative position of the first locator 32 in space.

Furthermore, the image corrector 30 is clamped at the receiving end 11 of the C-arm 10 through a clamp 35 (please refer to FIG. 2 at the same time), and the circular plate 33 is arranged parallel to the correction plane 31 by means of a plurality of brackets 34 , and the first locator 32 is attached to the bracket 34 , so the first locator 32 is disposed on the side of the image corrector 30 .

Obtain a coordinate transformation relational formula (S20): as shown in Figure 2 and Figure 3, since the image corrector 30 is a rigid body structure, so the relative distance between the correction plane 31 and the first locator 32 is fixed, so it can be obtained by measuring Measure the distance between a center point 31 a of the calibration plane 31 and the first locator 32 to obtain a coordinate conversion relation between the center point 31 a and the first locator 32 .

Please refer to FIG. 4 , for further details, obtaining the coordinate transformation relation includes the following steps: obtaining a first coordinate system of the first locator (S21); obtaining a second coordinate system of the correction plane (S22); and A coordinate conversion relational expression is defined (S23).

Obtain a first coordinate system of the first locator ( S21 ): as shown in FIG. 2 , a first coordinate system F1 is defined based on the first locator 32 .

Obtain a second coordinate system of the calibration plane ( S22 ): taking the calibration plane 31 as the main body and defining a second coordinate system F2 .

Defining the coordinate conversion relation (S23): by measuring the distance between the first locator 32 and the center point 31a of the calibration plane 31, and then defining the relative coordinates between the first coordinate system F1 and the second coordinate system F2 The coordinate transformation relation F2=T1.F1, wherein T1 is the coordinate transformation matrix.

Taking Fig. 2 as an example, assuming that the coordinate value of the center point 31a of the correction plane 31 in the first coordinate system F1 is obtained through measurement (253, 255, 150), then after conversion of the coordinate transformation relational formula, it can be calculated as The coordinate value of the center point 31a on the second coordinate system F2 is (100, 50, 50), so any point in the space can be easily converted to the first coordinate system F1 or the second coordinate system through the coordinate transformation relational formula. Coordinate value representation of system F2.

Obtain a relative spatial relationship (S30): please also refer to FIG. 2, the medical staff will first install a second locator 41 on the target 40 before taking pictures, which is the patient's wound in this embodiment , wherein the second locator 41 is also a locator with a reflective component or a locator with a light source. Then, the relative positions of the first locator 32 and the second locator 41 in space are obtained by the guidance system 20 , and the relative spatial relationship between the first locator 32 and the second locator 41 is obtained through calculation.

Please refer to FIG. 5 for further details. Obtaining the relative spatial relationship includes the following steps: obtaining a first coordinate system of the first locator (S31); obtaining a third coordinate system of the second locator (S32); And calculating the relative spatial relationship (S33).

Obtain a first coordinate system of the first locator ( S31 ): as shown in FIG. 2 , the first coordinate system F1 is defined based on the first locator 32 .

Obtaining a third coordinate system of the second locator ( S32 ): taking the second locator 41 as the main body and defining a third coordinate system F3 .

Calculate the relative spatial relationship (S33): use the guidance system 20 to optically locate the relative spatial distance between the first locator 32 and the second locator 41, and then according to the first coordinate system F1 and the third coordinate system F3, to Calculate and obtain the relative space relationship F1=T2.F3, where T2 is the relative space matrix.

Also taking FIG. 2 as an example, assuming that the coordinate value of the positioning point 41a inserted by the second locator 41 in the third coordinate system F3 is (120, 58, 100), the positioning point 41a is converted to The coordinate value in the first coordinate system F1 is (210, 225, 300), and then convert the positioning point 41a to the second coordinate system F2 again through the coordinate transformation relation, and obtain the coordinates of the positioning point 41a in the second coordinate system F2 The value is (105, 65, 102). Therefore, for any point in the space, its coordinate value in the first coordinate system F1 , the second coordinate system F2 or the third coordinate system F3 can be calculated through the combination of the coordinate transformation relationship and the relative spatial relationship formula.

Moving the C-arm (S40): through the calculation of the above-mentioned coordinate conversion relational formula and the relative space relational formula and combining the two formulas, the positioning point 41a of the second locator 41 and the center point 31a of the calibration plane 31 can be further converted to the same coordinates The coordinate values of the system are used to obtain the relative spatial position of the center point 31 a of the correction plane 31 and the second positioner 41 , and accordingly the image corrector 30 is aligned with the second positioner 41 by moving the C-arm 10 . That is to say, the C-arm 10 can be moved according to the relative spatial position of the center point 31a of the correction plane 31 and the second positioner 41, and the center point 31a of the image corrector 30 on the C-arm 10 is directly opposite to the second positioner 41. The positioning point 41 a of the positioner 41 . In addition, the C-arm 10 can be moved manually, or the moving position of the C-arm 10 can be automatically controlled by an instrument.

Taking Fig. 2 as an example, assuming that the coordinate value of the positioning point 41a of the second locator 41 in the third coordinate system F3 is (120, 58, 100), it can be obtained after calculating the relative spatial relational formula and the coordinate transformation relational formula The coordinate value of the positioning point 41a in the second coordinate system F2 is (105, 65, 102), and it is assumed that the coordinate value of the center point 31a of the image corrector 30 in the second coordinate system F2 is (80) when the C-arm 10 is turned on. , 60, 20), it is necessary to further move the C-arm 10 to the position where the coordinate value of the second coordinate system F2 is (105, 65, 20), so that the center point 31a and the positioning point 41a correspond up and down.

Take the first shot (S50): please refer to FIG. 2 and FIG. Projected on the wound, so the center point 31a of the correction plane 31 corresponds to the image center 51 in the imaging area 50 captured by the C-arm 10, and because the center point 31a of the correction plane 31 is in line with the first image after the C-arm 10 is moved. The positioning point 41 a of the second locator 41 corresponds up and down, so the center point 31 a - the positioning point 41 a of the second locator 41 - the image center 51 are located on the same vertical axis.

Mark a desired shooting point (S60): As shown in Figure 6, due to the precise positioning method of this embodiment, the image picture of the imaging area 50 obtained after the first shooting can clearly show the details of the wound, so the medical staff Personnel can further mark the desired shooting point 52 on the display area 50 .

Take the second shot (S70): move the C-arm 10 again and adjust the position of the display area 50 for the point 52 to be shot, so that the center of the image 51 is moved to the point 52 to be shot, and the point 52 to be shot is overlapped on the image The position of the center 51 is such that the point 52 to be photographed can be located at the image center 51 of the imaging area 50 for easy and clear viewing, and the second photographing can be performed.

Therefore, in the positioning process, the above-mentioned positioning method can be used to first obtain the coordinate system transformation relation and relative space relation of the image corrector 30, the first locator 32 and the second locator 41 in the hardware device, In this way, move the C-arm 10 to precisely locate the shooting area, and further mark the desired shooting point 52 in the imaging area 50 through the detailed pictures obtained during the first shooting, and then move the C-arm 10 again to fine-tune the imaging area The video picture shown in 50. As mentioned above, only two shots are needed to accurately obtain the image of the desired point 52 , so the positioning method of this embodiment can reduce the number of shots and further reduce the exposure of the human body to radiation.

The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Anyone familiar with this field Those skilled in the art, without departing from the scope of the technical solution of the present invention, may use the technical content disclosed above to make some changes or modify them into equivalent embodiments with equivalent changes, but as long as they do not depart from the technical solution of the present invention, the Technical Essence Any simple modifications, equivalent changes and modifications made to the above embodiments still fall within the scope of the technical solution 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.

Images