CN213758609U - Medical projection device - Google Patents
Medical projection device Download PDFInfo
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- CN213758609U CN213758609U CN202022765800.6U CN202022765800U CN213758609U CN 213758609 U CN213758609 U CN 213758609U CN 202022765800 U CN202022765800 U CN 202022765800U CN 213758609 U CN213758609 U CN 213758609U
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Abstract
The application provides a medical projection device, which comprises a structural frame, a depth camera, an industrial personal computer and a projection module, wherein the depth camera is arranged on the structural frame and used for shooting the body position of a patient to obtain body position three-dimensional coordinate data; the industrial personal computer is internally pre-stored with a 3D model of a patient and is used for carrying out layer cutting on the 3D model according to the body position three-dimensional coordinate data and generating a layer cutting model; the projection module is installed on the structural frame and used for projecting the slice-cut image to the patient according to the slice-cut model. The medical projection device does not need to be marked and registered, can visually perform operation marking according to projection, and effectively accelerates the operation process.
Description
Technical Field
The application relates to the field of medical instruments, in particular to a medical projection device.
Background
In the surgical operation, the doctor needs to make an incision design according to the position of the lesion of the patient. In the field of neurosurgery, there are currently two approaches: one is direct visual measurement: according to the medical Imaging results of CT (Computed Tomography)/MRI (Magnetic Resonance Imaging) and the like of a patient, doctors design operation incisions by directly performing visual inspection or measuring with simple tools such as a tape measure and the like by matching with reference body surface anatomical structures such as eyes, ears, top nodules and retrooccipital protuberances; secondly, using the operation navigator: neurosurgical navigators exist in the market, and the real world position of a patient and CT/MRI images are registered through an infrared positioning principle and a special light reflecting original piece, so that an operation incision is designed. The accuracy of the first mode has more influence factors, and the error between the designed incision and the actual lesion position is larger. The first mode can not correspond the imaging result with the actual position of the patient visually, errors are easily generated in the using process, the precision of the operation is influenced, the registration time is long, the operation time flow and the anesthesia risk are increased, the navigation system is expensive and cannot be popularized in hospitals at all levels on a large scale, and one hospital often only has one navigation system and cannot meet the clinical requirement.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application aims to provide a medical projection device, which does not need to be marked and registered, can visually perform operation marking according to projection, and effectively quickens the operation process.
The embodiment of the application provides a medical projection device, which comprises a structural frame, a depth camera, an industrial personal computer and a projection module, wherein the depth camera is arranged on the structural frame and used for shooting the body position of a patient to obtain body position three-dimensional coordinate data; the industrial personal computer is internally pre-stored with a 3D model of the patient and is used for carrying out slicing on the 3D model according to the body position three-dimensional coordinate data and generating a slicing model; the projection module is installed on the structural frame and used for projecting the slice-cut image to the patient according to the slice-cut model.
In the implementation process, before the operation, the doctor fixes patient on the operating table, start medical projection arrangement, at first the position of patient is shot in order to obtain patient's position three-dimensional coordinate data to the degree of depth camera, the position three-dimensional coordinate data that obtains will be shot to the degree of depth camera sends the industrial computer afterwards, the industrial computer carries out the laminar cut and generates corresponding laminar cut model to the 3D model of the patient that prestores according to position three-dimensional coordinate data, last projection module is according to the laminar cut model to patient's projection laminar cut picture, whole process need not the sign registration, and simple structure, the cost is lower, can effectively accelerate the operation process.
In one possible implementation, the structural frame includes a three-dimensional mobile device on which the depth camera is mounted; the industrial personal computer is also used for controlling the three-dimensional moving device to move the depth camera to a clear shooting range.
In the implementation process, the depth camera has the characteristics, so that the three-dimensional moving device is arranged, and the three-dimensional moving device is intelligently controlled by the industrial personal computer to move the depth camera to a clear shooting range, so that the three-dimensional outline of the patient is clearly identified, and the accuracy of the body position three-dimensional coordinate data is improved.
In a possible implementation manner, the medical projection apparatus further includes an imaging module, which is disposed on the three-dimensional moving apparatus and is used for shooting a patient's azimuth map; the depth camera is further used for collecting relative position information of the depth camera and a patient, and the industrial personal computer controls the three-dimensional moving device to move the depth camera to a clear shooting range according to the patient azimuth graph and the relative position information.
In the implementation process, before an operation, the medical projection device is installed at a proper position near a patient, then the imaging module is started, the patient azimuth graph is shot through the imaging module, the rough position between the imaging module and the surgical site of the patient can be judged through the azimuth graph, for example, the patient can possibly move to the positions of the upper left corner, the upper right corner, the lower left corner and the like of the patient azimuth graph, the industrial personal computer controls the three-dimensional moving device to move the patient to the middle position of the picture of the depth camera according to the azimuth graph, then the depth camera collects the relative position information of the depth camera and the patient, and the industrial personal computer controls the three-dimensional moving device to move the depth camera to the clear shooting range according to the patient azimuth graph and the relative position information.
In one possible implementation, the imaging module is further configured to record video during surgery.
In the implementation process, the imaging module is arranged to record videos in an operation, the operation process is reserved, training and learning can be conveniently performed later, and medical development is promoted.
In one possible implementation manner, the projection module is installed on the three-dimensional mobile device; the industrial personal computer is also used for controlling the three-dimensional moving device to move the projection module to a clear projection range according to the body position three-dimensional coordinate data.
In the implementation process, the projection module is also arranged on the three-dimensional mobile device, and the projection module is moved to a clear projection range through intelligent control of the industrial personal computer.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a structural diagram of a medical projection device according to an embodiment of the present application;
fig. 2 is an installation structure diagram of a projection module and an imaging module according to an embodiment of the present disclosure.
Icon: 100-structural frame; 200-a depth camera; 300-an industrial personal computer; 400-a projection module; 500-a three-dimensional mobile device; 600-an imaging module; 700-lighting device.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, an embodiment of the present application provides a medical projection apparatus, which includes a structural frame 100, a depth camera 200, an industrial personal computer 300, and a projection module 400, wherein the depth camera 200 is mounted on the structural frame 100 and is configured to photograph a body position of a patient to obtain body position three-dimensional coordinate data; the industrial personal computer 300 is internally pre-stored with a 3D model of the patient, and the industrial personal computer 300 is used for performing slicing on the 3D model according to the body position three-dimensional coordinate data and generating a slicing model; the projection module 400 is mounted on the structural frame 100 for projecting the slice images to the patient according to the slice model.
In the implementation process, before an operation, a doctor fixes a patient on an operating table, a medical projection device is started, firstly, the depth camera 200 shoots the body position of the patient to obtain body position three-dimensional coordinate data of the patient, then, the depth camera 200 transmits the shot body position three-dimensional coordinate data to the industrial personal computer 300, the industrial personal computer 300 conducts layer cutting on a prestored 3D model of the patient according to the body position three-dimensional coordinate data and generates a corresponding layer cutting model, and finally, the projection module 400 projects a layer cutting image to the patient according to the layer cutting model, the whole process is free of mark registration, the structure is simple, the cost is low, and the operation process can be effectively accelerated.
The 3D model of the patient is modeled from a CT/MRT image file of the patient in the medical system.
It should be noted that the industrial personal computer 300 is in communication connection with the depth camera 200 and the projection module 400, and the industrial personal computer 300 can be placed on the ground or on a workbench independently when in use because the industrial personal computer 300 has a large volume and a heavy weight.
The depth camera 200 employing a fixed focus lens has the following characteristics: when the distance between the depth camera 200 and the patient is too close, the depth camera 200 cannot identify the three-dimensional contour of the patient, and when the distance between the depth camera 200 and the patient is too far, the depth camera 200 has poor precision and cannot fit the best position, and the front and rear functional requirements are combined, for example, the distance between the depth camera 200 and the patient is in the range of 0.6-1.1m, which can meet the shooting requirement of the depth camera 200, i.e., 0.6-1.1m is the clear shooting range of the depth camera 200.
In one possible implementation, the structural frame 100 includes a three-dimensional mobile device 500, the depth camera 200 being mounted on the three-dimensional mobile device 500; the industrial personal computer 300 is also used to control the three-dimensional moving device 500 to move the depth camera 200 to a clear photographing range.
In the implementation process, as the depth camera 200 has the characteristics, the three-dimensional moving device 500 is arranged and the industrial personal computer 300 intelligently controls the three-dimensional moving device 500 to move the depth camera 200 into a clear shooting range so as to clearly identify the three-dimensional outline of the patient and improve the accuracy of body position three-dimensional coordinate data.
In a possible implementation manner, please refer to fig. 2, the medical projection apparatus further includes an imaging module 600, wherein the imaging module 600 is disposed on the three-dimensional moving apparatus 500 and is used for shooting a patient's azimuth; the depth camera 200 is also used for acquiring relative position information of the depth camera 200 and the patient, and the industrial personal computer 300 controls the three-dimensional moving device 500 to move the depth camera 200 to the clear shooting range according to the patient azimuth map and the relative position information.
In the implementation process, before an operation, the medical projection device is installed at a suitable position near a patient, then the imaging module 600 is started, the patient azimuth map is shot through the imaging module 600, the rough position between the imaging module 600 and the surgical site of the patient can be judged according to the azimuth map, for example, the patient may be at the positions of the upper left corner, the upper right corner, the lower left corner and the like of the patient azimuth map, the industrial personal computer 300 controls the three-dimensional moving device 500 to move the patient to the middle position of the picture of the depth camera 200 according to the azimuth map, then the depth camera 200 collects the relative position information of the depth camera 200 and the patient, and the industrial personal computer 300 controls the three-dimensional moving device 500 to move the depth camera 200 to the clear shooting range according to the patient azimuth map and the relative position information.
In one possible implementation, the imaging module 600 is also used for intraoperative video recording.
In the implementation process, the imaging module 600 is arranged to record videos in an operation, the operation process is finished, training and learning can be conveniently carried out later, and medical development is promoted.
The projection module 400 using the fixed focus lens also has the same characteristics as the depth camera 200, and the best projection effect cannot be achieved if the projection module 400 is too close to or too far away from the patient.
In one possible implementation, the projection module is mounted on the three-dimensional mobile device 500; the industrial personal computer 300 is also used for controlling the three-dimensional moving device 500 to move the projection module to a clear projection range according to the body position three-dimensional coordinate data.
In the implementation process, the projection module is also arranged on the three-dimensional mobile device 500, and the projection module is moved to a clear projection range through the intelligent control of the industrial personal computer 300.
Specifically, the depth camera 200 transmits the obtained body position three-dimensional coordinate data to the industrial personal computer 300, the industrial personal computer 300 fits the 3D model according to the body position three-dimensional coordinate data, so that the position coordinate of the 3D model and the deflection angle of the patient at the moment are determined, slicing and displacement calculation are performed on the 3D model according to the deflection angle to obtain a slicing model and displacement information, then the industrial personal computer 300 sends the slicing model to the projection module 400, the displacement information is sent to the three-dimensional moving device 500, and the three-dimensional moving device 500 moves the projection module to a clear projection range according to the displacement information.
Note that, the deflection angle: in the operation process, due to the multiple diversity of tumors, the skull of a patient can have clamping and fixing modes of different body positions, and the clamping angle can be determined according to the operation position conceived by a doctor in advance; the depth camera 200 recognizes the specific body position information and the azimuth angle information of the patient at this time to give the industrial personal computer 300 position information, and thus the yaw angle is also called the azimuth angle.
Specifically, the projection module 400 and the imaging module 600 are coaxial optical paths, as shown in fig. 2.
In some possible embodiments, the depth camera 200 and the projection module 400 both employ zoom lenses, and the zoom lenses can automatically adjust the focal length within a certain range to obtain a clear image.
In some embodiments, the medical projection device further comprises an illumination device 700, the illumination device 700 being mounted on the structural frame 100 for intra-operative illumination.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (5)
1. A medical projection device, comprising:
a structural frame;
the depth camera is arranged on the structural frame and used for shooting the body position of the patient to obtain body position three-dimensional coordinate data;
the industrial personal computer is internally pre-stored with the 3D model of the patient and is used for carrying out layer cutting on the 3D model according to the body position three-dimensional coordinate data and generating a layer cutting model;
and the projection module is arranged on the structural frame and used for projecting the slice-cut image to the patient according to the slice-cut model.
2. The medical projection device of claim 1, wherein the structural frame includes a three-dimensional moving device on which the depth camera is mounted;
the industrial personal computer is also used for controlling the three-dimensional moving device to move the depth camera to a clear shooting range.
3. The medical projection device of claim 2, further comprising an imaging module disposed on the three-dimensional mobile device for capturing a patient's orientation map;
the depth camera is further used for collecting relative position information of the depth camera and a patient, and the industrial personal computer controls the three-dimensional moving device to move the depth camera to a clear shooting range according to the patient azimuth graph and the relative position information.
4. The medical projection device of claim 3, wherein the imaging module is further configured to record intraoperative video.
5. The medical projection device of claim 2, wherein the projection module is mounted on the three-dimensional moving device;
the industrial personal computer is also used for controlling the three-dimensional moving device to move the projection module to a clear projection range according to the body position three-dimensional coordinate data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022765800.6U CN213758609U (en) | 2020-11-25 | 2020-11-25 | Medical projection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022765800.6U CN213758609U (en) | 2020-11-25 | 2020-11-25 | Medical projection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213758609U true CN213758609U (en) | 2021-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022765800.6U Active CN213758609U (en) | 2020-11-25 | 2020-11-25 | Medical projection device |
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| CN (1) | CN213758609U (en) |
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- 2020-11-25 CN CN202022765800.6U patent/CN213758609U/en active Active
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