CN108042173B - Drilled tunnel positioning system - Google Patents
Drilled tunnel positioning system Download PDFInfo
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- CN108042173B CN108042173B CN201711280916.7A CN201711280916A CN108042173B CN 108042173 B CN108042173 B CN 108042173B CN 201711280916 A CN201711280916 A CN 201711280916A CN 108042173 B CN108042173 B CN 108042173B
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- point
- nominal volume
- positional relationship
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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
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
Abstract
The present invention proposes a kind of drilled tunnel positioning system, comprising: surgery mechanical arm is provided at least two sleeves and A group nominal volume；Fluoroscopic apparatus, it is relatively fixed to have B group nominal volume, target object is shot to form fluoroscopy images from least two angle pins；Processing unit, select the corresponding target projection point in beginning and end position at least two channels respectively in the picture according to external input instruction, according to the positional relationship between the image receiving plane of the positional relationship and at least target projection point of target projection point and light source, it determines these spatial positions of position point relative to B group nominal volume, generates actual point spatial position data；Space multistory positioning device forms the three-dimensional relative positional relationship of A group nominal volume and B group nominal volume；Control device determines at least two channels according to three-dimensional relative positional relationship and actual point spatial position data, adjusts each sleeve and is positioned with synchronous to respective channel.The synchronous positioning at least two channels, accurate positioning can be achieved.
Description
Technical field
The present invention relates to medical device technical field more particularly to a kind of drilled tunnel positioning systems.
Background technique
In surgical operation, the advanced technologies such as operation tool are held using surgery mechanical arm to realize operation, such as surgical engine
Tool arm end installation surgical apparatus is performed the operation, such as carries out boring bone etc. by electric drill.It is bored in osseous surgery in orthopaedics, drill bit
Biggish power can be generated between bone and unstable, thus need by surgery mechanical arm.Either operation consent, surgery mechanical arm
The patient part of patient need to be moved to, still during surgery, the feed as needed of surgery mechanical arm or into bore track moved
It is dynamic, it requires surgery mechanical arm and position.
Currently, realizing that the mode of location of operation is as follows: 1) being demarcated first to patient with calibration element, then carry out CT scan and build
Vertical threedimensional model carries out surgery planning according to modeling gained model, is operated again after the completion of planning；Due to need into
Row CT scan adds modeling to carry out preoperative planning, and the time complicated for operation is longer, and radiation is also big, in addition also needs to add calibration element to patient,
And there is still a need for being realized to navigate with calibration element in art, the position that calibration element occupies will affect operation and carry out, and then position too far
Precision is not high；2) development by operation tool itself in fluoroscopy images is instructed to move, until navigating to operation tool extremely
The patient part of patient, the position fixing process time is longer, and radiation is larger, cannot achieve automation positioning, and due to operation tool
The development area of itself is larger, is easy positioning and is not allowed, and also cannot achieve the synchronous positioning of binary channels or multichannel.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of drilled tunnel positioning systems, it can be achieved that at least two channels
Synchronous positioning, accurate positioning.
To solve the above problems, the present invention proposes a kind of drilled tunnel positioning system, comprising:
Surgery mechanical arm is provided at least two sleeves, and the positional relationship between two sleeves is it is known that and surgical engine
There is A group nominal volume on tool arm；
Fluoroscopic apparatus, it is relatively fixed thereon to have B group nominal volume, target object is shot from least two angle pins to be formed to
Few two fluoroscopy images, target object remain stationary；
Processing unit receives at least two fluoroscopy images of the fluoroscopic apparatus, is instructed according to external input each
Selected target subpoint is distinguished in visible image, selected target projection point is the position point on target object in each perspective view
As upper subpoint, the position point includes the beginning and end at least two channels；For each position point, according to the position
Under point angle captured by the positional relationship of target projection point and corresponding light source in each fluoroscopy images and each fluoroscopy images
Image receiving plane between positional relationship, determine the spatial position of the position point relative to B group nominal volume, generate actual point
Spatial position data；
Space multistory positioning device forms A to capture the spatial position of the A group nominal volume Yu the B group nominal volume
The three-dimensional relative positional relationship of group nominal volume and B group nominal volume；
Control device connects the processing unit and space multistory positioning device, receives the actual point of the processing unit
The three-dimensional relative positional relationship of spatial position data and the space multistory positioning device, according to the three-dimensional relative positional relationship
The spatial position that the beginning and end at least two channels is determined with actual point spatial position data, according to the starting point in each channel
Determine depth and the direction in channel with the spatial position of terminal, control surgery mechanical arm movement, so that each sleeve is moved to pair
It answers the starting point in channel and adjusts to cylinder to consistent with the direction of corresponding channel.
According to one embodiment of present invention, the processing unit includes:
Image acquisition and processing module, to receive two fluoroscopy images of the fluoroscopic apparatus, reception external input is instructed,
According to external input instruction selected target subpoint in each fluoroscopy images；
Relationship map module, to determine that two images connect according to the spatial variations relationship of two shooting angle of fluoroscopic apparatus
The positional relationship being closed flat between face, it is by this positional relationship that the target projection point in a wherein image receiving plane is corresponding
The positional relationship between light source under shooting angle is mapped as the positional relationship relative to another image receiving plane, to determine two
The same position point of projection line intersection between a target projection point and respective light source receives flat relative to another image
The spatial position in face；
Spatial position data generation module, to according under another corresponding shooting angle of image receiving plane
Spatial relationship between the B group nominal volume determines spatial position of the same position point relative to the B group nominal volume, raw
At actual point spatial position data.
According to one embodiment of present invention, the processing unit is also connected with the space multistory positioning device, the sky
Between stereotactic apparatus also to the spatial position for capturing the B group nominal volume under two different shooting angles, with the determination B
Relative positional relationship of the group nominal volume under two shooting angle, and the relative positional relationship is transmitted to the processing unit
In, the spatial variations relationship as two shooting angle of the fluoroscopic apparatus.
According to one embodiment of present invention,
Described image acquisition processing module distinguishes selected position point in two fluoroscopy images and projects corresponding target projection
Point determines the target projection point in two fluoroscopy images in the first position point (x of respective image receiving plane1,y1), second
Set point (x2,y2)；
The relationship map module determines two according to relative positional relationship of the B group nominal volume under two shooting angle
Spatial variations matrix S between image receiving plane:Wherein,For the first shooting angle
Under B group nominal volume determine coordinate system,For under the second shooting angle B group nominal volume determine coordinate system, two
Coordinate system to establish mode identical；By spatial variations matrix S by the second position point (x of the second image receiving plane2,y2) with
It corresponds to the light source (x under shooting angleb,yb,zb) between positional relationship be mapped as the position relative to the first image receiving plane
Set relationship: (x '2, y '2, z '2)=S (x2, y2, 0) ... (1), (x'b,y'b,z'b)=S (xb,yb,zb) ... (2), root
Second position point (x' after determining spatial variations according to (1) and (2)2,y'2,z'2) and light source (x'b,y'b,z'b) between straight line
Equation (3),First is determined in the first image receiving plane
Location point (x1,y1) and its correspond to shooting angle under light source (xa,ya,za) between linear equation (4),Simultaneous calculate (3) and (4) obtain linear equation intersection point (x, y,
Z), the spatial position as the position o'clock relative to the first image receiving plane；
The spatial position data generation module, according to the positional relationship between the receiver board and B group nominal volume by institute
It states position o'clock and is converted to the position point relative between B group nominal volume relative to the spatial position of the first image receiving plane
Spatial position generates actual point spatial position data.
According to one embodiment of present invention, the A group nominal volume and B group nominal volume all have at least three nominal volumes,
It is coplanar without conllinear between at least three nominal volumes in every group.
According to one embodiment of present invention, the processing unit, space multistory positioning device or control device, according to sky
Between the spatial position of every group of three nominal volumes that measures of stereotactic apparatus Establish this group of nominal volume part O-XYZ coordinate system, coordinate centerX-direction is defined asDirection, Y direction are defined asDirection, Z-direction definition
ForDirection.
According to one embodiment of present invention, the control device includes:
Data acquisition module, the actual point spatial position data and the space multistory to receive the processing unit are fixed
The A group nominal volume of position equipment and the three-dimensional relative positional relationship of the B group nominal volume under an at least shooting angle；
Position data processing module, the position data at least three nominal volumes according to the A group nominal volume establish A
Three-dimensional system of coordinate determines that the point to be determined exists according to the positional relationship of the A group nominal volume and surgery mechanical arm point to be determined
Position in the A three-dimensional system of coordinate；B three-dimensional is established according to the position data of at least three nominal volumes of the B group nominal volume
Coordinate system, according to the relative positional relationship of A group nominal volume and B group nominal volume by the point to be determined in the A three-dimensional system of coordinate
In position be mapped in B three-dimensional system of coordinate, obtain coordinate value of the point to be determined in the B three-dimensional system of coordinate；According to
The position point determines coordinate value of the position point in the B three-dimensional system of coordinate relative to the spatial position of B group nominal volume；
The stroke of surgery mechanical arm point to be determined is determined according to the coordinate value of the coordinate value of point to be determined and position point, is generated
Stroke control instruction；
Stroke control module controls the hand according to the stroke control instruction to receive the stroke control instruction
Art mechanical arm acts so that its point to be determined is moved to the position Dian Chu.
According to one embodiment of present invention, the fluoroscopic apparatus is in all angles are shot for target object, light source
Relative position and relative direction between the image receiving plane of receiver remain constant.
According to one embodiment of present invention, the space multistory positioning device is realized by Binocular Stereo Vision System.
According to one embodiment of present invention, the control device is after placed channel, control surgery mechanical arm movement, with
The starting point for driving each sleeve to be moved to corresponding channel is aligned, and adjusts appearance according to the direction controlling sleeve of corresponding channel
State, so that sleeve is consistent with the direction that the position that starting point aligns remains stationary and changes sleeve cylinder Xiang Zhiyu corresponding channel.
According to one embodiment of present invention, the A group nominal volume is fixed on surgery mechanical arm；Alternatively, the A group mark
Determine body to be fixed at least one described sleeve；Alternatively, the sleeve is development material, between the sleeve and surgery mechanical arm
Connecting portion be non-development material, the A group nominal volume pass through sleeve itself constitute.
After adopting the above technical scheme, the present invention has the advantages that compared with prior art
By the way that A group nominal volume is arranged on surgery mechanical arm, the space bit between surgery mechanical arm and A group nominal volume is obtained
Set relationship；By fixing B group nominal volume on fluoroscopic apparatus, the positional relationship between receiver board and B group nominal volume is obtained；Pass through
Spatial relation between A group nominal volume and B group nominal volume obtains the positional relationship between surgery mechanical arm and fluoroscopic apparatus；
By fluoroscopic apparatus shoot at least two fluoroscopy images about patient site, operator only need on fluoroscopy images point
Select subpoint of the position point on each fluoroscopy images on target object as target projection point, these position points include at least
The beginning and end in two channels can obtain corresponding site point according to the spatial relation between light source and receiver board
Practical three-dimensional position, so that the spatial relation between corresponding site point and surgery mechanical arm is just determined, according to each channel
Starting point position and the spatial position at terminal position can determine depth and the direction in channel, controlling surgical mechanical arm carries out according to this
Movement, realizes that each sleeve synchronizes and navigates at each channel, and then controlling drilling aperture apparatus carries out under the guidance of each sleeve
The drilling of respective direction and depth；
Without carrying out CT scan three-dimensional modeling and surgery planning before surgery, radiation hazradial bundle is reduced, patient's hand is decreased
The time that art waits；It can be positioned in the preoperative or in art, operator only needs to click the position point in fluoroscopy images, is not required to
It carries out surgery planning or control surgery mechanical arm according to the development of marker is moved to positioning purpose, reduce behaviour
The difficulty for making complexity and positioning improves the automatic controlling level of positioning；Nominal volume will not influence operative site, pass through figure
Picture point selects the stroke of control surgery mechanical arm after determining positional relationship, and setting accuracy can be improved；
The variation of shooting angle is determined by sensing the spatial variations situation of B group nominal volume, can make fluoroscopic apparatus
Posture can arbitrarily be converted to be shot, operated more convenient, and acted can guarantee precision in any case, avoid acting
Error is led to the problem of beyond expected；
Positional relationship between light source under two shooting angle and target projection point is converted in order to relative to same figure
As the projection line intersection intersection position for receiving plane, calculated between two intersection point light sources and target projection point determines reality
The position of point, has obtained the three-dimensional position of position point by two two-dimensional positions clicked, can pass through the point on fluoroscopy images
It selects and surgery mechanical arm is navigated into any position for wishing to position, be advantageous to operation and carry out.
Detailed description of the invention
Fig. 1 is the structural block diagram of the drilled tunnel positioning system of one embodiment of the invention；
Fig. 2 is that the position space of points position of one embodiment of the invention determines the schematic diagram of relationship.
Description of symbols in figure:
1- surgery mechanical arm, 2- fluoroscopic apparatus, 21- light source, 22- receiver board, 3- processing unit, the positioning of 4- space multistory are set
It is standby, 5- control device, 6- sleeve, 100-A group nominal volume, 200-B group nominal volume.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention.But the present invention can be with
Much it is different from other way described herein to implement, those skilled in the art can be without prejudice to intension of the present invention the case where
Under do similar popularization, therefore the present invention is not limited to the specific embodiments disclosed below.
Referring to Fig. 1, in one embodiment, drilled tunnel positioning system includes: surgery mechanical arm 1, fluoroscopic apparatus 2, place
Manage device 3, space multistory positioning device 4 and control device 5.
At least two sleeves are provided on surgery mechanical arm 1, the positional relationship between two sleeves is it is known that and surgery mechanical
There is A group nominal volume 100, surgery mechanical arm 1, which can be existing surgery mechanical arm or do in structure, suitably to be changed on arm
It is dynamic, such as the fixed position of setting A group nominal volume 100.Surgery mechanical arm 1 is preferably the movable mechanical arm of three-dimensional six degree of freedom,
Movement is driven by the driving mechanism of joint, specifically how to be acted and is not intended as limiting, as long as can finally move point to be determined
Move the position of positioning.
Optionally, A group nominal volume is fixed on surgery mechanical arm；Alternatively, A group nominal volume is fixed at least one sleeve
On；Alternatively, the sleeve is development material, the connecting portion between the sleeve and surgery mechanical arm is non-development material, institute
A group nominal volume is stated to be made up of sleeve itself.
Situation shown in figure is that A group nominal volume 100 is not made of sleeve 6, the nominal volume being additionally arranged, A group
The position for the sleeve 6 installed on the position of nominal volume 100 and surgery mechanical arm 1 preferably remains constant during the work time,
Such as the end that A group nominal volume 100 can be fixed on to surgery mechanical arm 1 or end be close to position, according to change if changing
Relative position after change calculates stroke mobile needed for positioning.
It is relatively fixed on fluoroscopic apparatus 2 to have B group nominal volume 200.Preferably, fluoroscopic apparatus 2 can be x-ray fluoroscopy scanning and set
It is standby, using x-ray fluoroscopy scanning device, the development of bone may be implemented so that whole system may be implemented bore bone point position
Deng positioning.When fluoroscopic apparatus 2 works, target object (being the position of patient in Fig. 1) is projected and is connect by the transmitting X-ray of X source 21
It receives and forms fluoroscopy images on plate 22, the plate face of receiver board 22 is the image receiving plane of the fluoroscopy images.
Fluoroscopic apparatus 2 shoots target object to form at least two fluoroscopy images, target object from least two angle pins
A position on patient e.g. in figure.Wherein, B group nominal volume 200 and the light source 21 of fluoroscopic apparatus 2 and the phase of receiver board 22
It is constant to position, it is more convenient in order to be calculated with the target projection point positional relationship in image receiving plane, B group can be demarcated
Body 200 is fixed near receiver board 22, does not influence the shooting of fluoroscopic apparatus 2 certainly.If from two angle shot, two angle
21 position of light source under degree is staggered, is not opposite.In different angle shooting, target object is remained stationary.
Fluoroscopic apparatus 2 is at least from two angle shots to two fluoroscopy images, due to both light source 21 and receiver board 22
Between positional relationship there is no crossing to change, thus patient positions are located at the correspondence subpoint of image receiving plane and corresponding light
On the line of source position, after two different angles shootings, two light of same position point are directed in available three-dimensional space
To the line of image receiving plane subpoint, line intersection point is the three-dimensional position point of the same position point in source, is shot certainly more
Fluoroscopy images under multi-angle are equally applicable come the three-dimensional position point for determining same position point.
Preferably, in all angles in target object shooting, light source 21 and the image of receiver 22 connect fluoroscopic apparatus 2
The relative position and relative direction being closed flat between face remain constant, avoid also needing picture size variation or position conversion
Deng.
Processing unit 3 receives at least two fluoroscopy images of fluoroscopic apparatus 2, is instructed according to external input in each perspective view
Selected target subpoint, selected target projection point are the position point on target object on each fluoroscopy images respectively as in
Subpoint, the position point includes the beginning and end at least two channels.Same position point is in each fluoroscopy images
Target projection point is that the light source under corresponding shooting direction projects the position point to the subpoint in correspondence image receiving plane.
That is, selecting perspective on each fluoroscopy images according to external input instruction after processing unit 3 receives fluoroscopy images
The target projection point of the same position point of the patient shown in image, once selects multiple position points, makes it possible to through these portions
Site can position at least two channels simultaneously, and the position point selected in each fluoroscopy images is corresponding, such as logical to one
When road plays point location, the subpoint at same starting point position is selected in each figure, to connect according to each subpoint and corresponding light source
Line obtains at least two projection lines at the starting point position, and the position of the brill bone point can be obtained by calculating projection line intersection point.It is external defeated
Enter instruction and can be operator to click the formation of same area point on the fluoroscopy images of display, such as can be clicked by mouse
It chooses, touch screen touch is chosen, and the modes such as handwriting pad write-in generate external input instruction.
For each position point, processing unit 3 according to target projection point of the position point in each fluoroscopy images with it is right
Answer light source positional relationship and each fluoroscopy images captured by positional relationship between image receiving plane under angle, determine
The spatial position of the position point relative to B group nominal volume generates actual point spatial position data, to selected all sites
Point, the so operation of processing unit 3.Positional relationship between the image receiving plane of known at least two target projections point
By under target complete subpoint and optical device to the same coordinate system, then the position of 1 target projection points and light source is closed
System can calculate intersection point under the same coordinate system, may thereby determine that the position of a position point, due to B group nominal volume 200 and figure
As the relative position of receiving plane (receiver board 22) by position conversion it is known that so can determine the position point relative to B group
The spatial position of nominal volume 200 generates actual point spatial position data.
Spatial position of the space multistory positioning device 4 to capture A group nominal volume 100 Yu B group nominal volume 200, obtains A group
Behind the spatial position of nominal volume 100 and B group nominal volume 200, A group nominal volume 100 and B group nominal volume 200 can be calculated
Three-dimensional relative positional relationship.Capture obtains nominal volume spatial position can realize according to existing stereoscopic vision location technology, have
Body repeats no more.Space multistory positioning device 4 can realize that B group nominal volume 200, A group are demarcated by Binocular Stereo Vision System
Body 100 is the nominal volume that can be sensed by Binocular Stereo Vision System, specifically with no restrictions.
Control device 5 connects processing unit 3 and space multistory positioning device 4, three can integrate in same equipment or
Set up separately in distinct device or a respective autonomous device.The actual point spatial position number of 5 receiving and processing device 3 of control device
According to the three-dimensional relative positional relationship between the A group nominal volume 100 and B group nominal volume 200 of space multistory positioning device 4, due to,
The position point of patient and the spatial relation of B group nominal volume 200 are it is known that between A group nominal volume 100 and B group nominal volume 200
Spatial relation it is known that the spatial relation of A group nominal volume 100 and surgery mechanical arm 1 it is known that according to three-dimensional opposite
Positional relationship and actual point spatial position data determine the spatial position of the beginning and end at least two channels, according to each logical
The spatial position of the beginning and end in road determines depth and the direction in channel, control surgery mechanical arm movement, so that each sleeve
It is moved to the starting point of corresponding channel and adjusts to cylinder to consistent with the direction of corresponding channel, realize the synchronization at least two channels
Positioning.
After sleeve positioning, it can control drilling equipment (such as electric drill) and drilled using sleeve, pass through sleeve, covering
It drills under the guiding of cylinder, drilling depth causes bone to bear not depending on the depth in channel in order to avoid drilling force is excessive
Firmly the problem of, drilling equipment carry out drilling successively in turn through different sleeves.
By the way that A group nominal volume 100 is arranged on surgery mechanical arm 1, obtain between surgery mechanical arm 1 and A group nominal volume 100
Spatial relation；By fixing B group nominal volume 200 on fluoroscopic apparatus 2, obtain receiver board 22 and B group nominal volume 200 it
Between positional relationship；Surgery mechanical arm 1 is obtained by the spatial relation between A group nominal volume 100 and B group nominal volume 200
With the positional relationship between fluoroscopic apparatus 2；At least two perspective view about patient site shot by fluoroscopic apparatus 2
Picture, operator need to only click subpoint of the position point on each fluoroscopy images on target object as mesh on fluoroscopy images
Subpoint is marked, these position points include the beginning and end at least two channels, according to the sky between light source 21 and receiver board 22
Between positional relationship, the practical three-dimensional position of corresponding site point can be obtained, to just determine corresponding site point and surgery mechanical arm 1
Between spatial relation, can determine the depth in channel according to the spatial position at the starting point position in each channel and terminal position
And direction, controlling surgical mechanical arm 1 is moved according to this, is realized that each sleeve synchronizes and is navigated at each channel, and then is controllable
Drilling equipment processed carries out the drilling of respective direction and depth under the guidance of each sleeve.
Without carrying out CT scan three-dimensional modeling and surgery planning before surgery, radiation hazradial bundle is reduced, patient's hand is decreased
The time that art waits；It can be positioned in the preoperative or in art, operator only needs to click the position point in fluoroscopy images, is not required to
It carries out surgery planning or control surgery mechanical arm according to the development of marker is moved to positioning purpose, reduce behaviour
The difficulty for making complexity and positioning improves the automatic controlling level of positioning；Nominal volume will not influence operative site, pass through figure
Picture point selects the stroke of control surgery mechanical arm 1 after determining positional relationship, and setting accuracy can be improved.
In one embodiment, processing unit 3 may include: image acquisition and processing module, relationship map module and space
Position data generation module.In the present embodiment, by taking two fluoroscopy images as an example, it will be understood that three or more fluoroscopy images exist
It is equally applicable in the present embodiment.
Image acquisition and processing module receives two fluoroscopy images of fluoroscopic apparatus 2, the two certain fluoroscopy images are to be directed to
Patient positions shoot acquisition from different perspectives.Image acquisition and processing module also receives external input instruction, external input instruction
The e.g. modes such as mouse input, screen input, keyboard input input generation.Image acquisition and processing module refers to according to external input
It enables and selectes a target projection point in each fluoroscopy images.Due to fluoroscopy images with image receiving plane be it is corresponding, the two it
Between can have the scaling of size, but impact position is not corresponding, thus clicks and be equivalent in image receiving plane on fluoroscopy images
Corresponding position clicks.Referring to Fig. 2, target projection point Q1, the point on image receiving plane G2 are clicked on image receiving plane G1
Target projection point Q2 is selected, target projection point Q1, Q2 are that practice sites point Q shoots formation under different angle.
Relationship map module is to determine that two images connect according to the spatial variations relationship of 2 two shooting angle of fluoroscopic apparatus
The positional relationship being closed flat between face, that is, determine the relationship in Fig. 2 between image receiving plane G1 and G2.Due to light source L2 and
The position of target projection point Q2 is for image receiving plane G2, due to the position of light source L1 and target projection point Q1
It is, in order to calculate the position of actual point Q, to need to know two image receiving plane G1 for image receiving plane G1
Relativeness between G2.Relationship map module, will wherein one by positional relationship between image receiving plane G1 and G2
Between the light source L2 under the corresponding shooting angle of target projection point Q2 on image receiving plane G2 positional relationship (Q2,
L2), it is mapped as the positional relationship relative to another image receiving plane G1, with determining two target projection point Q1, Q2 and respectively
Spatial position of the same position point Q of projection line intersection between light source L1, L2 relative to another image receiving plane G1.
Preferably, processing unit 3 is also connected with space multistory positioning device 4, space multistory positioning device 4 is also to capture
The spatial position of B group nominal volume 200 under two different shooting angles, to determine B group nominal volume 200 under two shooting angle
Relative positional relationship, and the relative positional relationship is transmitted in processing unit 3, as 2 two shooting angle of fluoroscopic apparatus
Spatial variations relationship.G2 pairs of corresponding 200 position of B group nominal volume namely image receiving plane G1 and image receiving plane
200 position of B group nominal volume answered, relationship between the two, the spatial variations of B group nominal volume 200 under available two angles
Situation, so that image receiving plane G1 can be obtained due to having fixed positional relationship between receiver board 22 and B group nominal volume 200
Transformational relation between G2.The variation of shooting angle is determined by sensing the spatial variations situation of B group nominal volume 200, it can
It is shot, is operated more convenient so that fluoroscopic apparatus 2 can arbitrarily convert posture, and acted can protect in any case
Precision is demonstrate,proved, avoids the problem that movement generates error beyond expected.
Alternatively, optional, the spatial variations relationship of 2 two shooting angle of fluoroscopic apparatus can be preset, that is,
Shooting obtains two fluoroscopy images under specified shooting angle, so that the relativeness between fluoroscopy images is known, it is preferred that
Two shooting angle be it is vertical, convenient for calculate.
Spatial position data generation module is to according to the B under the corresponding shooting angle of another image receiving plane G1
Spatial relationship between group nominal volume, the position point Q that marriage relation mapping block is calculated receive flat relative to another image
The spatial position of face G1, spatial position of the determining section site Q relative to the B group nominal volume generate actual point spatial position data.
Positional relationship between light source under two shooting angle and target projection point is converted in order to relative to same figure
As the projection line intersection intersection position for receiving plane, calculated between two intersection point light sources and target projection point determines reality
The position of point, has obtained the three-dimensional position of position point by two two-dimensional positions clicked, can pass through the point on fluoroscopy images
It selects and surgery mechanical arm is navigated into any position for wishing to position, be advantageous to operation and carry out.
More specifically, with continued reference to Fig. 2, image acquisition and processing module selectes a target respectively in two fluoroscopy images
Subpoint Q1, Q2 determine two target projection point Q1, Q2 in the first position point (x of respective image receiving plane G1, G21,y1)、
Second position point (x2,y2).First position point (x1,y1), second position point (x2,y2) it is respectively with image receiving plane G1, G2
For the two-dimensional position point that the local two-dimensional coordinate system of X/Y plane determines, two dimension is switched to put down with image receiving plane G1, G2 for XY
The three-dimensional position point of the three-dimensional system of coordinate in face, first position point (x1,y1) switch to (x1,y1, 0), second position point (x2,y2) switch to
(x2,y2, 0), conversion can carry out in relationship map module.
Relationship map module determines two figures according to relative positional relationship of the B group nominal volume 200 under two shooting angle
As the spatial variations matrix S between receiving plane:Wherein,For under the first shooting angle
B group nominal volume 200 determine coordinate system,For under the second shooting angle B group nominal volume 200 determine coordinate system,
Two coordinate systems establish that mode is identical, and a specific embodiment will be provided below by specifically establishing mode, but without limitation.
Relationship map module passes through spatial variations matrix S for the second position point (x of the second image receiving plane G22,y2)
(switch to three-dimensional point (x2,y2, 0)) light source (x under corresponding shooting angleb,yb,zb) between positional relationship be mapped as relatively
In the positional relationship of the first image receiving plane G1:
(x′2, y '2, z '2)=S (x2, y2, 0) ... (1), (x'b,y'b,z'b)=S (xb,yb,zb) ... (2),
Second position point (x' after determining spatial variations according to (1) and (2)2,y'2,z'2) and light source (x'b,y'b,z'b)
Between linear equation (3),
Relationship map module determines first position point (x in the first image receiving plane G11,y1) (switch to three-dimensional point (x1,
y1, 0)) and its correspond to shooting angle under light source (xa,ya,za) between linear equation (4),
Relationship map module simultaneous calculate above-mentioned formula (3) and (4) obtain can obtaining two linear equations intersection point (x,
Y, z), i.e. spatial position of the position point Q relative to the first image receiving plane G1.
Spatial position data generation module (is equivalent to image according to the positional relationship between receiver board and B group nominal volume 200
Relationship under receiving plane and corresponding angle between B group nominal volume 200), the position point that relationship map module is obtained relative to
The spatial position of first image receiving plane is converted to the position point relative to the spatial position between B group nominal volume 200, generates
Actual point spatial position data.
In one embodiment, A group nominal volume and B group nominal volume 200 all have at least three nominal volumes, in every group extremely
It is coplanar without conllinear between few three nominal volumes.Three nominal volumes can set up corresponding partial 3 d coordinate system, as one
A entirety calculates the positional relationship between other component, and the position of calculating is more accurate, be also convenient for calculating.
Optionally, processing unit, space multistory positioning device or control device can be surveyed according to space multistory positioning device
The spatial position of every group of three nominal volumes obtained Establishing should
Group nominal volume part O-XYZ coordinate system, coordinate centerX-direction is defined asDirection, Y direction are fixed
Justice isDirection, Z-direction are defined asDirection, the mode which establishes are suitable for A group nominal volume
The coordinate system that B group nominal volume 200 under 100 and B group nominal volume 200, such as the first shooting angle in previous embodiment determinesThe coordinate system that B group nominal volume 200 under second shooting angle determines
In one embodiment, control device includes: data acquisition module, and position data processing module and stroke control mould
Block.
Data acquisition module is to the actual point spatial position data of receiving and processing device and the A of space multistory positioning device
The three-dimensional relative positional relationship of B group nominal volume 200 under group nominal volume 100 and an at least shooting angle.Processing unit
After the spatial variations for completing the corresponding light source of image receiving plane and target projection point, the figure in space that just only needs to change to
As the position of receiving plane, thus obtain the three-dimensional phase of the corresponding B group nominal volume 200 and A group nominal volume 100 of the image receiving plane
To positional relationship, obtaining three-dimensional relative positional relationship under two shooting angle certainly can also be with.
Position data processing module establishes A tri- to the position data of at least three nominal volumes according to A group nominal volume 100
Coordinate system is tieed up, according to the positional relationship of A group nominal volume 100 and surgery mechanical arm point to be determined, determines that point to be determined is sat in A three-dimensional
Position in mark system.Position data processing module establishes B according to the position data of at least three nominal volumes of B group nominal volume 200
Three-dimensional system of coordinate, according to the relative positional relationship of A group nominal volume 100 and B group nominal volume 200, by point to be determined in A three-dimensional coordinate
Position in system is mapped in B three-dimensional system of coordinate, obtains coordinate value of the point to be determined in B three-dimensional system of coordinate.At position data
Manage spatial position determining section site coordinate in B three-dimensional system of coordinate of the module according to position point relative to B group nominal volume 200
Value.Position data processing module determines surgery mechanical arm point to be determined according to the coordinate value of the coordinate value of point to be determined and position point
Stroke, generate stroke control instruction.
Stroke control instruction of the stroke control module to receive position data processing module, according to stroke control instruction control
Surgery mechanical arm 1 processed acts, so that its point to be determined is moved to position Dian Chu.
Preferably, control device 5 is after placed channel, control surgery mechanical arm movement, to drive each sleeve 6 to be moved to
The starting point of corresponding channel is aligned, and adjusts posture according to the direction controlling sleeve 6 of corresponding channel, so that sleeve 6 and logical
The direction that the position of road starting point contraposition remains stationary and changes sleeve cylinder Xiang Zhiyu corresponding channel is consistent.It can certainly first ajust
The posture of each sleeve 6 is moved into starting point again.
Although the present invention is disclosed as above with preferred embodiment, it is not for limiting claim, any this field
Technical staff without departing from the spirit and scope of the present invention, can make possible variation and modification, therefore of the invention
Protection scope should be subject to the range that the claims in the present invention are defined.
Claims (10)
1. a kind of drilled tunnel positioning system characterized by comprising
Surgery mechanical arm is provided at least two sleeves, and the positional relationship between two sleeves is it is known that and surgery mechanical arm
It is upper that there is A group nominal volume；
Fluoroscopic apparatus, it is relatively fixed thereon to have B group nominal volume, from least two different angles for target object shoot to be formed to
Few two fluoroscopy images, target object remain stationary；
The A group nominal volume and B group nominal volume all have at least three nominal volumes, between at least three nominal volumes in every group altogether
Face is without conllinear；
Processing unit receives at least two fluoroscopy images of the fluoroscopic apparatus, is instructed according to external input in each perspective view
Selected target subpoint, selected target projection point are the position point on target object on each fluoroscopy images respectively as in
Subpoint, the position point includes the beginning and end at least two channels；For each position point, according to the position, point exists
Figure under angle captured by the positional relationship of target projection point and corresponding light source in each fluoroscopy images and each fluoroscopy images
As the positional relationship between receiving plane, the spatial position of the position point relative to B group nominal volume is determined, generate the practical space of points
Position data；
Space multistory positioning device forms A group mark to capture the spatial position of the A group nominal volume Yu the B group nominal volume
Determine the three-dimensional relative positional relationship of body Yu B group nominal volume；
Control device connects the processing unit and space multistory positioning device, receives the practical space of points of the processing unit
The three-dimensional relative positional relationship of position data and the space multistory positioning device, according to the three-dimensional relative positional relationship and reality
Border space of points position data determines the spatial position of the beginning and end at least two channels, according to the starting point in each channel and end
The spatial position of point determines depth and the direction in channel, control surgery mechanical arm movement, so that each sleeve is moved to corresponding lead to
It the starting point in road and adjusts to cylinder to consistent with the direction of corresponding channel.
2. drilled tunnel positioning system as described in claim 1, which is characterized in that the processing unit includes:
Image acquisition and processing module, to receive two fluoroscopy images of the fluoroscopic apparatus, reception external input is instructed, according to
External input instruction selected target subpoint in each fluoroscopy images；
Relationship map module, it is flat to determine that two images receive according to the spatial variations relationship of two shooting angle of fluoroscopic apparatus
Positional relationship between face, by this positional relationship by the corresponding shooting of target projection point in a wherein image receiving plane
The positional relationship between light source under angle is mapped as the positional relationship relative to another image receiving plane, to determine two mesh
The same position point of the projection line intersection between subpoint and respective light source is marked relative to another image receiving plane
Spatial position；
Spatial position data generation module, to according under another corresponding shooting angle of image receiving plane
Spatial relationship between B group nominal volume determines spatial position of the same position point relative to the B group nominal volume, generates real
Border space of points position data.
3. drilled tunnel positioning system as claimed in claim 2, which is characterized in that the processing unit is also connected with the space
Stereotactic apparatus, the space multistory positioning device is also to capture the B group nominal volume under two different shooting angles
Spatial position, with relative positional relationship of the determination B group nominal volume under two shooting angle, and by the relative positional relationship
It is transmitted in the processing unit, the spatial variations relationship as two shooting angle of the fluoroscopic apparatus.
4. drilled tunnel positioning system as claimed in claim 3, which is characterized in that
Described image acquisition processing module distinguishes selected position point in two fluoroscopy images and projects corresponding target projection point,
Determine the target projection point in two fluoroscopy images in the first position point (x of respective image receiving plane1,y1), second position point
(x2,y2)；
The relationship map module determines two images according to relative positional relationship of the B group nominal volume under two shooting angle
Spatial variations matrix S between receiving plane:Wherein,For under the first shooting angle
The coordinate system that B group nominal volume determines,For the coordinate system that the B group nominal volume under the second shooting angle determines, two coordinates
System to establish mode identical；By spatial variations matrix S by the second position point (x of the second image receiving plane2,y2) right with it
Answer the light source (x under shooting angleb,yb,zb) between positional relationship be mapped as relative to the first image receiving plane position close
System: (x '2, y '2, z '2)=S (x2, y2, 0) ... (1), (x'b,y'b,z'b)=S (xb,yb,zb) ... (2), according to (1)
(2) the second position point (x' after determining spatial variations2,y'2,z'2) and light source (x'b,y'b,z'b) between linear equation
(3),First position is determined in the first image receiving plane
Point (x1,y1) and its correspond to shooting angle under light source (xa,ya,za) between linear equation (4),Simultaneous calculate (3) and (4) obtain linear equation intersection point (x, y,
Z), the spatial position as the position o'clock relative to the first image receiving plane；
The spatial position data generation module, according to the positional relationship between the receiver board and B group nominal volume by the portion
Site is converted to the position point relative to the space between B group nominal volume relative to the spatial position of the first image receiving plane
Position generates actual point spatial position data.
5. the drilled tunnel positioning system as described in any one of claim 1-4, which is characterized in that the processing unit,
Space multistory positioning device or control device, according to the spatial position of every group of three nominal volumes that space multistory positioning device measuresEstablish this group of nominal volume part O-XYZ coordinate system, coordinate
CenterX-direction is defined asDirection, Y direction are defined asDirection, Z-direction
It is defined asDirection.
6. the drilled tunnel positioning system as described in any one of claim 1-4, which is characterized in that the control device packet
It includes:
Data acquisition module, actual point spatial position data and space multistory positioning to receive the processing unit are set
The three-dimensional relative positional relationship of the B group nominal volume under standby A group nominal volume and an at least shooting angle；
Position data processing module, the position data at least three nominal volumes according to the A group nominal volume establish A three-dimensional
Coordinate system determines the point to be determined in the A according to the positional relationship of the A group nominal volume and surgery mechanical arm point to be determined
Position in three-dimensional system of coordinate；B three-dimensional coordinate is established according to the position data of at least three nominal volumes of the B group nominal volume
System, according to the relative positional relationship of A group nominal volume and B group nominal volume by the point to be determined in the A three-dimensional system of coordinate
Position is mapped in B three-dimensional system of coordinate, obtains coordinate value of the point to be determined in the B three-dimensional system of coordinate；According to described
Position point determines coordinate value of the position point in the B three-dimensional system of coordinate relative to the spatial position of B group nominal volume；According to
The coordinate value of the coordinate value of point to be determined and position point determines the stroke of surgery mechanical arm point to be determined, generates stroke
Control instruction；
Stroke control module controls the surgical engine according to the stroke control instruction to receive the stroke control instruction
Tool arm acts so that its point to be determined is moved to the position Dian Chu.
7. the drilled tunnel positioning system as described in any one of claim 1-4, which is characterized in that the fluoroscopic apparatus exists
All angles are directed in target object shooting, relative position and relative direction between the image receiving plane of light source and receiver
Remain constant.
8. the drilled tunnel positioning system as described in any one of claim 1-4, which is characterized in that the space multistory is fixed
Position equipment is realized by Binocular Stereo Vision System.
9. the drilled tunnel positioning system as described in any one of claim 1-4, which is characterized in that the control device exists
After placed channel, control surgery mechanical arm movement is aligned with the starting point for driving each sleeve to be moved to corresponding channel, and
Posture is adjusted according to the direction controlling sleeve of corresponding channel, so that the position of sleeve and starting point contraposition remains stationary and changes sleeve
The direction of cylinder Xiang Zhiyu corresponding channel is consistent.
10. the drilled tunnel positioning system as described in any one of claim 1-4, which is characterized in that the A group nominal volume
It is fixed on surgery mechanical arm；Alternatively, the A group nominal volume is fixed at least one described sleeve；Alternatively, the sleeve is
Development material, the connecting portion between the sleeve and surgery mechanical arm is non-development material, and the A group nominal volume passes through sleeve
Itself is constituted.
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| CN201711280916.7A CN108042173B (en) | 2017-12-06 | 2017-12-06 | Drilled tunnel positioning system |
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Effective date of registration: 20200604 Address after: 201210 room 106, building 9, no.1206, Zhangjiang Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai Patentee after: Shanghai Zhuoxin Medical Technology Co., Ltd Address before: 200082 room 1101-56, No. 127 Yangpu District Road, Shanghai, China Patentee before: SHANGHAI BOCHENG MEDICAL TECHNOLOGY Co.,Ltd. |