Optical instrument tracer and minimally invasive interventional needle positioning system

Abstract

The embodiment of the application provides an optical instrument tracer and a minimally invasive intervention needle positioning system, the optical instrument tracer comprising a support, a first fixing seat, a second fixing seat and an optical ball group. The optical ball group comprises a first optical ball and a second optical ball which are arranged at intervals on the support, the first optical ball is connected with the support through the first fixing seat, and the second optical ball is connected with the support through the second fixing seat; the support is used for mounting the minimally invasive intervention needle, the line connecting the ball centers of the first optical ball and the second optical ball coincides with the puncture direction of the minimally invasive intervention needle, and the needle tip of the minimally invasive intervention needle is located at one end of the minimally invasive intervention needle which is away from the first optical ball and the second optical ball. The optical instrument tracer, the minimally invasive intervention needle positioning system and the positioning method have the advantages that the optical instrument tracer has low manufacturing and using cost, light weight and high operability; the puncture direction of the minimally invasive intervention needle, the position of the needle tip and the coordinates of the needle tip can be determined, and the optical instrument tracer is simple to use.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to an optical instrument tracer and a minimally invasive interventional needle positioning system. BACKGROUND

[0002] In the field of optical navigation, a navigation probe (optical instrument tracer) is an indispensable component. The positions of the needle tip in the navigation camera coordinates are calculated by tracking the light-reflecting balls placed on the optical instrument tracer through a high-precision optical tracking device. The number of light-reflecting balls is generally at least 3, which are not on the same straight line, and usually 4. The positions of the 4 light-reflecting balls on the optical instrument tracer are fixed, and a trackable ROM file is made by the software of the navigation camera to obtain the positional relationship of the coordinate system Holder composed of the optical balls on the optical instrument tracer in the navigation camera. After the coordinates of the needle tip in the Holder coordinate system are obtained, the coordinates of the needle tip in the navigation camera are calculated through the positional relationship. However, this requires the optical instrument tracer ROM file to be made in advance, which is low in use efficiency and high in use cost. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide an optical instrument tracer and a minimally invasive interventional needle positioning system, which can solve the problems of low use efficiency and high use cost of the existing navigation probe.

[0004] The embodiments of the present application provide an optical instrument tracer, which comprises:

[0005] a support;

[0006] a first fixing seat;

[0007] a second fixing seat;

[0008] an optical ball group comprising a first optical ball and a second optical ball, the first optical ball is connected with the support through the first fixing seat, the second optical ball is connected with the support through the second fixing seat, and the first optical ball and the second optical ball are arranged on the support in a spaced manner; the support is used for mounting a minimally invasive interventional needle, the line connecting the centers of the first optical ball and the second optical ball coincides with the puncture direction of the mounted minimally invasive interventional needle, the minimally invasive interventional needle has a needle tip, and the needle tip is located at the end of the minimally invasive interventional needle away from the first optical ball and the second optical ball.

[0009] In one of the embodiments, a mounting groove is formed in the side surface of the support, the first optical ball is arranged at one end of the support, the other end of the support is used for mounting the minimally invasive interventional needle, the second optical ball is arranged in the mounting groove and located between the first optical ball and the minimally invasive interventional needle.

[0010] In one of the embodiments, one end of the support is provided with a mounting hole, which is used for mounting one end of the minimally invasive intervention needle away from the needle tip.

[0011] In one of the embodiments, the optical instrument tracer further comprises a locking member, which is arranged on the support, one end of the minimally invasive intervention needle away from the needle tip is provided with an abutting portion, one side of the abutting portion towards the needle tip is provided with an abutting surface, and the extending direction of the minimally invasive intervention needle is perpendicular to the abutting surface, and the locking member movably abuts against the abutting surface.

[0012] In one of the embodiments, one side of the support is provided with a locking hole, which is communicated with the mounting hole, one end of the locking member movably passes through the locking hole and is located in the mounting hole along the direction parallel to the abutting surface, and movably abuts against the abutting surface.

[0013] In one of the embodiments, one end of the locking member is rotationally arranged on the support, the other end of the locking member is provided with a limiting portion, the limiting portion movably abuts against the abutting surface with the rotation of the locking member, the support is provided with a first connecting portion, the locking member is provided with a second connecting portion, the second connecting portion movably connects with the first connecting portion, and the second connecting portion connects with the first connecting portion to make the limiting portion abut against the abutting surface.

[0014] In one of the embodiments, the first connecting portion is a clamping groove arranged on the support, the second connecting portion is a clamping portion protruded on the locking member, one end of the clamping portion away from the locking member movably clamps in the clamping groove, the cross-sectional size of the clamping portion gradually decreases along the direction away from the locking member, so that the side surface of the clamping portion gradually inclines, the side surface of the clamping portion is used for relatively sliding with the outer edge of the clamping groove, so that the clamping portion gradually slides into the clamping groove, and the side surface of the clamping portion abuts against the side wall of the clamping groove when the clamping portion is located in the clamping groove.

[0015] A minimally invasive intervention needle positioning system, which comprises a tracking device and the optical instrument tracer according to any one of the above embodiments, and the tracking device is used for detecting the coordinate position of the first optical ball and the second optical ball to locate the coordinate position of the needle tip.

[0016] A positioning method applied to the minimally invasive intervention needle positioning system according to the above embodiments, which comprises the following steps:

[0017] acquiring a distance d1 between the first optical bead and the second optical bead, acquiring a length d2 of the minimally invasive intervention needle, acquiring a distance d3 between the second optical bead and the minimally invasive intervention needle, the second optical bead being located between the first optical bead and the minimally invasive intervention needle;

[0018] acquiring coordinates of the first optical bead in a coordinate system of a tracking device and coordinates of the second optical bead in the coordinate system of the tracking device

[0019] calculating coordinates of a needle tip in the coordinate system of the tracking device the calculation formula is:

[0020]

[0021] In one of the embodiments, the d1, the d2, the d3, the and the relationship with the satisfy the equation:

[0022]

[0023] In one of the embodiments, the step of acquiring the coordinates of the first optical bead in the coordinate system of the tracking device and the coordinates of the second optical bead in the coordinate system of the tracking device comprises:

[0024] acquiring coordinates of a reference point located on a side of the needle tip away from the second optical bead in the coordinate system of the tracking device

[0025] acquiring coordinates of one of the first optical bead and the second optical bead in the coordinate system of the tracking device calculating a distance L1 of the optical bead to the reference point, the calculation formula of the L1 being:

[0026] wherein the the the respectively represent x, y, z components of the optical bead in the coordinate system of the tracking device; respectively represent x, y, z components of the reference point in the coordinate system of the tracking device;

[0027] acquiring coordinates of the other of the first optical bead and the second optical bead in the coordinate system of the tracking device The distance L2 of the optical ball to the reference point is calculated, and the calculation formula of L2 is:

[0028] Wherein, the The The Respectively represent the x, y, z components of the optical ball in the tracking device coordinate system;

[0029] If L1 is greater than L2, then is the coordinate of the first optical ball, is the coordinate of the second optical ball; if L1 is less than L2, then is the coordinate of the first optical ball, is the coordinate of the second optical ball.

[0030] The optical instrument tracer, minimally invasive intervention needle positioning system and positioning method described above, since the optical instrument tracer only contains two optical balls, the manufacturing and use cost is low, and the burden on the patient is reduced; light weight, improve the operability; since the line connecting the centers of the first optical ball and the second optical ball coincides with the direction of the minimally invasive intervention needle puncture, the puncture direction of the needle tip can be determined, so that the position of the needle tip can be effectively determined; the positioning method is: since the line connecting the centers of the two optical balls coincides with the direction of the minimally invasive intervention needle puncture, the coordinates of the first optical ball and the second optical ball in the tracking device coordinate system are detected, and then according to the distance between the two optical balls, the distance between the second optical ball and the minimally invasive intervention needle and the length of the minimally invasive intervention needle, the coordinates of the needle tip can be calculated, which is very simple and convenient to use, without the need to make optical instrument tracer ROM file in advance, and the use efficiency is improved.

[0031] Other features and advantages of the present disclosure will be described in the following description, or some features and advantages can be inferred from the description or determined without doubt, or can be known by implementing the above-mentioned technologies of the present disclosure.

[0032] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are specifically described, and the accompanying drawings are described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application, it should be understood that the following drawings only show some embodiments of the present application, therefore should not be regarded as a limitation to the scope, for those skilled in the art, without paying creative labor, other related drawings can also be obtained according to these drawings.

[0034] Figure 1A structural schematic diagram of an optical instrument tracer provided by an embodiment of the present application is shown in FIG. 1.

[0035] Figure 2 A cross-sectional structural schematic diagram of the optical instrument tracer provided by the embodiment of the present application is shown in FIG. 2.

[0036] Figure 3 Another structural schematic diagram of the optical instrument tracer provided by the embodiment of the present application is shown in FIG. 3.

[0037] Figure 4 Another cross-sectional structural schematic diagram of the optical instrument tracer provided by the embodiment of the present application is shown in FIG. 4.

[0038] Figure 5 A structural schematic diagram of another angle of the optical instrument tracer is shown in FIG. 5. Figure 3

[0039] Figure 6 A flowchart of a positioning method provided by the embodiment of the present application is shown in FIG. 6.

[0040] Figure 7 An operation schematic diagram of a minimally invasive interventional needle positioning system provided by the embodiment of the present application is shown in FIG. 7. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0042] In the present application, the terms “upper”, “lower”, “left”, “right”, “front”, “back”, “top”, “bottom”, “inner”, “outer”, “middle”, “vertical”, “horizontal”, “lateral”, “longitudinal” and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used for better description of the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0043] ​Moreover, the above-mentioned terms, in addition to indicating the positional or spatial relationship, can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances.

[0044] In addition, the terms "mount", "set", "provided with", "connected", "connected" should be broadly understood. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or a point connection; it can be directly connected, or indirectly connected through an intermediate medium, or the internal connection between two devices, elements or components. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0045] In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures can be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise stated, the meaning of "multiple" is two or more.

[0046] In one embodiment, an optical instrument tracer includes a support, a first fixing seat, a second fixing seat, and an optical ball set. The optical ball set includes a first optical ball and a second optical ball, the first optical ball is connected with the support through the first fixing seat, the second optical ball is connected with the support through the second fixing seat, and the first optical ball and the second optical ball are arranged on the support in a spaced manner; the support is used for mounting a minimally invasive intervention needle, the line connecting the centers of the first optical ball and the second optical ball coincides with the puncture direction of the mounted minimally invasive intervention needle, the minimally invasive intervention needle has a needle tip, and the needle tip is located at the end of the minimally invasive intervention needle away from the first optical ball and the second optical ball.

[0047] As Figure 1 and Figure 2As shown, the optical instrument tracer 10 of one embodiment includes a support 100, a first fixing seat 400, a second fixing seat 500 and an optical ball set 200. The optical ball set 200 includes a first optical ball 210 and a second optical ball 220, the first optical ball 210 is connected with the support 100 through the first fixing seat 400, the second optical ball 220 is connected with the support 100 through the second fixing seat 500, and the first optical ball 210 and the second optical ball 220 are arranged on the support 100 in a spaced manner. The support 100 is used for mounting a minimally invasive intervention needle 300, and a line connecting the centers of the first optical ball 210 and the second optical ball 220 coincides with a puncture direction of the mounted minimally invasive intervention needle 300, that is, the line connecting the centers of the first optical ball 210 and the second optical ball 220 coincides with an extension direction of the minimally invasive intervention needle 300, and the minimally invasive intervention needle 300 has a needle tip 310 located at an end of the minimally invasive intervention needle 300 away from the first optical ball 210 and the second optical ball 220.

[0048] The optical instrument tracer 10 described above has low manufacturing and using cost, reduces the burden of patients, is light in weight and improves operability, the first optical ball and the second optical ball are arranged on the support 100 through the first fixing seat 400 and the second fixing seat 500, the puncture direction of the needle tip 310 can be determined because the line connecting the centers of the first optical ball 210 and the second optical ball 220 coincides with the puncture direction of the minimally invasive intervention needle 300, the position of the needle tip 310 can be determined effectively, the method for positioning is that the coordinates of the first optical ball 210 and the second optical ball 220 in a tracking device coordinate system are detected, the coordinates of the needle tip 310 are calculated according to the distance between the two optical balls, the distance between the second optical ball 220 and the minimally invasive intervention needle 300 and the length of the minimally invasive intervention needle 300, and the method is very simple and convenient, and it is not necessary to make an optical instrument tracer ROM file in advance, and the using efficiency is improved.

[0049] In one embodiment, the support 100 is a sterilizable metal support 100. In one embodiment, the support 100 is a silver support 100 or a stainless steel support 100. Such a support 100 is resistant to corrosion, easy to sterilize, and the silver support 100 or the stainless steel support 100 does not affect the patient's body. In one embodiment, the support 100 is a 3D printed non-metal support 100. In one embodiment, the 3D printed non-metal support 100 is made of a polymer material. Such a support 100 is resistant to corrosion, easy to sterilize, and the support 100 does not affect the patient's body.

[0050] In order to facilitate the stable connection of the optical ball and the fixing seat, in one embodiment, as shown in Figure 2 , the first fixing seat 400 has a first insertion part 410, the first optical ball 210 is provided with a first insertion hole, the first insertion part 410 is inserted into the first insertion hole, the second fixing seat 500 has a second insertion part 510, the second optical ball 220 is provided with a second insertion hole, and the second insertion part 510 is inserted into the second insertion hole, so that each optical ball and the corresponding fixing seat are stably connected. In order to facilitate the connection of the fixing seat and the support, in one embodiment, as shown in Figure 2 , the end of the first fixing seat 400 away from the first optical ball is inserted into the support 100, and the end of the second fixing seat 500 away from the second optical ball is inserted into the support 100. In one embodiment, the support 100 is provided with a first insertion hole 101 and a second insertion hole 102, respectively, the first fixing seat 400 is inserted into the first insertion hole 101, and the second fixing seat 500 is inserted into the second insertion hole 102, so that each fixing seat and the support are stably connected. In one embodiment, the fixing frame is a metal support 100 or a 3D printed non-metal support 100, so that the fixing seat is resistant to corrosion, easy to sterilize, and the support 100 does not affect the patient's body.

[0051] In order to facilitate the line connecting the centers of the two optical balls to coincide with the puncture direction of the minimally invasive intervention needle 300, in one embodiment, as shown in Figure 1 and Figure 2As shown, a mounting groove 110 is provided on the side of the support 100, the first optical sphere 210 is arranged at one end of the support 100, and the other end of the support 100 is used to install the minimally invasive interventional needle 300, and the second optical sphere 220 is arranged in the mounting groove 110, and is located between the first optical sphere 210 and the minimally invasive interventional needle 300. In this embodiment, the line connecting the center of the first optical sphere 210 and the center of the second optical sphere 220 coincides with the extension direction of the minimally invasive interventional needle 300, which facilitates the arrangement of the second optical sphere 220, so that the position of the second optical sphere 220 satisfies the relationship that the line connecting the centers of the two optical spheres coincides with the puncture direction of the minimally invasive interventional needle 300.

[0052] In order to facilitate the arrangement of the minimally invasive interventional needle 300, in one embodiment, as Figure 2 As shown, a mounting hole 120 is provided at one end of the support 100. The mounting hole 120 is used to mount the end of the minimally invasive interventional needle 300 away from the needle tip 310. That is, one end of the minimally invasive interventional needle 300 is inserted into the mounting hole 120, and the other end of the minimally invasive interventional needle 300 is the needle tip 310. In this way, the minimally invasive interventional needle 300 is inserted into the mounting hole 120 of the support 100, so that the minimally invasive interventional needle 300 can remain stably extended without rotation or deflection. In one embodiment, the minimally invasive interventional needle 300 is movably inserted into the mounting hole 120, so that the minimally invasive interventional needle 300 is easy to assemble and disassemble. In one embodiment, the extension direction of the minimally invasive interventional needle 300 is parallel to the center line of the mounting hole 120, so that the minimally invasive interventional needle 300 is easy to set in the mounting hole 120 and to install and disassemble the minimally invasive interventional needle 300.

[0053] In order to more stably set the minimally invasive intervention needle 300 and also facilitate the dismounting of the minimally invasive intervention needle 300, in one embodiment, the optical instrument tracer 10 further comprises a locking member arranged on the support 100, and the end of the minimally invasive intervention needle 300 away from the needle tip 310 is provided with an abutting portion 320, the side of the abutting portion 320 facing the needle tip 310 is provided with an abutting surface 321, the extending direction of the minimally invasive intervention needle 300 is perpendicular to the abutting surface 321, and the locking member movably abuts against the abutting surface 321. By arranging the locking member to abut against the abutting surface 321 of the abutting portion 320, the displacement of the abutting portion 320 in the direction towards the needle tip 310 is limited, that is, the minimally invasive intervention needle 300 is prevented from being outwardly disengaged from the mounting hole 120, so that the minimally invasive intervention needle 300 is more stably arranged in the mounting hole 120, that is, the minimally invasive intervention needle 300 is more stably arranged on the support 100. After the locking member is released from limiting the abutting portion 320, the minimally invasive intervention needle 300 can be taken out of the mounting hole 120, facilitating the dismounting of the minimally invasive intervention needle 300 and facilitating the maintenance or replacement of the minimally invasive intervention needle 300.

[0054] In order to facilitate the locking member to movably limit the minimally invasive intervention needle 300 so as to both limit the minimally invasive intervention needle 300 and facilitate the release of the limitation on the minimally invasive intervention needle 300, in one embodiment, as shown in Figure 2As shown, one side of the support 100 is provided with a locking hole 130, which is communicated with the mounting hole 120. In the direction parallel to the abutting surface 321, one end of the locking member 600 is movably inserted into the locking hole 130 and located in the mounting hole 120, and movably abuts against the abutting surface 321. By inserting the locking member 600 into the mounting hole 120 to abut against the abutting surface 321 of the abutting portion 320, the displacement of the abutting portion 320 towards the needle tip 310 is limited, i.e. the micro-invasive intervention needle 300 is prevented from being separated from the mounting hole 120, so that the micro-invasive intervention needle 300 is more stably arranged in the mounting hole 120, i.e. the micro-invasive intervention needle 300 is more stably arranged on the support 100. When the locking member is separated from the mounting hole 120 and the locking hole 130 by a certain displacement, the locking member 600 no longer abuts against the abutting surface 321, i.e. the limitation of the locking member 600 on the micro-invasive intervention needle 300 is released. In one embodiment, the locking member 600 is provided with external threads, and the inner wall of the locking hole 130 is provided with internal threads, which are matched with each other. In one embodiment, the locking member 600 is a locking screw. In one embodiment, the center line of the locking hole 130 is perpendicular to the center line of the mounting hole 120, so that the locking member 600 is completely in contact with the abutting surface 321, thereby ensuring the limiting effect. In order to facilitate the abutment of the locking member 600 against the abutting surface 321, in one embodiment, the side surface of one end of the locking member 600 abuts against the abutting surface 321, so that the locking member 600 parallel to the abutting surface 321 can abut against the abutting surface 321.

[0055] In order to facilitate the abutment of the locking member 600 against the abutting surface 321, in one embodiment, the side surface of one end of the locking member 600 abuts against the abutting surface 321, so that the locking member 600 parallel to the abutting surface 321 can abut against the abutting surface 321. Figures 3 to 5As shown, one end of the locking piece 600 is rotatably arranged on the support 100, the other end of the locking piece 600 is provided with a limiting portion 610, the limiting portion 610 rotatably abuts against the abutting surface 321 along with the rotation of the locking piece 600, the support 100 is provided with a first connecting portion, the locking piece is provided with a second connecting portion, the second connecting portion is movably connected with the first connecting portion, the second connecting portion is connected with the first connecting portion to make the limiting portion 610 abut against the abutting surface 321, the rotation of the locking piece 600 makes the limiting portion 610 abut against the abutting surface 321 of the abutting portion 320, which limits the displacement of the abutting portion 320 towards the needle tip 310, i.e. limits the outward disengagement of the minimally invasive interventional needle 300 from the mounting hole 120, so that the minimally invasive interventional needle 300 is more stably arranged in the mounting hole 120, i.e. the minimally invasive interventional needle 300 is more stably mounted on the support 100, and when the first connecting portion and the second connecting portion are connected, the limiting portion 610 can be ensured to abut against the abutting surface 321, and after the connection between the first connecting portion and the second connecting portion is released, the locking piece 600 can be rotated to make the limiting portion 610 disengage from the abutting surface 321, i.e. the restriction of the locking piece 600 on the minimally invasive interventional needle 300 is released.

[0056] In order to facilitate the detachable cooperation of the first connecting portion and the second connecting portion, in one of the embodiments, as shown in Figure 5 As shown, the first connecting portion is a clamping groove 140 arranged on the support 100, the second connecting portion is a clamping portion 620 protruding from the locking piece 600, one end of the clamping portion 620 away from the locking piece 600 is movably clamped in the clamping groove 140; in the direction away from the locking piece 600, the cross-sectional size of the clamping portion 620 gradually decreases, so that the side surface of the clamping portion 620 gradually inclines, the side surface of the clamping portion 620 is used to slide against the outer edge of the clamping groove, so that the clamping portion 620 gradually slides into the clamping groove 140, and when the clamping portion 620 is located in the clamping groove 140, the side surface of the clamping portion 620 abuts against the side wall of the clamping groove 140. By movably clamping the clamping portion 620 in the clamping groove 140, the second connecting portion and the first connecting portion are movably connected, when the clamping portion 620 is clamped in the clamping groove 140, the locking piece 600 is fixed, and at the same time the limiting portion 610 abuts against the abutting surface 321; the side surface of the clamping portion 620 is inclined, so that the clamping portion 620 is facilitated to slide into the clamping groove 140, and the clamping portion 620 is also facilitated to slide out of the clamping groove 140, so that the limiting portion 610 can disengage from the abutting surface 321 along with the rotation of the locking piece, thereby releasing the restriction on the minimally invasive interventional needle 300.

[0057] In order to facilitate the rotation of the locking piece 600 on the support 100, in one of the embodiments, as shown in Figure 3 and Figure 5As shown, one end of the locking piece 600 is provided with a rotating shaft 630, the side surface of the support 100 is provided with a rotating hole 150, the rotating shaft 630 is rotatably arranged in the rotating hole 150, the side surface of the support 100 is also provided with a containing groove 160, one end of the containing groove 160 is communicated with the rotating hole 150, the other end penetrates the end surface of the support 100 facing the needle tip 310, and the locking piece is movably arranged in the containing groove 160. In this way, the support 100 is rotated in the rotating hole 150 through the rotating shaft 630 to realize rotation on the support 100, and the locking piece 600 can be located in the containing groove 160, so that the structure of the entire optical instrument tracer 10 is compact. When the locking piece 600 is located in the containing groove 160, the clamping part 620 is located in the clamping groove 140, and the limiting part 610 abuts against the abutting surface 321.

[0058] A minimally invasive intervention needle 300 positioning system includes a tracking device and the optical instrument tracer 10 as described in any of the above embodiments, and the tracking device is used to detect the coordinate positions of the first optical ball 210 and the second optical ball 220 to locate the coordinate position of the needle tip 310. In one embodiment, the tracking device is a navigation camera.

[0059] The above-mentioned minimally invasive intervention needle 300 positioning system has low manufacturing and using cost, light weight and high operability because the optical instrument tracer 10 only includes two optical balls, and the piercing direction of the needle tip 310 can be determined because the line connecting the centers of the first optical ball 210 and the second optical ball 220 coincides with the piercing direction of the minimally invasive intervention needle 300, so that the position of the needle tip 310 can be effectively determined. The positioning method is as follows: because the line connecting the centers of the two optical balls coincides with the piercing direction of the minimally invasive intervention needle 300, the coordinates of the first optical ball 210 and the second optical ball 220 in the tracking device coordinate system are detected, and then the coordinates of the needle tip 310 are calculated according to the distance between the two optical balls, the distance between the second optical ball 220 and the minimally invasive intervention needle 300 and the length of the minimally invasive intervention needle 300. The method is very simple and convenient to use, and does not need to make an optical instrument tracer ROM file in advance, thereby improving the use efficiency.

[0060] In one embodiment, a positioning method is applied to the minimally invasive intervention needle positioning system described in the above embodiments, and the positioning method includes the following steps: obtaining the distance d1 between the first optical ball and the second optical ball, obtaining the length d2 of the minimally invasive intervention needle, obtaining the distance d3 between the second optical ball and the minimally invasive intervention needle, the second optical ball being located between the first optical ball and the minimally invasive intervention needle; obtaining the coordinates of the first optical ball in the tracking device coordinate system and the coordinates of the second optical ball in the tracking device coordinate system calculating coordinates of the needle tip in the tracking device coordinate system the The calculation formula is:

[0061]

[0062] As Figure 6 The positioning method of an embodiment is applied to the minimally invasive intervention needle positioning system described in the above embodiments, and the positioning method comprises the following steps:

[0063] 710. Acquire the distance d1 between the first optical bead and the second optical bead, the length d2 of the minimally invasive intervention needle, and the distance d3 between the second optical bead and the minimally invasive intervention needle, the second optical bead being located between the first optical bead and the minimally invasive intervention needle. In this embodiment, the d1 is the distance between the centers of the first optical bead and the second optical bead, and the d3 is the distance between the center of the second optical bead and the end of the minimally invasive intervention needle away from the needle tip.

[0064] 720. Acquire the coordinates of the first optical bead in the tracking device coordinate system and the coordinates of the second optical bead in the tracking device coordinate system

[0065] 730. Calculate the coordinates of the needle tip in the tracking device coordinate system the The calculation formula is:

[0066] Therefore, the coordinates of the needle tip of the minimally invasive intervention needle can be obtained. The relationship between the d1, the d2, the d3, the and the and the satisfies the equation:

[0067] That is, the left side is the ratio of the coordinate difference between the second bead and the first bead to the coordinate difference between the needle tip and the second bead, and the right side is the distance between the first bead and the second bead to the distance between the second bead and the needle tip, so that the

[0068]

[0069] The above positioning method has low production and use costs, which reduces the burden on patients because the optical instrument tracer only contains two optical balls; it is light in weight and improves operability; because the line connecting the center of the first optical ball and the center of the second optical ball coincides with the direction of puncture of the minimally invasive interventional needle, the puncture direction of the needle tip can be determined, thereby effectively determining the position of the needle tip; the positioning method is: because the line connecting the centers of the two optical balls coincides with the direction of puncture of the minimally invasive interventional needle, the coordinates of the first optical ball and the second optical ball in the tracking device coordinate system are detected respectively, and then the coordinates of the needle tip can be calculated based on the distance between the two optical balls, the distance between the second optical ball and the minimally invasive interventional needle, and the length of the minimally invasive interventional needle. It is very simple and convenient to use, and there is no need to prepare an optical instrument tracer ROM file in advance, thereby improving usage efficiency.

[0070] In order to effectively determine the direction of the minimally invasive interventional needle and thus more accurately determine the coordinates of the needle tip, in one embodiment, the coordinates of the first optical ball in the tracking device coordinate system are obtained. and the coordinates of the second optical ball in the tracking device coordinate system The steps include:

[0071] like Figure 7 As shown, the coordinates of the reference point O located on the side of the needle tip away from the second optical ball in the tracking device coordinate system are obtained.

[0072] Obtain the coordinates of one of the first optical sphere and the second optical sphere in the tracking device coordinate system Calculate the distance L1 from the optical ball to the reference point. The calculation formula of L1 is:

[0073] Among them, the described described Respectively represent the x, y, and z components of the optical ball in the coordinate system of the tracking device; Respectively represent the x, y, and z components of the reference point in the tracking device coordinate system;

[0074] Obtain the coordinates of the other of the first optical sphere and the second optical sphere in the tracking device coordinate system Calculate the distance L2 from the optical ball to the reference point. The calculation formula of L2 is:

[0075] Among them, the described described respectively represent the x, y, z components of the optical microsphere in the tracking device coordinate system;

[0076] If L1 is greater than L2, then is the coordinate of the first optical microsphere, is the coordinate of the second optical microsphere; if L1 is less than L2, then is the coordinate of the first optical microsphere, is the coordinate of the second optical microsphere.

[0077] Since when the position coordinates of the first optical microsphere and the second optical microsphere under the camera are unchanged, if the needle tip rotates around the center of the line connecting the first optical microsphere and the second optical microsphere, there will be countless possible positions, i.e. the position of the needle tip cannot be determined, and the line connecting the first optical microsphere and the second optical microsphere and the direction of the needle coincide, there are only two theoretical positions of the needle tip: when the micro-invasive needle actually has the same order of the first optical microsphere and the second optical microsphere as the microspheres 1 and 2 detected by the tracking device, the calculated needle tip position 1 obtained is consistent with the actual needle tip position; if the order of the microspheres 1 and 2 is opposite to the order of the first optical microsphere and the second optical microsphere of the micro-invasive needle, the calculated needle tip position 2 obtained is inconsistent with the actual needle tip position, and through the above method, it can be distinguished which one is the first optical microsphere and which one is the second optical microsphere, if L1 is greater than L2, then is the coordinate of the first optical microsphere, is the coordinate of the second optical microsphere; if L1 is less than L2, then is the coordinate of the first optical microsphere, is the coordinate of the second optical microsphere.

[0078] In one embodiment, the reference point is the center point of the CT section image, and in this embodiment, the coordinate of the reference point in the CT image coordinate system is obtained According to the conversion matrix between the CT image coordinate system and the tracking device coordinate system the coordinate of the reference point in the tracking device coordinate system is obtained is:

[0079]

[0080] In one embodiment, the CT image is a tomographic image, and the are the same, and only changes with the number of layers, so L1 and L2 can be deformed as follows:

[0081] In this way, the values of L1 and L2 are facilitated to be calculated, and the sizes of L1 and L2 are facilitated to be compared.

[0082] In all the embodiments of the present application, "large", "small" are relative, "more", "less" are relative, "upper", "lower" are relative, and the description of such relative terms will not be repeated in the embodiments of the present application.

[0083] It should be understood that the "in the present embodiment", "in the present embodiment" or "as an optional implementation" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiments are included in at least one embodiment of the present application. Therefore, "in the present embodiment", "in the present embodiment" or "as an optional implementation" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also know that the embodiments described in the specification are optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0084] In various embodiments of the present application, it should be understood that the size of the serial number of the above processes does not mean the inevitable sequence of execution order, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0085] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An optical instrument tracer, characterized in that, The utility model relates to a kind of optical instrument tracer, including: Support; First fixed seat; Second fixed seat; Optical ball group, including first optical ball and second optical ball, the first optical ball is connected with the support by the first fixed seat, the second optical ball is connected with the support by the second fixed seat, the first optical ball and the second optical ball are spaced apart on the support; The support is used to install minimally invasive intervention needle, the line of the ball center of the first optical ball and the ball center of second optical ball coincides with the puncture direction of the installed minimally invasive intervention needle, the minimally invasive intervention needle has needle tip, the needle tip is located at the end of the minimally invasive intervention needle away from first optical ball and second optical ball; Control system, the control system is used to provide positioning method, and the positioning method includes the following steps: Obtain the distance d1 between the first optical ball and the second optical ball, obtain the length d2 of the minimally invasive intervention needle, obtain the distance d3 between the second optical ball and the minimally invasive intervention needle, the second optical ball is located between the first optical ball and the minimally invasive intervention needle; acquiring coordinates of the first optical ball in a tracking device coordinate system and coordinates of the second optical ball in the tracking device coordinate system calculating coordinates of the tip of the stylus in the tracking device coordinate system the The calculation formula is:

2. The optical instrument tracer of claim 1, wherein, The side surface of the support is provided with mounting groove, the first optical ball is arranged at one end of the support, the other end of the support is used to install the minimally invasive intervention needle, the second optical ball is arranged in the mounting groove, and is located between the first optical ball and the minimally invasive intervention needle.

3. The optical instrument tracer of claim 1, wherein, One end of the support is provided with mounting hole, the mounting hole is used to install the end of the minimally invasive intervention needle away from the needle tip.

4. The optical instrument tracer of claim 3, wherein, The optical instrument tracer further includes locking member, the locking member is arranged on the support, the end of the minimally invasive intervention needle away from the needle tip is provided with abutting portion, the side of the abutting portion towards the needle tip has abutting surface, the extension direction of the minimally invasive intervention needle is perpendicular to the abutting surface, and the locking member movably abuts on the abutting surface.

5. The optical instrument tracker of claim 4, wherein, One side surface of the support is provided with locking hole, the locking hole is communicated with the mounting hole, and one end of the locking member movably passes through the locking hole and is located in the mounting hole in the direction parallel to the abutting surface, and movably abuts on the abutting surface.

6. The optical instrument tracker of claim 4, wherein, One end of the locking member is rotationally arranged on the support, the other end of the locking member is provided with limiting portion, the limiting portion rotationally arranged on the locking member movably abuts on the abutting surface, the support is provided with first connecting portion, the locking member is provided with second connecting portion, the second connecting portion is movably connected with the first connecting portion, and when the second connecting portion is connected with the first connecting portion, the limiting portion is tightly abutted on the abutting surface.

7. The optical instrument tracker of claim 6, wherein, The first connecting portion is clamping groove provided on the support, the second connecting portion is clamping portion protruded on the locking member, and one end of the clamping portion away from the locking member is movably clamped in the clamping groove;In the direction away from the locking member, the cross-sectional dimension of the clamping portion gradually decreases, so that the side surface of the clamping portion gradually inclines, the side surface of the clamping portion is used to slide relative to the outer edge of the clamping groove, so that the clamping portion gradually slides into the clamping groove, and when the clamping portion is located in the clamping groove, the side surface of the clamping portion abuts on the side wall of the clamping groove.

8. The optical instrument tracker of claim 1, wherein, The d1, the d2, the d3, the and the aforementioned With the The relationship satisfies the equation:

9. The optical instrument tracker of claim 1, wherein, said step of acquiring coordinates of said first optical ball in a tracking device coordinate system and coordinates of said second optical ball in said tracking device coordinate system comprises acquiring coordinates of a reference point located on the side of the needle tip distal to the second optical ball in the tracking device coordinate system acquiring a coordinate P1 of one of the first optical ball and the second optical ball in the tracking device coordinate system NDI calculating a distance L1 of the optical ball to the reference point, the calculation formula of the L1 being: wherein said said said respectively represent the x, y, z components of the optical ball in the tracking device coordinate system; respectively represent the x, y, z components of the reference point in the tracking device coordinate system; obtaining coordinates of the other of the first and second optical beads in the tracking device coordinate system calculating a distance L2 of the optical bead to the reference point, the L2 being calculated according to the formula: wherein said said said respectively represent the x, y, z components of the optical bead in the tracking device coordinate system; If L1 is greater than L2, then P1 NDI is the coordinate of the first optical ball, is the coordinate of the second optical ball; if L1 is less than L2, then is the coordinate of the first optical ball, P1 NDI is the coordinate of the second optical ball.

10. The optical instrument tracker of claim 1, wherein, The first optical ball is provided with a first inserting hole, the first fixing seat is provided with a first inserting part, the first inserting part is inserted into the first inserting hole, the second fixing seat is provided with a second inserting part, the second optical ball is provided with a second inserting hole, and the second inserting part is inserted into the second inserting hole.

11. The optical instrument tracker of claim 1, wherein, The support is provided with a first penetrating hole and a second penetrating hole, the first fixing seat is penetrated into the first penetrating hole, and the second fixing seat is penetrated into the second penetrating hole.

12. A minimally invasive interventional needle positioning system, characterized by The optical instrument tracer comprises a tracking device and an optical instrument tracer as claimed in any one of claims 1 to 11, the tracking device is used for detecting the coordinate position of the first optical ball and the second optical ball to locate the coordinate position of the needle tip.

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