CN107582147B - Puncture point positioning device and puncture point positioning method - Google Patents
Puncture point positioning device and puncture point positioning method Download PDFInfo
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- CN107582147B CN107582147B CN201710874065.2A CN201710874065A CN107582147B CN 107582147 B CN107582147 B CN 107582147B CN 201710874065 A CN201710874065 A CN 201710874065A CN 107582147 B CN107582147 B CN 107582147B
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Abstract
The invention discloses a puncture point positioning device, and relates to the technical field of medical instruments. The positioning device comprises a positioning piece and a laser emitter, wherein the positioning piece is arranged between the detector and the inspection area, the positioning piece is in a grid shape, an X-ray image superposed with the positioning piece and the target object can be obtained after the X-ray passes through the positioning piece, the laser emitter is used for projecting grid-shaped patterns to the inspection area, and the grid-shaped patterns correspond to the images of the positioning piece in the X-ray image. The invention also discloses a method for positioning the puncture point by adopting the puncture point positioning device. The invention utilizes the laser beam with the grid pattern and the grid positioning piece to assist a doctor to position the body surface puncture point, thereby improving the positioning precision, reducing the operation time, and reducing the perspective times of the C-shaped arm X-ray machine, thereby reducing the radiation dose during the operation.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a puncture point positioning device and a puncture point positioning method.
Background
In the orthopedic minimally invasive surgery, a doctor needs to locate the position of a focus by using an X-ray perspective image so as to estimate a needle inserting site. To facilitate the determination of the needle insertion site, the methods generally used in the prior art are: the fine copper wires are made into a grid-shaped structure, and marks are arranged on the grid. And then clinging the copper mesh to the body surface, exposing by using a C-arm, observing the position of the skeleton by using an X-ray film carrying the position information of the copper mesh, and determining the puncture point of the body surface by using the relative position information of the skeleton and the copper mesh.
However, when positioning is performed by this method, there are the following problems: 1) the placement position of the metal grid can only be visually observed by a doctor, and the metal grid cannot be ensured to be positioned in the range of the ray bundle, so that extra perspective times can be caused; 2) the metal mesh can not be tightly attached to the skin surface of a human body, so that the mark position deviates from the actual position; 3) the distance from the metal grid to the surface of the detector is long, and the image projected to the detector by the metal grid is influenced by the magnification due to the fact that the X-ray emitted by the X-ray source assembly has a certain cone angle, and the positioning accuracy is reduced. Above-mentioned location process not only brings more radiation injury for patient's health, and the operation of fixed copper mesh has also brought inconvenience for doctor's work moreover many times, has also reduced operation efficiency when reducing doctor work efficiency.
Disclosure of Invention
Based on the above, the present invention aims to provide a puncture point positioning device and a puncture point positioning method, so as to reduce the number of times of perspective for a patient during positioning, reduce radiation injury, and improve the positioning accuracy of a puncture point and the working efficiency of a doctor.
In order to achieve the purpose, the invention adopts the following technical scheme:
a puncture point positioner for C shape arm, C shape arm includes X ray source end and detector end, just be equipped with the inspection area that can hold the target object between X ray source end and the detector end, this positioner includes:
the positioning piece is arranged between the detector and the inspection area, the positioning piece is in a grid shape, and an X-ray image superposed with the target object can be obtained after the X-ray passes through the positioning piece;
and the laser emitter is used for projecting a grid pattern to the inspection area, and the grid pattern corresponds to the image of the positioning piece in the X-ray image.
Preferably, the laser beam emitted by the laser emitter coincides with the propagation path of the X-ray beam emitted by the X-ray source.
Preferably, the laser emitter is arranged at an X-ray source end.
Preferably, the positioning member is further provided with a positioning mark, and the grid-shaped pattern is correspondingly provided with a laser mark.
Preferably, the X-ray source end includes:
an X-ray source assembly for emitting an X-ray beam;
and the beam limiter assembly is positioned below the X-ray source assembly, a reflector and the laser emitter are arranged in the beam limiter assembly, and after a laser beam emitted by the laser emitter is reflected by the reflector, the propagation path of the laser beam coincides with the propagation path of the X-ray beam.
Preferably, the positioning element is provided on a surface of the probe facing the examination region.
Preferably, the positioning member is made of a material that attenuates X-ray intensity.
Preferably, the positioning member is made of a soft metal material.
Preferably, the grid shape of the positioning member is a polygon or a curved polygon, and the positioning marks are arranged at the intersections of the grid lines in a predetermined form. Specifically, the grid shape in the positioning member is a triangle or a quadrangle or a radial grid, and the positioning marks are arranged at the intersection points of the grid lines in a cross array.
Preferably, the puncture site locating device further comprises a moving device for moving the locating member away from the surface of the probe facing the examination region.
Preferably, the moving device comprises a transmission mechanism, the transmission mechanism comprises a transmission wheel, and the transmission wheel is connected with the positioning piece and used for laying the positioning piece on the detector or winding and retracting the positioning piece.
The invention also provides a method for positioning the puncture point by adopting the puncture point positioning device, which comprises the following steps:
positioning a positioning member between the probe and the target object;
acquiring an X-ray image of a target object superposed with the positioning piece, and determining a target position based on the X-ray image;
and projecting a grid pattern on the surface of the target object by a laser emitter, wherein the grid pattern corresponds to the image of the positioning piece in the X-ray image, and determining the puncture point according to the projected grid pattern and the target position.
The invention also provides a C-shaped arm X-ray machine which comprises the puncture point positioning device.
The invention has the beneficial effects that:
firstly, shooting by using a C-shaped arm X-ray machine, and superposing and imaging a positioning piece and a target object, so that a doctor can conveniently position a target focus on an image; then, a grid-shaped pattern is projected on the surface of the target object by using a laser emitter, and because the laser beam is superposed with the propagation path of the X-ray beam emitted by the X-ray source end, the position of the laser beam projected on the surface of the target object is also the position of the previous X-ray beam passing through the surface of the target object; and because the grids of the laser beam patterns correspond to the grids of the positioning pieces one by one, the puncture point position of the body surface of the target object can be successfully determined according to the position relation between the positioning pieces and the focus points on the perspective image.
The positioning piece of the invention is not required to be stuck and fixed on the body surface of the target object, thereby greatly simplifying the operation process and improving the operation efficiency; the positioning piece is arranged between the detector and the target object, and the grid of the positioning piece is amplified in a smaller proportion after X-ray imaging, so that compared with the prior art, the grid of the positioning piece can be made finer, the focus of the target object can be positioned more accurately, and the exposure times are reduced. In conclusion, the invention utilizes the latticed laser beam pattern and the latticed positioning piece to assist a doctor to position the body surface puncture point, thereby improving the positioning precision, reducing the operation time, and reducing the perspective times of the C-shaped arm X-ray machine, thereby reducing the radiation dose during the operation.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a schematic structural view of a puncture site locating device provided in an embodiment of the present invention;
FIG. 2 is a schematic view of the propagation paths of X-ray beams and laser beams according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a positioning member according to an embodiment of the present invention;
FIG. 4 is an X-ray perspective view of a spacer and spine according to an embodiment of the present invention;
FIG. 5 is a schematic structural view (in a retracted state) of a transmission mechanism provided by an embodiment of the present invention;
FIG. 6 is a schematic structural view (in a spread-out state) of a transmission mechanism provided by an embodiment of the present invention;
FIG. 7 is a schematic structural view (in a retracted state) of another actuator provided in accordance with an embodiment of the present invention;
fig. 8 is a schematic structural view (spread-out state) of another transmission mechanism provided by the embodiment of the present invention.
In the figure:
1-a laser emitter; 2-a positioning element; 3-C arm frame; 4-a transmission mechanism; 5-a piercing surface;
21-a localization marker; 31-X-ray source; 32-a detector;
311-an X-ray source assembly; 312-a beam limiter assembly; 313 — mirror.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment provides a preferred puncture point positioning device, which is used for a C-arm X-ray machine, the C-arm X-ray machine comprises a C-arm frame 3, one end of the C-arm frame 3 is an X-ray source end 31 for emitting X-rays, the other end is a detector end, a detector 32 is arranged for collecting the X-rays and imaging, and an examination area capable of accommodating a target object is arranged between the X-ray source end 31 and the detector end. Preferably, the detector 32 is a flat panel detector.
As shown in fig. 1-2, the puncture point positioning device includes a laser emitter 1 and a positioning member 2, wherein the laser emitter 1 is disposed in an X-ray source end 31 of a C-arm frame 3 and is configured to emit a laser beam, and a projection image of the laser beam is in a grid shape; specifically, the laser beam having a grid-like projection pattern can be formed, for example, by installing a grating engraved with a grid in the laser transmitter 1, and allowing the laser light to pass through the grating. The positioning element 2 is disposed between the detector 32 of the C-arm frame 3 and the target object, and specifically, a corresponding bracket may be disposed on the C-arm frame 3, and the positioning element 2 may be fixed on the bracket. The positioning member 2 is in a grid shape and is used for superposition imaging with the target object when the X-ray is transmitted. Here, it should be ensured that the grid on the positioning member 2 corresponds one-to-one to the grid on the laser beam pattern, and that the propagation path of the laser beam should coincide with the propagation path of the X-ray beam.
The working principle of the device is as follows: firstly, the positioning piece 2 on the detector 32 and the target object are superposed and imaged through X-ray transmission, so that a doctor can conveniently position the focus of the target object on the image; then, a grid-shaped pattern is projected on the surface of the target object by using the laser emitter 1, and the position of the laser beam projected on the surface of the target object is the position of the previous X-ray beam passing through the surface of the target object because the laser beam is superposed with the propagation path of the X-ray beam; and because the grids on the laser beam pattern correspond to the grids of the positioning piece 2 one by one, the puncture point position on the surface of the target object can be determined according to the position relationship between the positioning piece 2 and the focus point on the perspective image.
The positioning piece of the device is not required to be stuck and fixed on the body surface of the target object, so that the operation process is greatly simplified, and the operation efficiency is improved; and the setting element setting of this device is between detector 32 and target object, and the proportion that the grid of setting element 2 is enlargied is less after X-ray imaging, consequently for prior art, this application can be done the finer with setting element 2 grid to can once only pinpoint the focus of target object, reduced the shooting number of times of X-ray.
Further, the laser beam pattern may further include laser mark points on the grid, which may be marked on a grating engraved with the grid, and the laser mark points are preferably uniformly arranged at intersections of the grid according to a certain array. Meanwhile, the positioning member 2 is also provided with positioning marks 21, and the positioning marks 21 correspond to the laser mark points one to one. The positioning mark 21 is arranged on the positioning piece 2, so that a doctor can conveniently analyze the position of a focus according to an exposure image, and the doctor can conveniently accurately find a body surface puncture point to perform a puncture operation through the laser mark point of the laser beam pattern projected on a target object. In the present embodiment, the positioning marks 21 are specifically distributed as shown in fig. 3 and 4, and a plurality of positioning marks 21 are arranged in a cross array at the intersections of the grid lines. It should be noted that the preferred arrangement of the positioning marks 21 is only shown in the figures, and in other cases, the positioning marks may be arranged in other arrays or preset forms, and the like, and the arrangement is not limited herein. In addition, the shape of the mesh in the positioning member 2 and the mesh in the laser beam pattern may be set to be triangular, quadrangular or other polygons, or may be set to be circular, curved or mesh radiating outward in a concentric circle manner.
Further, as shown in fig. 2, the X-ray source terminal 31 includes an X-ray source assembly 311 and a beam limiter assembly 312, wherein the X-ray source assembly 311 is configured to emit an X-ray beam; the beam limiter assembly 312 is located below the X-ray source assembly 311, and is integrated with a reflecting mirror 313 arranged obliquely and a laser emitter 1 located on one side of the reflecting mirror 313, wherein an X-ray beam emitted by the X-ray source assembly 311 passes through the back surface of the reflecting mirror 313, and the propagation direction of the X-ray beam is unchanged; the laser beam emitted by the laser emitter 1 is irradiated on the front surface of the reflecting mirror 313, the propagation path of the laser beam is changed at a certain angle after being reflected by the reflecting mirror 313, and the changed propagation path of the laser beam is overlapped with the propagation path of the X-ray beam. The X-ray source end 31 is reasonable in structural design, the fact that the propagation direction of a laser beam is consistent with that of an X-ray beam is guaranteed, and meanwhile the fact that the laser emitter 1 is directly arranged below the X-ray source component 311 to shield the X-ray beam is avoided. Preferably, the laser emitter 1 is a laser lamp, and the projection pattern of the laser beam emitted by the laser lamp is in a grid shape, which further simplifies the structure of the puncture point locating device.
Further, the positioning element 2 of the present embodiment is disposed on the surface of the detector 32 facing the inspection area, the distance from the positioning element 2 to the detector 32 is closer due to the arrangement, and the image projected onto the detector 32 by the positioning element 2 is substantially the same as the actual size of the positioning element 2, so that the influence of the magnification on the imaging of the positioning element 2 is greatly reduced, and the positioning accuracy of the apparatus is improved. For example: the traditional structure may cause that part of grids at the edge cannot be seen through, so that multiple times of perspective is needed, or the grids are sparse, so that the positioning is not accurate; by adopting the device, not only can the grid be completely displayed on the perspective image, but also the grid can be made to be finer, the lines of the grid can not be amplified basically, and therefore the position of the puncture point can be accurately analyzed through one-time perspective. In addition, the positioning member 2 of the present embodiment is made of a material that attenuates the intensity of X-rays, so as to increase the sharpness of the perspective image and ensure the reliability of the use of the apparatus. Preferably, the positioning member 2 is a metal grid made of a soft metal material, such as an aluminum strip or a copper strip. The soft metal material endows the positioning piece 2 with better flexibility, and the positioning piece 2 is convenient to be rolled and folded when not in use. The puncture point positioning device is characterized in that the puncture point positioning device is further provided with a human-computer interaction module, and specifically comprises an operation panel and an operation button, and the human-computer interaction module is used for controlling the puncture point positioning device to enter a preoperative positioning mode before an operation is started and quit the preoperative positioning mode after a puncture point is determined.
As shown in fig. 5-8, the present embodiment further comprises a moving device for moving the positioning element 2 away from the surface of the detector 32 facing the examination area, for example, a robot gripping or a pneumatic cylinder pulling method. In this embodiment, a transmission mechanism 4 is preferably adopted, and the transmission mechanism 4 includes a transmission wheel, and the transmission wheel is connected to the positioning element 2, and is used for spreading the positioning element 2 on the detector 32 after entering the "preoperative positioning mode", and winding and retracting the positioning element 2 after exiting the "preoperative positioning mode". In specific implementation, the following two winding schemes can be adopted: as the driving wheel in fig. 5 and fig. 6, one end of the positioning member 2 is fixed on the driving wheel, when the preoperative positioning is required, the positioning member 2 is pulled out, and when not used, the positioning member 2 is wound on the driving wheel; when the driving wheel shown in fig. 7 and 8 is used, the positioning element 2 is flatly laid on the front surface of the detector 32, and when the driving wheel is not used, the positioning element 2 is hidden and flatly laid on the back surface of the detector 32. Of course, the arrangement of the transmission mechanism 4 is not limited to the two forms described above in the present embodiment, and other structural forms may be adopted as long as the positioning member 2 can be unfolded for use and wound up. By configuring the transmission mechanism 4, on one hand, the operation of the device is more convenient and faster, and the time of the doctor for performing the operation is greatly shortened; on the other hand, normal X-ray film shooting under the non-positioning condition can not be influenced, and the applicability of the equipment is improved.
The embodiment also discloses a puncture point positioning method, which comprises the following steps:
1) the human-computer interaction module designates that the current positioning mode is the preoperative positioning mode, and the transmission mechanism 4 automatically moves the positioning piece 2 to the surface of the detector 32;
2) selecting exposure, acquiring an X-ray image of the target object superposed with the positioning piece 2, and determining the position of the focus based on the X-ray image;
3) stopping exposure, turning on a laser lamp at the X-ray source end 31, projecting a grid pattern of a laser beam onto the body surface of the target object, and determining a body surface puncture point through a laser mark point on the grid pattern and the focus position;
4) and exiting the preoperative positioning mode, and performing puncture operation by using the body surface puncture point.
The advantage of this embodiment is that the doctor can locate the puncture point on the body surface by using the correspondence between the grid pattern of the laser beam projected onto the body surface of the target object and the grid image of the positioning member 2 on the fluoroscopic image, as long as the laser beam pattern projected onto the puncture surface 5 is ensured to be visible.
The embodiment also discloses a C-shaped arm X-ray machine which comprises the puncture point positioning device or performs preoperative positioning by using the puncture point positioning method. According to the embodiment, the laser beam and the positioning piece are utilized to assist a doctor to position the body surface puncture point, so that the positioning precision is improved, the operation time is reduced, the number of times of perspective of the C-shaped arm X-ray machine is reduced, and the radiation dose in the operation is reduced.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A puncture point locating device is used for a C-shaped arm, the C-shaped arm comprises an X-ray source end (31) and a detector end, an examination area capable of containing a target object is arranged between the X-ray source end (31) and the detector end, and the puncture point locating device is characterized by comprising:
the positioning piece (2) is arranged between the detector (32) and the inspection area, the positioning piece (2) is in a grid shape, and an X-ray image of the positioning piece (2) superposed with the target object can be obtained after X-rays pass through the positioning piece (2);
the laser emitter (1) is used for projecting a grid pattern to the inspection area, and the grid pattern corresponds to the image of the positioning piece in the X-ray image.
2. A puncture site locating device according to claim 1, wherein the laser beam emitted by the laser emitter (1) coincides with the propagation path of the X-ray beam emitted by the X-ray source.
3. A puncture site locating device according to claim 2, characterized in that the laser emitter (1) is provided at the X-ray source end.
4. A puncture point locating device according to claim 3, wherein the X-ray source end (31) comprises:
an X-ray source assembly (311) for emitting an X-ray beam;
the beam limiter assembly (312) is located below the X-ray source assembly (311), a reflecting mirror (313) and the laser emitter (1) are arranged in the beam limiter assembly (312), and after laser beams emitted by the laser emitter (1) are reflected by the reflecting mirror (313), the propagation path of the laser beams coincides with the propagation path of the X-ray beams.
5. A puncture site locating device according to any one of claims 1-4, wherein the locating member (2) is further provided with locating marks, and the grid-like pattern is provided with corresponding laser marks.
6. A puncture point locating device according to claim 5, wherein the grid shape of the locating member (2) is a polygon or a curved edge, and the locating marks (21) are arranged in a predetermined pattern at the intersections of the grid lines.
7. A puncture site locating device according to claim 5, wherein the locating member (2) is provided on a surface of the probe (32) facing the examination region.
8. A puncture site locating device according to claim 7, further comprising moving means for moving the locating member (2) away from the surface of the probe (32) facing the examination region.
9. A puncture point positioning device according to claim 8, wherein the moving device comprises a transmission mechanism (4), the transmission mechanism (4) comprises a transmission wheel, and the transmission wheel is connected with the positioning member (2) and used for laying the positioning member (2) on the detector (32) or winding and retracting the positioning member (2).
10. A puncture site locating method using the puncture site locating device according to any one of claims 1 to 9, the method comprising:
arranging the positioning element (2) between the detector (32) and the target object;
acquiring an X-ray image of a target object superposed with the positioning piece (2), and determining a target position based on the X-ray image;
and projecting a grid pattern on the surface of the target object by a laser emitter (1), wherein the grid pattern corresponds to the image of the positioning piece (2) in the X-ray image, and determining the puncture point according to the projected grid pattern and the target position.
Priority Applications (14)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710874065.2A CN107582147B (en) | 2017-09-25 | 2017-09-25 | Puncture point positioning device and puncture point positioning method |
| RU2020114681A RU2781347C2 (en) | 2017-09-25 | 2018-09-25 | System and method for location of target object |
| EP20189492.0A EP3760127B1 (en) | 2017-09-25 | 2018-09-25 | System and method for locating a target subject |
| EP20189493.8A EP3756548B1 (en) | 2017-09-25 | 2018-09-25 | System for locating a target subject |
| EP18858220.9A EP3687405A4 (en) | 2017-09-25 | 2018-09-25 | System and method for locating target subject |
| AU2018336556A AU2018336556B2 (en) | 2017-09-25 | 2018-09-25 | System and method for locating target subject |
| PCT/CN2018/107434 WO2019057217A1 (en) | 2017-09-25 | 2018-09-25 | System and method for locating target subject |
| CN201880062408.8A CN111163696B (en) | 2017-09-25 | 2018-09-25 | System and method for locating a target object |
| US16/236,460 US11058389B2 (en) | 2017-09-25 | 2018-12-29 | System and method for locating a target subject |
| US16/236,462 US11013486B2 (en) | 2017-09-25 | 2018-12-29 | System and method for locating a target subject |
| US16/236,461 US11071512B2 (en) | 2017-09-25 | 2018-12-29 | System and method for locating a target subject |
| US17/305,667 US11583240B2 (en) | 2017-09-25 | 2021-07-12 | System and method for locating a target subject |
| AU2022200948A AU2022200948B2 (en) | 2017-09-25 | 2022-02-11 | System and method for locating target subject |
| US18/171,655 US11974874B2 (en) | 2017-09-25 | 2023-02-20 | System and method for locating a target subject |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710874065.2A CN107582147B (en) | 2017-09-25 | 2017-09-25 | Puncture point positioning device and puncture point positioning method |
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| CN107582147A CN107582147A (en) | 2018-01-16 |
| CN107582147B true CN107582147B (en) | 2020-08-25 |
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| CN201710874065.2A Active CN107582147B (en) | 2017-09-25 | 2017-09-25 | Puncture point positioning device and puncture point positioning method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3756548B1 (en) | 2017-09-25 | 2023-09-20 | Shanghai United Imaging Healthcare Co., Ltd. | System for locating a target subject |
| CN108836509A (en) * | 2018-06-26 | 2018-11-20 | 上海联影医疗科技有限公司 | Lesion independent positioning method and system, Medical Devices and computer readable storage medium |
| 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 |
| CN110470737A (en) * | 2019-08-20 | 2019-11-19 | 上海复合材料科技有限公司 | Ultrasonic wave acoustic beam is directed toward visualization device |
| CN112022195B (en) * | 2020-08-24 | 2023-04-25 | 南昌大学第一附属医院 | X-ray perspective shooting monitoring device system |
| CN113081188A (en) * | 2021-03-02 | 2021-07-09 | 四川大学华西医院 | CT and nuclear magnetic resonance auxiliary positioning identification point device and using method thereof |
| CN115154154B (en) * | 2022-07-11 | 2023-07-21 | 青岛滨海学院 | Orthopedic operation table |
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