CN108042218A - A kind of neurosurgery patient head mark automatic vision positioner and method - Google Patents
A kind of neurosurgery patient head mark automatic vision positioner and method Download PDFInfo
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- CN108042218A CN108042218A CN201711265116.8A CN201711265116A CN108042218A CN 108042218 A CN108042218 A CN 108042218A CN 201711265116 A CN201711265116 A CN 201711265116A CN 108042218 A CN108042218 A CN 108042218A
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- Prior art keywords
- mark
- module
- locator
- master controller
- ring support
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
Abstract
The invention discloses a kind of neurosurgery patient head mark automatic vision positioner and methods,Including positioner body,Ring support is equipped on positioner body,Circular orbit,Detection probe,Moving mattress,Detection device pedestal,Mark positioning disk,Detecting system,Ring support drives track,Computer,Master controller is equipped on the detection system,There is visual sensing system with what master controller cooperated,Position difference computing module,Position comparison module,Autotracking mark module,Positioner body uses detection probe,Positioning disk is marked to carry out telltale mark to the head of patient,By the scanning to information,Modeling,Most data generation image shows at last,This invention simplifies the operations of doctor,Improve the efficiency of operation,More times are striven for give emergency treatment to a patient,Also improve the precision of mark positioning,And then improve the precision of registration,Add the security of operation,Reliability.
Description
Technical field
The present invention relates to automatic vision positioner technical fields, are specially a kind of neurosurgery patient head mark
Automatic vision positioner.
Background technology
A very crucial technology is exactly the registration of patient head in stereotactic neurosurgery, that is, obtains doctor
Learn image space and the correspondence in surgical apparatus space.Medical image space refers to the disease with CT or MRI tomographic image reconstructings
Human brain space, it includes the important informations inside patient's brain；Surgical apparatus space refers to medical robot or other medical treatment
Space where equipment.It only realizes the registration of patient head, can just make surgical apparatus that patient's brain sufferer position be accurately positioned,
Smoothly complete operation.
The method of registration, which can be divided into, frame-type and frameless two ways, wherein there is frame-type positioning method needs
Frame is fixed on the skull of patient, patient's brain opposing frame is fixed, therefore medical image space can be established with frame
With the correspondence in surgical apparatus space；Frameless positioning method is positioned without using frame, but by being attached to patient's brain
Or the mark being fixed on skull establishes the correspondence in medical image space and surgical apparatus space.There is frame mode positioning side
The shortcomings that formula is to be fixed on the frame on head to cause patient additional injury, and its installation process is complicated, it in CT or
Imaging in MRI can influence the imaging effect of patient's brain.Now generally using frameless positioning method, that is, obtain two
Mark coordinate under kind space by indicia matched composition mark pair, utilizes the correspondence marked to can be obtained by two kinds of spaces
Relation.
The content of the invention
It is an object of the invention to provide a kind of operation for simplifying doctor, the efficiency of operation is improved, to give emergency treatment to a patient
Strive for more times, also improved the precision of mark positioning, and then improved the precision of registration, add the safety of operation
Property, reliability a kind of neurosurgery patient head mark automatic vision positioner, to solve in above-mentioned background technology
The problem of proposition.
To achieve the above object, the present invention provides following technical solution：A kind of neurosurgery patient head mark is certainly
Dynamic vision positioning device, including the positioner body is equipped with computer, and the one side of the computer is equipped with detection device
Pedestal, the top of the detection device pedestal is equipped with moving mattress, mark positioning disk is equipped among the left end of moving mattress, described
The left end of moving mattress is equipped with ring support, and ring support is semicircle arcuation, and the connecting pin of ring support and moving mattress is equipped with
Ring support drives track.
Preferably, the centre of the ring support is equipped with circular orbit, and the circular orbit is internally provided with detection probe,
Detection probe is connected using wireless network with computer.
Preferably, the mark positioning disk is round pie, and the mark positioning disk is internally provided with detecting system.
Preferably, the detecting system is equipped with master controller, and the left end of the master controller is equipped with image generation system,
The left end of described image generation system is equipped with display system, and a connecting pin of the master controller is connected with network module, described
The right side of master controller is equipped with visual sensing system, positioning difference computing module, position comparison module, the position comparison module
The other end be equipped with visual spatial attention module, one end of the master controller is equipped with automatic trace labelling module.
Preferably, the mark positioning disk is equipped with right brain locator, left brain locator, the right brain locator, left brain
Locator is equipped with cervical vertebra locator in the same horizontal position, the right brain locator, the lower section of left brain locator.
Preferably, the visual sensing system is equipped with scanning system, coordinate establishes subsystem, information acquisition unit, sweeps
Retouch system, coordinate establishes subsystem, information acquisition unit is connected with master controller.
Preferably, localization method comprises the following steps：
A, patient is placed on moving mattress, the head of patient is placed on to the centre position of mark positioning disk；
B, the detecting system automatic tracing mark module in positioning disk is marked to cooperate with place with left brain locator, right brain locator
Reason, quickly and accurately positions patients head；
C, the detection probe while on annular orbit moves back and forth in the inside of circular orbit, multi-angled shooting patient's head
Portion, as 180 degree comprehensive scanning；
D, by the hardware system of positioner body interior, with reference to the software systems of computer, by the number of acquisition
Intuitively image is generated according to after software systems carry out Digital Signal Processing, establish coordinate, image generation system processing.
Compared with prior art, the beneficial effects of the invention are as follows：
This invention simplifies the operations of doctor, improve the efficiency of operation, have striven for more times to give emergency treatment to a patient,
The precision of mark positioning is improved, and then improves the precision of registration, adds security, the reliability of operation.
Description of the drawings
Fig. 1 is positioner body construction schematic diagram of the present invention；
Fig. 2 is present invention mark positioning disk schematic diagram；
Fig. 3 is detecting system schematic diagram of the present invention.
In figure：1st, positioner body；2nd, ring support；3rd, circular orbit；4th, detection probe；5th, moving mattress；6th, examine
Survey device pedestal；7th, positioning disk is marked；8th, detecting system；9th, ring support driving track；10th, computer；11st, right brain positioning
Device；12nd, left brain locator；13rd, cervical vertebra locator；14th, master controller；15th, digital signal processor；16th, memory module；17、
Visual sensing system；18th, scanning system；19th, coordinate establishes subsystem；20th, information acquisition unit；21st, Difference Calculation mould is positioned
Block；22nd, position comparison module；23rd, visual spatial attention module；24th, image generation system；25th, display system；26th, network module.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment belongs to the scope of protection of the invention.
- 3 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of neurosurgery patient head mark regards automatically
Feel positioner, including positioner body 1, positioner body 1 is equipped with computer 10, and the one side of computer 10 is equipped with
Detection device pedestal 6, the top of detection device pedestal 6 are equipped with moving mattress 5, and it is fixed to be equipped with mark among the left end of moving mattress 5
Position disk 7, mark positioning disk 7 are round pie, and mark positioning disk 7 is internally provided with detecting system 8, and the left end of moving mattress 5 is equipped with
Ring support 2, ring support 2 are semicircle arcuation, and ring support 2 and the connecting pin of moving mattress 5 drive rail equipped with ring support
Road 9, the centre of ring support 2 are equipped with circular orbit 3, and circular orbit 3 is internally provided with detection probe 4, and detection probe 4 uses nothing
Gauze network is connected with computer 10, the hardware system inside positioner body 1, with reference to the software systems of computer 10,
The data of acquisition are generated intuitively after software systems carry out Digital Signal Processing, establish coordinate, image generation system processing
Image.
In the present invention, detecting system 8 is equipped with master controller 14, and the left end of master controller 14 is equipped with image generation system
24, the left end of image generation system 24 is equipped with display system 25, and a connecting pin of master controller 14 is connected with network module 26, main
The right side of controller 14 is equipped with visual sensing system 17, positioning difference computing module 21, position comparison module 22, and mould is compared in position
The other end of block 22 is equipped with visual spatial attention module 23, and one end of master controller 14 is equipped with automatic trace labelling module 24, and vision passes
Sensing system 17 is equipped with scanning system 18, coordinate establishes subsystem 19, information acquisition unit 20, and scanning system 18, coordinate are established
Subsystem 19, information acquisition unit 20 are connected with master controller 14.
In the present invention, mark positioning disk 7 is equipped with right brain locator 11, left brain locator 12, right brain locator 11, left brain
Locator 12 is equipped with cervical vertebra locator 13 in the same horizontal position, right brain locator 11, the lower section of left brain locator 12.
This invention simplifies the operations of doctor, improve the efficiency of operation, have striven for more times to give emergency treatment to a patient,
The precision of mark positioning is improved, and then improves the precision of registration, adds security, the reliability of operation.
The localization method of the present invention comprises the following steps：
A, patient is placed on moving mattress 5, the head of patient is placed on to the centre position of mark positioning disk 7；
B, the detecting system automatic tracing mark module in positioning disk 7 is marked to be cooperateed with left brain locator, right brain locator
Processing, quickly and accurately positions patients head；
C, the detection probe 4 while on annular orbit 3 moves back and forth in the inside of circular orbit 3, multi-angled shooting patient
Head, as 180 degree comprehensive scanning；
D, by the hardware system inside positioner body 1, with reference to the software systems of computer 10, by acquisition
Data generate intuitively image after software systems carry out Digital Signal Processing, establish coordinate, image generation system processing.
This invention simplifies the operations of doctor, improve the efficiency of operation, have striven for more times to give emergency treatment to a patient,
The precision of mark positioning is improved, and then improves the precision of registration, adds security, the reliability of operation.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of neurosurgery patient head marks automatic vision positioner, including positioner body (1), feature
It is：The positioner body (1) is equipped with computer (10), and the one side of the computer (10) is equipped with detection device pedestal
(6), the top of the detection device pedestal (6) is equipped with moving mattress (5), and it is fixed to be equipped with mark among the left end of moving mattress (5)
Position disk (7), the left end of the moving mattress (5) are equipped with ring support (2), and ring support (2) is semicircle arcuation, ring support
(2) it is equipped with ring support driving track (9) with the connecting pin of moving mattress (5).
2. a kind of neurosurgery patient head mark automatic vision positioner according to claim 1, feature
It is：The centre of the ring support (2) is equipped with circular orbit (3), and the circular orbit (3) is internally provided with detection probe
(4), detection probe (4) is connected using wireless network with computer (10).
3. a kind of neurosurgery patient head mark automatic vision positioner according to claim 1, feature
It is：The mark positioning disk (7) is round pie, and the mark positioning disk (7) is internally provided with detecting system (8).
4. a kind of neurosurgery patient head mark automatic vision positioner according to claim 3, feature
It is：The detecting system (8) is equipped with master controller (14), and the left end of the master controller (14) is equipped with image generation system
(24), described image generation system (24) left end be equipped with display system (25), a connecting pin of the master controller (14) with
Network module (26) connects, and the right side of the master controller (14) is equipped with visual sensing system (17), positioning difference computing module
(21), position comparison module (22), the other end of the position comparison module (22) are equipped with visual spatial attention module (23), the master
One end of controller (14) is equipped with automatic trace labelling module (24).
5. a kind of neurosurgery patient head mark automatic vision positioner according to claim 1, feature
It is：It is described mark positioning disk (7) be equipped with right brain locator (11), left brain locator (12), the right brain locator (11),
Left brain locator (12) is equipped with cervical vertebra in the same horizontal position, the right brain locator (11), the lower section of left brain locator (12)
Locator (13).
6. a kind of neurosurgery patient head mark automatic vision positioner according to claim 4, feature
It is：The visual sensing system (17) is equipped with scanning system (18), coordinate establishes subsystem (19), information acquisition unit
(20), scanning system (18), coordinate establish subsystem (19), information acquisition unit (20) is connected with master controller (14).
7. realize a kind of positioning side of neurosurgery patient head mark automatic vision positioner described in claim 1
Method, it is characterised in that：Localization method comprises the following steps：
A, patient is placed on moving mattress (5), the head of patient is placed on to the centre position of mark positioning disk (7)；
B, the detecting system automatic tracing mark module in positioning disk (7) is marked to cooperate with place with left brain locator, right brain locator
Reason, quickly and accurately positions patients head；
C, the detection probe (4) while on annular orbit (3) moves back and forth in the inside of circular orbit (3), and multi-angled shooting is suffered from
Person head, as 180 degree comprehensive scanning；
D, by the internal hardware system of positioner body (1), with reference to the software systems of computer (10), by acquisition
Data generate intuitively image after software systems carry out Digital Signal Processing, establish coordinate, image generation system processing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711265116.8A CN108042218A (en) | 2017-12-05 | 2017-12-05 | A kind of neurosurgery patient head mark automatic vision positioner and method |
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| CN201711265116.8A CN108042218A (en) | 2017-12-05 | 2017-12-05 | A kind of neurosurgery patient head mark automatic vision positioner and method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106774437A (en) * | 2017-03-05 | 2017-05-31 | 长沙修恒信息科技有限公司 | A kind of automatic follower method based on light-intensity test |
| CN106802657A (en) * | 2017-03-05 | 2017-06-06 | 长沙修恒信息科技有限公司 | A kind of automatic following system based on light-intensity test |
| CN111407406A (en) * | 2020-03-31 | 2020-07-14 | 武汉联影智融医疗科技有限公司 | Head position identification device, intraoperative control system and control method |
| CN113041080A (en) * | 2021-03-19 | 2021-06-29 | 四川大学华西医院 | Positioning device for neurosurgery |
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| CN101160104A (en) * | 2005-02-22 | 2008-04-09 | 马科外科公司 | Haptic guidance system and method |
| CN1985773A (en) * | 2005-12-22 | 2007-06-27 | 天津市华志计算机应用技术有限公司 | Celebral operating robot system based on optical tracking and closed-loop control and its realizing method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774437A (en) * | 2017-03-05 | 2017-05-31 | 长沙修恒信息科技有限公司 | A kind of automatic follower method based on light-intensity test |
| CN106802657A (en) * | 2017-03-05 | 2017-06-06 | 长沙修恒信息科技有限公司 | A kind of automatic following system based on light-intensity test |
| CN111407406A (en) * | 2020-03-31 | 2020-07-14 | 武汉联影智融医疗科技有限公司 | Head position identification device, intraoperative control system and control method |
| CN113041080A (en) * | 2021-03-19 | 2021-06-29 | 四川大学华西医院 | Positioning device for neurosurgery |
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Application publication date: 20180518 |
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