Wireless positioning device and method for focus of chest cavity of human body

Abstract

The invention discloses a human chest lesion wireless positioning device and method, and the device comprises three positioning base stations which are disposed on three reference points; coordinates of the three reference points in a three-dimensional positioning system constructed by taking a focus positioned on the CT image as an original point are A (Xa, Ya and Za), B (Xb, Yb and Zb) and C (Xc, Yc and Zc) respectively; the probe is configured to be capable of sending a wireless signal, and the wireless signal can be received by each positioning base station; and the calculation module is electrically connected with the three positioning base stations and the probe, determines the real-time coordinates of the current position of the probe according to the time when the probe transmits the wireless signal and the time when each positioning base station receives the wireless signal, and determines the current position as the position of the focus when the real-time coordinates are preset coordinates. According to the method, the focus position in the CT image is associated with the actual anatomical position of the human body through the mathematical model, so that the positioning precision is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the medical field, and in particular to a wireless positioning device and method for human chest lesions. Background Art

[0002] Thoracic CT scans are a common medical imaging method that locates lesions through three-dimensional XYZ slice scanning. While the lesion's location can be accurately pinpointed on the CT scan, its mapping to the human body remains uncertain. Especially for challenging lesions, such as those near the lungs and heart, localization relies entirely on the surgeon's experience, posing a significant challenge. Summary of the Invention

[0003] In view of this, the object of the present invention is to provide a wireless positioning device and method for human chest lesions to improve the above-mentioned problems.

[0004] An embodiment of the present invention provides a wireless positioning device for a human chest lesion, comprising: Three positioning base stations are set at three reference points; the coordinates of the three reference points in a three-dimensional positioning system constructed with the lesion located on the CT image as the origin are A (Xa, Ya, Za), B (Xb, Yb, Zb), and C (Xc, Yc, Zc); A probe configured to transmit a wireless signal, wherein the wireless signal can be received by each positioning base station; The calculation module is electrically connected to the three positioning base stations and the probe, and determines the real-time coordinates of the current position of the probe based on the time when the probe transmits the wireless signal and the time when each positioning base station receives the wireless signal, and determines that the current position is the position of the lesion when the real-time coordinates are the preset coordinates.

[0005] Preferably, the coordinates of the three reference points A, B, and C are obtained by synchronous marking during the CT scanning process.

[0006] Preferably, the calculation module determines the real-time coordinates (X, Y, Z) of the probe based on the following mathematical model: (X-Xa) 2 +(Y-Ya) 2 +(Z-Za) 2 =DA 2 (X-Xb) 2 +(Y-Yb) 2 +(Z-Zb) 2 =DB 2 (X-Xc)2 +(Y-Yb) 2 +(Z-Zb) 2 =DC 2 Among them, DA, DB, and DC are the distances from the probe to the three positioning base stations respectively; the specific calculation is as follows: DA=(Trxa-Ttx)*c; DB=(Trxb-Ttx)*c; DC=(Trxc-Ttx)*c; Among them, Trxa, Trxb, and Trxc are the times when the three positioning base stations receive the wireless signals, Ttx is the time when the probe sends the wireless signal, and c is the speed of light.

[0007] Preferably, by continuously moving the position of the probe, a series of real-time coordinates of the probe are obtained as follows: T0 (X, Y, Z), T1 (X, Y, Z) .... Tn (X, Y, Z), until the real-time coordinates of the probe are the origin (0, 0, 0), then the current position is the position of the lesion to be located.

[0008] Preferably, the calculation module is further configured to correct the direction of movement of the user based on an error equation until the error is zero, wherein: The error equation for the X-axis is: X_cost=(X tn -0) 2 ; The error equation for the Y-axis is: Y_cost=(Y tn -0) 2 ; Error equation for the Z axis: Z_cost=(Z tn -0) 2 ; X tn , Y tn , Z tn are the X, Y, and Z axis coordinates of the probe at time n; The error equation of the three axes combined is: Total_cost=X_cost+Y_cost+Z_cost The probe is continuously moved until the error equation reaches zero and the movement is terminated. Then, the current position is the position of the lesion to be located.

[0009] Preferably, the calculation module is implemented using an FPGA chip.

[0010] Preferably, the wireless positioning device for human chest lesions further comprises a display module, which is electrically connected to the calculation module and can display the real-time coordinates of the probe.

[0011] The embodiment of the present invention further provides a method for wirelessly locating a human chest lesion, which includes: Obtain CT images, locate the lesion on the CT images, and set three reference points; Constructing a three-dimensional positioning system with the lesion as the origin, and obtaining the coordinates of three reference points in the three-dimensional positioning system: A (Xa, Ya, Za), B (Xb, Yb, Zb), and C (Xc, Yc, Zc); During the actual positioning process, a positioning base station is placed at each of the three reference points, and a probe is moved within the chest cavity; wherein the probe is configured to be able to transmit wireless signals, and the wireless signals can be received by each positioning base station; The calculation module determines the real-time coordinates of the current position of the probe based on the time when the probe transmits the wireless signal and the time when each positioning base station receives the wireless signal, and determines that the current position is the position of the lesion when the real-time coordinates are the preset coordinates.

[0012] Preferably, the calculation module determines the real-time coordinates (X, Y, Z) of the probe based on the following mathematical model: (X-Xa) 2 +(Y-Ya) 2 +(Z-Za) 2 =DA 2 (X-Xb) 2 +(Y-Yb) 2 +(Z-Zb) 2 =DB 2 (X-Xc) 2 +(Y-Yb) 2 +(Z-Zb) 2 =DC 2 Among them, DA, DB, and DC are the distances from the probe to the three positioning base stations respectively; the specific calculation is as follows: DA=(Trxa-Ttx)*c; DB=(Trxb-Ttx)*c; DC=(Trxc-Ttx)*c; Among them, Trxa, Trxb, and Trxc are the times when the three positioning base stations receive the wireless signals, Ttx is the time when the probe sends the wireless signal, and c is the light beam.

[0013] Preferably, it also includes: Correct the user's direction of movement until the error is zero based on the error equation, where: The error equation for the X-axis is: X_cost=(X tn -0) 2 ; The error equation for the Y-axis is: Y_cost=(Y tn -0) 2 ; Error equation for the Z axis: Z_cost=(Z tn -0) 2 ; X tn , Y tn , Z tn are the X, Y, and Z axis coordinates of the probe at time n; The error equation of the three axes combined is: Total_cost=X_cost+Y_cost+Z_cost The probe is continuously moved until the error equation reaches zero and the movement is terminated. Then, the current position is the position of the lesion to be located.

[0014] In summary, this embodiment utilizes mathematical modeling and analytical methods to correlate and locate CT images with the actual location of lesions in the human body, thereby enabling doctors to accurately and quickly locate lesions during surgery. Compared with existing technologies, the technical advantages of this embodiment of the present invention are reflected in the following aspects: 1. By combining mathematical modeling with wireless transmission technology, this approach solves the problem of inaccurate mapping between CT images and human anatomical locations. For example, in complex anatomical regions such as between the lungs and the heart, traditional methods struggle to accurately locate lesions. However, this invention uses a mathematical model to correlate the lesion location in CT images with the actual anatomical location in the human body, significantly improving positioning accuracy.

[0015] 2. The parallel computing capability of FPGA chips significantly improves positioning speed and accuracy. For example, when solving a three-variable nonlinear equation system, the present invention can complete the solution in milliseconds through parallel computing.

[0016] 3. The error correction mechanism ensures the reliability of positioning results. For example, during the movement of the probe, the system calculates the value of the error equation in real time and adjusts the probe position according to the error value until the error is zero, improving the accuracy and speed of positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the implementation. Obviously, the drawings described below are only some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a structural schematic diagram of a wireless positioning device for human chest lesions provided by the first embodiment of the present invention.

[0019] Figure 2 This is an application scenario diagram of a wireless positioning device for human chest lesions.

[0020] Figure 3 This is a schematic diagram for calculating the distance between the probe and the positioning base station.

[0021] Figure 4 This is a flow chart of a method for wirelessly locating a human chest lesion provided in the second embodiment of the present invention. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0023] See also Figure 1 and Figure 2 The first embodiment of the present invention provides a wireless positioning device for a human chest lesion, comprising: Three positioning base stations are set at three reference points; the coordinates of the three reference points in the three-dimensional positioning system constructed with the lesion located on the CT image as the origin are A (Xa, Ya, Za), B (Xb, Yb, Zb), and C (Xc, Yc, Zc).

[0024] Specifically, in this embodiment, a chest CT scan is first performed on the patient to obtain a CT image. The position of the lesion can be located on the CT image, and then a three-dimensional positioning system can be established with the position of the lesion as the origin.

[0025] Then, during the CT scan, three reference points A, B, and C are synchronously marked, and their coordinates in the 3D positioning system are obtained: A(Xa, Ya, Za), B(Xb, Yb, Zb), and C(Xc, Yc, Zc). For easy identification, the three reference points A, B, and C should be located in easily observable locations to facilitate the subsequent installation of positioning base stations A, B, and C.

[0026] In this embodiment, after setting the reference points, when it is necessary to locate the lesion in the actual human chest during the actual operation, three reference points A, B, and C are first found, and three positioning base stations are placed respectively.

[0027] The probe 20 is configured to send wireless signals, and the wireless signals can be received by various positioning base stations.

[0028] In this embodiment, during the positioning process of the surgery, the probe 20 can be moved in the patient's chest cavity, wherein the probe 20 can transmit a wireless signal, and the wireless signal can be received by three positioning base stations.

[0029] The calculation module 30 is electrically connected to the three positioning base stations and the probe 20, and determines the real-time coordinates of the current position of the probe based on the time when the probe transmits the wireless signal and the time when each positioning base station receives the wireless signal, and when the real-time coordinates are the preset coordinates, determines that the current position is the position of the lesion.

[0030] In this embodiment, the calculation module 30 can be an FPGA-based chip, which is electrically connected to the three positioning base stations and the probe 20. After the probe 20 transmits a wireless signal, a transmission time is generated, and each positioning base station also generates a corresponding reception time for the wireless signal received. In this way, the calculation module can calculate the distance between the probe 20 and each positioning base station 10 based on the time difference between the two. Then, based on a preset mathematical model, the calculation module 30 can determine the real-time coordinates of the current position of the probe 20.

[0031] Specifically, the mathematical model is expressed as follows: (X-Xa) 2 +(Y-Ya) 2 +(Z-Za) 2 =DA 2 (X-Xb) 2 +(Y-Yb) 2 +(Z-Zb) 2 =DB 2 (X-Xc) 2+(Y-Yb) 2 +(Z-Zb) 2 =DC 2 Where (X, Y, X) is the real-time coordinate of the current position of the probe 20, DA, DB, and DC are the distances from the probe to positioning base station A, positioning base station B, and positioning base station C respectively; the specific calculation is as follows: DA=(Trxa-Ttx)*c; DB=(Trxb-Ttx)*c; DC=(Trxc-Ttx)*c; Among them, Trxa, Trxb, and Trxc are the reception times of the wireless signals received by positioning base station A, positioning base station B, and positioning base station C respectively, Ttx is the transmission time of the wireless signal sent by the probe 20, and c is the speed of light.

[0032] In this embodiment, since DA, DB, and DC are known, as are the coordinates of the three positioning base stations, the real-time coordinates of the probe 20 can be calculated by simultaneously solving these three equations. Furthermore, to further improve computational efficiency, the parallel computing capabilities of FPGA chips can be utilized to solve the three-variable nonlinear equation system, enabling the solution to be completed in milliseconds.

[0033] In this embodiment, as can be seen from the above, by continuously moving the probe 20, a series of real-time coordinates of the probe 20 can be obtained: T0 (X, Y, Z), T1 (X, Y, Z) .... Tn (X, Y, Z), until the real-time coordinates of the probe are the origin (0, 0, 0), then the current position is determined to be the position of the lesion to be located.

[0034] In this embodiment, in order to find the location of the lesion more quickly, the calculation module 30 may further correct the direction of movement for the user based on an error equation, where: The error equation for the X-axis is: X_cost=(X tn -0) 2 ; The error equation for the Y-axis is: Y_cost=(Y tn -0) 2 ; Error equation for the Z axis: Z_cost=(Z tn -0) 2 ; X tn , Y tn , Z tn are the X, Y, and Z axis coordinates of the probe at time n; The error equation of the three axes combined is: Total_cost=X_cost+Y_cost+Z_cost During the movement process, the calculation module 30 calculates the real-time three-axis error based on the error equation. The user can then move the probe 20 accordingly based on the three-axis error until the error equation reaches zero. The current position is the location of the lesion to be located. The introduction of error variance allows the user to locate the lesion more quickly.

[0035] It should be noted that, in other embodiments of the present invention, the wireless positioning device for human chest lesions may also include some necessary modules such as a display module, a power management module, an I / O management module, a storage module, etc., which will not be elaborated herein.

[0036] In summary, this embodiment utilizes mathematical modeling and analytical methods to correlate and locate CT images with the actual location of lesions in the human body, thereby enabling doctors to accurately and quickly locate lesions during surgery. Compared with existing technologies, the technical advantages of this embodiment of the present invention are reflected in the following aspects: 1. By combining mathematical modeling with wireless transmission technology, this approach solves the problem of inaccurate mapping between CT images and human anatomical locations. For example, in complex anatomical regions such as between the lungs and the heart, traditional methods struggle to accurately locate lesions. However, this invention uses a mathematical model to correlate the lesion location in CT images with the actual anatomical location in the human body, significantly improving positioning accuracy.

[0037] 2. The parallel computing capability of FPGA chips significantly improves positioning speed and accuracy. For example, when solving a three-variable nonlinear equation system, the present invention can complete the solution in milliseconds through parallel computing.

[0038] 3. The error correction mechanism ensures the reliability of positioning results. For example, during the movement of the probe, the system calculates the value of the error equation in real time and adjusts the probe position according to the error value until the error is zero, improving the accuracy and speed of positioning.

[0039] Extensive experimental verification has demonstrated that the system of this embodiment can achieve millimeter-level positioning accuracy in complex anatomical areas, meeting the demands of clinical surgery. For example, in a lung surgery experiment, the system achieved a positioning accuracy of ±1 mm for lesions located near the lung and heart, significantly outperforming the ±5 mm achieved by traditional methods. Furthermore, the system's portability and modular design make it suitable for a variety of medical scenarios, possessing significant clinical value and social significance, effectively shortening surgical preparation time and improving surgical success rates.

[0040] See also Figure 4The second embodiment of the present invention further provides a method for wirelessly locating a thoracic lesion in a human body, which includes: S201, acquiring a CT image, locating the lesion on the CT image, and setting three reference points; S202, constructing a three-dimensional positioning system with the lesion as the origin, and obtaining coordinates of three reference points in the three-dimensional positioning system: A (Xa, Ya, Za), B (Xb, Yb, Zb), and C (Xc, Yc, Zc); S203, during the actual positioning process, placing a positioning base station at each of the three reference points and moving a probe within the chest cavity; wherein the probe is configured to be able to transmit wireless signals, and the wireless signals can be received by each positioning base station; S204, the calculation module determines the real-time coordinates of the current position of the probe based on the time when the probe transmits the wireless signal and the time when each positioning base station receives the wireless signal, and determines that the current position is the position of the lesion when the real-time coordinates are the preset coordinates.

[0041] Preferably, the coordinates of the three reference points A, B, and C are obtained by synchronous marking during the CT scanning process, and the three points are not on the same straight line.

[0042] Preferably, the calculation module determines the real-time coordinates (X, Y, Z) of the probe based on the following mathematical model: (X-Xa) 2 +(Y-Ya) 2 +(Z-Za) 2 =DA 2 (X-Xb) 2 +(Y-Yb) 2 +(Z-Zb) 2 =DB 2 (X-Xc) 2 +(Y-Yb) 2 +(Z-Zb) 2 =DC 2 Among them, DA, DB, and DC are the distances from the probe to the three positioning base stations respectively; the specific calculation is as follows: DA=(Trxa-Ttx)*c; DB=(Trxb-Ttx)*c; DC=(Trxc-Ttx)*c; Among them, Trxa, Trxb, and Trxc are the times when the three positioning base stations receive the wireless signals, Ttx is the time when the probe sends the wireless signal, and c is the light beam.

[0043] Preferably, it also includes: Correct the user's direction of movement until the error is zero based on the error equation, where: The error equation for the X-axis is: X_cost=(X tn -0) 2 ; The error equation for the Y-axis is: Y_cost=(Y tn -0) 2 ; Error equation for the Z axis: Z_cost=(Z tn -0) 2 ; X tn , Y tn , Z tn are the X, Y, and Z axis coordinates of the probe at time n; The error equation of the three axes combined is: Total_cost=X_cost+Y_cost+Z_cost The probe is continuously moved until the error equation reaches zero and the movement is terminated. Then, the current position is the position of the lesion to be located.

[0044] It should be noted that the embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. In addition, in the drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art can understand and implement the present invention without inventive work.

[0045] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A wireless positioning device for human chest lesions, characterized in that: include: Three positioning base stations are set at three preset reference points; the coordinates of the three reference points in a three-dimensional positioning system constructed with the lesion located on the CT image as the origin are A (Xa, Ya, Za), B (Xb, Yb, Zb), and C (Xc, Yc, Zc); A probe configured to transmit a wireless signal, wherein the wireless signal can be received by each positioning base station; The calculation module is electrically connected to the three positioning base stations and the probe, and determines the real-time coordinates of the current position of the probe based on the time when the probe transmits the wireless signal and the time when each positioning base station receives the wireless signal, and determines that the current position is the position of the lesion when the real-time coordinates are the preset coordinates.

2. The wireless positioning device for human chest lesions according to claim 1, characterized in that: The coordinates of the three reference points A, B, and C are obtained by synchronous marking during the CT scanning process.

3. The wireless positioning device for human chest lesions according to claim 1, characterized in that: The calculation module determines the real-time coordinates (X, Y, Z) of the probe based on the following mathematical model: (X-Xa) 2 +(Y-Ya) 2 +(Z-Za) 2 =AND 2 (X-Xb) 2 +(Y-Yb) 2 +(Z-Zb) 2 =DB 2 (X-Xc) 2 +(Y-Yb) 2 +(Z-Zb) 2 =DC 2 Among them, DA, DB, and DC are the distances from the probe to the three positioning base stations respectively; the specific calculation is as follows: DA=(Trxa-Ttx)*c; DB=(Trxb-Ttx)*c; DC=(Trxc-Ttx)*c; Among them, Trxa, Trxb, and Trxc are the times when the three positioning base stations receive the wireless signals, Ttx is the time when the probe sends the wireless signal, and c is the speed of light.

4. The wireless positioning device for human chest lesions according to claim 1, characterized in that: By continuously moving the probe position, a series of real-time coordinates of the probe are obtained as follows: T0 (X, Y, Z), T1 (X, Y, Z) .... Tn (X, Y, Z), until the real-time coordinates of the probe are the origin (0, 0, 0), then the current position is the position of the lesion to be located.

5. The wireless positioning device for human chest lesions according to claim 1, characterized in that: The calculation module is further configured to correct the direction of movement of the user based on an error equation until the error is zero, wherein: The error equation for the X-axis is: X_cost=(X tn -0) 2 ; The error equation for the Y-axis is: Y_cost=(Y tn -0) 2 ; Error equation for the Z axis: Z_cost=(Z tn -0) 2 ; X tn , Y tn , Z tn are the X, Y, and Z axis coordinates of the probe at time n; The error equation of the three axes combined is: Total_cost=X_cost+Y_cost+Z_cost The probe is continuously moved until the error equation reaches zero and the movement is terminated. Then, the current position is the position of the lesion to be located.

6. The wireless positioning device for human chest lesions according to claim 1, characterized in that: The calculation module is implemented using an FPGA chip.

7. The wireless positioning device for human chest lesions according to claim 1, characterized in that: The human chest lesion wireless positioning device further comprises a display module, which is electrically connected to the calculation module and can display the real-time coordinates of the probe.

8. A method for wirelessly locating a chest lesion in a human body, characterized in that: include: Obtain CT images, locate the lesion on the CT images, and set three reference points; Constructing a three-dimensional positioning system with the lesion as the origin, and obtaining the coordinates of three reference points in the three-dimensional positioning system: A (Xa, Ya, Za), B (Xb, Yb, Zb), and C (Xc, Yc, Zc); During the actual positioning process, a positioning base station is placed at each of the three reference points, and a probe is moved within the chest cavity; wherein the probe is configured to be able to transmit wireless signals, and the wireless signals can be received by each positioning base station; The calculation module determines the real-time coordinates of the current position of the probe based on the time when the probe transmits the wireless signal and the time when each positioning base station receives the wireless signal, and determines that the current position is the position of the lesion when the real-time coordinates are the preset coordinates.

9. The method for wirelessly locating a chest lesion according to claim 8, wherein: The calculation module determines the real-time coordinates (X, Y, Z) of the probe based on the following mathematical model: (X-Xa) 2 +(Y-Ya) 2 +(Z-Za) 2 =AND 2 (X-Xb) 2 +(Y-Yb) 2 +(Z-Zb) 2 =DB 2 (X-Xc) 2 +(Y-Yb) 2 +(Z-Zb) 2 =DC 2 Among them, DA, DB, and DC are the distances from the probe to the three positioning base stations respectively; the specific calculation is as follows: DA=(Trxa-Ttx)*c; DB=(Trxb-Ttx)*c; DC=(Trxc-Ttx)*c; Among them, Trxa, Trxb, and Trxc are the times when the three positioning base stations receive the wireless signals, Ttx is the time when the probe sends the wireless signal, and c is the light beam.

10. The method for wirelessly locating a chest lesion according to claim 8, wherein: Also includes: Correct the user's direction of movement until the error is zero based on the error equation, where: The error equation for the X-axis is: X_cost=(X tn -0) 2 ; The error equation for the Y-axis is: Y_cost=(Y tn -0) 2 ; Error equation for the Z axis: Z_cost=(Z tn -0) 2 ; X tn , Y tn , Z tn are the X, Y, and Z axis coordinates of the probe at time n; The error equation of the three axes combined is: Total_cost=X_cost+Y_cost+Z_cost The probe is continuously moved until the error equation reaches zero and the movement is terminated. Then, the current position is the position of the lesion to be located.

Images