CN107080579A - A kind of laser positioning punctures guider and its Needle localization method - Google Patents
A kind of laser positioning punctures guider and its Needle localization method Download PDFInfo
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- CN107080579A CN107080579A CN201710436585.5A CN201710436585A CN107080579A CN 107080579 A CN107080579 A CN 107080579A CN 201710436585 A CN201710436585 A CN 201710436585A CN 107080579 A CN107080579 A CN 107080579A
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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
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Abstract
Guider, including image processing module are punctured the invention discloses a kind of laser positioning, for handling scan image；Electronic control module, by gathering the result of image processing module, is controlled to drive module；Drive module, including laterally driven motor, zigzag tread patterns motor and 180 ° of rotation motors；Laterally driven motor, for driving transverse slider, transverse slider is slidably arranged in horizontal slide rail；Zigzag tread patterns motor, for driving longitudinal sliding block, longitudinal sliding block is slidably arranged in longitudinal slide rail, and longitudinal slide rail is fixed on transverse slider；180 ° of rotation motors, for driving 180 ° of cradle heads, 180 ° of cradle heads are arranged on longitudinal sliding block by support bar；Laser output module, is connected with 180 ° of cradle heads, is indicated for exporting laser puncturing direction.The invention also discloses a kind of Needle localization method of said apparatus.The present invention can improve the deficiencies in the prior art, improve the degree of accuracy of puncture.
Description
Technical field
The present invention relates to technical field of medical instruments, especially a kind of laser positioning punctures guider and its Needle localization
Method.
Background technology
With the development of medical technology, CT or lower more and more extensive, this Clinics of minimally invasive diagnosis and treatment application of MCR guiding
Key be venipuncture, venipuncture is mainly concerned with the angle and depth of puncture needle, and angle is often a more difficult control
The factor of system, therefore the needle angle that the principal element of puncture accuracy is puncture needle is had influence on, most of hospital is rule of thumb
Hand operation is completed, because the needle angle of puncture needle is three-dimensional space angle, simple experiential operating one-time success rate
It is relatively low, it is necessary to which adjustment repeatedly, not only extends operating time, while adding pain and operation risk to patient.
The content of the invention
Guider and its Needle localization method are punctured the technical problem to be solved in the present invention is to provide a kind of laser positioning, can
The deficiencies in the prior art are solved, the degree of accuracy of puncture is improved.
In order to solve the above technical problems, the technical solution used in the present invention is as follows.
A kind of laser positioning punctures guider, including,
Image processing module, for handling scan image；
Electronic control module, by gathering the result of image processing module, is controlled to drive module；
Drive module, including laterally driven motor, zigzag tread patterns motor and 180 ° of rotation motors；
Laterally driven motor, for driving transverse slider, transverse slider is slidably arranged in horizontal slide rail；
Zigzag tread patterns motor, for driving longitudinal sliding block, longitudinal sliding block is slidably arranged in longitudinal slide rail, and longitudinal slide rail is fixed on
On transverse slider；
180 ° of rotation motors, for driving 180 ° of cradle heads, 180 ° of cradle heads are arranged on longitudinal sliding block by support bar；
Laser output module, is connected with 180 ° of cradle heads, is indicated for exporting laser puncturing direction.
A kind of above-mentioned laser positioning punctures the Needle localization method of guider, comprises the following steps：
A, using scanning device to site of puncture carry out demixing scan, doctor according to scanning result mark puncture path, to mark
There is the scanning input picture processing module of puncture path；
Original image is converted into bianry image by B, image processing module, and the function that original image is transformed into bianry image enters
Row record；
C, the image on puncture path is smoothed, obtains puncturing preceding benchmark image；
D, electronic control module drive laser output module to export laser according to the puncture path of mark by drive module, to puncturing
Path is identified；
E, doctor laser guiding to being punctured；
F, in puncture process using scanning device multiple scanning is carried out to site of puncture, Current Scan layer is where piercing needle
Position；
G, the processing procedure by the image repeat step B scanned, the image of same scanning slice is contrasted before and after puncturing, and is sentenced
Damage of the disconnected puncture process for site of puncture；
H, the image of scanning slice adjacent in puncture process contrasted, judge the degree of accuracy of puncture process puncture path.
Preferably, in step B, the gray scale of pixel and its normalizing with the rate of gray level of neighbor pixel are used
Change obtained judgement data after data weighting to be contrasted with transform key, if it is determined that data are more than transform key, then this pixel
Point value is 1, otherwise, and pixel value is 0.
Preferably, in step B, obtain after bianry image, it is right on the basis of the aggregation zone of value identical pixel
Bianry image is split, and the pixels different to the value in the image block after segmentation are deleted.
Preferably, in step C, stretched for the image block after the segmentation on puncture path along direction is punctured,
Overlaped the edge of adjacent image block.
Preferably, in step G, high frequency imaging on the maximum direction of deviation object as a comparison is gathered respectively.
Preferably, in step H, characteristic point is extracted in the high frequency imaging contrasted the most in step G, swept using adjacent
The characteristic point for retouching layer is contrasted.
The beneficial effect brought using above-mentioned technical proposal is：The present invention is carried by using bianry image electronic control module
For puncture path, interference of the signal interference in image for electronic control module output order can be reduced.To on puncture path
Image is smoothed, and can improve the contrast significance on puncture path before and after puncturing, and is easy to doctor's analysis to puncture feelings
Condition.The present invention uses the criterion that the gray scale and rate of gray level of image are converted as bianry image, can reduce image
The distortion degree of image during being smoothed.The guider that the present invention is provided can under the guidance of scan image,
Accurate laser aiming is carried out according to the puncture path that doctor provides, it is high for the control real-time of puncture process, it is easy to doctor
Adjusted in real time according to the actual conditions of puncture.
Brief description of the drawings
Fig. 1 is the control system schematic diagram of an embodiment of the invention.
Fig. 2 is the structure chart of supplied laser navigation apparatus in an embodiment of the invention.
In figure：1st, image processing module；2nd, electronic control module；3rd, drive module；4th, laterally driven motor；5th, zigzag tread patterns horse
Reach；6th, 180 ° of rotation motors；7th, transverse slider is driven；8th, horizontal slide rail；9th, longitudinal sliding block；10th, longitudinal slide rail；11st, 180 ° turn
Movable joint；12nd, support bar；13rd, laser output module.
Embodiment
The standardized element used in the present invention can commercially, and shaped piece is according to specification and accompanying drawing
Record can carry out customized, and the specific connected mode of each part is using bolt ripe in the prior art, rivet, weldering
The conventional meanses such as connect, paste, will not be described in detail herein.
Reference picture 1-2 a, embodiment of the invention includes,
Image processing module 1, for handling scan image；
Electronic control module 2, by gathering the result of image processing module 1, is controlled to drive module 3；
Drive module 3, including laterally driven motor 4, zigzag tread patterns motor 5 and 180 ° of rotation motors 6；
Laterally driven motor 4, for driving transverse slider 7, transverse slider 7 is slidably arranged in horizontal slide rail 8；
Zigzag tread patterns motor 5, for driving longitudinal sliding block 9, longitudinal sliding block 9 is slidably arranged in longitudinal slide rail 10, longitudinal slide rail
10 are fixed on transverse slider 7；
180 ° of rotation motors 6, for driving 180 ° of cradle heads, 11,180 ° of cradle heads 11 by support bar 12 installed in longitudinal direction
On sliding block 9；
Laser output module 13, is connected with 180 ° of cradle heads 11, is indicated for exporting laser puncturing direction.
A kind of above-mentioned laser positioning punctures the Needle localization method of guider, comprises the following steps：
A, using scanning device to site of puncture carry out demixing scan, doctor according to scanning result mark puncture path, to mark
There is the scanning input picture processing module 1 of puncture path；
Original image is converted into bianry image by B, image processing module 1, and original image is transformed to the function of bianry image
Recorded；
C, the image on puncture path is smoothed, obtains puncturing preceding benchmark image；
D, electronic control module 2 drive laser output module 13 to export laser according to the puncture path of mark by drive module 3, right
Puncture path is identified；
E, doctor laser guiding to being punctured；
F, in puncture process using scanning device multiple scanning is carried out to site of puncture, Current Scan layer is where piercing needle
Position；
G, the processing procedure by the image repeat step B scanned, the image of same scanning slice is contrasted before and after puncturing, and is sentenced
Damage of the disconnected puncture process for site of puncture；
H, the image of scanning slice adjacent in puncture process contrasted, judge the degree of accuracy of puncture process puncture path.
In step B, the normalization data using the gray scale of pixel and itself and the rate of gray level of neighbor pixel adds
Judgement data and the transform key obtained after power is contrasted, if it is determined that data are more than transform key, then this pixel value is
1, otherwise, pixel value is 0.
In step B, obtain after bianry image, bianry image is entered on the basis of the aggregation zone of value identical pixel
Row segmentation, the pixels different to the value in the image block after segmentation are deleted.
In step C, stretched for the image block after the segmentation on puncture path along direction is punctured, make adjacent figure
As the edge of block is overlaped.
In step G, high frequency imaging on the maximum direction of deviation object as a comparison is gathered respectively.
In step H, characteristic point is extracted in the high frequency imaging contrasted the most in step G, the spy of adjacent scanning slice is used
Levy and contrasted.
In step B, the gray scale of pixel and its weighting with the normalization data of the rate of gray level of neighbor pixel
Ratio is directly proportional to the maximum gray scale difference in image.
In step G, its inverse function is tried to achieve using the function that bianry image is converted in step B, using inverse function to high frequency
Image carries out inverse transformation, is then contrasted.This way of contrast can improve the contrast of image detail, be easy to doctor to carry out
Diagnosis.
In the description of the invention, it is to be understood that term " longitudinal direction ", " transverse direction ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " is based on accompanying drawing institutes
The orientation or position relationship shown, is for only for ease of the description present invention, rather than indicate or imply that the device or element of meaning must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (7)
1. a kind of laser positioning punctures guider, it is characterised in that：Including,
Image processing module（1）, for handling scan image；
Electronic control module（2）, by gathering image processing module（1）Result, to drive module（3）It is controlled；
Drive module（3）, including laterally driven motor（4）, zigzag tread patterns motor（5）With 180 ° of rotation motors（6）；
Laterally driven motor（4）, for driving transverse slider（7）, transverse slider（7）It is slidably arranged in horizontal slide rail（8）It is interior；
Zigzag tread patterns motor（5）, for driving longitudinal sliding block（9）, longitudinal sliding block（9）It is slidably arranged in longitudinal slide rail（10）It is interior,
Longitudinal slide rail（10）It is fixed on transverse slider（7）On；
180 ° of rotation motors（6）, for driving 180 ° of cradle heads（11）, 180 ° of cradle heads（11）Pass through support bar（12）Peace
Mounted in longitudinal sliding block（9）On；
Laser output module（13）, with 180 ° of cradle heads（11）Connection, is indicated puncturing direction for exporting laser.
2. a kind of laser positioning described in claim 1 punctures the Needle localization method of guider, it is characterised in that including with
Lower step：
A, using scanning device to site of puncture carry out demixing scan, doctor according to scanning result mark puncture path, to mark
There is the scanning input picture processing module of puncture path（1）；
B, image processing module（1）Original image is converted into bianry image, and original image is transformed to the letter of bianry image
Number is recorded；
C, the image on puncture path is smoothed, obtains puncturing preceding benchmark image；
D, electronic control module（2）According to the puncture path of mark, pass through drive module（3）Drive laser output module（13）Output swashs
Light, is identified to puncture path；
E, doctor laser guiding to being punctured；
F, in puncture process using scanning device multiple scanning is carried out to site of puncture, Current Scan layer is where piercing needle
Position；
G, the processing procedure by the image repeat step B scanned, the image of same scanning slice is contrasted before and after puncturing, and is sentenced
Damage of the disconnected puncture process for site of puncture；
H, the image of scanning slice adjacent in puncture process contrasted, judge the degree of accuracy of puncture process puncture path.
3. laser positioning according to claim 2 punctures the Needle localization method of guider, it is characterised in that：Step B
In, the judgement obtained after the normalization data weighting using the gray scale and itself and the rate of gray level of neighbor pixel of pixel
Data are contrasted with transform key, if it is determined that data are more than transform key, then this pixel value is 1, and otherwise, pixel takes
It is worth for 0.
4. laser positioning according to claim 3 punctures the Needle localization method of guider, it is characterised in that：Step B
In, obtain after bianry image, bianry image is split on the basis of the aggregation zone of value identical pixel, to segmentation
The different pixel of the rear value in image block is deleted.
5. laser positioning according to claim 4 punctures the Needle localization method of guider, it is characterised in that：Step C
In, stretched for the image block after the segmentation on puncture path along direction is punctured, enter the edge of adjacent image block
Row is overlaped.
6. laser positioning according to claim 2 punctures the Needle localization method of guider, it is characterised in that：Step G
In, high frequency imaging on the maximum direction of deviation object as a comparison is gathered respectively.
7. laser positioning according to claim 6 punctures the Needle localization method of guider, it is characterised in that：Step H
In, characteristic point is extracted in the high frequency imaging contrasted the most in step G, is contrasted using the characteristic point of adjacent scanning slice.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710436585.5A CN107080579A (en) | 2017-06-12 | 2017-06-12 | A kind of laser positioning punctures guider and its Needle localization method |
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| CN201710436585.5A CN107080579A (en) | 2017-06-12 | 2017-06-12 | A kind of laser positioning punctures guider and its Needle localization method |
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ID=59606596
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309451A (en) * | 2018-02-05 | 2018-07-24 | 吴博远 | A kind of cranium brain lesion navigation system for basic hospital |
| CN108648592A (en) * | 2018-07-24 | 2018-10-12 | 锡山区东港晓鸣电子产品经营部 | A kind of manikin training operating method of laseropuncture guiding system |
| CN109173088A (en) * | 2018-09-20 | 2019-01-11 | 成都真实维度科技有限公司 | A kind of longitudinal axis rotating mechanism and control system for laser aiming |
| CN109223176A (en) * | 2018-10-26 | 2019-01-18 | 中南大学湘雅三医院 | A kind of surgical planning system |
| CN109481018A (en) * | 2018-12-29 | 2019-03-19 | 上海联影医疗科技有限公司 | A kind of navigation equipment and method applied in medical care precess |
| CN110360992A (en) * | 2018-04-09 | 2019-10-22 | 深圳市擎源医疗器械有限公司 | A kind of laser aiming equipment |
| CN116077186A (en) * | 2023-04-07 | 2023-05-09 | 青岛大学附属医院 | Surgical positioning system based on laser interference |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309451A (en) * | 2018-02-05 | 2018-07-24 | 吴博远 | A kind of cranium brain lesion navigation system for basic hospital |
| CN110360992A (en) * | 2018-04-09 | 2019-10-22 | 深圳市擎源医疗器械有限公司 | A kind of laser aiming equipment |
| CN108648592A (en) * | 2018-07-24 | 2018-10-12 | 锡山区东港晓鸣电子产品经营部 | A kind of manikin training operating method of laseropuncture guiding system |
| CN109173088A (en) * | 2018-09-20 | 2019-01-11 | 成都真实维度科技有限公司 | A kind of longitudinal axis rotating mechanism and control system for laser aiming |
| CN109223176A (en) * | 2018-10-26 | 2019-01-18 | 中南大学湘雅三医院 | A kind of surgical planning system |
| CN109223176B (en) * | 2018-10-26 | 2021-06-25 | 中南大学湘雅三医院 | Operation planning system |
| CN109481018A (en) * | 2018-12-29 | 2019-03-19 | 上海联影医疗科技有限公司 | A kind of navigation equipment and method applied in medical care precess |
| CN116077186A (en) * | 2023-04-07 | 2023-05-09 | 青岛大学附属医院 | Surgical positioning system based on laser interference |
| CN116077186B (en) * | 2023-04-07 | 2023-06-30 | 青岛大学附属医院 | Surgical positioning system based on laser interference |
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Application publication date: 20170822 |