A cone angle laser positioning and guiding system based on intraoperative fluoroscopic images

Abstract

The application relates to a cone angle laser positioning and guiding system based on intraoperative perspective images, which is applied to an intraoperative auxiliary imaging device with an X-ray emitting source, an X-ray receiving imaging device and a monitoring screen, and comprises a first driving device, a second driving device and a controller. The first driving device is hinged with a first laser emitter, and the second driving device is hinged with a second laser emitter. The first laser emitter initially emits a laser surface with a first included angle with a preoperative positioning target point, and the second laser emitter initially emits a laser surface with a second included angle with the preoperative positioning target point. The controller is used for controlling the first driving device to drive the first laser emitter to rotate the first included angle, and controlling the second driving device to drive the second laser emitter to rotate the second included angle, so that the laser surfaces emitted by the rotated first laser emitter and the second laser emitter intersect to form an intersection line. The intersection point of the intersection line and the X-ray receiving imaging device is the preoperatively positioned body surface position.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to a cone-angle laser positioning and guidance system based on intraoperative fluoroscopic images. Background Technology

[0002] In surgical procedures, an increasing number of surgeries require the use of instruments such as CT and MRI for preoperative localization, and then the preoperative localization location is obtained during the operation through X-ray fluoroscopy. The ability to accurately obtain the preoperative localization location is currently the key to the success of various high-precision or minimally invasive surgeries.

[0003] However, in current clinical practice, the method for obtaining this preoperative localization is solely through fluoroscopy, where images are manually matched by visual observation. The surgeon's clinical experience is crucial in determining the corresponding location on the patient's body surface. This method heavily relies on the surgeon's experience, often requiring repeated fluoroscopy to improve accuracy, leading to excessive radiation exposure and potential harm to both doctors and patients. More seriously, this method results in low accuracy and inefficient surgery. Inexperienced physicians are prone to miscalculating the preoperative location, causing significant deviations that severely impact surgical precision, and in extreme cases, lead to surgical failure and serious medical accidents. For these reasons, high-precision localization surgeries or minimally invasive surgeries are inherently difficult and demanding of extensive surgeon experience, directly hindering their widespread adoption and promotion.

[0004] With the advancement and development of technology, some instruments have begun to emerge to assist doctors in obtaining preoperative positioning. For example, high-end medical devices such as navigation (intraoperative O-arm), surgical robots (Mazor, Rosa), and navigation + surgical robot systems (Mazor XStealth™ Edition) have begun to provide preoperative positioning. However, these instruments are cumbersome and time-consuming to operate, and once the relative coordinates drift after the patient is scanned, they must be re-operated and registered, which is time-consuming and seriously affects the efficiency of the operation.

[0005] Due to the problems existing in the above-mentioned technologies, there is currently a lack of relevant technologies and equipment for obtaining preoperative positioning quickly and accurately in this type of high-precision or minimally invasive surgery. Summary of the Invention

[0006] To address the technical problems existing in the prior art, the purpose of this invention is to provide a cone-angle laser positioning and guidance system based on intraoperative fluoroscopic images, which can quickly and accurately control the guiding laser to irradiate the corresponding body surface projection position according to the relative offset distance of the preoperative positioning target point displayed on the monitor screen.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A cone-angle laser positioning and guidance system based on intraoperative fluoroscopic images is applied to an intraoperative auxiliary imaging device with an X-ray emission source, an X-ray receiving imaging device, and a monitoring screen. The monitoring screen is used to display the patient's fluoroscopic image, which contains preoperative positioning target points that correspond to the preoperative positioning positions on the patient's body surface. The system includes a first driving device, a second driving device, and a controller. The first and second driving devices are respectively fixed to the side of the X-ray emission source. The first driving device is hinged to a first laser emitter, and the second driving device is hinged to a second laser emitter.

[0009] The laser surface initially emitted by the first laser emitter has a first angle with the preoperative positioning target point, and the laser surface initially emitted by the second laser emitter has a second angle with the preoperative positioning target point.

[0010] The controller is used to control the first driving device to drive the first laser emitter to rotate by a first included angle, and to control the second driving device to drive the second laser emitter to rotate by a second included angle, so that the laser surfaces emitted by the rotated first laser emitter and the second laser emitter intersect to form an intersection line. The intersection point of this intersection line with the X-ray receiving imaging device is the preoperative positioning position on the body surface.

[0011] Furthermore, the plane containing the first laser emitter and the X-ray emission source is perpendicular to the plane containing the second laser emitter and the X-ray emission source.

[0012] Furthermore, the rotation axes of the first laser emitter and the second laser emitter are located on the same plane as the emission point of the X-ray emission source, and the distance between the first laser emitter and the X-ray receiving imaging device is equal to the distance between the second laser emitter and the X-ray receiving imaging device.

[0013] Furthermore, the X-ray emission source is fitted with a connecting ring, and the first driving device and the second driving device are detachably connected to the side of the connecting ring.

[0014] Furthermore, the first driving device and the second driving device are respectively provided with protrusions, and the connecting ring side is respectively provided with grooves corresponding to the protrusions, and the protrusions are engaged with the grooves.

[0015] Furthermore, the first driving device and the second driving device are respectively a first servo motor and a second servo motor.

[0016] In summary, the present invention has the following advantages:

[0017] (1) This invention uses laser guidance instead of traditional visual observation to obtain the preoperative positioning location, thereby greatly increasing the positioning accuracy;

[0018] (2) Compared with existing complex high-end medical equipment, the present invention can guide the first laser emitter and the second laser emitter to obtain the surface projection position of the target position through relatively simple function conversion. Even when relative coordinate drift occurs (such as when the patient's position changes), the surface projection position can be obtained again quickly by simply acquiring the fluoroscopic image after the drift. The whole process is time-saving, simple to operate, reduces radiation exposure, greatly improves surgical efficiency, and better protects the health of doctors and patients.

[0019] (3) Compared with existing complex equipment, the present invention has the characteristics of simple structure and low production cost, and is therefore easier to popularize and promote in the market, and has strong practicality. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the planar structure of an embodiment of the present invention.

[0021] Figure 2 The working principle of the embodiments of the present invention Figure 1 .

[0022] Figure 3 The working principle of the embodiments of the present invention Figure 2 .

[0023] Figure 4 The working principle of the embodiments of the present invention Figure 3 .

[0024] Figure 5 The working principle of the embodiments of the present invention Figure 4 .

[0025] Figure 6 The working principle of the embodiments of the present invention Figure 5 . Figure 7 This is a schematic diagram of the structure of the present invention installed on a G-arm machine.

[0026] Figure 8 This is a schematic diagram of the structure of the present invention installed on a C-arm machine. Figure 9 This is a block diagram illustrating the hardware control principle of an embodiment of the present invention.

[0027] Explanation of reference numerals in the attached figures:

[0028] 11-First laser emitter, 12-Second laser emitter;

[0029] 21 - First servo motor; 22 - Second servo motor;

[0030] 3-Connecting ring;

[0031] 4- Spine;

[0032] 5-X-ray emission source;

[0033] 6-Monitor screen;

[0034] S1 - First laser surface, S2 - Second laser surface;

[0035] K1 - First laser surface, K2 - Second laser surface;

[0036] A1 - First included angle, A2 - Second included angle. Detailed Implementation

[0037] The present invention will now be described in further detail.

[0038] like Figure 1 , Figure 6 , Figure 7 As shown, a cone-angle laser positioning and guidance system based on intraoperative fluoroscopic images is applied to an intraoperative auxiliary imaging device with an X-ray emission source 5, an X-ray receiving imaging device, and a monitoring screen. The monitoring screen is used to display the patient's fluoroscopic image, which contains preoperative positioning target points that correspond to the preoperative positioning positions on the patient's body surface. The system includes a first driving device, a second driving device, and a controller. The first driving device and the second driving device are respectively fixed to the side of the X-ray emission source 5. The first driving device is hinged to a first laser emitter 11, and the second driving device is hinged to a second laser emitter 12.

[0039] The laser surface initially emitted by the first laser emitter 11 has a first angle with the preoperative positioning target point, and the laser surface initially emitted by the second laser emitter 12 has a second angle with the preoperative positioning target point.

[0040] The controller is used to control the first driving device to drive the first laser emitter 11 to rotate at a first included angle, and to control the second driving device to drive the second laser emitter 12 to rotate at a second included angle, so that the laser surfaces emitted by the rotated first laser emitter 11 and second laser emitter 12 intersect to form an intersection line. The intersection point of this intersection line with the X-ray receiving imaging device is the preoperative positioning position on the body surface.

[0041] Specifically, the intraoperative imaging device can be a C-arm or G-arm machine, etc. This embodiment uses a C-arm machine as an example. The X-ray emission source 5 faces the X-ray receiving imaging device, and their centerlines coincide. The first driving device and the second driving device are preferably a first servo motor 21 and a second servo motor 22, respectively.

[0042] In use, the patient is positioned inside the C-arm machine. The X-ray emission source 5 of the C-arm machine is directed at the patient's body for fluoroscopy, and the fluoroscopic image of the patient is displayed on the monitor screen 6. In this embodiment, the image of the spine 4 is used as an example for description.

[0043] The patient's preoperative positioning on the body surface is the initial position at the start of surgery. The spinal image contains preoperative positioning target points, which correspond to the patient's preoperative positioning on the body surface.

[0044] The working principle of this embodiment is as follows:

[0045] like Figures 2-4 As shown, when planning the surgical path, the doctor determines the preoperative positioning target point P from the spine 4 image displayed on monitor 6. The preoperative positioning target point P can be selected using a mouse or by clicking directly on the touchscreen (when monitor 6 is a touchscreen).

[0046] The X-ray emission source 5 emits rays in a conical shape. Assume that point O on the patient's spine 4 is opposite to the central axis EO of the X-ray emission source 5. Initially, point P lies on the plane containing the first laser surface S1 emitted by the first laser emitter 11. The first laser surface S1 has a first angle A1 with the first reference plane K1. The second laser surface S2 emitted by the second laser emitter 12 also passes through point P, and the second laser surface S2 has a second angle A2 with the second reference plane K2. Both the first and second angles can be observed on the monitoring screen 6.

[0047] The controller controls the first servo motor 21 to rotate the first laser emitter 11 by the same degree as the first included angle; the controller controls the second servo motor 22 to rotate the second laser emitter 12 by the same degree as the second included angle.

[0048] The laser surface emitted by the first laser emitter 11 after rotation and the laser surface emitted by the second laser emitter 12 after rotation intersect in the air to form an intersection line. The intersection point of this intersection line and the X-ray receiving imaging device forms an intersection point on the patient's body surface, which is the preoperative positioning position on the body surface.

[0049] like Figure 5 As shown, this invention, once the preoperative positioning target point is determined in the patient's fluoroscopic image on the monitor, can rotate the laser emitter by a corresponding angle. This method uses guided imaging instead of traditional visual observation to obtain the preoperative location, thus greatly increasing the accuracy of the positioning.

[0050] The plane containing the first laser emitter 11 and the X-ray source 5 is perpendicular to the plane containing the second laser emitter 12 and the X-ray source 5. With this preferred structure, the computational cost of rotation angle is significantly reduced, which helps to shorten positioning time and improve surgical efficiency.

[0051] The rotation axes of the first laser emitter 11 and the second laser emitter 12 are located on the same plane as the emission point of the X-ray emission source 5, and the distance between the first laser emitter 11 and the X-ray receiving imaging device is equal to the distance between the second laser emitter 12 and the X-ray receiving imaging device.

[0052] With this preferred structure, the emission points of the first laser emitter 11 and the second laser emitter 12 are located on the same plane as the virtual cone starting point of the X-ray emission source 5. This greatly reduces the amount of rotation angle calculation required by the present invention, which helps to shorten the positioning time and improve surgical efficiency.

[0053] The X-ray emission source 5 is fitted with a connecting ring 3, and the first driving device and the second driving device are detachably connected to the side of the connecting ring 3.

[0054] The connection ring 3 makes it easier to install this cone angle laser positioning and guidance system on existing C-arm or G-arm machines without changing the original structure of the C-arm or G-arm machine, thus providing good versatility.

[0055] The first driving device and the second driving device are respectively provided with protrusions, and the three sides of the connecting ring are respectively provided with grooves corresponding to the protrusions, and the protrusions are engaged with the grooves.

[0056] The first and second drive devices can be easily installed on the connecting ring 3 by the cooperation of the protrusion and the groove, and can also be easily removed from the connecting ring 3, reducing the difficulty of installation and removal.

[0057] Of course, it should be noted that the above principle is only based on the principle in the vertical coordinate system. In fact, as long as the first laser emitter 11 and the second laser emitter 12 are not on the same straight line, the above laser guidance principle can also be established according to the angle conversion relationship of oblique trigonometric functions.

[0058] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A cone angle laser positioning and guiding system based on intraoperative fluoroscopy images, applied to an intraoperative auxiliary imaging device having an X-ray emitting source, an X-ray receiving imaging device and a monitor screen for displaying a fluoroscopy image of a patient, the fluoroscopy image containing a preoperative positioning target point corresponding to a preoperative positioning position on the surface of the patient; characterized in that: The device comprises a first driving device, a second driving device and a controller, the first driving device and the second driving device are respectively fixed to the side of the X-ray emitting source, the first driving device is hinged with a first laser emitter, and the second driving device is hinged with a second laser emitter; The first laser emitter initially emits laser light with a first included angle with a preoperative positioning target point, and the second laser emitter initially emits laser light with a second included angle with the preoperative positioning target point; The controller is used for controlling the first driving device to drive the first laser emitter to rotate the first included angle, and controlling the second driving device to drive the second laser emitter to rotate the second included angle, so that the laser light emitted by the rotated first laser emitter and the second laser emitter intersects to form an intersection line, and the intersection point of the intersection line and the X-ray receiving imaging device is the preoperative positioning position on the body surface; The plane where the first laser emitter and the X-ray emitting source are located is perpendicular to the plane where the second laser emitter and the X-ray emitting source are located; The rotation axis of the first laser emitter and the second laser emitter and the emitting point of the X-ray emitting source are located in the same plane, and the distance between the first laser emitter and the X-ray receiving imaging device is equal to the distance between the second laser emitter and the X-ray receiving imaging device.

2. A cone angle laser positioning and guidance system based on intraoperative fluoroscopic images according to claim 1, characterized in that: The X-ray emitting source is sleeved with a connecting ring, and the first driving device and the second driving device are respectively detachably connected to the side of the connecting ring.

3. A cone angle laser positioning and guidance system based on intraoperative fluoroscopic images according to claim 2, characterized in that: The first driving device and the second driving device are respectively provided with protrusions, and the side of the connecting ring is respectively provided with grooves corresponding to the protrusions, and the protrusions are clamped in the grooves.

4. The cone angle laser positioning and guidance system based on intraoperative fluoroscopic images of claim 1, wherein: The first driving device and the second driving device are respectively first servo motors and second servo motors.

Images