CN112535533B - Supporting device for helping remote operation by 3D printing focus model - Google Patents

Supporting device for helping remote operation by 3D printing focus model Download PDF

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CN112535533B
CN112535533B CN202011411020.XA CN202011411020A CN112535533B CN 112535533 B CN112535533 B CN 112535533B CN 202011411020 A CN202011411020 A CN 202011411020A CN 112535533 B CN112535533 B CN 112535533B
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model
focus
receiver
printing
blood vessel
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CN112535533A (en
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耿佳乐
张婷
张航
蔡江龙
赵懿臻
李涤尘
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Xian Jiaotong University
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Xian Jiaotong University
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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
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00707—Dummies, phantoms; Devices simulating patient or parts of patient
    • A61B2017/00716—Dummies, phantoms; Devices simulating patient or parts of patient simulating physical properties
    • 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
    • A61B2034/2072—Reference field transducer attached to an instrument or patient
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
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  • Heart & Thoracic Surgery (AREA)
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  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Instructional Devices (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

A supporting device for assisting remote surgery by utilizing a 3D printed focus model comprises a patient end and a model end which are used for signal transmission through a signal transmission device, wherein the patient end is provided with a focus positioning mechanism; a 3D printing focus model is arranged at the model end, the 3D printing focus model is connected with a model clamping mechanism to clamp the 3D printing focus model, the model clamping mechanism is connected with a model moving mechanism to realize the movement of the model clamping mechanism, and a model positioning mechanism is arranged beside the 3D printing focus model to position the 3D printing focus model; the 3D printing focus model is modeled and printed according to a CT scanning image of a focus of a patient, the 3D printing focus model comprises a blood vessel model, the outer side of the blood vessel model is a tissue model, and the inner side of the blood vessel model is provided with a plurality of miniature wireless pressure sensors; the blood vessel model and the tissue model are made of transparent materials, and the colors of the materials are different; the invention helps doctors clearly and stereoscopically observe the focus in the operation process, avoids accidentally injuring blood vessels at the focus and improves the success rate of the operation.

Description

Supporting device for helping remote operation by 3D printing focus model
Technical Field
The invention relates to the technical field of medical instruments, in particular to a matching device for helping remote surgery by utilizing a 3D printing focus model.
Background
Currently, economic development and medical resources are extremely unbalanced, in many remote areas, many patients have difficulty in hospitalizing due to geographical reasons, and the patients need to go to a large city to perform a major operation, so that the optimal operation time is often delayed. With the vigorous development of the 5g technology, remote surgery becomes possible, which can connect patients in remote areas with well-known experts of large hospitals to perform surgery in time, thereby relieving physical, mental and economic burdens of the patients.
Although telesurgery becomes more mature, it still has many problems to be solved, such as difficulty in clearly displaying the three-dimensional structure of the lesion, easy accidental injury of blood vessels at the lesion, and difficulty in observing physiological signs of the patient, with a computer 2D display.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a matching device which utilizes a 3D printing focus model to help a remote operation, helps a doctor to clearly and stereoscopically observe a focus in the operation process, avoids accidentally injuring blood vessels at the focus and improves the success rate of the operation.
In order to achieve the purpose, the invention adopts the technical scheme that:
a supporting device for helping remote surgery by 3D printing focus model comprises a patient end and a model end which are used for signal transmission through a signal transmission device 6, wherein the patient end is provided with a focus positioning mechanism 5; a 3D printing focus model 1 is arranged at the model end, the 3D printing focus model 1 is connected with a model clamping mechanism 2 to clamp the 3D printing focus model 1, the model clamping mechanism 2 is connected with a model moving mechanism 4 to realize the movement of the model clamping mechanism 2, and a model positioning mechanism 3 is arranged beside the 3D printing focus model 1 to position the 3D printing focus model 1;
the signal transmission device 6 comprises a model-side computer 601 and a patient-side computer 602 which are used for data transmission through a network.
The 3D printing focus model 1 is modeled and printed according to a CT scanning image of a focus of a patient, the 3D printing focus model 1 comprises a blood vessel model 101, the outer side of the blood vessel model 101 is a tissue model 102, and the inner side of the blood vessel model 101 is provided with a plurality of miniature wireless pressure sensors 103.
The micro wireless pressure sensor 103 is implanted on the vessel wall of the vessel model 101, and records the pressure signal received by the corresponding vessel model 101.
The blood vessel model 101 and the tissue model 102 are made of transparent materials, the colors of the materials of the blood vessel model 101 and the tissue model 102 are different, and the mechanical properties of the materials for printing the blood vessel model 101 and the tissue model 102 are close to the mechanical properties of blood vessels and tissues at the focus of a patient.
The model clamping mechanism 2 comprises an object stage 205, an X-direction fixing plate 204 is connected to the object stage 205 in the horizontal direction, and the X-direction fixing plate 204 is connected with an X-direction driving mechanism 203; a Y-direction fixing plate 202 is arranged in the vertical direction of the object stage 205, and the Y-direction fixing plate 202 is connected with a Y-direction driving mechanism 201; the X-direction fixing plate 204 is provided with a convex groove, the Y-direction fixing plate 202 is provided with a concave groove, and the convex groove of the X-direction fixing plate 204 enters the concave groove of the Y-direction fixing plate 202 during moving.
The model moving mechanism 4 includes a three-dimensional moving mechanism 401, the three-dimensional moving mechanism 401 is connected to a platform 403 through a connecting shaft 402, and the platform 403 is connected to the object stage 205.
The model positioning mechanism 3 comprises a first origin receiver 303, a first X-direction receiver 301 and a first Y-direction receiver 304 which are positioned on the same horizontal plane, the first X-direction receiver 301, the first Y-direction receiver 304 and the first origin receiver 303 are connected through data lines, and the first origin receiver 303 is connected with a model-end computer 601 of the signal transmission device 6; the first origin receiver 303, the first X-direction receiver 301 and the first Y-direction receiver 304 receive signals sent by the model positioning sensor 305 at the same time, the model positioning sensor 305 is implanted into the tissue model 102 below the 3D printed lesion model 1, and coordinates of the model positioning sensor 305 are obtained through distance.
The lesion positioning mechanism 5 comprises a second X-direction receiver 502, a second Y-direction receiver 504, a second X-direction receiver 502 and a second origin receiver 503 which are fixed on the plane of an operating table 501 and connected through data lines, and the second origin receiver 503 is connected with a patient-end computer 602 of the signal transmission device 6; the second X-direction receiver 502, the second Y-direction receiver 504 and the second origin receiver 503 receive signals from the lesion locating sensor 505, and the lesion locating sensor 505 is attached to the human skin directly below the lesion, so as to obtain the coordinates of the lesion locating sensor 505 through the distance.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the 3D printing of the focus model 1 can avoid the phenomenon that the blood vessel at the focus is broken due to misoperation of a doctor, solve the problem that the remote operation can only observe the focus in two dimensions, help the doctor to clearly and stereoscopically observe the focus in the operation process, avoid injuring the blood vessel at the focus by mistake and improve the success rate of the operation.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of a 3D printed lesion model according to the present invention.
FIG. 3 is a schematic diagram of a mold clamping structure and a mold moving structure according to the present invention.
FIG. 4 is a schematic diagram of a model positioning structure according to the present invention.
FIG. 5 is a schematic view of a lesion location structure according to the present invention.
Detailed Description
The technical scheme of the invention is more clearly and completely explained below by combining the drawings and the embodiment. In the description of the present invention, it is to be understood that the terms "X-direction", "Y-direction", "origin", "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Referring to fig. 1, a supporting device for assisting remote surgery by using a 3D printed focus model comprises a patient end and a model end which are used for signal transmission through a signal transmission device 6, wherein the patient end is provided with a focus positioning mechanism 5; a 3D printing focus model 1 is arranged at the model end, the 3D printing focus model 1 is connected with a model clamping mechanism 2 to clamp the 3D printing focus model 1, the model clamping mechanism 2 is connected with a model moving mechanism 4 to realize the movement of the model clamping mechanism 2, and a model positioning mechanism 3 is arranged beside the 3D printing focus model 1 to position the 3D printing focus model 1;
the signal transmission device 6 comprises a model-side computer 601 and a patient-side computer 602 which are used for data transmission through a network.
Referring to fig. 2, the 3D printed lesion model 1 is modeled and printed according to a CT scan image of a lesion of a patient, the 3D printed lesion model 1 includes a blood vessel model 101, a tissue model 102 is arranged outside the blood vessel model 101, a plurality of micro wireless pressure sensors 103 are arranged inside the blood vessel model 101, the micro wireless pressure sensors 103 are implanted on a blood vessel wall of the blood vessel model 101, and pressure signals received by the corresponding blood vessel model 101 are recorded; the blood vessel model 101 and the tissue model 102 are made of transparent materials, the colors of the materials of the blood vessel model 101 and the tissue model 102 are different, and the mechanical properties of the materials for printing the blood vessel model 101 and the tissue model 102 are close to the mechanical properties of blood vessels and tissues at the focus of a patient.
Referring to fig. 3, the model clamping mechanism 2 includes a stage 205, an X-direction fixing plate 204 is connected to the stage 205 in the horizontal direction, and the X-direction fixing plate 204 is connected to an X-direction driving mechanism 203; a Y-direction fixing plate 202 is arranged in the vertical direction of the object stage 205, and the Y-direction fixing plate 202 is connected with a Y-direction driving mechanism 201; the X-direction fixing plate 204 is provided with a convex groove, the Y-direction fixing plate 202 is provided with a concave groove, and the convex groove of the X-direction fixing plate 204 enters the concave groove of the Y-direction fixing plate 202 during moving.
Referring to fig. 3, the model moving mechanism 4 includes a three-dimensional moving mechanism 401, the three-dimensional moving mechanism 401 is connected to a platform 403 through a connecting shaft 402, and the platform 403 is connected to the stage 205 through a bolt.
Referring to fig. 4, the model positioning mechanism 3 includes a first origin receiver 303, a first X-direction receiver 301, and a first Y-direction receiver 304, which are located at the same horizontal plane, and the distance between the first origin receiver 303 and the first X-direction receiver 301 and the distance between the first origin receiver 303 and the first Y-direction receiver 304 are 1000 mm; the first X-direction receiver 301 and the first Y-direction receiver 304 are respectively connected with the first origin receiver 303 through data lines, and the first origin receiver 303 is connected with a model-side computer 601 of the signal transmission device 6; the first origin receiver 303, the first X-direction receiver 301 and the first Y-direction receiver 304 receive signals sent by the model positioning sensor 305 at the same time, the model positioning sensor 305 is implanted into the tissue model 102 below the 3D printed lesion model 1, and coordinates of the model positioning sensor 305 are obtained through distance.
Referring to fig. 5, the lesion positioning mechanism 5 includes a second X-direction receiver 502, a second Y-direction receiver 504 and a second origin receiver 503 fixed on the plane of the operating table 501, the second X-direction receiver 502, the second Y-direction receiver 504 and the second origin receiver 503 are connected by data lines, the distance between the second X-direction receiver 502 and the second origin receiver 503 and the distance between the second Y-direction receiver 504 and the second origin receiver 503 are 1000mm, and the second origin receiver 503 is connected to the patient computer 602 of the signal transmission device 6; the second X-direction receiver 502, the second Y-direction receiver 504 and the second origin receiver 503 receive signals from the lesion locating sensor 505, and the lesion locating sensor 505 is attached to the human skin directly below the lesion, so as to obtain the coordinates of the lesion locating sensor 505 through the distance.
The working principle of the invention is as follows:
collecting the focus information of a patient by a focus positioning sensor 505 by utilizing a CT scanning technology, reconstructing blood vessels and tissues at the focus by three-dimensional reconstruction software, determining the relative position of the focus positioning sensor 505 and the focus, modeling the focus and printing the focus into a focus model; implanting a micro wireless pressure sensor 103 and a model positioning sensor 305 into a blood vessel model 101 and a tissue model 102 in a lesion model by using a probe to form a 3D printing lesion model 1;
placing the 3D printing focus model 1 at the lower right corner of an objective table 205 of a model clamping mechanism 2, carrying out Y-direction positioning on the 3D printing focus model 1 by utilizing a Y-direction driving mechanism 201 and a Y-direction fixing plate 202, and carrying out X-direction positioning on the 3D printing focus model 1 by utilizing an X-direction driving mechanism 203 and an X-direction fixing plate 204, so that the 3D printing focus model 1 is clamped;
the focus of a patient is placed on the operating table 502, a focus positioning sensor 505 sends a signal which is received by a second X-direction receiver 502, a second Y-direction receiver 504 and a second origin receiver 503, the coordinates of the second X-direction receiver 502 are (1000,0,0), the coordinates of the second Y-direction receiver 504 are (0,1000,0), the coordinates of the second origin receiver 503 are (0,0,0), and the space coordinates (X-direction coordinates) of the focus positioning sensor 505 can be calculated through the distance between the focus positioning sensor and the second X-direction receiver 502, the distance between the focus positioning sensor 505 and the second Y-direction receiver 504 and the second origin receiver 503 (X-direction coordinates are calculated through the distance between the focus positioning sensor and the second X-direction receiver 502, the distance between the focus positioning sensor and the second Y-direction receiver 504 and the second origin receiver 503 0 ,Y 0 ,Z 0 ) Number of passesUploading the data to a focus computer 602;
similarly, the model-side positioning sensor 305 outputs a coordinate (X) as well 1 ,Y 1 ,Z 1 ) According to the coordinates (X) transmitted back by the signal transmission device 6 0 ,Y 0 ,Z 0 ) The difference between the two coordinates is calculated, and the model-side computer 601 controls the three-dimensional moving mechanism 401 to perform spatial movement so that the coordinates of the model registration sensor 305 are also (X) 0 ,Y 0 ,Z 0 ) After the 3D printing focus model 1 is repositioned, starting synchronous operation;
the force exerted on the vessel wall of the vessel model 101 is received by the receiving module of the model end computer 601 through the wireless transmitting module by the miniature wireless pressure sensor 103; after analysis and processing, if the maximum value of the pressure exceeds the maximum value that the vessel wall can bear, the model end computer 601 sends out an alarm signal and sends out a stop instruction, so that the operation robot at the focus end stops.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.

Claims (5)

1. A supporting device for assisting remote operation by using a 3D printed focus model comprises a patient end and a model end which are used for signal transmission through a signal transmission device (6), wherein the patient end is provided with a focus positioning mechanism (5); the method is characterized in that: a 3D printing focus model (1) is arranged at the model end, the 3D printing focus model (1) is connected with a model clamping mechanism (2) to clamp the 3D printing focus model (1), the model clamping mechanism (2) is connected with a model moving mechanism (4) to realize the movement of the model clamping mechanism (2), and a model positioning mechanism (3) is arranged beside the 3D printing focus model (1) to position the 3D printing focus model (1);
the signal transmission device (6) comprises a model end computer (601) and a patient end computer (602) which are used for data transmission through a network;
the 3D printing focus model (1) is modeled and printed according to a CT scanning image of a focus of a patient, the 3D printing focus model (1) comprises a blood vessel model (101), the outer side of the blood vessel model (101) is a tissue model (102), and the inner side of the blood vessel model (101) is provided with a plurality of miniature wireless pressure sensors (103);
the miniature wireless pressure sensor (103) is implanted on the vessel wall of the vessel model (101) and records a pressure signal borne by the corresponding vessel model (101);
the blood vessel model (101) and the tissue model (102) are made of transparent materials, the colors of the materials of the blood vessel model (101) and the tissue model (102) are different, and the mechanical properties of the materials for printing the blood vessel model (101) and the tissue model (102) are close to the mechanical properties of blood vessels and tissues at the focus of a patient;
during synchronous operation, force applied to the vessel wall of the vessel model (101) is received by a receiving module of a model end computer (601) through a wireless transmitting module by a micro wireless pressure sensor (103); after analysis and processing, if the maximum value of the pressure exceeds the maximum value which can be borne by the vessel wall, the model end computer (601) sends out an alarm signal and a stop instruction, so that the operation robot at the focus end stops acting.
2. The kit for assisting remote surgery with 3D printing of a lesion model according to claim 1, wherein: the model clamping mechanism (2) comprises an object stage (205), an X-direction fixing plate (204) is connected to the object stage (205) in the horizontal direction, and the X-direction fixing plate (204) is connected with an X-direction driving mechanism (203); a Y-direction fixing plate (202) is arranged in the vertical direction of the object stage (205), and the Y-direction fixing plate (202) is connected with a Y-direction driving mechanism (201); the X-direction fixing plate (204) is provided with a convex groove, the Y-direction fixing plate (202) is provided with a concave groove, and the convex groove of the X-direction fixing plate (204) enters the concave groove of the Y-direction fixing plate (202) during movement.
3. The kit for assisting remote surgery using a 3D printed lesion model according to claim 2, wherein: the model moving mechanism (4) comprises a three-dimensional moving mechanism (401), the three-dimensional moving mechanism (401) is connected with a platform (403) through a connecting shaft (402), and the platform (403) is connected with an object stage (205).
4. The kit for assisting remote surgery with 3D printing of a lesion model according to claim 1, wherein: the model positioning mechanism (3) comprises a first origin receiver (303), a first X-direction receiver (301) and a first Y-direction receiver (304) which are positioned on the same horizontal plane, the first X-direction receiver (301) and the first Y-direction receiver (304) are respectively connected with the first origin receiver (303) through data lines, and the first origin receiver (303) is connected with a model end computer (601) of the signal transmission device (6); the first origin receiver (303), the first X-direction receiver (301) and the first Y-direction receiver (304) simultaneously receive signals sent by the model positioning sensor (305), the model positioning sensor (305) is implanted into the tissue model (102) below the 3D printing lesion model (1), and coordinates of the model positioning sensor (305) are obtained through distances.
5. The kit for assisting remote surgery with 3D printing of a lesion model according to claim 1, wherein: the lesion positioning mechanism (5) comprises a second X-direction receiver (502), a second Y-direction receiver (504) and a second origin receiver (503) which are fixed on the plane of an operating table (501), the second X-direction receiver (502), the second Y-direction receiver (504) and the second origin receiver (503) are connected through data lines, and the second origin receiver (503) is connected with a patient end computer (602) of the signal transmission device (6); the second X-direction receiver (502), the second Y-direction receiver (504) and the second origin receiver (503) receive signals sent by a focus positioning sensor (505), the focus positioning sensor (505) is attached to the human skin right below the focus, and coordinates of the focus positioning sensor (505) are obtained through distance.
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