CN105286955A - Puncture device based on CT (computed tomography) apparatus images - Google Patents

Abstract

A puncture device based on CT (computed tomography) apparatus images is technically characterized by comprising a display rack. A detachable main arm is disposed on the display rack. The main arm is also provided with a rotary stretch rack. One end of the main arm is provided with a main arm holder which is connected with a rotationally stretchable main arm rod, the other end of the main arm rod is provided with a positioning rod, the outer surface of the positioning rod is provided with a grip sheet, one side of a CT apparatus scan rack is provided with a mechanical arm, the mechanical arm is separately provided with a magnetic field generator and an auxiliary arm driven synchronously by the main arm, the auxiliary arm comprises a rotationally stretchable auxiliary arm rod, and one end of the auxiliary arm rod is provided with a puncture needle. The main arm and the auxiliary arm in the technical scheme move synchronously in real time, so that a doctor can operate the main arm according to the CT scanned image for accurate positioning in front of the display rack.

Description

A kind of sting device based on CT machine image

Technical field

The present invention relates to technical field of medical instruments, specifically a kind of sting device based on CT machine image.

Background technology

The many employings of existing puncturing operation are put forward the mode of demarcating position and are carried out, but because everyone physical condition is different and the difference of each organ size in body, the location of its intracorporeal organ is also different, therefore under the auxiliary examination by CT machine at body surface location, then doctor carries out puncturing operation CT scan frame is other, therefore the angle of inserting needle and position all not ideal enough.

Summary of the invention

In order to solve the problem, the invention provides a kind of sting device based on CT machine image.

A kind of sting device based on CT machine image, comprise display frame, display frame is provided with display, it is characterized in that: display frame is provided with principal arm, one end of principal arm is provided with major arm seat, major arm seat is connected with the principal arm bar of rotatable stretching, the other end of principal arm bar is provided with locating rod, the side of CT machine gantry is provided with mechanical arm, mechanical arm is respectively arranged with magnetic field generator and by principal arm synchronously drive from arm, from arm comprise rotatable stretching from armed lever, one end of armed lever is provided with puncture needle.

Further, described principal arm is also provided with circumgyration stretch frame.

Further, the outer surface of the locating rod on described principal arm is provided with Handle Wrap.

Further, described principal arm is detachable.

Advantage of the present invention:

1, due to principal arm and from arm be real-time synchronization motion, therefore doctor display frame before can operate principal arm according to CT scan image;

2, angle and the position of inserting needle is selected according to the result of CT scan image;

3, accurate positioning.

Accompanying drawing explanation

Fig. 1 is the overall structure simplified schematic diagram of body frame of the present invention;

Fig. 2 is the overall structure simplified schematic diagram from arm of the present invention.

Fig. 3 is the flow chart of complete algorithm of the present invention.

Detailed description of the invention

In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated; Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.

Embodiment 1

As shown in Figure 1-2, a kind of sting device based on CT machine image, comprise display frame 1, display frame 1 is provided with display 3, display frame 1 arranges principal arm 4, one end of principal arm 4 is provided with major arm seat 2, major arm seat 2 is connected with the principal arm bar 5 of rotatable stretching, the other end of principal arm bar 5 is provided with locating rod 6, the side of CT machine gantry is provided with mechanical arm 11, mechanical arm 11 is respectively arranged with magnetic field generator 10 and by principal arm 4 synchronously drive from arm 9, from arm 9 comprise rotatable stretching from armed lever 8, one end of armed lever 8 is provided with puncture needle 12.

Embodiment 2

As shown in Figure 1-2, a kind of sting device based on CT machine image, comprise display frame 1, display frame 1 is provided with display 3, display frame 1 is provided with dismountable principal arm 4, one end of principal arm 4 is provided with major arm seat 2, major arm seat 2 is connected with the principal arm bar 5 of rotatable stretching, the other end of principal arm bar 5 is provided with locating rod 6, the outer surface of locating rod 6 is provided with Handle Wrap 7, principal arm 4 is also provided with circumgyration stretch frame, the side of CT machine gantry is provided with mechanical arm 11, mechanical arm 11 is respectively arranged with magnetic field generator 10 and by principal arm 4 synchronously drive from arm 9, from arm 9 comprise rotatable stretching from armed lever 8, one end of armed lever 8 is provided with puncture needle 12.

By principal arm 4 and the synchronous operation from arm 9, accurately control needle angle and position.

By safe inserting needle position, particle sensor is delivered to the internal organs of puncture, particle sensor will be followed internal organs and be carried out spontaneous vasomotion, by the motion of magnetic field generator 10 perception particle sensor, and then motion is tieed up image with CT3 carry out corresponding, the real time kinematics of Dynamic Announce internal organs.

Magnetic field generator 10 can carry out accurately real-time space three-dimensional and measure when blocking, adopt the technology of minute sense device coil tracking measurement metal device, because magnetic field intensity is not subject to the influence of fading of human body or general article, therefore certainty of measurement and scope can be kept.

Obtain CT sequence data by preoperative scanning and set up 3 d data field, computer program automatic acquisition datum mark is at the algorithm of image space positions, achieve the automatic matching of physical space datum mark under image space datum mark and electromagnetic positioning system, its automatic matching algorithm is: by the multidimensional distance vector of Calculation Basis point, then the correlation coefficient under calculating different coordinates between datum mark, completes accurately searching and pairing of CT image space datum mark.

Any datum mark m in three dimensions _ican be expressed as with the distance of other N-1 datum mark under the same coordinate system: D (m _i, m ₁) ... D (m _i, m _i-1), D (m _i, m _i+1) ... D (m _i, m _n), can obtain orderly distance after the above results being sorted according to sort algorithm is: D _i1, D _i2..., D _iN-1in, so, the datum mark m in three dimensions _iuniquely can be expressed as form below: Vec _i=(D _i1, D _i2..., D _iN-1), wherein Vec _ibe exactly multidimensional distance vector corresponding to some mi.Because the distance between any two points remains unchanged before and after rigid body translation, therefore, we can calculate the distance between each point and other point respectively in two coordinate spaces, then they are sorted, and they are formed the multidimensional distance vector that should put as one-component, so, under electromagnetic positioning system, N number of datum mark of physical space can be expressed as N number of N-1 and tie up distance vector, utilization saves algorithm and can be expressed as M M-1 dimension distance vector uniquely at M the datum mark that image space obtains, and generally have M >=N.

The multidimensional distance vector of the datum mark under physical space is expressed as Vec _i=(D _i1, D _i2..., D _iN-1), as M=N, the datum mark of image space is expressed as Vec' _j=(D' _j1, D' _j2..., D' _jN-1), the calculating of correlation coefficient can directly use following formula to calculate:

$\mathrm{Coeffi}(i,j)=\frac{D_{i1}{D}_{j1}^{\′}+D_{i2}{D}_{j2}^{\′}+...+D_{\mathrm{iN}-1}{D}_{\mathrm{jN}-1}^{\′}}{\sqrt{D_{i1}^2+D_{i2}^2+...+D_{\mathrm{iN}-1}^2}\sqrt{{D_{j1}^{\′}}^2+{D_{j2}^{\′}}^2+...+{D_{\mathrm{jN}-1}^{\′}}^2}}$

As M > N, the datum mark of image space can be expressed as Vec' _j=(D' _j1, D' _j2..., D' _jM-1), due to Vec _iand Vec' _jdimension different, therefore directly can not use the correlation coefficient of the above-mentioned calculating of formula between them, this be done to following process: for Vec _iin each element, at Vec' _jmiddle searching and D _ikdiffer minimum element and be designated as D " _jkso the distance vector obtained in the image space of N-1 dimension is Vec " _j=(D " _j1, D " _j2..., D " _jN-1), therefore the correlation coefficient of image space datum mark and physical space datum mark can use above-mentioned formulae discovery:

$\mathrm{Coeffi}(i,j)=\frac{D_{i1}{D}_{j1}^{\′\′}+D_{i2}{D}_{j2}^{\′\′}+...+D_{\mathrm{iN}-1}{D}_{\mathrm{jN}-1}^{\′\′}}{\sqrt{D_{i1}^2+D_{i2}^2+...+D_{\mathrm{iN}-1}^2}\sqrt{{D_{j1}^{\′\′}}^2+{D_{j2}^{\′\′}}^2+...+{D_{\mathrm{jN}-1}^{\′\′}}^2}}$

Due to the measurement error of electromagnetic positioning system, and the existence of the error of calculation of Automatic-searching datum mark algorithm in image space, need indirectly to ask the correlation coefficient between two multidimensional distance vectors, the physical significance of correlation coefficient is: the degree of correlation comparing the identical multidimensional distance vector of two dimensions on the whole, it is a decimal, value is between 0 and 1, herein under given conditions, distance between certain datum mark of the element representation namely in multi-C vector and other datum mark, the calculating of correlation coefficient be extend to the different situation of dimension, when image space and physical space two some entirely accurates to correspondence time they have maximum similarity, so question variation is the correlation coefficient max problem asked between two multidimensional distance vectors.

Vec ₁, Vec ₂..., Vec _nfor the multidimensional distance vector of physical space, the multidimensional distance vector of image space is Vec ' ₁, Vec ' ₂... Vec ' _n.

The correlation coefficient charts of two groups of multidimensional distance vectors:

	Vec 1	Vec 2	……	Vec N
					Vec′ 1	Coeffi(1,1)	Coeffi(2,1)	……	Coeffi(N,1)
Vec′ 2	Coeffi(1,2)	Coeffi(2,2)	……	Coeffi(N,1)
					……	……	……	……	……
Vec′ M	Coeffi(1,M)	Coeffi(1,1)	……	Coeffi(N,M)

Suppose Coeffi (i, j) be the maximum in jth row in aforementioned formula, then illustrate that the jth datum mark under electromagnetic positioning system is corresponding with the datum mark of i-th in the image space that automatic lookup algorithm obtains, successively to each row maximizing in aforementioned formula, the corresponding relation of datum mark in the image space of the position description residing for maximum and physical space.

Claims (4)

1. the sting device based on CT machine image, comprise display frame, display frame is provided with display, it is characterized in that: display frame is provided with principal arm, one end of principal arm is provided with major arm seat, major arm seat is connected with the principal arm bar of rotatable stretching, the other end of principal arm bar is provided with locating rod, the side of CT machine gantry is provided with mechanical arm, mechanical arm is respectively arranged with magnetic field generator and by principal arm synchronously drive from arm, from arm comprise rotatable stretching from armed lever, one end of armed lever is provided with puncture needle.

2. a kind of sting device based on CT machine image according to claim 1, is characterized in that: described principal arm is also provided with circumgyration stretch frame.

3. a kind of sting device based on CT machine image according to claim 1, is characterized in that: the outer surface of the locating rod on described principal arm is provided with Handle Wrap.

4. a kind of sting device based on CT machine image according to claim 1, is characterized in that: described principal arm is detachable.