CN117204951B - Operation positioning navigation equipment based on X-rays and positioning realization method thereof - Google Patents
Operation positioning navigation equipment based on X-rays and positioning realization method thereof Download PDFInfo
- Publication number
- CN117204951B CN117204951B CN202311229177.4A CN202311229177A CN117204951B CN 117204951 B CN117204951 B CN 117204951B CN 202311229177 A CN202311229177 A CN 202311229177A CN 117204951 B CN117204951 B CN 117204951B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- main frame
- coordinate system
- base
- trg
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000003384 imaging method Methods 0.000 claims abstract description 45
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 230000009466 transformation Effects 0.000 claims description 33
- 239000008188 pellet Substances 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 230000001276 controlling effect Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000012795 verification Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 230000003287 optical effect Effects 0.000 description 9
- 239000003550 marker Substances 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000002059 diagnostic imaging Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000004072 lung Anatomy 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 239000000306 component Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 210000003734 kidney Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Landscapes
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The invention relates to an operation positioning navigation device based on X-rays and a positioning implementation method thereof, wherein the operation positioning navigation device comprises an X-ray imaging system, a positioning mechanical arm and client software, the X-ray imaging system comprises a main frame, the main frame translates back and forth along the length direction of the device, and a bed board is fixed on a base; the bulb tube and the flat panel detector are fixed on the inner side of the main frame and do rotary motion along the main frame, and the high-voltage generator is fixed on the base; the mechanical arm is used for positioning and navigation and is fixedly connected to the mechanical arm control cabinet, the tail end of the mechanical arm is provided with a calibration tool A through an adapter, and the calibration tool A is used for calibrating an X-ray imaging system and the mechanical arm; the invention can realize the positioning navigation of the surgical target, and solves the problems that the traditional navigation equipment needs to calibrate the navigation equipment and the image data before the operation starts, and the calibration work is often needed to be repeated for many times to obtain higher positioning precision so as to seriously reduce the operation efficiency due to easy environmental influence.
Description
[ Technical field ]
The invention relates to the technical field of medical equipment, in particular to operation positioning navigation equipment based on X-rays and a positioning implementation method thereof.
[ Background Art ]
After the omnibearing interventional surgery of engineering technical means such as automation, image processing, artificial intelligence and the like, various surgical navigation devices have been developed and applied in the fields such as chest and lung surgery, urology, orthopaedics, gynecology and the like. The implementation principles of these surgical navigation devices are mainly divided into two categories: one is an optical navigation device based on an optical camera, and the other is an electromagnetic navigation device based on electromagnetism. The optical navigation device relies on a high-precision optical camera to capture the position and the gesture of a preset marker, so that the position of the target is analyzed, and the positioning precision of the optical navigation device depends on the resolution of the camera and the stability of the placement of the marker and is easily influenced by ambient light. In practical use, it is required that there is no obstacle between the camera and the marker. Compared with optical navigation, electromagnetic navigation has one of the advantages of being free from the influence of obstacles, and the positioning principle is that a stable magnetic field space is established, the position of a positioning sensor in the space is acquired, and then the position of an operation target is obtained through analysis. The positioning sensor generally comprises a coil and a signal processing unit. The positioning accuracy of electromagnetic navigation depends on the stability of the magnetic field and the quality of the signal generated in the coil.
In order to realize the positioning accuracy of the sub-millimeter level, an optical camera and a marker are introduced into the optical navigation equipment, and a magnetic field and a positioning sensor are introduced into the electromagnetic navigation equipment. However, both of these solutions are susceptible to environmental influences: the former is affected by the ambient structural light, and the latter is affected by the metallic material in the environment. And the existing navigation devices are often independent of medical imaging devices, such as CT, MR, etc. Calibration of the navigation device and image data is required before the procedure begins. Because of the images which are easy to be subjected to the environment, the calibration work is often repeated for a plurality of times to obtain higher positioning precision, thereby seriously reducing the operation efficiency.
[ Summary of the invention ]
The invention aims to solve the defects and provide the operation positioning navigation equipment based on the X-rays, which integrates an X-ray imaging system, a positioning mechanical arm and client software, can realize positioning navigation on an operation target, and solves the problems that the traditional navigation equipment is independent of medical imaging equipment, the navigation equipment and image data are required to be calibrated before operation starts, and the calibration work is required to be repeated for many times due to easy environmental influence, so that the operation efficiency is seriously reduced due to the fact that higher positioning precision is required to be obtained.
In order to achieve the aim, the X-ray based operation positioning navigation device comprises an X-ray imaging system, a positioning mechanical arm and client software, wherein,
The X-ray imaging system is used for acquiring medical image data, and comprises a bulb tube 20, a flat panel detector 26, a high-voltage generator 23, a main frame 8, a bed plate 29 and a base 14, wherein the main frame 8 is in an annular structure, the main frame 8 is slidably arranged on the base 14 and translates back and forth along the length direction of the base 14, and the bed plate 29 passes through the main frame 8 and is fixedly arranged on the base 14; the bulb tube 20 and the flat panel detector 26 are fixed on the inner side of the main frame 8 and rotate along the main frame 8 to meet imaging requirements of different angles, and the high voltage generator 23 is fixed on the base 14 and provides energy for generating X rays for the bulb tube 20;
The positioning mechanical arm comprises a mechanical arm 5, the mechanical arm 5 is used for positioning and navigating to assist a doctor in performing operation, the mechanical arm 5 is fixedly connected to a mechanical arm control cabinet 4, a calibration tool A7 is arranged at the tail end of the mechanical arm 5 through a conversion block 6, and the calibration tool A7 is used for calibrating an X-ray imaging system and the mechanical arm 5;
The client software is used for receiving data transmitted by the X-ray imaging system, outputting the target position to the positioning mechanical arm and controlling the positioning mechanical arm to perform navigation positioning; the client software is installed on a computer 2, the computer 2 is fixed on a trolley 1 and is used for receiving image information of an X-ray imaging system and position and posture information of a mechanical arm 5, a display 3 is fixed on the trolley 1, and the display 3 is used for displaying the image information of the X-ray imaging system and providing a human-computer interaction interface.
Further, a universal wheel 32 is installed at the bottom of the front end of the base 14, the universal wheel 32 is used for adjusting the direction when the equipment moves integrally, a driving wheel 22 is installed at the bottom of the rear end of the base 14, and the driving wheel 22 is used for providing auxiliary thrust for the equipment when moving; the bed board 29 is fixedly arranged on the base 14 through a bed board supporting frame 30, and the bed board supporting frame 30 is of a height fixed type or a height adjustable type; when the bed board support frame 30 is height-adjustable, the bed board support frame 30 is driven by a linear push rod or a push cylinder, so as to realize the height adjustment of the bed board 29 relative to the base 14.
Further, the main frame 8 is of an integral closed-loop structure, the left side and the right side of the bottom of the main frame 8 are respectively connected to the sliding rail A15 and the sliding rail B31 in a sliding manner, the sliding rail A15 and the sliding rail B31 are fixedly installed on the base 8 and extend along the front-back direction of the base 8, the main frame 8 is connected with the synchronous belt A16, the synchronous belt A16 is connected with the output end of the driving motor B21, and the main frame 8 is driven by the driving motor B21 to do front-back translational movement along the sliding rail A15 and the sliding rail B31.
Further, the mechanical arm control cabinet 4 is fixedly connected to the control cabinet bottom plate 13, the control cabinet bottom plate 13 is slidably connected to the sliding rail A15 and the sliding rail B31, the mechanical arm control cabinet 4 is mounted on the sliding rail A15 and the sliding rail B31 through the control cabinet bottom plate 13, and the control cabinet bottom plate 13 cooperates with the main frame 8 to translate back and forth along the length direction of the base 14.
Further, the flat panel detector 26 and the bulb tube 20 are respectively fixed on the detector supporting frame 25 and the bulb tube supporting frame 17, the detector supporting frame 25 and the bulb tube supporting frame 17 are fixedly mounted on a disc bearing 27, and the disc bearing 27 is fixedly mounted on the main frame 8.
Further, a driven gear 28 is mounted on the disc bearing 27, the driven gear 28 is in meshed connection with the driving gear 18, the driving gear 18 is mounted at the output end of the driving motor a19, the driving motor a19 is fixedly mounted on the main frame 8, the driven gear 28 is driven to rotate through the driving motor a19 and the driving gear 18, and the rotation speed and the rotation direction of the driven gear 28 are regulated by controlling the rotation speed and the rotation direction of the driving motor a19, so that the rotation movement of the flat panel detector 26 and the bulb 20 is controlled.
Further, a belt supporting wheel 37 is mounted on the disc bearing 27, a main frame belt 36 is fixed on the belt supporting wheel 37, the main frame belt 36 is a complete closed loop or open loop belt, the main frame belt 36 is connected with a driving motor A19 through a driving pulley 34, the tightness is regulated through a pressing wheel A33 and a pressing wheel B35, the driving motor A19 drives the driving pulley 34 to rotate, the driving pulley 34 drives the main frame belt 36 to move, and the rotating speed and the steering are regulated through controlling the rotating speed and the steering of the driving motor A19, so that the rotating motion of the flat panel detector 26 and the bulb 20 is controlled.
Further, a displacement sensor is mounted on the base 14, and is used for acquiring the positions of the mechanical arm 5 and the main frame 8 relative to the base 14, and the displacement sensor is not limited to a grating ruler displacement sensor; the magnetic stripe 11 is installed on the base 14, the magnetic grating reading head A10 and the magnetic grating reading head B12 are installed on the magnetic stripe 11, the position of the mechanical arm 5 is obtained through the magnetic grating reading head B12, and the position of the main frame 8 is obtained through the magnetic grating reading head A10.
The invention also provides a positioning implementation method of the operation positioning navigation device based on X-rays, wherein the construction steps of the spatial transformation relation between the mechanical arm and the X-ray image are as follows:
Firstly, a fixed global coordinate system {0} is established on a base 14, a mechanical arm base coordinate system {1} is established on a base of a mechanical arm 5, a mechanical arm tool end coordinate system {2} is established at the tail end of the mechanical arm 5, a tool coordinate system { TRG } is established on a calibration tool A, a flat panel coordinate system {3} is established on a flat panel detector 26, a main frame coordinate system {4} is established on a main frame 8, and an image coordinate system { IMG } is established on a two-dimensional or three-dimensional image generated by an imaging system;
The origin TRG of the tool coordinate system { TRG } is represented by a symbol 2 TRG in the tool end coordinate system {2} of the mechanical arm;
According to the robot spatial transformation principle, the coordinates 1 TRG of the origin TRG in the robot arm base coordinate system {1} are obtained by the following formula:
Wherein the method comprises the steps of The transformation relation of the mechanical arm tool end coordinate system {2} relative to the mechanical arm base coordinate system {1} is related to the joint angle of the mechanical arm 5 and can be obtained through the joint angle calculation of the mechanical arm 5;
The coordinates 0 TRG of the origin TRG in the global coordinate system {0} are obtained by the following formula:
Wherein the method comprises the steps of The transformation relation of the mechanical arm base coordinate system {1} relative to the global coordinate system {0} is related to the position of the mechanical arm 5 on the base 14 and can be obtained by the output of the magnetic grating reading head B12 and the position of the base of the mechanical arm 5;
Simultaneous equation (i) and equation (ii), yields:
After the calibration tool A7 images in an imaging system, obtaining a coordinate IMG TRG of an origin TRG in an image coordinate system { IMG };
the coordinates 3 TRG of the origin TRG on the plate coordinate system {3} are obtained by the following formula:
Wherein the method comprises the steps of Is the coordinate conversion relationship inherent to the flat panel detector 26 generating images and detectors;
The coordinates 4 TRG of the origin TRG on the main frame coordinate system {4} are obtained by the following formula:
then, the coordinates 0 TRG of the origin TRG in the global coordinate system {0} can be obtained by the following formula:
Wherein the method comprises the steps of The transformation relation of the main frame coordinate system {4} relative to the global coordinate system {0} is related to the position of the main frame 8 on the base 14 and can be obtained by the output of the magnetic grating reading head A10 and the position of the main frame 8;
simultaneous equations (iv), (v) and (vi) can be obtained:
simultaneous equation (iii) and equation (vii) can be obtained:
According to the formula (viii), the transformation relation between the calibration tool A7 origin TRG and the mechanical arm tool end coordinate system {2} and the image coordinate system { IMG } can be obtained through inverse transformation:
Wherein the transformation matrix Expressed by the following formula:
The formula (X) represents the spatial transformation relationship between the mechanical arm and the X-ray image.
Further, the calibration fixture A7 is replaced by a calibration fixture B, the calibration fixture B adopts a plurality of spheres, each sphere comprises a sphere A38, a sphere B39, a sphere C40 and a sphere D41, the diameters of the spheres A38, the spheres B39, the spheres C40 and the spheres D41 are the same or different from each other, a coordinate system { A } is established on the spheres A38, a coordinate system { B } is established on the spheres B39, a coordinate system { C } is established on the spheres C40, and a coordinate system { D } is established on the spheres D41; any one or more pellets are selected to construct a spatial transformation relation between the mechanical arm and the X-ray image, and when one is selected, the rest pellets are selected to perform verification and compensation of spatial transformation.
Compared with the prior art, the invention provides novel X-ray-based operation positioning navigation equipment, which integrates an X-ray imaging system, a positioning mechanical arm and client software, wherein the X-ray imaging system is used for acquiring medical image data containing normal tissues, nodules or abnormal tissues such as tumors of a human body; the positioning mechanical arm is used for positioning and navigating to assist a doctor in performing operation; the client software receives data transmitted by the X-ray imaging system, outputs the target position to the mechanical arm, and controls the mechanical arm to perform navigation positioning; the novel surgical positioning navigation equipment is different from the traditional optical navigation and electromagnetic navigation, and the implementation principle is that the spatial relationship between the mechanical arm and the X-ray image is constructed by acquiring and analyzing a special geometric structure and image characteristics thereof, so that the positioning navigation of a surgical target is realized. In addition, the main frame in the operation positioning navigation equipment can translate back and forth along the length direction of the equipment, so that the imaging requirements of different parts of a human body are met; the bulb tube and the flat panel detector can perform rotary motion on the main frame to meet imaging requirements of different angles, the main rotary range of the bulb tube is in the lower semicircle of the main frame, and the main rotary range of the flat panel detector is in the upper semicircle of the main frame, but can also perform 360-degree rotation according to actual requirements; the operation positioning navigation equipment has small occupied area (the length is not more than 2.5 meters and the width is not more than 1.5 meters), can be moved to any place according to the actual use requirement, and is very convenient to use.
The invention solves the problems that the traditional navigation equipment is independent of medical image equipment, the navigation equipment and the image data are required to be calibrated before the operation starts, and the calibration work is often required to be repeated for a plurality of times to obtain higher positioning precision due to the easy environmental influence, thereby seriously reducing the operation efficiency.
[ Description of the drawings ]
FIG. 1 is a schematic diagram of the main components of the surgical positioning and navigation device of the present invention;
FIG. 2 is a perspective view of an imaging system of the surgical positioning navigation apparatus of the present invention;
FIG. 3 is a front view of an imaging system of the surgical positioning navigation apparatus of the present invention;
FIG. 4 is a schematic diagram of a synchronous belt drive for the surgical positioning and navigation device of the present invention;
FIG. 5 is a schematic view of coordinate calibration of the robotic arm and imaging system of the surgical positioning navigation apparatus of the present invention;
FIG. 6 is a schematic view of a calibration fixture B of the surgical positioning and navigation apparatus of the present invention;
In the figure: 1. a trolley; 2. a computer; 3. a display; 4. a mechanical arm control cabinet; 5. a mechanical arm; 6. a transfer block; 7. calibrating the tool A; 8. a main frame; 9. a human body; 10. a magnetic grating read head A; 11. a magnetic stripe; 12. a magnetic gate read head B; 13. a control cabinet bottom plate; 14. a base; 15. a sliding rail A; 16. a synchronous belt A; 17. a bulb support; 18. a drive gear; 19. a driving motor A; 20. a bulb tube; 21. a driving motor B; 22. a driving wheel; 23. a high voltage generator; 24. a grip; 25. a detector support; 26. a flat panel detector; 27. a disc bearing; 28. a driven gear; 29. a bed board; 30. a bed board support frame; 31. a sliding rail B; 32. a universal wheel; 33. a compression wheel A; 34. a driving pulley; 35. a compression wheel B; 36. a main frame belt; 37. a belt supporting wheel; 38. a small ball A; 39. a small ball B; 40. a small ball C; 41. a small ball D; {0}, global coordinate system; {1}, robotic arm base coordinate system; {2}, mechanical arm tool end coordinate system; { TRG }, tool coordinate system; {3}, plate coordinate system; {4}, main frame coordinate system.
Detailed description of the preferred embodiments
The invention is further described below with reference to the accompanying drawings:
As shown in the accompanying drawings, the present invention relates to a surgical positioning and navigation device, and in particular, to an X-ray based surgical positioning and navigation device, and a principle of positioning and implementation of the navigation device.
The invention relates to an X-ray-based operation positioning navigation device, which comprises an X-ray imaging system, a positioning mechanical arm and client software, wherein the X-ray imaging system is used for acquiring image information of tissues and organs in a human body 9 and medical image data of a focus, the X-ray imaging system mainly comprises a bulb tube 20, a flat panel detector 26, a high voltage generator 23, a main frame 8, a bed board 29, a base 14 and the like, and the bulb tube 20, the flat panel detector 26 and the high voltage generator 23 are main core components of an imaging system of an X-ray diagnosis device; the main frame 8 is in an annular structure, and the main frame 8 is slidably arranged on the base 14 and translates back and forth along the length direction of the equipment along the base 14 so as to meet the imaging requirements of different parts of the human body 9; the bed plate 29 passes through the main frame 8 and is fixedly arranged on the base 14; the bulb 20 and the flat panel detector 26 are fixed on the inner side of the main frame 8 and rotate along the main frame 8 to meet imaging requirements of different angles, and the high voltage generator 23 is fixed on the base 14 and provides energy for the bulb 20 to generate X rays; the positioning mechanical arm comprises a mechanical arm 5, the mechanical arm 5 is used for positioning and navigating, a doctor is assisted in performing operation, the mechanical arm 5 is fixedly connected to a mechanical arm control cabinet 4, a calibration tool A7 is arranged at the tail end of the mechanical arm 5 through a transfer block 6, and the calibration tool A7 is used for calibrating an X-ray imaging system and the mechanical arm 5; the client software receives data transmitted by the X-ray imaging system, outputs a target position to the mechanical arm through algorithms such as target identification, pose operation and the like, and controls the mechanical arm to perform navigation positioning; the client software is installed on a computer 2, the computer 2 is fixed on a trolley 1 and is used for receiving image information of an X-ray imaging system and position and posture information of a mechanical arm 5, a display 3 is fixed on the trolley 1, and the display 3 is used for displaying the image information of the X-ray imaging system and providing a human-computer interaction interface.
The novel operation positioning navigation equipment has small occupied area, small length of not more than 2.5 meters and width of not more than 1.5 meters, and can be moved to any place according to actual use requirements. The range of movement of the main frame 8 is capable of covering the height of an average adult, i.e. the range should be greater than 1.8 meters. The bulb 20 and the flat panel detector 26 can perform rotary motion on the main frame 8 to meet imaging requirements of different angles, further, the bulb 20 is fixed at the bottom of the inner side of the main frame 8, the main rotation range of the bulb is in the lower semicircle of the main frame 8, the flat panel detector 26 is fixed at the top of the inner side of the main frame 8, and the main rotation range of the flat panel detector 26 is in the upper semicircle of the main frame 8; however, the bulb 20 and the flat panel detector 26 may be rotated 360 degrees as desired.
The base 14 is a main body bearing structure of the equipment, the front end bottom of the base 14 is provided with universal wheels 32, the universal wheels 32 are used for adjusting the overall moving direction of the equipment, the rear end bottom of the base 14 is provided with driving wheels 22, and the driving wheels 22 are used for providing auxiliary thrust during moving; the bed board 29 is fixedly arranged on the base 14 through a bed board supporting frame 30, and the bed board supporting frame 30 is of a height fixed type or a height adjustable type; when the bed board support frame 30 is height-adjustable, the bed board support frame 30 can be driven by a linear push rod or a push cylinder or the like, so as to realize the height adjustment of the bed board 29 relative to the base 14.
The main frame 8 is of an integral closed-loop structure, can translate back and forth along the length direction of the equipment, the translational motion of the main frame 8 is realized through the driving motor B21 and the synchronous belt A16, and the translational direction of the main frame 8 is ensured through the sliding rail A15 and the sliding rail B31; specifically, the left and right sides of the bottom of the main frame 8 are slidably connected to a slide rail a15 and a slide rail B31, the slide rail a15 and the slide rail B31 are fixedly mounted on the base 8 and extend along the front-back direction of the base 8, the main frame 8 is connected with a synchronous belt a16, the synchronous belt a16 is connected with the output end of a driving motor B21, and the main frame 8 is driven by the driving motor B21 to perform front-back translational motion along the slide rail a15 and the slide rail B31. The mechanical arm control cabinet 4 is fixedly connected to the control cabinet bottom plate 13, the control cabinet bottom plate 13 is slidably connected to the sliding rail A15 and the sliding rail B31, the mechanical arm control cabinet 4 is mounted on the sliding rail A15 and the sliding rail B31 through the control cabinet bottom plate 13, and the control cabinet bottom plate 13 can be matched with the position of the main frame 8 to translate back and forth along the length direction of the equipment. Thus, both the robot arm 5 and the main frame 8 can perform translational movement.
Further, the flat panel detector 26 and the bulb tube 20 are respectively fixed on the detector supporting frame 25 and the bulb tube supporting frame 17, the detector supporting frame 25 and the bulb tube supporting frame 17 are fixedly mounted on the disc bearing 27, and the disc bearing 27 is fixedly mounted on the main frame 8.
The disc bearing 27 can be further provided with a driven gear 28, the driven gear 28 is in meshed connection with the driving gear 18, the driving gear 18 is arranged at the output end of the driving motor A19, the driving motor A19 is fixedly arranged on the main frame 8, the driven gear 28 is driven to rotate through the driving motor A19 and the driving gear 18, the rotating speed and the steering of the driving motor A19 are controlled, the rotating speed and the steering of the driven gear 28 are regulated, and finally the rotating motion of the flat panel detector 26 and the bulb 20 is controlled.
Besides the above transmission mode through the driving gear 18 and the driven gear 28, other transmission modes such as belt transmission can be adopted, as shown in fig. 4, a belt supporting wheel 37 can be installed on the disc bearing 27, a main frame belt 36 is fixed on the belt supporting wheel 37, the main frame belt 36 is a complete closed loop or open belt, the main frame belt 36 is connected with a driving motor A19 through a driving pulley 34, the tightness is regulated through a pressing pulley A33 and a pressing pulley B35, the driving motor A19 drives the driving pulley 34 to rotate, the driving pulley 34 drives the main frame belt 36 to move, the rotating speed and the steering of the driving motor A19 are controlled, the rotating speed and the steering of the driving pulley 34 are regulated, and finally the rotating motion of the flat panel detector 26 and the bulb 20 is controlled.
Here, the translational movement of the main frame 8 and the rotational movement of the flat panel detector 26 and the bulb 20 can be controlled independently. The surgical positioning and navigation device is also provided with a grip 11 for the overall movement.
The base 14 is provided with a displacement sensor which is used for collecting the positions of the mechanical arm 5 and the main frame 8 relative to the base 14; the magnetic stripe 11 can be installed on the base 14, the magnetic grating reading head A10 and the magnetic grating reading head B12 are installed at the magnetic stripe 11, the position of the mechanical arm 5 is obtained through the magnetic grating reading head B12, and the position of the main frame 8 is obtained through the magnetic grating reading head A10. With such a displacement sensor, positioning accuracy of the order of micrometers can be obtained. In addition, the grating ruler can be selected as a displacement sensor, so that higher positioning accuracy can be obtained.
The positioning realization principle of the operation positioning navigation equipment is as follows: the robotic arm 5 provides final positioning navigation and the surgical operator may perform surgery, such as lung puncture, kidney puncture, etc., with the aid of the robotic arm 5. The positioning accuracy of the mechanical arm 5 is the guarantee of successful operation, and the space coordinate conversion between the mechanical arm 5 and the imaging system is the key of positioning realization.
To establish the spatial relationship between the robotic arm and the X-ray image, a fixed global coordinate system {0} is established on the base 14, a robotic arm base coordinate system {1} is established on the base of the robotic arm 5, a robotic arm tool end coordinate system {2} is established at the end of the robotic arm 5, a tool coordinate system { TRG } is established on the calibration tool A, a flat panel coordinate system {3} is established on the flat panel detector 26, and a main frame coordinate system {4} is established on the main frame 8. In addition, an image coordinate system { IMG } is also established on the two-dimensional or three-dimensional image generated by the imaging system.
The origin TRG of the tool coordinate system { TRG } is denoted by symbol 2 TRG in the robot tool end coordinate system {2 }.
According to the robot spatial transformation principle, the coordinates 1 TRG of the origin TRG in the robot arm base coordinate system {1} can be obtained by the following formula:
Wherein the method comprises the steps of The transformation relation of the tool end coordinate system {2} of the mechanical arm relative to the base coordinate system {1} of the mechanical arm is related to the joint angle of the mechanical arm 5, and can be obtained through calculation of the joint angle of the mechanical arm 5.
The coordinates 0 TRG of the origin TRG in the global coordinate system {0} can be obtained by the following formula:
Wherein the method comprises the steps of The transformation relation of the robot arm base coordinate system {1} relative to the global coordinate system {0} is related to the position of the robot arm 5 on the base 14, and can be obtained by measuring the position of the base of the robot arm 5 and the output of the magnetic grating reading head B12.
Simultaneous equations (i) and (ii) can be obtained:
after the calibration fixture A7 is imaged in the imaging system, the coordinate IMG TRG of the origin TRG in the image coordinate system { IMG } can be obtained.
The coordinates 3 TRG of the origin TRG on the plate coordinate system {3} can be obtained by the following formula:
Wherein the method comprises the steps of It is the flat panel detector 26 that generates the image and the coordinate transformation relationship inherent to the detector.
The coordinates 4 TRG of the origin TRG on the main frame coordinate system {4} can be obtained by the following formula:
then, the coordinates 0 TRG of the origin TRG in the global coordinate system {0} can be obtained by the following formula:
Wherein the method comprises the steps of The transformation relation of the main frame coordinate system {4} relative to the global coordinate system {0} and the position of the main frame 8 on the base 14 can be obtained by the output of the magnetic grating reading head A10 and measuring the position of the main frame 8.
Simultaneous equations (iv), (v) and (vi) can be obtained:
simultaneous equation (iii) and equation (vii) can be obtained:
According to the formula (viii), the transformation relation between the calibration tool A7 origin TRG and the mechanical arm tool end coordinate system {2} and the image coordinate system { IMG } can be obtained through inverse transformation:
Wherein the transformation matrix Expressed by the following formula:
the formula (X) represents the spatial transformation relationship between the robotic arm and the X-ray image.
Further, a calibration fixture B as shown in fig. 6 may be employed instead of the calibration fixture A7. The calibrating tool is provided with a plurality of spheres, namely a sphere A38, a sphere B39, a sphere C40 and a sphere D41. The diameters of the pellets A38, B39, C40 and D41 may be the same or different from each other. A coordinate system { A } is established on pellet A38, a coordinate system { B } is established on pellet B39, a coordinate system { C } is established on pellet C40, and a coordinate system { D } is established on pellet D41.
One of the pellets can be selected independently to construct a spatial transformation relation between the mechanical arm and the X-ray image, and the rest pellets can be selected for verification and compensation of spatial transformation. Moreover, the calibration tool A7, the small balls A38, B39, C40 and D41 can be made of engineering plastics and other materials which cannot cause X-ray artifacts and have imaging quality.
The details not described in detail in this specification belong to the prior art known to those skilled in the art, all standard parts used by the standard parts can be purchased from the market, the special-shaped parts can be customized according to the description of the specification and the drawings, the specific connection modes of all parts adopt conventional means such as mature bolts, rivets and welding in the prior art, the machinery, the parts and the equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection modes in the prior art, which are not described in detail.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the invention are intended to be equivalent substitutes and are included in the scope of the invention.
Claims (9)
1. An operation positioning navigation device based on X-rays is characterized in that: comprises an X-ray imaging system, a positioning mechanical arm and client software, wherein,
The X-ray imaging system is used for acquiring medical image data and comprises a bulb tube (20), a flat panel detector (26), a high-voltage generator (23), a main frame (8), a bed plate (29) and a base (14), wherein the main frame (8) is of an annular structure, the main frame (8) is slidably arranged on the base (14) and translates back and forth along the length direction of the base (14), and the bed plate (29) passes through the main frame (8) and is fixedly arranged on the base (14); the bulb tube (20) and the flat panel detector (26) are fixed on the inner side of the main frame (8) and perform rotary motion along the main frame (8) so as to meet imaging requirements of different angles, and the high-voltage generator (23) is fixed on the base (14) and provides energy for X-rays generated by the bulb tube (20);
The positioning mechanical arm comprises a mechanical arm (5), the mechanical arm (5) is used for positioning and navigation to assist a doctor in performing operation, the mechanical arm (5) is fixedly connected to a mechanical arm control cabinet (4), a calibration tool A (7) is arranged at the tail end of the mechanical arm (5) through a switching block (6), and the calibration tool A (7) is used for calibrating an X-ray imaging system and the mechanical arm (5);
The client software is used for receiving data transmitted by the X-ray imaging system, outputting the target position to the positioning mechanical arm and controlling the positioning mechanical arm to perform navigation positioning; the client software is installed on a computer (2), the computer (2) is fixed on a trolley (1) and is used for receiving image information of an X-ray imaging system and position and posture information of a mechanical arm (5), a display (3) is fixed on the trolley (1), and the display (3) is used for displaying the image information of the X-ray imaging system and providing a human-computer interaction interface;
the construction steps of the spatial transformation relation between the mechanical arm and the X-ray image are as follows:
Firstly, a fixed global coordinate system {0} is established on a base (14), a mechanical arm base coordinate system {1} is established on a base of a mechanical arm (5), a mechanical arm tool end coordinate system {2} is established at the tail end of the mechanical arm (5), a tool coordinate system { TRG } is established on a calibration tool A, a flat plate coordinate system {3} is established on a flat plate detector (26), a main frame coordinate system {4} is established on a main frame (8), and an image coordinate system { IMG } is established on a two-dimensional or three-dimensional image generated by an imaging system;
The origin TRG of the tool coordinate system { TRG } is represented by a symbol 2 TRG in the tool end coordinate system {2} of the mechanical arm;
According to the robot spatial transformation principle, the coordinates 1 TRG of the origin TRG in the robot arm base coordinate system {1} are obtained by the following formula:
Wherein the method comprises the steps of The transformation relation of the mechanical arm tool end coordinate system {2} relative to the mechanical arm base coordinate system {1} is related to the joint angle of the mechanical arm (5), and can be obtained through the joint angle calculation of the mechanical arm (5);
The coordinates 0 TRG of the origin TRG in the global coordinate system {0} are obtained by the following formula:
Wherein the method comprises the steps of The transformation relation of the mechanical arm base coordinate system {1} relative to the global coordinate system {0} is related to the position of the mechanical arm (5) on the base (14), and can be obtained by the output of the magnetic grating reading head B (12) and the position of the base of the mechanical arm (5) is measured;
Simultaneous equation (i) and equation (ii), yields:
after the calibration tool A (7) images in an imaging system, obtaining a coordinate IMG TRG of an origin TRG in an image coordinate system { IMG };
the coordinates 3 TRG of the origin TRG on the plate coordinate system {3} are obtained by the following formula:
Wherein the method comprises the steps of Is the coordinate conversion relation inherent to the flat panel detector (26) generated image and detector;
The coordinates 4 TRG of the origin TRG on the main frame coordinate system {4} are obtained by the following formula:
then, the coordinates 0 TRG of the origin TRG in the global coordinate system {0} can be obtained by the following formula:
Wherein the method comprises the steps of Is the transformation relation of the main frame coordinate system {4} relative to the global coordinate system {0} and is related to the position of the main frame (8) on the base (14), and can be obtained by the output of the magnetic grating reading head A (10) and the position of the main frame (8) is measured;
simultaneous equations (iv), (v) and (vi) can be obtained:
simultaneous equation (iii) and equation (vii) can be obtained:
According to the formula (viii), the transformation relation between the origin TRG of the calibration tool A (7) and the coordinate system {2} of the mechanical arm tool end and the image coordinate system { IMG } can be obtained through inverse transformation:
Wherein the transformation matrix Expressed by the following formula:
The formula (X) represents the spatial transformation relationship between the mechanical arm and the X-ray image.
2. The apparatus as claimed in claim 1, wherein: the universal wheel (32) is arranged at the bottom of the front end of the base (14), the universal wheel (32) is used for adjusting the direction when the equipment moves integrally, the driving wheel (22) is arranged at the bottom of the rear end of the base (14), and the driving wheel (22) is used for providing auxiliary thrust for the equipment when moving; the bed board (29) is fixedly arranged on the base (14) through a bed board supporting frame (30), and the bed board supporting frame (30) is of a height fixed type or an adjustable type; when the bed board support frame (30) is height-adjustable, the bed board support frame (30) is driven by a linear push rod or a push cylinder, so that the height adjustment of the bed board (29) relative to the base (14) is realized.
3. The apparatus as claimed in claim 1, wherein: the main frame (8) is of an integral closed-loop structure, the left side and the right side of the bottom of the main frame (8) are respectively connected to a sliding rail A (15) and a sliding rail B (31) in a sliding mode, the sliding rail A (15) and the sliding rail B (31) are fixedly installed on a base (14) and extend along the front and back directions of the base (14), the main frame (8) is connected with a synchronous belt A (16), the synchronous belt A (16) is connected with the output end of a driving motor B (21), and the main frame (8) is driven by the driving motor B (21) to do front and back translational movement along the sliding rail A (15) and the sliding rail B (31).
4. A device as claimed in claim 3, wherein: the mechanical arm control cabinet (4) is fixedly connected to the control cabinet bottom plate (13), the control cabinet bottom plate (13) is slidably connected to the sliding rail A (15) and the sliding rail B (31), the mechanical arm control cabinet (4) is mounted on the sliding rail A (15) and the sliding rail B (31) through the control cabinet bottom plate (13), and the control cabinet bottom plate (13) is matched with the main frame (8) to translate back and forth along the length direction of the base (14).
5. The apparatus as claimed in claim 1, wherein: the flat panel detector (26) and the bulb tube (20) are respectively fixed on a detector support frame (25) and a bulb tube support frame (17), the detector support frame (25) and the bulb tube support frame (17) are fixedly arranged on a disc bearing (27), and the disc bearing (27) is fixedly arranged on the main frame (8).
6. The apparatus as claimed in claim 5, wherein: the disc type bearing (27) is provided with a driven gear (28), the driven gear (28) is connected with a driving gear (18) in a meshed mode, the driving gear (18) is arranged at the output end of a driving motor A (19), the driving motor A (19) is fixedly arranged on a main frame (8), the driven gear (28) is driven to rotate through the driving motor A (19) and the driving gear (18), and the rotating speed and the steering of the driven gear (28) are regulated through controlling the rotating speed and the steering of the driving motor A (19), so that the rotating motion of a flat panel detector (26) and a bulb tube (20) is controlled.
7. The apparatus as claimed in claim 5, wherein: install belt supporting wheel (37) on disc bearing (27), be fixed with main frame belt (36) on belt supporting wheel (37), main frame belt (36) are complete closed loop or open-ended belt, main frame belt (36) are through driving pulley (34) connection driving motor A (19) to adjust elasticity through pinch roller A (33) and pinch roller B (35), driving motor A (19) drive driving pulley (34) rotation, driving pulley (34) drive main frame belt (36) motion to through the rotational speed of control driving motor A (19) and turn to regulation rotational speed and turn to, and then the rotary motion of control flat panel detector (26) and bulb (20).
8. The apparatus as claimed in claim 1, wherein: the displacement sensor is arranged on the base (14) and is used for collecting the positions of the mechanical arm (5) and the main frame (8) relative to the base (14); the magnetic strip (11) is installed on the base (14), the magnetic strip (11) is provided with a magnetic grating reading head A (10) and a magnetic grating reading head B (12), the position of the mechanical arm (5) is obtained through the magnetic grating reading head B (12), and the position of the main frame (8) is obtained through the magnetic grating reading head A (10).
9. The apparatus as claimed in claim 1, wherein: the calibrating tool A (7) is replaced by a calibrating tool B, the calibrating tool B adopts a plurality of spheres and comprises a small sphere A (38), a small sphere B (39), a small sphere C (40) and a small sphere D (41), the diameters of the small sphere A (38), the small sphere B (39), the small sphere C (40) and the small sphere D (41) are the same or different, a coordinate system { A } is established on the small sphere A (38), a coordinate system { B } is established on the small sphere B (39), a coordinate system { C } is established on the small sphere C (40), and a coordinate system { D } is established on the small sphere D (41); any one or more pellets are selected to construct a spatial transformation relation between the mechanical arm and the X-ray image, and when one is selected, the rest pellets are selected to perform verification and compensation of spatial transformation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311229177.4A CN117204951B (en) | 2023-09-22 | 2023-09-22 | Operation positioning navigation equipment based on X-rays and positioning realization method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311229177.4A CN117204951B (en) | 2023-09-22 | 2023-09-22 | Operation positioning navigation equipment based on X-rays and positioning realization method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117204951A CN117204951A (en) | 2023-12-12 |
| CN117204951B true CN117204951B (en) | 2024-04-30 |
Family
ID=89050748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311229177.4A Active CN117204951B (en) | 2023-09-22 | 2023-09-22 | Operation positioning navigation equipment based on X-rays and positioning realization method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117204951B (en) |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10210287A1 (en) * | 2002-03-08 | 2003-10-02 | Siemens Ag | Surgical navigation method in which markerless recording of the surgical interventions is carried out using an X-ray unit and a position acquisition system with pre-calibration carried out to determine coordinate transforms |
| DE50209766D1 (en) * | 2002-02-22 | 2007-05-03 | Brainlab Ag | Method for navigation calibration of X-ray image data and height-reduced calibration instrument |
| DE102009034671A1 (en) * | 2009-07-24 | 2011-01-27 | Siemens Aktiengesellschaft | Computer-aided navigation device for detecting position of object e.g. calibrating-phantom, has coordination system attached to orientation device having reference unit, where image markers are arranged within volume image |
| CN107028659A (en) * | 2017-01-23 | 2017-08-11 | 新博医疗技术有限公司 | Operation guiding system and air navigation aid under a kind of CT images guiding |
| CN109925055A (en) * | 2019-03-04 | 2019-06-25 | 北京和华瑞博科技有限公司 | Totally digitilized total knee replacement surgical robot system and its simulation operation method |
| CN112932667A (en) * | 2021-01-27 | 2021-06-11 | 南京逸动智能科技有限责任公司 | Special positioning scale for three-dimensional image, operation navigation system and positioning method thereof |
| WO2021114226A1 (en) * | 2019-12-12 | 2021-06-17 | 珠海横乐医学科技有限公司 | Surgical navigation system employing intrahepatic blood vessel registration |
| CN113633408A (en) * | 2021-07-30 | 2021-11-12 | 华南理工大学 | Optical navigation dental implantation robot system and calibration method thereof |
| CN113855247A (en) * | 2021-10-21 | 2021-12-31 | 南京普爱医疗设备股份有限公司 | Surgical robot integrated registration device and operation method |
| CN113855286A (en) * | 2021-09-24 | 2021-12-31 | 四川锋准机器人科技有限公司 | Implant robot navigation system and method |
| CN114027980A (en) * | 2021-10-30 | 2022-02-11 | 浙江德尚韵兴医疗科技有限公司 | Interventional operation robot system and calibration and error compensation method thereof |
| WO2022127794A1 (en) * | 2020-12-16 | 2022-06-23 | 苏州微创畅行机器人有限公司 | Navigation surgical system and registration method therefor, computer-readable storage medium, and electronic device |
| CN114681058A (en) * | 2022-03-02 | 2022-07-01 | 北京长木谷医疗科技有限公司 | Navigation positioning system precision verification method and device for joint replacement |
| CN114795496A (en) * | 2022-05-16 | 2022-07-29 | 北京埃克索医疗科技发展有限公司 | Passive surgical robot navigation positioning system |
| WO2022198615A1 (en) * | 2021-03-26 | 2022-09-29 | 中国科学院深圳先进技术研究院 | Calibration method and system for dual-arm robot puncture system |
| CN115721415A (en) * | 2022-11-15 | 2023-03-03 | 浙江大学 | Soft tissue puncture navigation positioning method and system |
| WO2023083352A1 (en) * | 2021-11-12 | 2023-05-19 | 北京智愈医疗科技有限公司 | Multi-image information fusion method for tissue cutting path planning, system, medium, and electronic device |
| CN116421206A (en) * | 2023-05-11 | 2023-07-14 | 上海睿触科技有限公司 | Integral movable X-ray diagnostic equipment |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101848027B1 (en) * | 2016-08-16 | 2018-04-12 | 주식회사 고영테크놀러지 | Surgical robot system for stereotactic surgery and method for controlling a stereotactic surgery robot |
-
2023
- 2023-09-22 CN CN202311229177.4A patent/CN117204951B/en active Active
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE50209766D1 (en) * | 2002-02-22 | 2007-05-03 | Brainlab Ag | Method for navigation calibration of X-ray image data and height-reduced calibration instrument |
| DE10210287A1 (en) * | 2002-03-08 | 2003-10-02 | Siemens Ag | Surgical navigation method in which markerless recording of the surgical interventions is carried out using an X-ray unit and a position acquisition system with pre-calibration carried out to determine coordinate transforms |
| DE102009034671A1 (en) * | 2009-07-24 | 2011-01-27 | Siemens Aktiengesellschaft | Computer-aided navigation device for detecting position of object e.g. calibrating-phantom, has coordination system attached to orientation device having reference unit, where image markers are arranged within volume image |
| CN107028659A (en) * | 2017-01-23 | 2017-08-11 | 新博医疗技术有限公司 | Operation guiding system and air navigation aid under a kind of CT images guiding |
| CN109925055A (en) * | 2019-03-04 | 2019-06-25 | 北京和华瑞博科技有限公司 | Totally digitilized total knee replacement surgical robot system and its simulation operation method |
| WO2021114226A1 (en) * | 2019-12-12 | 2021-06-17 | 珠海横乐医学科技有限公司 | Surgical navigation system employing intrahepatic blood vessel registration |
| WO2022127794A1 (en) * | 2020-12-16 | 2022-06-23 | 苏州微创畅行机器人有限公司 | Navigation surgical system and registration method therefor, computer-readable storage medium, and electronic device |
| CN112932667A (en) * | 2021-01-27 | 2021-06-11 | 南京逸动智能科技有限责任公司 | Special positioning scale for three-dimensional image, operation navigation system and positioning method thereof |
| WO2022198615A1 (en) * | 2021-03-26 | 2022-09-29 | 中国科学院深圳先进技术研究院 | Calibration method and system for dual-arm robot puncture system |
| CN113633408A (en) * | 2021-07-30 | 2021-11-12 | 华南理工大学 | Optical navigation dental implantation robot system and calibration method thereof |
| CN113855286A (en) * | 2021-09-24 | 2021-12-31 | 四川锋准机器人科技有限公司 | Implant robot navigation system and method |
| CN113855247A (en) * | 2021-10-21 | 2021-12-31 | 南京普爱医疗设备股份有限公司 | Surgical robot integrated registration device and operation method |
| CN114027980A (en) * | 2021-10-30 | 2022-02-11 | 浙江德尚韵兴医疗科技有限公司 | Interventional operation robot system and calibration and error compensation method thereof |
| WO2023083352A1 (en) * | 2021-11-12 | 2023-05-19 | 北京智愈医疗科技有限公司 | Multi-image information fusion method for tissue cutting path planning, system, medium, and electronic device |
| CN114681058A (en) * | 2022-03-02 | 2022-07-01 | 北京长木谷医疗科技有限公司 | Navigation positioning system precision verification method and device for joint replacement |
| CN114795496A (en) * | 2022-05-16 | 2022-07-29 | 北京埃克索医疗科技发展有限公司 | Passive surgical robot navigation positioning system |
| CN115721415A (en) * | 2022-11-15 | 2023-03-03 | 浙江大学 | Soft tissue puncture navigation positioning method and system |
| CN116421206A (en) * | 2023-05-11 | 2023-07-14 | 上海睿触科技有限公司 | Integral movable X-ray diagnostic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117204951A (en) | 2023-12-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6866382B2 (en) | Portable medical imaging system | |
| CN114041875B (en) | Integrated operation positioning navigation system | |
| CN1585621B (en) | 3d reconstruction system and method utilizing a variable x-ray source to image distance | |
| EP1531727B8 (en) | Gantry positioning apparatus for x-ray imaging | |
| US20180249981A1 (en) | Portable medical imaging system with beam scanning collimator | |
| CN100482165C (en) | Cantilevered gantry apparatus for X-ray imaging | |
| CN106974707B (en) | CT-guided percutaneous pulmonary puncture space auxiliary positioning device | |
| JP6714739B2 (en) | Portable medical imaging system with beam scanning collimator | |
| CN209075885U (en) | Rotary experiment porch | |
| US20140033432A1 (en) | Patient positioning and support systems | |
| US20140039314A1 (en) | Remote Center of Motion Robot for Medical Image Scanning and Image-Guided Targeting | |
| US20140034061A1 (en) | Patient positioning and support systems | |
| CN1263433C (en) | Bone surgery device of robot navigation | |
| JP2012501866A (en) | 7 or more degrees of freedom robot manipulator with at least one redundant joint | |
| CN108882908A (en) | Arm holder for radiographic imaging apparatus | |
| CN102724914A (en) | Mobile base and x-ray machine mounted on such a mobile base | |
| CN1476813A (en) | Patient-locating method and device for medical diagnostic or therapeutic equipment | |
| CN103071241A (en) | Stereotactic radiotherapeutic device | |
| CN115721415A (en) | Soft tissue puncture navigation positioning method and system | |
| CN100577109C (en) | Device and method for electric support of patient positioning device | |
| CN117204951B (en) | Operation positioning navigation equipment based on X-rays and positioning realization method thereof | |
| CN113812971B (en) | Multi-degree-of-freedom four-dimensional dual-energy cone beam CT imaging system and method | |
| CN104739434A (en) | C-shaped arm X-ray machine with operation location and linear navigation functions | |
| CN111839592B (en) | Prostate detection device | |
| CN210784417U (en) | Scanning motion system for ultrasonic scanning examination |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |