CN106333748A - Puncturing navigation system based on camera - Google Patents
Puncturing navigation system based on camera Download PDFInfo
- Publication number
- CN106333748A CN106333748A CN201610854640.8A CN201610854640A CN106333748A CN 106333748 A CN106333748 A CN 106333748A CN 201610854640 A CN201610854640 A CN 201610854640A CN 106333748 A CN106333748 A CN 106333748A
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- puncture
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- photographic head
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
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- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The invention discloses a puncturing navigation system based on a camera. The punching navigation system comprises an imaging device, a punching workstation, a patient positioning label, a positioning label installed on a punching device, and a real-time camera positioning device. The real-time camera positioning device is used for calculating the space coordinate of a positioning label in real time through the binocular vision principle, and three-dimensional images of a punching target, peripheral important organs, planned needle passages and real-time needle passages can be displayed in punching workstation software. A doctor can conveniently and accurately implement punching.
Description
Technical field
The present invention relates to a kind of puncture navigator.
Background technology
Puncture is puncture to be needled into body cavity extraction secretions chemically examine, and injects gas to body cavity or contrast agent does radiography inspection
Look into, or a kind of Clinics to injection of medicine in body cavity.The performance level of the manual puncturing operation of traditional doctor will rely on doctor
Raw specialized capability and operating experience, operation degree of accuracy is low.
Though Needle-driven Robot improves the degree of accuracy of puncture, robot architecture is exquisite complicated, and cost of equipment is high.Ultrasonic
Image is usually used in guided puncture, but can not penetrate bone and air due to ultrasonic, and ultrasonoscopy guiding has its limitation.
Content of the invention
For the problems referred to above, the present invention is intended to provide a kind of puncture navigation system based on photographic head, real-time detection and aobvious
Show attitude and the position of puncture needle.By its with plan needle track and puncture position be compared, three dimensional display its with puncture target and
The relative position of surrounding vitals, facilitates doctor accurately to implement to puncture.
Disclosed by the invention a kind of imaging device, puncture working station, patient are included based on the puncture navigation system of photographic head
Telltale mark, the telltale mark being arranged on puncture instrument, photographic head real-time positioning apparatus.Wherein puncture working station includes calculating
Machine and operation puncture working station software on computers.
Imaging device is ct imaging device, mr imaging device or pet imaging device.
Puncture working station software reads or receives the anatomic image of above-mentioned imaging device collection；And can be in the horizontal stroke of anatomic image
Puncture target and surrounding vitals are delineated on section, coronalplane, sagittal plane and arbitrarily angled oblique section；Likewise, can also
The needle track of puncture is designed on the cross section of anatomic image, coronalplane, sagittal plane and arbitrarily angled oblique section, sets point of puncture
Coordinate.
Photographic head real-time positioning apparatus include at least two photographic head, and photographic head shoots patient's telltale mark and puncture instrument
On telltale mark.And video image is sent in real time puncture working station.Puncture working station software is real-time from puncture working station
Obtain the video image that photographic head real-time positioning apparatus send, extract real-time patient telltale mark and perforator from image
Telltale mark on tool, and it is mated, the space coordinatess of these labellings are reconstructed by Binocular Vision Principle.
Puncture working station software has relative position relation between telltale mark and the needle tip arranging on puncture instrument
Setting interface.According to these station-keeping datas, puncture working station software can be according to the specifically labelled sky on puncture instrument
Between coordinate be calculated the space coordinatess of point of puncture in needle tip.
Patient's telltale mark shows on the image that imaging device produces, also regarding in the capture of photographic head real-time positioning apparatus
Show on frequency image, the space coordinatess that the space coordinates and Binocular Vision Principle for determining imaging device generation image are rebuild
Relation between system.
Puncture working station software comprises real-time needle track display module, real-time needle track display module simultaneously show puncture target,
The 3-D view of vitals, plan needle track and real-time needle track, punctures on the space angle of the current needle track of display and needle point in real time
The coordinate of point, the display plan space angle of needle track and the coordinate of point of puncture, the folder of display plan needle track and current needle track in real time
Angle, point of puncture space coordinatess difference on point of puncture and current needle point is planned in display in real time.
Brief description
Fig. 1 is embodiment 1 positioner, puncture needle and locating bar overall diagram；
Fig. 2 is embodiment 1 puncture needle and locating bar partial enlarged drawing；
Fig. 3 is that embodiment 2 positions labeling, puncture needle and fluorescence localization rod overall diagram；
Fig. 4 is that embodiment 2 positions labeling, puncture needle and fluorescence localization rod partial enlarged drawing.
Specific embodiment
With specific embodiment, the present invention is described in further details below in conjunction with the accompanying drawings.
Embodiment 1
A kind of based on the puncture navigation system embodiment 1 of photographic head include ct imaging device, puncture working station, be provided with reflective little
The arc pressuring plate 104 of ball 106, the locating bar 102 being provided with reflective small ball 105, photographic head real-time positioning apparatus 103.Wherein wear
Thorn work station includes computer and operation puncture working station software on computers.
Ct imaging device saves as the file of dicom form by scanning the ct image obtaining, and user is civilian by these ct images
Part copies on puncture working station, is read in by puncture working station software.Anatomic image can be shown by puncture working station software
Cross section, coronalplane, sagittal plane and arbitrarily angled oblique section, user can delineate on each display surface above-mentioned puncture target and
Surrounding vitals；Likewise, the needle track of puncture can also be designed on each display surface above-mentioned, set the coordinate of point of puncture.
Arc pressuring plate 104 is fixed on therapeutic bed.Unclamp the knob in four vertical bars, arc pressuring plate can along four vertically
Bar moves up and down.Downwards after compression patient, the knob in four vertical bars can be locked so as to can not move up and down, for solid
Determine patient.Equipped with four reflective marker beads 106 as patient's telltale mark on arc pressuring plate.
Locating bar 102 is fixed on puncture needle 101 rear end, and puncture needle 101 is located on the same line.Two are had on locating bar
Individual reflective marker bead 105, facilitates photographic head real-time positioning apparatus 103 to capture and identify.
Arc pressuring plate is carbon fibre materials, to reduce the absorption to ct imaging ray x light.Reflective marker on arc pressuring plate
Reflective marker bead 105 on bead 106 and locating bar is metal material, has higher hu value on ct image, with convenient
Puncture working station software carries out automatic identification to it.
Puncture working station software has on setting locating bar positioned at the reflective marker bead of rear end and the spacing of puncture needle 101 point
From setting interface.Due to needle tip always with reflective marker bead 105 point-blank, therefore relative between them
Position relationship only need to be represented with the distance between a labelling bead and needle tip.
Photographic head real-time positioning apparatus 103 by four carry LED lamp photographic head constitute it is ensured that on arc pressuring plate each
At least two photographic head captures of each reflective marker bead on reflective marker bead and locating bar.Photographic head is by video
Image is sent to puncture working station in real time.Puncture working station software obtains photographic head real-time positioning apparatus in real time from puncture working station
The video image sending, the reflective marker on reflective marker bead and locating bar on extract real-time arc pressuring plate from image
Bead, and it is mated, the space coordinatess of these labellings are reconstructed by Binocular Vision Principle.Puncture working station software leads to
The relative position crossing the space coordinatess of reflective marker bead 105 on the locating bar rebuild and locating bar 102 with puncture needle 101 is closed
System, calculates the attitude of puncture needle 101 and the coordinate of point of puncture on needle point.
Patient, when carrying out ct scanning, needs for the reflective marker bead 106 on arc pressuring plate to be scanned into ct image.User
Puncture working station software can be passed through, these patient's telltale marks are marked on ct image.Or, led to by puncture working station software
Cross Threshold segmentation and it is carried out assist automatic identification according to the relative position relation of this four reflective small balls, then carried out by user
Confirm.Reflective little on the reflective small ball on arc pressuring plate and ct image that Binocular Vision Principle is rebuild by puncture working station software
Ball is overlapped, with determine imaging device produces the space coordinates of image and Binocular Vision Principle is rebuild space coordinates it
Between relation.
Produced between the space coordinates that the space coordinates of image and Binocular Vision Principle are rebuild by imaging device
Relation, the element in two coordinate systems can be shown in same 3-D view by puncture working station.Show in real-time needle track
Module, can show simultaneously puncture target, the 3-D view of vitals, plan needle track and real-time needle track, show current pin in real time
The coordinate of point of puncture on the space angle in road and needle point, the display plan space angle of needle track and the coordinate of point of puncture, show in real time
Show the angle of plan needle track and current needle track, point of puncture space coordinatess difference on point of puncture and current needle point is planned in display in real time.
Embodiment 2
A kind of pet-ct imaging device, puncture working station work station, fixed is included based on the puncture navigation system embodiment 2 of photographic head
Position labeling 204, fluorescence localization rod 202, photographic head real-time positioning apparatus 203.Wherein puncture working station includes computer and operation
Puncture working station software on computers.
Pet-ct imaging device passes through network and will scan the pet image that obtains and ct image is sent to dicom server, wears
Thorn workstation software passes through dicom procotol and from server lookup and reads pet image and ct view data.Counted by puncturing
Draw software to show the cross section of ct image, pet image or both fusion image, coronalplane, sagittal plane and arbitrarily angled cut sth. askew
Face, user can delineate on each display surface above-mentioned puncture target and around vitals；Likewise, can also be above-mentioned each
The needle track of puncture is designed on individual display surface, sets the coordinate of point of puncture.
Positioning labeling 204 is attached to the body surface of patient as patient's telltale mark, and labeling is fixed with the metal on fluorescence top layer
Ball.Fluorescence top layer facilitates photographic head to capture, and metal material has higher hu value on ct image, facilitates puncture working station software pair
It carries out automatic identification.
Fluorescence localization rod 202 is fixed on puncture needle 201 rear end, and puncture needle 201 is located on the same line.Fluorescence top layer
Photographic head real-time positioning apparatus 203 are facilitated to capture and identify.
Puncture working station software has the setting interface of distance between setting fluorescence localization rod 202 rear ends and puncture needle 201 point.
Due to needle tip always with fluorescence localization rod point-blank, the relative position relation therefore between them only need to use fluorescence
The distance between locating bar rear end and needle tip represent.
Photographic head real-time positioning apparatus 203 by four carry LED lamp photographic head constitute it is ensured that each positioning labeling and
The all at least two photographic head captures of fluorescence localization rod.Video image is sent to puncture working station by photographic head in real time.Puncture work
Make station software and obtain, from puncture working station, the video image that photographic head real-time positioning apparatus send in real time, from image in real time
Extract the end points of bead 204 and fluorescence localization rod 202 on positioning labeling, and it is mated, by Binocular Vision Principle weight
Build out the space coordinatess of these labellings.Puncture working station software passes through the end points space coordinatess and glimmering on the fluorescence localization rod rebuild
Light projection rod 202 and the relative position relation of puncture needle 201, calculate the attitude of puncture needle 201 and the seat of point of puncture on needle point
Mark.
Patient, when carrying out ct scanning, needs for positioning labeling 204 to be scanned into ct image.User can pass through puncture working
Station software, marks these patient's telltale marks on ct image.Or, Threshold segmentation is passed through by puncture working station software and it is tight
The relative position relation of fit table carries out to it assisting automatic identification, then is confirmed by user.Puncture working station software will be double
The positioning labeling bead on positioning labeling bead and ct image that mesh visual theory is rebuild is overlapped, to determine imaging device product
Relation between the space coordinates of the space coordinates of raw image and Binocular Vision Principle reconstruction.
Produced between the space coordinates that the space coordinates of image and Binocular Vision Principle are rebuild by imaging device
Relation, the element in two coordinate systems can be shown in same 3-D view by puncture working station.Show in real-time needle track
Module, can show simultaneously puncture target, the 3-D view of vitals, plan needle track and real-time needle track, show current pin in real time
The coordinate of point of puncture on the space angle in road and needle point, the display plan space angle of needle track and the coordinate of point of puncture, show in real time
Show the angle of plan needle track and current needle track, point of puncture space coordinatess difference on point of puncture and current needle point is planned in display in real time.
As different from Example 1, patient's telltale mark of embodiment 2 is placed directly against patient body-surface, if in piercing process
Middle patient produces and moves, and monitors patient's telltale mark by photographic head real-time positioning apparatus, punctures target, vitals, plan
The position of needle track and attitude can also carry out real-time update.
Claims (8)
1. a kind of puncture navigation system based on photographic head it is characterised in that: include imaging device, puncture working station, Huan Zheding
Position labelling, the telltale mark being arranged on puncture instrument, photographic head real-time positioning apparatus；Puncture working station includes computer and fortune
Row puncture working station software on computers.
2. according to the imaging device described in claim 1 it is characterised in that: this imaging device be ct imaging device, mr imaging set
Standby or pet imaging device.
3. according to the patient's telltale mark described in claim 1 it is characterised in that: this patient's telltale mark imaging device produce
Image on show, also photographic head real-time positioning apparatus capture video image on show.
4. according to the photographic head real-time positioning apparatus described in claim 1 it is characterised in that: this positioner include at least two
Photographic head, photographic head shoots the telltale mark on patient's telltale mark and puncture instrument, and video image is transmitted in real time work
Stand.
5. according to the puncture working station software described in claim 1 it is characterised in that: this puncture working station software read or receive
The anatomic image of imaging device collection；And can be on the cross section of anatomic image, coronalplane, sagittal plane and arbitrarily angled oblique section
Delineate puncture target and vitals, the needle track of design puncture, the coordinate of point of puncture.
6. according to the puncture working station software described in claim 1 it is characterised in that: this puncture working station software is from puncture working
Stand real-time obtain the video image that photographic head real-time positioning apparatus send, from image extract real-time patient telltale mark and
Telltale mark on puncture instrument, and the space coordinatess of these labellings are reconstructed by Binocular Vision Principle.
7. according to the puncture working station software described in claim 1 it is characterised in that: this puncture working station software have setting puncture
The setting interface of relative position relation between telltale mark on apparatus and needle tip.
8. according to the puncture working station software described in claim 1 it is characterised in that: this puncture working station software comprises real-time pin
Road display module, real-time needle track display module shows puncture target, the three-dimensional of vitals, plan needle track and real-time needle track simultaneously
Image, shows in real time the space angle of current needle track and the coordinate of point of puncture on needle point, the space angle of display plan needle track and
The coordinate of point of puncture, the angle of display plan needle track and current needle track in real time, in real time on display plan point of puncture and current needle point
Point of puncture space coordinatess difference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610854640.8A CN106333748B (en) | 2016-09-28 | 2016-09-28 | A kind of puncture navigation system based on camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610854640.8A CN106333748B (en) | 2016-09-28 | 2016-09-28 | A kind of puncture navigation system based on camera |
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| Publication Number | Publication Date |
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| CN106333748A true CN106333748A (en) | 2017-01-18 |
| CN106333748B CN106333748B (en) | 2019-08-20 |
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| CN201610854640.8A Active CN106333748B (en) | 2016-09-28 | 2016-09-28 | A kind of puncture navigation system based on camera |
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Cited By (6)
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| CN109893226A (en) * | 2019-03-25 | 2019-06-18 | 北京万特福医疗器械有限公司 | A kind of intracranial hematoma augmented reality positioning system |
| WO2019119194A1 (en) * | 2017-12-18 | 2019-06-27 | 中国科学院深圳先进技术研究院 | Flexible surgical instrument tracking method, apparatus, device, and storage medium |
| CN112603500A (en) * | 2020-12-29 | 2021-04-06 | 南京中医药大学 | Auxiliary system and method for precise sacral foramen needling/puncturing |
| CN112618014A (en) * | 2020-12-14 | 2021-04-09 | 吴頔 | Non-contact intracranial puncture positioning navigation |
| CN113598905A (en) * | 2021-08-11 | 2021-11-05 | 真健康（北京）医疗科技有限公司 | Puncture assisting device and puncture method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019119194A1 (en) * | 2017-12-18 | 2019-06-27 | 中国科学院深圳先进技术研究院 | Flexible surgical instrument tracking method, apparatus, device, and storage medium |
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| CN106333748B (en) | 2019-08-20 |
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