CN109173090A - The prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth - Google Patents
The prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth Download PDFInfo
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- CN109173090A CN109173090A CN201811103149.7A CN201811103149A CN109173090A CN 109173090 A CN109173090 A CN 109173090A CN 201811103149 A CN201811103149 A CN 201811103149A CN 109173090 A CN109173090 A CN 109173090A
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- particle
- laser
- seeds implanted
- guidance control
- needle
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
Abstract
The invention belongs to seeds implanted technical field of auxiliary equipment, disclose a kind of prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth, client is intervened including laser positioning ranging device and particle, laser positioning ranging device includes track equipment, laser emitter and the laser sensor and clocking processor being arranged on laser emitter；It includes central processing unit and the speech prompting system being connected with central processing unit, animation simulation device, 3D simulant display model that particle, which intervenes client,.The present invention carries out range measurement by laser sensor, compared to the mode of observation graduation mark, it is higher to the accuracy of measurement of particle needle implantation depth, the puncture implanting state of particle needle and radioactive particle is shown on 3D simulant display model simultaneously, and reduce the operation difficulty of doctor, the success rate for improving seeds implanted, reduces the case where puncturing repeatedly.
Description
Technical field
The invention belongs to seeds implanted technical field of auxiliary equipment more particularly to seeds implanted depth cue fields, specifically
It is related to the prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth.
Background technique
Seeds implantation technology is according to the image checks such as ultrasound, CT, MRI as a result, first with radioactivity
The position of particle therapy planning system (Treatment Planning System, TPS) Exact Design radioactive prospecting instrument,
Quantity, implantation approach, make therapeutic scheme；Then the percutaneous puncture under CT, B ultrasound, endoscope guidance or operation direct-view, passes through
Radioactive particle is implanted between solid malignant by particle implanting gun according to plan；The lasting low energy issued finally by radion
The X-ray or gamma-rays of amount, kill tumor tissues utmostly, to reach therapeutic purposes.Due to being planned using TPS
System can make tumour while obtaining maximum illumination dosage, reduce the exposure of normal tissue, to largely improve
The therapeutic effect and the quality of life after treatment of patient.In addition, the conformal irradiation treatment of sustained low dose, can make tumor tissues
The different tumour cell of interior division cycle obtains equably irradiation treatment, meets the rule of tumour growth, therefore, radiates in recent years
Property seeds implanted treatment technology is widely applied in terms of the treatment of malignant tumour.
Before surgery, puncture cloth source scheme of the doctor according to TPS system design optimization, it may be assumed that first according to ultrasound, CT, MRI
Equal image checks are as a result, sketch the contours and rebuild the three-dimensional configuration of tumour；Then, according to the calculating knot of the effective isodose region of tumor lethal
Fruit, and human anatomic structure is combined, position, quantity and the implantation approach of design radion implantation；Then doctor needs basis
The scheme of designed radioactive prospecting instrument carries out seeds implanted, and radioactive prospecting instrument process is the core of operation designing
The heart, key are the control of particle pin puncture depth, this is directly related to the accuracy and therapeutic effect of radioactive prospecting instrument,
If radioactive prospecting instrument position is inaccurate, it will result in the radiation scope variation of radioactive particle, influence and be corrupted to tumour
Neighbouring normal organ, and substantially reduce the radiotherapy to tumour.
It generallys use fixed form in the prior art to fix particle needle, and in fixed form or particle
Scale is set on needle, and doctor observes by the naked eye the depth that graduation mark judgement punctures when puncturing, but doctor is detecting by an unaided eye
When graduation mark, the problem of due to sight angle, the sight of doctor and graduation mark is needed be in same horizontal line, due to puncture
The accuracy of depth is the important parameter of therapeutic effect, and positional shift is a little all likely to result in therapeutic effect and has a greatly reduced quality or control
Failure is treated, the therapeutic process operation difficulty of doctor is very big；On the other hand, doctor is merely able to observe patient when puncturing
The case where outer body, and can not observe the inserting needle situation of intracorporal particle needle, even if particle needle has deviated, doctor also compared with
Hardly possible discovery.
The prior patents document associated with this application that applicant retrieves is provided below, is only referred to for auditor, tool
Body is as follows, Chinese invention patent, application number: CN201711059321.9, the applying date: 2017-11-01, synopsis: the present invention
It is related to a kind of 3D printing personalization plunger type puncture for treating template of fixed device of band, including template substrate, template guide hole, puncture
Needle guide post, fine-tuning stent insertion hole, location hole, lightweight through-hole, laser positioning line, puncture needle number and sounding mark etc..
This template puncture needle guide post can be removed at any time, remove rear pattern plate pilot hole be relatively large in diameter, length it is short, make local anaesthesia point location
It precisely and is easier to implement, larger-diameter bone drill can be easy to use, boring positioning is accurate.Provided with fine-tuning stent insertion at three
Hole, cooperation fine-tuning stent use fine-tuning and fixed form position.Template substrate surface is arranged pin hole and numbers and puncture needle insertion
Sounding mark prevents no sounding mark, misplugs puncture needle.This template personalized customization, it is preoperative according to medicine such as CT, magnetic resonance
The each root puncture needle of image careful design, it is precisely minimally invasive, operating difficulty and operation risk are significantly reduced, young doctors are reduced
Learning cycle is commenced business rapidly, and more patients is made to be benefited.
This treatment template carries out sounding mark using using scale, will generate during doctor punctures above-mentioned
The technical issues of, operation difficulty of the doctor in puncture process is still very big.
Summary of the invention
The present invention provides the prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth, existing for solving
There is in technology doctor when detecting by an unaided eye graduation mark, the problem of due to sight angle, needs the sight and scale of doctor
Line is in same horizontal line, the very big technical problem of the therapeutic process operation difficulty of doctor；Meanwhile the present invention also can solve doctor
When puncturing, it is merely able to the case where observing patient's outer body, and can not observe the inserting needle feelings of intracorporal particle needle
Condition, even if particle needle has deviated, doctor also more difficult discovery the problem of.
The technical scheme adopted by the invention is as follows:
The prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth, to solve existing doctor with meat
When eye observation graduation mark, the problem of due to sight angle, the sight of doctor and graduation mark is needed be in same horizontal line, doctor
Raw therapeutic process operation difficulty it is very big the problem of, including track equipment, laser emitter and be arranged in laser emitter
On laser sensor and clocking processor, the track equipment drives laser emitter mobile, and the laser emitter is to people
Body surface surface-emission laser forms location spot, and particle needle finds implantation point accurately by hot spot, the laser sensor for reception from
The laser of particle backshank end reflection, the clocking processor is for recording laser two-way time and calculates laser emitter and particle
The distance at backshank end；
The particle intervention client includes central processing unit and the speech prompting system being connected with central processing unit, moves
Simulator, 3D simulant display model are drawn, the central processing unit, which is used to store the three-dimensional data packet of sick body model and receives, to swash
The ranging data of light-seeking range unit, the speech prompting system by ranging data be converted to voice messaging carry out casting mention
Show, the animation simulation device is used to edit the simulation of addition particle needle and radioactive particle in sick body model according to ranging data
Animation, the 3D simulant display model is for showing particle needle and radioactive particle simulation animation and sick body model.
Operation principle and using method are as follows:
When carrying out particle pin puncture, laser emitter is adjusted to corresponding position and angle first with track equipment
Degree emits laser to patient body-surface by laser emitter, and doctor is by the needle end alignment laser beam of particle needle on body surface
Luminous point, adjustment particle needle be overlapped the luminous point of laser beam and the center at backshank end, according to laser beam path insertion grain
Sub- needle, during the insertion of particle needle, from the reflected laser in particle backshank end, then laser sensor can receive always
Laser two-way time t is calculated by clocking processor, the spread speed of laser is v, then available laser sensor and particle
The ranging data of particle needle and laser sensor is passed to central processing unit by the distance L=vt/2 at backshank end, clocking processor,
Central processing unit handles the ranging data of variation in real time obtains particle needle insertion depth m, wherein the particle backshank end initial stage
With at a distance from laser sensor be n, then m=L-n, then broadcasts particle needle insertion depth m by speech prompting system,
It refers to and corrects when puncturing for doctor, while animation simulation device makes particle needle and radioactive particle by software algorithm
Model shown in sick body model, by the position and angle of received ranging data and laser emitter, pass through model
The puncture implanting state of particle needle and radioactive particle is shown on 3D simulant display model, doctor is same what is punctured
When, it can receive the voice prompting of the state of puncture, and can intuitively see particle needle by 3D simulant display model
It is implanted into situation, accuracy when particle pin puncture and seeds implanted is substantially increased, and reduce the operation difficulty of doctor, mentions
The success rate of high seeds implanted reduces the case where puncturing repeatedly, while carrying out range measurement by laser sensor, compared to
The mode of graduation mark is observed, it is higher to the accuracy of measurement of particle needle implantation depth.
Further, particle intervention client is computer or the graphics workstation with language process function.It is worth note
Meaning, as known to a person skilled in the art, computer and graphics workstation herein, which all has, is capable of handling 3D figure
The processor and video card of shape.
Further, speech prompting system includes speech chip and loudspeaker, and speech chip will be surveyed by audio decoder
After data decoding, then ranging data is converted to by analog signal by DAC converter and passes to loudspeaker progress voice prompting.
It is worth noting that, speech prompting system can be general speech ciphering equipment, such as backing distance prompt system, mentioned with this voice
Show that the system structure of system is identical, it is not described here in detail.
Further, animation simulation device includes MCU chip and time timer, and time timer controls MCU chip solid
It fixes time and is spaced interior continuous reception ranging data, MCU chip is added in the three-dimensional data packet of sick body model according to ranging data
The simulation animation of particle needle and radioactive particle.
As a preferred solution, the timing cycle of time timer is 0.1s-0.5s.
As a preferred solution, 3D simulant display model is liquid crystal display.
Further preferred embodiment, 7 2700X of model AMD Ryzen, AMD Ryzen 5 of central processing unit
Any one in 2600X or Intel i7 8700K.
Further preferred embodiment, model KT404A, SZY74 of speech chip or any one in SZY82.
Further preferred embodiment, MCU chip are PW106/PW328 picture processing chip or NVIDIAGoForce figure
Handle chip.
The invention has the benefit that
The present invention is by carrying out range measurement by laser sensor, compared to the mode of observation graduation mark, to particle needle
The accuracy of measurement of implantation depth is higher, while the puncture of particle needle and radioactive particle is shown on 3D simulant display model
Implanting state, doctor can receive the voice prompting of the state of puncture while puncturing, and can be simulated by 3D
Display module intuitively sees the implantation situation of particle needle, substantially increases accuracy when particle pin puncture and seeds implanted,
And the operation difficulty for reducing doctor improves the success rate of seeds implanted, reduces the case where puncturing repeatedly.
Detailed description of the invention
Fig. 1 is system module schematic diagram of the invention；
Fig. 2 is the module map of speech prompting system of the present invention；
Fig. 3 is the module map of animation simulation device of the present invention.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is further elaborated.
Embodiment 1:
As shown in Figure 1, track equipment, laser emitter and the laser sensor being arranged on laser emitter and timing
Processor, the track equipment drive laser emitter mobile, and it is fixed that the laser emitter is formed to human body surface transmitting laser
Position hot spot, particle needle find implantation point accurately by hot spot, and the laser sensor is used to receive the laser reflected from particle backshank end,
The clocking processor is for recording laser two-way time and calculates laser emitter at a distance from particle backshank end；
The particle intervention client includes central processing unit and the speech prompting system being connected with central processing unit, moves
Simulator, 3D simulant display model are drawn, the central processing unit, which is used to store the three-dimensional data packet of sick body model and receives, to swash
The ranging data of light-seeking range unit, the speech prompting system by ranging data be converted to voice messaging carry out casting mention
Show, the animation simulation device is used to edit the simulation of addition particle needle and radioactive particle in sick body model according to ranging data
Animation, the 3D simulant display model is for showing particle needle and radioactive particle simulation animation and sick body model.
Operation principle and using method are as follows:
When carrying out particle pin puncture, laser emitter is adjusted to corresponding position and angle first with track equipment
Degree emits laser to patient body-surface by laser emitter, and doctor is by the needle end alignment laser beam of particle needle on body surface
Luminous point, adjustment particle needle be overlapped the luminous point of laser beam and the center at backshank end, according to laser beam path insertion grain
Sub- needle, during the insertion of particle needle, from the reflected laser in particle backshank end, then laser sensor can receive always
Laser two-way time t is calculated by clocking processor, the spread speed of laser is v, then available laser sensor and particle
The ranging data of particle needle and laser sensor is passed to central processing unit by the distance L=vt/2 at backshank end, clocking processor,
Central processing unit handles the ranging data of variation in real time obtains particle needle insertion depth m, wherein the particle backshank end initial stage
With at a distance from laser sensor be n, then m=L-n, then broadcasts particle needle insertion depth m by speech prompting system,
It refers to and corrects when puncturing for doctor, while animation simulation device makes particle needle and radioactive particle by software algorithm
Model shown in sick body model, by the position and angle of received ranging data and laser emitter, pass through model
The puncture implanting state of particle needle and radioactive particle is shown on 3D simulant display model, doctor is same what is punctured
When, it can receive the voice prompting of the state of puncture, and can intuitively see particle needle by 3D simulant display model
It is implanted into situation, accuracy when particle pin puncture and seeds implanted is substantially increased, and reduce the operation difficulty of doctor, mentions
The success rate of high seeds implanted reduces the case where puncturing repeatedly, while carrying out range measurement by laser sensor, compared to
The mode of graduation mark is observed, it is higher to the accuracy of measurement of particle needle implantation depth.
Embodiment 2:
On the basis of the above embodiments, scheme, particle intervene client as computer or band as a further preference
There is the graphics workstation of language process function.Notably, as known to a person skilled in the art, calculating herein
Machine and graphics workstation all have the processor and video card for being capable of handling 3D figure.
Embodiment 3:
As shown in Fig. 2, on the basis of the above embodiments, speech prompting system includes speech chip and loudspeaker, voice
After chip is decoded ranging data by audio decoder, then ranging data is converted to by analog signal by DAC converter and is passed
It passs loudspeaker and carries out voice prompting.It is worth noting that, speech prompting system can be general speech ciphering equipment, for example move backward
Distance prompt system, identical as the system structure of this speech prompting system, it is not described here in detail,
Embodiment 4:
As shown in figure 3, on the basis of the above embodiments, animation simulation device includes MCU chip and time timer, time
Timer control MCU chip continuously receives ranging data in Fixed Time Interval, and MCU chip is according to ranging data in sick body mould
The simulation animation of particle needle and radioactive particle is added in the three-dimensional data packet of type.Wherein the MCU chip of animation simulation device passes through
Program shows that the simulation animation of particle needle and radioactive particle, part of program code are as follows in 3D simulant display model:
Embodiment 5:
On the basis of the above embodiments, scheme as a further preference, the model AMD Ryzen of central processing unit
Any one in 7 2700X, 5 2600X or Intel i7 8700K of AMD Ryzen；The model KT404A of speech chip,
Any one in SZY74 or SZY82；MCU chip is PW106/PW328 picture processing chip or NVIDIA GoForce figure
Handle chip.
The present invention is not limited to above-mentioned optional embodiment, anyone can show that other are various under the inspiration of the present invention
The product of form, however, make any variation in its shape or structure, it is all to fall into the claims in the present invention confining spectrum
Technical solution, be within the scope of the present invention.
Claims (9)
1. the prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth, it is characterised in that: fixed including laser
Position range unit and particle intervene client,
The laser positioning ranging device passes through the depth of laser measurement particle pin puncture, including track equipment, laser emitter
And laser sensor and clocking processor on laser emitter are set, the track equipment drives laser emitter to move
Dynamic, the laser emitter forms location spot to human body surface transmitting laser, and particle needle finds implantation point accurately by hot spot, described
Laser sensor is used to receive the laser reflected from particle backshank end, and the clocking processor is used for recording laser two-way time simultaneously
Laser emitter is calculated at a distance from particle backshank end；
The particle intervention client includes central processing unit and the speech prompting system being connected with central processing unit, animation mould
Quasi- device, 3D simulant display model, the central processing unit, which is used to store the three-dimensional data packet of sick body model and receives laser, to be determined
Ranging data is converted to voice messaging and carries out casting prompt, institute by the ranging data of position range unit, the speech prompting system
The simulation animation that animation simulation device is used to edit addition particle needle and radioactive particle in sick body model according to ranging data is stated,
The 3D simulant display model is for showing particle needle and radioactive particle simulation animation and sick body model.
2. the prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth according to claim 1,
Be characterized in that: the particle intervention client is computer or the graphics workstation with language process function.
3. the prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth according to claim 2,
Be characterized in that: the speech prompting system includes speech chip and loudspeaker, and the speech chip will be surveyed by audio decoder
After data decoding, then ranging data is converted to by analog signal by DAC converter and passes to loudspeaker progress voice prompting.
4. the prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth according to claim 3,
Be characterized in that: the animation simulation device includes MCU chip and time timer, and time timer controls MCU chip when fixed
Between be spaced in it is continuous receive ranging data, MCU chip adds particle in the three-dimensional data packet of sick body model according to ranging data
The simulation animation of needle and radioactive particle.
5. the prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth according to claim 4,
Be characterized in that: the timing cycle of the time timer is 0.1s-0.5s.
6. the prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth according to claim 1,
Be characterized in that: the 3D simulant display model is liquid crystal display.
7. the prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth according to claim 1,
It is characterized in that: 7 2700X of model AMD Ryzen, the 5 2600X or Intel i7 of AMD Ryzen of the central processing unit
Any one in 8700K.
8. the prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth according to claim 3,
It is characterized in that: model KT404A, SZY74 of the speech chip or any one in SZY82.
9. the prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth according to claim 4,
Be characterized in that: the MCU chip is PW106/PW328 picture processing chip or NVIDIA GoForce graph processing chips.
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| CN201811103149.7A CN109173090A (en) | 2018-09-20 | 2018-09-20 | The prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth |
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| CN201811103149.7A CN109173090A (en) | 2018-09-20 | 2018-09-20 | The prompt system of laser irradiation guidance control tumour radiotherapy seeds implanted depth |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113855232A (en) * | 2021-03-16 | 2021-12-31 | 马佐尔机器人有限公司 | System and method for training and using an implant plan evaluation model |
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Address after: 610000 No.804, floor 8, unit 1, building 6, Zone D, West Zhigu, No.166, Wuxing Fourth Road, Wuhou New Town Management Committee, Wuhou District, Chengdu City, Sichuan Province Applicant after: Chengdu real dimension Technology Co., Ltd. Applicant after: Affiliated Zhongshan Hospital of Dalian University Address before: 610000 No. 801, Building 8, Building 6, Unit 1, West Zhigu D District, 166 Wuxing Road, Wuhou New Town Management Committee, Chengdu, Sichuan Province Applicant before: Chengdu real dimension Technology Co., Ltd. Applicant before: Affiliated Zhongshan Hospital of Dalian University |