CN202069692U - Three-dimensional coordinate positioning scale based on X-ray image - Google Patents
Three-dimensional coordinate positioning scale based on X-ray image Download PDFInfo
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- CN202069692U CN202069692U CN2011200807421U CN201120080742U CN202069692U CN 202069692 U CN202069692 U CN 202069692U CN 2011200807421 U CN2011200807421 U CN 2011200807421U CN 201120080742 U CN201120080742 U CN 201120080742U CN 202069692 U CN202069692 U CN 202069692U
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Abstract
The utility model discloses a three-dimensional coordinate positioning scale based on an X-ray image, which comprises a scale frame, wherein the scale frame comprises at least two rows of parallelly arrayed front-position X-ray penetrating scales and at least two rows of parallelly arrayed lateral-position X-ray penetrating scales; at least four spherical marking points are arranged on each front-position X-ray penetrating scale and each lateral-position X-ray penetrating scale; and the marking points are spherical components through which X-rays do not penetrate. The three-dimensional coordinate positioning scale has the advantages that: a system error caused when an operation route is calculated can be eliminated; the precision of the scale is improved; the times for repeatedly adjusting equipment are reduced; and the exposure time of the X-rays and the operation time are reduced.
Description
Technical field
This utility model relates to a kind of surgical instruments, particularly a kind of in the orthopaedics navigating surgery based on the three-dimensional coordinate Position Scale of x-ray image.
Background technology
In various orthopaedics navigating surgeries, the space orientation algorithm is one of technology of its core, and the Position Scale that is provided with special marking point is placed between X-ray light source and the X-ray imaging device usually as important positioning element.When carrying out the orthopaedics navigating surgery, suffer from limb by the X-ray light source from two angular illumination, on the X-ray imaging device, form image, this image comprises the imaging of suffering from the gauge point on limb and the scale, transfer in the computer through video data line after the image acquisition, image control operation software in the machine carries out computing and finally determines operation pathway as calculated, need promptly to determine the axial location coordinate of the guide pin that inserts and as the impact point geometric position, guide pin is inserted into to suffer from the limb and finishes operation the most at last.
Existing Position Scale is provided with three gauge points in each the planar front and back coordinate system when biplane is located usually, as the applied research (" robot " in different orthopaedics indications in biplane navigating robot system, 2007,29 (3): 200-206, Wang Yu; YUN is super, Zhang Fengquan, poplar is rushed) in, described the principle of biplane location algorithm, and provided a scale prototype, as shown in Figure 1, scale comprises coordinate system gauge point 1 ' before the side position, coordinate system gauge point 2 ' before the normotopia, coordinate system gauge point 4 ' behind coordinate system gauge point 3 ' and the side position after the normotopia, the relation of arranging of dotted line reaction marking point among the figure.The scale of three gauge points is set respectively in this biplanar front and back coordinate system, be based on the transformation of scale principle and calculate the impact point coordinate, when X-ray optical axis and plane, gauge point place out of plumb, the image of collection transfers to when computer carries out computing can be result of calculation drawing-in system error.Owing to when taking a picture, can not guarantee that the X-ray optical axis is vertical with plane, gauge point place, make the operation pathway that calculates have certain deviation.And, when actual operation is operated, requirement is included in the trouble limb of operative site and the forward and backward coordinate system gauge point of normotopia thereof in the x-ray image simultaneously, the trouble limb of operative site and the forward and backward coordinate system gauge point of side position thereof are included in another x-ray image simultaneously, because the visual field of X-ray imaging device (C shape arm) is very little, often need repeatedly to adjust repeatedly the position of Position Scale and the position of X-ray imaging device in practice, repeatedly take a picture and just can meet the demands, doing has so not only increased the sudden and violent time of leaking of X-ray, and has prolonged operating time.
The utility model content
This utility model can cause that at existing Position Scale there is deviation in the operation pathway of calculating, and the problem of leaking time and operating time cruelly of the X-ray can be increased in practical operation the time, a kind of novel three-dimensional coordinate Position Scale based on x-ray image is provided, can eliminate the systematic error that causes when calculating operation pathway, improve the scale precision, and the number of times adjusted repeatedly of minimizing equipment, reduce X-ray and leak time and operating time cruelly.
The technical solution of the utility model is as follows:
A kind of three-dimensional coordinate Position Scale based on x-ray image, comprise the scale framework, described scale framework comprises that at least two saturating X-ray scales of normotopia that are arranged side by side of row and at least two arrange the saturating X-ray scale in side position that is arranged side by side, it is characterized in that, be provided with at least four spheric gauge points on the saturating X-ray scale of saturating X-ray scale of described each normotopia and side position, described gauge point is the spherical member of X-ray opaque.
Spheric gauge point on the saturating X-ray scale of saturating X-ray scale of described each normotopia and side position all is distributed as two groups or more, and every group comprises four gauge points.
The saturating X-ray scale of described normotopia is provided with the normotopia aid mark of X-ray opaque, and the saturating X-ray scale in described side position is provided with the side position aid mark of X-ray opaque.
The saturating X-ray scale of saturating X-ray scale of described normotopia or side position is provided with the scale connecting rod, and described scale connecting rod is provided with the quick connecting interface that links to each other with the orthopaedics navigating robot.
The spherical member of described X-ray opaque is a Metal Ball.
Described Metal Ball is steel ball or copper ball.
Gauge point on the saturating X-ray scale of the described normotopia that is arranged side by side is upper in the homonymy or the both sides of suffering from limb at positive bit plane; Gauge point on the saturating X-ray scale in the described side position that is arranged side by side is positioned at the homonymy or the both sides of suffering from limb on the side bit plane.
Technique effect of the present utility model is as follows:
The three-dimensional coordinate Position Scale that this utility model provides based on x-ray image, the scale framework that mainly comprises the saturating X-ray scale formation in side position that at least two saturating X-ray scales of normotopia that are arranged side by side of row and at least two rows are arranged side by side, be provided with at least four spheric gauge points on the saturating X-ray scale of saturating X-ray scale of each normotopia and side position, each gauge point is the spherical member of X-ray opaque.When carrying out the orthopaedics navigating surgery, x-ray image to two width of cloth different angles (normotopia and side position) carries out three-dimensional coordinate calculating, each gauge point on this scale (or spherical member of the X-ray opaque in each gauge point) and trouble limb form image on the X-ray imaging device, the imaging of at least four gauge points on the saturating X-ray scale in side position that comprises the saturating X-ray scale of the normotopia that is arranged side by side on every image or be arranged side by side, this moment, the scale of four gauge points can calculate the impact point coordinate based on the projective transformation principle, the planar angle of this error calculated and X-ray optical axis and gauge point place is irrelevant, even so X-ray optical axis and plane, gauge point place out of plumb, the image of gathering transfers to when computer carries out computing can not introduce error for result of calculation yet, so can accurately calculate operation pathway, eliminate the systematic error that causes when existing Position Scale calculates operation pathway, improved the scale positioning accuracy.
Spheric gauge point on the saturating X-ray scale of saturating X-ray scale of each normotopia and side position all is distributed as two groups or more, every group comprises four gauge points, promptly before saturating X-ray scale of normotopia and the saturating X-ray scale in side position, back coordinate system is provided with many group echos point respectively, like this when actual operation is operated, the trouble limb of operative site, the preceding coordinate system gauge point of normotopia and side position, the probability that the back coordinate system gauge point of normotopia and side position all is included in the same x-ray image obviously increases, overcome because the very little defective in the visual field of X-ray imaging device, only needing wherein, a group echo point can meet the demands in image, therefore can reduce the number of times that the position of the position of Position Scale and X-ray imaging device is adjusted repeatedly, reduce X-ray and leak the time cruelly, shorten operating time.
The normotopia aid mark of the X-ray opaque that on the saturating X-ray scale of normotopia, is provided with, and the side position aid mark of the X-ray opaque that on the saturating X-ray scale in side position, is provided with, the relative position of aid mark and gauge point remains unchanged in image, computer can carry out correct grouping to gauge point according to the position of aid mark when image is carried out computing like this, and do sequence notation, make things convenient for computing.
Description of drawings
Fig. 1 is the structural representation of existing Position Scale.
Fig. 2 is first kind of preferred structure sketch map of Position Scale of the present utility model.
Position Scale shown in Figure 2 imaging sketch map on X-ray imaging device when Fig. 3 is X-ray light source side-irradiation trouble limb.
Fig. 4 is second kind of preferred structure sketch map of Position Scale of the present utility model.
Fig. 5 is the third preferred structure sketch map of Position Scale of the present utility model.
Each label lists as follows among the figure:
Coordinate system gauge point before 1 '-side position; Coordinate system gauge point before 2 '-normotopia; Coordinate system gauge point after 3 '-normotopia; Coordinate system gauge point behind 4 '-side position; Coordinate system first group echo point behind the 1-side position; Coordinate system second group echo point behind the 2-side position; Coordinate system first group echo point before the 3-side position; Coordinate system second group echo point before the 4-side position; 5-scale framework; Coordinate system first group echo point after the 6-normotopia; Coordinate system second group echo point after the 7-normotopia; 8-side position aid mark; The quick connecting interface of 9-; 10-scale connecting rod; Coordinate system first group echo point before the 11-normotopia; Coordinate system second group echo point before the 12-normotopia; 13-normotopia aid mark; 14-suffers from limb.
The specific embodiment
Below in conjunction with accompanying drawing this utility model is described.
This utility model relates to a kind of three-dimensional coordinate Position Scale based on x-ray image, its first kind of preferred structure sketch map as shown in Figure 2, this Position Scale comprises scale framework 5, this scale framework 5 comprises the saturating X-ray scale in side position that the interconnective two saturating X-ray scales of normotopia that are arranged side by side of row and two rows are arranged side by side, be provided with two groups or more spheric gauge point on the saturating X-ray scale of saturating X-ray scale of each normotopia and side position, this embodiment is two groups, as shown in Figure 2, the coordinate system second group echo point 2 behind the coordinate system first group echo point 1 and side position is drawn together behind the side position in a package in two row's side positions saturating X-ray scales, another row's side position saturating X-ray scale comprises before the side position coordinate system second group echo point 4 before the coordinate system first group echo point 3 and side position, and the saturating X-ray scale in side position is provided with the side position aid mark 8 of X-ray opaque; The coordinate system second group echo point 7 behind the coordinate system first group echo point 6 and normotopia is drawn together after the normotopia in a package in two row's normotopias saturating X-ray scales, the saturating X-ray scale of another row's normotopia comprises preceding coordinate system first group echo point 11 of normotopia and the preceding coordinate system second group echo point 12 of normotopia, and the saturating X-ray scale of normotopia is provided with the normotopia aid mark 13 of X-ray opaque; Every group echo point comprises four gauge points, is provided with the spherical member of X-ray opaque in each gauge point, and this spherical member is preferably as Metal Ball such as steel ball or copper balls.From the principle, the no specific (special) requirements of arranging of gauge point is easy to process in the reality, makes square profile, and each group echo point is arranged continuously.
Position Scale of the present utility model is provided with scale connecting rod 10, this scale connecting rod 10 connects the body (as base or other position of navigating robot) of orthopaedics navigating robot by quick connecting interface 9, to determine the home position of orthopaedics navigating robot, realize that simultaneously Position Scale is connected and accurate location with the quick of orthopaedics navigating robot body.Bone surgery prelocalization scale is deposited separately, helps preserving; At any time fast assembling-disassembling in the operation, utilization are flexibly.
When carrying out the orthopaedics navigating surgery, suffer from limb by the X-ray light source from two angles (normotopia and side position) irradiation, on the X-ray imaging device, form image, this image comprises the imaging of suffering from each gauge point on limb and this Position Scale, when suffering from limb 14, X-ray light source side-irradiation as shown in Figure 3 suffers from limb 14 and Position Scale imaging sketch map on the X-ray imaging device, location Calculation requires the centre coordinate of clear and definite gauge point, and will do grouping and sequence notation to each labelling.Computer can be asked for the coordinate at gauge point center by the way of Flame Image Process, the preferred aid mark 8 and 13 that increases on Position Scale of the present utility model, aid mark is used for Computer Automatic Recognition, the relative position of aid mark and each gauge point remains unchanged in image, computer can carry out correct grouping to gauge point according to the position of labelling, and does sequence notation.Among Fig. 31,2,3, the 4th, the serial number of gauge point, four gauge points distribute and have represented four points on the coordinate plane: (0, a), (0,0), (a, 0), (a, a), the effect of sequence notation is exactly that the point in the image and above-mentioned four coordinates are mapped.Transfer in the computer through video data line after the image acquisition, image control operation software in the machine adopts the biplane location algorithm based on the projective transformation principle as calculated, x-ray image to two width of cloth different angles (normotopia and side position) carries out three-dimensional coordinate calculating, it passes through two-dimensional image information, calculate the three-dimensional position relation of target and Position Scale, thereby determine to suffer from the space coordinates of limb target, the planar angle of the optical axis of this error calculated and X-ray light source and gauge point place is irrelevant, position by each gauge point on target and the scale concerns represents to suffer from limb target and position of rule relation, thereby finally determine operation pathway, the axial location coordinate of the guide pin that promptly determine to need inserts and as the impact point geometric position, guide pin is inserted into to suffer from the limb and finishes operation the most at last.
In the three-dimensional coordinate Position Scale based on x-ray image shown in Figure 2, the gauge point 6,7 on the saturating X-ray scale of normotopia that two rows are arranged side by side and 11,12 is in the upper both sides of suffering from limb in target of positive bit plane; Gauge point 1,2 and 3,4 on the saturating X-ray scale in side position that two rows are arranged side by side is positioned at the homonymy of suffering from limb on the side bit plane.Certainly, gauge point on the saturating X-ray scale in side position that two rows are arranged side by side also can be positioned at the both sides of suffering from limb on the side bit plane, second kind of preferred structure sketch map of Position Scale of the present utility model as shown in Figure 4, scale framework among Fig. 4 is an O shape, and each just, the gauge point (comprising the first group echo point and second group echo point) of side position all is arranged on the both sides that target is suffered from limb; Gauge point on the saturating X-ray scale of normotopia that two rows are arranged side by side also can be positioned at the homonymy that target is suffered from limb on positive bit plane, the third preferred structure sketch map of Position Scale of the present utility model as shown in Figure 5, scale framework among Fig. 5 is L shaped, and each just, the gauge point (only having shown first group echo point among the figure) of side position all is arranged on the homonymy that target is suffered from limb.Go forward at scale of the present utility model, the back coordinate system is provided with many group echos point respectively and (or group echo point only is set, every group echo point comprises four gauge points), only needing wherein, a group echo point can meet the demands in image, therefore can reduce the number of times that the position of the position of Position Scale and X-ray imaging device is adjusted repeatedly, reduce X-ray and leak the time cruelly, shorten operating time.
Should be pointed out that the above specific embodiment can make those skilled in the art more fully understand the invention, but do not limit the present invention in any way creation.Therefore; although this description has been described in detail the invention with reference to drawings and Examples; but; those skilled in the art are to be understood that; still can make amendment or be equal to replacement the invention; in a word, all do not break away from the technical scheme and the improvement thereof of the spirit and scope of the invention, and it all should be encompassed in the middle of the protection domain of the invention patent.
Claims (7)
1. three-dimensional coordinate Position Scale based on x-ray image, comprise the scale framework, described scale framework comprises that at least two saturating X-ray scales of normotopia that are arranged side by side of row and at least two arrange the saturating X-ray scale in side position that is arranged side by side, it is characterized in that, be provided with at least four spheric gauge points on the saturating X-ray scale of saturating X-ray scale of described each normotopia and side position, described gauge point is the spherical member of X-ray opaque.
2. scale according to claim 1 is characterized in that, the spheric gauge point on the saturating X-ray scale of saturating X-ray scale of described each normotopia and side position all is distributed as two groups or more, and every group comprises four gauge points.
3. scale according to claim 1 and 2 is characterized in that, the saturating X-ray scale of described normotopia is provided with the normotopia aid mark of X-ray opaque, and the saturating X-ray scale in described side position is provided with the side position aid mark of X-ray opaque.
4. scale according to claim 3 is characterized in that, the saturating X-ray scale of saturating X-ray scale of described normotopia or side position is provided with the scale connecting rod, and described scale connecting rod is provided with the quick connecting interface that links to each other with the orthopaedics navigating robot.
5. scale according to claim 4 is characterized in that, the spherical member of described X-ray opaque is a Metal Ball.
6. scale according to claim 5 is characterized in that, described Metal Ball is steel ball or copper ball.
7. scale according to claim 4 is characterized in that, the gauge point on the saturating X-ray scale of the described normotopia that is arranged side by side is upper in the homonymy or the both sides of suffering from limb at positive bit plane; Gauge point on the saturating X-ray scale in the described side position that is arranged side by side is positioned at the homonymy or the both sides of suffering from limb on the side bit plane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011200807421U CN202069692U (en) | 2011-03-24 | 2011-03-24 | Three-dimensional coordinate positioning scale based on X-ray image |
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| CN2011200807421U CN202069692U (en) | 2011-03-24 | 2011-03-24 | Three-dimensional coordinate positioning scale based on X-ray image |
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| CN104083217A (en) * | 2014-07-03 | 2014-10-08 | 北京天智航医疗科技股份有限公司 | Operation positioning device and method and robot operation system |
| CN104083216A (en) * | 2014-07-03 | 2014-10-08 | 北京天智航医疗科技股份有限公司 | Location ruler used in operation |
| CN105066916A (en) * | 2015-09-01 | 2015-11-18 | 北京天智航医疗科技股份有限公司 | Surgical robot system precision detection apparatus and method |
| CN105447861A (en) * | 2015-11-18 | 2016-03-30 | 青岛大学 | Rectangular coordinate system positioning method aiming at medical section image structure |
| CN107049488A (en) * | 2017-05-27 | 2017-08-18 | 北京航空航天大学 | A kind of monoplane location of operation method and model |
| CN107320118A (en) * | 2017-06-26 | 2017-11-07 | 南京普爱医疗设备股份有限公司 | A kind of method and system for calculating carbon nanometer C-arm three-dimensional image space information |
| WO2017219206A1 (en) * | 2016-06-20 | 2017-12-28 | 深圳市鑫君特智能医疗器械有限公司 | Surgical positioning device |
| CN111700682A (en) * | 2020-06-30 | 2020-09-25 | 苏州大学 | Normal coincidence registration system |
| CN112932665A (en) * | 2021-01-27 | 2021-06-11 | 南京逸动智能科技有限责任公司 | A two position operation positioning scaleplates for X-ray imaging |
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- 2011-03-24 CN CN2011200807421U patent/CN202069692U/en not_active Expired - Lifetime
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| CN104083216A (en) * | 2014-07-03 | 2014-10-08 | 北京天智航医疗科技股份有限公司 | Location ruler used in operation |
| CN104083216B (en) * | 2014-07-03 | 2016-04-20 | 北京天智航医疗科技股份有限公司 | Location of operation scale |
| CN104083217A (en) * | 2014-07-03 | 2014-10-08 | 北京天智航医疗科技股份有限公司 | Operation positioning device and method and robot operation system |
| CN105066916A (en) * | 2015-09-01 | 2015-11-18 | 北京天智航医疗科技股份有限公司 | Surgical robot system precision detection apparatus and method |
| CN105066916B (en) * | 2015-09-01 | 2017-06-16 | 北京天智航医疗科技股份有限公司 | A kind of surgical robot system accuracy detecting device and method |
| CN105447861A (en) * | 2015-11-18 | 2016-03-30 | 青岛大学 | Rectangular coordinate system positioning method aiming at medical section image structure |
| WO2017219206A1 (en) * | 2016-06-20 | 2017-12-28 | 深圳市鑫君特智能医疗器械有限公司 | Surgical positioning device |
| CN107049488A (en) * | 2017-05-27 | 2017-08-18 | 北京航空航天大学 | A kind of monoplane location of operation method and model |
| CN107049488B (en) * | 2017-05-27 | 2022-01-07 | 北京航空航天大学 | Single-plane operation positioning method and model |
| CN107320118A (en) * | 2017-06-26 | 2017-11-07 | 南京普爱医疗设备股份有限公司 | A kind of method and system for calculating carbon nanometer C-arm three-dimensional image space information |
| CN107320118B (en) * | 2017-06-26 | 2020-05-12 | 南京普爱医疗设备股份有限公司 | Method and system for calculating three-dimensional image space information of carbon nano C-shaped arm |
| CN111700682A (en) * | 2020-06-30 | 2020-09-25 | 苏州大学 | Normal coincidence registration system |
| CN112932665A (en) * | 2021-01-27 | 2021-06-11 | 南京逸动智能科技有限责任公司 | A two position operation positioning scaleplates for X-ray imaging |
| CN112932665B (en) * | 2021-01-27 | 2022-02-25 | 南京逸动智能科技有限责任公司 | A two position operation positioning scaleplates for X-ray imaging |
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