CN212853620U - Positioning device for acquiring position of light source point of X-ray equipment and surgical navigation system - Google Patents
Positioning device for acquiring position of light source point of X-ray equipment and surgical navigation system Download PDFInfo
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- CN212853620U CN212853620U CN202020631033.7U CN202020631033U CN212853620U CN 212853620 U CN212853620 U CN 212853620U CN 202020631033 U CN202020631033 U CN 202020631033U CN 212853620 U CN212853620 U CN 212853620U
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- 230000003287 optical effect Effects 0.000 claims abstract description 26
- 238000003384 imaging method Methods 0.000 claims abstract description 25
- 230000000903 blocking effect Effects 0.000 claims description 16
- 239000000463 material Substances 0.000 claims description 10
- 238000009434 installation Methods 0.000 abstract description 3
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- 238000007689 inspection Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
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Abstract
The utility model discloses a positioning device and a surgical navigation system for acquiring the position of a light source point of X-ray equipment, wherein the positioning device comprises an installation part and a main board body, and a matrix area and a positioning part are arranged on the main board body; the matrix area is provided with a plurality of imaging components which can be configured into at least one asymmetric matrix structure; the positioning component is used for cooperating with the optical tracking device to track so as to determine the coordinate position of the asymmetric matrix structure of the matrix area in the optical tracking device; when the main board body is used, the main board body is fixed in an effective test range of the optical tracking equipment, the position information of the positioning device in a coordinate system of the optical tracking equipment can be obtained through the positioning component, then the positioning device is scanned by utilizing X-ray equipment to obtain the image information of an asymmetric matrix structure, and the position information of the light source point relative to the positioning device is calculated through an image recognition algorithm, so that the position of the light source point is accurately obtained, and the surgical safety risk is greatly reduced.
Description
Technical Field
The utility model relates to the technical field of medical equipment, in particular to a positioner and operation navigation for acquireing X-ray equipment light source point position.
Background
The surgical navigation system is used for providing an auxiliary image for a doctor, generally, an X-ray is taken for a patient, the image is three-dimensionally reconstructed to obtain a simulated image, coordinate information of the patient in an optical tracking coordinate system is obtained through an optical tracking device, and then the simulated image is registered with the patient.
For obtaining the position information of the patient, the conventional method is to install a positioning ball at a position close to a light source point on a C-shaped arm, and obtain the position information of the light source point of the C-shaped arm approximately, so as to calculate the position information of the C-shaped arm on the shot patient.
Therefore, how to overcome the above-mentioned defects in the prior art is a technical problem to be solved by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
The utility model provides a positioning device for acquiring the position of a light source point of X-ray equipment, which comprises an installation part and a main board body, wherein a matrix area and a positioning part are arranged on the main board body;
the mounting part is used for fixing the main board body in an effective test range of the optical tracking equipment;
the matrix area is provided with a plurality of imaging components, the material density of the imaging components is smaller than that of the main board body, and the imaging components can be configured into at least one asymmetric matrix structure;
the positioning component is used for cooperating with an optical tracking device to track so as to determine the coordinate position of the asymmetric matrix structure of the matrix area in the optical tracking device.
When the positioning device is used, the main board body is fixed in an effective test range of the optical tracking equipment, the position information of the positioning device in a coordinate system of the optical tracking equipment can be obtained through the positioning component, then the positioning device is scanned by utilizing X-ray equipment to obtain the image information of an asymmetric matrix structure, and the position information of the light source point relative to the positioning device is calculated through an image recognition algorithm, so that the position information of the light source point in the optical tracking equipment is indirectly obtained. The position of the light source point can be accurately obtained through the structure, and further the operation safety risk is greatly reduced.
Optionally, the imaging device further includes a plugging component, the matrix region is provided with N rows and E columns of through holes, the through holes are the imaging component, the distances between adjacent through holes are equal, the plugging component is installed in part of the through holes to configure an asymmetric matrix structure, and the material density of the plugging component is greater than that of the main plate body.
Optionally, the blocking component is detachably mounted on the through hole; or the plugging component is fixedly arranged on the through hole.
Optionally, the through hole is a threaded hole, and the plugging component is provided with a stud matched with the threaded hole.
Optionally, the through-hole is a circular hole, and the plugging component is a sphere.
Optionally, the positioning component is at least three positioning balls, at least one positioning ball is not in the same line with other positioning balls, and the positioning balls are all arranged on the periphery of the matrix area.
Optionally, the number of the positioning balls is three, and the three positioning balls are respectively arranged at the corner positions of the matrix area and form a triangular structure.
Optionally, the inspection plate further comprises an inspection plate body, the inspection plate body and the main plate body are arranged in parallel and are located on a non-same horizontal plane, and the inspection plate body is also provided with the matrix area and the positioning component.
In addition, the utility model also provides a surgical navigation system, including X-ray equipment, imaging plate, optics tracking equipment and the positioner of any one of the above-mentioned, X-ray equipment includes the imaging plate that is used for showing the positioner under X-ray equipment image; the controller is prestored with a formula XMP (XMP is W), wherein X is a local three-dimensional coordinate of an asymmetric matrix structure and is defined as a parameter matrix, W is a two-dimensional coordinate of the asymmetric matrix structure on the imaging plate and is defined as a matrix, P is a projection matrix of the X-ray equipment, and M is a moving matrix which takes a light source point as a coordinate origin and needs to pass through when reaching the local three-dimensional coordinate origin of the asymmetric structure; and the controller acquires the coordinates of the light source point of the X-ray equipment in the light source tracking equipment according to the prestored formula.
Optionally, the X-ray device comprises a C-arm, and the light source point is located on the C-arm.
The utility model provides an operation navigation has above-mentioned positioner, also has positioner's above-mentioned technological effect.
Drawings
Fig. 1 is a schematic structural diagram of a positioning device for acquiring a position of a light source point of an X-ray apparatus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another angle of the positioning device for acquiring the position of the light source point of the X-ray device according to an embodiment of the present invention.
Wherein, in fig. 1 and 2:
10-a main board body; 101-a matrix area; 101 a-a via;
20-detecting the plate body; 20 a-a via; 30-positioning ball.
Detailed Description
In view of the technical problems described in the background, the present application has made extensive studies and has proposed a technical solution to solve the above-mentioned drawbacks of the prior art.
In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the positioning device, the surgical navigation system, the attached drawings and the specific embodiments.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of a positioning device for acquiring a light source point position of an X-ray apparatus according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of another angle of the positioning device for acquiring the position of the light source point of the X-ray device according to an embodiment of the present invention.
The utility model provides an operation navigation, include X-ray equipment, formation of image board, optics tracking means and be used for acquireing the positioner in X-ray equipment light source point position.
The X-ray device may further include a C-shaped arm in addition to the light source point, although other structures are also possible, and the specific structure of the X-ray device is not limited herein. Also, the specific structure of the optical tracking apparatus is not limited herein as long as the positioning device can be tracked.
The utility model provides an imaging plate mainly used presents the image of positioner under X-ray equipment.
The utility model provides a positioner includes installation department and the mainboard body 10, is provided with matrix district 101 and locating part on the mainboard body 10. The material of the main board body 10 may be reasonably selected according to the specific application environment as long as the use requirement can be met, and the text is not specifically limited. The main panel body 10 may be made of a lightweight plastic panel or other material.
The mounting portion is mainly used for fixing the main board body in an effective test range of the optical tracking device, that is, the mounting portion mainly plays a role of fixing the main board body with external equipment, a specific structure of the mounting portion can be determined according to an application environment, and the specific structure is not disclosed herein, so that understanding and implementation of technical schemes of the present document by a person skilled in the art are not affected.
The utility model provides a be provided with matrix district 101 on the mainboard body, be provided with a plurality of formation of image parts, the material density of formation of image part is less than the material density of mainboard body to at least one asymmetric matrix structure can be configured into to the formation of image part. I.e., the imaging components within the matrix area 101, may be configured as desired to form one or more asymmetric matrix structures. The imaging component takes the through holes as an example to continue to describe the technical effect, the through holes are preferably round holes, and the hole diameter and the hole distance can be set according to the requirement. Of course, the imaging section may be other sections as long as the density of the imaging section is set to be different from that of the main plate body 10, and imaging can be performed on the imaging plate.
The distance between the respective imaging components on the main board body 10 is a definite value. That is, the coordinate position parameter of the asymmetric matrix structure formed by the matrix area 101 on the main board body is determined. The origin of coordinates on the main board 10 may be defined in various ways, and a specific embodiment will be described later.
The positioning component is used for cooperating with an optical tracking device to determine the coordinate position of the asymmetric matrix structure of the matrix region 101 in the optical tracking device.
The position of the asymmetric matrix structure in the optical tracking device is defined herein as a parameter matrix X, the two-dimensional coordinates of the asymmetric matrix structure on the imaging plate is defined as a matrix W, and a projection matrix P, which is a parameter of the X-ray device, is a known parameter.
Then the motion matrix M that needs to be passed to reach the positioning device, with the light source point as the origin of coordinates, can be derived from the following equation: XMP ═ W. The formula may be pre-stored within the controller of the surgical navigation system.
When the positioning device is used, the main board body 10 is fixed in an effective test range of the optical tracking equipment, the position information of the positioning device in a coordinate system of the optical tracking equipment can be obtained through the positioning component, then the positioning device is scanned by the X-ray equipment to obtain image information of an asymmetric matrix structure, and the relative position relation of the light source point and the positioning device is calculated through a formula, so that the position information of the light source point in the optical tracking equipment is indirectly obtained. The position of the light source point can be accurately obtained through the structure, and further the operation safety risk is greatly reduced.
In a specific embodiment, the positioning device may further comprise a blocking means, which is not shown in the figures, but which does not hinder the understanding of the solution of the present invention by the person skilled in the art. The matrix area 101 is provided with N rows and E columns of through holes 101a, wherein N and E are integers larger than 2, the imaging components are the through holes 101a, the distances between adjacent through holes are equal, and plugging components are arranged in part of the through holes to configure an asymmetric matrix structure. That is, the asymmetric matrix structure in this embodiment is formed by the through-holes where the blocking members are located. The material density of the blocking part is greater than the material density of the main plate body 10.
In practical use, the plugging member may be a steel ball, and a plurality of steel balls are placed in the through hole 101a, and any one of the steel balls may be used as a coordinate origin of the local coordinate system.
Since the positioning device is a workpiece, the position of the through holes and the distance from each other are known.
In this way, the blocking component can be flexibly arranged, so that the rest through holes are configured into different asymmetric matrix structures. The structure is simple and convenient, and the implementation is convenient.
When the through hole is a circular hole, the plugging part can be a sphere.
In the above embodiments, the blocking member is detachably mounted to the through hole, for example, the blocking member is screwed into the through hole, that is, the through hole 101a is a threaded hole, and the blocking member has a stud matched with the threaded hole. The blocking means are not shown in the figures but do not hinder the understanding and implementation of the solution herein by the person skilled in the art.
The plugging component can be quickly and flexibly mounted at different through hole positions by detaching the plugging component so as to configure different asymmetric matrix structures; or the plugging part is fixedly arranged in the through hole, and the fixing mode can be welding or other modes.
The positioning component in each of the above embodiments may be at least three positioning balls 30, at least one of the positioning balls is not in the same line with the other positioning balls, the positioning balls are disposed on the periphery of the matrix area, and the optical tracking device determines the position of the matrix area and the positions of the through holes or the through holes of the blocking component through all the positioning balls.
The asymmetric matrix structure formed by the positioning device can be formed by through holes in which the plugging components are positioned, and can also be formed by light-transmitting through holes.
In a specific embodiment, the number of the positioning balls 30 is three, and the three positioning balls 30 are respectively arranged at the corner positions of the matrix region and form a triangular structure.
The positioning device in the above embodiments may further include a checking plate 20, the checking plate 20 is disposed parallel to the main plate 10 and at a non-same level, and the checking plate 20 is also provided with the above matrix region and the positioning component. In fig. 1 and 2, it is shown that the matrix region is formed with through holes 20a, and details regarding the matrix region and the positioning member are not described herein, and are described above. Therefore, through two times of calculation, the position coordinates of the light source point in the optical tracking device can be obtained, two values are required to be smaller than a preset value, and the preset value can be 2 millimeters.
The utility model provides an operation navigation has above-mentioned positioner, also has positioner's above-mentioned technological effect.
For other structures of the surgical navigation system, please refer to the prior art, which is not described herein.
It is right above that the utility model provides a positioner and operation navigation system for acquireing X-ray equipment light source point position introduces in detail. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.
Claims (10)
1. A positioning device for acquiring the position of a light source point of an X-ray device is characterized by comprising a mounting part and a main board body (10), wherein a matrix area (101) and a positioning part are arranged on the main board body (10);
the mounting part is used for fixing the main board body in an effective test range of the optical tracking equipment;
the matrix area (101) is provided with a plurality of imaging components, the material density of the imaging components is smaller than that of the main board body, and the imaging components can be configured into at least one asymmetric matrix structure;
the positioning component is used for cooperating with an optical tracking device to track so as to determine the coordinate position of the asymmetric matrix structure of the matrix area in the optical tracking device.
2. The positioning device for obtaining the position of a light source point of an X-ray apparatus according to claim 1, further comprising a blocking component, wherein the matrix region is provided with N rows and E columns of through holes (101a), the through holes (101a) are the imaging components, the distance between adjacent through holes (101a) is equal, the blocking component is installed in a part of the through holes (101a) to configure an asymmetric matrix structure, and the material density of the blocking component is greater than that of the main plate body; wherein N, E is an integer greater than 2.
3. The positioning device for obtaining the position of a light source point of an X-ray apparatus according to claim 2, wherein the blocking member is detachably mounted to the through hole (101 a);
alternatively, the closing member is fixedly attached to the through hole (101 a).
4. The positioning device for obtaining the position of a light source point of an X-ray device according to claim 3, wherein the through hole (101a) is a threaded hole, and the blocking component is provided with a stud matched with the threaded hole.
5. The positioning device for obtaining the position of a light source point of an X-ray apparatus according to claim 2, wherein the through hole (101a) is a circular hole, and the blocking member is a sphere.
6. The positioning device for obtaining the position of a light source point of an X-ray apparatus according to claim 1, wherein the positioning component is at least three positioning balls (30), at least one positioning ball (30) is not aligned with other positioning balls, and the positioning balls (30) are all disposed on the periphery of the matrix region (101).
7. The positioning apparatus for obtaining the position of a light source point of an X-ray device according to claim 6, wherein the number of the positioning balls (30) is three, and three positioning balls are respectively arranged at the corner point positions of the matrix area (101) and form a triangular structure.
8. The positioning device for obtaining the position of a light source point of an X-ray apparatus according to any one of claims 1 to 7, further comprising a test board body (20), wherein the test board body (20) is disposed in parallel with the main board body (10) and is not in the same horizontal plane, and the test board body (20) is also provided with the matrix area and the positioning component.
9. A surgical navigation system comprising an X-ray device, an optical tracking device, a controller and the positioning apparatus of any one of claims 1 to 8, the X-ray device comprising an imaging panel for presenting an image of the positioning apparatus under the X-ray device; the controller is prestored with a formula XMP (XMP is W), wherein X is a local three-dimensional coordinate of an asymmetric matrix structure and is defined as a parameter matrix, W is a two-dimensional coordinate of the asymmetric matrix structure on the imaging plate and is defined as a matrix, P is a projection matrix of the X-ray equipment, and M is a moving matrix which takes a light source point as a coordinate origin and needs to pass through when reaching the local three-dimensional coordinate origin of the asymmetric structure; and the controller acquires the coordinates of the light source point of the X-ray equipment in the light source tracking equipment according to the prestored formula.
10. The surgical navigation system of claim 9, wherein the X-ray device includes a C-arm, the light source point being located on the C-arm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020631033.7U CN212853620U (en) | 2020-04-23 | 2020-04-23 | Positioning device for acquiring position of light source point of X-ray equipment and surgical navigation system |
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| CN202020631033.7U CN212853620U (en) | 2020-04-23 | 2020-04-23 | Positioning device for acquiring position of light source point of X-ray equipment and surgical navigation system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114391975A (en) * | 2022-01-13 | 2022-04-26 | 北京罗森博特科技有限公司 | Positioning scale |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114391975A (en) * | 2022-01-13 | 2022-04-26 | 北京罗森博特科技有限公司 | Positioning scale |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A positioning device and surgical navigation system for obtaining the position of X-ray equipment light source points Effective date of registration: 20230324 Granted publication date: 20210402 Pledgee: Industrial Bank Co.,Ltd. Shanghai Pudong Sub branch Pledgor: SHANGHAI LIN YAN MEDICAL TECHNOLOGY Co.,Ltd.|Liu Yang Registration number: Y2023310000085 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Granted publication date: 20210402 Pledgee: Industrial Bank Co.,Ltd. Shanghai Pudong Sub branch Pledgor: SHANGHAI LIN YAN MEDICAL TECHNOLOGY Co.,Ltd.|Liu Yang Registration number: Y2023310000085 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right |