LU101689B1 - Laser guided positioning device and method for automatic tumor puncture machine - Google Patents

Laser guided positioning device and method for automatic tumor puncture machine Download PDF

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Publication number
LU101689B1
LU101689B1 LU101689A LU101689A LU101689B1 LU 101689 B1 LU101689 B1 LU 101689B1 LU 101689 A LU101689 A LU 101689A LU 101689 A LU101689 A LU 101689A LU 101689 B1 LU101689 B1 LU 101689B1
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puncture
dimensional
patient
image
point cloud
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LU101689A
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French (fr)
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Wei Li
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Univ Shandong
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    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A61B90/13—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B2034/2057—Details of tracking 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
    • A61B2090/363—Use of fiducial points
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • 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
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]

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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)
  • Public Health (AREA)
  • Molecular Biology (AREA)
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  • General Health & Medical Sciences (AREA)
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  • Heart & Thoracic Surgery (AREA)
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  • Animal Behavior & Ethology (AREA)
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  • Oral & Maxillofacial Surgery (AREA)
  • Optics & Photonics (AREA)
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  • Robotics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

The present disclosure provides a laser guided positioning device and method for an automatic tumor puncture machine. Three-dimensional images of a patient on a puncture sickbed are collected by using three-dimensional cameras, a CT image is collected, metal sheets are disposed as identification points, a three-dimensional point cloud of the patient is reconstructed according to the collected three-dimensional information, a three-dimensional point cloud space coordinate system corresponding to the CT image is established according to the metal identification points placed on the patient in advance, the coordinate position of a puncture point in the three-dimensional point cloud is determined according to a puncture path pre-designed in the CT image, and laser guidance is performed according to the determined puncture point.

Description

lu101689
LASER GUIDED POSITIONING DEVICE AND METHOD FOR AUTOMATIC TUMOR PUNCTURE MACHINE | Field of the Invention | The present disclosure belongs to the technical field of puncture machines, and | specifically relates to a laser guided positioning device and method for an automatic | tumor puncture machine. | Background of the Invention | The statement of this section merely provides background art information related to | the present disclosure, and does not necessarily constitute the prior art. Ë In modern medicine, as an important means for disease diagnosis and treatment, : puncture plays an increasingly important role in modern diagnosis and treatment à systems. At present, the puncture process in hospitals is mainly completed by virtue of ] doctors’ experience based on CT images or ultrasonic images. The advantages and , disadvantages of the puncture method mainly depend on the doctors’ experience. The ë puncture results of inexperienced doctors and doctors with bad mental status may have deviation. In order to solve this problem, there are many solutions at present. ; Among these solutions, it is an ideal direction that robots take the place of doctors to | perform the puncture process. In the process of automatic puncture performed by a | robot, the key to improve the precision of puncture is to reduce the error between a puncture position of a puncture needle and a preplanned puncture point during / automatic puncture. In order to reduce this error, improve the precision of puncture : and reduce the pain of patients, a method is required to guide an automatic puncture | machine to accurately guide the puncture needle of the automatic puncture machine, | so as to complete the puncture at a predetermined puncture position. 1 At present, the guidance and positioning of the automatic puncture machine are | mainly completed by manual calibration under CT scanning. This method requires | multiple times of CT irradiation on a patient, the doctors participating in the : Cr Te EEE mmeall ; Tation task Will also p Precisi, . © affecte | SION will decline With i d by Tädiation, and S 8h movement of the &uidance and | he patient.
Positioning Sum Mary of the Invention | In order to Solve the above prob] | Positioni ; ? Present di | ng device and metipd fo Isclosyre Proposes | T an automatic 2 laser guideq a laser beam b tumor Puncture y Means of Hatchin b Machine whi . 8 between point Coordinat © heh guide . ates in . point cloud and a planned reedle entry point, guide th a ffiree-dimensiona] . ? € the automat; by means of imaging of thelaser beam at | OMatic Puncture machine | Puncture point, slight movement of a ptient during Point, and solvethe Problem of Unctur ; . three-dimensional poi J ’ © bY using multiple times of énsional point clou reconstruction, According to some embodiment s, the presen | | p. t disclosure adopts the following technical solution: A laser guided positioning device for an automatic tumor puncture machine is provided, including: ; a plurality of metal sheets, wherein at least one of the metal sheets is disposed on a sickbed, and the remaining metal sheets can be disposed on a patient through fixing members as identification points, and are not collinear or coplanar; a plurality of three-dimensional cameras disposed on the puncture sickbed to collect | three-dimensional images of the patient on the puncture sickbed; a CT scanner, configured to perform a CT scanning task to obtain a CT image; : a laser transmitter, configured to perform laser guidance according to a puncture point [ determined by a controller; and the controller, configured to reconstruct a three-dimensional point cloud of the patient according to the collected three-dimensional information, establish a three-dimensional point cloud space coordinate system corresponding to the CT image according to the metal identification points placed on the patient in advance, and determine the coordinate position of the puncture point in the three-dimensional - * 74. m smnctrre nath pre-designed in the CT image.
| As N se. 14101689 à further defini tion, at least | TN above four three dime.
N A and around Mensiona] N “ the Pünctur, . Camer as are), “ As € Sickbeq res . IN a a further definitio 7 “Pectively, ; sick 1, at least four Metal sp ICXDed and the Sacets are provi | Other three are dis vided, one is disposea Asa further definit; Posed on the Patient on, the contr i ’ . Oller ; Images Collected p th | © configureq to fuse th ; ce-di ; . SIOnal © Mensiona] image, and then âmeras to generate à com let the i léconstruet the three-qi prete « mage, e- IMensiona] Point cloud of N 0 C As a further definitio © TL the controller determines d . coord; according to the puncture Path pre-deg; di Rates of the Puncture point . 7” ßNed in the CT ; ; ,[ the same as the coordinate position of 7 mage, this coordinate position Ion of the puncture noîne : . Oint i ; . . Point cloud the | ne : p n the fhree-dimensiona] 9 “CS 18SEr transmitter js Calibrated according to the four metal points ‘ placed in advance, and the laser transmitter, the CT image and the three-dimensiona] pont cloud image at this time are under the same three-dimensional coordinates, Ë 15 As a further definition, the controller acquires the information of the puncture point, | and transforms the coordinate system of a three-dimensional point cloud model by | using the metal sheets placed on the sickbed, so that the transformed coordinate Ë system is the same as the coordinate system of the generated three-dimensional point / cloud and then unified with the coordinate system in the laser transmitter. | An operating method based on the above device is provided, including the steps of i collecting three-dimensional images of a patient on a puncture sickbed by using | three-dimensional cameras, collecting a CT image, disposing metal sheets as identification points, reconstructing a three-dimensional point cloud of the patient j according to the collected three-dimensional information, establishing | three-dimensional point cloud space coordinate system corresponding to the CT : rer ak ; atient in advance, | image according to the metal identification points placed on the p voi . os int i -dimensional point ‘ determining the coordinate position of a puncture point in the three | . . ; and performing | cloud according to a puncture path pre-designed in the CT image, p laser guidance according to the determined puncture point.
lu101689 As a further definition, after the coordinate transformation, the coordinate information of the puncture point changes accordingly, the controller inputs the position information of the puncture point at this time to the laser transmitter, and the laser transmitter emits laser toward the corresponding coordinates to complete the purpose that the laser identification points follow the patient, thereby completing guidance of a puncture needle of the automatic puncture machine.
As a further definition, the automatic puncture machine guides the automatic puncture needle according to the laser identification information to complete the puncture on the patient.
Compared with the prior art, the beneficial effects of the present disclosure are as | follows: | After CT is used to plan a path and determine a tumor position, the puncture point is | tracked by multiple times of three-dimensional reconstruction and coordinate transformation, and then a laser beam is emitted to mark the puncture point, thereby | 15 guiding the automatic puncture machine to complete the puncture process. With this | method, the patient only needs to undergo CT scanning once, which reduces the dose | of radiation received by the patient and doctors.
By multiple times of three-dimensional reconstruction and coordinate transformation : and unification on the images reconstructed multiple times, the problem of patient movement after CT positioning is solved, so that the patient does not need to be fixed | at a high strength, and the comfort of the patient is improved.
The puncture point is calibrated fully automatically, which reduces the workload of doctors on the guidance of the automatic puncture needle, improves the efficiency of automatic puncture guidance, reduces the waiting time of the patient, and thus reduces the psychological burden of the patient.
Brief Description of the Drawing The accompanying drawings constituting a part of the present application are used for providing a further understanding of the present application, and the schematic embodiments of the present application and the description thereof are used for ee ee Eee eee ee
A TT T7 O0 lu101689 interpreting the present application, rather than constituting improper limitations to the present application.
Fig. 1 is a schematic diagram of three-dimensional camera placement positions according to the present disclosure; 5 Fig. 2 is a lateral schematic diagram of the three-dimensional camera placement | positions according to the present disclosure; . Fig. 3 is a flowchart of puncture guidance of an automatic puncture machine ; according to the present disclosure.
] 10 Detailed Description of Embodiments | The present disclosure will be further illustrated below in conjunction with the accompanying drawings and embodiments.
| It should be noted that the following detailed descriptions are all exemplary and aim | to further illustrate the present application. Unless otherwise specified, all technical and scientific terms used in the descriptions have the same meanings generally understood by those of ordinary skill in the art of the present application.
| It should be noted that the terms used herein are merely for describing specific | embodiments, but are not intended to limit exemplary embodiments according to the ! present application. As used herein, unless otherwise explicitly specified by the context, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms “include” and/or “comprise” are used | in the specification, they indicate features, steps, operations, devices, components | and/or their combination.
In the present disclosure, the terms such as “upper”, “Lower”, “left”, “right”, “front”, “rear”, “vertical”, “horizontal”, “side”, and “bottom” indicate the orientation or positional relationships based on the orientation or positional relationships shown in the drawings, are only relationship terms determined for the convenience of describing the structural relationships of various components or elements of the present disclosure, but do not specify any component or element in the present
6 Ba disclo Da Sure, and cannot be lu101689 In understoog . the pre . 2s limitarj Sent disclos Ons to the ure, the te Present disc] generally und [ms Such as “fi Osure, Erstood, for e xed” and “co Xample, the term « mnected” sh detachably, connected > term connected” ould be ed, inte May be fi connected by à med Srally connected, direct] edly connecteq, Medium.
For à re] fed en: y connected, or ind; the spec; ated scientific ’ Indirectly | pecific Meanings of th b Tesearch or technica] | | © above terms ; Person in this | according to specific cirou In the Present disclosure may b art, | présent di stances, and cannot b Y be determined i ent disclosure € understood as limitats | A1 Mhitations to the / aser guid pe | guided Positioning system for an automati five identi . | matic tumor un . | ification points, a Kinect fhree-dimensiona] Puncture machine includes ; 10na The specific Method for Placing the fi camera, and a Controller. , € live identificatj SR identification points are Placed on a patj “On points is as follows: four patient, and one identificat: .. , ntifi int à fixed position of a sickbed.
In the p ication point is placed at a | : resent invention, met identification poi . al points are used as the ; points.
Among the four identification points placed | aced on the patient, t { points cannot be collinear and four points cannot b . > three € coplanar, which can ensure a unique space coordinate system identificati cat à | ‘ ystem.
When the identification point 1s placed on the | sickbed, the point should not be affected and moved during puncture J After the identification poi ing i | N points are placed, CT Scanning 1s performed on the patient to / determine the position of a tumor and plan a puncture path, a CT space coordinate system is established according to the metal identification points placed on the patient, | and the position of the tumor and a needle entry point in the puncture trajectory are ; p p jectory : denoted in the space coordinate system.
The Kinect camera is used to collect three-dimensional information of the patient, a three-dimensional point cloud of the patient is reconstructed according to the collected ; three-dimensional information, and a three-dimensional point cloud space coordinate à system is established according to the metal identification points placed on the patient | in advance.
When the three-dimensional information of the patient is collected, in order to ensure the integrity of collection of the three-dimensional information of the patient, the ‘
| lu101689 / present invention uses four three-dimensional cameras to collect the / three-dimensional information of the patient.
The specific placement method of the / four three-dimensional cameras is as shown in Fig. 1 and Fig. 2, where the four three-dimensional cameras are respectively placed on the right area and left area of | 5 the upper body and the right area and left area of the lower body.
Of course, Fig. 2 is only an example, and the angle between two adjacent three-dimensional cameras is | not necessarily 90 degrees. | Because the space coordinate system of the CT image and the space coordinate | system of the three-dimensional point cloud are both generated by the identifiers | 10 placed on the patient, the space coordinate system of the CT image and the space | coordinate system of the three-dimensional point cloud are the same.
At this time, the | coordinates of the needle entry point in the CT image space coordinate system are | expressed in the three-dimensional point cloud space coordinate system. : The Kinect three-dimensional camera is used to continuously collect the | 15 three-dimensional information of the patient, and the three-dimensional space coordinate system is generated in real time according to the metal identification points | placed on the patient.
Since the three-dimensional space coordinate system is the same | as the space coordinate system of the CT image, the coordinates of the needle entry | point in the CT image space coordinate system are placed in the updated { 20 — three-dimensional point cloud space coordinate system. ; The space coordinates of the updated three-dimensional point cloud space coordinate | system and the three-dimensional point cloud space coordinate system before the | update are unified by using the fixed identification points placed on the sickbed, and | all the three-dimensional point cloud space coordinate systems are the same as the | 25 original three-dimensional point cloud space coordinate system.
At this time, the coordinate information of the puncture needle entry point in the last three-dimensional | point cloud space coordinate system is updated. | A laser transmitter space coordinate system is created for a laser transmitter according | to the four metal points placed on the patient at the beginning, the space coordinate ag gi a aaa ea]
| | 8 / 1u101689 system of the laser transmitter is kept unchanged subsequently, the coordinate | information of the puncture needle entry point in the latest three-dimensional point | cloud space is input into the laser transmitter space coordinate system, and the laser / transmitter emits a laser beam toward the coordinate position and generates a laser : 5 identifier on the patient. The automatic puncture machine automatically guides the puncture needle according to the laser identification information to complete the puncture of the patient. Because | the method can update the coordinate information of the puncture needle entry point | in real time, the laser emitted by the laser transmitter can track the puncture needle / 10 entry point in real time, the automatic puncture machine completes the tracking of the needle entry point, and the problem of slight movement of the patient during the | puncture process is solved. As shown in Fig. 3, four metal points are placed on a patient and one metal point is placed on a sickbed, CT scanning is performed on the patient to determine a tumor position of the patient, patient's space coordinates are generated based on CT, a | puncture path of automatic puncture is determined by CT, and a space coordinate system of a CT image is established. Four three-dimensional cameras are placed above the puncture sickbed to collect three-dimensional images of the patient on the puncture sickbed. The four three-dimensional cameras are all above the patient, and collect | three-dimensional image information of the upper body of the patient on the right, ; three-dimensional image information of the upper body of the patient on the left, | three-dimensional image information of the lower body of the patient on the right, and three-dimensional image information of the lower body of the patient on the left, ; 25 respectively.
The three-dimensional images collected by the four three-dimensional cameras are fused to generate a complete three-dimensional image of the patient, and then three-dimensional point cloud reconstruction is performed on the image. | Space coordinates of the human point cloud after the three-dimensional point cloud
: lu101689 reconstruction are established according to the four metal sheets previously placed. ) Reference points of the CT image coordinate system and the three-dimensional point | cloud coordinate system are the same, and the coordinate system generated according ; to the four points is unique, so the CT image coordinate system and the | 5 three-dimensional point cloud coordinate system are the same coordinate system. | Coordinates of a puncture point are determined according to the puncture path pre-designed in the CT image, this coordinate position is the same as the coordinate | position of the puncture point in the three-dimensional point cloud, a laser transmitter | is calibrated according to the four metal points placed in advance, and the laser ; 10 transmitter, the CT image and the three-dimensional point cloud image at this time are / under the same three-dimensional coordinates. | The coordinate position of the puncture point in the three-dimensional point cloud is | placed into the laser transmitter, and the laser transmitter emits laser toward the | puncture point accordingly, and displays cross coordinates on the patient. | 15 The four three-dimensional cameras collect the three-dimensional information of the patient in real time, the three-dimensional point cloud is reconstructed, and the coordinate system of the three-dimensional point cloud model is re-calibrated according to the metal points on the patient. | After the information of the puncture point is input into the three-dimensional point | | 20 cloud space coordinate system, the coordinate system of a three-dimensional point / cloud model is transformed by using the metal points placed on the sickbed, so that | the transformed coordinate system is the same as the coordinate system of the : three-dimensional point cloud generated first time and then unified with the / coordinate system in the laser transmitter, : 25 After the coordinate transformation, the coordinate information of the puncture point | changes accordingly.
The position information of the puncture point at this time is | | input to the laser transmitter, and the laser transmitter emits laser toward the | corresponding coordinates to complete the purpose that the laser identification points ; follow the patient, thereby completing guidance of the puncture needle of the A eee EEE TTTTLTTETLTTT
| 10 | lu101689 automatic puncture machine.
Described above are merely preferred embodiments of the present application, and the / present application is not limited thereto.
Various modifications and variations may be / made to the present application for those skilled in the art.
Any modification, | 5 equivalent substitution, improvement or the like made within the spirit and principle | of the present application shall fall into the protection scope of the present application. : Although the specific embodiments of the present disclosure are described above in combination with the accompanying drawings, the protection scope of the present disclosure is not limited thereto.
It should be understood by those skilled in the art that | 10 various modifications or variations could be made by those skilled in the art based on the technical solution of the present disclosure without any creative effort, and these | modifications or variations shall fall into the protection scope of the present | disclosure. ; 15 | 20 aa ee]

Claims (7)

lu101689 ; CLAIMS
1. A laser guided positioning device for an automatic tumor puncture machine, comprising: a plurality of metal sheets, wherein at least one of the metal sheets is disposed on a sickbed, and the remaining metal sheets can be disposed on a patient through fixing members as identification points, and are not collinear or coplanar; a plurality of three-dimensional cameras disposed on the puncture sickbed to collect three-dimensional images of the patient on the puncture sickbed; a CT scanner, configured to perform a CT scanning task to obtain a CT image; a laser transmitter, configured to perform laser guidance according to a puncture point determined by a controller; and : the controller, configured to reconstruct a three-dimensional point cloud of the patient | according to the collected three-dimensional information, establish a three-dimensional point cloud space coordinate system corresponding to the CT image according to the metal identification points placed on the patient in advance, and determine the coordinate position of the puncture point in the three-dimensional point cloud according to a puncture path pre-designed in the CT image.
2. The laser guided positioning device for an automatic tumor puncture machine according to claim 1, wherein at least four three-dimensional cameras are provided around the puncture sickbed, respectively.
3. The laser guided positioning device for an automatic tumor puncture machine according to claim 1, wherein at least four metal sheets are provided, one is disposed on the sickbed and the other three are disposed on the patient.
4. The laser guided positioning device for an automatic tumor puncture machine according to claim 1, wherein the controller is configured to fuse the three-dimensional images collected by the respective three-dimensional cameras to generate a complete three-dimensional image, and then reconstruct the | three-dimensional point cloud of the image.
5. The laser guided positioning device for an automatic tumor puncture machine
-- = = = — —- = | 12 | lu101689 : according to claim 1, wherein the controller determines coordinates of the puncture | point according to the puncture path pre-designed in the CT image, this coordinate position is the same as the coordinate position of the puncture point in the | three-dimensional point cloud, the laser transmitter is calibrated according to the four | 5 metal points placed in advance, and the laser transmitter, the CT image and the ) three-dimensional point cloud image at this time are under the same three-dimensional coordinates.
6. The laser guided positioning device for an automatic tumor puncture machine according to claim 1, wherein the controller acquires the information of the puncture point, and transforms the coordinate system of a three-dimensional point cloud model by using the metal sheets placed on the sickbed, so that the transformed coordinate | system is the same as the coordinate system of the generated three-dimensional point cloud and then unified with the coordinate system in the laser transmitter.
7. An operating method based on the device according to any one of claims 1-6, comprising the steps of collecting three-dimensional images of a patient on a puncture sickbed by using three-dimensional cameras, collecting a CT image, disposing metal sheets as identification points, reconstructing a three-dimensional point cloud of the patient according to the collected three-dimensional information, establishing a three-dimensional point cloud space coordinate system corresponding to the CT image according to the metal identification points placed on the patient in advance, determining the coordinate position of a puncture point in the three-dimensional point cloud according to a puncture path pre-designed in the CT image, and performing laser guidance according to the determined puncture point. rr eE
LU101689A 2019-10-08 2020-03-19 Laser guided positioning device and method for automatic tumor puncture machine LU101689B1 (en)

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