CN208031283U - A kind of operation guiding system - Google Patents
A kind of operation guiding system Download PDFInfo
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- CN208031283U CN208031283U CN201720313986.7U CN201720313986U CN208031283U CN 208031283 U CN208031283 U CN 208031283U CN 201720313986 U CN201720313986 U CN 201720313986U CN 208031283 U CN208031283 U CN 208031283U
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Abstract
The utility model discloses a kind of operation guiding systems, including：3-D view generating apparatus, by illness data, and the illness data conversion is at 3 d image data；Space positioning apparatus carries out space orientation, and the space orientation is generated spatial data；Data processing terminal receives 3 d image data and spatial data, and the calculating for carrying out three dimensional space coordinate is demarcated；Optical profile type device to be shown, receive three dimensions coordinate data and dummy model after, dummy model merge with patient body position by augmented reality, is mapped on its display screen, assist progress surgical navigational.The utility model utilizes iconic model data, and doctor can be helped to select best operation pathway, improve positioning accuracy, reduces surgical injury, reduces and damaged to adjacent tissue, to improve the success rate of operation.
Description
Technical field
The utility model is related to medical instruments field, more precisely a kind of operation guiding system.
Background technology
In this industry of medical treatment & health, simple and crude, resource scarcity, medical level region gap, the profession of traditional equipment
Shortcoming of the talent etc. is all to cause situation tried out at present, and promote the two-sided shield of New technical use.
In traditional operation navigation with intrtqoperative care, interventional treatment be in the course of surgery carry out fluoroscopy, ultrasound,
Under MRI, positioned under the guiding of image.
Place one's entire reliance upon the experience and skill of doctor which results in therapeutic process, causes the unstability of surgical effect.
Simultaneously as the technologies such as fluoroscopy and MRI, rely on or partly depend on x-ray bombardment, image generates during guiding
A large amount of radiation can cause different degrees of secondary injury to doctor and sufferer.
Utility model content
The purpose of this utility model is to provide a kind of operation guiding system, can solve in the prior art above-mentioned scarce
Point.
The utility model uses following technical scheme：
A kind of operation guiding system, including：
One three-dimensional virtual image generating means are used for the illness data conversion by patient into dummy model
One space positioning apparatus is used to carry out space orientation, and the space orientation is generated spatial data；
One data processing terminal, data processing terminal connect with three-dimensional virtual image generating means and space positioning apparatus respectively
It connects, is used to receive the dummy model of three-dimensional virtual image generating means and the spatial data of space positioning apparatus, it will be into
The calculating calibration of row three dimensional space coordinate generates the coordinate data of three dimensions；
One optical profile type headband display, optical profile type headband display connect with data processing terminal, are used to receive three-dimensional
After the coordinate data and dummy model in space, by augmented reality by dummy model and patient body data fusion, map
On its display screen, auxiliary carries out surgical navigational.
Space positioning apparatus includes that infrared ray space positioning apparatus, X-ray space positioning apparatus and surgical navigational image are known
Other device.
Infrared ray space positioning apparatus includes infrared detector, and X-ray space positioning apparatus includes X-ray bulb, infrared
Detector is set to the front of operating bed, and X-ray bulb is two and is located at two side position of rear portion of the operating bed, and institute
The both sides for stating operating bed front further respectively have a non-crystalline silicon imaging panel, and the non-crystalline silicon imaging panel, which receives, to be in diagonally
The X-ray of X-ray bulb.
The both sides of the operating bed are respectively equipped with motion guide rail, and described two X-ray bulbs are individually fixed in operating bed two
On the motion guide rail of side.
The infrared detector includes pyroelectric sensor, and pyroelectric sensor connects a filtering and amplifying circuit, and described
Filtering and amplifying circuit connects a voltage comparator, and the voltage comparator connects one drive circuit, by the driving circuit into
Row signal exports.
The surgical navigational pattern recognition device includes filter circuit, A/D and D/A conversion circuits, modulation-demodulation circuit, volume
Decoder, memory, central processing unit, display screen, 3D optical modules and driving circuit, the filter circuit are connected to the A/
D and D/A conversion circuits, A/D the and D/A conversion circuits are connected to the modulation-demodulation circuit, and the modulation-demodulation circuit connects
Be connected to codec, the codec is connected to the central processing unit, the central processing unit respectively with the memory
It is connected with the display screen, the display screen is connected to 3D optical modules, and the 3D optical modules are connected to the driving circuit；
The driving circuit includes light valve drive control circuit and light valve drive circuit, and light valve drive control circuit includes a FPGA, and
The light valve drive circuit includes several driving submodules, and the display screen is liquid crystal display, the driving submodule and liquid
Liquid crystal light valve in crystal display screen corresponds, and corresponding liquid crystal light valve is operated alone in any one driving submodule.
The utility model has the advantages that：It need not be in the case where intervening environment by the surgical navigational for accurate assistance platform of performing the operation, it will
The threedimensional model of computer disposal carries out position matching with actual operation, by computer augmented reality (AR) so that doctor
The existing real image of image seen, and have the 3-D graphic being superimposed.Doctor is guided by real-time and precise location technology simultaneously
According to the operation plan that pre-operative simulation is formulated, including surgical procedure, the position of feed, angle etc. completes to perform the operation.This practicality
It is novel to utilize iconic model data, doctor can be helped to select best operation pathway, improve positioning accuracy, reduction surgical injury,
It reduces and adjacent tissue is damaged, to improve the success rate of operation.
Description of the drawings
The utility model is described in detail with reference to embodiment and attached drawing, wherein：
Fig. 1 is the operation guiding system block diagram of the utility model.
Fig. 2 is the structural schematic diagram of the space positioning apparatus of the utility model.
Fig. 3 is the circuit module figure of the infrared detector of the utility model.
Fig. 4 is the circuit diagram in Fig. 3.
Fig. 5 is the circuit diagram of the surgical navigational pattern recognition device of the utility model.
Fig. 6 is the circuit diagram of the driving circuit in Fig. 5.
Fig. 7 is the circuit diagram of the half-bridge driver in Fig. 6.
Specific implementation mode
Specific embodiment of the present utility model is expanded on further below in conjunction with the accompanying drawings：
As shown in Figure 1, the invention also discloses a kind of operation guiding systems, including：
One three-dimensional virtual image generating means 100 are used for the illness data conversion by patient into dummy model
One space positioning apparatus 200 is used to carry out space orientation, and the space orientation is generated spatial data；
One data processing terminal 300, data processing terminal are filled with three-dimensional virtual image generating means and space orientation respectively
Connection is set, is used to receive the dummy model of three-dimensional virtual image generating means and the spatial data of space positioning apparatus,
The calculating calibration for carrying out three dimensional space coordinate is generated to the coordinate data of three dimensions；
One optical profile type headband display 400, optical profile type headband display are connect with data processing terminal, are used for reception three
After the coordinate data and dummy model of dimension space, by augmented reality by dummy model and patient body data fusion, reflect
It penetrates on its display screen, auxiliary carries out surgical navigational.
Space positioning apparatus includes that infrared ray space positioning apparatus, X-ray space positioning apparatus and surgical navigational image are known
Other device.
Infrared ray space positioning apparatus includes infrared detector 1, and X-ray space positioning apparatus includes X-ray bulb 4,5,
Infrared detector 1 is set to the front of operating bed 3, and X-ray bulb 4,5 is two and is located at the rear portion two of the operating bed 3
Side position, and the both sides of 3 front of the operating bed further respectively have a non-crystalline silicon imaging panel 2,6, the non-crystalline silicon imaging surface
Plate 2 receives the X-ray in diagonal X-ray bulb 5, and another non-crystalline silicon imaging panel 6, which receives, is in diagonal X-ray bulb
4 X-ray.
The both sides of the operating bed 3 are respectively equipped with motion guide rail, and described two X-ray bulbs 4,5 are individually fixed in operation
On the motion guide rail of bed both sides.
Double radioscopic images in the utility model can carry out acquisition constantly, and the time for acquiring image is short, based on red
The infrared markers to being placed on the patient's body surface when the locating and tracking system of diamond ring can be automatically real-time click through the detection that line position is set
Tracking detects for put positioning and the position of patient and provides accurate reference, and the combination of x-ray system and infrared system can be right
Move the real time dynamic tracing of target area.
As shown in Figure 2,3, 4, the infrared detector includes pyroelectric sensor, one amplification filter of pyroelectric sensor connection
Wave circuit, and the filtering and amplifying circuit connects a voltage comparator, the voltage comparator connects one drive circuit, passes through institute
It states driving circuit and carries out signal output.One temperature-compensation circuit is connect with the filtering and amplifying circuit.One reference voltage source and institute
State voltage comparator connection.Pyroelectric sensor includes IC, and the IC is human body pyroelectricity infrared sensor, model
P2288.A lens are equipped on the outside of the IC, and the lens are Fresnel Lenses., A1, A2, A3, A4 select μ A741 type collection
At operational amplifier, D1, D2, D3 select 4148 type diodes, BG1 that 9013 type transistors, LED is selected to select luminous two
Pole pipe, supply voltage 15V, pyroelectric sensor sense the variation of the infrared signal of human body radiation and are transformed into voltage
Signal, and then be sent into subsequent amplification circuitry and be amplified.Since PIR detects that the human body infrared rear inductive signal generated is very micro-
It is weak, A1, A2 two-stage amplifying circuit are provided in circuit diagram, and A1, A2 are also high low-pass filtering amplifying circuit, with filtering circuit
In clutter composition, avoid interfering, it is to avoid malfunctioning to inhibit to interfere that many shunt capacitances are in addition arranged in circuit also.
In order to make a response in time after so that subsequent conditioning circuit is entered detection zone to human body, it is provided with a upper and lower limit in circuit diagram and compares
Circuit.When human body infrared be not detected, since the 6 foot level of the level ratio A3 of amplifying circuit output are low, and than the 2 of A4
Foot level is high, therefore A3, A4 output are all low level, and D1 is turned off with D2, and circuit is disconnected with subsequent conditioning circuit.When human body infrared
When being detected, if signal is located at negative half period, upper and lower limit comparator output level is just equal, i.e. 7 feet export low level, and 1 foot is defeated
Go out high level, D1 cut-offs, D2 conductings；If signal is located at positive half cycle, 3 foot level are higher than level 3.26V, comparison voltage added by 2 feet
Lower limit comparator exports low level, D2 cut-offs by 1 foot, and 6 foot level are less than 5 foot level, and upper limit comparator exports high level, D1
Conducting；The high level exported after D1 or D2 conductings makes the triode saturation conduction of subsequent conditioning circuit, to control drive circuit works.
The utility model can realize the real-time acquisition of therapeutic process radioscopic image, and the time for acquiring image is shorter：Base
Position detection is carried out in the infrared markers point to being placed on the patient's body surface that infrared locating and tracking system can be named in fact automatically to chase after
Track puts position positioning for patient and position monitoring provides accurate reference, and the combination of x-ray system and infrared system can be realized pair
The constantly tracking of target area.
As shown in Fig. 6,7,5, the surgical navigational pattern recognition device includes filter circuit 12, A/D and D/A conversion circuits
13, modulation-demodulation circuit 14, codec 15, memory 16, central processing unit 17, display screen 19,3D optical modules 20 and drive
Dynamic circuit 21, the filter circuit 12 are connected to A/D the and D/A conversion circuits 13, A/D the and D/A conversion circuits 13 connect
It is connected to the modulation-demodulation circuit 14, the modulation-demodulation circuit 14 is connected to codec 15, and the codec 15 connects
To the central processing unit 17, the central processing unit 17 is connect with the memory 16 and the display screen 19 respectively, described
Display screen 19 is connected to 3D optical modules 20, and the 3D optical modules 20 are connected to the driving circuit 21.
Memory 16 is SDRAM (Synchronous Dynamic Random Access Memory, synchronous dynamic random
Memory, it refers to memory need of work synchronised clock to synchronize, and the transmission of internal order and the transmission of data are all on the basis of it；
Dynamic refers to that storage array needs continuous refresh to ensure that data are not lost；Random refer to data is not linearly to store successively,
But address is freely specified to carry out reading and writing data)；Codec 15 is PCM codec (pulse code modulation (Pulse Code
Modulation,PCM))。
During receiving signal, filtered circuit 12 retains its flip-flop, and output voltage ripple coefficient is made to drop
It is low, analog quantity is then converted into corresponding digital quantity using A/D and D/A conversion circuits 13 and is transmitted, then passes through modulatedemodulate
It adjusts circuit 14 to remove noise, obtains useful signal, signal is sent into central processing unit 17 after the decoding of codec 15 again and is carried out
Processing, Peripheral storage part use memory 16.Since the data volume of 3D information is very big, so using memory 16 to reality simultaneously
When the data transmitted stored.Word, image and the video information handled through central processing unit 17 is shown to display screen 19.It is aobvious
Prefix type 3D optical elements 20 are used in display screen 19, by driving circuit 21 drive 3D optical elements 20 can bore hole watch 3D to scheme
Picture and video information.Conversion between being shown using control achievable the bore hole 3D and 2D to driving circuit 21.
Driving circuit 21 can be very good to realize the driving of display screen 19, while the phenomenon that eliminate flicker, the optics
After formula head-mounted display receives coordinate data and the dummy model of three dimensions, image is generated by video generation device and carries out sky
Between position, dummy model is merged by augmented reality with patient body position then, is mapped on its display screen 19, it is auxiliary
Help carry out surgical navigational.
The driving circuit of the utility model is made of light valve drive control module and light valve drive module, drive control mould
The core of block is field programmable gate array (FPGA), which is to be driven with light valve common to light valve drive control and temperature control
Module is connected by flexible flat cable (FFC).Light valve drive module is formed in parallel by 20 identical submodules, each
One layer of liquid crystal light valve can be operated alone in little module.20 submodules share a high pressure and ground, are substantially 20 H bridges
It is in parallel.The submodule include two photoelectrical couplers, two half-bridge drivers, a NAND gate, NMOS tube 1, NMOS tube 2,
NMOS tube 3, NMOS tube 4, NMOS tube 1 and 3 one end of NMOS tube are connect with power supply, and the other end of NMOS tube 1 and NMOS tube 3 connects respectively
It connects NMOS tube 2 and NMOS tube 4 is grounded, the other end ground connection of NMOS tube 2 and NMOS tube 4, a liquid crystal display both ends are connected to
Between NMOS tube 1 and NMOS tube 2 and between NMOS tube 3 and NMOS tube 4.
The model EP1C3T144C88 of FPGA.The half-bridge driver drives half bridge arm, two metal-oxide-semiconductors up and down simultaneously, and
Half-bridge driver is IR2104.HO and LO outputs are just related with IN when only SD is high:HO is identical as IN, LO and IN reverse phases.Liquid
When brilliant light valve positive charge, Q 1 and Q4 is closed at this time, and Q2 and Q3 are opened；When discharging for liquid crystal light valve forward direction, Q 1 is by closing at this time
It closes to become and open, while Q2 is closed by opening to become, liquid crystal light valve two-terminal-grounding discharges over the ground；When light valve reverse charging, at this time Q2 and
Q3 is closed, and Q1 and Q4 are opened；When back discharge process, Q3 is opened by being closed to become at this time, while Q4 is closed by opening to become, liquid crystal light
Valve two-terminal-grounding, discharges over the ground.The effect of NAND gate is that Q 1, Q3 are opened simultaneously and damaged to liquid crystal light valve in order to prevent, is led to
It crosses and NOT-AND operation is carried out to IN 1 and 2 signals of IN, and result is exported to SD；When IN 1 and IN 2 are high, the both ends SD are
Low, Q 1-Q 4 are fully open, keep circuit more safe and reliable.
During sending signal, the information sent is needed to be encoded to codec 15 by central processing unit 17
Digital quantity is converted into corresponding analog quantity into A/D and D/A conversion circuits 13 afterwards.
The operation plan for guiding doctor to be formulated according to pre-operative simulation by real-time and precise location technology (including was performed the operation
Journey, the position of feed, angle etc.) it completes to perform the operation.
The utility model utilizes iconic model data, and doctor can be helped to select best operation pathway, improve positioning accuracy,
Reduce surgical injury, reduce and adjacent tissue is damaged, to improve the success rate of operation.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model
Protection domain within.
Claims (6)
1. a kind of operation guiding system, which is characterized in that including：
One three-dimensional virtual image generating means are used for the illness data conversion by patient into dummy model
One space positioning apparatus is used to carry out space orientation, and the space orientation is generated spatial data；
One data processing terminal, data processing terminal are connect with three-dimensional virtual image generating means and space positioning apparatus respectively,
It is used to receive the spatial data of the dummy model of three-dimensional virtual image generating means and space positioning apparatus, will carry out three
The calculating calibration of dimension space coordinate generates the coordinate data of three dimensions；
One optical profile type headband display, optical profile type headband display connect with data processing terminal, are used to receive three dimensions
Coordinate data and dummy model after, by augmented reality by dummy model and patient body data fusion, be mapped in it
On display screen, auxiliary carries out surgical navigational.
2. operation guiding system according to claim 1, which is characterized in that space positioning apparatus includes that infrared space of lines is fixed
Position device, X-ray space positioning apparatus and surgical navigational pattern recognition device.
3. operation guiding system according to claim 2, which is characterized in that red outside line space positioning apparatus includes infrared
Detector, X-ray space positioning apparatus include X-ray bulb, and infrared detector is set to the front of operating bed, and X-ray bulb is
Two and it is located at two side position of rear portion of the operating bed, and the both sides of the operating bed front further respectively have an amorphous
Silicon imaging panel, the non-crystalline silicon imaging panel receive the X-ray in diagonal X-ray bulb.
4. operation guiding system according to claim 3, which is characterized in that the both sides of the operating bed are respectively equipped with movement
Guide rail, described two X-ray bulbs are individually fixed on the motion guide rail of operating bed both sides.
5. operation guiding system according to claim 4, which is characterized in that the infrared detector includes pyroelectricity sensing
Device, pyroelectric sensor connects a filtering and amplifying circuit, and the filtering and amplifying circuit connects a voltage comparator, the voltage
Comparator connects one drive circuit, and signal output is carried out by the driving circuit.
6. operation guiding system according to claim 5, which is characterized in that the surgical navigational pattern recognition device includes
Filter circuit, A/D and D/A conversion circuits, modulation-demodulation circuit, codec, memory, central processing unit, display screen, 3D light
It learns component and driving circuit, the filter circuit is connected to A/D the and D/A conversion circuits, A/D the and D/A conversion circuits
It is connected to the modulation-demodulation circuit, the modulation-demodulation circuit is connected to codec, and the codec is connected to described
Central processing unit, the central processing unit are connect with the memory and the display screen respectively, and the display screen is connected to 3D
Optical module, the 3D optical modules are connected to the driving circuit；The driving circuit include light valve drive control circuit and
Light valve drive circuit, light valve drive control circuit includes a FPGA, and the light valve drive circuit includes several driving submodules,
The display screen is liquid crystal display, and the driving submodule is corresponded with the liquid crystal light valve in liquid crystal display, and arbitrary
Corresponding liquid crystal light valve is operated alone in one driving submodule.
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| CN201720313986.7U CN208031283U (en) | 2017-03-29 | 2017-03-29 | A kind of operation guiding system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109410680A (en) * | 2018-11-19 | 2019-03-01 | 叶哲伟 | A kind of virtual operation training method and system based on mixed reality |
| CN111193830A (en) * | 2019-12-03 | 2020-05-22 | 天津大学 | Portable augmented reality medical image observation auxiliary assembly based on smart phone |
| CN112168348A (en) * | 2019-07-03 | 2021-01-05 | 钜旺生技股份有限公司 | Positioning and navigation system for operation and operation method thereof |
-
2017
- 2017-03-29 CN CN201720313986.7U patent/CN208031283U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109410680A (en) * | 2018-11-19 | 2019-03-01 | 叶哲伟 | A kind of virtual operation training method and system based on mixed reality |
| CN112168348A (en) * | 2019-07-03 | 2021-01-05 | 钜旺生技股份有限公司 | Positioning and navigation system for operation and operation method thereof |
| US12053243B2 (en) | 2019-07-03 | 2024-08-06 | Neucen Biomed Co., Ltd. | Positioning and navigation system for surgery and operating method thereof |
| CN111193830A (en) * | 2019-12-03 | 2020-05-22 | 天津大学 | Portable augmented reality medical image observation auxiliary assembly based on smart phone |
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