CN110613467A - X-ray imaging and navigation integrated device in operation process - Google Patents
X-ray imaging and navigation integrated device in operation process Download PDFInfo
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- CN110613467A CN110613467A CN201911042072.1A CN201911042072A CN110613467A CN 110613467 A CN110613467 A CN 110613467A CN 201911042072 A CN201911042072 A CN 201911042072A CN 110613467 A CN110613467 A CN 110613467A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000001360 synchronised effect Effects 0.000 claims description 41
- 238000003825 pressing Methods 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims 2
- 238000002059 diagnostic imaging Methods 0.000 abstract description 7
- 238000001356 surgical procedure Methods 0.000 description 7
- 230000003902 lesion Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 238000002675 image-guided surgery Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—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
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4417—Constructional features of apparatus for radiation diagnosis related to combined acquisition of different diagnostic modalities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
- A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
- A61B6/5247—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
-
- 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
- A61B2034/2055—Optical tracking systems
-
- 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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Radiology & Medical Imaging (AREA)
- Pathology (AREA)
- Optics & Photonics (AREA)
- High Energy & Nuclear Physics (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Robotics (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The invention relates to an X-ray imaging and navigation integrated device in an operation process, which comprises a bed plate, a ring-shaped bracket, an X-ray imaging ball tube, a multidimensional degree-of-freedom mechanical arm and an X-ray flat panel detector, wherein the ring-shaped bracket is erected on the bed plate, the left side and the right side of the bed plate are provided with linear rails extending along the length direction, the bottom end of the ring-shaped bracket is connected in the linear rails in a sliding manner and does reciprocating linear motion along the linear rails, the upper end of the ring-shaped bracket is provided with an arc rail extending along the arc direction, the X-ray imaging ball tube is arranged in the arc rail in a sliding manner and does reciprocating arc motion along the arc rail, the multidimensional degree-of-freedom mechanical arm is arranged at the lower position of the arc rail on the ring-shaped bracket; the invention can make the medical imaging equipment finish the simultaneous imaging of the human body and the navigation device in the same position coordinate system during the scanning, thereby simultaneously finishing the accurate positioning of the focus position of the human body image.
Description
[ technical field ]
The invention relates to the technical field of medical instruments, in particular to an X-ray imaging and navigation integrated device in an operation process.
[ background art ]
At present, the existing image-guided surgery navigation device and medical imaging equipment are independent devices in physical position and working time, so that the coordinate systems of the two devices are independent. Moreover, the working time difference between the two is large, so that the position of the focus may be changed due to too long time difference between the human body state during medical image scanning and the human body state during minimally invasive surgery. That is, the conventional image-guided surgery device cannot simultaneously transmit the coordinate and position information of the medical image of the human body to the surgery navigation device after the patient completes the medical image scanning, and the unified calibration of the coordinate system of the medical image of the patient and the coordinate system of the surgery navigation device must be completed again through an independent position sensor such as an optical position positioning device before the surgery, so that the position information of the medical image of the patient can be accurately transmitted to the surgery navigation device, which can prolong the preparation time of the surgery because the step of completing the optical position calibration in advance when the patient uses the navigation device, increase the possibility of optical calibration failure, and reduce the position of the final surgery navigation to obtain the final surgery position precision because the number of times of converting the position coordinate information is increased.
[ summary of the invention ]
The present invention aims to solve the above-mentioned deficiencies and provide an integrated device for X-ray imaging and navigation in the operation process, which can make the medical imaging equipment complete the simultaneous imaging of the human body and the navigation device in the same position coordinate system during the scanning, thereby simultaneously completing the accurate positioning of the focus position of the human body image.
The X-ray imaging and navigation integrated device in the operation process comprises a bed plate 1, a ring-shaped support 2, an X-ray imaging bulb tube 3, a multi-dimensional degree of freedom mechanical arm 4 and an X-ray flat panel detector 5, wherein the bed plate 1 is used for supporting a patient and supporting the ring-shaped support 2 at the same time, the ring-shaped support 2 is in a ring shape, the ring-shaped support 2 is erected on the bed plate 1, the left side and the right side of the bed plate 1 are provided with linear tracks extending along the length direction, the bottom end of the ring-shaped support 2 is connected in the linear tracks in a sliding mode and does linear motion back and forth along the linear tracks, the upper end of the ring-shaped support 2 is provided with an arc track 6 extending along the arc direction, the X-ray imaging bulb tube 3 is arranged in the arc track 6 in a sliding mode and does circular motion back and forth along the arc track 6, the multi-dimensional degree of freedom mechanical arm 4 is arranged at the lower position of the arc, the multi-dimensional degree of freedom mechanical arm 4 is used for achieving surgical navigation and positioning, an X-ray flat panel detector 5 is arranged on the bed plate 1, and the X-ray flat panel detector 5 is used for achieving X-ray imaging of a human body.
Further, 2 bottom mounted on ring type support has slider mechanism 7, slider mechanism 7 can be slidingtype to be installed in linear orbit, 2 one side of ring type support is provided with driving motor 8, synchronous pulley 9 is installed to driving motor 8's output, synchronous pulley 9 connects and drives slider mechanism 7 and do the linear motion that comes and goes along linear orbit through synchronous belt 10.
Furthermore, two ends of the first synchronous belt 10 are respectively fixed at two ends of one side of the bed plate 1, and two first pinch rollers 11 are arranged on the outer side of the first synchronous belt 10.
Furthermore, a second driving motor 12 is arranged on one side of the X-ray imaging bulb 3, the second driving motor 12 is installed on the circular ring type support 2, a second synchronous belt pulley is installed at the output end of the second driving motor 12, and the second synchronous belt pulley is connected with the second synchronous belt pulley through a second synchronous belt 13 and drives the X-ray imaging bulb 3 to do reciprocating circular motion along the circular arc track 6.
Further, the second synchronous belt 13 is arranged along the circular arc track 6 and fixed at two ends of the circular arc track 6, and two second pinch rollers are arranged on the outer side of the second synchronous belt.
Compared with the prior art, the invention provides the surgical navigation device which can finish medical imaging in the surgical process and integrate the navigation device and the imaging scanning equipment into a whole, so that the medical imaging equipment can finish the simultaneous imaging of the human body and the navigation device in the same position coordinate system during scanning, and the navigation device can finish the accurate positioning of the focus position of the human body image simultaneously, thereby guiding the surgical tail end to finish the puncture or the orthopedic minimally invasive surgery accurately; the imaging and operation navigation integrated device can do large-stroke accurate movement along the bed plate, so that the imaging and operation navigation functions of the whole body part of a human body can be completed simultaneously, which cannot be realized by the traditional operation navigation equipment fixed at one part; in addition, the integrated device can be directly transported to an operating bed in an operating room, so that the sterile requirement of the operating room can be met without depending on the limitation of CT or MR equipment, and the real-time medical image operation navigation function in the operating room can be realized, which is a function that the navigation equipment depending on CT or MR image guidance does not have at present.
[ description of the drawings ]
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a side view of the first embodiment of the present invention;
FIG. 3 is a side view of the present invention schematically illustrating the second embodiment;
FIG. 4 is a first schematic view of the connection between the circular bracket and the bed plate;
FIG. 5 is a second schematic view of the connection between the circular bracket and the bed plate;
FIG. 6 is a third schematic view of the connection between the circular ring type support and the bed plate;
FIG. 7 is a first schematic view of the connection between the X-ray imaging bulb and the toroidal support in the present invention;
FIG. 8 is a second schematic view of the connection between the X-ray imaging bulb and the toroidal support of the present invention;
in the figure: 1. the X-ray imaging device comprises a bed plate 2, a circular ring type support 3, an X-ray imaging bulb tube 4, a multi-dimensional degree of freedom mechanical arm 5, an X-ray flat panel detector 6, an arc track 7, a sliding block mechanism 8, a driving motor I9, a synchronous belt wheel I10, a synchronous belt I11, a belt pressing wheel I12, a driving motor II 13 and a synchronous belt II.
[ detailed description of the invention ]
The invention is further described below with reference to the accompanying drawings:
as shown in the attached drawings, the invention provides an X-ray imaging and navigation integrated device in the operation process, which comprises a bed plate 1, a circular ring type bracket 2, an X-ray imaging bulb tube 3, a multidimensional degree of freedom mechanical arm 4 and an X-ray flat panel detector 5, wherein the bed plate 1 is used for supporting a patient and simultaneously supporting the circular ring type bracket 2, the circular ring type bracket 2 is circular, the circular ring type bracket 2 is erected on the bed plate 1, the left side and the right side of the bed plate 1 are provided with linear tracks extending along the length direction, the bottom end of the circular ring type bracket 2 can be connected in the linear tracks in a sliding way and does reciprocating linear motion along the linear tracks, the upper end of the circular ring type bracket 2 is provided with an arc track 6 extending along the arc direction, the X-ray imaging bulb tube 3 can be arranged in the arc track 6 in a sliding way and does reciprocating arc motion along the arc track 6, the multidimensional degree of freedom mechanical arm 4 is arranged at, the multi-dimensional degree of freedom mechanical arm 4 is used for realizing surgical navigation and positioning, the bed plate 1 is provided with an X-ray flat panel detector 5, and the X-ray flat panel detector 5 is used for realizing X-ray imaging of a human body. The bed board 1 can be used for supporting a patient and supporting an imaging device and a surgical navigation mechanical arm; the circular ring type support 2 can be used for installing an X-ray imaging bulb tube 3, meanwhile, a multi-dimensional freedom surgical navigation mechanical arm can be installed on one side of the support, the support can realize accurate reciprocating motion of a full stroke along the bed plate 1, and the X-ray imaging bulb tube 3 can do circular motion along the circular ring type support 2; the X-ray flat panel detector 5 can be used for realizing X-ray imaging of a human body, and the component can be placed at any position in the bed plate 1 in advance; the multi-dimensional degree-of-freedom mechanical arm 4 can be used for realizing surgical navigation and positioning.
According to the invention, the bottom end of the circular ring type support 2 is fixed with the slider mechanism 7, the slider mechanism 7 can be slidably arranged in a linear track, one side of the circular ring type support 2 is provided with a first driving motor 8, the output end of the first driving motor 8 is provided with a first synchronous belt pulley 9, the first synchronous belt pulley 9 is connected with a first synchronous belt 10 and drives the slider mechanism 7 to do linear motion back and forth along the linear track, the two ends of the first synchronous belt 10 are respectively fixed at the two ends of one side of the bed plate 1, and two first belt pulleys 11 are arranged outside the first synchronous belt 10. The synchronous belt pulley I and the belt pressing pulley I are fixed on one side of the annular support, the two ends of the synchronous belt I are fixed on the two ends of one side of the bed plate respectively, the synchronous belt I is driven to rotate by the driving motor I, the synchronous belt I is fixed, the annular support can slide along the bed plate through the sliding block, and therefore the accurate rotation of the driving motor I can drive the synchronous belt pulley I to rotate, and the annular support is driven to accurately move to any position of the bed plate.
Two driving motors 12 are arranged on one side of the X-ray imaging bulb tube 3, the two driving motors 12 are installed on the annular support 2, two synchronous belt wheels are installed at the output ends of the two driving motors 12, the two synchronous belt wheels are connected through two synchronous belt belts 13 and drive the X-ray imaging bulb tube 3 to do circular motion back and forth along the circular arc track 6, the two synchronous belt belts 13 are arranged along the circular arc track 6 and fixed at two ends of the circular arc track 6, and two pinch rollers two are arranged on the outer sides of the two synchronous belt wheels. The X-ray imaging bulb tube is characterized in that a driving motor II is placed on one side of the X-ray imaging bulb tube, a synchronous belt pulley II and a pinch roller II structure similar to the driving circular ring type support are arranged at the front end of the driving motor II, the synchronous belt II is fixed at two ends of a track respectively along an arc track, and the driving motor II and the X-ray imaging bulb tube can slide along the arc track due to the fact that the synchronous belt II is fixed, so that the driving motor II can also accurately drive the X-ray imaging bulb tube to move to any position of the arc track.
The workflow of the invention can be as follows:
the preparation state is that the circular ring type bracket carries the X-ray scanning device and the starting position of the robot to be at one end of the bed plate, and the patient lies on the bed plate and is fixed by the auxiliary bracket;
step 1, the circular ring type bracket drives the X-ray scanning device and the robot to move from an initial position to a position above a focus area of a patient;
step 2, the X-ray imaging bulb tube moves along the arc guide rail, and X-ray scanning at different angles is performed for multiple times, so that three-dimensional X-ray scanning can be performed on a patient on the bed plate;
step 3, obtaining accurate three-dimensional image information of the focus of the patient through X-ray imaging software;
step 4, three-dimensional image information of the focus of the patient is transmitted to the robot;
step 5, after receiving the three-dimensional image information of the focus of the patient, the robot moves to an operation to accurately treat the focus guide position and keeps the position unchanged;
step 6, the doctor accurately sends the puncture needle tip to the focus area of the patient along the guiding position of the robot;
step 7, the doctor finishes the treatment and then puts out the puncture needle;
step 8 is that the robot and the circular ring type stand are retracted to the starting position.
To sum up: the invention originally provides a diagnosis and treatment platform which can integrate a surgical navigation device and an X-ray medical imaging device, the platform is provided with the X-ray imaging device, and the surgical navigation device is structurally combined with the imaging device, thereby realizing the functions of imaging and surgical navigation positioning at the same time. When the platform completes medical imaging, the real-time lesion position information of a patient can be obtained simultaneously, and because the operation navigation device is a part of the imaging device, the relative position relationship between the imaging device and the navigation device can be fully calibrated and verified mutually in the manufacturing process in advance, so that the imaging device can accurately transmit the real-time lesion position information of the patient to the operation navigation device. Therefore, the integrated platform can enable the surgical navigation device to obtain the position information of the scanned lesion of the patient in real time, and the surgical navigation device can obtain the most accurate position information of the lesion of the patient, so that the most accurate guidance of a surgical position and a needle inserting track can be completed in the shortest time.
Namely, the imaging and operation navigation integrated device can do large-stroke accurate movement along the bed plate, so that the imaging and operation navigation functions of the whole body part of the human body can be simultaneously completed, which cannot be realized by the traditional operation navigation equipment fixed at one part. Meanwhile, the device can be directly transported to an operating bed in an operating room, so that the device does not depend on the limitation of CT or MR equipment, can meet the sterile requirement of the operating room, and can realize the real-time medical image operation navigation function in the operating room, which is a function that the traditional navigation device depending on CT or MR image guidance does not have.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (5)
1. The utility model provides an X-ray imaging and navigation integrated device in operation process which characterized in that: including bed board (1), ring type support (2), X-ray formation of image bulb pipe (3), multidimension degree of freedom arm (4), X-ray flat panel detector (5), bed board (1) is used for supporting patient and supports ring type support (2) simultaneously, ring type support (2) are ring shape, ring type support (2) erect on bed board (1), the bed board (1) left and right sides is equipped with the linear rail who extends along length direction, ring type support (2) bottom slidable formula is connected in linear rail to do the linear motion who reciprocates along linear rail, ring type support (2) upper end is equipped with circular arc track (6) that extend along arc direction, X-ray formation of image bulb pipe (3) slidable formula is installed in circular arc track (6) to do the circular arc motion that reciprocates along circular arc track (6), multidimension degree of freedom arm (4) are installed to the below position department of circular arc track (6) on ring type support (2) ) The multi-dimensional degree of freedom mechanical arm (4) is used for achieving surgical navigation and positioning, an X-ray flat panel detector (5) is arranged on the bed plate (1), and the X-ray flat panel detector (5) is used for achieving X-ray imaging of a human body.
2. The integrated apparatus of claim 1, wherein: the circular ring type support (2) bottom mounting has slider mechanism (7), slider mechanism (7) slidable formula is installed in linear rail, circular ring type support (2) one side is provided with driving motor (8), synchronous pulley (9) are installed to the output of driving motor (8), synchronous pulley (9) are connected and are driven slider mechanism (7) and do the linear motion that comes and goes along linear rail through synchronous belt (10).
3. The integrated apparatus of claim 2, wherein: two ends of the first synchronous belt (10) are respectively fixed at two ends of one side of the bed plate (1), and two first pinch rollers (11) are arranged on the outer side of the first synchronous belt (10).
4. The integrated apparatus of claim 1, 2 or 3, wherein: driving motor two (12) have been put to X-ray imaging bulb (3) one side, driving motor two (12) are installed on ring type support (2), synchronous pulley two is installed to the output of driving motor two (12), synchronous pulley two is connected and is driven X-ray imaging bulb (3) and is done the circular motion that comes and goes along circular arc track (6) through hold-in range two (13).
5. The integrated apparatus of claim 4, wherein: the second synchronous belt (13) is arranged along the circular arc track (6) and fixed at two ends of the circular arc track (6), and two pressing pulleys are arranged on the outer side of the second synchronous belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911042072.1A CN110613467A (en) | 2019-10-30 | 2019-10-30 | X-ray imaging and navigation integrated device in operation process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911042072.1A CN110613467A (en) | 2019-10-30 | 2019-10-30 | X-ray imaging and navigation integrated device in operation process |
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| Publication Number | Publication Date |
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| CN110613467A true CN110613467A (en) | 2019-12-27 |
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| CN201911042072.1A Pending CN110613467A (en) | 2019-10-30 | 2019-10-30 | X-ray imaging and navigation integrated device in operation process |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111419401A (en) * | 2020-05-07 | 2020-07-17 | 山东卓业电子科技有限公司 | Navigation support for tumor nano knife puncture operation |
| CN116138975A (en) * | 2023-02-06 | 2023-05-23 | 深圳瀚维智能医疗科技有限公司 | Body surface laminating operation platform |
| CN116421206A (en) * | 2023-05-11 | 2023-07-14 | 上海睿触科技有限公司 | Integral movable X-ray diagnostic equipment |
| CN116570305A (en) * | 2023-07-11 | 2023-08-11 | 北京友通上昊科技有限公司 | Three-dimensional imaging data acquisition system, three-dimensional imaging data acquisition method and three-dimensional imaging method |
-
2019
- 2019-10-30 CN CN201911042072.1A patent/CN110613467A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111419401A (en) * | 2020-05-07 | 2020-07-17 | 山东卓业电子科技有限公司 | Navigation support for tumor nano knife puncture operation |
| CN116138975A (en) * | 2023-02-06 | 2023-05-23 | 深圳瀚维智能医疗科技有限公司 | Body surface laminating operation platform |
| CN116421206A (en) * | 2023-05-11 | 2023-07-14 | 上海睿触科技有限公司 | Integral movable X-ray diagnostic equipment |
| CN116570305A (en) * | 2023-07-11 | 2023-08-11 | 北京友通上昊科技有限公司 | Three-dimensional imaging data acquisition system, three-dimensional imaging data acquisition method and three-dimensional imaging method |
| CN116570305B (en) * | 2023-07-11 | 2023-11-17 | 北京友通上昊科技有限公司 | Three-dimensional imaging data acquisition system, three-dimensional imaging data acquisition method and three-dimensional imaging method |
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