Lung puncture laser guiding device based on CT image and control method

Abstract

The invention relates to the technical field of puncture auxiliary devices, in particular to a lung puncture laser guiding device based on a CT image and a control method. A set of complete puncture guiding and feedback mechanism is constructed through the reference positioner, the precise positioner and the visual feedback system, and the reference positioner forms a clear needle inserting mark on the body surface of a patient by emitting positioning laser. The precise positioner realizes precise projection and visual guidance of a theoretical needle inserting angle through cooperative movement of a first sliding rail, a second sliding rail and a braking sliding seat on the first sliding rail and the precise laser position indicator, and the visual feedback system captures and analyzes an actual operation image of a doctor in real time, calculates deviation between the actual needle inserting angle and a theoretical value, and displays the actual needle inserting angle and the theoretical value. Repeated puncture times are reduced, and the operation success rate and the patient safety are improved; the technical problems that in the puncture operation process, due to the fact that the angle is not easy to grasp, the puncture frequency of a patient is increased, pain of the patient is increased, and radiation risks of doctors and the patient are increased are solved.

Description

Technical Field

[0001] This invention relates to the field of puncture-aid devices, and in particular to a light-guided device and control method for lung puncture stimulation based on CT images. Background Technology

[0002] CT-guided lung biopsy is a key diagnostic technique widely used to detect various lung diseases, such as tumors and infectious lesions, and can provide accurate tissue samples to aid in diagnosis.

[0003] However, since the needle insertion process largely depends on the doctor's personal experience and skill level, it often leads to repeated adjustments to the puncture angle, depth, and position. This repeated operation not only prolongs the overall operation time but also exposes doctors and patients to additional ionizing radiation, increasing radiation-related health risks. At the same time, patients also suffer more physical pain, discomfort, and psychological stress during this process, further exacerbating the overall pain burden of the diagnostic process. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a CT-based light-guided device and control method for lung puncture stimulation, which solves the technical problem that during puncture surgery, the angle is difficult to control, resulting in more punctures for the patient, increased patient suffering, and increased radiation risks for both doctors and patients.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a CT image-based lung percutaneous stimulation light-guided device, comprising a movable and fixed bottom support as a mounting carrier and a control system as a control center, and further comprising: A reference locator is used to locate the puncture needle at a pre-set needle insertion mark on the patient's body surface. The reference locator is a position laser locator that emits a positioning laser to irradiate the pre-set needle insertion mark on the patient's body surface to form a positioning mark. A precision locator for displaying the theoretical insertion angle of a puncture needle includes a first slide rail fixed on a bottom support, a first slide block that can be braked at any position slidably mounted on the first slide rail, a positioning camera for capturing an image of the insertion mark fixed on the first slide block, a second slide rail on the first slide block, a second slide block that can be braked at any position slidably mounted on the second slide rail, the sliding trajectories of the second slide block and the first slide block are not parallel, and a precision laser locator for emitting a visible laser beam and illuminating the positioning mark according to the theoretical insertion angle is rotatably mounted on the second slide block.

[0006] A visual feedback system used to provide feedback on the actual needle insertion angle, the theoretical needle insertion angle, and the deviation between the two for doctors.

[0007] Preferably, the laser positioning device is located at the top of the first slide rail assembly.

[0008] Preferably, the first slide rail assembly is arc-shaped, and the center of the arc of the first slide rail assembly faces the needle insertion mark.

[0009] Preferably, the location laser positioning device and the precision laser positioning device emit different colors of light.

[0010] Preferably, the second slide block slides on a horizontal plane, while the sliding trajectory of the first slide block is on a vertical plane.

[0011] The present invention also provides a control method for a lung-penetrating light-guided stimulation device, the control method specifically including the following steps: S1. Obtain the patient's CT image data and plan the puncture path based on the CT image data to determine the theoretical needle insertion angle and the position of the needle insertion mark on the patient's skin. S2. Move the lung-penetrating stimulation light guide device to the positioning laser positioning instrument, and the positioning mark formed on the patient's body surface is located at the needle insertion mark. Input the theoretical needle insertion angle into the control system. S3. The control system drives the positioning camera to move to a position where the needle insertion mark can be captured, and makes the precision laser positioning instrument emit a visible laser beam according to the theoretical needle insertion angle to illuminate the positioning mark. S4. The visual feedback system acquires images of the doctor's puncture procedure to obtain the actual insertion angle of the puncture needle. S5. Based on the theoretical and actual needle insertion angles corresponding to the visible laser emitted by the precision laser positioning instrument, determine whether the doctor's operation is incorrect. If so, issue a prompt message and return to step S4; If not, proceed to step S6; S6. Determine if the puncture is complete; If so, then the process ends; If not, return to step S4.

[0012] By employing the above technical solution, the present invention provides a lung percutaneous stimulation light-guided device and control method based on CT images, which has at least the following beneficial effects: 1. This invention constructs a complete puncture guidance and feedback mechanism by setting up a reference locator, a precision locator, and a visual feedback system. The reference locator forms a clear needle insertion mark on the patient's body surface by emitting a positioning laser, providing a spatial reference for subsequent operations. The precision locator achieves precise projection and visual guidance of the theoretical needle insertion angle through the coordinated movement of the first slide rail, the second slide rail, and the brakeable slide on it with the precision laser locator. The visual feedback system captures and analyzes the doctor's actual operation image in real time, calculates the deviation between the actual needle insertion angle and the theoretical value, and issues timely prompts, thereby significantly reducing the risk of puncture failure caused by angle deviation, reducing the number of repeated punctures, and improving the success rate of surgery and patient safety.

[0013] 2. This invention introduces a path planning and real-time visual feedback control method based on CT image data, realizing intelligent guidance throughout the entire process from preoperative planning to intraoperative execution. The control system drives the precision laser positioning instrument to project a visible laser path according to the needle insertion angle and position determined by the doctor. The visual system continuously monitors the puncture process and calculates the actual angle in real time through image recognition technology. Once a deviation exceeds the threshold, an audible and visual prompt is issued to guide the doctor to make timely adjustments. This closed-loop control mechanism effectively reduces errors caused by insufficient human experience, shortens the operation time, reduces the radiation exposure risk for both doctors and patients, and improves surgical efficiency and safety.

[0014] 3. In terms of mechanical structure design, this invention adopts a combination of orthogonal arrangement of dual slide rails and arc-shaped track. The first slide rail moves in an arc in the vertical plane with its center pointing towards the needle insertion point, while the second slide rail slides in the horizontal plane. Together, they form a two-dimensional precision adjustment system, enabling the precision laser positioning instrument to quickly and accurately align with the target point in space. At the same time, by setting different colored positioning lasers and path lasers, visual confusion is avoided, improving the intuitiveness of operation and the accuracy of identification. This structural design not only enhances the flexibility and adaptability of the equipment but also simplifies the operation process, lowers the threshold for use, and is suitable for the precision puncture needs in various clinical scenarios. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a three-dimensional structural schematic diagram of the lung-penetrating stimulation light-guiding device of the present invention; Figure 2 for Figure 1 Enlarged view of point A in the middle; Figure 3 This is a flowchart of the control method for the lung-penetrating light-guided device of the present invention.

[0016] In the diagram: 1. Baseline locator; 2. Precision locator; 21. First slide rail; 22. First slide block; 23. Positioning camera; 24. Second slide rail; 25. Second slide block; 26. Precision laser locator; 3. Visual feedback system; 4. Bottom support. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] To address the technical problem of increased puncture frequency, patient discomfort, and radiation risks for both doctors and patients during puncture procedures due to difficulty in controlling the angle, this invention provides a CT-based pulmonary puncture stimulation light-guided device. The device includes a movable and fixed base support 4 as a mounting carrier and a control system as the control center. The base support 4 can be moved easily via casters or other movable and fixed hubs, or via electrically controlled hubs. The device also includes a reference locator 1 for positioning the puncture needle at a pre-set needle insertion mark on the patient's skin, a precision locator 2 for displaying the theoretical needle insertion angle, and a visual feedback system 3.

[0019] The reference locator 1 is a position laser locator used to emit a positioning laser to irradiate the preset needle insertion mark on the patient's body surface to form a positioning mark. The positioning mark is the puncture needle insertion point and also the endpoint of the visible laser path emitted by the subsequent precision laser locator 26. In order not to hinder the normal operation of the precision locator 2, the laser locator is set at the top of the first slide rail 21 assembly to capture images of the needle insertion mark from a wide angle and transmit the image data to the control system as the data basis for the subsequent adjustment of the precision locator 2.

[0020] After obtaining the patient's CT images, the doctor can analyze the location of the lesion in the CT images to determine the theoretical insertion angle of the puncture needle during the puncture surgery. The precision locator 2 includes a first slide rail 21 fixed on the bottom bracket 4. A first slide block 22 that can be braked at any position is slidably mounted on the first slide rail 21. The positioning and braking of the first slide block 22 on the first slide rail 21 can be achieved by a structure such as an electromagnetic lock or a mechanical locking device, ensuring the stable positioning of the positioning camera 23 and the first slide block 22. The positioning camera 23 for taking images of the needle insertion mark is fixed on the first slide block 22. In order to ensure that the positioning camera 23 is always facing the positioning mark on the patient's skin as it moves with the first slide block 22, the first slide rail 21 assembly can be further made arc-shaped. The arc-shaped center of the device faces the needle insertion mark, so the orientation of the positioning camera 23 needs to be adjusted during the puncture process to reduce control steps. A second slide rail 24 is provided on the first slide 22, and a second slide 25 that can be braked at any position is slidably mounted on the second slide rail 24. The sliding trajectory of the second slide 25 is not parallel to that of the first slide 22 to provide another degree of freedom of movement trajectory, so as to realize the position adjustment of the precision laser positioning device 26 in the horizontal plane. It forms a two-dimensional adjustment mechanism with the first slide rail 21. In addition, in order to further facilitate the separate control of the height and horizontal position of the precision laser positioning device 26, the second slide 25 can slide on the horizontal plane, and the sliding trajectory of the first slide 22 is on the vertical plane, forming an orthogonal two-dimensional adjustment mechanism for easy control. The second slide 25 is rotatably equipped with a precision laser positioning device 26, which emits a visible laser beam and illuminates the positioning mark according to the theoretical needle insertion angle. The rotatable structure of the precision laser positioning device 26, in conjunction with the two-dimensional adjustment mechanism described above, allows the precision laser positioning device 26 to illuminate the positioning mark at a specific needle insertion angle, i.e., the theoretical needle insertion angle, within a large spatial range. The path of the laser beam emitted by the precision laser positioning device 26 is clearly visible, providing a reference for the doctor's actual needle insertion angle and reducing human angle judgment errors.

[0021] The visual feedback system 3 can acquire images of the needle insertion during puncture by the doctor through an image acquisition device, as well as the visible laser path emitted by the precision laser positioning device 26. The image acquisition device can be a binocular camera, etc. It can identify the actual needle insertion position and angle during puncture, as well as the angle and position of the visible laser on the patient's skin, based on the acquired images. Then, the image processing algorithm can identify the angular deviation between the two, so as to provide feedback on the doctor's actual needle insertion angle, theoretical needle insertion angle, and the deviation between the two. It can also issue specific reminders to prevent the doctor from noticing the deviation in the puncture angle during operation, thereby improving the accuracy and safety of puncture.

[0022] To accurately identify the light emitted by the position laser locator and the precision laser locator 26 during image acquisition and avoid errors, the light emitted by the position laser locator and the precision laser locator 26 can be made different colors, such as green and red respectively. This also makes it easier for doctors to identify which light is emitted by the precision laser locator 26, thus ensuring the accuracy of the reference object during puncture.

[0023] The present invention also provides a control method for controlling the above-mentioned lung-penetrating light-guided device, the control method specifically including the following steps: S1. Obtain the patient's CT image data and plan the puncture path based on the CT image data to determine the theoretical needle insertion angle and the position of the needle insertion mark on the patient's skin. S2. Move the lung-penetrating stimulation light guide device to the positioning laser positioning instrument, and the positioning mark formed on the patient's body surface is located at the needle insertion mark. Input the theoretical needle insertion angle into the control system. S3. The control system drives the positioning camera to move to a position where the needle insertion mark can be captured, and makes the precision laser positioning instrument emit a visible laser beam according to the theoretical needle insertion angle to illuminate the positioning mark. That is, in the image captured by the positioning camera, the laser emitted by the precision laser positioning instrument is exactly illuminating the positioning mark. S4. The visual feedback system acquires images of the doctor's operation during puncture to obtain the actual insertion angle of the puncture needle. The visual feedback system identifies the doctor's images during the puncture procedure in real time and calculates the puncture needle image, insertion position, and angle of the puncture needle in the image based on the image recognition algorithm.

[0024] S5. Based on the theoretical and actual needle insertion angles corresponding to the visible laser emitted by the precision laser positioning instrument, the deviation angle between the two can be used to determine whether the doctor's operation is incorrect. If so, a prompt message is issued and the process returns to step S4. The prompt message may be a voice or light prompt, or the image of the puncture process may be displayed on a screen for the doctor to observe in real time. When an alarm is triggered, a corresponding text prompt or sound prompt may be issued. For example, the more rapid the sound prompt, the louder the sound, or the greater the puncture deviation.

[0025] If not, proceed to step S6; S6. Determine if the puncture is complete; If so, then the process ends; If not, return to step S4.

[0026] The control method of this invention is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art. The power supply is also common knowledge in the field. Furthermore, since this invention is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail here.

[0027] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A CT-based light-guided lung stimulation device, comprising a movable and fixed base support (4) as a mounting carrier and a control system as a control center, characterized in that, Also includes: A reference locator (1) is used to locate the puncture needle at a preset needle insertion mark on the patient's body surface. The reference locator (1) is a position laser locator that emits a positioning laser to irradiate the preset needle insertion mark on the patient's body surface to form a positioning mark. A precision locator (2) for displaying the theoretical insertion angle of a puncture needle includes a first slide rail (21) fixed on a bottom bracket (4), a first slide block (22) that can be braked at any position is slidably mounted on the first slide rail (21), a positioning camera (23) for capturing an image of the insertion mark is fixed on the first slide block (22), a second slide rail (24) is provided on the first slide block (22), a second slide block (25) that can be braked at any position is slidably mounted on the second slide rail (24), the sliding trajectory of the second slide block (25) is not parallel to that of the first slide block (22), and a precision laser locator (26) for emitting a visible laser and irradiating the positioning mark according to the theoretical insertion angle is rotatably mounted on the second slide block (25). A visual feedback system (3) used to provide feedback on the actual needle insertion angle, theoretical needle insertion angle and the deviation between the two of the puncture needle.

2. The lung-penetrating light-guided device according to claim 1, characterized in that, The laser positioning device is located at the top of the first slide rail (21) assembly.

3. The lung-penetrating light-guided device according to claim 1, characterized in that, The first slide rail (21) assembly is arc-shaped, and the center of the arc of the first slide rail (21) assembly faces the needle insertion mark.

4. The lung-penetrating light-guided device according to claim 1, characterized in that, The laser positioning device and the precision laser positioning device (26) emit different colors of light.

5. The lung-penetrating light-guided device according to claim 1, characterized in that, The second slide (25) slides on the horizontal plane, and the sliding trajectory of the first slide (22) is on the vertical plane.

6. A control method for the pulmonary perforation stimulation light-guiding device according to any one of claims 1-5, characterized in that, The control method specifically includes the following steps: S1. Obtain the patient's CT image data and plan the puncture path based on the CT image data to determine the theoretical needle insertion angle and the position of the needle insertion mark on the patient's skin. S2. Move the lung-penetrating stimulation light guide device to the positioning laser positioning instrument, and the positioning mark formed on the patient's body surface is located at the needle insertion mark. Input the theoretical needle insertion angle into the control system. S3. The control system drives the positioning camera to move to a position where the needle insertion mark can be captured, and makes the precision laser positioning instrument emit a visible laser beam according to the theoretical needle insertion angle to illuminate the positioning mark. S4. The visual feedback system acquires images of the doctor's puncture procedure to obtain the actual insertion angle of the puncture needle. S5. Based on the theoretical and actual needle insertion angles corresponding to the visible laser emitted by the precision laser positioning instrument, determine whether the doctor's operation is incorrect. If so, issue a prompt message and return to step S4; If not, proceed to step S6; S6. Determine if the puncture is complete; If so, then the process ends; If not, return to step S4.

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