CN115137453A - Continuous scanning cross section dimension-increasing space positioning system - Google Patents
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- 239000003550 marker Substances 0.000 claims description 15
- 231100000915 pathological change Toxicity 0.000 claims description 8
- 230000036285 pathological change Effects 0.000 claims description 8
- 239000003086 colorant Substances 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 2
- 230000035515 penetration Effects 0.000 claims description 2
- 230000001575 pathological effect Effects 0.000 claims 3
- 238000000034 method Methods 0.000 abstract description 16
- 230000004807 localization Effects 0.000 abstract description 5
- 210000003128 head Anatomy 0.000 description 15
- 210000004761 scalp Anatomy 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 238000005259 measurement Methods 0.000 description 4
- 210000000038 chest Anatomy 0.000 description 3
- 238000000338 in vitro Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 2
- 210000004072 lung Anatomy 0.000 description 2
- 238000002595 magnetic resonance imaging Methods 0.000 description 2
- 210000000779 thoracic wall Anatomy 0.000 description 2
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001061 forehead Anatomy 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000003434 inspiratory effect Effects 0.000 description 1
- 238000007917 intracranial administration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000000700 radioactive tracer Substances 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
- 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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
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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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3937—Visible markers
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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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
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Abstract
A continuous scan cross-section upscaling spatial localization system is provided. The positioning method related to the system comprises the following steps: s1, restoring a rectangular three-dimensional coordinate system of CT or magnetic resonance scanning, determining a maximum layer of a lesion, and determining a center of the lesion by using two crossed positioning lines or three planes where the two crossed straight lines are located; s2, two positioning lines and a puncture line passing through any puncture point to be punctured on the body surface are utilized, the two positioning lines and the puncture line are intersected at the lesion core point to form the geometric characteristics of three planes, two planes formed by the two positioning lines and the puncture point to be punctured are respectively displayed by using a plane auxiliary display means, the intersection line of the two planes is the puncture line, and the puncture angle to be punctured is determined; and S3, leading out parallel lines of any positioning line from the simulated puncture point, and making parallel lines of the puncture line between the two parallel lines to obtain the puncture depth D. The invention can conveniently and quickly assist in determining the intended puncture angle and the intended puncture depth D.
Description
The application is a divisional application of an invention patent application with the application number of 201910602703.4, the application date of 2019, 07 and 05, and the invention name of 'a continuous scanning section dimension-increasing space positioning method'.
Technical Field
The invention relates to a continuous scanning cross section dimension-increasing space positioning system, belonging to an auxiliary positioning method for medical operation.
Background
How to perform three-dimensional surgical localization from in-vivo lesion images displayed in a plane on CT or magnetic resonance images has been a challenging clinical problem. The problem of surgical location of intracranial lesions is particularly important. The present item is illustrated by taking the location of the craniocerebral lesion as an example. The traditional stereotaxic apparatus has high accuracy, but needs the head nails to be fixed on the scalp for CT or MRI scanning, has poor experience and complex use, and is only suitable for operations with high accuracy requirements such as stereotaxic surgery and the like.
The most advanced solution at present is a navigation technique, also called a frameless stereotactic technique, that is, imaging data generated by CT or magnetic resonance is matched with a human body through body surface markers by computer assistance, so as to perform image fusion, and the imaging data is fed back to an operator through a tracer bar or virtual reality glasses to guide the operation. However, the navigation equipment is expensive, complicated to use and easy to damage, and only a few hospitals are equipped with the navigation equipment in China.
Some clinical workers design various simplified versions of in-vitro marker systems by referring to the traditional stereotaxic apparatus, patients wear the markers to receive CT or magnetic resonance scanning and then position lesions through a series of measurement and calculation to further determine puncture angles and depths, and some devices of the type need to be reconstructed and measured by a computer, and some devices need to be subjected to complicated measurement and calculation, so the use is not easy.
Some clinical workers create various body surface marking and positioning methods combined with CT through deep understanding of anatomy, and assist in puncture positioning, and the technology greatly depends on knowledge and experience of operators, and is high in learning curve, limited in precision and difficult in clinical popularization.
Disclosure of Invention
The invention aims to provide a continuous scanning cross section dimension-increasing space positioning system which can conveniently and quickly assist in determining a quasi-puncture angle and a quasi-puncture depth D by utilizing a CT or a magnetic resonance plain film.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a continuous scan cross-section upscaling spatial localization system, comprising: the lesion maximum level determining module is used for determining a lesion maximum level and a lesion core point in the lesion maximum level; the positioning line determining module is used for determining a positioning line by using a plane auxiliary display means based on the maximum level of the lesion; the intersection point of the positioning lines is the core point of the lesion; the puncture line determining module is used for determining a puncture line according to the positioning line and the quasi-puncture point; different planes respectively formed by different positioning lines and the point to be punctured are intersected with the puncture line; the angle corresponding to the puncture line is a puncture angle; and the puncture depth acquisition module is used for determining the puncture depth by utilizing the positioning line, the parallel lines corresponding to the positioning line and the puncture line based on the principle that the parallelogram has opposite sides and the same length.
In some embodiments, the lesion maximum level determination module comprises: a baseline plane determining unit for determining a baseline plane according to anatomical landmarks or skin markers during scanning when the patient's body is returned to a scanning position during CT or magnetic resonance; the lesion maximum level determining unit is used for determining the maximum level of the lesion by reading CT or magnetic resonance plain films in combination with the baseline plane; the lesion maximal level comprises a lesion core point; and the distance determining unit is used for reading the height difference between the maximum level of the pathological changes and the baseline plane according to the scanned layer thickness, and measuring the distance between the core point of the pathological changes and the midline of the craniocerebral sagittal position and the vertical distance between the core point of the pathological changes and the highest position of the frontal part.
Based on the above embodiment, the positioning line determining module includes: the marker rod setting unit is used for respectively setting marker rods on the positioning plates based on the height difference between the maximum level of lesion and the baseline plane, the distance between the core point of lesion and the sagittal midline of the cranium and the vertical distance between the core point of lesion and the highest position of frontal part; a linear laser is arranged on the marking rod; the positioning line determining unit is used for respectively determining intersecting lines aiming at the laser surfaces corresponding to the linear laser; the intersection line comprises a positive positioning line and a lateral positioning line.
In some embodiments, the puncture line determining module comprises: the positioning rod setting unit is used for setting a positioning rod on the body surface of the patient based on the positioning line; a word line laser is arranged on the positioning rod; the linear laser adjusting unit is used for adjusting a linear laser on the positioning rod so that laser projection lines all pass through the quasi-puncture point; and the puncture line determining unit is used for determining that the intersection line of the laser surfaces of different linear lasers is a puncture line.
In some embodiments, the laser light emitted by the word line lasers on different positioning rods is different in color.
In some embodiments, the positioning lines include positioning lines corresponding to the first positioning bar and the second positioning bar, respectively; the puncture depth acquisition module includes: the positioning parallel line determining unit is used for constructing a positioning rod parallel line according to the positioning line corresponding to the first positioning rod or the second positioning rod; the puncture needle parallel line construction unit is used for constructing puncture needle parallel lines corresponding to the puncture lines; and the puncture depth determining unit is used for determining the length of the puncture needle parallel line intercepted by the positioning line and the positioning rod parallel line as the puncture depth.
In some embodiments, the system is applied to the head and/or chest of a patient.
The invention also relates to a method for positioning the continuous scanning section in the upscaling space, which is characterized by comprising the following steps of:
s1, restoring a right-angle stereo coordinate system of a human body CT or magnetic resonance scanning, determining a maximum layer of a lesion, and determining a center of the lesion by using two crossed positioning lines or three planes where the two crossed straight lines are located;
s2, two positioning lines and a puncture line passing through any puncture point to be punctured on the body surface are utilized, the two positioning lines and the puncture line are intersected at the lesion core point to form the geometric characteristics of three planes, two planes formed by the two positioning lines and the puncture point to be punctured are respectively displayed by using a plane auxiliary display means, the intersection line of the two planes is the puncture line, and the puncture angle to be punctured is determined;
and S3, leading out parallel lines of any positioning line from the planned puncture point according to the principle of equal length of the opposite sides of the parallelogram, and making parallel lines of the puncture line between the two parallel lines so as to obtain the puncture depth D.
Therefore, the positioning method can determine the angle and depth reaching a certain target point in the deep part of the body through any point on the body surface, reduce a rectangular stereo coordinate system of a human body CT or magnetic resonance scanning in vitro, determine the maximum layer of a lesion, determine the center of the lesion by using two crossed positioning lines or three planes where the two crossed straight lines are positioned in vitro, form the geometric characteristics of the three planes by utilizing the intersection of the two positioning lines and a three-line puncture line passing through any puncture point to be punctured on the body surface at the core point of the lesion, respectively display the two planes formed by the puncture point to be punctured and the two positioning lines by using laser or other plane auxiliary display means, determine the puncture angle of the two planes through the crossed lines, and directly measure the puncture depth to be punctured by leading out parallel lines according to the parallelogram opposite side equal principle.
According to the embodiment of the invention, the invention can be further optimized, and the following is the technical scheme formed after optimization:
in the present invention, the step S1 specifically includes:
s11, reading a CT or magnetic resonance plain film, determining a scanning baseline, adjusting the angle of a body (taking the head as an example) of the patient, restoring the scanning position of the patient when receiving the CT or magnetic resonance, and enabling the scanning position to be coincided with a projection line of a plane auxiliary display means;
s12, determining the distance between the maximum layer plane of the lesion and the base line through CT or magnetic resonance plain film, translating the plane auxiliary display means to the maximum layer surface where the lesion is positioned, and marking and scribing the corresponding position on the surface of the affected part;
s13, determining a right positioning line and a side positioning line according to the longitudinal distance and the transverse distance of the lesion center on the maximum layer of the lesion, wherein the inner intersection point of the right positioning line and the side positioning line on the affected part is the lesion center, and fixing the two marking rods on the surface of the affected part.
In the present invention, the step S2 specifically includes:
s21, two planes formed by the point to be punctured P and straight lines represented by the two marker rods are led out from any point to be punctured P on the surface of the affected part, and the point to be punctured and a certain positioning line (namely the marker rods) are simultaneously illuminated by preferably adopting laser lines with different colors to form the two planes;
s22, the puncture needle is placed on the to-be-punctured point P, the angle is adjusted, and the to-be-punctured angle is determined when the two laser lines illuminate the puncture needle simultaneously.
The method according to claim 3, wherein the step S3 specifically comprises: and (3) leading a parallel line to any positioning line by the quasi-puncture point P, then leading a parallel line of the puncture line between the two parallel lines, and determining the quasi-puncture depth D according to the principle that the lengths of opposite sides of a parallelogram are equal.
Preferably, the planar auxiliary display means is a laser line or a flat plate-shaped object.
In one preferred embodiment, the affected part is located on the head, and the specific positioning method comprises the following steps:
and 8, leading out a parallel line from the quasi-puncture point P to any positioning rod, and leading in a parallel line of the puncture needle at any point of the parallel line, namely determining the quasi-puncture depth D.
In another preferred embodiment, the affected part is located on the chest, and the specific positioning method comprises the following steps:
and 5, leading out a parallel line from the quasi-puncture point P to any positioning rod, leading in a parallel line of the puncture needle at any point of the parallel line, and determining the quasi-puncture depth D.
Compared with the prior art, the invention has the beneficial effects that: the invention fully utilizes the explicit two-dimensional information and the implicit three-dimensional information provided by CT or magnetic resonance scanning, grasps the point and the line of the center of a lesion by the solid geometry principle, combines the plane intersection principle and the parallelogram method, and simply and quickly solves the problems of selection of any point to be punctured and angle and depth to be punctured. The principle is simple and easy to understand, the operation is simple and convenient, rescanning is not needed only for positioning, and calculation, navigation or robot intervention is not needed, so that the method is very suitable for hospitals of various levels.
Drawings
FIG. 1 is a schematic diagram of the determination of the height difference H between the maximum level of the lesion and the baseline plane from a reading of CT or MRI slides;
FIG. 2 is a diagram of measuring the distance W from the lesion core point to the craniocerebral sagittal midline and the vertical distance L from the highest point of the frontal part;
FIG. 3 is a rectangular three-dimensional coordinate system for reconstruction determination of a CT or magnetic resonance scan;
FIG. 4 is a schematic diagram of the determination of the lesion horizontal cross-section maximum level and lesion sagittal plane maximum level;
FIG. 5 is a schematic view of a first positioning rod;
FIG. 6 is a schematic view of a second positioning rod;
FIG. 7 is a schematic view of the marker shaft removed, leaving the positioning shaft;
FIG. 8 is a diagram of selecting a point P to be punctured;
FIG. 9 is a schematic diagram of determining a proposed puncture angle;
FIG. 10 is a schematic diagram of determining a depth D to be punctured;
FIG. 11 is a determination of the lesion maximum level;
FIG. 12 is a graph showing the distance W1 from the median line of the body and the vertical distance L1 of the anterior chest wall;
FIG. 13 is a schematic view of two positioning rods;
FIG. 14 is a schematic diagram of determining a proposed puncture angle;
fig. 15 is a schematic diagram of the determination of the intended penetration depth D.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. For convenience of description, the words "upper", "lower", "left" and "right" in the following description are used only to indicate the correspondence between the upper, lower, left and right directions of the drawings themselves, and do not limit the structure.
A head continuous scanning section ascending-dimension space positioning method comprises the following steps:
reading CT or magnetic resonance plain film, determining scanning base line, regulating patient head position or base angle, restoring patient head position to the current scanning position and fitting with the head laser projection line;
and secondly, reading a CT or magnetic resonance plain film to determine the distance between the maximum layer of the lesion and the baseline, translating the laser line to reach the plane, and marking the corresponding position of the head.
Thirdly, determining a positive lateral positioning line according to the longitudinal and transverse distances of the lesion center on the plane, wherein the intersection point of the two lines in the cranium is the lesion center, and fixing the lesion center on the surface of the head by using a marking rod.
And fourthly, leading out two planes formed by the point P to be punctured and straight lines represented by the two marker rods respectively from any point P to be punctured on the surface of the head, and simultaneously illuminating the point to be punctured and a certain positioning line (namely the marker rods) by using laser lines with different colors to form the two planes.
Fifthly, the puncture needle is placed on the point to be punctured, the angle is adjusted, and the angle to be punctured is determined when the puncture needle is simultaneously illuminated by the laser lines with the two colors.
And sixthly, guiding a parallel line to any positioning line by using the quasi-puncture point P, then guiding a parallel line of the puncture line between two parallel lines, and determining the quasi-puncture depth according to the principle that the lengths of opposite sides of a parallelogram are equal.
The key point of the invention is to determine two positioning lines pointing to the core of lesion, determine a to-be-punctured angle by laser according to the principle that two surfaces intersect to determine a line, and determine the depth by using the parallelogram principle. The versatility of the present principles is illustrated below in terms of the localization of head and lung lesions, respectively.
Example 1: head lesion location
1. Reading a CT or magnetic resonance plain film, as shown in figures 1 and 2, defining a baseline plane according to anatomical landmarks or skin markers during scanning, further reading a height difference H (cm) between a maximum lesion layer and the baseline plane according to the scanned layer thickness, taking a lesion core point at the maximum lesion layer, and measuring a distance W (cm) from the lesion core point to a craniocerebral vector midline and a vertical distance L (cm) from the maximum distance to a forehead.
2. As shown in figure 3, marking rods 2 and 3 vertical to the positioning plate 1 are provided with in- line lasers 4 and 5, and laser projection lines and scanning base lines are matched according to anatomical marks or drawn lines in scanning, wherein X is a horizontal base line, and Y is a median sagittal line.
3. As shown in FIG. 4, two marker bars 2,3 are moved based on two measurements, reading CT or magnetic resonance plain measurement WL, laser X1 being the largest slice of the horizontal section of the lesion and laser Y1 being the largest slice of the sagittal section of the lesion.
4. As shown in fig. 5, the first positioning rod 6 is located at the scalp intersection of the two laser planes, so that the positioning rod 6 is located on the intersection line of the two planes.
5. As shown in fig. 6, a coronal laser line Z is placed according to the distance H from the center of the lesion to the front end of the head in the maximum layer of the lesion, and then a third marker rod 7 is placed. In fig. 6, the third marker shaft 7 appears to coincide with the marker shaft 3 for visual reasons, in fact being two different shafts.
6. As shown in FIG. 7, the marker rods 2,3 on the positioning plate 1 are removed, and two positioning rods 6,8 are reserved.
7. As shown in fig. 8, coaxial in- line lasers 9,10 are mounted at the ends of the positioning rods 6,8, and two laser lines of different colors are passed through the predetermined scalp pseudo-puncture point (i.e., the pseudo-puncture point P and the two positioning rods 6,8 are in a plane, respectively).
8. As shown in fig. 9, the puncture needle 11 passing through the pseudo-puncture point P is simultaneously located in two laser planes, that is, the angle of pseudo-puncture is determined, while the puncture needle 11 is fixed.
9. Referring to fig. 10, a parallel line 13 is drawn from the virtual puncture point P to any one of the positioning rods, and a puncture needle parallel line 12 is drawn at any one point of the parallel line 13, that is, a puncture depth D is determined, where R1 is a projection line of the laser beam 9 mounted on the tip of the first positioning rod 6 on the scalp, R2 is a projection line of the laser beam 10 mounted on the tip of the second positioning rod 8 on the scalp, and each projection line is coplanar with the corresponding positioning rod.
EXAMPLE 2 Lung lesion localization (CT guided puncture, default patient remains the same inspiratory status during each procedure)
1. As shown in fig. 11, at the maximum lesion level, the laser scanning line 16 of the CT scanner is turned on.
2. As shown in fig. 12, the distance W1 from the median line of the body and the vertical distance L1 of the anterior chest wall are measured in CT.
3. As shown in fig. 13, two positioning rods, i.e., a third positioning rod 15 and a fourth positioning rod 14, are fixed at the level of the largest lesion in a method similar to that of embodiment 1, similarly to the positioning rods 6 and 8 in fig. 6.
4. As shown in fig. 14, the puncture needle direction (avoiding the rib) at any one of the pseudo-puncture points is determined in the same manner as in example 1, and details thereof will not be repeated with reference to fig. 9.
5. As shown in fig. 15, the depth D to be punctured was determined in the same manner as in example 1, where R3 is a projection line of the laser beam 9 attached to the tip of the third positioning rod 15 on the scalp, and R4 is a projection line of the laser beam 10 attached to the tip of the fourth positioning rod 14 on the scalp, and each projection line is coplanar with the corresponding positioning rod. With reference to fig. 10, the description is omitted.
The above examples are set forth so that this disclosure will be understood in all instances to be considered illustrative and not restrictive, and that various modifications and equivalent arrangements may be devised by those skilled in the art after reading this disclosure and are intended to be included within the scope of the appended claims.
Claims (8)
1. A continuous scan cross-section upscaled spatial positioning system, comprising:
the lesion maximum level determining module is used for determining a lesion maximum level and a lesion core point in the lesion maximum level;
the locating line determining module is used for determining locating lines by using a plane auxiliary display means based on the maximum level of the pathological changes, wherein the intersection points of the locating lines are the core points of the pathological changes;
the puncture line determining module is used for determining a puncture line according to the positioning line and the quasi-puncture point, wherein different planes formed by different positioning lines and the quasi-puncture point are intersected with the puncture line, and the angle corresponding to the puncture line is a puncture angle;
and the puncture depth acquisition module is used for determining the puncture depth by utilizing the positioning line, the parallel lines corresponding to the positioning line and the puncture line based on the principle of parallelogram opposite side length and the like.
2. The system of claim 1, wherein the lesion maximum level determination module comprises:
a baseline plane determination unit for determining a baseline plane according to the anatomical identifier or the skin marker during scanning when the patient's body is returned to the scanning position during CT or magnetic resonance;
a lesion maximum level determination unit, configured to determine a lesion maximum level by reading CT or magnetic resonance plain film in combination with the baseline plane, where the lesion maximum level includes a lesion core point;
and the distance determining unit is used for reading the height difference between the maximum level of the pathological changes and the baseline plane according to the scanned layer thickness, and measuring the distance between the core point of the pathological changes and the midline of the craniocerebral sagittal position and the vertical distance between the core point of the pathological changes and the highest position of the frontal part.
3. The system of claim 2, wherein the location line determination module comprises:
the marking rod setting unit is used for respectively setting marking rods on the positioning plate on the basis of the height difference between the maximum pathological level and the baseline plane, the distance between the pathological core point and the sagittal midline of the cranium and the vertical distance between the pathological core point and the highest frontal part, wherein the marking rods are provided with a linear laser;
and the positioning line determining unit is used for respectively determining intersecting lines aiming at the laser surfaces corresponding to the linear laser, wherein the intersecting lines comprise a positive positioning line and a side positioning line.
4. The system of claim 1, wherein the puncture line determination module comprises:
the positioning rod setting unit is used for setting a positioning rod on the body surface of the patient based on a positioning line, wherein a linear laser is arranged on the positioning rod;
the laser positioning device comprises a laser positioning device, a laser positioning unit and a laser positioning unit, wherein the laser positioning device is used for positioning a laser projection line;
and the puncture line determining unit is used for determining that the intersection line of the laser surfaces of different linear lasers is a puncture line.
5. The system of claim 4, wherein the laser light emitted by a line laser on different positioning rods is of different colors.
6. The system of claim 1, wherein the positioning line comprises positioning lines corresponding to a first positioning rod and a second positioning rod, respectively, and the penetration depth acquisition module comprises:
the positioning parallel line determining unit is used for constructing a positioning rod parallel line according to the positioning line corresponding to the first positioning rod or the second positioning rod;
the puncture needle parallel line construction unit is used for constructing puncture needle parallel lines corresponding to the puncture lines;
and the puncture depth determining unit is used for determining the length of the puncture needle parallel line intercepted by the positioning line and the positioning rod parallel line as the puncture depth.
7. The system of any one of claims 1 to 6, wherein the system is applied to a patient's head and/or a patient's chest.
8. The system of any one of claims 1 to 6, wherein the planar auxiliary display means is a word line laser.
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| WO2021253943A1 (en) * | 2020-06-15 | 2021-12-23 | 湖南卓世创思科技有限公司 | Laser locating frame system |
| WO2022165979A1 (en) * | 2021-02-07 | 2022-08-11 | 湖南卓世创思科技有限公司 | Depth plate, and depth measurement device and method based on laser positioning system |
| CN117481755A (en) * | 2022-07-26 | 2024-02-02 | 湖南卓世创思科技有限公司 | Puncture path determining system, method, device and medium for brain focus |
| CN117860381B (en) * | 2024-03-13 | 2024-05-17 | 福建省立医院 | Puncture path dynamic planning system |
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| CN110353775B (en) | 2022-07-15 |
| CN110353775A (en) | 2019-10-22 |
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