CN109009248B - Puncture point positioning method and device - Google Patents
Puncture point positioning method and device Download PDFInfo
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- CN109009248B CN109009248B CN201810771751.1A CN201810771751A CN109009248B CN 109009248 B CN109009248 B CN 109009248B CN 201810771751 A CN201810771751 A CN 201810771751A CN 109009248 B CN109009248 B CN 109009248B
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- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
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- 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
- A61B90/11—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 with guides for needles or instruments, e.g. arcuate slides or ball joints
- A61B90/13—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 with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
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Abstract
The application provides a puncture point positioning method and a puncture point positioning device, which are applied to a main control console in a CT system, wherein the CT system further comprises a scanning bed and a CT rack, a positioning lamp is arranged on the CT rack, and the method comprises the following steps: determining a target scanning image from CT scanning images obtained by scanning a detected object, wherein the target scanning image comprises a designated puncture needle position; determining the position of a puncture point according to the position of the puncture needle; and controlling the scanning bed to move based on the scanning bed position information corresponding to the target scanning image, and controlling the CT frame to rotate until the positioning lamp irradiates the puncture point position. According to the technical scheme, the positioning accuracy and efficiency of the positioning points can be improved.
Description
Technical Field
The application relates to the technical field of medical imaging, in particular to a puncture point positioning method and device.
Background
A needle biopsy is a non-vascular interventional technique in which a certain part of a subject is punctured percutaneously to obtain a specimen, and the specimen is analyzed to obtain certain physiological parameters of the subject.
The CT (Computed Tomography) scanning image can clearly display the size, the shape, the position and the like of the part to be detected, and can clearly display the anatomical relationship between the part to be detected and adjacent tissues such as blood vessels, nerves and the like. Therefore, the user can determine the puncture point position on the body surface of the subject and the angle and depth of needle insertion when puncturing the subject, while avoiding damage to the tissues of the subject such as blood vessels, nerves, and spinal cord, using the CT scan image obtained by scanning the subject.
In the related art, a user needs to cover a positioning paper on the body surface of a to-be-punctured part of a subject, and the positioning paper is provided with a plurality of positioning strips made of metal lead. Subsequently, the user can determine the puncture point position on the body surface of the object by using the CT scanning image of the part to be punctured of the object. However, because there is a distance between two location bars, in this way, the user can usually only determine that the puncture point location is between two adjacent location bars, and cannot determine the puncture point location more accurately, that is, the user still needs to estimate the puncture point location between the two location bars when puncturing the subject. Further, if the positioning paper is displaced after the puncture point position is determined, it is highly likely that a puncture point positioning error is caused. Therefore, in the related art, the accuracy of puncture point positioning is low, and the operation process of the user is complicated, so that the efficiency of puncture point positioning is low.
Disclosure of Invention
In view of this, the present application provides a puncture point positioning method and device to solve the problem of low accuracy and efficiency of puncture point positioning in the related art.
Specifically, the method is realized through the following technical scheme:
in a first aspect, the present application provides a puncture point positioning method, where the method is applied to a main console in a CT system, the CT system further includes a scanning bed and a CT gantry, a positioning lamp is disposed on the CT gantry, and the method includes:
determining a target scanning image from CT scanning images obtained by scanning a detected object, wherein the target scanning image comprises a designated puncture needle position;
determining the position of a puncture point according to the position of the puncture needle;
and controlling the scanning bed to move based on the scanning bed position information corresponding to the target scanning image, and controlling the CT frame to rotate until the positioning lamp irradiates the puncture point position.
In a second aspect, the present application provides a puncture point positioning device, the device is applied to the master control platform among the CT system, the CT system still includes scanning bed and CT frame, be provided with the pilot lamp in the CT frame, the device includes:
a first determination unit configured to determine a target scan image including a designated puncture needle position from a CT scan image obtained by scanning a subject;
the second determining unit is used for determining the position of the puncture point according to the position of the puncture needle;
and the control unit is used for controlling the scanning bed to move based on the scanning bed position information corresponding to the target scanning image and controlling the CT frame to rotate until the positioning lamp irradiates the puncture point position.
By analyzing the technical scheme, the main control console in the CT system can automatically determine the puncture point position according to the puncture needle position appointed by the user in the target scanning image, and the positioning lamp on the CT machine frame irradiates the puncture point position by controlling the scanning bed in the CT system to move and controlling the CT machine frame in the CT system to rotate. In this way, the user can determine the puncture point position directly according to the irradiation position of the positioning lamp without estimating the puncture point position, and after the puncture point position is determined, the possibility that the irradiation position of the positioning lamp changes is extremely low, so that the accuracy of puncture point positioning can be improved. On the other hand, the operation process of the user is simplified, so that the efficiency of positioning the puncture point can be improved.
Drawings
FIG. 1 is an example of a CT system;
FIG. 2 is an example of a CT scan image;
FIG. 3 is a flow chart illustrating a method of puncture site location according to an exemplary embodiment of the present application;
FIG. 4 is an example of a scan image of a target;
FIG. 5 is an example of a scanning bed;
fig. 6 is an example of a cross section of a subject;
fig. 7 is another example of a cross section of a subject;
FIG. 8 is a hardware block diagram of an apparatus for puncture site locating device according to an exemplary embodiment of the present application;
fig. 9 is a block diagram of a puncture site locating device according to an exemplary embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
Referring to fig. 1, an example of a CT system is shown. In the CT system shown in fig. 1, a user can control the movement of the scanning bed through the main console and control the rotation of the CT gantry, so that CT scanning can be performed on the object on the scanning bed to obtain a CT scanning image.
In the related art, in order to puncture a subject, a user needs to cover a positioning paper on a body surface of a portion to be punctured of the subject, and the positioning paper has a plurality of positioning strips made of metal lead. Subsequently, CT scanning can be performed on the part to be punctured of the object, and the user can determine the puncture point position on the body surface of the object by using the obtained CT scanning image.
Referring to fig. 2, an example of a CT scan image is shown. As shown in fig. 2, the CT scan image is a cross-sectional image of a certain layer of the subject, the position of each spot in the region 1 is the position of each positioning strip on the positioning paper, and the region 2 is the part to be punctured of the subject. The user can determine the puncture point position on the body surface of the object by using the CT scanning image.
However, the user can generally only determine that the puncture point position is between two adjacent location bars, and when the subject is punctured, the puncture point position still needs to be estimated between the two location bars. Further, if the positioning paper is displaced after the subject is CT-scanned to determine the puncture point position using the obtained CT-scanned image, there is a high possibility that a puncture point positioning error is caused. Therefore, in the related art, the accuracy of positioning the puncture point is low, and the user needs to perform operations such as covering the positioning paper on the body surface of the subject, estimating the puncture point position by using the positioning strip on the positioning paper, and the like, so that the user operation procedure is complicated, and the efficiency of positioning the puncture point is low.
In order to solve the above problems, the present application provides a puncture point positioning method and device to improve the positioning accuracy and efficiency of a positioning point. Referring to fig. 3, a flowchart of a puncture site locating method according to an exemplary embodiment of the present application is shown. The method can be applied to a main console in the CT system shown in fig. 1, a positioning lamp for positioning is usually further disposed on a CT gantry in the CT system, and in practical application, the positioning can be performed by using an irradiation point of the positioning lamp. The method may comprise the steps of:
step 301: from a CT scan image obtained by scanning a subject, a target scan image including a designated puncture needle position is determined.
Step 302: and determining the position of the puncture point according to the position of the puncture needle.
Step 303: and controlling the scanning bed to move based on the scanning bed position information corresponding to the target scanning image, and controlling the CT frame to rotate until the positioning lamp irradiates the puncture point position.
In this embodiment, a CT scan may be performed on a portion to be punctured of a subject to obtain a CT scan image.
CT scanning generally employs a multi-slice scanning method in which CT scanning can be performed on a plurality of different slices of a subject for the same part of the subject, and CT scan images of the plurality of different slices of the part can be obtained. Therefore, after the CT scanning is performed on the part to be punctured of the object, all the obtained CT scanning images can be displayed to the user, and the user can select one CT scanning image from the CT scanning images according to the actual requirement. For example, the user may select a CT scan image with the sharpest edge of the region to be punctured from the CT scan images.
Subsequently, the user can determine the position of the puncture needle in the subject after the final puncture is completed by using the selected CT scan image, and map the determined puncture needle position on the CT scan image. Subsequently, the CT scan image containing the position of the puncture needle can be determined as the target scan image. Referring to fig. 4, an example of a scan image of a target is shown. As shown in fig. 4, the dashed line segment indicates the puncture needle position, and one end of the puncture needle position is usually inside the portion to be punctured of the subject and the other end is usually outside the subject.
After the target scan image containing the designated puncture needle position is determined, the puncture needle position can be determined from the puncture needle position. Referring to fig. 4, as shown in fig. 4, the intersection point of the puncture needle and the body surface of the subject is the puncture point. In practical application, when the CT gantry rotates to any angle, the irradiation direction of the positioning lamp arranged on the CT gantry always irradiates to the scanning center (i.e. the rotation center of the CT gantry). Thus, the puncture site location may be the relative location of the puncture site with respect to the scan center.
The puncture point determined at this time is a position where the puncture point is located on the subject layer corresponding to the target scan image.
After the puncture point position is determined, the bed may be controlled to move to the corresponding position based on the bed position information corresponding to the target scan image, so that the determined puncture point and the positioning lamp on the CT gantry are on the same plane of the subject, in which case the irradiation direction of the positioning lamp is always the scanning center on the plane. Then, the rotation of the CT gantry can be controlled according to the puncture point position, and since the puncture point and the positioning lamp are on the same layer of the subject, the positioning lamp can be irradiated to the puncture point position by rotating the CT gantry at this time.
According to the embodiment, the main control console in the CT system can make the positioning lamp on the CT gantry irradiate the puncture point position by controlling the scanning bed in the CT system to move and controlling the CT gantry in the CT system to rotate according to the puncture needle position designated by the user in the target scanning image. In this way, the user can determine the puncture point position directly according to the irradiation position of the positioning lamp without estimating the puncture point position, and after the puncture point position is determined, the possibility that the irradiation position of the positioning lamp changes is extremely low, so that the accuracy of puncture point positioning can be improved. On the other hand, the operation process of the user is simplified, so that the efficiency of positioning the puncture point can be improved.
To facilitate the recording of the scanning bed position, the concept of bed code can be introduced. Referring to fig. 5, an example of a scanning bed is shown. As shown in fig. 5, points a and B are 2 extreme positions that the scanning bed can reach, i.e., the distance between points a and B is the movable distance of the head of the scanning bed. Assuming that the movable distance is 2 meters, the bed size at point a may be set to 0 meter, and the bed size at point B may be set to 2 meters. Further, if the distance between the point C and the point A is 0.52 m, and the distance between the point D and the point A is 1.00 m, the bed number of the point C is 0.52 m, and the bed number of the point D is 1.00 m; and so on.
It should be noted that, while CT scanning is performed on a part to be punctured of a subject to obtain a CT scan image, scanning parameters (for example, bed code, exposure current, exposure voltage, and the like) used for obtaining each CT scan image may be recorded. Therefore, in an alternative embodiment, after the target scan image is determined, the scan parameters corresponding to the target scan image may be directly obtained, and the bed code in the scan parameters may be determined as the scan bed position information corresponding to the target scan image. Subsequently, based on the scanning bed position information corresponding to the target scanning image, the scanning bed may be controlled to move to the corresponding position, that is, the scanning bed is controlled to move to the position corresponding to the bed code.
Generally, the imaging center corresponding to the CT scan image (i.e., the image center of the CT scan image) coincides with the scanning center corresponding to the CT scan image (i.e., the rotation center of the CT gantry when the CT scan image is obtained), but in some cases, in order to highlight some parts of the subject, different imaging centers may be selected for imaging, so that the parts are located in the middle region of the obtained CT scan image, i.e., the imaging center corresponding to the CT scan image does not coincide with the scanning center corresponding to the CT scan image. In this case, in another alternative embodiment, after the target scan image is determined and the puncture point location is determined using the target scan image, the CT gantry angle information can be determined based on the puncture point location and the corresponding scan center and imaging center of the target scan image. Subsequently, the scanning bed can be controlled to move to the corresponding position based on the scanning bed position information corresponding to the target scanning image, and the CT frame can be controlled to rotate to the corresponding angle based on the CT frame angle information, so that the positioning lamp on the CT frame irradiates the puncture point.
Specifically, please refer to fig. 6, which is an example of a cross section of the subject. In this case, the target scan image is a CT scan image of the current cross section of the subject. When the scan center O' corresponding to the target scan image coincides with the imaging center O corresponding to the target scan image, the first vector and the second vector may be determined first. Wherein, the starting point of the first vector is the scanning center O', and the end point of the first vector is the puncture point position; the starting point of the second vector is also the scan center O' and the end point of the second vector is the initial position of the position light. Since the scan center O' coincides with the imaging center O, the coordinates of the puncture point position can be determined from the imaging coordinate system Oxy in the target scan image. On the other hand, since the initial position of the position lamp is usually located on the x-axis of the scanning coordinate system, and the x-axis of the scanning coordinate system coincides with the x-axis of the imaging coordinate system Oxy at this time, the coordinates of any point on the x-axis of the imaging coordinate system Oxy can be determined as the coordinates of the initial position of the position lamp.
Subsequently, the angle between the first vector and the second vector can be calculated according to the rotation direction of the CT gantry. For example, assuming that the rotation direction of the CT gantry is clockwise, that is, the positioning lamp on the CT gantry rotates clockwise, the included angle between the first vector and the second vector can be calculated clockwise, as shown in fig. 6, the included angle α is the clockwise included angle between the first vector and the second vector. After the angle is calculated, the angle may be determined as CT gantry angle information.
Therefore, the scanning bed can be controlled to move to the corresponding position based on the scanning bed position information corresponding to the target scanning image, and the CT rack can be controlled to rotate to the angle corresponding to the included angle, so that the positioning lamp on the CT rack irradiates the puncture point.
Fig. 7 shows another example of a cross section of a subject. In this case, the target scan image is a CT scan image of the current cross section of the subject. When the scan center O' corresponding to the target scan image does not coincide with the imaging center O corresponding to the target scan image, the first vector and the second vector may be determined first. Wherein, the starting point of the first vector is a scanning center O', and the end point of the first vector is an imaging center O; the starting point of the second vector is the imaging center O, and the end point of the second vector is the puncture point position. In this case, the coordinates of the puncture point position and the coordinates of the scan center O' may be determined from the imaging coordinate system Oxy in the target scan image. Subsequently, the vector sum of the first vector and the second vector can be determined as a third vector, i.e. the starting point of the third vector is the scanning center, and the end point of the third vector is the puncture point position.
On the other hand, a fourth vector may also be determined. Wherein, the starting point of the fourth vector is the scanning center O', and the end point of the fourth vector is the initial position of the positioning lamp. Since the initial position of the position lamp is usually located on the x ' axis of the scanning coordinate system O ' x ' y ', and the x axis of the imaging coordinate system Oxy is in the same direction as the x ' axis of the scanning coordinate system O ' x ' y ', the coordinate of any point on the x ' axis of the scanning coordinate system O ' x ' y ' in the imaging coordinate system Oxy can be determined according to the coordinate of the scanning center O ' in the imaging coordinate system Oxy, and the coordinate is determined as the coordinate of the initial position of the position lamp.
Subsequently, the angle between the third vector and the fourth vector can be calculated according to the rotation direction of the CT gantry. For example, assuming that the rotation direction of the CT gantry is clockwise, i.e. the positioning lamp on the CT gantry rotates clockwise, the angle between the first vector and the second vector can be calculated clockwise, and the angle is determined as the CT gantry angle information.
Therefore, the scanning bed can be controlled to move to the corresponding position based on the scanning bed position information corresponding to the target scanning image, and the CT rack can be controlled to rotate to the angle corresponding to the included angle, so that the positioning lamp on the CT rack irradiates the puncture point.
Corresponding to the embodiment of the puncture point positioning method, the application also provides an embodiment of the puncture point positioning device.
The embodiment of the puncture point positioning device can be applied to a main control console in a CT system. The device embodiments may be implemented by software, or by hardware, or by a combination of hardware and software. The software implementation is taken as an example, and as a logical device, the device is formed by reading corresponding computer program instructions in the nonvolatile memory into the memory for operation through the processor of the main console where the device is located. In terms of hardware, as shown in fig. 8, the main console where the puncture point positioning device is located in the present application is a hardware structure diagram, except for the processor, the memory, the network interface, and the nonvolatile memory shown in fig. 8, the main console where the device is located in the embodiment may also include other hardware according to the actual function of the puncture point positioning, which is not described again.
Referring to fig. 9, a block diagram of a puncture site locating device according to an exemplary embodiment of the present application is shown. The device 900 can be applied to a main console in the CT system shown in fig. 8, the CT system further includes a scanning bed and a CT gantry, and a positioning lamp is disposed on the CT gantry. The apparatus 900 may include:
a first determination unit 901 configured to determine a target scan image including a designated puncture needle position from a CT scan image obtained by scanning a subject;
a second determining unit 902, configured to determine a puncture point position according to the puncture needle position;
and the control unit 903 is configured to control the scanning bed to move based on the scanning bed position information corresponding to the target scanning image, and control the CT gantry to rotate until the positioning lamp irradiates the puncture point position.
In an optional embodiment, the apparatus 900 may further include:
a third determining unit 904, configured to determine, according to the puncture point position, and the scanning center and the imaging center corresponding to the target scanning image, CT gantry angle information;
the control unit 903 may specifically be configured to:
and controlling the CT frame to rotate based on the CT frame angle information so as to enable the positioning lamp to irradiate the puncture point position.
In another optional embodiment, the third determining unit 904 may be specifically configured to:
when the image building center corresponding to the target scanning image is superposed with the scanning center corresponding to the target scanning image, calculating an included angle between a first vector and a second vector according to a specified direction, and determining the included angle as CT frame angle information;
wherein the starting point of the first vector is the scanning center, and the end point of the first vector is the puncture point position; the starting point of the second vector is the scanning center, the end point of the second vector is the initial position of the positioning lamp, and the designated direction is the rotating direction of the CT rack.
In another optional embodiment, the third determining unit 904 may be specifically configured to:
when the imaging center corresponding to the target scanning image does not coincide with the scanning center corresponding to the target scanning image, determining the vector sum of the first vector and the second vector as a third vector;
calculating an included angle between the third vector and the fourth vector according to the designated direction, and determining the included angle as the angle information of the CT frame;
wherein, the starting point of the first vector is the scanning center, and the end point of the first vector is the imaging center; the starting point of the second vector is the imaging center, and the end point of the second vector is the puncture point position; the starting point of the fourth vector is the scanning center, the end point of the fourth vector is the initial position of the positioning lamp, and the designated direction is the rotating direction of the CT rack.
In another alternative embodiment, the apparatus 900 may further include:
an obtaining unit 905, configured to obtain a scanning parameter corresponding to the target scanning image;
a fourth determining unit 906, configured to determine the bed code in the scanning parameters as the scanning bed position information corresponding to the target scanning image.
The implementation process of the functions and actions of each unit in the above device is specifically described in the implementation process of the corresponding step in the above method, and is not described herein again.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.
Claims (6)
1. A puncture point positioning method is applied to a main control console in a CT system, the CT system further comprises a scanning bed and a CT rack, a positioning lamp is arranged on the CT rack, and the puncture point positioning method comprises the following steps:
determining a target scanning image from CT scanning images obtained by scanning a detected object, wherein the target scanning image comprises a designated puncture needle position;
determining the position of a puncture point according to the position of the puncture needle; the puncture point position is the position of a puncture point on the detected body corresponding to the target scanning image;
controlling the scanning bed to move based on the scanning bed position information corresponding to the target scanning image, and controlling the CT frame to rotate until the positioning lamp irradiates the puncture point position;
the puncture point positioning method further comprises:
according to the puncture point position, and a scanning center and an image building center corresponding to the target scanning image, determining CT rack angle information;
the image building center is the image center of the CT scanning image, and the scanning center is the rotation center of the CT rack;
the control the CT frame rotates to the position that the positioning lamp irradiates to the puncture point, and the method comprises the following steps:
controlling the CT frame to rotate based on the CT frame angle information so that the positioning lamp irradiates the puncture point position;
determining the angle information of the CT frame according to the puncture point position, the scanning center and the image building center corresponding to the target scanning image, wherein the method comprises the following steps:
when the image building center corresponding to the target scanning image is superposed with the scanning center corresponding to the target scanning image, calculating an included angle between a first vector and a second vector according to a specified direction, and determining the included angle as CT frame angle information;
wherein the starting point of the first vector is the scanning center, and the end point of the first vector is the puncture point position; the starting point of the second vector is the scanning center, the end point of the second vector is the initial position of the positioning lamp, and the designated direction is the rotating direction of the CT rack.
2. The puncture point positioning method according to claim 1, wherein the determining CT gantry angle information based on the puncture point position and the scanning center and the imaging center corresponding to the target scanning image comprises:
when the imaging center corresponding to the target scanning image does not coincide with the scanning center corresponding to the target scanning image, determining the vector sum of the first vector and the second vector as a third vector;
calculating an included angle between the third vector and the fourth vector according to the designated direction, and determining the included angle as the angle information of the CT frame;
wherein, the starting point of the first vector is the scanning center, and the end point of the first vector is the imaging center; the starting point of the second vector is the imaging center, and the end point of the second vector is the puncture point position; the starting point of the fourth vector is the scanning center, the end point of the fourth vector is the initial position of the positioning lamp, and the designated direction is the rotating direction of the CT rack.
3. The method of locating a puncture point according to claim 1, further comprising:
acquiring scanning parameters corresponding to the target scanning image;
and determining the bed codes in the scanning parameters as the scanning bed position information corresponding to the target scanning image.
4. The utility model provides a puncture point positioner, its characterized in that, the master control platform among the CT system is applied to the device, the CT system still includes scanning bed and CT frame, be provided with the pilot lamp in the CT frame, puncture point positioner includes:
a first determination unit configured to determine a target scan image including a designated puncture needle position from a CT scan image obtained by scanning a subject;
the second determining unit is used for determining the position of the puncture point according to the position of the puncture needle; the puncture point position is the position of a puncture point on the detected body corresponding to the target scanning image;
the control unit is used for controlling the scanning bed to move based on the scanning bed position information corresponding to the target scanning image and controlling the CT frame to rotate until the positioning lamp irradiates the puncture point position;
the puncture point positioning device further comprises:
the third determining unit is used for determining the angle information of the CT frame according to the puncture point position, and the scanning center and the image building center corresponding to the target scanning image;
the image building center is the image center of the CT scanning image, and the scanning center is the rotation center of the CT rack;
the control unit is specifically configured to:
controlling the CT frame to rotate based on the CT frame angle information so that the positioning lamp irradiates the puncture point position;
the third determining unit is specifically configured to:
when the image building center corresponding to the target scanning image is superposed with the scanning center corresponding to the target scanning image, calculating an included angle between a first vector and a second vector according to a specified direction, and determining the included angle as CT frame angle information;
wherein the starting point of the first vector is the scanning center, and the end point of the first vector is the puncture point position; the starting point of the second vector is the scanning center, the end point of the second vector is the initial position of the positioning lamp, and the designated direction is the rotating direction of the CT rack.
5. A puncture point locating device according to claim 4, wherein the third determining unit is specifically configured to:
when the imaging center corresponding to the target scanning image does not coincide with the scanning center corresponding to the target scanning image, determining the vector sum of the first vector and the second vector as a third vector;
calculating an included angle between the third vector and the fourth vector according to the designated direction, and determining the included angle as the angle information of the CT frame;
wherein, the starting point of the first vector is the scanning center, and the end point of the first vector is the imaging center; the starting point of the second vector is the imaging center, and the end point of the second vector is the puncture point position; the starting point of the fourth vector is the scanning center, the end point of the fourth vector is the initial position of the positioning lamp, and the designated direction is the rotating direction of the CT rack.
6. A puncture point locating device according to claim 4, wherein the puncture point locating device further comprises:
the acquisition unit is used for acquiring the scanning parameters corresponding to the target scanning image;
and the fourth determining unit is used for determining the bed codes in the scanning parameters as the scanning bed position information corresponding to the target scanning image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN111297448B (en) * | 2020-02-24 | 2021-06-01 | 东软医疗系统股份有限公司 | Puncture positioning method, device and system |
| CN111436937B (en) * | 2020-03-16 | 2024-06-11 | 北京东软医疗设备有限公司 | Catheter/guide wire tracking method and device and scanning equipment |
| CN111743608B (en) * | 2020-07-15 | 2021-07-02 | 赛诺威盛科技(北京)股份有限公司 | Device and system for CT guided puncture |
| US11839777B2 (en) | 2020-09-21 | 2023-12-12 | Shanghai United Imaging Healthcare Co., Ltd. | Medical systems including a positioning lamp and a projection device and control methods of the medical systems |
| CN112043302A (en) * | 2020-09-21 | 2020-12-08 | 上海联影医疗科技有限公司 | Positioning lamp control method and device, computer equipment and medical equipment |
| CN114424978B (en) * | 2021-11-22 | 2023-05-12 | 赛诺威盛科技(北京)股份有限公司 | Fusion registration method and device, electronic equipment and storage medium |
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