CN114569201B - Image navigation puncture needle insertion point detection method and device - Google Patents

Image navigation puncture needle insertion point detection method and device Download PDF

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Publication number
CN114569201B
CN114569201B CN202210140030.7A CN202210140030A CN114569201B CN 114569201 B CN114569201 B CN 114569201B CN 202210140030 A CN202210140030 A CN 202210140030A CN 114569201 B CN114569201 B CN 114569201B
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camera
puncture needle
offset
puncture
distance
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CN114569201A (en
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王开瑞
李雪吉
姚鑫
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Foshan Baikang Robot Technology Co ltd
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Foshan Baikang Robot Technology Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a method and a device for detecting an image navigation puncture needle point, and belongs to the field of medical instruments. Comprises a puncture needle, a camera, a distance measuring sensor and a frame; the puncture needle is connected with the frame, the camera is positioned right below the puncture needle and connected with the frame, and the ranging sensor is connected with the frame. Taking the bottom surface of the camera as a reference surface, and obtaining the distance L between the camera and the puncture target plane and the center distance P between the axes of the camera and the puncture needle; calculating the offset angle of the target point through the distance L and the center distance P; calculating the proportion of the offset angle a of the target point to the view angle N of the camera, so as to obtain the offset of the virtual needle insertion point under the view angle of the camera image; the invention can realize the measurement of the puncture needle insertion point in the puncture operation navigation operation and improve the puncture needle insertion precision in the operation.

Description

Image navigation puncture needle insertion point detection method and device
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a method and a device for detecting an image navigation puncture needle point.
Background
Puncture surgery is the most commonly used diagnosis and treatment means in clinical application at present, and with the further development of robot technology, the demand of robot remote auxiliary puncture surgery is increasing. In the robot remote assisted puncture operation state, a doctor is required to visually observe the current needle insertion position and the current needle insertion state of the puncture needle in real time.
However, due to the spatial configuration of the lancing apparatus and the limitations of the imaging principle of the camera, there is a certain offset between the camera and the lancet, thereby causing the needle insertion point of the lancet to be not located at the geometric center of the camera image, while being offset in real time as the distance of the lancet from the patient's skin surface varies. This can lead to difficulties in accurately determining the target location of the penetration by the physician, which can reduce the accuracy of the penetration and even create serious medical accidents.
Disclosure of Invention
The invention provides an image navigation puncture needle point detection method and device, which are used in the field of medical appliances. The problem that the needle penetration point is difficult to accurately judge under the image space existing in the navigation of the existing puncture equipment is solved. By means of detecting the distance between the puncture needle and the puncture target and combining with the camera visual angle imaging principle, accurate detection of the puncture navigation target point in the camera space is achieved, the accuracy of the puncture needle insertion point in the puncture navigation operation can be effectively improved, compared with a laser indication method, the risk is low, meanwhile, the structure is simple, the influence on the configuration of the existing medical puncture equipment is small, and good universality is achieved.
The invention adopts the following scheme:
an image navigation puncture needle point detection method and device are characterized in that: the method comprises the following steps:
step 1: taking the bottom surface of the camera (2) as a reference surface, obtaining the distance L between the camera (2) and the puncture target plane (5) and the center distance P of the axes of the camera (2) and the puncture needle (1);
step 2: calculating the offset angle of the target point through the distance L and the center distance P:
according to the formula: a_offset=arctan (P/L) to obtain the target point offset angle a;
step 3: calculating the proportion of the target point offset angle a to the camera view angle N:
according to the formula: f_ratio=a_offset/(N/2)
Step 4: calculating the offset of the virtual needle insertion point under the view angle of the camera image:
the offset pixel k of the needle point (62) position in the camera image may be according to the formula:
k=h_ratio=h_a_offset/(N/2);
wherein h is one half of the total number of pixels in the axial direction of the needle body (61) in the camera image space.
Preferably, the device comprises a puncture needle (1), a camera (2), a distance measuring sensor (3) and a rack (4); the puncture needle (1) is connected with the frame (4), the camera (2) is positioned under the puncture needle (1) and connected with the frame (4), and the ranging sensor (3) is connected with the frame (4).
The invention has the beneficial effects that:
1. the invention can realize the measurement of the puncture needle insertion point in the puncture operation navigation operation, and improve the puncture needle insertion precision in the operation;
2. the invention adopts the display of the puncture needle insertion point under the image space of the navigation camera, thereby avoiding the interference to the safety and control space by the modes of laser calibration and the like under the physical space;
3. the distance between the needle point of the puncture needle and the surface of the skin to be punctured can be obtained while the needle insertion point is detected, so that the judgment of a doctor on the needle insertion state can be further improved without adding an additional sensing device, and the safety of a puncture operation is improved.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the detection principle of the present invention;
fig. 3 is a schematic diagram of the principle of needle insertion point offset under the camera image space.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention is described below by means of specific embodiments shown in the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
Specific constructions and embodiments of the present invention are further described below with reference to the drawings.
The structural composition of the invention is shown in figures 1, 2 and 3
The invention adopts the following scheme:
example 1:
an image navigation puncture needle point detection method and device are characterized in that: the method comprises the following steps:
step 1: taking the bottom surface of the camera (2) as a reference surface, obtaining the distance L between the camera (2) and the puncture target plane (5) and the center distance P of the axes of the camera (2) and the puncture needle (1);
step 2: calculating the offset angle of the target point through the distance L and the center distance P:
according to the formula: a_offset=arctan (P/L) to obtain the target point offset angle a;
step 3: calculating the proportion of the target point offset angle a to the camera view angle N:
according to the formula: f_ratio=a_offset/(N/2)
Step 4: calculating the offset of the virtual needle insertion point under the view angle of the camera image:
the offset pixel k of the needle point (62) position in the camera image may be according to the formula:
k=h_ratio=h_a_offset/(N/2);
wherein h is one half of the total number of pixels in the axial direction of the needle body (61) in the camera image space.
Example 2:
an image navigation puncture needle point detection method and device are characterized by comprising a puncture needle (1), a camera (2), a distance measuring sensor (3) and a rack (4); the puncture needle (1) is connected with the frame (4), the camera (2) is positioned under the puncture needle (1) and connected with the frame (4), and the ranging sensor (3) is connected with the frame (4).
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (1)

1. An image navigation puncture needle point detection method is characterized by comprising a puncture needle (1), a camera (2), a distance measuring sensor (3) and a rack (4); the puncture needle (1) is connected with the frame (4), the camera (2) is positioned right below the puncture needle (1) and connected with the frame (4), the ranging sensor (3) is connected with the frame (4), and the puncture needle point detection method comprises the following steps:
step 1: taking the bottom surface of the camera (2) as a reference surface, obtaining the distance L between the camera (2) and the puncture target plane (5) and the center distance P of the axes of the camera (2) and the puncture needle (1);
step 2: calculating the offset angle of the target point through the distance L and the center distance P:
according to the formula: a_offset=arctan (P/L) to obtain the target point offset angle a;
step 3: calculating the proportion of the target point offset angle a to the camera view angle N:
according to the formula: f_ratio=a_offset/(N/2)
Step 4: calculating the offset of the virtual needle insertion point under the view angle of the camera image:
the offset pixel k of the needle point (62) position in the camera image may be according to the formula:
k=h_ratio=h_a_offset/(N/2);
wherein h is one half of the total number of pixels in the axial direction of the needle body (61) in the camera image space.
CN202210140030.7A 2022-02-16 2022-02-16 Image navigation puncture needle insertion point detection method and device Active CN114569201B (en)

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CN113786229A (en) * 2021-09-15 2021-12-14 苏州朗润医疗***有限公司 AR augmented reality-based auxiliary puncture navigation method
CN113786228A (en) * 2021-09-15 2021-12-14 苏州朗润医疗***有限公司 Auxiliary puncture navigation system based on AR augmented reality

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JP2002085419A (en) * 2000-09-18 2002-03-26 Hitachi Medical Corp Puncture needle insertion control system using medical image diagnosing device
JP2007000226A (en) * 2005-06-22 2007-01-11 Toshiba Corp Medical image diagnostic apparatus
CN106859742A (en) * 2017-03-21 2017-06-20 北京阳光易帮医疗科技有限公司 A kind of puncturing operation navigation positioning system and method
CN111012506A (en) * 2019-12-28 2020-04-17 哈尔滨工业大学 Robot-assisted puncture surgery end tool center calibration method based on stereoscopic vision
CN111407370A (en) * 2020-03-10 2020-07-14 山东大学 Navigation device for accurate tumor puncture and CT (computed tomography) visual navigation system
CN113616293A (en) * 2020-05-07 2021-11-09 孙建松 Ultrasonic-guided puncture navigation system and method based on attitude angle
CN112336433A (en) * 2020-11-10 2021-02-09 亿盛欣科技(北京)有限公司 Device for indicating action position of surgical instrument, use method and calibration method
CN112957041A (en) * 2021-03-08 2021-06-15 北京伟浩君智能技术有限公司 Blood sampling robot control method and device based on blood vessel image
CN113310403A (en) * 2021-04-02 2021-08-27 深圳市世宗自动化设备有限公司 Camera aiming method, device and system
CN113198099A (en) * 2021-04-19 2021-08-03 佛山市柏康机器人技术有限公司 Particle implantation robot system and method
CN113349897A (en) * 2021-07-13 2021-09-07 安徽科大讯飞医疗信息技术有限公司 Ultrasonic puncture guiding method, device and equipment
CN113786229A (en) * 2021-09-15 2021-12-14 苏州朗润医疗***有限公司 AR augmented reality-based auxiliary puncture navigation method
CN113786228A (en) * 2021-09-15 2021-12-14 苏州朗润医疗***有限公司 Auxiliary puncture navigation system based on AR augmented reality

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