CN113974859A - DSA laser auxiliary positioning system based on CT guidance - Google Patents

DSA laser auxiliary positioning system based on CT guidance Download PDF

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Publication number
CN113974859A
CN113974859A CN202111391690.4A CN202111391690A CN113974859A CN 113974859 A CN113974859 A CN 113974859A CN 202111391690 A CN202111391690 A CN 202111391690A CN 113974859 A CN113974859 A CN 113974859A
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China
Prior art keywords
laser
dsa
laser positioning
lamp
positioning lamp
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CN202111391690.4A
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Chinese (zh)
Inventor
齐畅
程希侃
庞鑫哲
刘华湘
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Sinovision Technology Beijing Co ltd
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Sinovision Technology Beijing Co ltd
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    • 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
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A61B90/13—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
    • 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
    • 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

Abstract

The application discloses DSA laser auxiliary positioning system based on CT guide includes: CT and DSA, the DSA also includes: the system comprises a flat panel detector, a first laser positioning lamp, a second laser positioning lamp, a conduit bed and other key components, wherein the first laser positioning lamp and the second laser positioning lamp are respectively arranged on the side surface of the flat panel detector, and the flat panel detector is positioned above the conduit bed; the CT is used for marking the focus target point position and the needle feeding point position through CT scanning; the DSA is used for carrying out equipment positioning and positioning of the first laser positioning lamp and the second laser positioning lamp, and indicating and simulating a needle insertion line determined by the focus target position and the needle insertion point position through an intersecting line of two orthogonal laser surfaces projected by the first laser positioning lamp and the second laser positioning lamp. The laser auxiliary positioning system obtains the needle inserting line, and is convenient, rapid and accurate to complete related operations.

Description

DSA laser auxiliary positioning system based on CT guidance
Technical Field
The application relates to the field of medical treatment, in particular to a DSA laser auxiliary positioning system based on CT guidance.
Background
Interventional therapy (Interventional Treatment) is an emerging discipline that has been rapidly developed in recent years and integrates image diagnosis and clinical Treatment. The interventional therapy is technically characterized in that images of CT and MRI are used for planning before operation, auxiliary devices such as magnetic navigation and laser auxiliary positioning systems are used for needle insertion guidance, and specific instruments are guided into a human pathological change part through puncture needles, catheters and other interventional devices under the guidance of image equipment such as a Digital Subtraction Angiography (DSA), CT, MRI, B-ultrasonic and the like in the operation through natural pores or tiny wounds of a human body for minimally invasive therapy.
In the related art, in the percutaneous puncture interventional operation based on CT guidance, a doctor determines the position of a lesion and a needle insertion path according to a CT scanning image. After the auxiliary laser positioning device scans by utilizing the positioning grating, the position and the angle of the positioning laser line are manually adjusted after a puncture path and a skin needle inserting point are planned by a doctor. However, this process is complicated and has a low precision, and also requires switching back and forth between different devices.
Aiming at the problem that the effect of an auxiliary positioning method in DSA based on CT guidance in the related art is poor, an effective solution is not provided at present.
Disclosure of Invention
The present application mainly aims to provide a DSA laser assisted positioning system based on CT guidance to solve the problem of poor effect of the assisted positioning method in DSA based on CT guidance.
To achieve the above object, according to one aspect of the present application, a DSA laser assisted positioning system based on CT guidance is provided.
According to the application, the DSA laser auxiliary positioning system based on CT guidance comprises: CT and DSA, the DSA also includes: the system comprises a flat panel detector, a first laser positioning lamp, a second laser positioning lamp and a catheter bed, wherein the first laser positioning lamp and the second laser positioning lamp are respectively installed on the side surface of the flat panel detector; the DSA is used for carrying out equipment positioning and positioning of the first laser positioning lamp and the second laser positioning lamp, and indicating and simulating a needle insertion line determined by the focus target position and the needle insertion point position through an intersecting line of two orthogonal laser surfaces projected by the first laser positioning lamp and the second laser positioning lamp.
Further, when the DSA carries out equipment positioning, the focus point is preferentially selected to be located at an ISO Center; meanwhile, the focus target point position and the needle inserting point position are projected in a visual field range by the flat panel detector.
Further, still include: the first laser positioning lamp and the second laser positioning lamp are respectively arranged on two planes which are orthogonal to the flat panel detector, and each laser positioning lamp has two freedom degrees of movement, wherein the first laser positioning lamp moves linearly along a Z axis and swings around an X axis; the second laser positioning lamp moves linearly along the X axis and swings around the Z axis.
Further, when the fan-shaped light beams emitted by the first laser positioning lamp and the second laser positioning lamp move along with the DSA main frame and the detector moves, the first laser positioning lamp and the second laser positioning lamp move to intersect in a space straight line to obtain an intersection line L, and the L forms a cross intersection point on the surface of the bed plate or the object; the CT is used for scanning a marked focus target point A and selecting an injection point B, wherein a straight line L1 is determined by the focus target point A and the injection point B; and the DSA is used for determining the needle inserting line after an intersecting line L is superposed with a straight line L1 in the process of adjusting the positioning and the positioning of the two laser positioning lamps, wherein the needle inserting line is determined through a needle inserting point and a needle inserting direction.
Further, the first laser positioning lamp and the second laser positioning lamp both include: the first laser positioning lamp and the second laser positioning lamp are used for projecting laser lamp lines; the adjustment mechanism includes: the linear motion driving motor drives the first laser positioning lamp and the second laser positioning lamp to do linear motion so as to adjust the size of the laser lamp line in the horizontal direction; the rotating motor drives the first laser positioning lamp and the second laser positioning lamp to do circular motion along the axis so as to change the angle of the laser lamp line.
Further, the adjustment mechanism further comprises: the linear motion driving motor is connected with the motor support and fixed on the bottom plate, the guide rail is connected with the bottom plate, and the rotating motor support is connected with the screw nut and the sliding block; the screw rod is connected with the two screw rod brackets and then connected with the bottom plate, and the screw rod is connected with the linear motion driving motor through the coupler; the rotating motor is connected with the rotating motor bracket; the laser lamp bracket is connected with the rotating motor; the laser lamp is connected with the laser lamp bracket.
Further, the CT uses the catheter bed with the DSA and keeps the CT mainframe coordinate with the DSA mainframe; a patient is provided with a marker, and the CT and the DSA identify the marker as the same through an image identification mode.
Further, the CT using the catheter bed with the DSA and keeping the CT mainframe in line with the DSA mainframe coordinates, comprising: coordinate system C of the CT0Setting as a main coordinate system and locating an origin at the scanning center of the CT; coordinate system C of the DSADSASet to the origin at C0(0, 0, -T) in the coordinate systemoffset) Wherein, the T isoffsetAs the origin C of the main coordinate system0A distance in the Z-axis direction from the origin of the DSA coordinate system, CDSACoordinate system around CDSAWhen the Z axis of the coordinate system rotates, the rotation angle is theta DSA, the clockwise angle is positive, and the anticlockwise angle is negative;
establishing the CDSACoordinates of an arbitrary point in a coordinate system to said C0Coordinate system transformation relation of any point in coordinate systemIs described.
Further, comprising: according to the focus target point position and the needle inserting point position, the positions of the flat panel detector, the first laser positioning lamp, the second laser positioning lamp and the catheter bed in the DSA are determined, and a needle inserting line is indicated through the first laser positioning lamp and the second laser positioning lamp.
Further, comprising: according to the adjustment and the positioning of the catheter bed, the first laser positioning lamp, the second laser positioning lamp and the tracking of the focus target point position and the needle inserting point position are adopted, so that the laser line keeps indicating the current needle inserting line.
In the DSA laser positioning method and related apparatus based on CT guidance in the embodiment of the present application, a method of obtaining a focus target point and an injection point marked by the CT scan is adopted, the initial positioning of the DSA and the initial positioning of a patient are determined, the focus target point and the injection point are subjected to coordinate transformation in the DSA based on the initial positioning of the DSA, and the spatial position of a moving component in the DSA is calculated according to the spatial positions of the focus target point and the injection point in a world coordinate system, so that if the initial positioning of the patient is determined not to meet the condition of a preset injection operation, the angle and the position of the laser positioning lamp are adjusted according to the adjustment result of the DSA, so that the laser indication intersection line projected by the laser positioning lamp keeps indication and simulates the injection point and the injection angle, thereby achieving the purposes of assisting convenience, and facilitating the patient, The technical effect of the percutaneous puncture operation can be quickly and accurately completed, and the technical problem of poor effect of the auxiliary positioning method in the DSA based on CT guidance is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
fig. 1 is a schematic diagram of a hardware system implemented by a DSA laser assisted positioning system based on CT guidance according to an embodiment of the present application;
FIG. 2 is a flow chart of a DSA laser assisted positioning system based on CT guidance according to an embodiment of the present application;
FIG. 3 is a schematic view of CT and DSA coordinate systems in a DSA laser assisted positioning system based on CT guidance according to an embodiment of the present application;
FIG. 4 shows a detector coordinate system C in a DSA laser assisted positioning system based on CT guidance according to an embodiment of the present applicationDETA schematic diagram;
FIG. 5 is a schematic diagram of a laser lamp coordinate system in a DSA laser assisted positioning system based on CT guidance according to an embodiment of the present application;
FIG. 6(a) is a schematic diagram of laser lamp displacement and angle calculation in a DSA laser assisted positioning system based on CT guidance according to an embodiment of the present application;
FIG. 6(b) is a schematic diagram illustrating laser lamp displacement and angle calculation in a DSA laser assisted positioning system based on CT guidance according to an embodiment of the present application;
FIG. 6(c) is a schematic diagram of laser lamp displacement and angle calculation in a DSA laser assisted positioning system based on CT guidance according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a laser assisted positioning system of a DSA laser assisted positioning system based on CT guidance according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a laser assisted positioning system of a DSA laser assisted positioning system based on CT guidance according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a laser assisted positioning implementation of a DSA laser assisted positioning system based on CT guidance according to an embodiment of the present application;
fig. 10 is a schematic flow chart of a DSA laser assisted positioning system based on CT guidance according to a preferred embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The interventional therapy is technically characterized in that images of CT and MRI are used for planning before operation, auxiliary devices such as magnetic navigation and laser auxiliary positioning systems are used for needle insertion guidance, and specific instruments are guided into a human pathological change part through puncture needles, catheters and other interventional devices under the guidance of image equipment such as a Digital Subtraction Angiography (DSA), CT, MRI, B-ultrasonic and the like in the operation through natural pores or tiny wounds of a human body for minimally invasive therapy.
The inventor finds that in the traditional percutaneous puncture interventional operation under CT guidance, a doctor determines the position and the needle inserting path of a focus according to a CT scanning image, and places a positioning grid on the body surface for CT scanning again to determine the position of a skin needle inserting point; the doctor manually inserts the needle according to experience, multiple CT scanning verifications are needed in the operation, and the angle of the puncture needle is adjusted for multiple times; at the moment, the operation difficulty is high at a complex angle, and the radiation quantity of a patient is large; some auxiliary laser positioning devices have appeared on the market, and the principle is that after a positioning grid is used for scanning, after a puncture path and a skin needle insertion point are planned by a doctor, the position and the angle of a positioning laser line are manually adjusted, so that the operation and the use are complex, the precision is low, and the switching between different devices is needed.
The application provides a laser auxiliary positioning method and a laser auxiliary positioning system based on a DSA detector, which are used for marking focus target points and skin needle inserting point positions through CT scanning in a percutaneous puncture interventional operation process under the guidance of CT, and the laser auxiliary positioning system generates a laser line through equipment and a laser positioning device to be positioned so as to simulate a puncture needle inserting path, so that a doctor can be conveniently guided with high precision to complete interventional operation.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the hardware system architecture includes: CT 100, DSA 200, and first 2011 and second 2012 laser alignment lamps. The CT 100 is used to mark the lesion target and the skin needle insertion site. The first laser positioning lamp 2011 and the second laser positioning lamp 2012 are used for generating an orthogonal laser plane intersection line and simulating a puncture needle insertion path through a laser line.
Two orthogonal laser auxiliary positioning devices can be arranged on a (flat panel) detector shell of the DSA 200 by adopting the first laser positioning lamp 2011 and the second laser positioning lamp 2012, the DSA 200 carries out equipment positioning and laser auxiliary positioning device positioning according to a focus target point and a skin needle inserting point position marked by the CT 100, the intersecting line of two orthogonal laser planes simulates a needle inserting line formed by the focus point and the skin needle inserting point, and an operator is guided to conveniently, quickly and accurately complete the percutaneous puncture operation.
As shown in fig. 1, a DSA laser-assisted positioning system based on CT guidance in an embodiment of the present application includes: CT 100 and DSA 200, the DSA 200 further comprising: a bulb (not shown), a flat panel detector (not shown), a first laser positioning lamp 2011, a second laser positioning lamp 2012, a catheter bed (not shown), wherein the first laser positioning lamp and the second laser positioning lamp are respectively arranged at the side surfaces of the flat panel detector, the flat panel detector is positioned above the catheter bed,
the CT 100 is used for marking the focus target point position and the needle insertion point position through CT scanning;
the DSA 200 is used for carrying out equipment positioning and positioning of the first laser positioning lamp and the second laser positioning lamp, and indicating and simulating a needle insertion line determined by the focus target position and the needle insertion point position through an intersecting line of two orthogonal laser surfaces projected by the first laser positioning lamp and the second laser positioning lamp.
From the above description, it can be seen that the following technical effects are achieved by the present application:
by adopting a mode of obtaining a focus target point and an injection point marked by CT scanning, determining the initial placement position of the DSA and the initial placement position of a patient, performing coordinate conversion on the focus target point and the injection point in the DSA based on the initial placement position of the DSA, and calculating the space position of a moving part in the DSA according to the focus target point and the space position of the injection point in a world coordinate system, the purposes of keeping indication of a laser indication intersection line projected by the laser positioning lamp and simulating the injection point and the injection angle are achieved by adjusting the angle and the position of the laser positioning lamp according to an adjustment result of the DSA if the initial placement position of the patient is judged not to meet the condition of preset injection operation, and the technical effect of assisting in conveniently, quickly and accurately completing a percutaneous puncture operation is achieved, and further solves the technical problem of poor effect of the auxiliary positioning method in the DSA based on CT guidance.
In addition, based on the method, the DSA percutaneous puncture interventional operation under CT guidance is provided, a more convenient, quicker and more accurate needle insertion guidance system is provided, and the accuracy and the efficiency of clinical operation are improved.
As shown in fig. 2, based on the above system, the implementation scheme may include the following steps S201 to S205:
step S201, obtaining a focus target point marked by the CT scanning and a needle inlet point;
step S202, determining the DSA initial position and the patient initial position;
step S203, based on the initial positioning of the DSA, performing coordinate transformation on the focus target point and the needle point in the DSA, wherein the focus target point and the needle point have a corresponding relation in coordinates between the CT system and the DSA system;
step S204, according to the focus target point and the spatial position of the needle insertion point in the world coordinate system, calculating the spatial position of a moving component in the DSA, and calculating the needle insertion point and the needle insertion angle, wherein the moving component at least comprises one of the following components: the device comprises a DSA main frame, a conduit bed, a bulb tube, a detector and at least two laser positioning lamps;
step S205, if the initial positioning position of the patient is judged not to meet the condition of the preset needle inserting operation, adjusting the angle and the position of the laser positioning lamp according to the adjustment result of the DSA, so that the laser indication intersection line projected by the laser positioning lamp keeps indicating and simulates the needle inserting point and the needle inserting angle, wherein the needle inserting point and the needle inserting angle are used for determining a needle inserting line.
In step S201, a lesion target point and a needle insertion point marked by the CT scan are obtained first. The lesion target and the needle insertion point are used as initial position points.
As an alternative embodiment, the focal target may be scanned and marked by the CT scan.
In a preferred embodiment, the needle insertion point can be obtained by the CT scan and marked.
The DSA provides an initial setup in step S202. And the patient also has an initial setup.
As an alternative embodiment, the CT uses the catheter bed with the DSA and keeps the CT mainframe in line with the DSA mainframe coordinates.
As a preferred embodiment, the patient is provided with a marker, and the CT and the DSA identify the marker as one and the same by means of image recognition.
In step S203, based on the initial positioning of the DSA, the lesion target point and the needle insertion point are transformed into coordinates in the DSA.
It can be understood that the images of DSA angiography are processed by Digital processing equipment (DSA for short) to eliminate the unnecessary tissue images and only keep the blood vessel images, and this technique is called Digital subtraction technique, and features clear images, high resolution, providing real stereo images for observing the vascular lesion, positioning measurement of vascular stenosis, diagnosis and interventional therapy, and providing necessary conditions for various interventional therapies.
As a preferred embodiment, the coordinates of the lesion target point and the needle point between the CT system and the DSA system have a corresponding relationship, so based on the initial positioning of the DSA, the coordinates of the lesion target point and the needle point under the CT system and the DSA system can be corresponded.
In the step S204, the spatial position of the moving part in the DSA is further calculated according to the focal target point and the spatial position of the needle insertion point in the world coordinate system. The spatial positions of the focus target point and the needle insertion point in the world coordinate system are absolute position coordinate information of the focus target point and the needle insertion point. And then calculating the spatial position of the moving part in the DSA.
As an alternative embodiment, the moving part includes at least one of: DSA main frame, guide tube bed, (flat panel) detector, laser positioning lamp. For the moving parts of the DSA, several or one of the above may be included, i.e. it is possible that several moving parts all need to be changed or only parts thereof are changed.
In a preferred embodiment, the laser positioning lamps comprise at least two. The two laser positioning lamps are respectively positioned at two sides of the (flat plate) detector, namely at the non-same side.
In the step S205, it is determined whether the initial positioning of the patient meets the condition of the preset needle inserting operation,
and if the judgment is satisfied, performing puncture intervention.
If the initial positioning of the patient is judged not to meet the condition of the preset needle inserting operation, the angle and the position of the laser positioning lamp are adjusted according to the adjustment result of the DSA, so that the laser indication intersection line projected by the laser positioning lamp keeps indicating, and the needle inserting point and the needle inserting angle are simulated.
In an alternative embodiment, the needle insertion point and the needle insertion angle are used to determine the needle insertion path.
In a preferred embodiment, the focal target position and the needle insertion point position can also be used for determining the needle insertion route.
Preferably, in this embodiment, when the adjustment is performed, the coordinate positions of the moving components in the DSA are changed, and the angle and position of the laser positioning lamp are adjusted according to the adjustment result of the DSA, so that the intersection line of the laser indication projected by the laser positioning lamp can continuously keep indicating and simulate the needle insertion point and the needle insertion angle.
Preferably, in this embodiment, the coordinates of the lesion target point and the needle insertion point between the two systems of the CT and the DSA have a corresponding relationship, including: the CT and the DSA share the catheter bed and keep the CT mainframe and the DSA mainframe coordinate in line; the patient is provided with a marker, and the CT and the DSA identify the marker as the same object in an image identification mode.
In specific implementation, the patient is provided with the marker, and the CT/DSA is consistent with the marker through image recognition. Wherein the marker is a metal sheet with the diameter of about 1cm and the thickness of 0.1-0.5 mm, and can be stuck on the body surface of a patient close to the focus. The CT main frame and the DSA main frame need to be guaranteed to share a conduit bed, and the hardware coordinates of the CT main frame and the DSA main frame are consistent.
Preferably, as shown in fig. 3, the CT and the DSA using the catheter bed and keeping the CT mainframe and the DSA mainframe coordinate in the same position includes: coordinate system C of the CT0Setting as a main coordinate system and locating an origin at the scanning center of the CT; coordinate system C of the DSADSASet to the origin at C0(0, 0, -T) in the coordinate systemoffset) Wherein, the T isoffsetAs the origin C of the main coordinate system0A distance in the Z-axis direction from the origin of the DSA coordinate system, CDSACoordinate system around CDSAWhen the Z axis of the coordinate system rotates, the rotation angle is theta DSA, the clockwise angle is positive, and the anticlockwise angle is negative; establishing the CDSACoordinates of an arbitrary point in a coordinate system to said C0And (3) coordinate system transformation relation of any point in the coordinate system.
In practice, the CT coordinate system (main coordinate system) C0: the origin is located at the center of the CT scan and the coordinate system is stationary.
DSA coordinate system CDSA: the origin is located in the C0 coordinate system (0, 0, -T)offset) Wherein T isoffsetAs the origin C of the main coordinate systemDSAAnd origin C of DSA coordinate system0In the Z-direction.
The DSA coordinate system rotates around the Z axis of the DSA coordinate system by a rotation angle thetaDSAThe clockwise angle is positive and the counterclockwise angle is negative.
Coordinate system transformation relation:
Figure BDA0003368223540000111
wherein x isDSA、yDSA、zDSAIs 3 coordinates, x, of an arbitrary point of the DSA coordinate systemC、yC、zCIs 3 coordinates of any point of the CT coordinate system.
As a preferred example in this embodiment, as shown in fig. 9, the obtaining of the lesion target point marked by the CT scan and the needle insertion point includes: the at least two laser positioning lamps are respectively arranged on two planes which are orthogonal to the detector, each laser positioning lamp has two freedom degrees of movement, and the first laser positioning lamp moves linearly along the Z axis and swings around the X axis; the second laser positioning lamp moves linearly along the X axis and swings around the Z axis; when fan-shaped light beams emitted by the first laser positioning lamp and the second laser positioning lamp move along with the DSA main frame and the detector moves, the first laser positioning lamp and the second laser positioning lamp move to intersect in a space straight line to obtain an intersection line L, and the L forms a cross intersection point on the surface of the bed plate or the object; obtaining a focus target point A marked by the CT scanning and selecting a needle inlet point B, wherein the focus target point A and the needle inlet point B determine a straight line L1; and in the process of adjusting the DSA positioning position and the positioning positions of the two laser positioning lamps, after the intersecting line L is superposed with a straight line L1, determining the needle inserting point and the needle inserting direction.
During specific implementation, the first laser positioning lamp and the second laser positioning lamp are arranged on two orthogonal planes of the flat panel detector. Each laser lamp has two degrees of freedom of movement:
the first laser positioning lamp moves linearly along the Z axis and swings around the X axis;
the second laser positioning lamp moves linearly along the X axis; swinging around a Z axis;
the first laser positioning lamp and the second laser positioning lamp emit fan-shaped light beams, the fan-shaped light beams move along with the DSA main machine frame, the detector moves, the catheter bed moves and the laser positioning lamps move and intersect on a space straight line L (not shown), and the L forms a cross intersection point on a bed board of the catheter bed or the surface of a human body.
During the interventional operation, an operator obtains a focus target point M through CT scanning, and a doctor selects two optimal needle inserting points N and M, N to determine a straight line L1. The system adjusts the equipment and the A/B laser lamp to make the intersecting line L coincide with L1, so as to determine the needle insertion point on the surface of the human body, and the L space angle is the needle insertion direction.
As shown in fig. 4 and 5, in this embodiment, the spatial position of the moving component in the DSA is calculated according to the lesion target point and the spatial position of the needle insertion point in the world coordinate system, and the needle insertion point and the needle insertion angle are calculated, where the moving component includes at least one of the following components: DSA main frame, pipe bed, detector, laser positioning lamp includes two at least, still includes before: a coordinate system provided with the detector and the laser positioning lamp, and a coordinate system C of the detectorDETThe origin is located at the center of the surface of the detector, in the DSA coordinate system CDSAHas the coordinate of (X)DET，YDET，ZDET) Wherein Y is a variable related to the detector vertical distance SID position of the detector in the Y direction; the laser positioning lamp comprises a first laser positioning lamp coordinate system CLaAnd a second laser positioning lamp coordinate system CLb；
Wherein the first laser positioning lamp coordinate system CLaThe initial position of (A) is: origin in coordinate system CDETThe coordinates ofLa，YLa，ZLa) The coordinate system moving along the X-axis while rotating about the Z-axisRotating, wherein the clockwise angle is positive, the anticlockwise angle is negative, the first laser positioning lamp is positioned on the positive side of the detector close to the bed side, and the origin is positioned on the laser surface; second laser positioning lamp coordinate system CLbThe initial position of (A) is: origin in coordinate system CDETThe coordinates ofLb，YLb，ZLb) The coordinate system moves along the Z axis and rotates around the X axis simultaneously, the clockwise angle is positive, the anticlockwise angle is negative, the second laser positioning lamp is located on one side face of the detector, and the origin is located on the laser face.
In practice, the detector coordinate system CDET: the origin is located at the center of the surface of the flat panel detector and is C in a coordinate systemDSAHas the coordinates of (X)DET，YDET，ZDET) (ii) a Where Y is a variable related to the detector position in the Y direction (SID). SID refers to the detector vertical distance.
First laser positioning lamp coordinate system CLa: the first laser positioning lamp is positioned on the front side of the flat panel detector and close to the bed side. The center of gravity is located on the laser plane (in the initial position, the laser plane and C)DETThe YZ plane of the coordinate system is parallel). CLaThe initial position is defined as follows: origin in coordinate system CDETThe coordinates ofLa，YLa，ZLa). The coordinate system moves along the X-axis while rotating around the Z-axis, with clockwise angles being positive and counterclockwise angles being negative.
Coordinate system C of second laser positioning lampLb: the first laser positioning lamp is positioned on the left (or right) side surface of the flat panel detector. The center of gravity is located on the laser plane (in the initial position, the laser plane and C)DETXY plane of the coordinate system is parallel). CLbThe initial position is defined as follows: origin in coordinate system CDETThe coordinates ofLb，YLb，ZLb). X, Y, Z initial direction of axis and CDETThe coordinate systems are the same. The coordinate system moves along the Z-axis while rotating around the X-axis, with clockwise angles being positive and counterclockwise angles being negative.
As a preference in this embodiment, as shown in fig. 6(a) -6(b), the spatial positions of the target point of the lesion and the needle insertion point in the world coordinate system are determined according to the lesion target pointAnd calculating the space position of a moving part in the DSA, and calculating the needle insertion point and the needle insertion angle, wherein the moving part at least comprises one of the following parts: DSA main frame, pipe bed, bulb, detector, laser positioning lamp includes two at least, still includes: the focus target points M and N are determined in the detector coordinate system C after moving the catheter bed, rotating the DSA main frame and moving the detectorDETCoordinate position information of (2); according to the coordinate position information, calculating the coordinate system C of the M and the N pointsDETCoordinate M inDETAnd NDET(ii) a According to the coordinate system C of the M and the N pointsDETCoordinate M inDETAnd NDETAnd calculating the moving position and angle of the laser positioning lamp.
In specific implementation, the focus target points M and N are rotated by a moving bed and a DSA (flat panel) detector, and the detector moves in a detector coordinate system CDETThe coordinates of (a) are as follows:
Figure BDA0003368223540000131
Figure BDA0003368223540000132
XDET、ZDETin a coordinate system CDSAIs a constant value of in, YDETIs a function of the SID.
M, N two points can be calculated in the coordinate system C by the above formulaDETCoordinate M inDETAnd NDETAnd then the position and the angle of the laser lamp can be calculated.
As a preferred feature of this embodiment, as shown in fig. 6(a) -6(b), the spatial position of the moving component in the DSA is calculated according to the focal target point and the spatial position of the needle insertion point in the world coordinate system, and the needle insertion point and the needle insertion angle are calculated, where the moving component includes at least one of the following components: DSA main frame, pipe bed, bulb, detector, laser positioning lamp includes two at least, includes:
the M is addedDETAnd said NDETProjecting to X-Y plane to obtain Mxy and Nxy with coordinate MDETAnd BDETX, Y, determining the angle theta of rotation of the first laser positioning lamp of the laser positioning lamp typeLaAnd OLaCoordinate information of (2); determination of OLaCoordinate (X) ofLa，YLa，ZLa) Middle variable XLaCoordinate information of (2); will MDETAnd ZDETProjected onto the Z-Y plane to obtain Mzy and Nzy with M coordinatesDETAnd NDETZ, Y, determining the angle theta of rotation of the first laser positioning lamp of the laser positioning lamp typeLbAnd OLbCoordinate information of (2); determination of OLbCoordinate (X) ofLa，YLa，ZLa) Middle variable ZLaCoordinate information of (2); according to the thetaLa，OLaOf variable XLaCoordinate information of, variable ZLaObtaining the position information of one or more moving parts in the DSA main frame, the guide tube bed, the bulb tube, the detector and the laser positioning lamp; according to the position information, a laser sector intersection line formed on the laser light path of the two laser positioning lamp laser lamps is obtained and simulated to obtain a needle insertion route determined by the needle insertion point and the focus target point,
obtaining CT images according to the CT scanning, planning and determining a needle inlet point N in a main coordinate system C0And the focus target point M is in a main coordinate system C0The coordinates of (a); relative main coordinate system C of the guide pipe bed0Coordinate position movement information (Xt, Yt, Zt) of the origin; angle theta of the DSA rotationDSAThe distance Tdet over which the detector moves; when navigation is started through the laser positioning lamps, a first laser positioning lamp of the laser positioning lamps is relative to a coordinate system CDETLocation of origin, or laser lamp A coordinate system CLaIs in the coordinate system CDETCoordinate O ofla(ii) a First laser positioning lamp coordinate system C of laser positioning lampLaAbout its own Z-axisAngle of rotation thetaLa(ii) a During laser positioning navigation, a second laser positioning lamp of the laser positioning lamps is relative to a coordinate system CDETLocation of origin, or laser B coordinate system CLbIs in the coordinate system CDETCoordinate O ofLb(ii) a During laser positioning navigation, a second laser positioning lamp coordinate system C of the laser positioning lampLbAngle theta of rotation about its own X-axisLb。
In specific implementation, the needle feeding point N is in the main coordinate system C0Given by the workstation after planning from the CT image (X)N,YN,ZN). Focus target point M in main coordinate system C0Given by the workstation after planning from the CT image (X)M,YM,ZM)。
The catheter bed moves (Xt, Yt, Zt) relative to the origin of the principal coordinate system C0.
The angle of DSA rotation, thetasda, where the detector can be set to 0 at 12 o' clock, positive counterclockwise and negative clockwise.
The detector moves a distance Tdet, where the detector plate 0 bit at the time of the SID maximum can be set.
When the laser positioning lamp is used for laser positioning navigation, the first laser positioning lamp is relative to the coordinate system CDETThe position of the origin, or the origin of the first laser positioning lamp coordinate system CLa, is in coordinate system CDETThe coordinates OLa of (c).
When laser positioning navigation is carried out through the laser positioning lamp, the first laser positioning lamp coordinate system CLa rotates around the Z axis by an angle theta La;
when the laser positioning lamp is used for laser positioning navigation, the second laser positioning lamp is relative to the coordinate system CDETLocation of origin, or laser B coordinate system CLbIs in the coordinate system CDETCoordinate O ofLb。
When the laser positioning lamp is used for laser positioning navigation, the laser lamp B has a coordinate system CLbAngle theta of rotation about its own X-axisLb；
In addition, for the variable (X)N,YN,ZN)、(XM,YM,ZM)、(Xt,Yt,Zt)、θDSA、TdetIs determined by the operator through navigation planning and actual operation, and the target is the movement of the lesion target location to the ISO center of the DSA, and thus can be considered as a known variable. O isLa、θLa、OLb、θLbThe four variables are unknown variables and can be calculated by the following algorithm.
Further, when embodied, M isDETAnd NDETProjecting to XY plane to obtain MxyAnd Nxy with the coordinate MDETAnd BDETX, Y coordinates.
The coordinates of the angles θ La and OLa by which the first laser positioning lamp is rotated can be calculated by the following formula:
Figure BDA0003368223540000151
only XLa coordinates among the coordinates (XLa, YLa, ZLa) of OLa are variables, so XLa coordinates can be calculated by the following formula:
Figure BDA0003368223540000161
in the same way, the MDETAnd ZDETProjected onto the ZY plane to obtain Mzy and Nzy with M coordinatesDETAnd NDETZ, Y coordinates. The coordinates of the angles θ Lb and OLb by which the second laser positioning is rotated can be calculated by the following formula:
Figure BDA0003368223540000162
since only ZLa coordinates among the coordinates (XLa, YLa, ZLa) of OLb are variables, ZLa coordinates can be calculated by the following formula:
Figure BDA0003368223540000163
through the above calculation, the movement positions of the respective moving members can be obtained. And turning on the laser lamp, wherein the intersection line of the laser sectors formed at the position of the laser lamp is the needle insertion route determined by two points of the simulated needle insertion point and the focus target point. The catheter needle is placed at the intersection point of the laser line and the surface of the human body, the other end of the surgical catheter needle is rotated to enable the laser cross line to coincide with the catheter needle, and the catheter needle is located on the needle inserting route at the moment.
As a preferable example in this embodiment, if it is determined that the initial positioning position of the patient does not satisfy the condition of the preset needle inserting operation, the adjusting the angle and the position of the laser positioning lamp according to the adjustment result of the DSA, so that the laser indication intersection line projected by the laser positioning lamp keeps indicating and simulates the needle inserting point and the needle inserting angle, where the needle inserting point and the needle inserting angle are used to determine the needle inserting route includes: after the catheter bed is repositioned again, the laser positioning light goes off and new M 'is recalculated'DETAnd N'DETCoordinate information; according to the coordinate system C of the M and the N pointsDETCoordinate M 'of'DETAnd N'DET(ii) a And calculating the positions and the swing angles of the first laser positioning lamp and the first laser positioning lamp again so as to enable the first laser positioning lamp and the second laser positioning lamp to move to new positions and obtain a new needle inserting line.
When in specific implementation, the laser auxiliary positioning system automatically tracks, the laser line keeps indicating the current needle inserting point and the needle inserting angle,
when the position of the catheter bed is finely adjusted (X't, Y't, Z't), the laser lamp is turned off and reminds the user that the navigation needs to be recalculated at the moment, and the new M'DETAnd N'DETThe coordinates are as follows:
Figure BDA0003368223540000171
Figure BDA0003368223540000172
as described above, the positions and swing angles of the first laser positioning lamp and the second laser positioning lamp are calculated again, and the laser lamps are moved to new positions. At this point, the user turns on the laser light again, and a new needle insertion route indication is obtained.
As shown in fig. 7 and 8, the first laser positioning lamp and the second laser positioning lamp each preferably include: the first laser positioning lamp and the second laser positioning lamp are used for projecting laser lamp lines; the adjustment mechanism includes: the linear motion driving motor 1 drives the first laser positioning lamp and the second laser positioning lamp to do linear motion so as to adjust the size of the laser lamp line in the horizontal direction; the rotating motor 9 drives the first laser positioning lamp and the second laser positioning lamp to do circular motion along the axis so as to change the angle of the laser lamp line.
Further, as shown in fig. 7 and 8, the adjusting mechanism further includes: the linear motion driving motor is connected with the motor support and fixed on the bottom plate, the guide rail is connected with the bottom plate, and the rotating motor support is connected with the screw nut and the sliding block; the screw rod is connected with the two screw rod brackets and then connected with the bottom plate, and the screw rod is connected with the linear motion driving motor through the coupler; the rotating motor is connected with the rotating motor bracket; the laser lamp bracket is connected with the rotating motor; a laser light 12 (a first laser positioning light and the second laser positioning) is connected with the laser light holder.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
It will be apparent to those skilled in the art that the modules or steps of the present application described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present application is not limited to any specific combination of hardware and software.
In order to better understand the flow of the DSA laser positioning method based on CT guidance, the following explains the technical solutions with reference to preferred embodiments, but the technical solutions of the embodiments of the present invention are not limited thereto.
The DSA laser positioning method based on CT guidance in the embodiment of the application is used for marking focus target points and skin needle inserting point positions through CT scanning in a percutaneous puncture interventional operation process under the CT guidance, and a laser auxiliary positioning system is arranged through equipment and a laser positioning device to generate a laser line so as to simulate a puncture needle inserting path, so that a doctor can be guided conveniently and accurately to complete interventional operation.
As shown in fig. 9, a first laser positioning lamp 2011(a) and a second laser positioning lamp 2012(B) are installed on two orthogonal planes of the flat panel detector 1001. Each laser lamp has two degrees of freedom of movement: the first laser positioning lamp moves linearly along the Z axis and swings around the X axis; the second laser positioning lamp moves linearly along the X axis; swinging around the Z axis. Wherein, still include: catheter bed 1002, image center 1003, sagittal plane location line 1004, interventional reference point (ISO center)1005, coronal location line 1006, and spherical focus 1007.
The first laser positioning lamp and the second laser positioning lamp emit fan-shaped light beams, the fan-shaped light beams move along with the DSA main machine frame, the detector moves, the catheter bed moves and the laser positioning lamps move and intersect on a space straight line L (not shown), and the L forms a cross intersection point on a bed board of the catheter bed or the surface of a human body.
As a preferred feature in this embodiment, the positions of the flat panel detector 1001, the first laser positioning lamp 2011, the second laser positioning lamp 2012, and the catheter bed 1002 in the DSA are determined according to the position of the lesion target point and the position of the needle insertion point, and the needle insertion line is indicated by the first laser positioning lamp and the second laser positioning lamp.
Preferably, in this embodiment, the first laser positioning lamp 2011 and the second laser positioning lamp 2012 trace the lesion target position and the needle insertion point position according to the adjusted swing position of the catheter bed, so that the laser line keeps indicating the current needle insertion route.
As shown in fig. 10, which is a schematic diagram in the embodiment of the present application, in the process of percutaneous puncture interventional operation under CT guidance, a focus target point and a skin needle insertion point are marked by CT scanning, and a laser auxiliary positioning system is positioned by a device and a laser positioning device to generate a laser line to simulate a puncture needle insertion path, so as to conveniently and precisely guide a doctor to complete interventional operation, and the specific implementation process includes the following steps:
step S1001, according to CT scanning, a doctor marks a focus target point and a needle inserting point.
Step S1002, DSA is initially placed, and the patient is placed.
The CT and the DSA share the catheter bed and keep the CT mainframe and the DSA mainframe coordinate in line; the patient is provided with a marker, and the CT and the DSA identify the marker as the same object in an image identification mode.
And step S1003, performing coordinate transformation on the focus target point and the needle inserting point in a DSA system.
The CT uses the catheter bed with the DSA and maintains the CT mainframe in-line with the DSA mainframe coordinates, including: coordinate system C of the CT0Setting as a main coordinate system and locating an origin at the scanning center of the CT; coordinate system C of the DSADSASet to the origin at C0(0, 0, -T) in the coordinate systemoffset) Wherein, the T isoffsetAs the origin C of the main coordinate system0The distance in the Z-axis direction from the origin of the DSA coordinate system,said C isDSACoordinate system around CDSAWhen the Z axis of the coordinate system rotates, the rotation angle is theta DSA, the clockwise angle is positive, and the anticlockwise angle is negative; establishing the CDSACoordinates of an arbitrary point in a coordinate system to said C0And (3) coordinate system transformation relation of any point in the coordinate system.
Step S1004, according to the space positions of the focus target point and the needle insertion point, the positions of all moving parts of the DSA are calculated, the DSA main frame, the catheter bed, the detector and the laser lamp are moved and positioned, and the laser beam realizes the indication of the needle insertion point and the needle insertion angle.
Coordinate system C of the detectorDET: the origin is located at the center of the surface of the flat panel detector and is C in a coordinate systemDSAHas the coordinates of (X)DET，YDET，ZDET) (ii) a Where Y is a variable related to the detector position in the Y direction (SID). SID refers to the detector vertical distance.
First laser positioning lamp coordinate system CLa: the first laser positioning lamp is positioned on the front side of the flat panel detector and close to the bed side. The center of gravity is located on the laser plane (in the initial position, the laser plane and C)DETThe YZ plane of the coordinate system is parallel). CLaThe initial position is defined as follows: origin in coordinate system CDETThe coordinates ofLa，YLa，ZLa). The coordinate system moves along the X-axis while rotating around the Z-axis, with clockwise angles being positive and counterclockwise angles being negative.
Coordinate system C of second laser positioning lampLb: the first laser positioning lamp is positioned on the left (or right) side surface of the flat panel detector. The center of gravity is located on the laser plane (in the initial position, the laser plane and C)DETXY plane of the coordinate system is parallel). CLbThe initial position is defined as follows: origin in coordinate system CDETThe coordinates ofLb，YLb，ZLb). X, Y, Z initial direction of axis and CDETThe coordinate systems are the same. The coordinate system moves along the Z-axis while rotating around the X-axis, with clockwise angles being positive and counterclockwise angles being negative.
The needle feeding point N is in a main coordinate system C0Given by the workstation after planning from the CT image (X)N,YN,ZN)。Focus target point M in main coordinate system C0Given by the workstation after planning from the CT image (X)M,YM,ZM)。
The catheter bed moves (Xt, Yt, Zt) relative to the origin of the principal coordinate system C0.
The angle of DSA rotation, thetasda, where the detector can be set to 0 at 12 o' clock, positive counterclockwise and negative clockwise.
The detector moves a distance Tdet, where the detector plate 0 bit at the time of the SID maximum can be set.
When the laser positioning lamp is used for laser positioning navigation, the first laser positioning lamp is relative to the coordinate system CDETThe position of the origin, or the origin of the first laser positioning lamp coordinate system CLa, is in coordinate system CDETThe coordinates OLa of (c).
When laser positioning navigation is carried out through the laser positioning lamp, the first laser positioning lamp coordinate system CLa rotates around the Z axis by an angle theta La;
when the laser positioning lamp is used for laser positioning navigation, the second laser positioning lamp is relative to the coordinate system CDETLocation of origin, or laser B coordinate system CLbIs in the coordinate system CDETCoordinate O ofLb。
When the laser positioning lamp is used for laser positioning navigation, the laser lamp B has a coordinate system CLbAngle theta of rotation about its own X-axisLb；
The focus target points M and N are moved in a detector coordinate system C through moving bed, DSA rotation and (flat plate) detector movementDETThe coordinates of (a) are as follows:
Figure BDA0003368223540000201
Figure BDA0003368223540000211
XDET、ZDETin a coordinate system CDSAIs a constant value of in, YDETIs a function of the SID.
M, N two points can be calculated in the coordinate system C by the above formulaDETCoordinate M inDETAnd NDETAnd then the position and the angle of the laser lamp can be calculated.
Will MDETAnd NDETProjecting to XY plane to obtain MxyAnd Nxy with the coordinate MDETAnd BDETX, Y coordinates.
The coordinates of the angles θ La and OLa by which the first laser positioning lamp is rotated can be calculated by the following formula:
Figure BDA0003368223540000212
only XLa coordinates among the coordinates (XLa, YLa, ZLa) of OLa are variables, so XLa coordinates can be calculated by the following formula:
Figure BDA0003368223540000213
in the same way, the MDETAnd ZDETProjected onto the ZY plane to obtain Mzy and Nzy with M coordinatesDETAnd NDETZ, Y coordinates. The coordinates of the angles θ Lb and OLb by which the second laser positioning is rotated can be calculated by the following formula:
Figure BDA0003368223540000214
since only ZLa coordinates among the coordinates (XLa, YLa, ZLa) of OLb are variables, ZLa coordinates can be calculated by the following formula:
Figure BDA0003368223540000215
through the above calculation, the movement positions of the respective moving members can be obtained. And turning on the laser lamp, wherein the intersection line of the laser sectors formed at the position of the laser lamp is the needle insertion route determined by two points of the simulated needle insertion point and the focus target point. The catheter needle is placed at the intersection point of the laser line and the surface of the human body, the other end of the surgical catheter needle is rotated to enable the laser cross line to coincide with the catheter needle, and the catheter needle is located on the needle inserting route at the moment.
Step S1005, judging whether the current patient is easy to insert the needle.
In step S1006, an intervention operation is performed.
Step 1007, the laser auxiliary positioning system automatically tracks, and the laser line keeps indicating the current needle inserting point and the needle inserting angle.
The laser auxiliary positioning system automatically tracks, the laser line keeps indicating the current needle inserting point and the needle inserting angle,
when the position of the catheter bed is finely adjusted (X't, Y't, Z't), the laser lamp is turned off and reminds the user that the navigation needs to be recalculated at the moment, and the new M'DETAnd N'DETThe coordinates are as follows:
Figure BDA0003368223540000221
Figure BDA0003368223540000222
as described above, the positions and swing angles of the first laser positioning lamp and the second laser positioning lamp are calculated again, and the laser lamps are moved to new positions. At this point, the user turns on the laser light again, and a new needle insertion route indication is obtained.
Step S1008, a puncture intervention.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A DSA laser assisted positioning system based on CT guidance is characterized by comprising: CT and DSA, the DSA also includes: the device comprises a flat panel detector, a first laser positioning lamp, a second laser positioning lamp, a conduit bed and other key components, wherein the first laser positioning lamp and the second laser positioning lamp are respectively arranged on the side surface of the flat panel detector, the flat panel detector is positioned above the conduit bed,
the CT is used for marking the focus target point position and the needle feeding point position through CT scanning;
the DSA is used for carrying out equipment positioning and positioning of the first laser positioning lamp and the second laser positioning lamp, and indicating and simulating a needle insertion line determined by the focus target position and the needle insertion point position through an intersecting line of two orthogonal laser surfaces projected by the first laser positioning lamp and the second laser positioning lamp.
2. The system of claim 1, wherein:
when the DSA carries out equipment positioning, the focus point is located at ISOCenter.
3. The system of claim 1, further comprising:
the first laser positioning lamp and the second laser positioning lamp are respectively arranged on two planes which are orthogonal to the flat panel detector, and each laser positioning lamp has two freedom degrees of movement, wherein the first laser positioning lamp moves linearly along a Z axis and swings around an X axis; the second laser positioning lamp moves linearly along the X axis and swings around the Z axis.
4. The system of claim 3, wherein:
when fan-shaped light beams emitted by the first laser positioning lamp and the second laser positioning lamp move along with the DSA main frame and the detector moves, the first laser positioning lamp and the second laser positioning lamp move to intersect in a space straight line to obtain an intersection line L, and the L forms a cross intersection point on the surface of the bed plate or the object;
the CT is used for scanning a marked focus target point A and selecting an injection point B, wherein a straight line L1 is determined by the focus target point A and the injection point B;
and the DSA is used for determining the needle inserting line after an intersecting line L is superposed with a straight line L1 in the process of adjusting the positioning and the positioning of the two laser positioning lamps, wherein the needle inserting line is determined through a needle inserting point and a needle inserting direction.
5. The system of claim 1, wherein the first laser positioning light and the second laser positioning light each comprise: the first laser positioning lamp and the second laser positioning lamp are used for projecting laser lamp lines;
the adjustment mechanism includes: a linear motion driving motor and a rotating motor,
the linear motion driving motor drives the first laser positioning lamp and the second laser positioning lamp to do linear motion so as to adjust the size of the laser lamp line in the horizontal direction;
the rotating motor drives the first laser positioning lamp and the second laser positioning lamp to do circular motion along the axis so as to change the angle of the laser lamp line.
6. The system of claim 5, wherein the adjustment mechanism further comprises: a motor bracket, a coupling, a screw rod, a guide rail, a screw nut, a slide block, a screw rod bracket, a rotating motor bracket, a laser lamp bracket and a bottom plate,
the linear motion driving motor is connected with the motor bracket and fixed on the bottom plate, the guide rail is connected with the bottom plate, and the rotating motor bracket is connected with the screw and the sliding block;
the screw rod is connected with the two screw rod brackets and then connected with the bottom plate, and the screw rod is connected with the linear motion driving motor through the coupler;
the rotating motor is connected with the rotating motor bracket; the laser lamp bracket is connected with the rotating motor; the laser lamp is connected with the laser lamp support.
7. The system of claim 1, wherein:
the CT and the DSA share the catheter bed and keep the CT mainframe and the DSA mainframe coordinate in line;
a patient is provided with a marker, and the CT and the DSA identify the marker as the same through an image identification mode.
8. The system of claim 7, wherein the CT uses the catheter bed with the DSA and maintains the CT mainframe in-line with the DSA mainframe coordinates, comprising:
coordinate system C of the CT0Setting as a main coordinate system and locating an origin at the scanning center of the CT;
coordinate system C of the DSADSASet to the origin at C0(0, 0, -T) in the coordinate systemoffset) Wherein, the T isoffsetAs the origin C of the main coordinate system0A distance in the Z-axis direction from the origin of the DSA coordinate system, CDSACoordinate system around CDSAWhen the Z axis of the coordinate system rotates, the rotation angle is theta DSA, the clockwise angle is positive, and the anticlockwise angle is negative;
establishing the CDSACoordinates of an arbitrary point in a coordinate system to said C0And (3) coordinate system transformation relation of any point in the coordinate system.
9. The system according to any one of claims 1 to 8, comprising:
according to the focus target point position and the needle inserting point position, the positions of the flat panel detector, the first laser positioning lamp, the second laser positioning lamp and the catheter bed in the DSA are determined, and a needle inserting line is indicated through the first laser positioning lamp and the second laser positioning lamp.
10. The system according to any one of claims 1 to 8, comprising:
according to the adjustment and the positioning of the catheter bed, the first laser positioning lamp, the second laser positioning lamp and the tracking of the focus target point position and the needle inserting point position are adopted, so that the laser line keeps indicating the current needle inserting line.
CN202111391690.4A 2021-11-22 2021-11-22 DSA laser auxiliary positioning system based on CT guidance Pending CN113974859A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115634059A (en) * 2022-11-17 2023-01-24 真实维度科技控股(珠海)有限公司 System for realizing space free vector positioning based on multipoint laser

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115634059A (en) * 2022-11-17 2023-01-24 真实维度科技控股(珠海)有限公司 System for realizing space free vector positioning based on multipoint laser

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