CN210301153U - Target point positioning navigation system - Google Patents
Target point positioning navigation system Download PDFInfo
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- CN210301153U CN210301153U CN201920313133.2U CN201920313133U CN210301153U CN 210301153 U CN210301153 U CN 210301153U CN 201920313133 U CN201920313133 U CN 201920313133U CN 210301153 U CN210301153 U CN 210301153U
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Abstract
The utility model relates to the technical field of navigation, in particular to a target point positioning navigation system, which comprises a probing device, a positioning device and a navigation control device, wherein the navigation control device comprises a first marker and a processing device, the positioning device comprises a detection device and a second marker arranged on the detection device, the detection device is contacted with a basic object, the processing device is used for determining the relative position relation between the target point and the second marker in the basic object, determining the relative position relation between the target point and the first marker through the relative position relation between the first marker and the second marker, the probing device comprises a probing rod assembly and a third marker arranged on the probing rod assembly, and determining the relative position relation between the target point and the third marker through the relative position relation between the first marker and the third marker so as to control the probing rod assembly to reach the target point. Reduce the pollution to the puncture body and nearby area, avoid the problem that the marker shelters from each other on detecting equipment and the probe rod subassembly.
Description
Technical Field
The utility model relates to a location navigation technical field especially relates to a target point location navigation.
Background
In the current B-ultrasound based non-mechanical puncture navigation, there are two main categories of technologies, one is electromagnetic based navigation and the other is optical based navigation.
The main principle of the existing optical-based navigation is that a group of binocular stereoscopic vision cameras are placed in a puncture operation space, and meanwhile, reflecting mark small balls are arranged on a B-ultrasonic probe and a puncture instrument and can reflect incident light along the incident direction and are irrelevant to the incident angle. The binocular camera is provided with a near-infrared light supplementing device, emits infrared light, illuminates the reflective marker pellets, identifies the spatial position of the reflective marker pellets through the binocular camera, and calculates the relative spatial relationship between the B-ultrasonic probe and the puncture instrument, so that the position of the puncture instrument is marked in the B-ultrasonic image, and the navigation function is realized.
In the process of puncture, the puncture area needs to be disinfected to ensure sterility, and the existing B-ultrasonic puncture system needs to wrap a probe with a sterile belt, so that the ultrasonic exploration effect is greatly reduced, and meanwhile, the risk of polluting the operation area is greatly increased. Based on the navigation of optics, the two mesh cameras shoot B ultrasonic handle and puncture apparatus from higher position, because the optical mode that adopts, the camera must be able to shoot all reflection mark bobbles on B ultrasonic handle and the puncture apparatus simultaneously, do not allow the emergence of any sheltering from, this requires the puncture operation in-process, the doctor is to reserve the space for the shooting of camera all the time, in case the doctor has sheltered from the camera at arm or other health parts in the operation process, can lose position information so immediately, the degree of freedom that the doctor operated has been restricted. The existing light-reflecting marking small ball is of a spherical structure with a blind hole and needs to be assembled on the surface of the puncture instrument, the spatial position of the puncture instrument is marked by at least more than 3 light-reflecting marking small balls which are not on the same straight line, so that the puncture instrument needs to have a large enough volume to assemble the light-reflecting marking small ball, meanwhile, the puncture instrument needs to have a thick enough diameter, the puncture instrument cannot rotate freely in the using process, otherwise, shielding can be generated under certain angles, and partial operation methods of doctors are limited. The binocular camera simultaneously positions the B-ultrasonic handle and the puncture instrument, and after the small reflective marker balls fixed on the B-ultrasonic handle and the puncture instrument are shot, the B-ultrasonic handle and the puncture instrument need to be distinguished by a complex method, and the calculation is complex. The more complex system architecture also drives up the cost of the system.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
The to-be-solved technical problem of the utility model is that the marker of visiting into the device on the navigation of current location shelters from each other easily, leads to the location inaccuracy, problem that the operation is complicated and takes time.
(II) technical scheme
In order to solve the above technical problem, the present invention provides a target point positioning navigation system, which includes a probing device, a positioning device and a navigation control device, wherein the navigation control device includes a first marker and a processing device, the positioning device includes a detection device and a second marker disposed on the detection device, the detection device contacts with a base object for determining a relative position relationship between a target point and the second marker in the base object, the processing device determines a relative position relationship between the target point and the first marker through the relative position relationship between the first marker and the second marker, the probing device includes a probing rod assembly and a third marker disposed on the probing rod assembly, the processing device determines a relative position relationship between the target point and the third marker through the relative position relationship between the first marker and the third marker, to control the probe assembly to reach the target point.
The probe rod assembly comprises a sleeve and a probe, the sleeve is sleeved on the outer side of the probe, and the third marker is arranged on the sleeve.
The binocular stereoscopic vision camera comprises a binocular stereoscopic vision camera body, the shooting range of the binocular stereoscopic vision camera body is an operation area, the operation area comprises a probing area and a non-probing area, the navigation control device is arranged in the non-probing area, and the probing area is used for setting the basic object.
The processing device is a host, and a display device used for displaying the three-dimensional image of the basic object is arranged on the host.
Wherein, the detection equipment is a B-ultrasonic probe.
Wherein the first, second and third markers are all optical localization markers.
Wherein, the optical positioning marker is a reflective marker ball.
(III) advantageous effects
The above technical scheme of the utility model has following advantage: the utility model discloses a target point location navigation, the second marker is fixed on the detection equipment, to the target point in the basic object that can't directly observe by the external world, through the contact of detection equipment and basic object, confirm the position of target point, thereby calculate the spatial position of target point for the second marker, processing apparatus calculates the spatial position of target point for first marker through the relative spatial position of first marker and second marker, the third marker is fixed in on the probe rod subassembly, the probe rod subassembly can visit inside the basic object, processing apparatus calculates the spatial position of target point for the third marker through the spatial position of first marker and third marker, use this to accomplish the task of visiting the arrival target point for the navigation of probe rod subassembly. The utility model discloses after positioner fixes a position the target point, again to required basic object and near regional disinfection, the operation of reacing the target point is visited at last, on the one hand, make positioner need not to wrap up in and attach aseptic bag, the positioner ultrasonic localization operation of being convenient for, when guaranteeing detection equipment's detection effect, be favorable to reducing the pollution to basic object and near region, through setting up three marker, processing apparatus passes through the coordination between the three marker, the position of final definite target point guides in real time to the probe rod subassembly, all markers on also having avoided detection equipment and the probe rod subassembly problem that shelters from each other, reduce the degree of difficulty of target point location navigation, the accuracy nature of navigation system location navigation has been improved, easy operation is efficient.
In addition to the technical problems addressed by the present invention, the technical features of the constituent technical solutions, and the advantages brought by the technical features of these technical solutions, which are described above, other technical features of the present invention and the advantages brought by these technical features will be further explained with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of a positioning device in a target point positioning navigation system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a working process of a probe device in a target point positioning navigation system according to an embodiment of the present invention.
In the figure: 1: a first label; 2: a detection device; 3: a second label; 4: a probe rod assembly; 5: a third label; 6: a binocular stereoscopic vision camera; 7: an operating area; 8: a base object; 41: a sleeve; 42: a probe; 71: a probing area; 72: a non-probed area; 81: target point.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, unless otherwise specified, "plurality", and "plural" mean two or more, and "several", and "several groups" mean one or more.
Example one
As shown in fig. 1 and fig. 2, a target point positioning navigation system provided by a first embodiment of the present invention includes a probing device, a positioning device and a navigation control device, the navigation control device includes a first marker 1 and a processing device, the positioning device includes a detecting device 2 and a second marker 3 disposed on the detecting device 2, the detecting device 2 contacts with the base object 8 for determining a relative position relationship between a target point 81 in the base object 8 and the second marker 3, the processing device determines a relative position relationship between the target point 81 and the first marker 1 according to the relative position relationship between the first marker 1 and the second marker 3, the probing device includes a probing rod assembly 4 and a third marker 5 disposed on the probing rod assembly 4, the processing device determines a relative position relationship between the target point 81 and the third marker 5 according to the relative position relationship between the first marker 1 and the third marker 5, to control the probe assembly 4 to pierce the target point 81.
The utility model discloses a target point location navigation, the second marker is fixed on the detection equipment, to the target point in the basic object that can't directly observe by the external world, through the contact of detection equipment and basic object, confirm the position of target point, thereby calculate the spatial position of target point for the second marker, processing apparatus calculates the spatial position of target point for first marker through the relative spatial position of first marker and second marker, the third marker is fixed in on the probe rod subassembly, the probe rod subassembly can visit inside the basic object, processing apparatus calculates the spatial position of target point for the third marker through the spatial position of first marker and third marker, use this to accomplish the task of visiting the arrival target point for the navigation of probe rod subassembly. The utility model discloses after positioner fixes a position the target point, again to required basic object and near regional disinfection, the operation of reacing the target point is visited at last, on the one hand, make positioner need not to wrap up in and attach aseptic bag, the positioner ultrasonic localization operation of being convenient for, when guaranteeing detection equipment's detection effect, be favorable to reducing the pollution to basic object and near region, through setting up three marker, processing apparatus passes through the coordination between the three marker, the position of final definite target point guides in real time to the probe rod subassembly, all markers on also having avoided detection equipment and the probe rod subassembly problem that shelters from each other, reduce the degree of difficulty of target point location navigation, the accuracy nature of navigation system location navigation has been improved, easy operation is efficient.
The probe assembly 4 includes a sleeve 41 and a probe 42, the sleeve 41 is sleeved outside the probe 42, and the third marker 5 is disposed on the sleeve 41. The angle of the probe rod assembly needs to be adjusted in the probing process, in order to solve the problem that the probe rod assembly freely rotates to shield the third marker in the using process, the probe rod assembly is designed into two parts, one part is a sleeve, the other part is a probe, the third marker is fixed on the sleeve, after the relative space position of the target point and the third marker is determined, the probing angle is determined by rotating the probe, and the probe inserting depth of the probe is calculated. The third marker is arranged on the sleeve, so that the third marker is guaranteed not to be shielded when the probe is rotated, and the operation method of an operator in the probing process is not limited.
Wherein, the utility model discloses target point location navigation still includes binocular stereoscopic vision camera 6, and the shooting scope of binocular stereoscopic vision camera 6 is operating region 7, and operating region 7 is including probing into district 71 and non-probing into district 72, and navigation control device sets up in non-probing into district 72, and probing into district 71 is used for setting up basic object 8. The area that binocular stereo camera can survey is the operation area, sets up into the district of exploring in the operation area, and the operation area outside the district of exploring is the non-district of exploring. In the existing optical navigation, when puncturing, the first marker is firstly fixed in a non-probing area, and the first marker is ensured not to be shielded from an operator in probing operation. After the positioning device determines the spatial position of the target point relative to the first marker, the probing area is disinfected and the base object is probed, so that the probing effect of the probing device is ensured, and the risk that the base object is polluted in the probing process is completely eliminated. The first marker is fixed in the non-probing area before operation and belongs to a non-interference position in the operation area, so that the shielding problem is avoided.
The processing device is a host, and a display device for displaying a three-dimensional image of the basic object 8 is arranged on the host. In this embodiment, the processing apparatus is a host, obtains the first marker, the second marker, the third marker, and the relevant position information of the target point, and forms navigation for the approach process through calculation processing, and the display device on the host displays navigation content in the form of a three-dimensional image. The operator can observe in real time through the display device during the probing operation.
The first marker 1, the second marker 3 and the third marker 5 are all optical positioning markers. Wherein, the optical positioning marker is a reflective marker ball. The reflecting mark ball is a spherical structure with blind holes, a probe or a surface of detection equipment needs to be assembled, and the space positions of the probing device and the positioning device are marked by at least more than 3 reflecting mark balls which are not on the same straight line. The small reflective marker balls can reflect incident light along the incident direction and are irrelevant to the incident angle, the binocular camera is provided with the near-infrared light supplementing device, infrared light is emitted to illuminate the small reflective marker balls, and the spatial positions of the small reflective marker balls are identified through the binocular camera.
The embodiment of the utility model provides a still provide target point location navigation method, including following step:
s1, acquiring a first relative position relation between a target point in the basic object and a second marker on the detection device, and a second relative position relation between the first marker and the second marker;
s2, calculating a third relative position relation between the target point and the first marker according to the first relative position relation and the second relative position relation;
s3, the probe rod assembly is inserted into the base object;
s4, acquiring a fourth relative position relation between the first marker and a third marker on the probe rod assembly;
and S5, calculating a fifth relative position relation between the target point and the third marker according to the fourth relative position relation and the third relative position relation, and navigating the probe assembly according to the fifth relative position relation.
Wherein, the following steps are also included between step S2 and step S3:
and S23, cleaning the access area where the basic object is located.
In this embodiment, the calculation of the relative position relationship may adopt a calculation method such as position relationship conversion under a space coordinate system, which belongs to a conventional technical means that is easily obtained by a person skilled in the art and is not described herein again. The embodiment can be applied to the determination work of the position of the non-visual point or the outline of the non-visual area in the space object in the early stage of 3D printing work.
Example two
The embodiment of the utility model provides a second when target point location navigation is applied to medical instrument's B ultrasonic location puncture system, the detection equipment can adopt the B ultrasonic probe, and the probe rod is the pjncture needle, and basic object is for being punctured the body, and the target point is for being punctured internal puncture point. The second marker is fixed on the B-ultrasonic probe, the B-ultrasonic probe is used for determining the puncture point in the body to be punctured, so that the spatial position of the puncture point relative to the second marker is calculated, the processing device is used for calculating the spatial position of the puncture point relative to the first marker through the relative spatial positions of the first marker and the second marker, the third marker is fixed on the sleeve outside the puncture needle, and the processing device is used for calculating the spatial position of the puncture point relative to the third marker through the spatial positions of the first marker and the third marker, so that the puncture process is completed through the puncture needle navigation. The utility model discloses after the B ultrasonic probe location puncture point, again to required puncture body and near regional disinfection, puncture the operation at last, on the one hand make the B ultrasonic probe need not to wrap up in and attach aseptic bag, be convenient for supersound location operation, guarantee the ultrasonic scanning effect of B ultrasonic probe, simultaneously in order to do benefit to the reduction to puncture body and near regional pollution, through setting up three marker, processing apparatus passes through coordination between the three marker, the position of final definite puncture point carries out the in good time guide puncture, all the markers problem of sheltering from each other on also having avoided B ultrasonic probe and the puncture ware, reduce the degree of difficulty of B ultrasonic puncture, the accuracy nature of navigation system location navigation has been improved, and the operation is simple and efficient.
The embodiment of the utility model provides a second still provides B ultrasonic location puncture navigation method, including following step:
s1, acquiring a first relative position relation between a puncture point in the punctured body and a second marker on the B-ultrasonic probe, and a second relative position relation between the first marker and the second marker;
s2, calculating a third relative position relation between the target point and the first marker according to the first relative position relation and the second relative position relation;
s3, inserting the probe into the base object;
s4, acquiring a fourth relative position relation between the first marker and a third marker on the sleeve outside the probe;
and S5, calculating a fifth relative position relation between the target point and the third marker according to the fourth relative position relation and the third relative position relation, and navigating the probe according to the fifth relative position relation.
Wherein, the following steps are also included between step S2 and step S3:
and S23, cleaning the access area where the punctured body is located.
In this embodiment, the calculation of the relative position relationship may adopt a calculation method such as position relationship conversion under a space coordinate system, which belongs to a conventional technical means that is easily obtained by a person skilled in the art and is not described herein again.
To sum up, the utility model discloses a target point location navigation, the second marker is fixed on the detection equipment, to the target point in the basic object that can't directly observe by the external world, through the contact of detection equipment and basic object, confirm the position of target point, thereby calculate the spatial position of target point for the second marker, processing apparatus calculates the spatial position of target point for first marker through the relative spatial position of first marker and second marker, the third marker is fixed in on the probe rod subassembly, inside the probe rod subassembly can visit the basic object, processing apparatus calculates the spatial position of target point for the third marker through the spatial position of first marker and third marker, with this accomplish the task of visiting the arrival target point for the navigation of probe rod subassembly. The utility model discloses after positioner fixes a position the target point, again to required basic object and near regional disinfection, the operation of reacing the target point is visited at last, on the one hand, make positioner need not to wrap up in and attach aseptic bag, the positioner ultrasonic localization operation of being convenient for, when guaranteeing detection equipment's detection effect, be favorable to reducing the pollution to basic object and near region, through setting up three marker, processing apparatus passes through the coordination between the three marker, the position of final definite target point guides in real time to the probe rod subassembly, all markers on also having avoided detection equipment and the probe rod subassembly problem that shelters from each other, reduce the degree of difficulty of target point location navigation, the accuracy nature of navigation system location navigation has been improved, easy operation is efficient.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (7)
1. A target point location guidance system, comprising: comprises a probe device, a positioning device and a navigation control device, wherein the navigation control device comprises a first marker and a processing device, the positioning device comprises a detection device and a second marker arranged on the detection device, the detection device is contacted with the basic object, for determining the relative positional relationship between the target point and the second marker in the base object, the processing device determining the relative positional relationship between the target point and the first marker from the relative positional relationship between the first marker and the second marker, the processing device determines the relative position relationship between the target point and the third marker according to the relative position relationship between the first marker and the third marker so as to control the probe assembly to reach the target point.
2. The target point location guidance system according to claim 1, characterized in that: the probe rod assembly comprises a sleeve and a probe, the sleeve is sleeved on the outer side of the probe, and the third marker is arranged on the sleeve.
3. The target point location guidance system according to claim 1, characterized in that: still include binocular stereo vision camera, the shooting scope of binocular stereo vision camera is the operating region, the operating region is including probing into district and non-probing into district, navigation control device set up in the non-probing into district, probing into the district and being used for setting up basic object.
4. The target point location guidance system according to claim 1, characterized in that: the processing device is a host, and a display device used for displaying the three-dimensional image of the basic object is arranged on the host.
5. The target point location guidance system according to claim 1, characterized in that: the detection equipment is a B-ultrasonic probe.
6. The target point location guidance system according to claim 1, characterized in that: the first, second and third markers are all optical localization markers.
7. The target point location guidance system according to claim 6, characterized in that: the optical positioning marker is a reflective marker ball.
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| CN201920313133.2U CN210301153U (en) | 2019-03-13 | 2019-03-13 | Target point positioning navigation system |
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| CN201920313133.2U CN210301153U (en) | 2019-03-13 | 2019-03-13 | Target point positioning navigation system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109938809A (en) * | 2019-03-13 | 2019-06-28 | 付立功 | A kind of object location navigation system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109938809A (en) * | 2019-03-13 | 2019-06-28 | 付立功 | A kind of object location navigation system and method |
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