WO2019114824A1 - 一种根据体表静脉特征实现人体目标定位的方法及装置 - Google Patents

一种根据体表静脉特征实现人体目标定位的方法及装置 Download PDF

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Publication number
WO2019114824A1
WO2019114824A1 PCT/CN2018/121226 CN2018121226W WO2019114824A1 WO 2019114824 A1 WO2019114824 A1 WO 2019114824A1 CN 2018121226 W CN2018121226 W CN 2018121226W WO 2019114824 A1 WO2019114824 A1 WO 2019114824A1
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WIPO (PCT)
Prior art keywords
body surface
vein
model
target
acupoint
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PCT/CN2018/121226
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English (en)
French (fr)
Inventor
郑杨
郑兴
Original Assignee
泗洪县正心医疗技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN201711346243.0A external-priority patent/CN108056910B/zh
Priority claimed from CN201711414612.5A external-priority patent/CN108158804B/zh
Application filed by 泗洪县正心医疗技术有限公司 filed Critical 泗洪县正心医疗技术有限公司
Priority to CA3085794A priority Critical patent/CA3085794C/en
Priority to US16/954,136 priority patent/US11883355B2/en
Priority to EP18889778.9A priority patent/EP3714860A1/en
Publication of WO2019114824A1 publication Critical patent/WO2019114824A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0077—Devices for viewing the surface of the body, e.g. camera, magnifying lens
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/48—Other medical applications
    • A61B5/4854—Diagnosis based on concepts of traditional oriental medicine
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/48—Other medical applications
    • A61B5/4887—Locating particular structures in or on the body
    • A61B5/489—Blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
    • A61H39/02—Devices for locating such points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
    • A61H39/08—Devices for applying needles to such points, i.e. for acupuncture ; Acupuncture needles or accessories therefor
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H30/00—ICT specially adapted for the handling or processing of medical images
    • G16H30/40—ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/50—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0073—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence by tomography, i.e. reconstruction of 3D images from 2D projections
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves 
    • A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves  involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient ; user input means
    • A61B5/742—Details of notification to user or communication with user or patient ; user input means using visual displays
    • A61B5/743—Displaying an image simultaneously with additional graphical information, e.g. symbols, charts, function plots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5043—Displays
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5092—Optical sensor

Definitions

  • the invention relates to a method and a device for realizing human target positioning according to body surface vein characteristics.
  • the most common acupoint location is acupuncture and moxibustion of traditional Chinese medicine.
  • the bone size measurement method is the most commonly used. Different body type patients use the finger of the doctor as the standard of bone size measurement, which makes the accuracy of positioning greatly reduced. Improper positioning can cause unnecessary damage.
  • the most common anatomical target is the organization of the puncture and surgery. The doctor needs to know what anatomical structures are around the puncture or surgically incision. However, on the operating table, only the experience and the fuzzy memory when reading the video can be used. thinking, it is easy to cause complications when encountering anatomical abnormalities.
  • Hemoglobin in human blood has strong absorption ability to infrared light, and the surrounding tissue has weak absorption ability to infrared light, so the interference of visible light is excluded.
  • infrared imaging the venous blood vessel and surrounding tissue produce optical contrast, thereby making subcutaneous The position of the venous blood vessels is clearly displayed.
  • the exact infrared band can be further obtained by analyzing the spectrum of human blood. Therefore, using this specific band near-infrared to make a human surface blood vessel display instrument, the user can use the display device to scan and image the blood vessels under the surface skin of the human body, thereby accurately positioning the blood vessel.
  • the morphology of the surface veins does not change fundamentally with age, and the position on the body surface is relatively fixed. Therefore, the positional relationship between the tissues and the body surface veins in the body is also fixed, which is suitable as an anchor point for positioning.
  • the invention provides a method and a device for realizing a target positioning of a human body according to a body surface vein feature, which can realize accurate positioning of a human body target, and the device used has a simple structure and a low cost.
  • step 2) adjusting the position of the model projection in step 2), observing the body surface vein and making at least two body surface veins coincide with the veins in the projection model, then the human body target position projected by the model is the projection of the human body target on the actual body surface.
  • placing the body surface vein mold in step 2) on the user's body surface adjusting the position, observing the body surface vein and making at least two body surface veins coincide with the veins in the body surface vein mold, then the body surface
  • the target position of the human body on the vein mold is the projection of the human target on the actual body surface.
  • step 1) the model displayed by the human target and the vein is established according to the body surface of the human target to be determined or vertically projected, and the model is established to improve the accuracy of repositioning the human target.
  • the above step 2) preferably projects the model of step 1) on the body surface where the body surface vein is located, so that the ratio of the body surface projection to the actual body size is (0.95-1.05): (0.95-1.05); or with a transparent material Body size (0.95-1.05): (0.95-1.05) size ratio Print the model of step 1) to make a body surface vein mold.
  • the above step 2) is further preferably printing the model of step 1) with a transparent material in a size ratio of 1:1 to the human body, and placing the printed model on the body surface where the human target is located; or projecting the model of step 1)
  • the body surface where the human body is located is such that the ratio of the body surface projection to the actual size of the human body is 1:1.
  • the above (0.95-1.05): (0.95-1.05) or 1:1 size ratio means that the size ratio of the veins of the veins printed or projected in the body surface model to the corresponding limbs of the human body is (0.95-1.05): (0.95) -1.05) or 1:1. That is, the veins in the model are placed or projected on the corresponding limbs in proportion, and the veins in the model are coincident with the veins of the limbs, and the target position of the human body in the model is also the corresponding target position of the human body.
  • the model displayed by the human target and the vein in step 1) is obtained by the vein display device; the step 1) is completed under standard conditions, which are directly above the body surface, and the distance table 10- 40 cm, illuminance is 300-1000 lumens. Preferably, it is 20-25 cm from the body surface and the illuminance is 500-800 lumens.
  • Step 3) Displaying the vein of the body surface of the human target through the vein display device, then adjusting the model printed or projected in step 2), or adjusting the limb so that at least two veins in the vein limb displayed by the vein display device are printed or projected
  • the veins in the model coincide, and the body surface position corresponding to the human target on the printed or projected model is the projection of the human body target to be positioned on the actual body surface.
  • step 1) is to accurately find the acupoint on the body surface and leave a recordable mark, and use the vein display device to obtain a picture jointly displayed by the acupoint and the body surface vein as a model;
  • step 1) is to accurately find the acupoint on the body surface and leave a recordable mark, and use a 3d scanning instrument to scan the patient's body surface to establish a 3d model, and obtain the vein display device.
  • the picture displayed by the acupoint and the surface vein is integrated into the 3d model to obtain a 3D model of the skin containing the acupoint and the body surface vein;
  • step 1) is to accurately find the acupoint on the body surface and leave a recordable mark, and use a 3d scanning instrument to scan the patient's body surface to establish a 3d model, and obtain the vein display device.
  • the picture displayed by the acupoint and the surface vein is integrated into the 3d model to obtain a 3D model of the skin containing the acupoint and the body surface vein, and the 3D model of the skin is developed to form a two-dimensional model;
  • step 1) is to obtain a patient's body surface vein image by using a vein display device according to the posture of the standard acupoint diagram, and it is necessary to include at least two edges of the patient's body, or at least two bones.
  • Sexual standard point the body at the target acupoint of the standard acupoint map is stretched to the same size as the corresponding body image of the obtained body surface image, and then the body edge or bony landmark corresponding to the standard acupoint map and the obtained body surface vein image After registration, the fusion is superimposed into a picture to obtain a model jointly displayed by the acupoint and the body surface vein;
  • step 1) is to accurately find the acupoint on the body surface and leave a recordable mark, and use the vein display device to obtain a picture jointly displayed by the acupoint and the body surface vein;
  • step 2) is to accurately find the acupoint on the body surface and leave a recordable mark, and use the vein display device to obtain a picture jointly displayed by the acupoint and the body surface vein;
  • step 2) is to accurately find the acupoint on the body surface and leave a recordable mark, and use the vein display device to obtain a picture jointly displayed by the acupoint and the body surface vein;
  • the vein display device When positioning the acupoint, let the patient pose the same position as when the picture was taken, use the vein display device to obtain the vein map of the target acupoint at the same angle, and register the picture displayed by the acupoint and the surface vein together with the vein map of the target acupoint. , a model that is displayed together with the acupoint and the body surface vein.
  • Step 1) of the above various schemes in order to make the position of the veins and acupoints more obvious, the established models can be processed to deepen the display of veins and acupoints, and the model is preferably subjected to image enhancement algorithm processing.
  • the image enhancement algorithm processing may be binarization processing or the like.
  • the model obtained by the anatomical target and the body surface vein is obtained in step 1), specifically: scanning the anatomical target by the CT apparatus or the MRI apparatus, and the surface vein within 1 cm of the subcutaneous surface parallel to the scanning plane.
  • a model that is displayed together with an anatomical target and a body surface vein is prepared using image processing software.
  • Step 3) Displaying the vein of the body surface of the human target through the vein display device, then adjusting the model printed or projected in step 2), or adjusting the limb so that at least two veins in the vein limb displayed by the vein display device are printed or projected
  • the veins in the model coincide, and the body surface position corresponding to the human target on the printed or projected model is the projection of the human body target to be positioned on the actual body surface.
  • the model is displayed together with the anatomical target and the body surface vein, including the following steps:
  • A1 acquiring a tomographic image including a surface vein and a human anatomical target
  • step A2) processing the tomographic image including the body surface vein in step A1) by using image processing software, and extracting the body surface vein image;
  • the body surface vein image obtained in the step A2) and the human body target tomographic image are normalized to obtain a model having the same size and coordinates.
  • step A3) is to treat both the body surface vein image obtained in step A2) and the anatomical target tomographic image according to uniform size and coordinates. All pictures of a conventional tomography are in the same coordinate system.
  • step A3 When positioning the anatomical target, as another preferred embodiment of the present application, in step A3), a scale is added to the model.
  • the scale bar is the scale that comes with the tomography device. It is easy to check whether the model and the actual ratio are appropriate on the model.
  • the method of extracting the body surface vein image is a mapping method.
  • the projection in step 2) includes the following steps:
  • the model in the library 1 is adjusted by the computer data processing component and registered with the image of the library 2, and the model displayed by the registered human body target and the body surface vein of the gallery 1 is projected on the body surface by the projector, so that the model is made.
  • the ratio of the table projection to the actual size of the human body is (0.9-1.1):1; then the body surface position corresponding to the target point on the projected model is the human body target that needs to be positioned.
  • the computer data processing component in the above step B3) or step C3) is internally equipped with image enhancement algorithm software for analyzing and extracting point, line or surface features in the library 1 and the gallery 2,
  • the model in the library 1 is graphically transformed, and then coordinate transformation is performed to register the model in the library 1 with the body surface vein map in the library 2.
  • the method of graphics transformation comprises: rigid body transformation or affine transformation or projection transformation or bending transformation.
  • the advantage of the above method is that it is not necessary to adjust the limb, and the captured image is added to the acupoint standard and then projected onto the body surface. Even if the acupoint positioning is required again, the position of the limb is different from the original position, and the angle and size of the model in the gallery 1 can be adjusted by the computer data processing component and then projected, and the limb adjustment step is completed in the computer data processing component.
  • the body surface vein mold used in the step 2) includes a transparent material, and the surface material vein map is provided on the transparent material.
  • a target hole or a puncture channel is also provided.
  • a model frame is fitted around the periphery of the transparent material, and the model frame is a tubular or semi-tubular frame. The model box can be selected according to the position in which it is located.
  • the body surface positioning model described above is also the model printed in step 2) of the foregoing method.
  • the vein map in the positioning model is identical in size and shape to the vein map of the limb in which the portion to be positioned is located.
  • the vein display device includes an infrared light source, a computer data processing component, a control component, and a liquid crystal display that are sequentially connected.
  • the vein display device comprises an infrared light source, an infrared filter, an electronic camera, a computer data processing component, a control component and a liquid crystal display which are sequentially connected, and when the projector is provided, the projector is connected with the computer data processing component, and the projector a spectroscope is arranged in front of the projector, and the light exiting path of the projector is perpendicular to the light path of the electronic camera, and the beam splitter is located at an intersection of the light exiting route and the light route, and is at an angle of 45° with the light outgoing route and the light route;
  • the beam splitter is bandpass filtered, selectively transmitting visible light and reflecting near infrared light. Infrared filters protect the imaging system from visible light, allowing most of the visible light to be filtered out.
  • the infrared filter can be
  • a device for realizing human target positioning according to body surface vein characteristics comprising a vein display device, a bracket and a human body target matching device, the bracket comprises a ring frame and a leg connected to each other, the vein display device is arranged on the ring frame; the human body target matching device
  • the body surface vein mold or projector; the body surface vein mold comprises a transparent material, the transparent material is provided with a vein map and a human target hole; when the human body target matching device is a projector, the projector is connected with the vein display device.
  • the body surface vein mold In use, when the body surface vein mold is included, the body surface vein mold is placed on the body surface where the human body target is located, and when at least two veins in the vein limb displayed by the vein display device coincide with the vein in the body surface vein mold, the body is The body surface position corresponding to the human target point on the vein vein mold is the human body target that needs to be positioned, and the target surface can be marked on the body surface.
  • the ring frame is provided with more than one support ring for supporting the vein display device; the support ring may clamp the vein display device in pairs, or may be fitted with the vein display device through a gear, and the vein display device may be upward on the ring frame or Move down to adjust the distance between the body and the body.
  • each of which includes a sliding ring and a strut connected to each other, wherein the sliding ring is sleeved on the ring frame.
  • the sliding ring is horizontally slidable relative to the annular frame and cannot be rotated up and down.
  • the cross section of the pipe used in the annular frame is non-circular, and the hole of the sliding ring is also non-circular; this can restrict the sliding ring from rotating on the ring frame; or the sliding ring is provided with a limiting slip ring in the ring.
  • the cross-section of the annular frame may be a perfect circle, and the hole of the sliding ring may also be a perfect circular shape, and the locking knob may not limit the rotation of the sliding ring on the annular frame.
  • the strut includes a first strut and a second strut of the rotational connection, wherein the first strut is connected with the sliding ring; the sliding ring and the first strut may be fixedly connected or may be Active connection.
  • the strut is curved, one end of the strut is connected with the sliding ring, and the other end of the at least one strut is provided with a curved snap ring, and the bottom of the curved snap ring is a soft structure.
  • the snap ring can be stuck on the arm and the like without causing discomfort, which not only ensures the comfort of the human body, but also ensures the stability of the use of the device.
  • the first strut is rotatably connected to the second strut by the folding joint, and the first strut and the second strut can be folded, or can be opened at an angle and locked at an angle, the working angle
  • the device is 0-180 degrees; the device for positioning the human body according to the surface vein characteristics further includes a base, and the pole is inserted on the base.
  • the first rod can also be inserted into the base and can be adjusted to meet the needs of different heights or different positions by adjusting the angles of the first rod and the second rod.
  • the sliding ring is sleeved on the ring frame and can slide relative to the ring frame. All the first poles can be arranged in a row, which is convenient for hand-held or packaged, and can also be opened around, forming a tripod to be stably supported above the body surface.
  • the computer data processing component is used to process the image captured by the electronic camera, and is processed by the built-in algorithm processing and image enhancement algorithm to send the image to the liquid crystal display.
  • the specific method is prior art.
  • the control component is used to control the operation of the vein display device, and can be controlled by a button or by a remote controller, and can refer to the prior art.
  • FIG. 1 is a schematic structural view of a device for realizing a target positioning of a human body in the embodiment 1;
  • FIG. 2 is a schematic view showing the folded state of the device for realizing the target positioning of the human body in the embodiment 1;
  • FIG. 3 is a schematic structural view of a device for realizing a target positioning of a human body in the embodiment 4;
  • FIG. 4 is a schematic structural view of an apparatus for realizing a target positioning of a human body in the embodiment 5;
  • Figure 5 is a schematic structural view of a vein display device
  • Figure 8 is a schematic structural view of a two-dimensional acupoint positioning model (omitting the acupoint hole);
  • Figure 9 is a schematic view showing the structure of the 3d acupoint positioning model (the acupoint hole is omitted);
  • Figure 10 is a schematic structural view of Figure 9 after flattening
  • FIG. 11 is a schematic flow chart of a projection method according to a body surface vein feature according to an embodiment of the present invention.
  • FIG. 12A is a schematic diagram showing a tomographic scan image of a right venous surface vein of a umbilical portion in the eighth embodiment
  • FIG. 12B is a schematic view of the processing of FIG. 12A in Application Example 8;
  • FIG. 13A is a schematic diagram showing a tomographic scan image of the left cutaneous surface vein of the umbilicus in the eighth embodiment
  • FIG. 13B is a schematic diagram of the process of FIG. 13A in the application embodiment 8; FIG.
  • Figure 14A is a schematic diagram showing a tomographic scan image of a left kidney superior cyst as a target in Application Example 8;
  • FIG. 14B is a schematic view of the processing of FIG. 14A in Application Example 8;
  • 15 is a schematic view showing a common display model of the body surface vein and the scale in the application example 8;
  • Fig. 16 is a schematic view showing projection of an anatomical model on a body surface after positioning in Application Example 8.
  • 1 is the stent
  • 2 is the vein display device
  • 3 is the acupoint positioning model
  • 4 is the body surface vein
  • 11 is the circular frame
  • 12 is the support ring
  • 13 is the sliding ring
  • 14 is the first pole
  • 15 is the second Pole
  • 16 is a folding joint
  • 17 is a locking knob
  • 18 is a curved snap ring
  • 19 is a base
  • 20 is an infrared filter
  • 21 is an electronic camera
  • 22 is an infrared light source
  • 23 is a computer data processing component
  • 24 is The control unit
  • 25 is a liquid crystal display
  • 26 is a projector
  • 32 is a target
  • 33 is a scale
  • 34 is a projection bracket.
  • a device for realizing human target positioning according to body surface vein characteristics includes a vein display device, a bracket and a human body target positioning model, the bracket includes a ring frame and a leg connected to each other, and the vein display device is arranged in a ring shape.
  • the body surface vein model comprises a transparent material, and the vein material and the target hole are arranged on the transparent material;
  • the vein display device comprises an infrared light source, an infrared filter, an electronic camera, a computer data processing component, a control component and a liquid crystal display which are sequentially connected to each other.
  • the liquid crystal display is used for displaying a limb vein, and the infrared light source is below, for Limb irradiation;
  • the ring frame is provided with a support ring for supporting the vein display device, and the support ring is fitted with the vein display device through the gear;
  • the leg has three legs, and each leg includes a sliding ring and a strut connected to each other, wherein the sliding ring is sleeved at On the ring frame;
  • the cross-section of the pipe used for the annular frame is non-circular, and the hole of the sliding ring is also non-circular, so that the sliding ring can be restricted from rotating on the ring frame;
  • the struts include a first struts and a second struts that are rotatably coupled, wherein the first struts are coupled to the sliding ring, and the first struts are rotatably coupled to the second struts by the folding joints;
  • the vein display device When in use, the vein display device is placed in a suitable position through the bracket, 20-30 cm from the body surface, and the illuminance is 500-800 lumens, which is convenient for the vein display device to determine the display of the limb vein at the target of the human body.
  • the user or others observe the liquid crystal display of the vein display device, from which the vein map of the user's body surface and the vein map of the human body target positioning model can be simultaneously seen.
  • the position of the user's limb and body surface vein model is adjusted such that the vein of the user's body surface coincides with at least two veins in the vein map of the positioning model.
  • the position of the body surface corresponding to the target point on the positioning model is the position or projection of the human body target to be positioned on the body surface.
  • Embodiment 1 Basically the same as Embodiment 1, except that the positioning model is not included, but the projector is included, the projector is connected with the computer data processing component, the spectroscope is arranged in front of the projector, the light exiting path of the projector and the electronic camera are advanced.
  • the light path is perpendicular, the beam splitter is located at the intersection of the light exit path and the light path, and is at an angle of 45° with both the light exit path and the light path; the beam splitter is band pass filtered and selectively transmits visible light, and Reflects near-infrared light.
  • the projector vertically projects the image including the vein map and the acupoint position to the user's body surface, and the user or others observe the liquid crystal display of the vein display device, from which the vein of the user's body surface and the projected vein map can be simultaneously seen.
  • the position of the user's limb and the projector is adjusted such that at least two veins in the vein of the user's body surface and the projected vein map coincide.
  • the position of the body surface corresponding to the target point on the projected image is the position or projection of the human body target to be positioned on the body surface.
  • Embodiment 2 It is basically the same as Embodiment 1, except that the sliding ring is provided with a locking knob that restricts the rotation of the sliding ring on the ring frame.
  • the device for realizing the target positioning of the human body according to the body surface vein feature further includes a base, and the bottom of the second pole is inserted on the base.
  • FIG. 4 it is basically the same as Embodiment 1, except that the strut is curved, one end of the strut is connected with the sliding ring, and the other end of one strut is provided with a curved snap ring, and the arc is curved.
  • the bottom of the snap ring is a soft structure.
  • Example 2 Basically the same as Example 1, except that the periphery of the transparent material is fitted with a mold frame of a tubular or semi-tubular frame.
  • a method for realizing the target positioning of the human body according to the characteristics of the body surface vein the steps of positioning the acupoint are as follows:
  • the vein display device In order to accurately find the acupoints on the body surface and leave a recordable mark, the vein display device is used to obtain a picture jointly displayed by the acupoint and the vein as a model;
  • step 2) print the model of step 1) in a ratio of 1:1 to the human body with a transparent material, and make a hole at the acupoint point of the printed model, and then place the printed model on the body surface where the acupoint is located;
  • step 3 displaying the vein of the limb to be determined at the acupoint by a vein display device, then adjusting the model printed in step 2), or adjusting the limb so that at least two veins of the limb coincide with the vein in the printed model, then the printed model
  • the position of the body surface corresponding to the acupoint point is the acupoint to be positioned, and the pen can be marked on the limb by a pen or the like through the hole at the point of the acupuncture point on the printed model.
  • a method for realizing human target positioning according to body surface vein characteristics, and positioning the acupoints includes the following steps:
  • step 2) print the model of step 1) in a ratio of 1:1 to the human body with a transparent material, and make a hole at the acupoint point of the printed model, and then place the printed model on the body surface where the acupoint is located;
  • step 3 Display the vein of the limb to be determined at the acupoint by the vein display device, then adjust the 3d model printed in step 2), or adjust the limb so that at least two veins of the limb coincide with the vein in the printed model, then the printed model
  • the position of the body surface corresponding to the point of the acupoint is the acupoint to be positioned, and the pen can be marked on the limb by the hole at the point of the acupoint on the printed model.
  • a method for realizing human target positioning according to body surface vein characteristics, and positioning the acupoints includes the following steps:
  • step 2) Print the 2D model of step 1) in a ratio of 1:1 to the human body with a transparent material, and print the model
  • step 3 displaying the vein of the limb to be determined at the acupoint by the vein display device, then adjusting the two-dimensional model printed in step 2), or adjusting the limb so that at least two veins of the limb coincide with the vein in the printed model, then the printed
  • the position of the body surface corresponding to the acupoint point on the model is the acupoint to be positioned, and the pen can be marked on the limb by a pen or the like through the hole at the acupoint point on the printed model.
  • a method for realizing a target of a human body according to a surface vein characteristic the steps of positioning the acupoint are as follows:
  • step 2) or project the model of step 1) according to the size ratio of 1:1 with the human body on the body surface where the acupoint is located;
  • 3) displaying the vein of the limb to be determined at the acupoint by means of a vein display device, then adjusting the projection printed in step 2), or adjusting the limb so that at least two veins of the limb coincide with the vein in the projected model, then on the projected model
  • the position of the body surface corresponding to the acupoint point is the acupoint that needs to be positioned, and can be marked on the limb with a pen or the like.
  • a method for realizing human target positioning according to body surface vein characteristics, and positioning the acupoints includes the following steps:
  • step 2) or project the model of step 1) according to the size ratio of 1:1 with the human body on the body surface where the acupoint is located;
  • step 3 displaying the vein of the limb to be determined at the acupoint by the vein display device, and displaying the vein image with the model obtained in step 1), and finally projecting the pattern projected on the body surface model completely coincides with the main vein under the skin, and the projected model
  • the position of the body surface corresponding to the point of the acupoint is the acupoint to be positioned, and can be marked on the limb with a pen or the like.
  • a method for realizing human target positioning according to body surface vein characteristics, and positioning the acupoints includes the following steps:
  • step 2) print the model of step 1) in a ratio of 1:1 to the human body with a transparent material, and make a hole at the acupoint point of the printed model, and then place the printed model on the body surface where the acupoint is located;
  • step 3 displaying the vein of the limb to be determined at the acupoint by a vein display device, then adjusting the model printed in step 2), or adjusting the limb so that at least two veins of the limb coincide with the vein in the printed model, then the printed model
  • the position of the body surface corresponding to the acupoint point is the acupoint to be positioned, and the pen can be marked on the limb by a pen or the like through the hole at the point of the acupuncture point on the printed model.
  • a method for realizing human target positioning according to body surface vein characteristics, and positioning the acupoints includes the following steps:
  • step 2) is performed each time, and the position of the acupoint can be dynamically displayed.
  • the application embodiment does not need to adjust the limb, and the reference model obtained under the standard condition is registered according to the actual angle and distance, and then the deformed reference model is projected onto the body surface by the shooting angle. Accurate positioning is achieved even if the position of the limb is different from the original position. High-frequency refreshing of the actual captured image enables real-time dynamic display. User-friendly.
  • a method for realizing human target positioning according to body surface vein characteristics, and when positioning an anatomical target the following steps are included:
  • Step 1 Scan the anatomical target and the surface vein within 1 cm of the subcutaneous surface of the body surface parallel to the scanning plane by a CT apparatus or an MRI apparatus.
  • Step 2 using the image processing software to process the tomographic image including the body surface vein in the first step, and extracting the body surface vein image by using the method of mapping;
  • Step 3 The body surface vein image and the anatomical target tomographic image obtained in the second step are processed according to uniform size and coordinates, and a scale is added to form a model jointly displayed by the human body target and the body surface vein.
  • Step 4 Project the model of step 3 on the body surface where the body surface vein is located, so that the ratio of the body surface projection to the actual size of the human body is (0.9-1.1): 1; or use the transparent material according to the human body (0.9-1.1): 1
  • the size ratio prints the model of step one to make a body surface vein mold
  • Step 5 Adjust the position of the model projection in step 4, observe the body surface vein and make at least two body surface veins coincide with the veins in the projection model, and the target position of the human body projected by the model is the projection of the human body target on the actual body surface. Or placing the body surface vein mold in step 4 on the user's body surface, adjusting the position, observing the body surface vein and making at least two body surface veins coincide with the veins in the body surface vein mold, then the body surface vein The target position of the human body on the mold is the projection of the human target on the actual body surface.
  • FIG. 11 is a schematic flow chart of the projection method of the present invention.
  • Step one in order to know the spatial relationship between the renal cyst and the body surface, first scan the human body through a tomographic scanning device to obtain a tomographic image including the body surface vein;
  • Conventional continuous tomography equipment includes CT and MRI, and in this embodiment, renal cysts are examined by CT.
  • the scanning is concentrated around the target, and the coronal and sagittal scanning generally does not include the body surface parallel to the scanning plane.
  • the body surface vein display device can display veins within 1 cm from the body surface, and the thicker the diameter, the easier it is to observe.
  • the camera is required to scan the 1-3 layers of the body surface parallel to the scanning plane, scan the subcutaneous 1cm vein-containing connective tissue, and continue to scan the target at the same coordinates. If only a horizontal scan is performed, since the body surface vein is traversed, the simulated coronal and sagittal scans can be reconstructed using Mimics medical 17.0 software.
  • FIG. 12A is a schematic diagram of a CT tomography image of the right side surface vein of the umbilicus in the eighth embodiment.
  • the hole in the lower middle is the depression of the navel, and the surface layer on the right side of the navel can be seen as a less obvious surface vein.
  • Fig. 12B is a schematic view showing only the body surface vein after the treatment of Fig. 12A in the application example 8.
  • Fig. 13A is a schematic view showing a CT tomography image of the left surface vein of the umbilicus. The same treatment as above was carried out to obtain Fig. 13B.
  • Fig. 14A is a schematic diagram of a CT tomography image of a target left kidney cyst, which is reversed by the Photoshop inversion function to make the background lighter. Further, by the method of the process of Fig. 12, Fig. 14B is obtained, which is a schematic view showing the target of the cyst after the treatment of Fig. 14A in the application example 8.
  • the processed body surface vein image and the other anatomical target tomographic images are all made into an anatomical model with the same size and coordinates.
  • Fig. 12B, Fig. 13B and the length scale are commonly pasted into the same blank background image, and all three pictures are placed on the upper left corner of the background. Even if the alignment mark is not marked in advance, it can still be aligned accurately.
  • Fig. 15 is obtained, which is a body surface vein model synthesized in Application Example 8. Paste other tomographic images into a blank background image, and place all three images on the upper left corner of the background to create a model with the same coordinates and dimensions as the body surface vein model.
  • the alignment marks are pre-labeled with the image processing software at the same coordinates on the image for correcting alignment.
  • Step 4 as shown in FIG. 16, project the model of step 3 on the body surface of the human body, so that the ratio of the body surface projection to the actual size of the human body target is (0.95-1.05):1.
  • the ratio of the body surface projection to the actual size of the human body is calculated. Then adjust the scale by adjusting the projection distance or image size.
  • Step 5 From the vein display, the body surface vein can also be seen at the same time and projected on the body surface, but it does not necessarily coincide with the actual body surface vein. It is necessary to adjust the position or position of the projector to make the two coincide.
  • the body surface position corresponding to the target on the projected model is the projection of the target to be positioned on the body surface.
  • the actual surface vein of the body surface can be seen from the liquid crystal display, and the projected vein model is continuously aligned with the actual body surface vein.
  • the projected vein model can be seen from the liquid crystal display, and the actual body surface vein of the patient is continuously aligned with the projected vein model until at least two body surface veins. It coincides with the vein in the projected model.
  • This application embodiment is similar to the application embodiment 8, except that the application embodiment is used for layer-by-layer positioning projection during surgery.
  • the projected vein image is firstly superimposed on the actual body surface vein according to the body surface vein model, and the CT or MRI image and the synthesized stereoscopic 3D image of different levels are vertically projected in the operation area through a projector fixed on the projection bracket. Make the body surface projection and the actual size of the human body 1:1.
  • different levels of images can be called according to the progress of the operation, and the tissues around the surgeon can be reminded to improve the accuracy of surgery and reduce the side damage.

Abstract

一种根据体表静脉特征实现人体目标定位的方法及装置，根据体表静脉（4）与人体目标（32）位置相对固定以及体表静脉（4）容易被静脉显示装置（2）观察到的特点，制作体表静脉（4）和人体目标（32）共同显示的定位模型，实现了人体目标（32）的准确定位。该装置结构简单、使用方便，操作简单，准确性高；在任何角度下都可以使用，使用范围广泛；受周围环境干扰小，可以在任意角度和位置进行定位；安装及拆卸方便，可根据人体的不同目标选择合适的模具或投影方式。临床使用时定位精准，减少医生凭经验反复摸索的时间和精力。

Description

一种根据体表静脉特征实现人体目标定位的方法及装置 技术领域
本发明涉及一种根据体表静脉特征实现人体目标定位的方法及装置。
背景技术
医疗操作经常需要对人体目标进行定位，绝大部位人体目标都是有明确的解剖结构的解剖目标，可以在影像检查中明确位置。但中医的腧穴并没有明确的解剖结构，需要在体表根据特殊的方法定位。解剖目标的定位和腧穴的定位在临床医疗操作中都有重要意义。
最常见的腧穴定位是中医的穴位针灸，其中骨度分寸定位法最为常用，不同体型患者都以医生一人的手指作为骨度分寸的标准，造成定位的准确性大打折扣。定位不准会造成不必要的损伤。最常见的解剖目标定位时组织穿刺和手术，医生需要知道穿刺或手术切开的组织周围有哪些解剖结构，但是在手术台上只能凭借经验和阅读影像片时的模糊记忆，需要反复回忆和思考，遇到解剖异常时也容易造成并发症。
临床上组织活检、微创手术、体内引流等许多诊疗都需要开展人体穿刺操作，包括：腰穿、腹穿、肺穿、肾穿、肝穿、等，但如何精确穿刺到目标一直是个难题。
人体血液中的血红蛋白对红外光线有较强的吸收能力，而周围组织对红外光线吸收能力较弱，因此排除可见光干扰，在红外成像上，静脉血管和周围组织就产生了光学反差，从而使皮下静脉血管的位置清晰地显示出来。通过分析人体血液的光谱可以进一步得到确切的红外线波段。因此利用这一特定波段近红外线制作人体表层血管显示仪，使用者可以使用显示仪对人体表层皮肤下的血管进行扫描成像，进而精确定位血管。
体表静脉血管形态不会随着年龄增长发生根本性的变化，在体表的位置也是相对固定的，所以体内组织器官和体表静脉的位置关系也是固定的，很适合作为定位的锚定点。
发明内容
本发明提供一种根据体表静脉特征实现人体目标定位的方法及装置，可实现人体目标的准确定位，所用装置结构简单、成本低。
为解决上述技术问题，本发明所采用的技术方案如下：
一种根据体表静脉特征实现人体目标定位的方法，包括如下步骤：
1)获取人体目标和体表静脉共同显示的模型；
2)将步骤1)的模型投影在体表静脉所在的体表，使体表投影与人体实际尺寸比为(0.9-1.1):1；或用透明材料按照与人体(0.9-1.1)∶1的尺寸比例打印步骤1)的模型，制成体表静脉模具；
3)调整步骤2)中模型投影的位置，观察体表静脉并使至少两条体表静脉与投影模型中的静脉相重合，则模型投影的人体目标位置就是该人体目标在实际体表的投影；或将步骤2)中体表静脉模具放在使用者体表，并调整位置，观察体表静脉并使至少两条体表静脉与所述体表静脉模具中的静脉相重合，则体表静脉模具上的人体目标位置就是该人体目标在实际体表的投影。
利用上述方法，在第一步的时候先将患者的人体目标准确确定，然后得到人体目标和静脉共同显示的模型，可保证在以后的人体目标定位与步骤1)中的位置是高度一致的；步骤1)中，人体目标和静脉共同显示的模型是根据待确定人体目标所在或所垂直投影的体表建立的，模型的建立，提高了人体目标再次定位的准确性。
上述步骤2)优选是将步骤1)的模型投影在体表静脉所在的体表，使体表投影与人体实际尺寸比为(0.95-1.05):(0.95-1.05)；或用透明材料按照与人体(0.95-1.05)∶(0.95-1.05)的尺寸比例打印步骤1)的模型，制成体表静脉模具。
上述步骤2)进一步优选为用透明材料按照与人体1:1的尺寸比例打印步骤1)的模型，并将所打印的模型放在人体目标所在的体表；或将步骤1)的模型投影在人体目标所在的体表，使体表投影与人体实际尺寸比为1:1。
上述(0.95-1.05):(0.95-1.05)或1:1的尺寸比例指所打印或投影在体表的模型中的静脉与人体相应肢体的静脉的尺寸比例是(0.95-1.05):(0.95-1.05)或1:1。也即将模型中的静脉等比例的放置或投影在相应的肢体上，并将模型中的静脉与肢体的静脉重合，则模型中的人体目标位置也即相应人体目标位置。
定位腧穴时，步骤1)中人体目标和静脉共同显示的模型是通过静脉显示装置获取的；步骤1)是在标准条件下完成，所述标准条件为在体表正上方，距离体表10-40厘米，光照度为300-1000流明。优选，距离体表20-25厘米，光照度为500-800流明。步骤3)为通过静脉显示装置显示人体目标所在体表的静脉，然后调整步骤2)中打印或投影的模型，或调整肢体，使静脉显示装置所显示静脉肢体中至少两条静脉与打印或投影的模型中的静脉相重合，则打印或投影的模型上的人体目标所对应的体表位置就是需要定位的人体目标在实际体表的投影。
定位腧穴时，作为本申请的优选方案，步骤1)为在体表准确找到腧穴并留下可拍摄记号，用静脉显示装置获取腧穴和体表静脉共同显示的图片作为模型；
定位腧穴时，作为本申请的另一种优选方案，步骤1)为在体表准确地找到腧穴并留下可拍摄的记号，使用3d扫描仪器扫描患者体表建立3d模型，用静脉显示装置获取腧穴和体表静脉共同显示的图片并融入3d模型中，得到包含腧穴和体表静脉的皮肤3d模型；
定位腧穴时，作为本申请的另一种优选方案，步骤1)为在体表准确地找到腧穴并留下可拍摄的记号，使用3d扫描仪器扫描患者体表建立3d模型，用静脉显示装置获取腧穴和体表静脉共同显示的图片并融入3d模型中，得到包含腧穴和体表静脉的皮肤3d模型，将皮肤3d模型展开形成二维模型；
定位腧穴时，作为本申请的另一种优选方案，步骤1)为按照标准穴位图的姿势用静脉显示装置获取患者体表静脉图片，需要包括患者躯体的至少两个边缘，或至少两个骨性标准点；将标准穴位图的目标腧穴处的躯体伸缩到与所得体表静脉图片相应躯体同等大小，然后将伸缩后的标准穴位图和所得体表静脉图片对应的躯体边缘或骨性标志点进行配准后融合叠加成一张图片，得到腧穴和体表静脉共同显示的模型；
定位腧穴时，作为本申请的另一种优选方案，步骤1)为在体表准确地找到腧穴并留下可拍摄的记号，用静脉显示装置获取腧穴和体表静脉共同显示的图片；再次需要腧穴定位时，让患者摆出与获取图片时相同的体位，用静脉显示装置在相同的角度获取目标腧穴的静脉图，将腧穴和体表静脉共同显示的图片和目标腧穴的静脉图进行配准，得到腧穴和体表静脉共同显示的模型。
上述各种方案的步骤1)，为了能让静脉和腧穴位置更明显的显示，可对所建立的各模型进行处理，加深静脉和腧穴的显示，优选将模型进行图像增强算法处理。图像增强算法处理可以是二值化处理等。
定位解剖目标时，步骤1)所述获取解剖目标和体表静脉共同显示的模型，具体为：通过CT设备或MRI设备扫描解剖目标以及与扫描层面平行的体表层皮下1cm内的体表静脉，用图像处理软件制作成解剖目标和体表静脉共同显示的模型。步骤3)为通过静脉显示装置显示人体目标所在体表的静脉，然后调整步骤2)中打印或投影的模型，或调整肢体，使静脉显示装置所显示静脉肢体中至少两条静脉与打印或投影的模型中的静脉相重合，则打印或投影的模型上的人体目标所对应的体表位置就是需要定位的人体目标在实际体表的投影。
定位解剖目标时，制作成解剖目标和体表静脉共同显示的模型，包括以下步骤：
A1)获取包括体表静脉和人体解剖目标的断层扫描图像；
A2)利用图像处理软件处理步骤A1)中包括体表静脉的断层扫描图像，并提取体表静脉图像；
A3)将步骤A2)所得的体表静脉图像和人体目标断层扫描图像的都进行归一化，制成尺 寸和坐标一致的模型。
定位解剖目标时，作为本申请的一种优选方案，步骤A3)所述归一化是将步骤A2)所得的体表静脉图像和解剖目标断层扫描图像的都按照统一的尺寸和坐标处理。常规断层扫描的所有图片都是在同一个坐标系内。
定位解剖目标时，作为本申请的另一种优选方案，步骤A3)中，在模型加入比例尺。比例尺是断层扫描设备自带的比例尺。放在模型上便于检测模型与实际比例是否合适。
定位解剖目标时，作为本申请的另一种优选方案，步骤A2)中，提取体表静脉图像的方法是抠图方法。
定位人体目标时，步骤2)中投影包括如下步骤：
B1)获取人体目标时和体表静脉共同显示的模型，存入图库1；
B2)再次需要定位人体目标时时，先获取体表静脉图，存入图库2；
B3)将图库1内模型经计算机数据处理组件调整后与图库2图像配准，将配准后的图库1的人体目标时和体表静脉共同显示的模型经投影仪投影在体表，使体表投影与人体实际尺寸比为(0.9-1.1)∶1；则投影的模型上的目标点所对应的体表位置就是需要定位的人体目标。
定位腧穴或定位解剖目标时，上述步骤B3)或步骤C3)中所述计算机数据处理组件内部安装有图像增强算法软件，用于分析并提取图库1与图库2中的点、线或面特征，将图库1中模型进行图形变换后，然后进行坐标变换，对图库1中模型与图库2中体表静脉图进行配准。优选，图形变换的方法包括：刚体变换或仿射变换或投影变换或弯曲变换。
上述方法的优势在于不需要调整肢体，将所拍摄的图像添加腧穴标准后再原路投影到体表。即使再次需要腧穴定位时，肢体摆放位置与原来位置不同，也可以经计算机数据处理组件调整图库1里模型的角度和大小后再投影，将肢体调整步骤在计算机数据处理组件内完成。
上述定位腧穴或定位解剖目标时，步骤2)所用的体表静脉模具，包括透明材料，透明材料上设有体表静脉图。优选，还设有目标孔或穿刺通道。为了方便使用，透明材料的周边嵌合有模型框，模型框为管型或半管型框架。模型框可根据所在的体位进行选择。
上述体表定位模型也即前述方法步骤2)中打印的模型。定位模型中的静脉图与待定位部分所在肢体的静脉图的大小和形状是一致的。
静脉显示装置包括依次相接的红外光源、计算机数据处理组件、控制组件和液晶显示器。优选，静脉显示装置包括依次相接的红外光源、红外滤光片、电子摄像头、计算机数据处理组件、控制组件和液晶显示器，当设有投影仪时，投影仪与计算机数据处理组件连接，投影仪前设有分光镜，投影仪的出光路线与电子摄像头的进光路线相垂直，所述分光镜位于出光路线与光路线的相交处，且与出光路线与光路线均呈45°角；所述分光镜为带通滤波，选择 性的对可见光透过，而反射近红外光。红外滤光片可以使成像系统不受可见光的干扰，使得大部分可见光能够被过滤掉。红外滤光片可以设在电子摄像头底部。
一种根据体表静脉特征实现人体目标定位的装置，包括静脉显示装置、支架和人体目标匹配装置，支架包括上下相接的环形架和支脚，静脉显示装置设在环形架上；人体目标匹配装置为体表静脉模具或投影仪；体表静脉模具包括透明材料，透明材料上设有静脉图和人体目标孔；当人体目标匹配装置为投影仪时，投影仪和静脉显示装置连接。
使用时，当包括体表静脉模具时，体表静脉模具放在人体目标所在的体表，当静脉显示装置所显示静脉肢体中至少两条静脉与体表静脉模具中的静脉相重合，则体表静脉模具上的人体目标点所对应的体表位置就是需要定位的人体目标，透过目标孔在体表上做标记即可。
环形架上设有一个以上用于支撑静脉显示装置的支撑环；支撑环可以成对地夹住静脉显示装置，也可以通过齿轮与静脉显示装置嵌合，静脉显示装置在环形架上可以向上或向下移动，以调节和体表之间的距离。
支脚有三个以上，每个支脚包括相互连接的滑动环和支杆，其中滑动环套结在环形架上。优选，支架有三个，这样既节约成本、节约空间，又能保证装置的使用稳定性。
优选，滑动环能相对环形架水平滑动、不能上下转动。作为一种方案，环形架所用管材的横截面是非正圆形，滑动环的孔也是非正圆形状；这样可以限制滑动环不能在环形架上旋转；或者滑动环上设有限制滑动环在环架上转动的锁定旋钮。这样环形架的横截面可以是正圆形，滑动环的孔也可以是正圆形状，通过锁定旋钮限制滑动环不能在环形架上旋转。
为了提高装置的使用灵活性，支杆包括转动连接的第一支杆和第二支杆，其中第一支杆与滑动环连接；滑动环与第一支杆，可以是固定连接，也可以是活动连接。
作为本申请的另一方案，支杆为弧形，支杆的一端与滑动环连接，且至少一根支杆的另一端设有弧形卡环，弧形卡环底部为柔软结构。这样可以通过卡环卡在胳膊等部位，而不会引起不适，既保证了人体的舒适性，又保证了装置的使用稳定性。
作为本申请的一种优选方案，第一支杆通过折叠关节与第二支杆转动连接，第一支杆和第二支杆可以折叠，也可以成角度打开并锁定在某一角度，活动角度为0-180度；根据体表静脉特征实现人体目标定位的装置还包括底座，支杆插在底座上。第一支杆还可以并拢后插在底座上，通过调节第一支杆和第二支杆的角度可以满足不同高度或不同位置的需求。
滑动环套结在环形架上，并可相对环形架滑动，所有的第一支杆可以并拢在一排，方便手持或包装，也可以环绕打开，形成三角架平稳支撑在体表上方。
本申请底部、顶部、上下等方位词，均指装置正常使用的相对位置。
计算机数据处理组件用于处理电子摄像头采集到的图像，并经过内置的算法处理和图像 增强算法处理，将图像发送到液晶显示器上，具体方法为现有技术。控制组件用于控制静脉显示装置的工作与否，可通过按钮控制，也可以经过遥控器控制，具体可参照现有技术。
本发明未提及的技术均参照现有技术。
附图说明
图1为实施例1中体表静脉特征实现人体目标定位的装置的结构示意图；
图2为实施例1中体表静脉特征实现人体目标定位的装置折叠状态的示意图；
图3为实施例4中体表静脉特征实现人体目标定位的装置的结构示意图；
图4为实施例5中体表静脉特征实现人体目标定位的装置的结构示意图；
图5为静脉显示装置的结构示意图；
图6为应用实施例1的原理示意图；
图7为应用实施例4的原理示意图；
图8为二维腧穴定位模型结构示意图(省略了腧穴孔)；
图9为3d腧穴定位模型结构示意图(省略了腧穴孔)；
图10为图9展平后的结构示意图；
图11为本发明实施例根据体表静脉特征的投影方法流程示意图；
图12A为应用实施例8中脐部右侧体表静脉的断层扫描图像示意图；
图12B为应用实施例8中图12A处理后的示意图；
图13A为应用实施例8中脐部左侧体表静脉的断层扫描图像示意图；
图13B为应用实施例8中图13A处理后的示意图；
图14A为应用实施例8中作为目标的左肾上级囊肿的断层扫描图像示意图；
图14B为应用实施例8中图14A处理后的示意图；
图15为应用实施例8中合成的体表静脉与比例尺共同显示模型的示意图；
图16为应用实施例8中定位后将解剖模型投影在体表的示意图。
图中1为支架，2为静脉显示装置，3为腧穴定位模型，4为体表静脉；11为环行架，12为支撑环，13为滑动环，14为第一支杆，15为第二支杆，16为折叠关节，17为锁定旋钮，18为弧形卡环，19为底座；20为红外滤光片，21为电子摄像头，22为红外光源，23为计算机数据处理组件，24为控制组件，25为液晶显示器，26为投影仪，32为目标，33为比例尺，34为投影支架。
具体实施方式
为了更好地理解本发明，下面结合实施例进一步阐明本发明的内容，但本发明的内容不仅仅局限于下面的实施例。
实施例1
如图1和图2所示，根据体表静脉特征实现人体目标定位的装置，包括静脉显示装置、支架和人体目标定位模型，支架包括上下相接的环形架和支脚，静脉显示装置设在环形架上；体表静脉模型包括透明材料，透明材料上设有静脉图和目标孔；
静脉显示装置包括依次相接的红外光源、红外滤光片、电子摄像头、计算机数据处理组件、控制组件和液晶显示器，使用时，液晶显示器在上用于显示肢体静脉，红外光源在下，用于对肢体照射；
环形架上设有一个用于支撑静脉显示装置的支撑环，支撑环通过齿轮与静脉显示装置嵌合；支脚有三个，每个支脚包括相互连接的滑动环和支杆，其中滑动环套结在环形架上；
环形架所用管材的横截面是非正圆形，滑动环的孔也是非正圆形状，这样可以限制滑动环在环形架上旋转；
支杆包括转动连接的第一支杆和第二支杆，其中第一支杆与滑动环连接，第一支杆通过折叠关节与第二支杆转动连接；
使用时，通过支架将静脉显示装置架设在合适位置，距离体表20-30厘米，光照度为500-800流明，方便静脉显示装置对待确定人体目标处肢体静脉的显示。用户本人或其他人观察静脉显示装置的液晶显示器，从中可以同时看见用户体表的静脉和人体目标定位模型的静脉图。调整用户肢体与体表静脉模型的位置，使用户体表的静脉和定位模型的静脉图中的至少两条静脉重合。则定位模型上的目标点所对应的体表位置就是需要定位的人体目标在体表的位置或者投影。
实施例2
与实施例1基本相同，所不同的是：不包括定位模型，而是包括投影仪，投影仪与计算机数据处理组件连接，投影仪前设有分光镜，投影仪的出光路线与电子摄像头的进光路线相垂直，所述分光镜位于出光路线与光路线的相交处，且与出光路线与光路线均呈45°角；所述分光镜为带通滤波，选择性的对可见光透过，而反射近红外光。
投影仪将包括静脉图和腧穴位置的图像垂直投影到用户体表，用户本人或其他人观察静脉显示装置的液晶显示器，从中可以同时看见用户体表的静脉和投影的静脉图。调整用户肢体与投影仪的位置，使用户体表的静脉和投影的静脉图中的至少两条静脉重合。则投影图像上的目标点所对应的体表位置就是需要定位的人体目标在体表的位置或者投影。
实施例3
与实施例1基本相同，区别在于：滑动环上设有限制滑动环在环架上转动的锁定旋钮。
实施例4
如图3所示，与实施例3基本相同，所不同的是：根据体表静脉特征实现人体目标定位的装置还包括底座，第二支杆的底部插在底座上。
实施例5
如图4所示，与实施例1基本相同，所不同的是：支杆为弧形，支杆的一端与滑动环连接，且一根支杆的另一端设有弧形卡环，弧形卡环底部为柔软结构。
实施例6
与实施例1基本相同，区别在于透明材料的周边嵌合有管型或半管型框架的模型框。
应用实施例1
如图6所示，一种根据体表静脉特征实现人体目标定位的方法，定位腧穴时步骤如下：
1)为在体表准确找到腧穴并留下可拍摄的记号，用静脉显示装置获取腧穴和静脉共同显示的图片作为模型；
2)用透明材料按照与人体1:1的尺寸比例打印步骤1)的模型，并在所打印模型的腧穴点处制孔，然后将所打印的模型放在腧穴所在的体表；
3)通过静脉显示装置显示待确定腧穴处肢体的静脉，然后调整步骤2)中打印的模型，或调整肢体，使肢体至少两条静脉与打印的模型中的静脉相重合，则打印的模型上的腧穴点所对应的体表位置就是需要定位的腧穴，可用笔等通过打印的模型上的腧穴点处的孔在肢体上作标记。
应用实施例2
一种根据体表静脉特征实现人体目标定位的方法，定位腧穴时，包括如下步骤：
1)为在体表准确地找到腧穴并留下可拍摄的记号，使用3d扫描仪器扫描患者体表建立3d模型，用静脉显示装置获取腧穴和静脉共同显示的图片并融入3d模型中，得到包含腧穴和静脉的皮肤3d模型；
2)用透明材料按照与人体1:1的尺寸比例打印步骤1)的模型，并在所打印模型的腧穴点处制孔，然后将所打印的模型放在腧穴所在的体表；
3)通过静脉显示装置显示待确定腧穴处肢体的静脉，然后调整步骤2)中打印的3d模型，或调整肢体，使肢体至少两条静脉与打印的模型中的静脉相重合，则打印的模型上的腧穴点所对应的体表位置就是需要定位的腧穴，可用笔等通过打印的模型上的腧穴点处的孔在肢体上作标记。
应用实施例3
一种根据体表静脉特征实现人体目标定位的方法，定位腧穴时，包括如下步骤：
1)为在体表准确地找到腧穴并留下可拍摄的记号，使用3d扫描仪器扫描患者体表建立3d模型，用静脉显示装置获取腧穴和静脉共同显示的图片并融入3d模型中，得到包含腧穴和静脉的皮肤3d模型，将皮肤3d模型展开形成二维模型；
2)用透明材料按照与人体1:1的尺寸比例打印步骤1)的二维模型，并在所打印模型的
腧穴点处制孔，然后将所打印的模型放在腧穴所在的体表；
3)通过静脉显示装置显示待确定腧穴处肢体的静脉，然后调整步骤2)中打印的二维模型，或调整肢体，使肢体至少两条静脉与打印的模型中的静脉相重合，则打印的模型上的腧穴点所对应的体表位置就是需要定位的腧穴，可用笔等通过打印的模型上的腧穴点处的孔在肢体上作标记。
应用实施例4
如图7所示，一种根据体表静脉特征实现人体目标定位的方法，定位腧穴步骤如下：
1)为在体表准确找到腧穴并留下可拍摄的记号，用静脉显示装置获取腧穴和静脉共同显
示的图片作为模型；
2)或将步骤1)的模型按照与人体1:1的尺寸比例投影在腧穴所在的体表；
3)通过静脉显示装置显示待确定腧穴处肢体的静脉，然后调整步骤2)中打印的投影，或调整肢体，使肢体至少两条静脉与投影的模型中的静脉相重合，则投影的模型上的腧穴点所对应的体表位置就是需要定位的腧穴，可用笔等在肢体上作标记。
应用实施例5
一种根据体表静脉特征实现人体目标定位的方法，定位腧穴时，包括如下步骤：
1)在体表准确地找到腧穴并留下可拍摄的记号，用静脉显示装置获取腧穴和静脉共同显示的图片；再次需要腧穴定位时，让患者摆出与获取图片时相同的体位，用静脉显示装置在相同的角度获取目标腧穴的静脉图，分别对腧穴和静脉共同显示的图片和静脉图进行图像增强算法处理，然后将图像增强算法处理后的腧穴和静脉共同显示的图片和静脉图进行配准，得到腧穴和静脉共同显示的模型。
2)或将步骤1)的模型按照与人体1:1的尺寸比例投影在腧穴所在的体表；
3)通过静脉显示装置显示待确定腧穴处肢体的静脉，显示的静脉图像与步骤1)所得模型配准，最终使投影在体表模型的图案与该处皮下主要静脉完全重合，则投影的模型上的腧穴点所对应的体表位置就是需要定位的腧穴，可用笔等在肢体上作标记。
应用实施例6
一种根据体表静脉特征实现人体目标定位的方法，定位腧穴时，包括如下步骤：
1)按照标准穴位图的姿势用静脉显示装置获取患者体表静脉图片，需要包括患者躯体的至少两个边缘，或至少两个骨性标准点；将标准穴位图的目标腧穴处的躯体伸缩到与所得体表静脉图片相应躯体同等大小，然后将伸缩后的标准穴位图和所得体表静脉图片对应的躯体边缘或骨性标志点进行配准后融合叠加成一张图片，再进行图像增强算法处理，得到腧穴和静脉共同显示的模型；
2)用透明材料按照与人体1:1的尺寸比例打印步骤1)的模型，并在所打印模型的腧穴点处制孔，然后将所打印的模型放在腧穴所在的体表；
3)通过静脉显示装置显示待确定腧穴处肢体的静脉，然后调整步骤2)中打印的模型，或调整肢体，使肢体至少两条静脉与打印的模型中的静脉相重合，则打印的模型上的腧穴点所对应的体表位置就是需要定位的腧穴，可用笔等通过打印的模型上的腧穴点处的孔在肢体上作标记。
应用实施例7
一种根据体表静脉特征实现人体目标定位的方法，定位腧穴时，包括如下步骤：
1)在体表准确地找到腧穴并留下可拍摄的记号，在标准的条件下用静脉显示仪拍摄体表，获得标准图作为参考图，制作腧穴和静脉共同显示的参考模型，存入参考模型库,标准条件为在体表正上方，距离体表20-25厘米，光照度为500-800流明。
2)实际使用中，需要再次定位腧穴时，用静脉显示仪拍摄体表，获得实时图。使用Intel公司的X86构架的计算机系统，运行windows8操作系统，内部安装有图像增强算法软件，可以分析并提取实时图与参考图的点或线或面特征，并进行配准。将参考模型进行刚体变换或仿射变换或投影变换或弯曲变换，以及坐标变换，使参考模型与实时图完全重合，再将变换后的参考模型投影到体表。则投影的模型上的腧穴点所对应的体表位置就是需要定位的腧穴。
3)实际使用中，对拍摄的实时图以每秒24次的速度进行刷新，每次均进行步骤2)，可以动态地显示腧穴位置。
本应用实施例不需要调整肢体，将标准条件下获得的参考模型按照实际所拍摄的角度和距离进行配准，再将变形后的参考模型再以拍摄角度原路投影到体表。即使肢体摆放位置与原来位置不同，也可以实现精准定位。高频刷新实际所拍摄的图像，可以做到实时动态显示。方便用户使用。
应用实施例8
一种根据体表静脉特征实现人体目标定位的方法，定位解剖目标时，包括如下步骤：
步骤一、通过CT设备或MRI设备扫描解剖目标以及与扫描层面平行的体表层皮下1cm内的体表静脉。
步骤二、利用图像处理软件处理步骤一中包括体表静脉的断层扫描图像，用抠图的办法并提取体表静脉图像；
步骤三、将步骤二所得的体表静脉图像和解剖目标断层扫描图像的都按照统一的尺寸和坐标处理，加入比例尺，制成人体目标和体表静脉共同显示的模型。
步骤四、将步骤三的模型投影在体表静脉所在的体表，使体表投影与人体实际尺寸比为(0.9-1.1):1；或用透明材料按照与人体(0.9-1.1)∶1的尺寸比例打印步骤一的模型，制成体表静脉模具；
步骤五、调整步骤四中模型投影的位置，观察体表静脉并使至少两条体表静脉与投影模型中的静脉相重合，则模型投影的人体目标位置就是该人体目标在实际体表的投影；或将步骤四中体表静脉模具放在使用者体表，并调整位置，观察体表静脉并使至少两条体表静脉与所述体表静脉模具中的静脉相重合，则体表静脉模具上的人体目标位置就是该人体目标在实际体表的投影。
本实施例以肾囊肿穿刺为例，图11为本发明投影方法流程示意图。
步骤一，为获知肾囊肿与体表之间的空间关系，先通过断层扫描装置扫描人体获取包括体表静脉的断层扫描图像；
常规连续断层扫描设备包括CT和MRI，本实施例为通过CT检查肾脏囊肿。一般扫描时集中在目标周围扫描，做冠状面和矢状面扫描时一般不包括与扫描层面平行的体表。目前已有体表静脉显示装置可以显示距离体表1cm以内的静脉，直径越粗越容易被观察。摄片时要求操作员专门在与扫描层面平行的体表扫描1～3层，把皮下1cm的包含静脉的结缔组织扫描下来，然后继续按相同的坐标常规扫描目标。如果只做水平面扫描，由于此时体表静脉被横断，可以用Mimics medical 17.0软件重建模拟成冠状面和矢状面扫描。
步骤二，图12A为应用实施例8中脐部右侧体表静脉的CT断层扫描图像示意图，下方中间的孔是肚脐的凹陷，肚脐右方的体表层可见不太明显的体表静脉。通过Photoshop处理时，以原图为背景层，在背景之上复制一个新图层，在新图层上用磁性套索功能沿静脉边缘描绘出只含体表静脉的选区，删除选区之外的图像。得到图12B，为应用实施例8中图12A处理后只含体表静脉的示意图。
在其他的实施例中，还可以使用色阶调整、局部亮度调整、局部色彩调整和在体表静脉上加轮廓线条的办法与其他部分图像明显区分开。
图13A为脐部左侧体表静脉的CT断层扫描图像示意图。用上述同样的方法处理，得到图13B。图14A为作为目标的左肾上级囊肿的CT断层扫描图像示意图，用Photoshop反相功能使黑白颜色颠倒，使背景变淡。再用处理图12的方法处理，得到图14B，为应用实施例8中 图14A处理后突出显示囊肿目标的示意图。
步骤三，将处理后的体表静脉图像和其他解剖目标断层扫描图像的都制成尺寸和坐标一致的解剖模型。
在常规连续断层扫描中，所有图像都共同坐标系统，有相同的缩放比例。本实施例取得的多幅断层扫描图像并没有进行大小缩放，所以仍然匹配原有的坐标系统。常规断层扫描时会在图像上留有长度比例尺。
将图12B、图13B和长度比例尺共同粘贴到同一张空白背景图中，将3张图片都顶在背景的左上角。即使没有事先标注对齐标志，也仍然可以准确对齐。得到图15，为应用实施例8中合成的体表静脉模型。将其他断层扫描图像也粘贴到一张空白背景图中，将3张图片都顶在背景的左上角，制成和体表静脉模型有同样坐标和尺寸的模型。
在一个非限制应用实施例中，用图像处理软件在图像上相同坐标的位置事先标注了对齐标志，用于校正是否对齐。
步骤四，如图16所示，将步骤三的模型投影在人体体表，使体表投影与人体目标实际尺寸比为(0.95-1.05)∶1。通过比较比例尺的标识长度与实际长度，计算体表投影与人体实际尺寸比例。再通过调整投影距离或图像大小来调整比例。
步骤五，从静脉显示器中可以同时看见体表静脉也投影在体表，但与实际体表静脉未必完全重合，需要调整投影仪位置或体位使二者重合。使至少两条投影的体表静脉与实际体表静脉相重合，则投影的模型上的目标所对应的体表位置就是需要定位的目标在体表的投影。
本应用实施例通过在计算机中调整投影静脉模型的位置和角度，可以从液晶显示器中看见体表实际体表静脉不动，投影的静脉模型不断向实际的体表静脉靠齐。目标距离体表投影的垂直距离设为d，d＝断层扫描时目标与体表的断层数目×层厚。也可以直接在CT片上测量后通过比例尺计算d的大小。
在一个非限制应用实施例中，通过指导患者调整体位，可以从液晶显示器中看见投影的静脉模型不动，患者实际的体表静脉不断向投影的静脉模型靠齐，直至至少两条体表静脉与投影的模型中的静脉相重合。
应用实施例9
本应用实施例与应用实施例8相似，所不同的是：本应用实施例用于做手术时的逐层定位投影。手术时先根据体表静脉模型实现投影的静脉图像与实际体表静脉重合，再通过固定在投影支架上面的投影仪将不同层次的CT或MRI影像和合成的立体3D影像垂直投影在手术区域，使体表投影与人体实际尺寸为1：1。手术时可以根据手术进展程度调出不同层面的影像，提醒手术医生周边有哪些组织，以提高手术精度，减少副损伤。

Claims (30)

  1. 一种根据体表静脉特征实现人体目标定位的方法，其特征在于：包括如下步骤：
    1)获取人体目标和体表静脉共同显示的模型；
    2)将步骤1)的模型投影在体表静脉所在的体表，使体表投影与人体实际尺寸比为(0.9-1.1):1；或用透明材料按照与人体(0.9-1.1)∶1的尺寸比例打印步骤1)的模型，制成体表静脉模具；
    3)调整步骤2)中模型投影的位置，观察体表静脉并使至少两条体表静脉与投影模型中的静脉相重合，则模型投影的人体目标位置就是该人体目标在实际体表的投影；或将步骤2)中体表静脉模具放在使用者体表，并调整位置，观察体表静脉并使至少两条体表静脉与所述体表静脉模具中的静脉相重合，则体表静脉模具上的人体目标位置就是该人体目标在实际体表的投影。
  2. 如权利要求1所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤1)中人体目标为腧穴。
  3. 如权利要求1所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤1)中人体目标为解剖目标。
  4. 如权利要求1所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤3)为通过静脉显示装置观察体表静脉。
  5. 如权利要求2所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤1)是在标准条件下完成，所述标准条件为在体表正上方，距离体表10-40厘米，光照度为300-1000流明。
  6. 如权利要求2所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤1)所述获取腧穴和体表静脉共同显示的模型，具体为：在体表找到腧穴并留下可拍摄的记号，最终获取腧穴和体表静脉共同显示的图片作为模型；
  7. 如权利要求2所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤1)为在体表准确地找到腧穴并留下可拍摄的记号，使用3d扫描仪器扫描患者体表建立3d模型，用静脉显示装置获取腧穴和体表静脉共同显示的图片并融入3d模型中，得到包含腧穴和体表静脉的皮肤3d模型。
  8. 如权利要求2所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤1)为在体表准确地找到腧穴并留下可拍摄的记号，使用3d扫描仪器扫描患者体表建立3d模型，用静脉显示装置获取腧穴和体表静脉共同显示的图片并融入3d模型中，得到包含腧穴和体表 静脉的皮肤3d模型，将皮肤3d模型展开形成二维模型。
  9. 如权利要求2所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤1)为按照标准穴位图的姿势用静脉显示装置获取患者体表静脉图片，需要包括患者躯体的至少两个边缘，或至少两个骨性标准点；将标准穴位图的目标腧穴处的躯体伸缩到与所得体表静脉图片相应躯体同等大小，然后将伸缩后的标准穴位图和所得体表静脉图片对应的躯体边缘或骨性标志点进行配准后融合叠加成一张图片，得到腧穴和体表静脉共同显示的模型。
  10. 如权利要求2所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤1)为在体表准确地找到腧穴并留下可拍摄的记号，用静脉显示装置获取腧穴和体表静脉共同显示的图片；再次需要腧穴定位时，让患者摆出与获取图片时相同的体位，用静脉显示装置在相同的角度获取目标腧穴的静脉图，将腧穴和体表静脉共同显示的图片和目标腧穴的静脉图进行配准，得到腧穴和体表静脉共同显示的模型。
  11. 如权利要求3所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤1)所述获取解剖目标和体表静脉共同显示的模型，具体为：通过CT设备或MRI设备扫描解剖目标以及与扫描层面平行的体表层皮下1cm内的体表静脉，用图像处理软件制作成解剖目标和体表静脉共同显示的模型。
  12. 如权利要求11所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：用图像处理软件制作成解剖目标和体表静脉共同显示的模型，包括以下步骤：
    A1)获取包括体表静脉和人体解剖目标的断层扫描图像；
    A2)利用图像处理软件处理步骤A1)中包括体表静脉的断层扫描图像，并提取体表静脉图像；
    A3)将步骤A2)所得的体表静脉图像和人体目标断层扫描图像的都进行归一化，制成尺寸和坐标一致的模型。
  13. 如权利要求12所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤A3)所述归一化是将步骤A2)所得的体表静脉图像和解剖目标断层扫描图像的都按照统一的尺寸和坐标处理。
  14. 如权利要求12所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤A3)中，在所述模型加入比例尺。
  15. 如权利要求12所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤A2)中，提取体表静脉图像的方法是抠图方法。
  16. 如权利要求2所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤2)中投影包括如下步骤：
    B1)获取腧穴和体表静脉共同显示的模型，存入图库1；
    B2)再次需要腧穴定位时，先获取体表静脉图，存入图库2；
    B3)将图库1内模型经计算机数据处理组件调整后与图库2图像配准，将配准后的图库1的腧穴和体表静脉共同显示的模型经投影仪投影在体表，使体表投影与人体实际尺寸比为(0.9-1.1)∶1；则投影的模型上的腧穴点所对应的体表位置就是需要定位的腧穴。
  17. 如权利要求3所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤2)中投影包括如下步骤：
    C1)获取解剖目标和体表静脉共同显示的模型，存入图库1；
    C2)再次需要解剖目标定位时，先获取体表静脉图，存入图库2；
    C3)将图库1内模型经计算机数据处理组件调整后与图库2图像配准，将配准后的图库1的解剖目标和体表静脉共同显示的模型经投影仪投影在体表，使体表投影与人体实际尺寸比为(0.9-1.1)∶1；则投影的模型上的解剖目标所对应的体表位置就是需要定位的解剖目标在体表实际投影。
  18. 如权利要求16或17所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤B3)或步骤C3)中所述计算机数据处理组件内部安装有图像增强算法软件，用于分析并提取图库1与图库2中的点、线或面特征，将图库1中模型进行图形变换后，然后进行坐标变换，对图库1中模型与图库2中体表静脉图进行配准。
  19. 如权利要求18所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：所述图形变换的方法包括：刚体变换或仿射变换或投影变换或弯曲变换。
  20. 如权利要求1所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤2)所述体表静脉模具，其特征在于：包括透明材料，透明材料上设有体表静脉图。
  21. 如权利要求20所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：所述体表静脉模具上还设有目标孔或穿刺通道。
  22. 如权利要求20所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：所述体表静脉模具还包括嵌合在透明材料的周边的模型框，模型框为半管型框架。
  23. 如权利要求4所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：所述静脉显示装置包括依次相接的红外光源、红外滤光片、电子摄像头、计算机数据处理组件、控制组件和液晶显示器。
  24. 如权利要求23所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：所述静脉显示装置内还设有投影仪，投影仪与所述计算机数据处理组件连接，投影仪前设有分光镜，投影仪的出光路线与所述电子摄像头的进光路线相垂直，分光镜位于投影仪的出光路线与电子摄像头的进光路线的相交处，且与出光路线与光路线均呈45°角；所述分光镜为带通滤波， 选择性的对可见光透过，而反射近红外光。
  25. 如权利要求1所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：步骤2)是将步骤1)的模型投影在体表静脉所在的体表，使体表投影与人体实际尺寸比为(0.95-1.05):(0.95-1.05)；或用透明材料按照与人体(0.95-1.05)∶(0.95-1.05)的尺寸比例打印步骤1)的模型，制成体表静脉模具。
  26. 如权利要求5所述的根据体表静脉特征实现人体目标定位的方法，其特征在于：所述标准条件为在体表正上方，距离体表20-25厘米，光照度为500-800流明。
  27. 一种根据体表静脉特征实现人体目标定位的装置，其特征在于：包括静脉显示装置、支架和人体目标匹配装置，支架包括上下相接的环形架和支脚，静脉显示装置设在环形架上；人体目标匹配装置为体表静脉模具或投影仪；体表静脉模具包括透明材料，透明材料上设有静脉图和人体目标孔；当人体目标匹配装置为投影仪时，投影仪和静脉显示装置连接。
  28. 如权利要求27所述的根据体表静脉特征实现人体目标定位的装置，其特征在于：环形架上设有一个以上用于支撑静脉显示装置的支撑环；支脚有三个以上，每个支脚包括相互连接的滑动环和支杆，其中滑动环套结在环形架上。
  29. 如权利要求28所述的根据体表静脉特征实现人体目标定位的装置，其特征在于：环形架所用管材的横截面是非正圆形，滑动环的孔也是非正圆形状；或者滑动环上设有限制滑动环在环架上转动的锁定旋钮。
  30. 如权利要求28所述的根据体表静脉特征实现人体目标定位的装置，其特征在于：支杆包括转动连接的第一支杆和第二支杆，其中,第一支杆一端与滑动环环连接、第一支杆另一端通过折叠关节与第二支杆转动连接；或者支杆为弧形，支杆的一端与滑动环连接，且至少一根支杆的另一端设有弧形卡环，弧形卡环底部为柔软结构；或者根据体表静脉特征实现人体腧穴定位的装置还包括底座，支杆插在底座上。
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