CN112656511A - Optical instrument tracer, minimally invasive interventional needle positioning system and positioning method - Google Patents
Optical instrument tracer, minimally invasive interventional needle positioning system and positioning method Download PDFInfo
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- CN112656511A CN112656511A CN202011642707.4A CN202011642707A CN112656511A CN 112656511 A CN112656511 A CN 112656511A CN 202011642707 A CN202011642707 A CN 202011642707A CN 112656511 A CN112656511 A CN 112656511A
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Abstract
The embodiment of the application provides an optical instrument tracer, a minimally invasive intervention needle positioning system and a positioning method. The optical small ball group comprises a first optical small ball and a second optical small ball which are arranged on the support at intervals, the first optical small ball is connected with the support through a first fixed seat, and the second optical small ball is connected with the support through a second fixed seat; the support is used for installing a minimally invasive intervention needle, a connecting line of the spherical center of the first optical small ball and the spherical center of the second optical small ball coincides with the puncture direction of the minimally invasive intervention needle, and the needle point of the minimally invasive intervention needle is located at one end, far away from the first optical small ball and the second optical small ball, of the minimally invasive intervention needle. According to the optical instrument tracer, the minimally invasive interventional needle positioning system and the positioning method, the optical instrument tracer is low in manufacturing and using cost, light in weight and high in operability; the puncture direction, the needle point position and the needle point coordinate of the minimally invasive intervention needle can be determined, and the minimally invasive intervention needle is convenient to use.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to an optical instrument tracer, a minimally invasive intervention needle positioning system and a positioning method.
Background
In the field of optical navigation, a navigation probe (optical instrument tracer) is an indispensable integrated part. And tracking the reflective ball placed on the optical instrument tracer by using a high-precision optical tracking device so as to calculate the position of the needle point under the navigation camera coordinates. The number of luminous balls is generally at least 3, and usually 4, which are not on the same straight line. The positions of 4 reflective balls on the optical instrument tracer are fixed, a traceable ROM file is manufactured through software carried by a navigation camera, so that the position relation of a coordinate system Holder consisting of optical balls on the optical instrument tracer under the navigation camera is obtained, after the coordinates of the needle point under the Holder coordinate system are obtained, the coordinates of the needle point under the navigation camera are calculated through the position relation, however, the ROM file of the optical instrument tracer needs to be manufactured in advance, the use efficiency is low, the number of the optical balls is large, and the use cost is high.
Disclosure of Invention
An object of the embodiment of the application is to provide an optical instrument tracer, a minimally invasive interventional needle positioning system and a positioning method, which are used for solving the problem that the existing navigation probe is low in use efficiency and high in use cost.
An embodiment of the present application provides an optical instrument tracer, including:
a support;
a first fixed seat;
a second fixed seat;
the optical small ball group comprises a first optical small ball and a second optical small ball, the first optical small ball is connected with the support through the first fixed seat, the second optical small ball is connected with the support through the second fixed seat, and the first optical small ball and the second optical small ball are arranged on the support at intervals; the support is used for installing a minimally invasive intervention needle, a connecting line of the spherical center of the first optical small ball and the spherical center of the second optical small ball is overlapped with the puncture direction of the installed minimally invasive intervention needle, the minimally invasive intervention needle is provided with a needle point, and the needle point is located at one end, far away from the first optical small ball and the second optical small ball, of the minimally invasive intervention needle.
In one embodiment, a mounting groove is formed in the side surface of the support, the first optical small ball is arranged at one end of the support, the other end of the support is used for mounting the minimally invasive intervention needle, and the second optical small ball is arranged in the mounting groove and is located between the first optical small ball and the minimally invasive intervention needle.
In one embodiment, a mounting hole is formed in one end of the support, and the mounting hole is used for mounting one end of the minimally invasive intervention needle away from the needle tip.
In one of them embodiment, the optical instrument tracer still includes the retaining member, the retaining member set up in on the support, the one end that deviates from of needle is intervene to the wicresoft the needle the one end of needle point is equipped with butt portion, the orientation of butt portion one side of needle point has the butt face, the extending direction perpendicular to of needle is intervene to the wicresoft the butt face, retaining member activity butt in the butt face.
In one embodiment, a locking hole is formed in one side face of the support, the locking hole is communicated with the mounting hole, and one end of the locking piece movably penetrates through the locking hole and is located in the mounting hole and movably abutted against the abutting face along the direction parallel to the abutting face.
In one embodiment, one end of the locking member is rotatably disposed on the support, the other end of the locking member is provided with a limiting portion, the limiting portion rotating with the locking member movably abuts against the abutting surface, the support is provided with a first connecting portion, the locking member is provided with a second connecting portion, the second connecting portion is movably connected with the first connecting portion, and when the second connecting portion is connected with the first connecting portion, the limiting portion abuts against the abutting surface.
In one embodiment, the first connecting part is a clamping groove formed in the support, the second connecting part is a clamping part convexly arranged on the locking part, and one end of the clamping part, which is far away from the locking part, is movably clamped in the clamping groove; along keeping away from the direction of retaining member, the cross sectional dimension of joint portion reduces gradually, makes the side of joint portion slopes gradually, the side of joint portion be used for with the outside edge relative slip of draw-in groove makes joint portion slide gradually extremely in the draw-in groove, joint portion is located during in the draw-in groove, the side of joint portion with the lateral wall butt of draw-in groove.
A minimally invasive interventional needle positioning system comprising a tracking device and an optical instrument tracer as in any of the above embodiments, the tracking device being configured to detect the coordinate positions of the first optical bead and the second optical bead to locate the coordinate position of the needle tip.
A positioning method applied to the minimally invasive interventional needle positioning system in the above embodiment, the positioning method includes the following steps:
obtaining a distance d between the first optical bead and the second optical bead1Obtaining the length d of the minimally invasive interventional needle2Obtaining the distance d between the second optical small ball and the minimally invasive interventional needle3A second optical bead positioned between the first optical bead and the minimally invasive interventional needle;
obtaining the coordinates of the first optical small ball in the coordinate system of the tracking device
And the coordinates of said second optical sphere in said tracking device coordinate system
Calculating the coordinates of the needle tip in the tracking device coordinate system
The above-mentioned
The calculation formula of (2) is as follows:
in one embodiment, d1D said2D said3The above-mentioned
And said
And the above-mentioned
Satisfies the equation:
in one embodiment, the coordinates of the first optical small ball in the coordinate system of the tracking device are obtained
And the coordinates of said second optical sphere in said tracking device coordinate system
Comprises the following steps:
acquiring the coordinates of a reference point on one side of the needle tip far away from the second optical ball in the coordinate system of the tracking device
Acquiring the coordinates of one of the first optical ball and the second optical ball in the coordinate system of the tracking device
Calculating the distance L from the optical ball to the reference point1Said L is1The calculation formula of (2) is as follows:
obtaining coordinates of the other of the first optical bead and the second optical bead in the tracking device coordinate system
Calculating the distance L from the optical ball to the reference point2Said L is2The calculation formula of (2) is as follows:
if L is1Greater than L2Then, then
Is the coordinates of the first optical sphere,
the coordinates of the second optical small ball are obtained; if L is1Less than L2Then, then
Is the coordinates of the first optical sphere,
the coordinates of the second optical sphere.
According to the optical instrument tracer, the minimally invasive interventional needle positioning system and the positioning method, the optical instrument tracer only comprises the two optical pellets, so that the manufacturing and using cost is low, and the burden of a patient is relieved; the weight is light, and the operability is improved; because the connecting line of the spherical centers of the first optical small ball and the second optical small ball is superposed with the puncture direction of the minimally invasive interventional needle, the puncture direction of the needle point can be determined, and the position of the needle point can be effectively determined; the positioning method comprises the following steps: because the connecting line of the spherical centers of the two optical pellets is superposed with the puncture direction of the minimally invasive intervention needle, the coordinate of the needle point can be calculated by detecting the coordinates of the first optical pellet and the second optical pellet in a coordinate system of the tracking device respectively and according to the distance between the two optical pellets, the distance between the second optical pellet and the minimally invasive intervention needle and the length of the minimally invasive intervention needle, the use is very simple and convenient, the ROM file of the optical instrument tracer does not need to be made in advance, and the use efficiency is improved.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure, or may be learned by practice of the disclosure.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an optical instrument tracer provided in an embodiment of the present application;
fig. 2 is a schematic cross-sectional structural diagram of an optical instrument tracer provided in an embodiment of the present application;
fig. 3 is another schematic structural diagram of an optical instrument tracer provided in an embodiment of the present application;
fig. 4 is another schematic cross-sectional view of an optical instrument tracer provided in an embodiment of the present application;
FIG. 5 is a schematic view of an alternate angle of the optical instrument tracer shown in FIG. 3;
fig. 6 is a schematic flowchart of a positioning method according to an embodiment of the present application;
fig. 7 is an operation schematic diagram of a minimally invasive intervention needle positioning system provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or a point connection; either directly or indirectly through intervening media, or may be an internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the specific nature and configuration may be the same or different), and are not used to indicate or imply the relative importance or number of the indicated devices, elements, or components. "plurality" means two or more unless otherwise specified.
In one embodiment, an optical instrument tracer includes a mount, a first mount, a second mount, and an optical bead set. The optical small ball group comprises a first optical small ball and a second optical small ball, the first optical small ball is connected with the support through the first fixing seat, the second optical small ball is connected with the support through the second fixing seat, and the first optical small ball and the second optical small ball are arranged on the support at intervals; the support is used for installing a minimally invasive intervention needle, a connecting line of the spherical center of the first optical small ball and the spherical center of the second optical small ball is overlapped with the puncture direction of the installed minimally invasive intervention needle, the minimally invasive intervention needle is provided with a needle point, and the needle point is located at one end, far away from the first optical small ball and the second optical small ball, of the minimally invasive intervention needle.
As shown in fig. 1 and 2, an embodiment of the optical instrument tracer 10 includes a support 100, a first fixing seat 400, a second fixing seat 500, and an optical bead set 200. The optical bead set 200 includes a first optical bead 210 and a second optical bead 220, the first optical bead 210 is connected to the support 100 through the first fixing seat 400, the second optical bead 220 is connected to the support 100 through the second fixing seat 500, and the first optical bead 210 and the second optical bead 220 are disposed on the support 100 at intervals. The support 100 is used for mounting a minimally invasive intervention needle 300, a connecting line of a center of sphere of the first optical bead 210 and a center of sphere of the second optical bead 220 coincides with a puncture direction of the mounted minimally invasive intervention needle 300, that is, a connecting line of a center of sphere of the first optical bead 210 and a center of sphere of the second optical bead 220 coincides with an extending direction of the minimally invasive intervention needle 300, the minimally invasive intervention needle 300 has a needle tip 310, and the needle tip 310 is located at one end of the minimally invasive intervention needle 300, which is far away from the first optical bead 210 and the second optical bead 220.
In the optical instrument tracer 10, because the optical instrument tracer 10 only comprises two optical pellets, the manufacturing and using cost is low, and the burden of a patient is reduced; the weight is light, and the operability is improved; the first fixing seat 400 and the second fixing seat 500 are used for conveniently arranging the first optical ball and the second optical ball on the support 100; because the connecting line of the spherical centers of the first optical bead 210 and the second optical bead 220 coincides with the puncture direction of the minimally invasive intervention needle 300, the puncture direction of the needle tip 310 can be determined, and thus the position of the needle tip 310 can be effectively determined; the positioning method comprises the following steps: because the connecting line of the spherical centers of the two optical pellets is coincident with the puncture direction of the minimally invasive intervention needle 300, the coordinates of the needle point 310 can be calculated by detecting the coordinates of the first optical pellet 210 and the second optical pellet 220 in a tracking device coordinate system respectively and according to the distance between the two optical pellets, the distance between the second optical pellet 220 and the minimally invasive intervention needle 300 and the length of the minimally invasive intervention needle 300.
In one embodiment, the carrier 100 is a sterilizable metal carrier 100, and in one embodiment, the carrier 100 is a silver carrier 100 or a stainless steel carrier 100. Thus, the cradle 100 is corrosion resistant and easy to sterilize, and the silver cradle 100 or the stainless steel cradle 100 does not affect the patient's body. In one embodiment, the support 100 is a 3D printed non-metallic support 100. In one embodiment, the 3D printing non-metal holder 100 is made of a polymer material. Thus, the support 100 is corrosion resistant and easy to sterilize, and the support 100 does not affect the patient's body.
In order to facilitate the optical pellets to be stably connected with the fixing seats, in one embodiment, as shown in fig. 2, the first fixing seat 400 has a first inserting portion 410, the first optical pellet 210 is provided with a first inserting hole, the first inserting portion 410 is inserted into the first inserting hole, the second fixing seat 500 has a second inserting portion 510, the first optical pellet 220 is provided with a first inserting hole, and the second inserting portion 510 is inserted into the second inserting hole, so that each optical pellet is stably connected with the corresponding fixing seat. In order to facilitate the connection between the fixing bases and the support, in one embodiment, as shown in fig. 2, an end of the first fixing base 400 away from the first optical ball is inserted into the support 100, and an end of the second fixing base 500 away from the second optical ball is inserted into the support 100. In one embodiment, the support 100 is respectively provided with a first through hole 101 and a second through hole 102, the first fixing seat 400 is inserted into the first through hole 101, and the second fixing seat 500 is inserted into the second through hole 102, so that each fixing seat and the support are stably connected. In one embodiment, the fixing frame is a metal support 100 or a 3D printed non-metal support 100, so that the fixing frame is corrosion-resistant and convenient to sterilize, and the support 100 does not affect the body of a patient.
In order to facilitate the coincidence of the connecting line of the sphere centers of the two optical small spheres and the puncture direction of the minimally invasive interventional needle 300, in one embodiment, as shown in fig. 1 and 2, the side surface of the support 100 is provided with a mounting groove 110, the first optical ball 210 is arranged at one end of the support 100, the other end of the support 100 is used for installing the minimally invasive intervention needle 300, the second optical ball 220 is disposed in the mounting groove 110 and between the first optical ball 210 and the minimally invasive interventional needle 300, in this embodiment, the line connecting the center of the first optical bead 210 and the center of the second optical bead 220 coincides with the extending direction of the minimally invasive intervention needle 300, this facilitates the positioning of the second optical bead 220 such that the position of the second optical bead 220 satisfies the relationship that the line connecting the centers of the two optical beads coincides with the puncture direction of the minimally invasive intervention needle 300.
In order to facilitate the setting of the minimally invasive intervention needle 300, in one embodiment, as shown in fig. 2, a mounting hole 120 is formed at one end of the support 100, the mounting hole 120 is used for mounting one end of the minimally invasive intervention needle 300, which is far away from the needle tip 310, that is, one end of the minimally invasive intervention needle 300 is inserted into the mounting hole 120, and the other end of the minimally invasive intervention needle 300 is the needle tip 310, so that the minimally invasive intervention needle 300 is inserted into the mounting hole 120 of the support 100, and the minimally invasive intervention needle 300 can be stably extended without rotating or deflecting. In one embodiment, the minimally invasive intervention needle 300 is movably inserted into the mounting hole 120, so that the minimally invasive intervention needle 300 is convenient to disassemble and assemble. In one embodiment, the extending direction of the minimally invasive access needle 300 is parallel to the center line of the mounting hole 120, so that the minimally invasive access needle 300 is arranged in the mounting hole 120, and the minimally invasive access needle 300 is convenient to mount and dismount.
In order to more firmly set the minimally invasive intervention needle 300 and facilitate the detachment of the minimally invasive intervention needle 300, in one embodiment, the optical instrument tracer 10 further includes a retaining member disposed on the support 100, an abutting portion 320 is disposed at an end of the minimally invasive intervention needle 300 away from the needle tip 310, a contact surface 321 is disposed at a side of the abutting portion 320 facing the needle tip 310, an extending direction of the minimally invasive intervention needle 300 is perpendicular to the contact surface 321, the retaining member movably abuts against the contact surface 321, and by disposing the retaining member to abut against the contact surface 321 of the abutting portion 320, the displacement of the abutting portion 320 in a direction facing the needle tip 310 is limited, that is, the minimally invasive intervention needle 300 is limited from the mounting hole 120, so that the minimally invasive intervention needle 300 is more firmly disposed in the mounting hole 120, that is, the minimally invasive intervention needle 300 is more firmly mounted on the support 100, after the limit of the retaining member on the abutting part 320 is released, the minimally invasive intervention needle 300 can be taken out of the mounting hole 120, so that the minimally invasive intervention needle 300 can be conveniently dismounted and mounted, and the minimally invasive intervention needle 300 can be conveniently maintained or replaced.
In order to facilitate the movement of the locking member to limit the minimally invasive access needle 300, so as to limit the minimally invasive access needle 300 and release the limitation on the minimally invasive access needle 300, in one embodiment, as shown in fig. 2, a locking hole 130 is formed at one side of the support 100, the locking hole 130 is communicated with the mounting hole 120, one end of the locking member 600 movably penetrates through the locking hole 130 and is located in the mounting hole 120 along a direction parallel to the abutting surface 321, and movably abuts against the abutting surface 321, by arranging the locking member 600 to be inserted into the mounting hole 120 to abut against the abutting surface 321 of the abutting portion 320, the abutting portion 320 is limited from being displaced towards the needle tip 310, that is, the minimally invasive access needle 300 is limited from being separated from the mounting hole 120, so that the minimally invasive access needle 300 is more stably arranged in the mounting hole 120, even though the minimally invasive access needle 300 is more stably arranged on the support 100, the retaining member is separated from the mounting hole 120 and the locking hole 130 by a displacement, so that the retaining member 600 is not abutted against the abutting surface 321, i.e. the limitation of the retaining member 600 on the minimally invasive access needle 300 is released. In one embodiment, the locking member 600 is provided with an external thread, and the inner wall of the locking hole 130 is provided with an internal thread, and the external thread and the internal thread are matched with each other. In one embodiment, the locking member 600 is a locking screw. In one embodiment, the center line of the locking hole 130 is perpendicular to the center line of the mounting hole 120, so that the locking member 600 is in full contact and abutment with the abutment surface 321, and the limiting effect is ensured. To facilitate abutment of retaining member 600 against abutment surface 321, in one embodiment, a side of one end of retaining member 600 abuts abutment surface 321 such that retaining member 600 parallel to abutment surface 321 abuts abutment surface 321.
In order to facilitate the movement of the locking member 600 to limit the minimally invasive interventional needle 300, so as to limit the minimally invasive interventional needle 300 and conveniently release the limitation on the minimally invasive interventional needle 300, in one embodiment, as shown in fig. 3 to 5, one end of the locking member 600 is rotatably disposed on the support 100, the other end of the locking member 600 is provided with a limiting portion 610, the limiting portion 610 rotating along with the locking member 600 is movably abutted against the abutting surface 321, the support 100 is provided with a first connecting portion, the locking member is provided with a second connecting portion, the second connecting portion is movably connected with the first connecting portion, when the second connecting portion is connected with the first connecting portion, the limiting portion 610 is abutted against the abutting surface 321 of the abutting portion 320 by the rotation of the locking member 600, so as to limit the abutting portion 320 from displacing towards the needle tip 310, namely, the minimally invasive intervention needle 300 is prevented from being separated from the mounting hole 120, so that the minimally invasive intervention needle 300 is more stably arranged in the mounting hole 120, that is, the minimally invasive intervention needle 300 is more stably arranged on the support 100, the first connecting part and the second connecting part can ensure that the limiting part 610 is abutted against the abutting surface 321 when being connected, and after the connection between the first connecting part and the second connecting part is released, the locking part 600 can be rotated to ensure that the limiting part 610 is separated from the abutting surface 321, and the limitation of the locking part 600 on the minimally invasive intervention needle 300 is released.
In order to facilitate the detachable engagement of the first connecting portion and the second connecting portion, in one embodiment, as shown in fig. 5, the first connecting portion is a slot 140 opened on the support 100, the second connecting portion is a clamping portion 620 protruded on the locking member 600, and one end of the clamping portion 620 far away from the locking member 600 is movably clamped in the slot 140; along keeping away from retaining member 600's direction, the cross sectional dimension of joint portion 620 reduces gradually, makes the side of joint portion 620 slopes gradually, the side of joint portion 620 be used for with the outside edge relative slip of draw-in groove makes joint portion 620 slide gradually extremely in draw-in groove 140, joint portion 620 is located during in the draw-in groove 140, the side of joint portion 620 with the lateral wall butt of draw-in groove 140. The clamping portion 620 is movably clamped in the clamping groove 140, that is, the second connecting portion is movably connected with the first connecting portion, when the clamping portion 620 is clamped in the clamping groove 140, the locking member 600 is fixed, and meanwhile, the limiting portion 610 abuts against the abutting surface 321; the side slope of joint portion 620 sets up, so be convenient for joint portion 620 roll-off draw-in groove 140, also be convenient for joint portion 620 roll-off draw-in groove 140 to make spacing portion 610 can break away from butt face 321 along with the locking piece rotates, thereby can remove the restriction to little wound intervention needle 300.
To facilitate rotational positioning of retaining member 600 on holder 100, in one embodiment, as shown in fig. 3 and 5, one end of the locker 600 is provided with a rotation shaft 630, a rotation hole 150 is formed at a side of the holder 100, the rotating shaft 630 is rotatably disposed in the rotating hole 150, a receiving groove 160 is further formed on a side surface of the support 100, one end of the receiving groove 160 is communicated with the rotating hole 150, the other end penetrates through the end surface of the holder 100 facing the needle tip 310, the locking member is movably disposed in the receiving groove 160, so that the stand 100 is rotated on the stand 100 by the rotation of the rotation shaft 630 in the rotation hole 150, and the retaining member 600 can be positioned in the receiving groove 160, so that the entire optical instrument tracer 10 is compact, and when the retaining member 600 is positioned in the receiving groove 160, the engaging portion 620 is disposed in the engaging groove 140, and the limiting portion 610 abuts against the abutting surface 321.
A positioning system of a minimally invasive interventional needle 300 comprises a tracking device and an optical instrument tracer 10 as described in any of the above embodiments, wherein the tracking device is used for detecting the coordinate positions of the first optical bead 210 and the second optical bead 220 so as to locate the coordinate position of the needle tip 310. In one of the embodiments, the tracking device is a navigation camera.
In the positioning system of the minimally invasive interventional needle 300, the optical instrument tracer 10 only comprises two optical pellets, so the manufacturing and use cost is low, and the burden of a patient is reduced; the weight is light, and the operability is improved; because the connecting line of the spherical centers of the first optical bead 210 and the second optical bead 220 coincides with the puncture direction of the minimally invasive intervention needle 300, the puncture direction of the needle tip 310 can be determined, and thus the position of the needle tip 310 can be effectively determined; the positioning method comprises the following steps: because the connecting line of the spherical centers of the two optical pellets is coincident with the puncture direction of the minimally invasive intervention needle 300, the coordinates of the needle point 310 can be calculated by detecting the coordinates of the first optical pellet 210 and the second optical pellet 220 in a tracking device coordinate system respectively and according to the distance between the two optical pellets, the distance between the second optical pellet 220 and the minimally invasive intervention needle 300 and the length of the minimally invasive intervention needle 300.
In one embodiment, a positioning method is applied to the minimally invasive interventional needle positioning system described in the above embodiments, and the positioning method includes the following steps: obtaining a distance d between the first optical bead and the second optical bead1Obtaining the length d of the minimally invasive interventional needle2Obtaining the distance d between the second optical small ball and the minimally invasive interventional needle3A second optical bead positioned between the first optical bead and the minimally invasive interventional needle; obtaining the coordinates of the first optical small ball in the coordinate system of the tracking device
And the coordinates of said second optical sphere in said tracking device coordinate system
Calculating the coordinates of the needle tip in the tracking device coordinate system
The above-mentioned
The calculation formula of (2) is as follows:
as shown in fig. 6, the positioning method of an embodiment is applied to the positioning system of the minimally invasive interventional needle according to the above embodiment, and the positioning method includes the following steps:
710. obtaining a distance d between the first optical bead and the second optical bead1Obtaining the length d of the minimally invasive interventional needle2Obtaining the distance d between the second optical small ball and the minimally invasive interventional needle3And the second optical small ball is positioned between the first optical small ball and the minimally invasive intervention needle. In the present embodiment, d1Is the distance between the center of the first optical sphere and the center of the second optical sphere, d3The distance between the spherical center of the second optical small ball and one end of the minimally invasive intervention needle far away from the needle tip.
720. Obtaining the coordinates of the first optical small ball in the coordinate system of the tracking device
And the coordinates of said second optical sphere in said tracking device coordinate system
730. Calculating the coordinates of the needle tip in the tracking device coordinate system
The above-mentioned
The calculation formula of (2) is as follows:
According to the positioning method, the optical instrument tracer only comprises the two optical pellets, so that the manufacturing and using cost is low, and the burden of a patient is relieved; the weight is light, and the operability is improved; because the connecting line of the spherical centers of the first optical small ball and the second optical small ball is superposed with the puncture direction of the minimally invasive interventional needle, the puncture direction of the needle point can be determined, and the position of the needle point can be effectively determined; the positioning method comprises the following steps: because the connecting line of the spherical centers of the two optical pellets is superposed with the puncture direction of the minimally invasive intervention needle, the coordinate of the needle point can be calculated by detecting the coordinates of the first optical pellet and the second optical pellet in a coordinate system of the tracking device respectively and according to the distance between the two optical pellets, the distance between the second optical pellet and the minimally invasive intervention needle and the length of the minimally invasive intervention needle, the use is very simple and convenient, the ROM file of the optical instrument tracer does not need to be made in advance, and the use efficiency is improved.
In order to effectively judge the needle-out direction of the minimally invasive intervention needle so as to more accurately determine the coordinates of the needle tip, in one embodiment, the coordinates of the first optical small ball in the coordinate system of the tracking device are obtained
And the coordinates of said second optical sphere in said tracking device coordinate system
Comprises the following steps:
as shown in fig. 7, the coordinates of the reference point O on the side of the needle tip far from the second optical bead in the coordinate system of the tracking device are obtained
Acquiring the coordinates of one of the first optical ball and the second optical ball in the coordinate system of the tracking device
Calculating the distance L from the optical ball to the reference point1Said L is1The calculation formula of (2) is as follows:
obtaining coordinates of the other of the first optical bead and the second optical bead in the tracking device coordinate system
Calculating the distance L from the optical ball to the reference point2Said L is2The calculation formula of (2) is as follows:
if L is1Greater than L2Then, then
Is the coordinates of the first optical sphere,
the coordinates of the second optical small ball are obtained; if L is1Less than L2Then, then
Is the first optical lensThe coordinates of the ball are such that,
the coordinates of the second optical sphere.
When the position coordinates of the first optical bead and the second optical bead under the camera are not changed, if the needle tip rotates around the center of the connecting line of the first optical bead and the second optical bead, an infinite number of positions are possible, namely the position of the needle tip cannot be judged, but the connecting line of the first optical bead and the second optical bead and the direction of the needle coincide, and only two theoretical needle tip positions exist: when the small balls 1 and 2 detected by the tracking device are consistent with the actual first optical small balls and second optical small balls of the minimally invasive interventional needle in sequence number, the calculated needle point position 1 is obtained and is consistent with the actual needle point position; if the serial numbers of the small balls 1 and 2 are opposite to the actual serial numbers of the first optical small ball and the second optical small ball of the minimally invasive interventional needle, the obtained calculated needle point position 2 is inconsistent with the actual needle point position, and which one of the first optical small ball and the second optical small ball is identified by the method, if L is L, the calculated needle point position 2 is the same as the actual needle point position, and if L is L, the calculated needle point position is the same as the actual needle point position, and if L is1Greater than L2Then, then
Is the coordinates of the first optical sphere,
the coordinates of the second optical small ball are obtained; if L is1Less than L2Then, then
Is the coordinates of the first optical sphere,
the coordinates of the second optical sphere.
In one embodiment, a method of CT tomography is adopted, and the reference point is a central point in the bottom of a CT sectional view
According to the transformation matrix between the CT image coordinate system and the tracking device coordinate system
Obtaining coordinates of the reference point in the coordinate system of the tracking device
Comprises the following steps:
in one embodiment, the CT image is a tomographic image, and the center point of each slice image is
Are all the same except
As the number of layers varies, L1 and L2 can be deformed into:
In all embodiments of the present application, the terms "large" and "small" are relatively speaking, and the terms "upper" and "lower" are relatively speaking, so that descriptions of these relative terms are not repeated herein.
It should be appreciated that reference throughout this specification to "in this embodiment," "in an embodiment of the present application," or "as an alternative implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in this embodiment," "in the examples of the present application," or "as an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are all alternative embodiments and that the acts and modules involved are not necessarily required for this application.
In various embodiments of the present application, it should be understood that the size of the serial number of each process described above does not mean that the execution sequence is necessarily sequential, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (11)
1. An optical instrument tracer, comprising:
a support;
a first fixed seat;
a second fixed seat;
the optical small ball group comprises a first optical small ball and a second optical small ball, the first optical small ball is connected with the support through the first fixed seat, the second optical small ball is connected with the support through the second fixed seat, and the first optical small ball and the second optical small ball are arranged on the support at intervals; the support is used for installing a minimally invasive intervention needle, a connecting line of the spherical center of the first optical small ball and the spherical center of the second optical small ball is overlapped with the puncture direction of the installed minimally invasive intervention needle, the minimally invasive intervention needle is provided with a needle point, and the needle point is located at one end, far away from the first optical small ball and the second optical small ball, of the minimally invasive intervention needle.
2. The optical instrument tracer of claim 1, wherein a mounting groove is formed in a side surface of the support, the first optical bead is disposed at one end of the support, the other end of the support is used for mounting the minimally invasive intervention needle, and the second optical bead is disposed in the mounting groove and located between the first optical bead and the minimally invasive intervention needle.
3. The optical device tracer of claim 1, wherein the holder defines a mounting hole at one end for mounting an end of the minimally invasive access needle distal from the needle tip.
4. The optical instrument tracer of claim 3, further comprising a retaining member disposed on the support, wherein an abutting portion is disposed at an end of the minimally invasive intervention needle away from the needle tip, an abutting surface is disposed on a side of the abutting portion facing the needle tip, an extending direction of the minimally invasive intervention needle is perpendicular to the abutting surface, and the retaining member is movably abutted against the abutting surface.
5. The optical instrument tracer of claim 4, wherein a side of the support defines a locking hole, the locking hole is in communication with the mounting hole, and an end of the locking member is movably disposed through the locking hole and in the mounting hole in a direction parallel to the abutting surface and movably abutted against the abutting surface.
6. The optical instrument tracer of claim 4, wherein one end of the locking member is rotatably disposed on the support, the other end of the locking member is provided with a limiting portion, the limiting portion rotating along with the locking member movably abuts against the abutting surface, the support is provided with a first connecting portion, the locking member is provided with a second connecting portion, the second connecting portion is movably connected with the first connecting portion, and the second connecting portion enables the limiting portion to abut against the abutting surface when being connected with the first connecting portion.
7. The optical instrument tracer according to claim 6, wherein the first connecting portion is a slot opened on the support, the second connecting portion is a clamping portion protruding on the locking member, and one end of the clamping portion away from the locking member is movably clamped in the slot; along keeping away from the direction of retaining member, the cross sectional dimension of joint portion reduces gradually, makes the side of joint portion slopes gradually, the side of joint portion be used for with the outside edge relative slip of draw-in groove makes joint portion slide gradually extremely in the draw-in groove, joint portion is located during in the draw-in groove, the side of joint portion with the lateral wall butt of draw-in groove.
8. A minimally invasive interventional needle positioning system, comprising a tracking device and an optical instrument tracer as claimed in any one of claims 1 to 7, the tracking device being adapted to detect the coordinate positions of the first optical bead and the second optical bead to locate the coordinate position of the needle tip.
9. A positioning method applied to the minimally invasive intervention needle positioning system of claim 8, the positioning method comprising the following steps:
obtaining a distance d between the first optical bead and the second optical bead1Obtaining the length d of the minimally invasive interventional needle2Obtaining the distance d between the second optical small ball and the minimally invasive interventional needle3A second optical bead positioned between the first optical bead and the minimally invasive interventional needle;
obtaining the coordinates of the first optical small ball in the coordinate system of the tracking device
And the coordinates of said second optical sphere in said tracking device coordinate system
Calculating the coordinates of the needle tip in the tracking device coordinate system
The above-mentioned
The calculation formula of (2) is as follows:
10. the method of claim 9, wherein d is the sum of the values of1D said2D said3The above-mentioned
And said
And the above-mentioned
Satisfies the equation:
11. the method of claim 9, wherein the obtaining coordinates of the first optical bead in a tracking device coordinate system
And the coordinates of said second optical sphere in said tracking device coordinate system
Comprises the following steps:
acquiring the coordinates of a reference point on one side of the needle tip far away from the second optical ball in the coordinate system of the tracking device
Acquiring the coordinates of one of the first optical ball and the second optical ball in the coordinate system of the tracking device
Calculating the distance L from the optical ball to the reference point1Said L is1The calculation formula of (2) is as follows:
acquiring the first lightCoordinates of the other of the optical sphere and the second optical sphere in the tracking device coordinate system
Calculating the distance L from the optical ball to the reference point2Said L is2The calculation formula of (2) is as follows:
if L is1Greater than L2Then, then
Is the coordinates of the first optical sphere,
the coordinates of the second optical small ball are obtained; if L is1Less than L2Then, then
Is the coordinates of the first optical sphere,
the coordinates of the second optical sphere.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011642707.4A CN112656511A (en) | 2020-12-31 | 2020-12-31 | Optical instrument tracer, minimally invasive interventional needle positioning system and positioning method |
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| CN202011642707.4A CN112656511A (en) | 2020-12-31 | 2020-12-31 | Optical instrument tracer, minimally invasive interventional needle positioning system and positioning method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116492053A (en) * | 2023-06-28 | 2023-07-28 | 真健康（北京）医疗科技有限公司 | Method and apparatus for spatially positioning an ablation needle |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116492053A (en) * | 2023-06-28 | 2023-07-28 | 真健康（北京）医疗科技有限公司 | Method and apparatus for spatially positioning an ablation needle |
| CN116492053B (en) * | 2023-06-28 | 2023-09-12 | 真健康（北京）医疗科技有限公司 | Method and apparatus for spatially positioning an ablation needle |
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