CN114191116B

CN114191116B - DSA laser auxiliary positioning method based on CT guidance and related device

Info

Publication number: CN114191116B
Application number: CN202111391616.2A
Authority: CN
Inventors: 任敬轶; 齐畅; 刘华湘
Original assignee: Sinovision Technology Beijing Co ltd
Current assignee: Sinovision Technology Beijing Co ltd
Priority date: 2021-11-22
Filing date: 2021-11-22
Publication date: 2022-12-02
Anticipated expiration: 2041-11-22
Also published as: CN114191116A

Abstract

The application discloses a DSA laser positioning method based on CT guidance and a related device. The method comprises the steps of obtaining a focus target point marked by the CT scanning and a needle inserting point; determining the DSA initial positioning and the patient initial positioning; based on the DSA initial positioning, the focus target point and the needle inserting point are subjected to coordinate transformation in the DSA; and calculating the spatial position of a moving part in the DSA according to the focus target point and the spatial position of the needle point in a world coordinate system, and if the initial positioning of the patient is judged not to meet the condition of a preset needle inserting operation, adjusting the angle and the position of the laser positioning lamp according to the adjustment result of the DSA so as to keep the laser indication intersection line projected by the laser positioning lamp to indicate and simulate the needle point and the needle inserting angle. The laser auxiliary positioning method obtains the needle inserting line, and related operations can be conveniently, quickly and accurately completed.

Description

DSA laser auxiliary positioning method based on CT guidance and related device

Technical Field

The application relates to the field of medical treatment and computer software, in particular to a DSA laser auxiliary positioning method based on CT guidance and a related device.

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 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 and through natural pores or tiny wounds of a human body under the guidance of image equipment such as a Digital Subtraction Angiography (DSA), CT, MRI, B-ultrasound and the like in the operation 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 accuracy, 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 positioning method based on CT guidance and a related device, so as to solve the problem of poor effect of the auxiliary 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 method based on CT guidance is provided.

The DSA laser positioning method based on CT guidance comprises the following steps: obtaining a focus target point marked by the CT scanning and a needle inserting point; determining the DSA initial positioning and patient initial positioning; based on the DSA initial positioning, carrying out 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; according to the lesion target point and the spatial position of the needle insertion point in a world coordinate system, calculating the spatial 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 components: the device comprises a DSA main frame, a guide pipe bed, a detector and at least two laser positioning lamps; if the initial positioning position of the patient does not 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 as to enable a laser indication intersection line projected by the laser positioning lamp to keep indication and simulate 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.

Further, the focal target point and the needle point have a correspondence relationship between coordinates of the two systems of the CT and the DSA, including: the CT and the DSA share the catheter bed and keep the CT mainframe and the DSA mainframe coordinate in line.

Further, the CTUsing the catheter bed with the DSA and keeping the CT mainframe in line with the DSA mainframe coordinates, comprising: coordinate system C of the CT ₀ Setting as a main coordinate system and locating an origin at the scanning center of the CT; coordinate system C of the DSA _DSA Set as the origin at C ₀ (0, -T) in the coordinate system _offset ) Wherein, the T is _offset As the origin C of the main coordinate system ₀ A distance in the Z-axis direction from the origin of the DSA coordinate system, C _DSA Coordinate system around C _DSA When 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 C _DSA Coordinates of an arbitrary point in a coordinate system to said C ₀ And the coordinate system transformation relation of any point in the coordinate system.

Further, 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 an injection point B, wherein the focus target point A and the injection point B determine a straight line L1; and when the DSA positioning and the positioning of the two laser positioning lamps are adjusted, after the intersecting line L is superposed with the straight line L1, determining the needle inserting point and the needle inserting direction.

Further, the spatial position of a 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, wherein the moving component at least comprises one of the following components: a DSA main frame,The 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 detector _DET The origin is located at the center of the surface of the detector, in the DSA coordinate system C _DSA Has a coordinate of (X) _DET ，Y _DET ，Z _DET ) 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 C _La And a second laser positioning lamp coordinate system C _Lb 。

Further, the spatial position of a 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, wherein the moving component at least comprises one of the following components: DSA main frame, pipe bed, 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 detector _DET Coordinate position information of (a); according to the coordinate position information, calculating the coordinate system C of the M and the N points _DET Coordinate M in _DET And N _DET (ii) a According to the coordinate system C of the M and the N points _DET Coordinate M in _DET And N _DET And calculating the moving position and angle of the laser positioning lamp.

Further, the spatial position of a 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, wherein the moving component at least comprises one of the following components: DSA main frame, pipe bed, detector, laser positioning lamp includes two at least, includes: the M is added _DET And said N _DET Projecting to X-Y plane to obtain Mxy and Nxy with coordinate M _DET And B _DET To determine a first laser position in the laser positioning lampAngle theta of rotation of position light _La And O _La Coordinate information of (2); determination of O _La Coordinate (X) of _La ，Y _La ，Z _La ) Middle variable X _La Coordinate information of (2); will M _DET And Z _DET Projecting to a Z-Y plane to obtain Mzy and Nzy with the coordinate of M _DET And N _DET The Z and Y coordinates of the laser positioning lamp to determine the angle theta of the rotation of the second laser positioning lamp in the laser positioning lamps _Lb And O _Lb Coordinate information of (2); determination of O _Lb Coordinate (X) of _La ，Y _La ，Z _La ) Middle variable Z _La Coordinate information of (2); according to the theta _La ，O _La Of variable X _La Coordinate information of, variable Z _La Obtaining the position information of one or more moving parts in the DSA main frame, the guide pipe bed, the detector and the laser positioning lamp; and according to the position information, obtaining and simulating a needle inserting route determined by the needle inserting point and the focus target point by a laser sector intersection line formed on the laser light paths of the two laser positioning lamp laser lamps.

Further, if it is determined that the initial positioning of the patient does not satisfy 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 and include: when the guide pipe bed is repositioned again, the laser positioning lamp is turned off and new M 'is calculated again' _DET And N' _DET Coordinate information; according to the coordinate system C of the M and the N points _DET Coordinate M 'of' _DET And 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.

In order to achieve the above object, according to another aspect of the present application, a DSA laser assisted positioning apparatus based on CT guidance is provided.

DSA laser positioning device based on CT guidance comprises: the acquisition module is used for acquiring a focus target point marked by the CT scanning and a needle inserting point; the determination module is used for determining the DSA initial positioning and the patient initial positioning; a coordinate transformation module, configured to perform coordinate transformation on the lesion target point and the needle point in the DSA based on the DSA initial setup, where coordinates of the lesion target point and the needle point between the CT system and the DSA system have a correspondence relationship; a position determining module, configured to calculate a spatial position of a moving component in the DSA according to the focal target point and a spatial position of the needle insertion point in a world coordinate system, and calculate the needle insertion point and the needle insertion angle, where the moving component includes at least one of: the device comprises a DSA main frame, a guide pipe bed, a detector and at least two laser positioning lamps; and the adjusting module is used for adjusting the angle and the position of the laser positioning lamp according to the adjustment result of the DSA if the initial positioning of the patient does not meet the condition of the preset needle inserting operation, so that the laser indication intersection line projected by the laser positioning lamp keeps indication 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 order to achieve the above object, according to yet another aspect of the present application, there is provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the method when executed.

In order to achieve the above object, according to yet another aspect of the present application, there is provided an electronic device, comprising a memory and a processor, the memory having a computer program stored therein, the processor being configured to execute the computer program to perform the method.

In the embodiment of the application, a CT-guided DSA laser-assisted positioning method and a related device adopt a mode of obtaining a focus target point and an injection point marked by CT scanning, coordinate conversion is carried out on the focus target point and the injection point in the DSA and the spatial position of the focus target point and the injection point in a world coordinate system is calculated based on the DSA initial positioning, and if the patient initial positioning is judged not to meet the condition of preset injection operation, the angle and the position of a 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 realizing the technical effect of assisting in conveniently, quickly and accurately completing a percutaneous puncture surgery, and further solving the technical problem of poor effect of the CT-guided DSA laser-assisted positioning method.

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 the description of the exemplary embodiments of the present application are provided for explaining the present application and do not constitute an undue limitation on the present application. In the drawings:

fig. 1 is a schematic structural diagram of a hardware system implemented by a DSA laser positioning method based on CT guidance according to an embodiment of the present application;

FIG. 2 is a flow chart of a DSA laser assisted positioning method based on CT guidance according to an embodiment of the present application;

FIG. 3 is a schematic diagram of CT and DSA coordinate systems in a DSA laser assisted positioning method based on CT guidance according to an embodiment of the present application;

FIG. 4 shows a detector coordinate system C in the DSA laser assisted positioning method based on CT guidance according to an embodiment of the present application _DET A schematic diagram;

FIG. 5 is a schematic diagram of a laser lamp coordinate system in a DSA laser positioning method based on CT guidance according to an embodiment of the present application;

FIG. 6 (a) is a schematic diagram illustrating the calculation of the displacement and angle of the laser lamp in the DSA laser-assisted positioning method based on CT guidance according to the embodiment of the present application;

FIG. 6 (b) is a schematic diagram illustrating the calculation of the displacement and angle of the laser lamp in the DSA laser-assisted positioning method based on CT guidance according to the embodiment of the present application;

FIG. 6 (c) is a schematic diagram illustrating the calculation of the displacement and angle of the laser lamp in the DSA laser-assisted positioning method based on CT guidance according to the embodiment of the present application;

FIG. 7 is a schematic diagram of a laser-assisted positioning system of a DSA laser-assisted positioning method based on CT guidance according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a laser-assisted positioning system based on a DSA laser-assisted positioning method with CT guidance according to an embodiment of the present application;

FIG. 9 is a schematic diagram of an implementation principle of laser assisted positioning based on a DSA laser assisted positioning method guided by CT according to an embodiment of the present application;

FIG. 10 is a schematic flow chart of a DSA laser assisted optical positioning method based on CT guidance according to the preferred embodiment of the present application;

fig. 11 is a schematic structural view of a DSA laser-assisted positioning device based on CT guidance according to an 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.

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 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 and through natural pores or tiny wounds of a human body under the guidance of image equipment such as a Digital Subtraction Angiography (DSA), CT, MRI, B-ultrasound and the like in the operation for minimally invasive therapy.

The inventor finds that in the traditional percutaneous puncture interventional operation under the guidance of CT, a doctor determines the position of a focus and a needle inserting path in 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: CT100, DSA200 and laser positioning light 201. The CT100 is used to mark the lesion target and the skin needle insertion site. The laser positioning lamp 201 is used for generating an orthogonal laser plane intersection line and simulating a puncture needle insertion path through a laser line. The two orthogonal laser auxiliary positioning devices of the laser positioning lamp 201 can be arranged on the shell of the (flat panel) detector of the DSA200, according to the focus target point marked by the CT100 and the skin needle insertion point position, the DSA200 carries out equipment positioning and laser auxiliary positioning device positioning, the intersecting line of the two orthogonal laser surfaces simulates a needle insertion line formed by the focus point and the skin needle insertion point, and an operator is guided to complete the percutaneous puncture operation conveniently, quickly and accurately.

As shown in fig. 2, the method includes steps S201 to S205 as follows:

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 a 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 guide pipe bed, 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.

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, calculating the space position of a moving part in DSA by determining the DSA initial positioning and a patient initial positioning, performing coordinate conversion on the focus target point and the injection point in DSA based on the DSA initial positioning, and adjusting the angle and the position of a laser positioning lamp according to the adjustment result of DSA if the focus target point and the injection point are judged not to meet the condition of preset injection operation, 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 realizing the technical effect of conveniently, quickly and accurately completing the percutaneous puncture surgery, and further solving the technical problem of poor effect of an auxiliary positioning method in 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.

In step S201, a lesion target point and a needle insertion point marked by the CT scan are first obtained. 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 CT scanning and marking.

The DSA provides an initial setup in step S202. And the patient also has an initial setup.

As an alternative embodiment, the CT and the DSA share the catheter bed and keep the CT mainframe and the DSA mainframe coordinate in line.

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.

In a preferred embodiment, the coordinates of the lesion target point and the needle point in the CT and DSA systems have a correspondence relationship, so that the coordinates of the lesion target point and the needle point in the CT and DSA systems can be corresponded based on the DSA initial placement.

In step S204, the spatial position of the moving part in the DSA is further calculated according to the spatial positions of the lesion target point and 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 motion part comprises at least one of the following: 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. Namely, when the transillumination angle of the DSA is adjusted finely, the laser positioner automatically adjusts the position according to the new position of the DSA, and the position of the needle insertion point and the position of the focus target point are kept unchanged.

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 the determined 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 coordinate with the DSA mainframe;

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 CT ₀ Setting as a main coordinate system and locating an origin at a scanning center of the CT; coordinate system C of the DSA _DSA Set to the origin at C ₀ (0, -T) in the coordinate system _offset ) Wherein, the T is _offset As the origin C of the main coordinate system ₀ A distance in the Z-axis direction from the origin of the DSA coordinate system, C _DSA Coordinate system around C _DSA When 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 C _DSA Coordinates of an arbitrary point in a coordinate system to said C ₀ And (3) coordinate system transformation relation of any point in the coordinate system.

In practice, the CT coordinate system (main coordinate system) C ₀ : the origin is located at the center of the CT scan and the coordinate system is stationary.

DSA coordinate system C _DSA : the origin is located in the C0 coordinate system (0, -T) _offset ) Wherein T is _offset As the origin C of the main coordinate system _DSA And origin C of DSA coordinate system ₀ In the Z-direction.

The DSA coordinate system rotates around the Z axis of the DSA coordinate system by a rotation angle theta _DSA The clockwise angle is positive and the counterclockwise angle is negative.

Coordinate system transformation relation:

wherein x is _DSA 、y _DSA 、z _DSA Is 3 coordinates, x, of an arbitrary point of the DSA coordinate system _C 、y _C 、z _C Is the 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 an injection point B, wherein the focus target point A and the injection 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 the 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 an optimal needle insertion point N, and determines a straight line L1 by the M and the N. And (3) adjusting the equipment and the A/B laser lamp by the system to enable the intersecting line L to coincide with the L1, so as to determine the needle inserting point on the surface of the human body, wherein the L space angle is the needle inserting 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 detector _DET The origin is located at the center of the detector surface and in the DSA coordinate system C _DSA Has the coordinate of (X) _DET ，Y _DET ，Z _DET ) Wherein, the 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 C _La And a second laser positioning lamp coordinate system C _Lb ；

Wherein the first laser positioning lamp coordinate system C _La The initial position of (A) is: origin in coordinate system C _DET The coordinates of _La ，Y _La ，Z _La ) The coordinate system moves along an X axis and rotates around a Z axis simultaneously, a clockwise angle is positive, a counterclockwise 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 C _Lb The initial position of (A) is: origin in coordinate system C _DET The coordinates of _Lb ，Y _Lb ，Z _Lb ) 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, and the second laser is fixedThe position lamp is positioned on one side surface of the detector, and the origin is positioned on the laser surface.

In practice, the detector coordinate system C _DET : the origin is located at the center of the surface of the flat panel detector and C is located in a coordinate system _DSA Has the coordinate of (X) _DET ，Y _DET ，Z _DET ) (ii) a Where Y is a variable related to the detector position in the Y direction (SID). SID refers to detector vertical distance.

First laser positioning lamp coordinate system C _La : 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) _DET The YZ plane of the coordinate system is parallel). C _La The initial position is defined as follows: origin in coordinate system C _DET The lower coordinate is (X) _La ，Y _La ，Z _La ). 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 lamp _Lb : the first laser positioning lamp is positioned on the left (or right) side surface of the flat panel detector. The origin is located on the laser plane (in the initial position, the laser plane and C) _DET XY plane of the coordinate system is parallel). C _Lb The initial position is defined as follows: origin in coordinate system C _DET The coordinates of _Lb ，Y _Lb ，Z _Lb ). Initial directions of X, Y, Z axes and C _DET The 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 preferable example in this embodiment, as shown in fig. 6 (a) -6 (c), 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: DSA main frame, pipe bed, 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 detector _DET Coordinate position information of(ii) a According to the coordinate position information, calculating the coordinate system C of the two points M and N _DET Coordinate M in _DET And N _DET (ii) a According to the coordinate system C of the M and the N points _DET Coordinate M in _DET And N _DET And calculating the moving position and angle of the laser positioning lamp.

In specific implementation, the focus points M and N are moved in a detector coordinate system C through a moving bed, DSA rotation and (flat plate) detector movement _DET The coordinates of (a) are as follows:

X _DET 、Z _DET in a coordinate system C _DSA In is a constant, Y _DET Is a function of the SID.

The coordinate system C of the two points M and N can be calculated by the above formula _DET Coordinate M in _DET And N _DET And 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, detector, laser positioning lamp includes two at least, includes:

the M is added _DET And said N _DET Projecting to X-Y plane to obtain Mxy and Nxy with coordinate M _DET And B _DET Determining the angle theta of rotation of a first laser positioning lamp in the laser positioning lamps _La And O _La Coordinate information of (2); determination of O _La Coordinate (X) of (2) _La ，Y _La ，Z _La ) Middle variableX _La Coordinate information of (2); will M _DET And Z _DET Projecting to a Z-Y plane to obtain Mzy and Nzy with the coordinate of M _DET And N _DET Determining the angle theta of rotation of a second one of the laser positioning lamps _Lb And O _Lb Coordinate information of (2); determination of O _Lb Coordinate (X) of (2) _La ，Y _La ，Z _La ) Middle variable Z _La Coordinate information of (2); according to the theta _La ，O _La Of variable X _La Coordinate information of, variable Z _La Obtaining the position information of one or more moving components in the DSA main frame, the conduit bed, 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 a CT image according to the CT scanning, planning and determining a needle feeding point N in a main coordinate system C ₀ And the focus target point M is in a main coordinate system C ₀ The coordinates of (a); relative main coordinate system C of the guide pipe bed ₀ Coordinate position movement information (Xt, yt, zt) of the origin; angle theta of the DSA rotation _DSA The distance Tdet over which the probe 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 C _DET Location of origin, or laser lamp A coordinate system C _La Is in the coordinate system C _DET Coordinate O of _la (ii) a First laser positioning lamp coordinate system C of laser positioning lamp _La Angle theta of rotation about its own Z axis _La (ii) a When the laser positioning navigation is carried out, the second laser positioning lamp of the laser positioning lamps is opposite to the coordinate system C _DET Location of origin, or laser B coordinate system C _Lb In a coordinate system C _DET Coordinate O of _Lb (ii) a During laser positioning navigation, a second laser positioning lamp coordinate system C of the laser positioning lamp _Lb Angle theta of rotation about its own X-axis _Lb 。

In specific implementation, the needle feeding pointN in the main coordinate system C ₀ Given by the workstation after planning from the CT image (X) _N ,Y _N ,Z _N ). The focus target point M is in the main coordinate system C ₀ Given by the workstation after planning from the CT image (X) _M ,Y _M ,Z _M )。

The couch moves (Xt, yt, zt) relative to the origin of the main 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 C _DET The position of the origin, or the origin of the first laser positioning lamp coordinate system CLa, is in coordinate system C _DET The 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 C _DET Position of origin, or laser B coordinate system C _Lb In a coordinate system C _DET Coordinate O of _Lb 。

When the laser positioning lamp is used for laser positioning navigation, the laser lamp B is in a coordinate system C _Lb Angle theta of rotation about its own X axis _Lb ；

In addition, for the variable (X) _N ,Y _N ,Z _N )、(X _M, Y _M ,Z _M )、(Xt,Yt,Zt)、θ _DSA 、T _det Is 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 is _La 、θ _La 、O _Lb 、θ _Lb The four variables are unknown variables and can be calculated by the following algorithm.

Further, it is concretelyIn practice, M is added _DET And N _DET Projecting to XY plane to obtain M _xy And Nxy with the coordinate M _DET And B _DET X, Y coordinates of (a).

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:

only XLa coordinates among the coordinates (XLa, YLa, ZLa) of OLa are variables, so XLa coordinates can be calculated by the following formula:

in the same way, the M _DET And Z _DET Projecting to ZY plane to obtain Mzy and Nzy with coordinate M _DET And N _DET Z, Y coordinates of (a). The coordinates of the angles θ Lb and OLb by which the second laser positioning is rotated can be calculated by the following formula:

only the ZLa coordinate among the coordinates (XLa, YLa, ZLa) of OLb is a variable, so that the ZLa coordinate can be calculated by the following formula:

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 preferred in the present embodimentIf the initial positioning 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 as to enable a laser indication intersection line projected by the laser positioning lamp to keep indicating and simulate 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 and comprise: after the catheter bed is repositioned again, the laser positioning light goes off and new M 'is recalculated' _DET And N' _DET Coordinate information; according to the coordinate system C of the M and the N points _DET Coordinate M 'of (1)' _DET And 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 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 fine tuning pipe bed position (X' _t ，Y′ _t ，Z′ _t ) And the laser lamp is turned off and reminds the user that the navigation needs to be recalculated at the moment, and is new M' _DET And N' _DET The coordinates are as follows:

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, in the present embodiment, each of the first laser positioning lamp and the second laser positioning lamp preferably includes: 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, 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; 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.

There is also provided, according to an embodiment of the present application, a DSA laser positioning apparatus based on CT guidance for implementing the above method, as shown in fig. 11, the apparatus including:

an obtaining module 101, configured to obtain a focus target point and a needle insertion point marked by the CT scan;

a determining module 102, configured to determine an initial DSA positioning and an initial patient positioning;

a coordinate transformation module 103, configured to perform coordinate transformation on the lesion target point and the needle point in the DSA based on the DSA initial setup, where coordinates of the lesion target point and the needle point between the CT system and the DSA system have a corresponding relationship;

a position determining module 104, configured to calculate a spatial position of a moving component in the DSA according to the lesion target point and a spatial position of the needle insertion point in a world coordinate system, and calculate the needle insertion point and the needle insertion angle, where the moving component includes at least one of: the device comprises a DSA main frame, a conduit bed, a detector and at least two laser positioning lamps;

an adjusting module 105, configured to adjust an angle and a position of the laser positioning lamp according to an adjustment result of the DSA if it is determined that the initial positioning of the patient does not meet a condition of a preset needle insertion operation, so that a laser indication intersection line projected by the laser positioning lamp keeps an indication and simulates the needle insertion point and the needle insertion angle, where the needle insertion point and the needle insertion angle are used to determine a needle insertion route.

In the acquisition module 101 of the embodiment of the present application, a lesion target point marked by the CT scan and a needle insertion point are first obtained. The lesion target and the needle insertion point are used as initial position points.

In a preferred embodiment, the needle insertion point can be obtained by the CT scan and marked.

The DSA in the determination module 102 of the embodiment of the present application provides an initial setup. 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 the coordinate transformation module 103 according to this embodiment of the present application, the focal target point and the needle insertion point are transformed into coordinates in the DSA based on the initial positioning of the DSA.

It can be understood that the images of DSA angiography are processed by Digital processing equipment (DSA for short) to remove the unnecessary tissue images and only keep the blood vessel images, and this technique is called Digital subtraction technique, and it features clear images, high resolution, and provides real stereo images for observing the vascular lesion and positioning measurement of vascular stenosis, diagnosis and interventional therapy, and provides 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.

The position determination module 104 of the embodiment of the present application further calculates the spatial position of the moving part in the DSA according to the focal target point and the spatial position of the needle 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. The moving parts of the DSA may include more or one of the above, i.e. it is possible that more than one moving part may need to be changed or only parts thereof may be 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 different sides.

In the adjusting module 105 of the embodiment of the present application, it is determined whether the initial positioning of the patient meets a condition of a 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 a preferred embodiment, the focal target position and the needle insertion point position can also be used for determining the needle insertion route.

It should be obvious to those skilled in the art that the modules or steps of the present application described above can be implemented by a general-purpose computing device, they can be centralized on a single computing device or distributed on a network composed of a plurality of computing devices, and they can alternatively be implemented by program code executable by the computing device, so that they can be stored in a storage device and executed by the computing device, or they can be separately manufactured as integrated circuit modules, or a plurality of modules or steps in them can be manufactured as a single integrated circuit module. 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 the focus target point and the skin needle inserting point position through CT scanning in the percutaneous puncture interventional operation process under the CT guidance, and the 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 to complete the interventional operation conveniently and accurately.

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.

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 coordinate with the DSA mainframe;

and step S1003, performing coordinate transformation on the focus target point and the needle inserting point in a DSA system.

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 CT ₀ Setting as a main coordinate system and locating an origin at a scanning center of the CT; coordinate system C of the DSA _DSA Set to the origin at C ₀ (0, -T) in the coordinate system _offset ) Wherein, the T is _offset As the origin C of the main coordinate system ₀ A distance in the Z-axis direction from the origin of the DSA coordinate system, C _DSA Coordinate system around C _DSA Rotation of the Z-axis of the coordinate systemThe angle is theta DSA, the clockwise angle is positive, and the anticlockwise angle is negative; establishing the C _DSA Coordinates of an arbitrary point in a coordinate system to said C ₀ And (3) coordinate system transformation relation of any point in the coordinate system.

And step S1004, calculating the position of each moving part of the DSA according to the space position of a focus target point and an insertion point, wherein the DSA main frame, the catheter bed, the detector and the laser lamp move and position, and the laser beam realizes the indication of the insertion point and the insertion angle.

Coordinate system C of the detector _DET : the origin is located at the center of the surface of the flat panel detector and is C in a coordinate system _DSA Has the coordinates of (X) _DET ，Y _DET ，Z _DET ) (ii) a Where Y is a variable related to the detector position in the Y direction (SID). SID refers to detector vertical distance.

First laser positioning lamp coordinate system C _La : 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) _DET The YZ plane of the coordinate system is parallel). C _La The initial position is defined as follows: origin in coordinate system C _DET The coordinates of _La ，Y _La ，Z _La ). The coordinate system moves along the X-axis while rotating around the Z-axis, with clockwise angles being positive and counterclockwise angles being negative.

The needle feeding point N is in a main coordinate system C ₀ Given by the workstation after planning from the CT image (X) _N ,Y _N ,Z _N ). Focus target point M in main coordinate system C ₀ By the workstation rootGiven after planning from CT image (X) _M ,Y _M ,Z _M )。

The detector moves a distance Tdet, where the detector tile 0 bit at SID maximum can be set.

When the laser positioning navigation is carried out through the laser positioning lamp, the first laser positioning lamp is opposite to the coordinate system C _DET The position of the origin, or the origin of the first laser positioning lamp coordinate system CLa, is in coordinate system C _DET The coordinates OLa of (c).

when the laser positioning lamp is used for laser positioning navigation, the second laser positioning lamp is relative to the coordinate system C _DET Position of origin, or laser B coordinate system C _Lb Is in the coordinate system C _DET Coordinate of (a) O _Lb 。

When the laser positioning lamp is used for laser positioning navigation, the laser lamp B has a coordinate system C _Lb Angle theta of rotation about its own X-axis _Lb ；

The focus points M and N are moved in a detector coordinate system C through a moving bed, DSA rotation and (flat plate) detector movement _DET The coordinates of (a) are as follows:

X _DET 、Z _DET in a coordinate system C _DSA Is a constant value of in, Y _DET Is a function of the SID.

The sitting position of the two points M and N can be calculated by the above formulaMarker system C _DET Coordinate M in _DET And N _DET And then the position and the angle of the laser lamp can be calculated.

Will M _DET And N _DET Projected onto XY plane to obtain M _xy And Nxy with the coordinate M _DET And B _DET X, Y coordinates of (a).

in the same way, the M _DET And Z _DET Projecting to ZY plane to obtain Mzy and Nzy with coordinate M _DET And N _DET Z, Y coordinates of (a). The coordinates of the angles θ Lb and OLb rotated by the second laser positioning can be calculated by the following formula:

Step S1005, judging whether the current patient is easy to insert the needle.

In step S1006, an intervention operation is performed.

Step S1007, 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,

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

1. A DSA laser auxiliary positioning method based on CT guidance is characterized by comprising the following steps:

obtaining a focus target point marked by the CT scanning and a needle inserting point;

determining the DSA initial positioning and patient initial positioning;

based on the DSA initial positioning, performing coordinate transformation on the focus target point and the needle inlet point in the DSA, wherein the focus target point and the needle inlet point have a corresponding relation in coordinates between the CT system and the DSA system;

according to the lesion target point and the spatial position of the needle insertion point in a 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 detector and at least two laser positioning lamps;

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 indication 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,

the obtaining of the focus target point and the needle insertion point marked by the CT scanning comprises:

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 an injection point B, wherein the focus target point A and the injection 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 the straight line L1, determining the needle inserting point and the needle inserting direction.

2. The method of claim 1, wherein the focal target point has a correspondence with the needle access point's coordinates between the two systems of the CT and the DSA, comprising:

the CT and the DSA share the catheter bed and keep the CT mainframe and the DSA mainframe coordinate together.

3. The method of claim 2, wherein the CT uses the catheter bed with the DSA and keeps the CT mainframe in line with the DSA mainframe coordinates, comprising:

coordinate system C of the CT ₀ Setting as a main coordinate system and locating an origin at a scanning center of the CT;

coordinate system C of the DSA _DSA Set to the origin at C ₀ (0, -T) in the coordinate system _offset ) Wherein, the T is _offset As the origin C of the main coordinate system ₀ A distance in the Z-axis direction from the origin of the DSA coordinate system, C _DSA Coordinate system around C _DSA When 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 C _DSA Coordinates of an arbitrary point in a coordinate system to said C ₀ And the coordinate system transformation relation of any point in the coordinate system.

4. The method of claim 1, wherein the spatial position of a moving part in the DSA is calculated according to the lesion target point and the spatial position of the needle insertion point in a world coordinate system, and the needle insertion point and the needle insertion angle are calculated, wherein the moving part comprises at least one of the following components: DSA main frame, pipe bed, detector, laser positioning lamp includes two at least, still includes before: setting the coordinate system of the detector and the laser positioning lamp,

coordinate system C of the detector _DET The origin is located at the center of the surface of the detector, in the DSA coordinate system C _DSA Has the coordinate of (X) _DET ，Y _DET ，Z _DET ) Wherein, the Y is _DET Relating the variable 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 C _La And a second laser positioning lamp coordinate system C _Lb ；

Wherein,

the first laser positioning lamp coordinate system C _La The initial position of (A) is: origin in coordinate system C _DET The coordinates of _La ，Y _La ，Z _La ) The first laser positioning lamp coordinate system C _La 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 C _Lb The initial position of (A) is: origin in coordinate system C _DET The coordinates of _Lb ，Y _Lb ，Z _Lb ) Said second laser positioning lamp coordinate system C _Lb And the second laser positioning lamp is positioned on one side surface of the detector, and the origin is positioned on the laser surface.

5. The method of claim 1, wherein the spatial position of a moving part in the DSA is calculated according to the lesion target point and the spatial position of the needle insertion point in a world coordinate system, and the needle insertion point and the needle insertion angle are calculated, wherein the moving part comprises at least one of the following components: DSA main frame, pipe bed, detector, laser positioning lamp includes two at least, still includes:

the focus target pointM and N are determined at the detector coordinate system C by moving the catheter bed, rotating the DSA mainframe, moving the detector _DET Coordinate position information of (2);

according to the coordinate position information, calculating the coordinate system C of the M and the N points _DET Coordinate M in _DET And N _DET ；

According to the M and the N points in a coordinate system C _DET Coordinate M in _DET And N _DET And calculating the moving position and angle of the laser positioning lamp.

6. The method of claim 5, wherein the spatial position of a moving part in the DSA is calculated according to the lesion target point and the spatial position of the needle insertion point in a world coordinate system, and the needle insertion point and the needle insertion angle are calculated, wherein the moving part comprises at least one of the following components: DSA main frame, pipe bed, detector, laser positioning lamp includes two at least, includes:

the M is added _DET And said N _DET Projecting to X-Y plane to obtain Mxy and Nxy with coordinate M _DET And B _DET Determining the angle theta of rotation of a first laser positioning lamp in the laser positioning lamps _La And O _La Coordinate information of (2);

determination of O _La Coordinate (X) of (2) _La ，Y _La ，Z _La ) Middle variable X _La Coordinate information of (2);

will M _DET And Z _DET Projecting to a Z-Y plane to obtain Mzy and Nzy with the coordinate of M _DET And N _DET The Z and Y coordinates of the laser positioning lamp to determine the rotating angle theta of the second laser positioning lamp in the laser positioning lamps _Lb And O _Lb Coordinate information of (2);

determination of O _Lb Coordinate (X) of (2) _La ，Y _La ，Z _La ) Middle variable Z _La Coordinate information of (2);

according to the theta _La ，O _La Of variable X _La Seat ofSubject information, variable Z _La Obtaining the position information of one or more moving parts in the DSA main frame, the guide pipe bed, 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,

wherein,

obtaining a CT image according to the CT scanning and determining a needle inlet point N in a main coordinate system C after planning ₀ And the focus target point M is in a main coordinate system C ₀ The coordinates of (a);

relative main coordinate system C of the guide pipe bed ₀ Coordinate position movement information (Xt, yt, zt) of the origin; angle theta of the DSA rotation _DSA The distance Tdet over which the probe 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 C _DET Location of origin, or laser lamp A coordinate system C _La Coordinate O of the origin on the coordinate system CDET _la ；

First laser positioning lamp coordinate system C of laser positioning lamp _La Angle theta of rotation about its own Z axis _La ；

During laser positioning navigation, the position of a second laser positioning lamp of the laser positioning lamps relative to the origin of the coordinate system CDET, or the coordinate system C of the laser lamp B _Lb In a coordinate system C _DET Coordinate of (a) O _Lb ；

During laser positioning navigation, a second laser positioning lamp coordinate system C of the laser positioning lamp _Lb Angle theta of rotation about its own X-axis _Lb 。

7. The method according to claim 5, wherein if the initial positioning of the patient is determined not to satisfy the conditions of the preset needle insertion 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 simulates the needle insertion point and the needle insertion angle, wherein the needle insertion point and the needle insertion angle are used for determining the needle insertion route, and the method comprises the following steps:

when the catheter bed is repositioned, the laser positioning lamp is turned off and a new one is calculated again

And

coordinate information;

according to the M and the N points in a coordinate system C _DET Coordinates of (5)

And

(ii) a And calculating the positions and the swing angles of the first laser positioning lamp and the first laser positioning lamp again 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.

8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of DSA laser assisted positioning based on CT guidance according to any one of claims 1 to 7.

9. A computer readable storage medium having stored thereon a computer program, the computer program when executed by a processor implementing the steps of DSA laser assisted positioning based on CT guidance of any of claims 1 to 7.