1279221 九、發明說明·· 【發明所屬之技術領域】 本發明係”體外碎石機及其結石追較H统，特別 是指-種包括有X光機、超音波掃_、移動平台、監視器及結 石追綜定位系統’以X光機可作Q度及3◦度照射之立體確定結 石區；超音波掃描H進行掃目自，並魏結石追綜定㈣統確定結 石移動位置’再配合鶴控繼__辭台使病患結石位置 對準至震杯，使震波得以準確擊中並粉碎結石者。 【先前技術】 由於經濟生活提昇，許多人飲食習慣趨向精緻及高蛋白質含 量；此外，亦由於遺傳或其他不_原因，容f造成腎結石，腎 結石造成患者有疼痛“惡心、包等縣，使個人蒙受健康、生 命之危害’以及造成社會之損失。 近二十年絲療人親石的方法，大致已由傳_開刀取石 方法改為體外震波碎石術。 體外震波碎石機在現今醫療院所泌尿科中運用相當廣泛，舉 凡腎結石、輸尿管結石及膀胱結石皆可由其治療。 是知’體外震波碎石原理乃在於彻爆震產生之震波，智由 水和人體組織作為介質’震波運用透鏡聚焦原理將震波聚焦=結 石’以瞬間高壓將之擊碎。爾後可由人體組織自行排出碎片，、: 達成治癒的目的。由此可知’震波擊石的命中率與轉效果有= 1279221 接而顯著的關係。 但由於内臟在腹腔时时則發縣叫砂石亦 動，往往結石會隨著移出震波聚焦區，不但碎石無二二二 擊而傷及組織產生其他後遺症。 易誕 本案發狀麟上妓柄邱齡猶㈣ 不足’乃亟思加峨綱，梅年苦愼潛心研究後= 於成功研發完成本件體外啦機及其結石魏定位系統。 【發明内容】 /本發明之目的即在雜供—健外碎錢及其結石追縱定位 糸統，係結合X光機、超音波掃㈣、移動平台、監視器及結石 追蹤定位纟統；藉由X錢作立體_確定結石區，立 描器位於糊、機台增㈣谢，瓣沿著= 石區軸向移動，將結果顯示於監視器者。 本發明之:欠—_卩在崎供—觀外碎錢及錢石追蹤 疋位糸統，係經初始設定、影像練、結石侧、影像晝面比對、 結石定位等步驟，以定結石移動位置，使結石得以準確被擊碎者。 本發明之另-目_在雜供—麵外碎錢及無石追縱 定位系統，係設有結石陰職助定位系統，個以辅助確定結石 的準確位置，以提昇結石定位之準確率者。 1279221 制閥12可在吸入官u内作其口徑大小控制切換，以控制其所吸入物體之 大小形狀，以達物體如昆蟲健收鑛存在吸人管巾，提供難在丟 理上之便捷性。 μ請參閱第三圖所示，本發明之吸塵器之控織置，_中可知，該吸 =官11巾没有二控制閥12，在各控綱12㈤具有間距距離，吸入管u後 端，控制閥I2可賴板丨23作橫向切歡位，筆麯體域蟲2進入吸 塵H’而空氣灰塵則可利用檔板123喊孔進入吸塵器内部，在吸入管 11刖端之控觸12可賴板123作縱向切換定位，提供物體域蟲2可順 稍皮吸^於吸人官11中，再將該控制閥12的檔板123由縱蚊位板旋轉 轉動為向定位’使吸人官i 1的二控綱12間可收集齡該物體如昆蟲2。 时睛參閱第四圖所示，本發明之吸塵|!之控制裝置，由圖中可知，在吸 塵f 3之抽風裝置31的一端口處連結有一多節式吸入管^ ,在其中一節吸 入官11上設有二控制閥12，提供吸入管U可將物體如昆蟲作集中收納， 可增加吸入管11在應用上的實用性及靈活性。 睛參閱第五圖所示，本發明之吸塵器之控制I置，由圖中可知，在吸 塵4之抽風裝置41的一端口處連結有一多節式吸入管u，在其中一節吸 入官11上設有二控鋼12，提供吸人管n可將物體如昆蟲作集中收納， 可增加吸入管11在應用上的實用性及靈活性。 —凊參閱第六圖所示，本發明之吸塵器之控制裝置，由圖中可知，在多 即式吸入官11間可插置連結有—袋狀吸人管a，在袋狀吸人管a内具有一 封閉端a卜在封閉端al上設有數細孔a2，可供袋狀吸入管a内部之空氣 及粉塵順利通過，且可阻擋大型物體進入吸塵器内部。 為使本創作更加顯現^進步性與實雜，贿習用產品作—比較分析 如下： 習用缺失： 1279221 系統之電磁式震波產生11模組分解示細，由圖巾可知，該震杯 5内部設有—電磁式震波產生ϋ模組7，該電磁式震波產生器模 組7，係於震波模組固定基座7工内侧設置震波透鏡固定架7 2 =震波1焦雙凹透鏡7 3，下端再設置震波發生源組件7 *，且 辰皮么生源，、且件7 4由南壓絕緣陶究基座7 4工、高壓電磁線圈 74 2、鐵弗龍雙面接合薄膜74 3、金屬薄膜744及橡膠薄 膜7 4 5顺成，係使藉由電流通過高壓電磁線_產生磁場， 並利用磁場推動金屬薄膜以拍打於震波模組固定基座中之水體， 進而產生震波，達到擊碎人體器官中結石之效果。 /請參_三及_，為本發㈣外碎石機及其結石追縱定位 系統之侧姻及X光機轉動示意圖，_t可知，該X光機工可 經由驅動控制裝置6 ’驅使轉動軸臂i丄作〇度及3 〇度轉動， 達到以一維方式取得患者之正確結石區；且，X光機卜超音波 掃猫器2及震杯5中心線形成交會點，為震碎結石之目標區。當 以X光機1較結石區後，透過控制使超音波掃猫器2抽向移位 ’將結果顯示於監視器4。 此外’並以鶴控織置連結鶴器、馬達和編碼器，及設 置於移動平台下端之數組驅麵、A C馬達、編碼器、減速器、 解碼器等’使移動平台可作三度空間移動，以便將患者之結石區 適時移至震波目標區。 請參閱圖五，為本發明體外碎石機及其結石追縱定位系統之 1 1279221 « 結石追蹤定位流程圖，由圖中可知， *、A 明之結石追蹤定位系統， 其追縱定位流程步驟，如下所述： (A) 初始設定（I n i t i a】 二 s e t u p):預先配 置體提供結石追縱所需之影像緩衝 ^ 、Duifer)及設 疋各項參數之初絲，並初魏影軸取卡#觸取齡；° (B) 影像擷取（Image g 、 & abbing):以吝勃 行緒（mui t i thread)如w 以夕執 .π ^ 技術擷取影像並儲存至緩衝區 中，同時利用事件觸發（e v e ^ t —Η · 來自κ u dr1Ven)架構處理 不自使用者介面（graphic^】 、 Ca 1 user inter f 二e )的各項請求，降低使用者每個動作的回應時間’並採用 雙緩衝區技術（double buff 像流失，確保即時趙之效果； eriM)以避免影 (C) 結石偵測i結石之判別於使用者定義之有效區域（[ egion of lnterest，R〇” =會隨著往後判定之結石區移動;為了偵測出有效區J D内可能的結石區域，須設定適#的結石判別門插值（t h ==:1U〇並進行影像二元化處理;若有效區 衫像旦素（P 1 X e 1 )強度大於所奴的判別門檻時， 即視為結石候選區（S t 〇 n A . J Ί仫于 〇ne r eg工〇n)，有效區域内 所有候選區均被標示並儲存於記憶體中； 一 (D)影像晝面比對（f f r a m e m a t c h i n g )： 1279221 將每-次自影像齡卡取得之影像依結石綱門檻二元化處理後 ’與别-張影像之二元化處理結果進行比對，兩張影像内白色區 域重疊部份之像素給予較高加雜，賴疊部份之像素給予較低 加權值，再以各加權值相加後的結果做為符合值a t c h i n g v a 1 u e) ’將有效區域（R〇j)往各個方向移動， 並计异各移财向之符合值，轉得出符合值（m a t c h i η g v a 1 u e)最高的方向即為畫面移動向量（七『a n s i a tion vector); ⑻結石定位（Stone 1〇。“一 a ^ ^ ^ t i 〇 n；:將來 得之畫面移動向量與先前敢之結石位置（stone p〇s i t i ο η)相加，即可判斷出結石移動後之位置，並選出目前 晝面:最接近此位置之結石候選區（以。^以^㈣） ’計算此結频舰_有像灰雜質 的結Γ置，並以此位置為中心定義新的有效區域二η 夺，為本發明體外碎石機及其結石追蹤定位 ，嫩^本恢結石偵測步 (A) 結石影像輸入； (B) 使用者參與； (C) 最大化熵門檻； (D) 外型簡化處理程序； 1279221 (E )區域標示； (F )結石彳貞測結果； (G)算出結石中心； (Η)鼻出結石邊界。 其中’使用者參卿份僅需以滑鼠料 定義後，計算R0!中所有像素的灰階值，可/ R〇I 1)之灰階值分佈圖（gr eve i h . (A — 床經驗，細灰階健高^較1^= N別、、、口石之灰階值門檻（如圖五（A一 2 ) 一 運算式（1)求得 1 t所示）可由 (1) 並以此門播值將P0 I内之影像二元化（如圖五（A—3)所示）， 白色像素視為潛在結石像素，於經過外型簡化處理程序（s i❿ ple morpholiical processing) f出較平整之結石輪廓（如圖五（A一4)所示），在二元化 、 I内有井夕白色區域，其面積最大且未與R〇I邊界重疊 者即為結石，當結石被偵測出來後即可進而算出其中心及邊界。 大部份情況下系統都可以在R〇I中正確地判別出結石，但 由於結石會隨著人體内臟移動，造成影像中結石大小不斷地改變 1279221 ，使結石的追輕得極輕要。#結石區域已由第—張書 〇 I内正確綱後，接下來的目標是在後續的畫财，除了以” 結石偵測判別出所有可能的結石候選區外，更進行，，影像晝面比 對以找出結石移動後的所在位置。 w參閱圖五（B ) ’為本發難外碎石機及其結石追縱定位 系統之影像晝狐對步職糊，由财可知，本發明之 面比對步驟，如下所述： 、旦 (A) 取得前晝面之㈣1二元化影像； (B) 將R Ο I往任—方向移動； (C) 以位移之R〇 i取得目前晝面之二元化影像； (D )將目讀面之尺〇 1二元化影像與前晝面之則二元化影像 比對； (E)重覆計算各方向之符合值（FOM，FigUre 〇 f m e r 1 t )後，符合值最大的方向即為結石移動的方向， 並依此方向之向量排除可能造成誤判之大面積明亮區域。 其過程詳述如下：首先，以符合值（F QM)作為判定晝面 中比對符口的依據，當先前晝面中結石區域的像素符合目前晝面 中最大區域的像素時，給？最高符合值，符合值_計算方程式 如（2)其中’ P表示先前晝面，C表示目前晝面，w則表示權 數值。 12 (2) 1279221 β•—慰㉟机丨 化2异時’在目前晝面帽R 01往各個方向移動並取得二元 衫像，再將各财向之二元化影像分職先前晝面之二元化影 料行比對’並以（2 )算出各個方向的符合值（F 0M)後， 符合值最高之方向即為晝面移動之方向。 將求得之移動向量與先前判定之結石位置（S t 〇 n e p 0 s i t i ο n)相加’即可判斷出結石移動後之位置，並於目 前晝面中所有標示的結石候舰巾，選出最接近此位置的結石候 選區’於計算此結石區_有像素的雄值㈣中心，即可求得 新的結石位置。 、 明參閱SIMB-1) ’為本發明體外碎石機及其結石追縱 定位系統之影像晝面比對步驟超音波圖，_巾可知，圖右邊所 顯示的為先前畫面（P)及目前晝面（C)的RO Ϊ二元化影像， 晝面（P)中較大區域即為結石位置，而晝面⑹中由於人體 移動的原因使得結石影像部份縮小，而其它組織變大。但依，’影 像晝面比對’’所得之晝面移動向量，系統可正辆斷出結石區域 ’不會受限於判別面積大小而有誤差。 由此可知，藉由上述經由影像晝面比對的步驟流程，可準確 得出結石在人财部的移動方向及位置，進而克服結石因人體内 臟運動而移位關題，使結石的震碎動作更加精確，也能避免其 1279221 他内臟組織遭不慎震傷之情形。 套結 所謂”陰影偵測， 為了增加結石位置判讀的準確率，本發明更開發 石陰影辅助定㈣統’即陰影來偵測結石 係利用超音波無法穿過結石及f _雜， = 後方會產生長條_陰影，也扣為超音波打騎石後^= 反射特性來進行_。t操作者鎖定f結石時，婉 句；、：值，且其後有陰影產生’此區域即可確定為結石;換 ^ »兄區只紐高灰階值但沒有陰影時即不會被視為 李统:!閱圖五(c) ’為本發明體外碎石機及其結石追蹤定位 二=錢助定位流糊，_中可知，本翻之之結石 陰衫辅助疋位步驟，如下所述： ()依扇形晝面輪廟依決定搜尋路徑； (B)取得候選樣本； (C) 經比對候選樣本； (D) 選定陰影路徑； (E)確定結石位置。 實施時，首先定義出搜索路徑（如圖五（c—工）所示）， 如果、（石陰影和搜索線相吻合，為最佳比對結果。由於結石陰影 羡本有兩個特破，其結石部份，其他為陰影部份，本發明係 1279221 用兩個步驟來區分比對過程，第—步是找出結石可能存在的位置 第一步疋在這些結石可能存在的點上進行結石陰影模擬。 §沿著搜索路徑找出灰階值最大的像素時，灰階值最大的像 素有可缺結石，也有可能是位於結石上端的人體_組織，而 非結石。為了避免組織過於接近探戦結石上端而產生高灰階值 本發明令搜索路徑由影像座標y =丄5 〇開始，如圖五（c一 2 )所不’財本發明健錄從雜探針的位置開始時，沿搜 索路徑判別陰影樣本的結果。 7從搜索路徑中找出可能的結石位置後，沿搜索路徑由結石位 置後在後取樣2 Q Q像素，稱之為候選樣本。取樣方法為計算出 像素及其附近人點像點之灰階平均值，由於在結石位置後有2 〇 〇個像素，本發輯算出2 0 0個灰階平均值作為此搜尋 候選模組。 以圖五（C一 3)所示，為比較搜索路徑（2)、（3)、 (4)之候選模組’其灰階值如圖五（c — 4)所示。本發明定 義〇- 2 5為結石部份，5 0_2⑽為陰影部份，則圖二（c 4)之（b)圖樣本最符合佳陰影特徵。在〇 一 2 $的窄小範 圍中’圖五（C-4)之（b)圖的灰階值較高，在5〇 〇持續遞減。 曰陰影樣本的比較法則為在每—個候選樣本中，找出候選樣本 中最大之灰階值，亦即灰階峰值，然後計算5 〇一2 〇 〇門之太 15 1279221 階平均值，找出灰階峰值與灰階平均㈣差，選出差值最大者即 為最符合影陰特徵之樣本，此樣本中之結石位置即可作為”結石 判別”的依據。 雖然圖五（c 之（a)圖和圖五、i 之（乜） 圖看I來很像’在0 — 2 5有相當接近的灰階峰值，但在5 〇 _ 2 〇〇的灰階平均值則明顯不同，第圖五（（：-4)之（a)圖 ”、、頁然較圖五（C-4)之（b)圖有較高的灰階平均值。因此， 基於灰階峰值及陰影區灰階平域值的差，確定圖五（卜4)之 (b)圖為較符合陰影特徵之陰影樣本。 系統’為本發明體外碎石機及其結石追縱定位 二、"^讀與結石陰影獅定錄糊，由圖中可知， 石=之=陰影輔助粒可與連續影像晝面比對同步進行對結 者定義\〇7:的正確區域判定更加精確，由此，當影像於使用 :中、=晝面晴”及，，結錢影輔助定位，，-轉確定位 方塊，為本發外碎石機及其結石追蹤定位㈣之 哭_ 可知，於實施開始時，首先啟動電源，經由抑制 益驅動電源供應器，並透過丨 二蛛制 之轉動卿轉剌纽縫=，使χ先機 透過駆動及魏馬達正確〜石s，同時’ 動赵音波掃描器，對患者進行掃 16 1279221 赶立、。石的冰度’之後’進行超音波結石影像定位程序及 起曰波、、，。石影像即時追縱定位程序（如圖七 經由使用者先行標定結石區（如圖 W所不）， 針對現行·(如_示）鱗’再_定位程序， 張〜像（如圖八所不）比對， ，&及其鶴向量後’同步鱗控制11及伺服馬達 動’以將患者結石區對正至目標區，經重複比對確 石擊碎。 从產生早7，鶴震杯動作，進行結 ^列抽_係針對本發明之_可行實施例之具體說明，惟 2關並非用以限制本發明之專利範圍，凡未脫離本發明技蓺 π摘為之等效實施或變更，均應包含於本案之專利範圍中。 品’本案不但在技術思想上確屬綱，並能較習用物 出Γ充分符合新穎性及進步性之法定發明 Τ要件歧妹出申請，懇請貴局核准本件發明專利申請 案，以勵發明，至感德便。 【圖式簡單說明】 圖一（Α)為本發明之結構立體圖。 圖=、⑻為本發明之電磁式震波產生賴組分解示意圖 圖一為本發明之另一角度立體圖。 圖二為本發明之側視圖。 17 1279221 圖四為本發明之X光機轉動示意圖。 圖五為本發明之結石追蹤定位流程圖。 圖五（A)為本發明之結石偵測步驟流程圖。 圖五（A—1)為本發明之有效區域灰階值座標圖。 圖五（A-2)為本發明之有效區域灰階門檻值座標圖。 圖五（A-3)為本發明之結石偵測中超音波圖。 圖五（A-4)為本發明之結石侧後超音波圖。 圖五（B)為本發明之影像晝面比對步驟流程圖。 圖五（B 1)為本發明之影像晝面比對步驟超音波圖。 圖五（C)為本發明之結石陰影辅助定位流程圖。 圖五（C-1)為本發明之結石陰影辅助定位第—超音波圖。 圖五（C 2 )為本翻之結;彡辅助定 圖五（C-3)為本發明之結石 & _ π〜補助疋位弟三超音波圖。 ^五（c ^ ) ί本㈣之結石陰影輔助定位灰階值座標圖。 g五（D)AA本㈣之如陰f增助故細超音波圖。 圖五（D )林㈣之結石追 反口 圖六為本發狀方侧。 —石料較位流程圖 圖七為本發明之超音波掃描示圖。 圖八為本㈣之前張R〇Rt_示圖。 圖九為本發明之次ί定義_示圖。 18 1279221 【主要元件符號說明】 1 · · • X光機 11· •轉動軸臂 2 · · •超音波知瞒裔 3 · · •移動平台 4 · · •監視器 5 · · •震杯 6 · · •驅動控制裝置 7 · · •電磁式震波產生器模組 7 1· •震波模組固定基座 72 · •震波透鏡固定架 7 3· •震波聚焦雙凹透鏡 74 · •震波發生源組件 74 1 •高壓絕緣陶瓷基座 742 •向壓電磁線圈 743 •鐵弗龍雙面接合薄膜 744 •金屬薄膜 74 5 •橡膠薄膜1279221 IX. INSTRUCTIONS························································································ The device and the stone tracking and positioning system' can determine the stone area by X-ray machine for Q degree and 3 degree illumination; the ultrasonic wave scan H scans the eye, and the Wei stone follows the set (four) to determine the stone movement position ' In conjunction with the crane control __ resignation, the patient's stone position is aligned to the earthquake cup, so that the shock wave can accurately hit and crush the stone. [Prior Art] Due to the improvement of economic life, many people's eating habits tend to be refined and high protein content; In addition, due to genetic or other reasons, the kidneys cause kidney stones, and kidney stones cause pain in patients, such as “disgusting, stagnation, etc., causing personal health and life damage” and causing social losses. In the past two decades, the method of medicinal lithography has been changed from the method of _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Extracorporeal shock wave lithotripters are widely used in the urology department of today's medical institutions, where kidney stones, ureteral stones and bladder stones can be treated. It is known that the principle of extracorporeal shock wave lithotripsy lies in the shock wave generated by the complete detonation. The water is used as the medium by water and human tissue. The seismic wave uses the principle of lens focusing to focus the seismic wave = stone to crush it with an instantaneous high voltage. After that, the human body can discharge the debris by itself, and: achieve the purpose of healing. From this, it can be seen that the hit rate of the shock wave and the turning effect have a significant relationship with = 1279221. However, because the viscera is in the abdominal cavity, the county is called the sandstone, and often the stone will move out of the focal area of the shock wave. Not only will the gravel have no two or two hits, but the tissue will cause other sequelae. It is easy to be born. The case of the hairline on the stalk of the stalk of the stalk of the Qiu dynasty (four) is not enough 亟 亟 亟 峨 , , , , 梅 梅 梅 梅 梅 梅 梅 梅 梅 梅 梅 梅 梅 梅 梅 梅 梅 梅 梅 梅 梅 梅 梅 梅SUMMARY OF THE INVENTION / The object of the present invention is to provide a system for miscellaneous supply and extravagance of broken money and its stones, and to combine X-ray machine, ultrasonic sweep (four), mobile platform, monitor and stone tracking and positioning system; The X-ray is used to determine the stone area. The scanner is located in the paste and the machine is increased (4). The flap moves along the axis of the stone area and the result is displayed on the monitor. The invention has the following advantages: owing - _ 卩 崎 崎 — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — 崎 崎 崎 崎 崎 崎 崎Move the position so that the stone is accurately crushed. The other object of the present invention is a miscellaneous-out-of-face-to-face and non-stone-tracking positioning system, which is provided with a stone-supporting positioning system, which is used to assist in determining the exact position of the stone to improve the accuracy of the stone positioning. . 1279221 The valve 12 can be used to control the size of the inhaled object in the suction officer u to control the size and shape of the object to be inhaled, so as to reach the object such as the insect collecting ore, the suction tube is provided, which provides the convenience of being difficult to lose. . μ Please refer to the third figure, the control of the vacuum cleaner of the present invention, _ can be seen that the suction = official 11 towel does not have two control valves 12, in each of the control 12 (five) has a spacing distance, the rear end of the suction pipe u, control The valve I2 can be used for the lateral cutting of the plate ,23, the worm body 2 enters the vacuuming H' and the air dust can be slammed into the vacuum cleaner by the baffle 123, and the control of the suction pipe 11 can be relied upon. The plate 123 is longitudinally switched and positioned, and the object area 2 is provided to suck the skin in the suction body 11, and then the baffle 123 of the control valve 12 is rotated by the longitudinal mosquito bit plate to be positioned to make the suction officer The 12th class of i 1 can collect the object such as insect 2 . Referring to the fourth figure, the control device of the vacuum cleaner of the present invention, as shown in the figure, is connected with a multi-section suction pipe ^ at one port of the air suction device 31 of the dust suction f 3 The officer 11 is provided with two control valves 12, and the suction pipe U is provided for centrally storing objects such as insects, which can increase the utility and flexibility of the suction pipe 11 in application. Referring to the fifth figure, the control of the vacuum cleaner of the present invention is set. As can be seen from the figure, a multi-section suction pipe u is connected to a port of the suction device 41 of the dust suction 4, and a section is sucked into the officer 11 The utility model is provided with two control steels 12, and the suction pipe can be used for centralized storage of objects such as insects, which can increase the practicality and flexibility of the suction pipe 11 in application.凊 第六 第六 第六 第六 第六 第六 第六 第六 第六 第六 第六 第六 第六 第六 第六 第六 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制The inner end has a closed end a. A plurality of fine holes a2 are arranged on the closed end a1, so that the air and dust inside the bag-shaped suction pipe a can pass smoothly, and the large object can be blocked from entering the inside of the vacuum cleaner. In order to make the creation more vivid, the progress and the miscellaneous, the bribery products are compared and analyzed as follows: The use of the missing: 1279221 The electromagnetic shock wave of the system produces 11 modules to decompose the details, as shown in the towel, the inside of the cup 5 There is an electromagnetic shock wave generating ϋ module 7, the electromagnetic shock wave generator module 7 is arranged on the inner side of the seismic wave fixed base 7 to provide a seismic lens holder 7 2 = shock wave 1 focal double concave lens 7 3, the lower end The shock wave generating source component 7* is disposed, and the material is produced by the sturdy skin, and the member 74 is made of a south-voltage insulating ceramic base 7 4, a high-voltage electromagnetic coil 74 2, a Teflon double-sided bonding film 74 3 , a metal film 744 And the rubber film 7 4 5 is formed so as to generate a magnetic field by passing a current through the high-voltage electromagnetic wire, and use the magnetic field to push the metal film to beat the water body in the fixed base of the seismic wave module, thereby generating a shock wave to crush the human body. The effect of the stone. / Please refer to _3 and _, this is the (4) external gravel machine and its stone tracking and positioning system and the X-ray machine rotation diagram, _t know that the X-ray machine can drive the rotating shaft via the drive control device 6 ' The arm i is used for twisting and 3 degrees of rotation to achieve the correct stone area of the patient in one dimension; and the X-ray machine ultrasonic ultrasonic sweeping cat 2 and the center line of the vibrating cup 5 form a meeting point, which is a broken stone. Target area. When the X-ray machine 1 is compared with the stone area, the ultrasonic scanner device 2 is shifted by the transmission ‘ and the result is displayed on the monitor 4. In addition, the crane platform, the motor and the encoder, and the array drive surface, AC motor, encoder, reducer, decoder, etc., which are placed at the lower end of the mobile platform, enable the mobile platform to move in three dimensions. In order to move the patient's stone area to the seismic target area at the right time. Please refer to Figure 5, which is the extracorporeal lithotripter and its stone tracking and positioning system of the present invention. 1 1279221 « Stone tracking and positioning flow chart, as can be seen from the figure, *, A Ming stone tracking and positioning system, its tracking and positioning process steps, As follows: (A) Initial setting (I nitia) Two setups: Pre-configured body provides the image buffer ^, Duifer) required for stone tracking and the initial line of various parameters, and the initial Wei Ying axis card #触取龄;° (B) Image capture (Image g, & abbing): capture the image and store it in the buffer with the mui ti thread such as w Using the event trigger (eve ^ t - Η · from κ u dr1Ven) architecture to handle requests from the user interface (graphic^), Ca 1 user inter f (e), reducing the response time of each action of the user' And use double buffer technology (double buff like loss, to ensure the effect of instant Zhao; eriM) to avoid shadow (C) stone detection i stone identification in the user-defined effective area ([egion of lnterest, R〇" = Will be determined with the stone area in the future In order to detect possible stone areas in the effective area JD, it is necessary to set the appropriate stone to discriminate the door interpolation (th ==:1U〇 and perform image binarization; if the effective area is like a denier (P 1 X e 1) When the intensity is greater than the discriminating threshold of the slave, it is regarded as the candidate area of the stone (S t 〇n A . J Ί仫 〇 ne r eg 〇 n), and all candidate areas in the effective area are marked and stored in In the memory; one (D) image facet matching (fframematching): 1279221 The image obtained by each image from the image age card is binarized by the stone threshold and the result of the binarization of the image with the other image For comparison, the pixels of the overlapping portions of the white areas of the two images are given higher impurity, and the pixels of the overlapping portions are given lower weight values, and the result of adding the weighted values is used as the matching value of matchingva 1 ue ) ' Move the effective area (R〇j) in all directions, and count the value of each shifting money. The direction that matches the highest value (matchi η gva 1 ue) is the screen movement vector (seven "ansia" Tion vector); (8) Stone positioning (Stone 1〇. "A a ^ ^ ^ ti 〇n;: In the future, the picture movement vector is added to the previous stone position (stone p〇siti ο η), and the position after the movement of the stone is determined, and the current picture is selected: The candidate area closest to this location (to. ^^^(4)) 'Compute this knot carrier _ has a knot like ash impurity, and define a new effective area η 夺 according to this position, which is the tracking and positioning of the extracorporeal lithotripter and its stones. ^本复石石检测步(A) Stone image input; (B) User participation; (C) Maximization of entropy threshold; (D) Simplified processing procedure; 1279221 (E) Area indication; (F) Stone 彳贞 结果 results; (G) calculate the center of the stone; (Η) nose stones boundary. The user's participation in the Qing dynasty is only defined by the mouse material, and the gray scale value of all the pixels in R0! can be calculated, and the gray scale value distribution map of / R〇I 1) (gr eve ih . (A - bed experience) , fine gray level health high ^ than 1 ^ = N,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, With this gatecast value, the image in P0 I is binarized (as shown in Figure 5 (A-3)), and the white pixel is regarded as a potential stone pixel, which is subjected to sigma ple morphological processing. A flattened stone contour (as shown in Figure 5 (A-4)), in the binary, I have a well white area, the largest area of which does not overlap with the R〇I boundary is the stone, when the stone After being detected, the center and boundary can be calculated. In most cases, the system can correctly identify the stone in R〇I, but the stone will continue to grow in size as the stone moves with the body. The ground changes 1792221, so that the chasing of the stone is extremely light. #石石区 has been the first one after the first frame, the next goal In the subsequent paintings, in addition to the "stone detection to identify all possible stone candidate areas, and more, the image is compared to find the position of the stone after moving. wSee Figure 5 (B) 'for The image of the dying stone crusher and its stone locating and positioning system is based on the loyalty of the fox, and it can be known from the financial side that the comparison procedure of the present invention is as follows: 旦, (A) obtain the front face (4) 1 2 (B) moving R Ο I to the direction of direction; (C) obtaining the binary image of the current face with the displacement R〇i; (D) binarizing the size of the face The image is compared with the binary image of the front face; (E) After repeatedly calculating the coincidence value (FOM, FigUre 〇fmer 1 t ) in all directions, the direction of the largest value is the direction of the stone movement, and The vector in this direction excludes large areas of bright areas that may cause misjudgment. The process is detailed as follows: First, the coincidence value (F QM) is used as the basis for determining the alignment in the face, when the pixels of the stone area in the previous face are When the pixel corresponding to the largest area in the current face is matched, the highest match value is given. The value_calculation equation is as shown in (2) where 'P denotes the previous face, C denotes the current face, and w denotes the weight value. 12 (2) 1279221 β•—慰35机丨化2 isochronous' in the current face cap R 01 moves in all directions and obtains a binary shirt image, and then divides the binary images of each financial position into the binary image lines of the previous face and compares them with (2) to calculate the coincidence value in each direction ( After F 0M), the direction in which the highest value is met is the direction in which the face moves. Adding the obtained motion vector to the previously determined stone position (S t 〇nep 0 siti ο n) can determine the movement of the stone. The location, and in all the stones in the current face, select the stone candidate area closest to this position 'to calculate the center of the stone area _ with the pixel (four) center, you can find the new stone position. See SIMB-1) for the image of the in vitro extracorporeal lithotripter and its stone tracking and positioning system. The image shows the previous picture (P) and the current picture on the right side of the figure. The RO Ϊ binary image of the facet (C), the larger area of the face (P) is the stone position, and the face of the face (6) is reduced due to the movement of the human body, and the other tissues become larger. However, depending on the kneading motion vector obtained by the 'image matching', the system can break the stone area by the vehicle' without being limited by the size of the discriminating area. It can be seen that the above-mentioned step flow through the image comparison can accurately determine the moving direction and position of the stone in the human finance department, thereby overcoming the displacement of the stone due to the internal body movement of the human body, and causing the earthquake of the stone. The shredded movement is more precise, and it can also avoid the accidental injury of his visceral tissue in 1279922. The so-called "shadow detection", in order to increase the accuracy of the stone position interpretation, the present invention further develops the stone shadow assisted (four) system 'that is the shadow to detect the stone system using the ultrasonic wave can not pass the stone and f _ miscellaneous, = rear will Produce a long strip _ shadow, also buckled as a supersonic hit stone after the ^ = reflection characteristics to _. t operator lock f stone, haiku;,: value, and then there is a shadow to generate 'this area can be determined For the stone; change ^ » Brotherhood only high-gray gray value but no shadow will not be regarded as Li Tong:! Read Figure 5 (c) 'In vitro extracorporeal lithotripter and its stone tracking and positioning two = money To help locate the flow paste, _ can be seen that the step of assisting the squatting of the stone sloping shirt is as follows: () The search path is determined according to the fan-shaped face-turning temple; (B) the candidate sample is obtained; (C) For the candidate sample; (D) select the shadow path; (E) determine the stone position. In the implementation, first define the search path (as shown in Figure 5 (c-work)), if, (the stone shadow and the search line match, For the best comparison results. Because the stone shadows have two special breaks, the stone part The other is the shaded part. The present invention is 1729221. The two steps are used to distinguish the alignment process. The first step is to find out where the stones may exist. The first step is to simulate the stone shadow at the points where these stones may exist. When the search path finds the pixel with the largest grayscale value, the pixel with the largest grayscale value has a missing stone, or it may be a human body tissue located at the upper end of the stone, rather than a stone. In order to avoid the tissue being too close to the upper end of the probe stone. High gray scale value The present invention makes the search path start from the image coordinate y = 丄 5 ,, as shown in Fig. 5 (c-2), the shadow sample is discriminated along the search path when the biometric recording starts from the position of the hybrid probe. The result is 7. After finding the possible stone position from the search path, the 2Q pixel is sampled after the stone position along the search path, which is called the candidate sample. The sampling method is to calculate the pixel and its neighbors. Grayscale average, since there are 2 pixels after the stone position, this issue calculates 200 grayscale averages as the search candidate module. As shown in Figure 5 (C-3), for comparison The candidate modules of the cable paths (2), (3), and (4) have their grayscale values as shown in Fig. 5 (c-4). The present invention defines 〇-25 as the stone portion and 5 0_2(10) as the shadow portion. For the part, the sample of (b) of Figure 2 (c 4) best fits the good shadow feature. In the narrow range of 〇1 2 $, the gray level value of the figure (5) of Figure 5 (C-4) is higher. 〇〇Continuously decreasing at 5〇〇. The comparison rule of 曰shadow samples is to find the largest grayscale value of the candidate samples in each candidate sample, that is, the grayscale peak, and then calculate 5 〇 1 〇〇 Too 15 1279221 order average, find the difference between the gray level peak and the gray level average (four), the largest difference is the sample that best matches the shadow feature. The position of the stone in this sample can be used as the basis for the "stone identification". Although Figure 5 (c (a) and Figure 5, i (乜), I look a lot like 'a grayscale peak at 0-25, but a grayscale at 5 〇 _ 2 〇〇 The average value is significantly different. Figure 5 ((:-4) (a) map, and page 5 (c-4) (b) has a higher grayscale average. Therefore, based on The difference between the gray-scale peak and the gray-scale flat-field value of the shaded area is determined. (b) of Figure 5 (b) is a shadow sample that is more consistent with the shadow feature. System 'is the extracorporeal lithotripter and its stone tracking Second, "^ reading and stone shadow lion fixed recording, as can be seen from the figure, stone = = shadow auxiliary particles can be compared with the continuous image facet synchronization to define the knot \ 〇 7: the correct area is more accurate Thus, when the image is used: medium, = 昼 晴 晴 ” and,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, At the beginning of the implementation, the power is first turned on, and the power is turned on by the suppression power supply, and the 机 机 , , , , , , Wei Madong correct ~ stone s, at the same time 'moving Zhao sound wave scanner, sweeping the patient 16 1279221 to stand up. After the stone's ice 'after' ultrasonic wave image positioning program and 曰 wave,,, stone image instant Tracking and locating program (as shown in Figure 7, the user first calibrates the stone area (as shown in Figure W), for the current (such as _) scales _ _ positioning program, Zhang ~ image (as shown in Figure 8) , , & and its crane vector 'synchronous scale control 11 and servo motor movement' to align the patient's stone area to the target area, and repeat the comparison to confirm the stone crushing. From the production of the early 7, Hezhen cup movement, proceed The detailed description of the possible embodiments of the present invention is not intended to limit the scope of the patents of the present invention, and any equivalent implementation or alteration that should not be deviated from the technical scope of the present invention should be It is included in the patent scope of this case. The product 'This case is not only technically important, but also can be applied for the invention of the legal invention that meets the novelty and progress of the customary object. Patent application, to encourage BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 (Α) is a perspective view of the structure of the present invention. Fig. =, (8) is a schematic diagram of the electromagnetic shock wave generation of the present invention. Fig. 1 is another perspective of the present invention. Figure 2 is a side view of the present invention. 17 1279221 Figure 4 is a schematic view showing the rotation of the X-ray machine of the present invention. Figure 5 is a flow chart of the tracking and positioning of the stone of the present invention. Figure 5 (A) is a stone detecting step of the present invention. Figure 5 (A-1) is a graph of the effective area gray scale value of the present invention. Figure 5 (A-2) is a graph of the effective area gray scale threshold value of the present invention. Figure 5 (A-3) is The ultrasonic map of the stone detection of the present invention is shown in Fig. 5. (A-4) is a supersonic wave diagram of the stone side of the present invention. Fig. 5(B) is a flow chart of the image matching step of the present invention. Figure 5 (B 1) is an ultrasound diagram of the image pupil alignment step of the present invention. Figure 5 (C) is a flow chart of the stone shadow assisted positioning of the present invention. Fig. 5 (C-1) is a first-supersonic map of the stone shadow assisted positioning of the present invention. Figure 5 (C 2 ) is the knot of the turn; Figure 5 (C-3) is the stone of the invention and the _ π 〜 疋 疋 。 。 。 。 。 。 。. ^ Five (c ^ ) ί (4) The shadow of the stone assisted positioning gray scale value coordinate map. g five (D) AA (4) such as the yin f to help the fine ultrasonic map. Figure 5 (D) Lin (four) stone chasing the mouth Figure 6 is the hair side. - Stone material comparison flow chart Figure 7 is a supersonic scanning diagram of the present invention. Figure 8 is the (R) R_Rt_ diagram before (4). Figure 9 is a second definition of the present invention. 18 1279221 [Description of main components] 1 · · • X-ray machine 11· • Rotary arm arm 2 · · • Ultrasonic knowing 3 · · • Mobile platform 4 · · • Monitor 5 · · • Shock cup 6 · • • Drive control unit 7 • • Electromagnetic shock generator module 7 1 • • Shock wave module fixed base 72 • • Shock lens mount 7 3 • Shock wave focus biconcave lens 74 • Shock wave generation source unit 74 1 • High-voltage insulating ceramic base 742 • Compression solenoid 743 • Teflon double-sided bonding film 744 • Metal film 74 5 • Rubber film
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