CN114424978B

CN114424978B - Fusion registration method and device, electronic equipment and storage medium

Info

Publication number: CN114424978B
Application number: CN202111391628.5A
Authority: CN
Inventors: 任敬轶; 庞鑫哲; 齐畅
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: 2023-05-12
Anticipated expiration: 2041-11-22
Also published as: CN114424978A

Abstract

The application discloses a fusion registration method and device, electronic equipment and storage medium. Wherein the method comprises the following steps: determining pose information of a first laser positioning lamp according to focus targets and the result of projection of needle insertion points on a first preset plane; determining pose information of a second laser positioning lamp according to focus targets and the result of projection of the needle insertion points on a second preset plane; under the condition that the position information of the focus target point and the needle inserting point is changed, according to the matching result of the position information, intersecting lines of laser sectors on the laser light paths of the second laser positioning lamp and the first laser positioning lamp; and simulating a needle inserting route determined by the needle inserting point and the focus target point based on the intersecting line of the laser sectors. The fusion registration method realizes real-time fusion of pose information and laser image registration so as to obtain a needle insertion line. The present application may be used in laser assisted systems.

Description

Fusion registration method and device, electronic equipment and storage medium

Technical Field

The application relates to the field of medical treatment and computer software, in particular to a fusion registration method and device, electronic equipment and storage medium.

Background

Interventional therapy (Interventional Treatment) is an emerging discipline that has been rapidly developed in recent years, incorporating imaging diagnosis and clinical treatment. The interventional therapy is technically characterized in that the preoperative planning is carried out by utilizing CT and MRI images, the advancing needle is guided by utilizing auxiliary devices such as a magnetic navigation system, a laser positioning system and the like, and the special instrument is guided into the lesion part of the human body to carry out the minimally invasive therapy by utilizing the Digital Subtraction Angiography (DSA), CT, MRI, B ultrasonic and other image equipment in the operation, and through a puncture needle, a catheter and other interventional equipment, the natural duct or the tiny wound of the human body.

In the related art, due to actual needs, when the position information of a focus target point and a needle insertion point is changed, the effect of laser auxiliary positioning is affected.

Aiming at the problems that the projection light path and the position information fusion and registration can not be well realized through an auxiliary laser system when the position information of a focus target point and a needle insertion point in the related technology are changed, no effective solution is proposed at present.

Disclosure of Invention

The main purpose of the application is to provide a fusion registration method, a fusion registration device, electronic equipment and a storage medium, so as to solve the problems that when the position information of a focus target point and a needle insertion point is changed, a projection light path, position information fusion and registration cannot be realized by an auxiliary laser system well.

To achieve the above object, according to one aspect of the present application, a fusion registration method is provided.

The fusion registration method according to the application comprises the following steps: determining pose information of a first laser positioning lamp according to focus targets and the result of projection of needle insertion points on a first preset plane; determining pose information of a second laser positioning lamp according to focus targets and the result of projection of needle insertion points on a second preset plane, wherein the second laser positioning lamp and the first laser positioning lamp are both arranged on target equipment, and the first preset plane and the second preset plane are intersected in a three-dimensional space; under the condition that the position information of the focus target point and the needle inserting point is changed, according to the matching result of the position information, intersecting lines of laser sectors on the laser light paths of the second laser positioning lamp and the first laser positioning lamp; and simulating a needle inserting route determined by the needle inserting point and the focus target point based on the intersecting line of the laser sectors.

Further, when the focal target point and the position information of the needle insertion point change, according to the matching result of the position information, a laser sector intersection line on the laser light paths of the second laser positioning lamp and the first laser positioning lamp further includes: positioning and navigating by a laser positioning lamp, wherein the laser positioning lamp comprises: a first laser positioning light is provided which is positioned at the first end of the first laser, The step of positioning and navigating of the laser positioning lamp comprises the following steps: when the positioning navigation is started by the laser positioning lamp, the first laser positioning lamp of the laser positioning lamp is relative to a coordinate system C _DET The position of the origin and the first laser positioning lamp coordinate system C of the laser positioning lamp _La After rotating around the Z axis of the self, the angle theta is obtained _La 。

Further, the laser positioning lamp further comprises: the laser positioning lamp includes: a second laser positioning lamp which is a position relative to an origin of the coordinate system CDET, and a second laser positioning lamp coordinate system C of the laser positioning lamp _Lb Angle θ of rotation about its own X-axis _Lb 。

Further, according to the focus target point and the result of the projection of the needle insertion point to the first preset plane, pose information of the first laser positioning lamp is determined, including: subjecting said M _DET And said N _DET Projecting to a first preset plane X-Y to obtain Mxy and Nxy, wherein the coordinates of the Mxy and the Nxy are M _DET And N _DET X, Y coordinates of (c) determining the angle θ by which a first one of the laser positioning lamps is rotated _La And O _La Coordinate information of (2); determination of O _La Coordinates (X) _La ，Y _La ，Z _La ) Medium variable X _La Coordinate information of (2); according to the focus target point and the result of projecting the needle insertion point to a second preset plane, determining pose information of a second laser positioning lamp, including: will M _DET And N _DET Projected onto a second preset plane Z-Y plane to obtain Mzy and Nzy with coordinates M _DET And N _DET Z, Y coordinates of (c) determining the angle θ by which a second one of the laser positioning lamps is rotated _Lb And O _Lb Coordinate information of (2); determination of O _Lb Coordinates (X) _La ，Y _La ，Z _La ) Medium variable Z _La Coordinate information of (a) is provided.

Further, the pose information includes: the first laser positioning lamp and the second laser positioning lamp correspond to the moving first position, the first angle and the second position, and the second angle.

Further, the method comprises the steps of: coordinate system C of the first laser positioning lamp _La Is configured to: origin in detector coordinate system C _DET The lower coordinates are (X _La ，Y _La ，Z _La ) The coordinate system moves along the X axis and rotates around the Z axis, the clockwise angle is positive, the anticlockwise angle is negative, the first laser positioning lamp is positioned on the positive side surface of the target equipment and is close to the bed side, and the origin is positioned on the laser surface; positioning the second laser positioning lamp coordinate system C _Lb Is configured to: origin in detector coordinate system C _DET The lower coordinates are (X _Lb ， Y _Lb ，Z _Lb ) The coordinate system moves along the Z axis and rotates around the X axis, the clockwise angle is positive, the anticlockwise angle is negative, the second laser positioning lamp is positioned on one side surface of the target device, and the center of the second laser positioning lamp is positioned on the laser surface.

Further, the initial position is determined according to the focus target point and the needle insertion point as follows: the needle insertion point is arranged in a CT coordinate system C ₀ Wherein the coordinates are determined from the CT image according to a preset plan (X _N ,Y _N ,Z _N ) The method comprises the steps of carrying out a first treatment on the surface of the The focus target point is in CT coordinate system C ₀ Wherein the coordinates are determined from the CT image according to a preset plan (X _M ,Y _M ,Z _M ) The method comprises the steps of carrying out a first treatment on the surface of the Said (X) _N ,Y _N ,Z _N ) Said (X) _M ,Y _M ,Z _M ) The first laser positioning lamp coordinate system C _La The second laser positioning lamp coordinate system C _Lb The detector coordinate system C _DET And uniformly converting coordinates through a preset coordinate conversion program.

To achieve the above object, according to another aspect of the present application, there is provided a fusion registration device.

The fusion registration device according to the present application includes:

the first determining module is used for determining pose information of the first laser positioning lamp according to focus targets and the result of projection of the needle insertion points on a first preset plane;

the second determining module is used for determining pose information of a second laser positioning lamp according to focus targets and the result of projection of the needle insertion point on a second preset plane, wherein the second laser positioning lamp and the first laser positioning lamp are both arranged on target equipment, and the first preset plane and the second preset plane are intersected in a three-dimensional space;

The matching module is used for intersecting lines of laser sectors on the laser light paths of the second laser positioning lamp and the first laser positioning lamp according to the matching result of the position information under the condition that the position information of the focus target point and the needle insertion point is changed;

and the simulation module is used for simulating a needle inserting route determined by the needle inserting point and the focus target point based on the intersecting line of the laser sectors.

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 configured to perform the method when run.

To achieve the above object, according to yet another aspect of the present application, there is provided an electronic device comprising a memory, in which a computer program is stored, and a processor arranged to run the computer program to perform the method.

In the embodiment of the application, a fusion registration method, a fusion registration device, electronic equipment and a storage medium are adopted to determine pose information of a first laser positioning lamp according to the result of projection of a focus target point and a needle insertion point to a first preset plane; according to the focus target point and the result of projecting the needle inserting point to a second preset plane, the pose information of the second laser positioning lamp is determined, so that the technical effects of fusing pose information and registering laser images are achieved, and the technical problems of fusing and registering projection light paths and position information which cannot be achieved by an auxiliary laser system well when the position information of the focus target point and the needle inserting point changes are solved according to the matching result of the position information, the laser sector intersection lines on the laser light paths of the second laser positioning lamp and the first laser positioning lamp and the laser sector intersection lines.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application and to provide a further understanding of the application with regard to the other features, objects and advantages of the application. The drawings of the illustrative embodiments of the present application and their descriptions are for the purpose of illustrating the present application and are not to be construed as unduly limiting the present application. In the drawings:

fig. 1 is a schematic diagram of a hardware system structure implemented by a fusion registration method according to an embodiment of the present application;

FIG. 2 is a flow chart of a fusion registration method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of CT and DSA coordinate systems in a fusion registration method according to an embodiment of the present application;

fig. 4 is a detector coordinate system C in a fusion registration method 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 fusion registration method according to an embodiment of the present application;

FIG. 6 (a) is a schematic diagram of laser lamp displacement and angle calculation in a fusion registration method according to an embodiment of the present application;

FIG. 6 (b) is a schematic diagram of laser lamp displacement and angle calculation in a fusion registration method according to an embodiment of the present application;

FIG. 6 (c) is a schematic diagram of laser lamp displacement and angle calculation in a fusion registration method according to an embodiment of the present application;

fig. 7 is a schematic diagram of a laser assisted positioning implementation of a fusion registration method according to an embodiment of the present application;

Fig. 8 is a schematic structural diagram 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 present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. 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 the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are used primarily to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to a particular orientation or to be constructed and operated in a particular orientation.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection 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," "configured," "provided," "connected," "coupled," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may 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 terms in this application will be understood by those of ordinary skill in the art as the case may be.

The interventional therapy is technically characterized in that the preoperative planning is carried out by utilizing CT and MRI images, the advancing needle is guided by utilizing auxiliary devices such as a magnetic navigation system, a laser positioning system and the like, and the special instrument is guided into the lesion part of the human body to carry out the minimally invasive therapy by utilizing the Digital Subtraction Angiography (DSA), CT, MRI, B ultrasonic and other image equipment in the operation, and through a puncture needle, a catheter and other interventional equipment, the natural duct or the tiny wound of the human body.

The inventor finds that in the percutaneous puncture interventional operation under the traditional CT guidance, a doctor determines the position of a focus and a needle insertion path according to CT scanning images, and uses a body surface to place a positioning grid for CT scanning again to determine the position of a skin needle insertion point; the doctor manually inserts the needle according to experience, CT scanning and verification are needed for a plurality of times in the operation, and the angle of the puncture needle is adjusted for a plurality of times; at the moment, the operation difficulty is high when the angle is complex, and the radiation quantity of a patient is large; some auxiliary laser positioning devices have appeared in the market, and the principle is that after scanning is performed by using a positioning grid, the position and the angle of a positioning laser line are manually adjusted according to the planned puncture path and the skin needle insertion point of a doctor, so that the operation and the use are complex, the precision is low, and the device needs to be switched back and forth among different devices.

The fusion registration method can be used for a laser auxiliary system, and can be used for conveniently and accurately guiding a doctor to finish interventional operation by arranging equipment and a laser positioning device and generating a laser line to simulate a puncture needle path.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

As shown in fig. 1, the hardware system structure includes: CT100, DSA200, and laser positioning lamp 201. CT100 is used to mark focal targets and skin needle insertion site locations. The laser positioning lamp 201 is used to generate an orthogonal laser surface intersection line and simulate a puncture needle path through the laser line.

Two orthogonal laser positioning lamps 201 are installed on the (flat panel) detector housing of the DSA200, and according to the focus target point marked by the CT100 and the skin needle insertion point position, the DSA200 performs equipment positioning and laser positioning by using the orthogonal laser positioning lamps, and the intersection line of the two orthogonal laser surfaces simulates the needle insertion line formed by the focus point and the skin needle insertion point, so as to guide the operator to conveniently, quickly and accurately complete the percutaneous puncture operation.

As shown in fig. 2, the method includes steps S201 to S204 as follows:

step S201, determining pose information of a first laser positioning lamp according to focus targets and the result of projection of needle insertion points on a first preset plane;

step S202, determining pose information of a second laser positioning lamp according to focus targets and the result of projection of a needle insertion point to a second preset plane, wherein the second laser positioning lamp and the first laser positioning lamp are both arranged on target equipment, and the first preset plane and the second preset plane are intersected in a three-dimensional space;

step S203, when the position information of the focus target point and the needle insertion point changes, according to the matching result of the position information, intersecting lines of laser sectors on the laser paths of the second laser positioning lamp and the first laser positioning lamp;

step S204, based on the intersecting line of the laser sectors, simulating a needle inserting route determined by the needle inserting point and the focus target point.

From the above description, it can be seen that the following technical effects are achieved:

determining pose information of a first laser positioning lamp according to the focus target point and the result of projection of the needle insertion point on a first preset plane; according to the focus target point and the result of projecting the needle inserting point to the second preset plane, the pose information of the second laser positioning lamp is determined, so that the technical effects of stabilizing, fusing pose information in real time and registering laser images are achieved, and the technical problems that when the focus target point and the position information of the needle inserting point are changed, the projected light path and the position information fusion and registering cannot be achieved through an auxiliary laser system well are solved according to the matching result of the position information, the laser sector intersection line on the laser light path of the second laser positioning lamp and the laser light path of the first laser positioning lamp and the laser sector intersection line. In addition, based on the method, the DSA percutaneous puncture interventional operation under CT guidance is provided, so that a more convenient, quick and accurate needle insertion guiding system is provided, and the accuracy and efficiency of clinical operation are improved.

In the step S201, pose information of the first laser positioning lamp is determined according to the focus target point and the result of the projection of the needle insertion point onto the first preset plane. And the focus target point and the needle insertion point are obtained by labeling by a doctor at the beginning of the needle insertion point. In addition, coordinate transformation is required to be carried out on focus targets and needle insertion points in a DSA system.

In step S202, pose information of the second laser positioning lamp is determined according to the focus target point and the result of the projection of the needle insertion point onto the second preset plane. The second laser positioning lamp and the first laser positioning lamp are both installed on the target equipment to serve as laser auxiliary positioning equipment on the target equipment. The first preset plane and the second preset plane are intersected in a three-dimensional space. The target device is referred to as DSA.

Specifically, the first preset plane refers to an XY plane, and the second preset plane refers to a ZY plane.

In step S203, when the position information of the focus target point and the needle insertion point is changed, the laser sector intersections on the laser paths of the second laser positioning lamp and the first laser positioning lamp are determined according to the matching result of the position information.

In specific implementation, according to focus target points and needle insertion point space positions, the positions of all moving parts of the DSA are calculated, and the laser beam is used for realizing needle insertion point and needle insertion angle indication.

In the step S204, based on the laser sector intersection obtained after the fusion registration, a needle insertion route determined by the needle insertion point and the focus target point is simulated. That is, the intersection line of the laser sectors formed at the position of the laser lamp at the moment is the needle inserting route determined by simulating two points of the needle inserting point and the focus target point.

It can be understood that the image of DSA angiography can delete the unnecessary tissue image and only keep the blood vessel image by the digital processing device (Digital subtraction angiography, abbreviated as DSA), and the technique is called digital subtraction technique, which is characterized by clear image and high resolution, provides real stereo image for observing vascular lesions, positioning measurement of vascular stenosis, diagnosis and interventional therapy, and provides necessary conditions for various interventional therapies.

As a preferred embodiment, the focus target point has a correspondence with the coordinates of the needle insertion point between the CT and the two systems of the DSA, so based on the initial positioning of the DSA, the correspondence between the coordinates of the focus target point and the needle insertion point under the CT and the DSA systems can be realized.

As an alternative embodiment, the moving part includes at least one of the following: DSA main frame, catheter bed, (flat panel) detector, laser positioning lamp. For the moving parts of the DSA, there may be included a plurality or one as above, i.e. it is possible that all the plurality of moving parts need to be changed or only parts therein are changed.

Preferably in this embodiment, in the case that the position information of the focus target point and the needle insertion point is changed, the method is performed according to the focus target point and the needle insertion pointAnd the matching result of the position information is that the laser sector intersecting lines on the laser light paths of the second laser positioning lamp and the first laser positioning lamp further comprise: positioning and navigating by a laser positioning lamp, wherein the laser positioning lamp comprises: the first laser positioning lamp, the step of laser positioning lamp location navigation includes: when the positioning navigation is started by the laser positioning lamp, the first laser positioning lamp of the laser positioning lamp is relative to a coordinate system C _DET The position of the origin and the first laser positioning lamp coordinate system C of the laser positioning lamp _La After rotating around the Z axis of the self, the angle theta is obtained _La 。

In specific implementation, when the laser positioning navigation is performed by the laser positioning lamp, 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 in the coordinate system C _DET Upper coordinate OLa. When the laser positioning navigation is performed through the laser positioning lamp, the first laser positioning lamp coordinate system CLa rotates around the Z axis of the first laser positioning lamp by an angle theta La;

as a preferable mode in this embodiment, the positioning navigation performed by the laser positioning lamp further includes: the laser positioning lamp includes: a second laser positioning lamp which is a position relative to an origin of the coordinate system CDET, and a second laser positioning lamp coordinate system C of the laser positioning lamp _Lb Angle θ of rotation about its own X-axis _Lb 。

In specific implementation, when the laser positioning navigation is performed by the laser positioning lamp, the second laser positioning lamp is opposite to the coordinate system C _DET The position of the origin, or the B coordinate system C of the laser lamp _Lb Origin in coordinate system C _DET Upper coordinate O _Lb . When the laser positioning navigation is performed through the laser positioning lamp, the coordinate system C of the laser lamp B _Lb Angle θ of rotation about its own X-axis _Lb ；

As a preferred embodiment of the present invention, determining pose information of the first laser positioning lamp according to a focus target point and a result of projection of the needle insertion point onto a first preset plane includes:

subjecting said M _DET And said N _DET Projecting to a first preset plane X-Y to obtain Mxy and Nxy, wherein the coordinates of the Mxy and the Nxy are M _DET And N _DET X, Y coordinates of (c) determining the angle θ by which a first one of the laser positioning lamps is rotated _La And O _La Coordinate information of (2);

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

according to the focus target point and the result of projecting the needle insertion point to a second preset plane, determining pose information of a second laser positioning lamp, including:

will M _DET And N _DET Projected onto a second preset plane Z-Y plane to obtain Mzy and Nzy with coordinates M _DET And N _DET Z, Y coordinates of (c) determining the angle θ by which a second one of the laser positioning lamps is rotated _Lb And O _Lb Coordinate information of (2);

determination of O _Lb Coordinates (X) _La ，Y _La ，Z _La ) Medium variable Z _La Coordinate information of (a) is provided.

As a preferable mode in this embodiment, the pose information includes: the first laser positioning lamp and the second laser positioning lamp correspond to the moving first position, the first angle and the second position, and the second angle.

As a preferable example in this embodiment, it includes:

coordinate system C of the first laser positioning lamp _La Is configured to:

origin in detector coordinate system C _DET The lower coordinates are (X _La ，Y _La ，Z _La ) The coordinate system moves along the X axis and rotates around the Z axis, the clockwise angle is positive, the anticlockwise angle is negative, the first laser positioning lamp is positioned on the positive side surface of the target equipment and is close to the bed side, and the origin is positioned on the laser surface;

Positioning the second laser positioning lamp coordinate system C _Lb Is configured to:

origin in detector coordinate system C _DET The lower coordinates are(X _Lb ，Y _Lb ，Z _Lb ) The coordinate system moves along the Z axis and rotates around the X axis, the clockwise angle is positive, the anticlockwise angle is negative, the second laser positioning lamp is positioned on one side surface of the target device, and the center of the second laser positioning lamp is positioned on the laser surface.

As a preferred embodiment, the initial position is determined according to the focus target point and the needle insertion point as follows:

the needle insertion point is arranged in a CT coordinate system C ₀ Wherein the coordinates are determined from the CT image according to a preset plan (X _N ,Y _N ,Z _N )；

The focus target point is in CT coordinate system C ₀ Wherein the coordinates are determined from the CT image according to a preset plan (X _M ,Y _M ,Z _M )；

Said (X) _N ,Y _N ,Z _N ) Said (X) _M ,Y _M ,Z _M ) The first laser positioning lamp coordinate system C _La The second laser positioning lamp coordinate system C _Lb The detector coordinate system C _DET And uniformly converting coordinates through a preset coordinate conversion program.

In specific implementation, the needle insertion point N is in a main coordinate system C ₀ Is given by the workstation after planning from the CT image (X) _N ,Y _N ,Z _N ). Focus target spot M is in main coordinate system C ₀ Is given by the workstation after planning from the CT image (X) _M ,Y _M ,Z _M )。

As a preference in this embodiment, as shown in fig. 3, the CT uses the catheter bed together with the DSA and keeps the coordinates of the CT main frame and the DSA main frame consistent, including: coordinate system C of the CT ₀ Setting a main coordinate system and locating an origin at the scanning center of the CT; coordinate system C of the DSA _DSA Is arranged with the origin at the C ₀ In the coordinate system (0, -T) _offset ) Wherein the T is _offset Is the origin C of the main coordinate system ₀ Distance in Z-axis from DSA coordinate system origin, saidC _DSA Coordinate system around C _DSA The rotation angle is θDSA when the Z axis of the coordinate system rotates, the clockwise angle is positive, and the anticlockwise angle is negative; establishing the C _DSA Coordinates of any point in the coordinate system to the C ₀ And transforming the coordinate system of any point in the coordinate system.

In particular, CT coordinate system (primary 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 Is the origin C of the main coordinate system _DSA With DSA coordinate system origin C ₀ At a Z-distance.

The DSA coordinate system rotates around the Z axis of the DSA coordinate system, and the rotation angle is 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 any point of DSA coordinate system _C 、y _C 、z _C Is 3 coordinates of any point in the CT coordinate system.

As a preferred embodiment, the obtaining the focus target point and the needle insertion point marked by the CT scan includes: at least two laser positioning lamps are respectively arranged on two planes orthogonal to the detector, each laser positioning lamp has two degrees of freedom 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 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 movement of the first laser positioning lamp and the movement of the second laser positioning lamp are intersected in a space straight line to obtain an intersection line L, and the intersection line L forms a cross intersection point on the surface of a bed board or an 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 when the DSA positioning and the positioning of the two laser positioning lamps are adjusted, determining the needle inserting point and the needle inserting direction after the intersecting line L coincides with the straight line L1.

In 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 the Z axis;

the first laser positioning lamp and the second laser positioning lamp emit fan-shaped light beams, and the fan-shaped light beams are intersected with a space straight line L (not shown) along with the movement of the DSA main frame, the movement of the detector, the movement of the catheter bed and the movement of the laser positioning lamps, so that a cross intersection point is formed on the bed board or the surface of a human body of the catheter bed.

In the interventional operation process, an operator obtains a focus target spot M through CT scanning, and a doctor selects two optimal needle insertion points N and M, N to determine a straight line L1. The system adjusts equipment positioning and A/B laser lamp positioning, so that intersecting lines L and L1 coincide, further, the needle insertion point on the surface of the human body is determined, and meanwhile, the L space angle is the needle insertion direction.

As a preference in this embodiment, as shown in fig. 4 and 5, the calculating the spatial position of the moving component in the DSA and the calculating the needle insertion point and the needle insertion angle according to the spatial positions of the focus target point and the needle insertion point in the world coordinate system, wherein the moving component includes at least one of the following: DSA main frame, catheter bed, detector, laser positioning lamp, the laser positioning lamp includes two at least, still includes before: setting a coordinate system of the detector and the laser positioning lamp, wherein the coordinate system C of the detector _DET The origin is located at the center of the surface of the detector, in the coordinate system C of the DSA _DSA The coordinates of (X) _DET ，Y _DET ，Z _DET ) Wherein Y is a variable and the detectingThe detector is correlated with the 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 bits of (2) are: origin in coordinate system C _DET The lower coordinates are (X _La ，Y _La ，Z _La ) The coordinate system moves along the X axis and rotates around the Z axis, the clockwise angle is positive, the anticlockwise angle is negative, the first laser positioning lamp is positioned on the positive side surface of the detector and is close to the bed side, and the origin is positioned on the laser surface; second laser positioning lamp coordinate system C _Lb The initial bits of (2) are: origin in coordinate system C _DET The lower coordinates are (X _Lb ，Y _Lb ，Z _Lb ) The coordinate system moves along the Z axis and rotates around the X axis, the clockwise angle is positive, the anticlockwise angle is negative, the second laser positioning lamp is positioned on one side surface of the detector, and the center is positioned on the laser surface.

In particular, the detector coordinate system C _DET : the origin is located at the center of the surface of the flat panel detector, C in the coordinate system _DSA Is (X) _DET ，Y _DET ，Z _DET ) The method comprises the steps of carrying out a first treatment on the surface of the Where Y is the variable related to the detector's 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 surface of the flat panel detector close to the bed side. The origin is located on the laser surface (in the initial position, the laser surface and C _DET The YZ planes of the coordinate system are parallel). C (C) _La The initial position is defined as follows: origin in coordinate system C _DET The lower coordinates are (X _La ，Y _La ，Z _La ). The coordinate system moves along the X-axis and rotates around the Z-axis, with the clockwise angle being positive and the counterclockwise angle being negative.

Coordinate system C of second laser positioning lamp _Lb : the first laser positioning lamp is located on the left (or right) side of the flat panel detector. The origin is located on the laser surface (in the initial position, the laser surface and C _DET The XY plane of the coordinate system is parallel). C (C) _Lb The initial position is defined as follows: original sourcePoint in coordinate System C _DET The lower coordinates are (X _Lb ，Y _Lb ， Z _Lb ). Initial direction of X, Y, Z axis and C _DET The coordinate systems are the same. The coordinate system moves along the Z axis and rotates around the X axis, the clockwise angle is positive, and the counterclockwise angle is negative.

As a preference in this embodiment, as shown in fig. 6 (a) -6 (b), the calculating the spatial position of the moving part in the DSA and the calculating the needle insertion point and the needle insertion angle according to the focal target point and the spatial position of the needle insertion point in the world coordinate system, wherein the moving part includes at least one of the following: DSA main frame, pipe bed, detector, laser positioning lamp, the laser positioning lamp includes two at least, still includes: after the focus targets M and N are moved by moving the catheter bed, rotating the DSA main frame, moving the detector, determining a coordinate system C of the detector _DET Coordinate position information of (a); according to the coordinate position information, calculating the coordinate system C of the two points M and N _DET Coordinate M of (3) _DET And N _DET The method comprises the steps of carrying out a first treatment on the surface of the According to the M and N points, in a coordinate system C _DET Coordinate M of (3) _DET And N _DET And calculating the moving position and the moving angle of the laser positioning lamp.

In practice, the range targets M and N are moved in a detector coordinate system C by moving bed, DSA rotation and (flat) detector movement _DET The coordinates of (2) are as follows:

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

Through the above method, M, N two points can be calculated in the coordinate system C _DET Coordinate M of (3) _DET And N _DET Enter intoAnd the position and angle of the laser lamp movement can be calculated.

As a preference in this embodiment, as shown in fig. 6 (a) -6 (b), the calculating the spatial position of the moving part in the DSA and the calculating the needle insertion point and the needle insertion angle according to the focal target point and the spatial position of the needle insertion point in the world coordinate system, wherein the moving part includes at least one of the following: DSA main frame, catheter bed, detector, laser positioning lamp, the laser positioning lamp includes two at least, includes:

subjecting said M _DET And said N _DET Projected onto X-Y plane to obtain Mxy and Nxy with coordinates M _DET And N _DET X, Y coordinates of (c) determining the angle θ by which a first one of the laser positioning lamps is rotated _La And O _La Coordinate information of (2); determination of O _La Coordinates (X) _La ，Y _La ，Z _La ) Medium variable X _La Coordinate information of (2); will M _DET And N _DET Projected onto the Z-Y plane, yielding Mzy and Nzy, which have coordinates M _DET And N _DET Z, Y coordinates of (c) determining the angle θ by which a second one of the laser positioning lamps is rotated _Lb And O _Lb Coordinate information of (2); determination of O _Lb Coordinates (X) _La ，Y _La ，Z _La ) Medium variable Z _La Coordinate information of (2); according to said theta _La ，O _La Variable X _La Coordinate information of (a), variable Z _La Obtaining position information of one or more moving parts in the DSA main frame, the guide tube bed, the detector and the laser positioning lamp; according to the position information, the intersection line of the laser sectors formed on the laser paths of the two laser positioning lamps obtains and simulates the needle inserting route determined by the needle inserting point and the focus target point,

wherein, CT images are obtained according to the CT scanning and are planned, and then the needle insertion point N is determined to be in a main coordinate system C ₀ Is in the main coordinate system C ₀ Coordinates of (c); the relative main coordinate system C of the catheter bed ₀ Coordinate position movement information (Xt, yt, zt) of origin of (C) The method comprises the steps of carrying out a first treatment on the surface of the Angle θ of the DSA rotation _DSA A distance Tdet by which the detector moves; when navigation by the laser positioning lamp is started, a first laser positioning lamp of the laser positioning lamps is relative to a coordinate system C _DET The position of the origin, or the A coordinate system C of the laser lamp _La Origin in coordinate system C _DET Upper coordinate O _la The method comprises the steps of carrying out a first treatment on the surface of the First laser positioning lamp coordinate system C of laser positioning lamp _La Angle θ of rotation about its Z-axis _La The method comprises the steps of carrying out a first treatment on the surface of the During laser positioning navigation, a second laser positioning lamp of the laser positioning lamp is opposite to the coordinate system C _DET The position of the origin, or the B coordinate system C of the laser lamp _Lb Origin in coordinate system C _DET Upper coordinate O _Lb The method comprises the steps of carrying out a first treatment on the surface of the During laser positioning navigation, a second laser positioning lamp coordinate system C of the laser positioning lamp _Lb Angle θ of rotation about its own X-axis _Lb 。

The scan bed movement (Xt, yt, zt) is relative to the origin of the primary coordinate system C0.

The angle θDSA by which the DSA rotates, here the detector can be set to 0 at 12 o' clock, positive counterclockwise and negative clockwise.

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

When the laser positioning navigation is performed through the laser positioning lamp, 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 in the coordinate system C _DET Upper coordinate OLa.

When the laser positioning navigation is performed through the laser positioning lamp, the first laser positioning lamp coordinate system CLa rotates around the Z axis of the first laser positioning lamp by an angle theta La;

when the laser positioning navigation is performed by the laser positioning lamp, the firstTwo laser positioning lamps relative to coordinate system C _DET The position of the origin, or the B coordinate system C of the laser lamp _Lb Origin in coordinate system C _DET Upper coordinate O _Lb 。

When the laser positioning navigation is performed through the laser positioning lamp, the coordinate system C of the laser lamp B _Lb Angle θ of rotation about its own X-axis _Lb ；

Further, 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, the goal is that the lesion target site moves to the ISO center of the DSA and can be considered a known variable. O (O) _La 、θ _La 、O _Lb 、θ _Lb The four variables are unknown variables and can be calculated by the following algorithm.

Further, in the specific implementation, M _DET And N _DET Projected to XY plane to obtain M _xy And Nxy, the coordinates of which are M _DET And B _DET X, Y coordinates of (c).

The coordinates of the angles θla and OLa by which the first laser positioning lamp is rotated can be calculated from:

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

similarly, M is _DET And Z _DET Projected onto the ZY plane, yielding Mzy and Nzy, which have coordinates M _DET And N _DET Z, Y coordinates of (c). The coordinates of the angles θlb and OLb by which the second laser positioning is turned can be calculated from:

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

through the above calculation, the movement positions of the respective movement parts can be obtained. At this time, the laser lamp is turned on, and the intersecting line of the laser sectors formed at the position of the laser lamp at this time is the needle inserting route determined by two points of the simulated needle inserting 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, and the other end of the surgical catheter needle is rotated to enable the laser cross line to coincide with the intersection point, so that the catheter needle is positioned on the needle insertion route.

As a preferred aspect of this embodiment, if it is determined that the initial patient positioning does not meet the condition of the preset needle insertion 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 maintains the indication and simulates the needle insertion point and the needle insertion angle, where the determining the needle insertion point and the needle insertion angle includes: when the catheter bed is repositioned, the laser positioning light is turned off and a new M 'is recalculated' _DET And N' _DET Coordinate information; according to the M and N points, in a coordinate system C _DET Coordinates M 'in (3)' _DET And N' _DET The method comprises the steps of carrying out a first treatment on the surface of the 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 a new position, and obtaining a new needle feeding line.

In specific implementation, the laser auxiliary positioning system automatically tracks, the laser line keeps indicating the current needle insertion point and needle insertion angle,

when the fine tuning guide tube bed is positioned (X' _t ，Y′ _t ，Z′ _t ) The laser lamp is turned off and reminds the user that navigation is needed at the momentTo recalculate, new M' _DET And N' _DET The coordinates are as follows:

as described above, the positions and the 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 again, and a new needle entry route indication will be obtained.

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 other than that illustrated herein.

There is also provided, in accordance with an embodiment of the present application, as shown in fig. 8, an apparatus including:

the first determining module 301 is configured to determine pose information of the first laser positioning lamp according to a focus target point and a result of the projection of the needle insertion point onto a first preset plane;

the second determining module 302 is configured to determine pose information of a second laser positioning lamp according to a focus target point and a result of projecting the needle insertion point onto a second preset plane, where the second laser positioning lamp and the first laser positioning lamp are both installed on a target device, and the first preset plane and the second preset plane intersect in a three-dimensional space;

the matching module 303 is configured to, when the location information of the focus target point and the needle insertion point changes, cross a laser sector on a laser path of the second laser positioning lamp and the first laser positioning lamp according to a matching result of the location information;

the simulation module 304 is configured to simulate a needle insertion route determined by the needle insertion point and the focus target point based on the laser sector intersection line.

In the first determining module 301 of the present embodiment, pose information of the first laser positioning lamp is determined according to the focus target point and the result of projecting the needle insertion point onto the first preset plane. And the focus target point and the needle insertion point are obtained by labeling by a doctor at the beginning of the needle insertion point. In addition, coordinate transformation is required to be carried out on focus targets and needle insertion points in a DSA system.

In the second determining module 302 of the embodiment of the present application, pose information of the second laser positioning lamp is determined according to the focus target point and the result of projecting the needle insertion point onto the second preset plane. The second laser positioning lamp and the first laser positioning lamp are both installed on the target equipment to serve as laser auxiliary positioning equipment on the target equipment. The first preset plane and the second preset plane are intersected in a three-dimensional space. The target device is referred to as DSA.

In the embodiment of the present application, when the position information of the focus target point and the needle insertion point changes, the matching module 303 is configured to match the laser sector intersection line on the laser paths of the second laser positioning lamp and the first laser positioning lamp according to the position information matching result.

In the simulation module 304 of the embodiment of the present application, a needle insertion route determined by the needle insertion point and the focus target point is simulated based on the laser sector intersection obtained after fusion registration. That is, the intersection line of the laser sectors formed at the position of the laser lamp at the moment is the needle inserting route determined by simulating two points of the needle inserting point and the focus target point.

It will be apparent to those skilled in the art that the modules or steps of the application described above may be implemented in a general purpose computing device, they may be centralized on a single computing device, or distributed across a network of computing devices, or they may alternatively be implemented in program code executable by computing devices, such that they may be stored in a memory device and executed by computing devices, or individually fabricated as individual integrated circuit modules, or multiple modules or steps within them may be fabricated 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 technical solution described above is explained below with reference to the preferred embodiment, but the technical solution of the embodiment of the present invention is not limited.

The DSA laser positioning method based on CT guidance is used for marking focus targets and positions of skin needle insertion points through CT scanning in the percutaneous puncture interventional operation process under CT guidance, and the laser auxiliary positioning system is positioned through equipment and a laser positioning device to generate a laser line so as to simulate a puncture needle insertion path, so that doctors can be guided to finish interventional operation conveniently and accurately.

As shown in fig. 7, a first laser positioning lamp 2011 (a) and a second laser positioning lamp 2012 (B) are mounted 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; and swings about 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, spherical focus 1007.

In the percutaneous puncture interventional operation process under CT guidance, focus target points and skin needle insertion point positions are marked through CT scanning, a laser auxiliary positioning system is positioned through equipment and a laser positioning device, a laser line is generated to simulate a puncture needle insertion path, a doctor can be guided to finish interventional operation conveniently and with high precision, and the specific process comprises the following steps:

In step S1001, according to the CT scan, the doctor marks the focus target point and the needle insertion point.

In step S1002, DSA initially positions and patient positions.

The CT and the DSA use the catheter bed together and keep the coordinates of a CT main frame and the DSA main frame consistent;

step S1003, coordinate transformation is carried out on the focus target point and the needle insertion point in the DSA system.

The CT and DSA use the catheter bed together and maintain a co-ordinates of a CT mainframe and the DSA mainframe in agreement, comprising: coordinate system C of the CT ₀ Setting a main coordinate system and locating an origin at the scanning center of the CT; coordinate system C of the DSA _DSA Is arranged with the origin at the C ₀ In the coordinate system (0, -T) _offset ) Wherein the T is _offset Is the origin C of the main coordinate system ₀ Distance in Z-axis from DSA coordinate system origin, C _DSA Coordinate system around C _DSA The rotation angle is θDSA when the Z axis of the coordinate system rotates, the clockwise angle is positive, and the anticlockwise angle is negative; establishing the C _DSA Coordinates of any point in the coordinate system to the C ₀ And transforming the coordinate system of any point in the coordinate system.

Step S1004, calculating the positions of all the moving parts of the DSA according to the focus target point and the needle insertion point space position, and realizing needle insertion point and needle insertion angle indication by a laser beam through the DSA main frame, the guide tube bed, the detector and the laser lamp to move and position.

Detector coordinate system C _DET : the origin is located at the center of the surface of the flat panel detector, C in the coordinate system _DSA Is (X) _DET ，Y _DET ，Z _DET ) The method comprises the steps of carrying out a first treatment on the surface of the Where Y is the variable related to the detector's position in the Y direction (SID). SID refers to detector vertical distance.

Coordinate system C of second laser positioning lamp _Lb : the first laser positioning lamp is located on the left (or right) side of the flat panel detector. The origin is located on the laser surface (in the initial position, the laser surface and C _DET The XY plane of the coordinate system is parallel). C (C) _Lb The initial position is defined as follows: origin in coordinate system C _DET The lower coordinates are (X _Lb ，Y _Lb ， Z _Lb ). Initial direction of X, Y, Z axis and C _DET The coordinate systems are the same. The coordinate system moves along the Z axis and rotates around the X axis, the clockwise angle is positive, and the counterclockwise angle is negative.

The needle insertion point N is arranged in a main coordinate system C ₀ Is given by the workstation after planning from the CT image (X) _N ,Y _N ,Z _N ). Focus target spot M is in main coordinate system C ₀ Is given by the workstation after planning from the CT image (X) _M ,Y _M ,Z _M )。

when the laser positioning navigation is performed through the laser positioning lamp, the second laser positioning lamp is opposite to the coordinate system C _DET The position of the origin, or the B coordinate system C of the laser lamp _Lb Origin in coordinate system C _DET Upper coordinate O _Lb 。

The range targets M and N are rotated by moving bed and DSA, and the (flat plate) detector is moved in a detector coordinate system C _DET The coordinates of (2) are as follows:

Through the above method, M, N two points can be calculated in the coordinate system C _DET Coordinate M of (3) _DET And N _DET And further the position and angle of the movement of the laser lamp can be calculated.

Will M _DET And N _DET Projected to XY plane to obtain M _xy And Nxy, the coordinates of which are M _DET And B _DET X, Y coordinates of (c).

Step S1005, judging whether the current patient positioning is easy to perform needle insertion operation.

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 insertion point and the needle insertion angle.

The laser auxiliary positioning system automatically tracks, the laser line keeps indicating the current needle advancing point and needle advancing angle,

when the fine tuning guide tube bed is positioned (X' _t ，Y′ _t ，Z′ _t ) The laser lights are turned off and remind the user that the navigation needs to be recalculated at the moment, and new M' _DET And N' _DET The coordinates are as follows:

Step S1008, a puncture intervention.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A fusion registration device, comprising:

the simulation module is used for simulating a needle inserting route determined through the needle inserting point and the focus target point based on the intersecting line of the laser sectors;

the matching module is configured to, when the focal target point and the position information of the needle insertion point change, match the laser sector intersection line on the laser paths of the second laser positioning lamp and the first laser positioning lamp according to the position information, and further include: positioning and navigating by a laser positioning lamp, wherein the laser positioning lamp comprises: the first laser positioning lamp, the step of laser positioning lamp location navigation includes:

When the positioning navigation is started by the laser positioning lamp, the first laser positioning lamp of the laser positioning lamp is relative to a coordinate system C _DET The position of the origin and the first laser positioning lamp coordinate system C of the laser positioning lamp _La After rotating around the Z axis of the self, the angle theta is obtained _La ；

The laser positioning lamp still includes when carrying out location navigation: the laser positioning lamp includes: a second laser positioning light is used for positioning the lamp,

the second laser positioning lamp of the laser positioning lamp is relative to the coordinate system C _DET The position of the origin and the second laser positioning lamp coordinate system C of the laser positioning lamp _Lb Angle θ of rotation about its own X-axis _Lb ；

The first determining module is configured to determine pose information of a first laser positioning lamp according to a focus target point and a result of projection of a needle insertion point onto a first preset plane, and includes:

will M _DET And N _DET Projecting to a first preset plane X-Y plane to obtain M _xy And N _xy Its coordinate is M _DET And N _DET X, Y coordinates of (c) determining the angle θ by which a first one of the laser positioning lamps is rotated _La And O _La Coordinate information of (2);

the second determining module is configured to determine pose information of the second laser positioning lamp according to a focus target point and a result of the projection of the needle insertion point onto a second preset plane, and includes:

Will M _DET And N _DET Projecting to a second preset plane Z-Y plane to obtain M _zy And N _zy Its coordinate is M _DET And N _DET Z, Y coordinates of (c) determining the angle θ by which a second one of the laser positioning lamps is rotated _Lb And O _Lb Coordinate information of (2);

2. The apparatus of claim 1, wherein the pose information comprises: the first laser positioning lamp and the second laser positioning lamp correspond to the moving first position, the first angle and the second position, and the second angle.

3. The apparatus according to claim 1, characterized by comprising:

coordinate system C of the first laser positioning lamp _La Is configured to:

origin in detector coordinate system C _DET The lower coordinates are (X _Lb ，Y _Lb ，Z _Lb ) The coordinate system moves along the Z axis and rotates around the X axis, the clockwise angle is positive, the anticlockwise angle is negative, the second laser positioning lamp is positioned on one side surface of the target device, and the center of the second laser positioning lamp is positioned on the laser surface.

4. The device of claim 3, wherein the initial position is determined from the lesion target and the needle insertion point as follows: