A lithotripsy system combining light trapping and inertial trapping

Abstract

This invention discloses a lithotripsy system combining optical and inertial motion capture, belonging to the field of stone fragmentation technology. It incorporates an ultrasonic device and several optical motion capture devices within the diagnostic chamber. A computer establishes a spatial coordinate system based on information obtained from the optical motion capture devices. The ultrasonic device is equipped with both an inertial and optical motion capture system. The ultrasonic imaging device can detect the distance from the ultrasonic probe to the stone. Both the inertial and optical motion capture systems capture the position of the ultrasonic probe in space and feed the captured data back to the computer in real time. The computer then inputs the known distance from the ultrasonic probe to the stone and calculates the spatial position information of the stone, i.e., the stone's spatial coordinates.

Description

Technical Field

[0001] This invention belongs to the field of stone fragmentation technology, specifically relating to a stone fragmentation system that combines optical and inertial capture. Background Technology

[0002] In most shock wave lithotripsy procedures, the location of the stone must first be determined using ultrasound and X-rays, followed by the location of the shock source and the trajectory of the shock wave. However, determining the location of the shock source and the trajectory of the shock wave requires extensive operator experience. After determining the location of the shock source and the trajectory of the shock wave, real-time monitoring using ultrasound to locate the stone is necessary, but this step is cumbersome and can be inconvenient for the operator. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide a lithotripsy system that combines optical and inertial capture.

[0004] The objective of this invention can be achieved through the following technical solutions:

[0005] A method for lithotripsy combining optical and inertial trapping for stone localization includes the following steps:

[0006] By installing several optical motion capture devices in the diagnostic room, the computer establishes a spatial coordinate system based on the information obtained from the optical motion capture devices. Then, by installing an ultrasound device, and installing an inertial motion capture system and an optical motion capture system on the ultrasound device, the distance between the ultrasound probe and the stone can be detected on the ultrasound imaging device. Both the inertial motion capture system and the optical motion capture system are used to capture the position of the ultrasound probe in space and feed the captured data back to the computer in real time. Then, the known distance between the ultrasound probe and the stone is input into the computer, and the computer calculates all the data to obtain the position information of the stone in space, that is, the spatial coordinates of the stone.

[0007] The shock wave source is also equipped with an inertial motion capture system and an optical motion capture system, which are also connected to a computer. The inertial motion capture system and the optical motion capture system capture the position information of the shock wave source in real time, and the computer then calculates the spatial coordinates of the stone through the shock wave source based on the position of the stone in space.

[0008] Move the shockwave source to the designated location to begin breaking up the rock.

[0009] A lithotripsy system combining optical and inertial trapping.

[0010] Includes a spatial coordinate system establishment module: By installing several optical motion capture devices in the diagnostic room, the computer establishes a spatial coordinate system based on the information obtained from the optical motion capture devices;

[0011] Imaging module: Used to obtain the distance from the ultrasound probe to the stone;

[0012] Stone location module: The ultrasound machine is equipped with an inertial motion capture system and an optical motion capture system. While the distance between the ultrasound probe and the stone is obtained through the imaging module, the inertial motion capture system and the optical motion capture system capture the position of the ultrasound probe in space and feed the captured data back to the computer in real time. The computer calculates all the data to obtain the position information of the stone in space.

[0013] Shockwave source location module: By installing an inertial motion capture system and an optical motion capture system on the shockwave source, the real-time location information of the shockwave source is captured and fed back to the computer. The computer then calculates the spatial coordinates of the stone through the shockwave source based on the stone's position in space.

[0014] Rock Crushing Module: Move the shock wave source to the designated location to start crushing rocks.

[0015] Furthermore, the imaging module is specifically ultrasound.

[0016] Furthermore, the stone localization and lithotripsy system also includes a control unit for controlling the operation of each module and data transmission.

[0017] A terminal device includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The memory stores the computer program that can run on the processor. When the processor loads and executes the computer program, it employs a stone localization and lithotripsy method that combines optical capture and inertial capture.

[0018] A computer-readable storage medium storing a computer program, which, when loaded and executed by a processor, employs a stone localization and lithotripsy method combining optical and inertial capture.

[0019] The beneficial effects of this invention are:

[0020] This invention combines optical and inertial capture to transform the location of the stone into coordinates in space, making the stone's location more intuitive. After the stone is located by ultrasound, the wave source is directly adjusted to target the stone, eliminating the hassle of repeated positioning and changing body position, reducing the radiation dose to the patient during the positioning process, and accelerating the stone fragmentation efficiency. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a block diagram of the positioning and crushing system of the present invention;

[0023] Figure 2 This is a flowchart of the positioning and crushing method of the present invention;

[0024] Figure 3 This is a structural diagram of the stone location and lithotripsy device of the present invention. Detailed Implementation

[0025] 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.

[0026] like Figure 2 As shown, a method for locating and breaking up stones that combines optical and inertial capture is described. This method involves installing multiple optical capture devices in the diagnostic room. The information captured by these devices is synchronously transmitted to a computer, which then establishes a spatial coordinate system based on this information.

[0027] Then, an imaging module is provided, specifically an ultrasound module. The imaging module obtains image information of the stone through ultrasound, and detects the distance and direction from the ultrasound probe to the stone. The ultrasound is equipped with an optical motion capture device and an inertial motion capture device. Both the inertial motion capture system and the optical motion capture system are used to capture the position of the ultrasound probe in space and feed the captured data back to the computer in real time. Then, the known distance from the ultrasound probe to the stone is input into the computer. In the established spatial coordinate system, the direction of the stone is determined, the distance is determined, and the position of the ultrasound probe in space is determined. The computer calculates all the data to obtain the spatial position information of the stone, that is, the spatial coordinates of the stone.

[0028] The shock wave source is also equipped with an inertial motion capture system and an optical motion capture system, which are also connected to a computer. The inertial motion capture system and the optical motion capture system capture the position information of the shock wave source in real time, and the computer then calculates the spatial coordinates of the stone through the shock wave source based on the position of the stone in space.

[0029] Move the shockwave source to the designated location, aim at and lock onto the stone. The aiming area can be a pre-selected area or an area selected according to the size of the stone. After aiming, input a signal to the shockwave emission module to emit shockwaves to break the stone. The emission module can fire energy at the aiming area at a specific frequency. This specific frequency can be selected to be between 60 and 240 times per minute to start stone breaking.

[0030] A method for locating and fragmenting stones combining optical and inertial capture further includes a control unit for controlling the operation of various modules and data transmission. The control unit can be a computer or embedded system, capable of processing and analyzing data, and communicating with other medical devices or systems.

[0031] Optical motion capture systems include multiple cameras and sensors to capture the position and motion information of surgical instruments, while inertial motion capture systems include sensors such as inertial measurement units (IMUs) installed on surgical equipment to acquire the attitude and motion data of the equipment.

[0032] Optical motion capture systems are camera-based capture systems consisting of a set of cameras and a data processing server. The cameras emit infrared light, which is reflected on a Maker sphere made of a special material in the scene, thereby capturing the absolute position information of the Maker point in the scene.

[0033] Inertial motion capture: The inertial motion capture system uses inertial sensors to capture the rotational information of the ultrasonic probe and the shock wave source. Each inertial sensor can directly measure the rotation and acceleration along the XYZ axes.

[0034] Each inertial sensor measurement unit includes a gyroscope, accelerometer, magnetometer, and other digital signal processing and conversion devices. The accelerometer measures the gravity vector to obtain roll and pitch reference values, the magnetometer obtains the yaw reference direction through geomagnetic measurement, and the gyroscope sensor measures the motion. Finally, these collected data are also used to reconstruct the attitude of the ultrasonic probe and the shock wave source through algorithms.

[0035] By fusing data acquired by optical motion capture and inertial motion capture systems, accurate and stable position and posture information is generated. Based on the fused data, the location of the stone within the patient's body is determined, and real-time stone position feedback is provided. Combining data from both systems, surgeons can more precisely operate surgical instruments to break up the stone. Improved positioning accuracy allows for more refined surgery, better stone fragmentation, and reduced surgical time and patient discomfort. The system can monitor the position and movement of the surgical instruments and the stone in real time. If any abnormality or deviation occurs, the system can immediately issue an alarm and provide adjustment suggestions. This allows surgeons to react quickly and avoid potential surgical risks. Because the system provides precise stone location and real-time feedback, surgeons can perform fragmentation operations more rapidly, reducing surgical time and the number of operations, improving surgical efficiency and patient recovery speed. This system is not only suitable for stone location and fragmentation surgery but can also be applied to other medical surgeries requiring precise operation and positioning, such as neurosurgery and joint replacement.

[0036] like Figure 1 As shown, a lithotripsy system combining optical and inertial trapping is described.

[0037] Includes a spatial coordinate system establishment module: By installing several optical motion capture devices in the diagnostic room, the computer establishes a spatial coordinate system based on the information obtained from the optical motion capture devices;

[0038] Includes an imaging module: used to obtain the distance from the ultrasound probe to the stone;

[0039] Stone location module: The ultrasound machine is equipped with an inertial motion capture system and an optical motion capture system. While the distance between the ultrasound probe and the stone is obtained through the imaging module, the inertial motion capture system and the optical motion capture system capture the position of the ultrasound probe in space and feed the captured data back to the computer in real time. The computer calculates all the data to obtain the position information of the stone in space.

[0040] Shockwave source location module: By installing an inertial motion capture system and an optical motion capture system on the shockwave source, the real-time location information of the shockwave source is captured and fed back to the computer. The computer then calculates the spatial coordinates of the stone through the shockwave source based on the stone's position in space.

[0041] Rock Crushing Module: Move the shock wave source to the designated location to start crushing rocks.

[0042] The stone localization and lithotripsy system also includes a control unit for controlling the operation of each module and data transmission, and the imaging module is specifically ultrasound.

[0043] The stone localization system combining optical and inertial capture is a computer application system, including personal computers, industrial computers, embedded computers, etc., and can have a combination of software, hardware and application programs. It has the advantages of easy assembly, high application flexibility, low construction cost and small space requirements, making it very suitable for use in conjunction with shock wave lithotripsy medical equipment.

[0044] like Figure 3 As shown, a stone localization and lithotripsy device includes a shock wave source 1 and an ultrasonic probe 3. A first locator 2 is installed on the shock wave source 1, which includes an inertial motion capture device and an optical motion capture device. The shock wave source 1 is connected to a robotic arm, which is also connected to a computer 5. The computer 5 can control the movement of the robotic arm, thereby freely adjusting the position of the shock wave source 1 through the robotic arm. A second locator 4 is installed on the ultrasonic probe 3, which also includes an inertial motion capture device and an optical motion capture device. The ultrasonic probe 3 is connected to an ultrasonic machine 6, which is connected to the computer 5. Computer 5 is connected to the shock wave source 1. Computer 5 is used to receive and process the position information obtained by the inertial motion capture device and the optical motion capture device. When the device is in use, it is located in the treatment room 7. Several optical capture devices are also installed in the treatment room 7 to obtain and construct a spatial coordinate system. The information obtained by the optical capture devices in the treatment room 7 is also synchronized to the computer 5 in real time. Based on the optical capture devices in the treatment room 7, combined with the inertial motion capture device and the optical motion capture device on the first locator 2 and the second locator 4, the spatial position information of the shock wave source 1 and the stone is obtained respectively.

[0045] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0046] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A lithotripsy system combining optical and inertial trapping, characterized in that, Includes a spatial coordinate system establishment module: By installing several optical motion capture devices in the diagnostic room, the computer establishes a spatial coordinate system based on the information obtained from the optical motion capture devices; Imaging module: Used to obtain the distance from the ultrasound probe to the stone; Stone location module: The ultrasound machine is equipped with an inertial motion capture system and an optical motion capture system. While the distance between the ultrasound probe and the stone is obtained through the imaging module, the inertial motion capture system and the optical motion capture system capture the position of the ultrasound probe in space and feed the captured data back to the computer in real time. The computer calculates all the data to obtain the position information of the stone in space. Shockwave source location module: By installing an inertial motion capture system and an optical motion capture system on the shockwave source, the real-time location information of the shockwave source is captured and fed back to the computer. The computer then calculates the spatial coordinates of the stone through the shockwave source based on the stone's position in space. Rock Crushing Module: Move the shock wave source to the designated location to start crushing rocks.

2. The lithotripsy system combining optical and inertial trapping according to claim 1, characterized in that, The imaging module is specifically ultrasound.

3. The lithotripsy system combining optical and inertial trapping according to claim 1, characterized in that, The stone localization and lithotripsy system also includes a control unit for controlling the operation of each module and data transmission.

Images