CN109480971B - Quick CT positioning navigation system - Google Patents

Quick CT positioning navigation system Download PDF

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CN109480971B
CN109480971B CN201811464216.8A CN201811464216A CN109480971B CN 109480971 B CN109480971 B CN 109480971B CN 201811464216 A CN201811464216 A CN 201811464216A CN 109480971 B CN109480971 B CN 109480971B
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positioning unit
positioning
box
plane positioning
fixing
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CN109480971A (en
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陈强
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Zhejiang Jianaiwei Medical Technology Co ltd
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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
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • 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
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • 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
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
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  • Biomedical Technology (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
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  • Oral & Maxillofacial Surgery (AREA)
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Abstract

The invention discloses a rapid CT positioning navigation method and a rapid CT positioning navigation system. The positioning navigation system comprises a control computer, a positioning box and a fixed support. The positioning navigation method comprises the following steps: the method comprises the following steps: the positioning box and the patient are scanned for CT; step two: introducing a Dicom image of the patient and the localization box; step three: determining the coordinates of a fixing shaft hole for fixing the puncture needle; step four: determining an equation of an upper plane and an equation of a lower plane; step five: a doctor determines a linear equation corresponding to the puncture channel; step six: obtaining an intersection point A 'and an intersection point B'; step seven: calculating the displacement of the fixed shaft hole required for reaching the intersection point position along the x axis and the y axis; step eight: and moving the slide block to a specified position. The invention reduces the extra error caused by the unified coordinate transformation, is relatively simple and convenient to use, and greatly improves the use convenience of the surgical navigation system.

Description

Quick CT positioning navigation system
Technical Field
The invention relates to a rapid CT positioning navigation method and a rapid CT positioning navigation system.
Background
The traditional percutaneous interventional puncture operation is a minimally invasive operation that a doctor sends a small surgical instrument, such as a biopsy puncture needle, into a patient under the guidance of a CT image scanning device to detect or treat a lesion part. The percutaneous interventional puncture operation has the advantages of small wound surface, quick recovery, less postoperative complications and the like as other minimally invasive operations. In percutaneous aspiration, precise aspiration channel establishment is a primary task of surgery. The puncturing operation not only requires the surgical needle to accurately reach the target position, but also requires the path of the surgical needle to avoid important tissues of the human body, such as blood vessels. However, conventional CT image-guided needle insertion procedures are performed manually by a physician. The doctor judges a proper needle inserting point and a proper needle inserting direction through a two-dimensional or three-dimensional scanning image near a focus, and then completes the puncture operation through manually adjusting a puncture channel by virtue of experience, which puts high requirements on the operation skill and experience of the doctor. However, even experienced doctors usually require multiple CT scans for interventional puncture under one CT guidance, and repeated adjustment and confirmation of the puncture needle position can be completed, which severely limits the popularization and clinical application of percutaneous puncture technology. Therefore, developing an automatic positioning navigation system under CT guidance is an important means to solve this problem. Therefore, some positioning navigation systems adopting commercial mechanical arms are developed in China, and some patents of surgical navigation under CT guidance are applied. For example, the patent No. CN207306723U CT image-guided surgical navigation system refers to a surgical navigation system using a surgical instrument tracer, a calibration tracer and a tracking system. The core of the patent is that a navigation identification characteristic point set I capable of being identified under CT and a characteristic point set II identified by a tracking system are simultaneously integrated on a calibration tracer. The patient bed coordinate system and the surgical instrument coordinate system are unified through the known geometric characteristics of the two feature point sets, the tracking system needs to be realized through an optical tracking system or an electromagnetic tracking system, the method must ensure that the calibration tracer is not shielded by the object view of an operating room, the system is relatively complex, and errors caused by the unification of the two coordinates are increased.
The same CN100496429C surgical navigation system robot surgical positioning method based on optical positioning also adopts the optical tracker and the robot probe to measure the same coordinate point to realize the exchange of the robot coordinate system and the optical tracker coordinate system.
The traditional operation positioning navigation system adopts commercial serial multi-shaft mechanical arms to realize a puncture needle positioning channel, the mechanical arms need to track positioning marks on the mechanical arms through a tracking system for controlling the position and the posture of the channel, then track the tracking marks fixed on the body of a patient, and then unify the coordinates of the tracking system, the data coordinates of the patient and the control coordinates of the mechanical arms, and can establish a surgery planning channel and the puncture needle positioning channel after the unification. Because the coordinate is uniformly converted, conversion errors are brought, secondly, the optical tracking system must be ensured not to be shielded by the view field of the operating room, so that the operating space is influenced, and the tracking precision of the optical tracking system can also change along with different distances of the view field, so that the final operating effect is influenced. In addition, the electromagnetic tracking system is easily affected by magnetic metal and the magnetic field of a mechanical arm motor. Thus, there is an inherent disadvantage of surgical positioning and navigation systems that rely on optical or electromagnetic tracking systems and require different coordinate systems to be unified.
Disclosure of Invention
The invention aims to overcome the defects of the existing product and provides a rapid CT positioning navigation method and a rapid CT positioning navigation system.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the utility model provides a quick CT fixes a position navigation, includes computer, location box, fixed bolster, the computer passes through the network and is connected with the location box, the location box is installed on the fixed bolster, the location box includes plane positioning unit, lower plane positioning unit, it all includes removal slider, motor module, slide rail, positioning controller to go up plane positioning unit, lower plane positioning unit, motor module passes through sliding rail connection removal slider, motor module receives positioning controller control, it is equipped with the fixed shaft hole that is used for fixed pjncture needle, the distinguishable mark thing of a plurality of CT image scanning equipment to remove the slider.
The markers which can be identified by the plurality of CT image scanning devices positioned on the upper plane positioning unit are positioned on the same plane which is not collinear, and the markers which can be identified by the plurality of CT image scanning devices positioned on the lower plane positioning unit are not collinear and are positioned on the other plane. The markers which can be identified by the plurality of CT image scanning devices and are positioned on the upper plane positioning unit are not collinear, which means that the markers which can be identified by the plurality of CT image scanning devices and are positioned on the upper plane positioning unit are not collinear. The markers which can be identified by the plurality of CT image scanning devices and are positioned on the lower plane positioning unit are not collinear, which means that the markers which can be identified by the plurality of CT image scanning devices and are positioned on the lower plane positioning unit are not collinear.
The motor modules of the upper plane positioning unit and the lower plane positioning unit comprise X-axis motors and Y-axis motors which are vertically arranged.
The fixing shaft hole for fixing the puncture needle is positioned at the front end of the movable sliding block extending out of the positioning box, so that the puncture needle can be fixed conveniently.
A rapid CT positioning navigation method comprises the following specific steps:
the method comprises the following steps: fixing the positioning box near the focus of the patient, and simultaneously scanning CT by CT image scanning equipment on the positioning box and the patient;
step two: the control software on the computer imports the CT images of the patient and the positioning box;
step three: the central coordinates of markers which can be identified by at least three CT image scanning devices in the upper plane positioning unit and the central coordinates of markers which can be identified by at least three CT image scanning devices in the lower plane positioning unit can be determined through CT images, and because the relationship between the central position of the markers which can be identified by the CT image scanning devices and the axis position of a fixing shaft hole for fixing the puncture needle is known during the structural design, the coordinates of the fixing shaft hole for fixing the puncture needle in the upper plane positioning unit and the coordinates of the fixing shaft hole for fixing the puncture needle in the lower plane positioning unit can be determined through the markers which can be identified by the at least three CT image scanning devices;
step four: equation 1 for determining the upper plane by the central position of the marker identifiable by the at least three CT image scanning devices in the upper plane localization unit: a. the1x+B1y+C1z+D10, wherein A1、B1、C1、D1The central coordinates of the markers which can be identified by at least three CT image scanning devices in the upper plane positioning unit are solved to obtain the coordinate system, and the central coordinates of the markers which can be identified by at least three CT image scanning devices in the lower plane positioning unit are used for determining an equation 2 of the lower plane: a. the2x+B2y+C2z+D20, wherein A2、B2、C2、D2Solving the central coordinates of the markers which can be identified by at least three CT image scanning devices in the lower plane positioning unit to obtain the central coordinates;
step five: a doctor determines a linear equation 3 corresponding to a puncture channel required by the puncture needle according to the operation planning requirement in control software on a computer: (x-x1)/(x-x2), (y-y1)/(y-y2), (z-z1)/(z-z2), wherein x1, y1, z1 are physician-determined needle insertion point coordinates, and x2, y2, z2 are physician-determined target point coordinates;
step six: the intersection point A '(x 3, y3, z3) of the straight line corresponding to the upper plane and the puncture channel can be obtained by jointly solving equation 1 and linear equation 3, and the intersection point B' (x4, y4, z4) of the straight line corresponding to the lower plane and the puncture channel can be obtained by jointly solving equation 2 and linear equation 3;
step seven: the x-axis and y-axis displacement required by the fixing shaft hole for fixing the puncture needle in the upper plane positioning unit to reach the intersection point position A '(x 3, y3, z3) and the x-axis and y-axis displacement required by the fixing shaft hole for fixing the puncture needle in the lower plane positioning unit to reach the intersection point position B' (x4, y4, z4) can be obtained through the coordinates of the fixing shaft hole for fixing the puncture needle in the upper plane positioning unit and the coordinates of the fixing shaft hole for fixing the puncture needle in the lower plane positioning unit;
step eight: the computer controls the X-axis motor and the Y-axis motor in the upper plane positioning unit and the lower plane positioning unit through the positioning controller, so that the X-axis motor and the Y-axis motor drive the movable sliding block to move corresponding X-axis displacement and Y-axis displacement through the sliding rail, the movable sliding block reaches the designated position, and the needed puncture needle channel is realized.
The invention has the following beneficial effects: due to the simple structure of the positioning box, the volume of the positioning box can be much smaller than that of a traditional commercial mechanical arm, so that the positioning box can be used for CT with a patient. When the positioning box is used, the positioning box is only required to be fixed near a focus of a patient, after the patient and the positioning box are scanned by CT image scanning equipment, the positions of the movable sliding blocks of the upper plane positioning unit and the lower plane positioning unit, which need to be moved, are confirmed by identifiable markers through surgical planning, and then the positions of the movable sliding blocks on the sliding rails are driven by the positioning controller through controlling the motor, so that the complex operation process of a commercial mechanical arm adopted by a traditional surgical positioning navigation system and the coordinate uniform transformation step of various coordinate systems are avoided, the additional error caused by the coordinate uniform transformation is reduced, the use is relatively simple and convenient, and the use convenience of the surgical navigation system is greatly improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of the upper plane positioning unit or the lower plane positioning unit;
FIG. 3 is a schematic diagram of the solution of the plane equation and the line equation.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings of the specification:
example 1:
as shown in fig. 1 to 3, a fast CT positioning navigation method and system includes a computer 1, a positioning box 2, and a fixed support 7, wherein the computer 1 is connected to the positioning box 2 through a network, the positioning box 2 is installed on the fixed support 7, the positioning box 2 includes an upper plane positioning unit 3 and a lower plane positioning unit 4, both the upper plane positioning unit 3 and the lower plane positioning unit 4 include a movable slider 19, a motor module, a slide rail 23, and a positioning controller 24, the motor module is connected to the movable slider 19 through the slide rail 23, and the motor module is controlled by the positioning controller 24. The marker aluminum metal wafers (22) which are located on the upper plane positioning unit (3) and can be identified by the 3 CT image scanning devices are located on the same plane which is not collinear, and the marker aluminum metal wafers (22) which are located on the lower plane positioning unit (4) and can be identified by the 3 CT image scanning devices are not collinear and are located on the other plane. The motor modules of the upper plane positioning unit and the lower plane positioning unit comprise an X-axis motor 20 and a Y-axis motor 21 which are vertically arranged. The fixing shaft hole 6 for fixing the puncture needle is arranged at the front end of the movable slide block 19 extending out of the positioning box.
The following steps are as follows:
the method comprises the following steps: fixing the positioning box 2 near the focus of the patient, and simultaneously scanning CT by CT image scanning equipment on the positioning box 2 and the patient;
step two: the control software on the computer 1 imports the CT images of the patient and the positioning box 2;
step three: the central coordinates of 3 aluminum metal disc markers 22 in the upper plane positioning unit 3 and the central coordinates of 3 aluminum metal disc markers 22 in the lower plane positioning unit 4 can be determined through CT images, and because the relationship between the central position of the aluminum metal disc markers 22 and the axis position of the fixing shaft hole 6 for fixing the puncture needle is known during the structural design, the coordinates of the fixing shaft hole 6 for fixing the puncture needle in the upper plane positioning unit 3 and the coordinates of the fixing shaft hole 6 for fixing the puncture needle in the lower plane positioning unit 4 can be determined through the 3 aluminum metal disc markers 22;
step four: determined by the center position of 3 aluminum metal disc markers 22 in the upper plane positioning unit 3Equation 1 for the plane: a. the1x+B1y+C1z+D10, wherein A1、B1、C1、D1Solved by the center coordinates of the 3 aluminum metal disc markers 22 in the upper plane location unit 3, and determine equation 2 for the lower plane by the center coordinates of the 3 aluminum metal disc markers 22 in the lower plane location unit 4: a. the2x+B2y+C2z+D20, wherein A2、B2、C2、D2The central coordinates of the 3 aluminum metal wafer markers 22 in the lower plane positioning unit 4 are solved to obtain the central coordinates;
step five: a doctor determines a linear equation 3 corresponding to a puncture channel required by the puncture needle according to the operation planning requirement in control software on the computer 1: (x-x1)/(x-x2), (y-y1)/(y-y2), (z-z1)/(z-z2), wherein x1, y1, z1 are physician-determined needle insertion point coordinates, and x2, y2, z2 are physician-determined target point coordinates;
step six: the intersection point A '(x 3, y3, z3) of the straight line corresponding to the upper plane and the puncture channel can be obtained by jointly solving equation 1 and linear equation 3, and the intersection point B' (x4, y4, z4) of the straight line corresponding to the lower plane and the puncture channel can be obtained by jointly solving equation 2 and linear equation 3;
step seven: the x-axis and y-axis displacement amounts required by the fixing shaft hole 6 for fixing the puncture needle in the upper plane positioning unit 3 to reach the intersection point position a '(x 3, y3, z3) and the x-axis and y-axis displacement amounts required by the fixing shaft hole 6 for fixing the puncture needle in the lower plane positioning unit 4 to reach the intersection point position B' (x4, y4, z4) can be obtained through the coordinates of the fixing shaft hole 6 for fixing the puncture needle in the upper plane positioning unit 3 and the coordinates of the fixing shaft hole 6 for fixing the puncture needle in the lower plane positioning unit 4;
step eight: the computer 1 controls the X-axis motor 20 and the Y-axis motor 21 in the upper plane positioning unit 3 and the lower plane positioning unit 4 through the positioning controller 24, so that the X-axis motor 20 and the Y-axis motor 21 drive the moving slide block 19 to move corresponding X-axis and Y-axis displacement amounts through the slide rail 23, and the moving slide block 19 reaches a designated position, thereby realizing a required puncture needle channel.
Due to the simple structure of the positioning box, the volume of the positioning box can be much smaller than that of a traditional commercial mechanical arm, so that the positioning box can be used for CT with a patient. When the positioning box is used, the positioning box is only required to be fixed near a focus of a patient, after the patient and the positioning box are scanned by CT image scanning equipment, the positions of the movable sliding blocks of the upper plane positioning unit and the lower plane positioning unit, which need to be moved, are confirmed by identifiable markers through surgical planning, and then the positions of the movable sliding blocks on the sliding rails are driven by the positioning controller through controlling the motor, so that the complex operation process of a commercial mechanical arm adopted by a traditional surgical positioning navigation system and the coordinate uniform transformation step of various coordinate systems are avoided, the additional error caused by the coordinate uniform transformation is reduced, the use is relatively simple and convenient, and the use convenience of the surgical navigation system is greatly improved.
Example 2:
as shown in fig. 1 to 3, a fast CT positioning navigation method and system includes a computer 1, a positioning box 2, and a fixing support 7, wherein the computer 1 is connected to the positioning box 2 through a network, the positioning box 2 is mounted on the fixing support 7, the positioning box 2 includes an upper plane positioning unit 3 and a lower plane positioning unit 4, the upper plane positioning unit 3 and the lower plane positioning unit 4 both include a movable slider 19, a motor module, a slide rail 23, and a positioning controller 24, the plastic spheres (22) of the markers recognizable by the 4 CT image scanning devices located in the upper plane positioning unit (3) are located on the same plane which is not collinear, and the plastic spheres (22) recognizable by the 4 CT image scanning devices located in the lower plane positioning unit (4) are not collinear and located on the other plane. The motor modules of the upper plane positioning unit and the lower plane positioning unit comprise an X-axis motor 20 and a Y-axis motor 21 which are vertically arranged. The fixing shaft hole 6 for fixing the puncture needle is arranged at the front end of the movable slide block 19 extending out of the positioning box.
The following steps are as follows:
the method comprises the following steps: fixing the positioning box 2 near the focus of the patient, and simultaneously scanning CT by CT image scanning equipment on the positioning box 2 and the patient;
step two: the control software on the computer 1 imports the CT images of the patient and the positioning box 2;
step three: the central coordinates of 4 plastic round ball markers 22 in the upper plane positioning unit 3 and the central coordinates of 4 plastic round ball markers 22 in the lower plane positioning unit 4 can be determined through CT images, and because the relationship between the central position of the marker 22 which can be identified by CT image scanning equipment and the axis position of the fixing shaft hole 6 for fixing the puncture needle is known during the structural design, the coordinates of the fixing shaft hole 6 for fixing the puncture needle in the upper plane positioning unit 3 and the coordinates of the fixing shaft hole 6 for fixing the puncture needle in the lower plane positioning unit 4 can be determined through the 4 plastic round ball markers 22;
step four: equation 1 for determining the upper plane by the center positions of the 4 plastic spherical ball markers 22 in the upper plane positioning unit 3: a. the1x+B1y+C1z+D10, wherein A1、B1、C1、D1The central coordinates of the 4 plastic round ball markers 22 in the upper plane positioning unit 3 are solved to obtain the result, and the equation 2 of the lower plane is determined by the central coordinates of the 4 plastic round ball markers 22 in the lower plane positioning unit 4: a. the2x+B2y+C2z+D20, wherein A2、 B2、C2、D2The central coordinates of the 4 plastic spherical markers 22 in the lower plane positioning unit 4 are solved to obtain the central coordinates;
step five: a doctor determines a linear equation 3 corresponding to a puncture channel required by the puncture needle according to the operation planning requirement in control software on the computer 1: (x-x1)/(x-x2), (y-y1)/(y-y2), (z-z1)/(z-z2), wherein x1, y1, z1 are physician-determined needle insertion point coordinates, and x2, y2, z2 are physician-determined target point coordinates;
step six: the intersection point A '(x 3, y3, z3) of the straight line corresponding to the upper plane and the puncture channel can be obtained by jointly solving equation 1 and linear equation 3, and the intersection point B' (x4, y4, z4) of the straight line corresponding to the lower plane and the puncture channel can be obtained by jointly solving equation 2 and linear equation 3;
step seven: the x-axis and y-axis displacement amounts required by the fixing shaft hole 6 for fixing the puncture needle in the upper plane positioning unit 3 to reach the intersection point position a '(x 3, y3, z3) and the x-axis and y-axis displacement amounts required by the fixing shaft hole 6 for fixing the puncture needle in the lower plane positioning unit 4 to reach the intersection point position B' (x4, y4, z4) can be obtained through the coordinates of the fixing shaft hole 6 for fixing the puncture needle in the upper plane positioning unit 3 and the coordinates of the fixing shaft hole 6 for fixing the puncture needle in the lower plane positioning unit 4;
step eight: the computer 1 controls the X-axis motor 20 and the Y-axis motor 21 in the upper plane positioning unit 3 and the lower plane positioning unit 4 through the positioning controller 24, so that the X-axis motor 20 and the Y-axis motor 21 drive the moving slide block 19 to move corresponding X-axis and Y-axis displacement amounts through the slide rail 23, and the moving slide block 19 reaches a designated position, thereby realizing a required puncture needle channel.
Due to the simple structure of the positioning box, the volume of the positioning box can be much smaller than that of a traditional commercial mechanical arm, so that the positioning box can be used for CT with a patient. When the positioning box is used, the positioning box is only required to be fixed near a focus of a patient, after the patient and the positioning box are scanned by CT image scanning equipment, the positions of the movable sliding blocks of the upper plane positioning unit and the lower plane positioning unit, which need to be moved, are confirmed by identifiable markers through surgical planning, and then the positions of the movable sliding blocks on the sliding rails are driven by the positioning controller through controlling the motor, so that the complex operation process of a commercial mechanical arm adopted by a traditional surgical positioning navigation system and the coordinate uniform transformation step of various coordinate systems are avoided, the additional error caused by the coordinate uniform transformation is reduced, the use is relatively simple and convenient, and the use convenience of the surgical navigation system is greatly improved.
It should be noted that the above list is only one specific embodiment of the present invention. Obviously, the present invention is not limited to the above embodiments, and many variations are possible, for example, the slide rail may be simply replaced by a timing belt or a lead screw. In general, all modifications that can be derived or suggested by those skilled in the art from the disclosure herein are intended to be included within the scope of the invention.

Claims (1)

1. The rapid CT positioning navigation system is characterized by comprising a computer (1), a positioning box (2) and a fixed support (7), wherein the computer (1) is connected with the positioning box (2) through a network, the positioning box (2) is installed on the fixed support (7), the positioning box (2) comprises an upper plane positioning unit (3) and a lower plane positioning unit (4), the upper plane positioning unit (3) and the lower plane positioning unit (4) respectively comprise a movable sliding block (19), a motor module, a sliding rail (23) and a positioning controller (24), the motor module is connected with the movable sliding block (19) through the sliding rail (23), the motor module is controlled by the positioning controller (24), the movable sliding block (19) is provided with a fixed shaft hole (6) for fixing a puncture needle and a plurality of markers (22) which can be identified by CT image scanning equipment, the identifiable marker (22) of a plurality of CT image scanning equipment that lie in last plane positioning unit (3) is on same plane of non-collineation, the identifiable marker (22) of a plurality of CT image scanning equipment that lie in lower plane positioning unit (4) is not collineation and is located another plane simultaneously, the identifiable marker (22) of CT image scanning equipment that lie in last plane positioning unit and lower plane positioning unit all is three at least, the motor module of going up plane positioning unit and lower plane positioning unit all includes X axle motor (20), Y axle motor (21) of vertical arrangement, fixed shaft hole (6) for fixing the pjncture needle are located and move slider (19) and stretch out the outside front end of location box.
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