CN114569201A - Image navigation puncture needle feeding point detection method and device - Google Patents
Image navigation puncture needle feeding point detection method and device Download PDFInfo
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- CN114569201A CN114569201A CN202210140030.7A CN202210140030A CN114569201A CN 114569201 A CN114569201 A CN 114569201A CN 202210140030 A CN202210140030 A CN 202210140030A CN 114569201 A CN114569201 A CN 114569201A
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- 238000001514 detection method Methods 0.000 title claims description 11
- 238000003780 insertion Methods 0.000 claims abstract description 8
- 230000037431 insertion Effects 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims abstract description 7
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- Oral & Maxillofacial Surgery (AREA)
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Abstract
The invention discloses a method and a device for detecting an image navigation puncture needle insertion point, and belongs to the field of medical instruments. Comprises a puncture needle, a camera, a distance measuring sensor and a frame; the puncture needle is connected with the frame, the camera is located under the puncture needle and connected with the frame, and the distance measuring sensor is connected with the frame. Taking the bottom surface of the camera as a reference surface, and obtaining the distance L between the camera and a puncture target plane and the central distance P between the camera and the respective axis of the puncture needle; calculating a target point offset angle according to the distance L and the center distance P; calculating the proportion of the target point offset angle a to the camera view angle N, thereby obtaining the offset of the virtual needle feeding point under the camera image view angle; the invention can realize the measurement of the puncture needle inserting point in the puncture navigation operation and improve the puncture needle inserting precision in the operation.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a method and a device for detecting an image navigation puncture needle insertion point.
Background
Puncture surgery is the most common diagnosis and treatment means in clinical application at present, and with the further development of robot technology, the demand of the remote auxiliary puncture surgery of robot is increasing day by day. Under the state of the robot remote auxiliary puncture operation, a doctor needs to visually observe the needle inserting position and the needle inserting state of the current puncture needle in real time.
However, due to the spatial structure of the puncture device and the restriction of the imaging principle of the camera, a certain offset exists between the camera and the puncture needle, so that the needle feeding point of the puncture needle is not positioned at the geometric center of the camera image, and the needle feeding point is offset in real time along with the different distance between the puncture needle and the skin surface of the patient. This may make it difficult for the doctor to accurately determine the target position of the puncture, which may result in a reduction in puncture accuracy and even serious medical accidents.
Disclosure of Invention
The invention provides an image navigation puncture needle insertion point detection method and device, which are used in the field of medical instruments. The problem that the puncture needle-in point of the puncture under the image space is difficult to accurately judge in the navigation of the current puncture device is solved. The puncture navigation target point detection method has the advantages that accurate detection of the puncture navigation target point in the camera space is realized by detecting the distance between the puncture needle and the puncture target and combining the camera visual angle imaging principle, the puncture needle feeding point precision in the puncture navigation operation can be effectively improved, the risk is lower compared with a laser indication method, the structure is simple, the influence on the configuration of the existing medical puncture equipment is small, and the universality is good.
The invention adopts the following scheme:
an image navigation puncture needle insertion point detection method and device are characterized in that: the method comprises the following steps:
step 1: taking the bottom surface of the camera (2) as a reference surface, and obtaining the distance L between the camera (2) and the puncture target plane (5) and the central distance P of the respective axes of the camera (2) and the puncture needle (1);
step 2: calculating the target point offset angle from the distance L and the center distance P:
according to the formula: a _ offset = arctan (P/L) obtains a target point offset angle a;
and step 3: calculating the proportion of the target point offset angle a to the camera view angle N:
according to the formula: f _ ratio = a _ offset/(N/2)
And 4, step 4: calculating the offset of the virtual needle feeding point under the visual angle of the camera image:
the offset pixel k for the position of the needle point (62) in the camera image may be according to the formula:
k = h × F _ ratio = h × a _ offset/(N/2);
wherein h is one half of the total number of the pixels of the needle body (61) in the axial direction in the camera image space.
Preferably, the puncture needle comprises a puncture needle (1), a camera (2), a distance measuring sensor (3) and a frame (4); the puncture needle (1) is connected with the rack (4), the camera (2) is located under the puncture needle (1) and is connected with the rack (4), and the distance measuring sensor (3) is connected with the rack (4).
The invention has the beneficial effects that:
1. the invention can realize the measurement of the puncture needle insertion point in the puncture navigation operation and improve the puncture needle insertion precision in the operation;
2. the invention adopts the puncture needle-inserting point display in the image space of the navigation camera, thereby avoiding the interference to the safety and the control space in the physical space by the laser calibration and other modes;
3. the distance between the needle point of the puncture needle and the surface of the skin to be punctured can be obtained while the needle feeding point is detected, the judgment of a doctor on the needle feeding state can be further improved under the condition that an additional sensing device is not added, and the safety of the puncture operation is improved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the detection principle of the present invention;
FIG. 3 is a schematic diagram of the principle of needle feeding point shift in camera image space.
Detailed Description
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The following further describes specific structures and embodiments of the present invention with reference to the drawings.
The structure of the invention is shown in figure 1, figure 2 and figure 3
The invention adopts the following scheme:
example 1:
an image navigation puncture needle insertion point detection method and device are characterized in that: the method comprises the following steps:
step 1: taking the bottom surface of the camera (2) as a reference surface, and obtaining the distance L between the camera (2) and the puncture target plane (5) and the central distance P of the respective axes of the camera (2) and the puncture needle (1);
step 2: calculating the target point offset angle from the distance L and the center distance P:
according to the formula: a _ offset = arctan (P/L) obtains a target point offset angle a;
and step 3: calculating the proportion of the target point offset angle a to the camera view angle N:
according to the formula: f _ ratio = a _ offset/(N/2)
And 4, step 4: calculating the offset of the virtual needle feeding point under the visual angle of the camera image:
the offset pixel k for the position of the needle point (62) in the camera image may be according to the formula:
k = h × F _ ratio = h × a _ offset/(N/2);
wherein h is one half of the total number of the pixels of the needle body (61) in the axial direction in the camera image space.
Example 2:
an image navigation puncture needle feeding point detection method and a device thereof are characterized by comprising a puncture needle (1), a camera (2), a distance measuring sensor (3) and a frame (4); the puncture needle (1) is connected with the rack (4), the camera (2) is located under the puncture needle (1) and is connected with the rack (4), and the distance measuring sensor (3) is connected with the rack (4).
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. An image navigation puncture needle insertion point detection method and device are characterized in that: the method comprises the following steps:
step 1: taking the bottom surface of the camera (2) as a reference surface, and obtaining the distance L between the camera (2) and the puncture target plane (5) and the central distance P of the respective axes of the camera (2) and the puncture needle (1);
step 2: calculating the target point offset angle from the distance L and the center distance P:
according to the formula: a _ offset = arctan (P/L) obtains a target point offset angle a;
and step 3: calculating the proportion of the target point offset angle a to the camera view angle N:
according to the formula: f _ ratio = a _ offset/(N/2)
And 4, step 4: calculating the offset of the virtual needle feeding point under the visual angle of the camera image:
the offset pixel k for the position of the needle point (62) in the camera image may be according to the formula:
k = h × F _ ratio = h × a _ offset/(N/2);
wherein h is one half of the total number of the pixels of the needle body (61) in the axial direction in the camera image space.
2. The image-guided puncture needle-entering point detection method and device according to claim 1, characterized by comprising a puncture needle (1), a camera (2), a distance measuring sensor (3) and a frame (4); the puncture needle (1) is connected with the rack (4), the camera (2) is located under the puncture needle (1) and is connected with the rack (4), and the distance measuring sensor (3) is connected with the rack (4).
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| CN202210140030.7A CN114569201B (en) | 2022-02-16 | 2022-02-16 | Image navigation puncture needle insertion point detection method and device |
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| CN202210140030.7A CN114569201B (en) | 2022-02-16 | 2022-02-16 | Image navigation puncture needle insertion point detection method and device |
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| CN114569201A true CN114569201A (en) | 2022-06-03 |
| CN114569201B CN114569201B (en) | 2023-11-17 |
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