Projection navigation device applied to C-arm X-ray machine and calibration and implementation method

Abstract

The invention provides a projection navigation device applied to a C-arm X-ray machine, and the projection navigation device applied to the C-arm X-ray machine is characterized in that the projection navigation device comprises a projector and a reflection device; the reflecting device is used for reflecting light emitted by the projector; when the projection navigation device is used for the C-arm X-ray machine, the reflection device can reflect light passing through the main optical axis of the lens of the projector to the position below an X-ray bulb tube of the C-arm X-ray machine, and the reflected light passing through the main optical axis of the lens of the projector coincides with the main optical axis of the X-ray bulb tube. After the position and the angle of the emergent light path of the projector are precisely calibrated and locked before use, the positions of the projector and the reflecting device do not need to be adjusted again in the subsequent use process, the effect that what you see is what you get is achieved, and panoramic observation of the perspective area of the X-ray machine and independent display and visual linear navigation of a specific target are achieved; compared with an existing C-arm X-ray machine auxiliary positioning or navigation device, the C-arm X-ray machine auxiliary positioning or navigation device is small in occupied size, and the operation space is effectively widened.

Description

Technical Field

[0001] The present invention relates to a navigation device applied to a C-arm X-ray machine, and in particular to a projection navigation device applied to a C-arm X-ray machine, and a calibration and implementation method. Background Art

[0002] Traditional surgical methods involve large incisions, heavy bleeding, and great damage to the body. Not only do they leave large scars that affect appearance, but they may also cause related complications. With the development of minimally invasive surgery, it is expected that the surgery can be completed through small incisions or percutaneous puncture. However, this depends on the precise percutaneous positioning of the target in the body and the precise path navigation to reach the target.

[0003] The utility model patent with Chinese patent application number 201920068139.8 discloses a laser locator and surgical navigation system based on a C-arm X-ray machine, which is equipped with a laser locator that can generate a visible laser beam at the end of the image intensifier of the C-arm X-ray machine, and uses the laser beam to accurately navigate the target in the body. However, there are several problems with this patent. First, the laser locator is large in size and is installed at the end of the image intensifier. To obtain a sufficient perspective field of view, the patient needs to be as close to the image intensifier as possible, which greatly reduces the space from the laser locator to the patient's body surface, which is not conducive to the operation of the surgeon; second, the navigation of the laser beam depends on the movement of the stepper motor, and the stepper motor is prone to jamming, step loss and noise during movement, which will lead to a decrease in navigation accuracy and interfere with the surgical process; third, the laser beam can only navigate and locate a single target, and cannot achieve a panoramic display of the target in the surgical area and simultaneous positioning of multiple targets; fourth, the laser locator has metal parts such as the laser generating tube that is not transparent to X-rays, and these parts are located in the X-ray projection area, which will block the surgical target of the human body and affect its imaging. Summary of the invention

[0004] In response to the above technical problems, the projection navigation device and method for C-arm X-ray machines provided by the present invention can effectively solve the technical problems existing in the prior art. It has a simple structure and occupies a small volume, effectively widens the surgical space, and does not obstruct the surgical targets. During the operation, there is no need to move equipment components, thereby achieving panoramic observation of the X-ray machine's perspective area, separate display of specific targets, and visual linear navigation.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A projection navigation device applied to a C-arm X-ray machine comprises a projector and a reflection device; the reflection device is used to reflect the light emitted by the projector; when the projection navigation device is used in the C-arm X-ray machine, the reflection device can reflect the light passing through the main optical axis of the lens of the projector to below the X-ray tube of the C-arm X-ray machine, and make the reflected light passing through the main optical axis of the lens of the projector coincide with the main optical axis of the X-ray tube.

[0007] The present invention provides a projection navigation device applied to a C-arm X-ray machine. Preferably, the reflection device includes a first plane mirror and a second plane mirror parallel to each other; the mirror surfaces of the first plane mirror and the second plane mirror are opposite to each other; the mirror surface of the first plane mirror is obliquely opposite to the lens of the projector; if the direction of the outgoing light of the main optical axis of the lens of the projector is vertically downward, the angle between the first plane mirror and the horizontal plane is 45°; the outgoing light of the main optical axis of the lens emitted by the projector is reflected by the first plane mirror, irradiated to the second plane mirror, and then reflected by the second plane mirror to be parallel to the main optical axis of the lens of the projector.

[0008] The projection navigation device for a C-arm X-ray machine provided by the present invention is preferably such that the distance between the second plane mirror and the first plane mirror is adjustable.

[0009] The projection navigation device for a C-arm X-ray machine provided by the present invention preferably also includes a first driving mechanism; the first driving mechanism can drive the projector to move; if the adjustable direction between the first plane mirror and the second plane mirror of the reflection device is the Y-axis direction, the first driving mechanism can drive the projector to move in the plane formed by the X-axis and the Z-axis.

[0010] The projection navigation device for a C-arm X-ray machine provided by the present invention preferably comprises a microprocessing module and a communication module; the microprocessing module is electrically connected to the communication module; the microprocessing module is electrically connected to the first driving mechanism.

[0011] The projection navigation device for a C-arm X-ray machine provided by the present invention preferably further includes a second driving mechanism; the distance between the two plane mirrors of the reflection device is adjusted by the second driving mechanism; the second driving mechanism is electrically connected to the microprocessor module.

[0012] The projection navigation device for a C-arm X-ray machine provided by the present invention preferably also includes a calibration device; the calibration device is detachably fixed to the projector; the calibration device includes a fixing part, a first metal ball, a second metal ball, a third metal ball and a fourth metal ball; the first metal ball, the second metal ball, the third metal ball and the fourth metal ball are all fixed to the fixing part.

[0013] The projection navigation device for a C-arm X-ray machine provided by the present invention preferably comprises a tubular shell with sealed ends; the first plane mirror and the second plane mirror are fixed in the tubular shell; the first plane mirror and the second plane mirror are respectively located at the two ends of the tubular shell; a light inlet is provided on the upper surface of the tubular shell; a light outlet is provided on the lower surface of the tubular shell; the light inlet faces the mirror surface of the first plane mirror; the light outlet faces the mirror surface of the second plane mirror; the light inlet wraps around the lens of the projector.

[0014] The projection navigation device for a C-arm X-ray machine provided by the present invention preferably comprises a first plane mirror; the mirror surface of the first plane mirror is obliquely opposite to the lens of the projector; if the main optical axis of the lens of the projector is horizontal, the angle between the first plane mirror and the horizontal plane is 45°; the outgoing light of the main optical axis of the lens of the projector is vertical to the main optical axis of the lens of the projector after being reflected by the first plane mirror.

[0015] The projection navigation device for a C-arm X-ray machine provided by the present invention preferably comprises step S101: installing the projection navigation device on the side of the X-ray tube so that the lens of the projector faces the image intensifier and the reflector extends under the X-ray tube;

[0016] Step S102: Install the calibration device on the projector so that the line connecting the first metal ball and the second metal ball is parallel to the Y axis; the line connecting the third metal ball and the fourth metal ball is parallel to the X axis; the midpoint of the line connecting the first metal ball and the second metal ball is the first midpoint; the midpoint of the line connecting the third metal ball and the fourth metal ball is the second midpoint; the line connecting the first midpoint and the second midpoint is parallel to the Z axis; the first midpoint is located above the second midpoint; the distance between the first midpoint and the second midpoint is L; the distance between the first metal ball and the second metal ball is also L; the distance between the third metal ball and the fourth metal ball is also L;

[0017] Step S103: Perform perspective to obtain a perspective image; the distance between the first metal ball and the second metal ball on the perspective image is S1; the distance between the third metal ball and the fourth metal ball on the perspective image is S2; the midpoint of the line connecting the first metal ball and the second metal ball on the perspective image is (X0, Y0); the distance between the X-ray focus and the first metal ball in the Z-axis direction is H=S2*L / (S1-S2);

[0018] Step S104: Adjust the distance S of the projector on the Z axis Z =H-H0, where H0 is the distance between the center of the projector lens and the first metal ball in the Z-axis direction; the distance S adjusted by adjusting the projector on the X-axis X =S1*L / X0; the distance S between the second plane mirror and the first plane mirror on the Y axisY =S1*L / Y0;

[0019] Step S105: After the position of the projector on the X-axis and Z-axis and the position between the second plane mirror and the first plane mirror on the Y-axis are adjusted, perspective is performed again to adjust the size of the image input to the projector so that the images of the first metal ball and the second metal ball projected by the projector coincide with the actual sizes and positions of the first metal ball and the second metal ball on the calibration device.

[0020] The implementation method of the projection navigation device applied to a C-arm X-ray machine provided by the present invention preferably includes:

[0021] Step S201: installing the projection navigation device of the C-arm X-ray machine to the side of the line tube of the C-arm X-ray machine;

[0022] Step S202: calibrating the projection navigation device of the C-arm X-ray machine using a calibration device;

[0023] Step S203: dismantling the calibration device;

[0024] Step S204: starting the C-arm X-ray machine to perform perspective on the patient's body, and the projection navigation device projects the acquired perspective image onto the patient's body surface;

[0025] Step S205: The target points on the obtained C-arm X-ray machine's perspective image are marked and distinguished by using different colors. At this time, the perspective image projected onto the patient's body surface is the marked and distinguished perspective image.

[0026] The above technical solution has the following advantages or beneficial effects:

[0027] The present invention provides a projection navigation device applied to a C-arm X-ray machine, and the projection navigation device applied to a C-arm X-ray machine is characterized in that it includes a projector and a reflection device; the reflection device is used to reflect the light emitted by the projector; when the projection navigation device is used in the C-arm X-ray machine, the reflection device can reflect the light passing through the main optical axis of the lens of the projector to the bottom of the X-ray tube of the C-arm X-ray machine, and make the reflected light passing through the main optical axis of the lens of the projector coincide with the main optical axis of the X-ray tube. After the position and angle of the projector's outgoing light path are precisely calibrated and locked before use, there is no need to adjust the position of the projector and the reflection device again during subsequent use, achieving a "what you see is what you get" effect, realizing panoramic observation of the X-ray machine's perspective area and separate display and visualized linear navigation of specific targets; and compared with the existing C-arm X-ray machine auxiliary positioning or navigation equipment, the volume occupied is small, which effectively widens the surgical space. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention and its features, configurations and advantages will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings. The same reference numerals indicate the same parts throughout the drawings. The drawings are not drawn to scale, but rather to illustrate the subject matter of the present invention.

[0029] Figure 1 It is a structural schematic diagram of a projection navigation device applied to a C-arm X-ray machine provided by the present invention;

[0030] Figure 2 is a schematic structural diagram of a reflection device provided by the present invention;

[0031] Figure 3 It is another structural schematic diagram of the projection navigation device applied to a C-arm X-ray machine provided by the present invention;

[0032] Figure 4 The present invention provides a C-arm X-ray machine provided with a projection navigation device applied to a C-arm X-ray machine;

[0033] Figure 5 It is a schematic diagram of the electrical connection wireframe provided by the present invention;

[0034] Figure 6 is a light schematic diagram of a projector and a calibration device provided by the present invention;

[0035] Figure 7 It is a light schematic diagram of the projector and the reflector provided by the present invention (the center of the projector lens and the X-ray focus "equivalently" coincide with each other);

[0036] Figure 8 is a partial schematic diagram of the calibration device provided by the present invention;

[0037] Fig. 9 is a schematic diagram of the perspective image in step S103 provided by the present invention;

[0038] Fig.10 This is a light schematic diagram of another projector and a reflection device provided in Example 3 of the present invention. DETAILED DESCRIPTION

[0039] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0040] Embodiment 1:

[0041] like Figures 1 to 3As shown, a projection navigation device applied to a C-arm X-ray machine provided in Example 1 of the present invention includes a projector 1 and a reflection device 2; the reflection device 2 includes a first plane mirror 21 and a second plane mirror 22 which are parallel to each other; the mirror surfaces of the first plane mirror 21 and the second plane mirror 22 are opposite to each other; the mirror surface of the first plane mirror 21 is obliquely opposite to the lens of the projector 1; if the direction of the outgoing light through the main optical axis of the lens of the projector 1 is vertically downward, the angle between the first plane mirror 21 and the horizontal plane is 45°; the outgoing light through the main optical axis of the lens of the projector 1 is reflected by the first plane mirror 21, irradiated to the second plane mirror 22, and then reflected by the second plane mirror 22 to be parallel to the main optical axis of the lens of the projector 1. When using the projection navigation device applied to a C-arm X-ray machine provided in Example 1 of the present invention, the projector 1 is installed on the side of the X-ray tube 0, as shown in FIG. Figure 4 As shown; place the second plane mirror 22 below the X-ray tube, and reflect the light from the main optical axis of the projector lens to coincide with the main optical axis of the X-ray tube, so as to achieve horizontal translation of the projection light path, so that the focus of the projector lens physically coincides with the X-ray focus in the X-axis and Z-axis directions, and "equivalently" coincides with the Y-axis; and the image output by the projector is equal in size and coincides with the actual X-ray image. The projector and the C-arm X-ray machine are respectively connected to the processing terminal, and the image obtained by the X-ray machine is projected onto the patient's body through the projector. At this time, the projected image on the patient's body is completely consistent with the transmission image inside the patient's body, and corresponds to the size and position of the patient's body one by one, achieving the effect of "what you see is what you get", and the doctor directly performs the surgery according to the image projected on the patient. After the present invention is calibrated before use, the center of the lens physically coincides with the X-ray focus in the X-axis and Z-axis directions, and "equivalently" coincides with the X-ray focus on the Y-axis (such as Figure 7 As shown in the figure, after the image output by the projector is the same size as the actual X-ray image and overlaps with it, there is no need to adjust the position of the projector again. The doctor can directly obtain a projection image of the corresponding size regardless of the size of the X-ray fluoroscopy area, achieving a "what you see is what you get" effect and realizing a panoramic observation of the X-ray fluoroscopy area. In addition, compared with the existing technology, it occupies a small volume and effectively expands the surgical space.

[0042] In order to make the projection navigation device for C-arm X-ray machine provided by the present invention applicable to different C-type X-ray machines, in a preferred embodiment of the present invention, the distance between the second plane mirror 22 and the first plane mirror 21 is adjustable. By adjusting the fixed position of the projector on the X-ray tube, the lens focus of the projector can be physically overlapped with the X-ray focus in the X-axis and Z-axis directions; by adjusting the distance between the second plane mirror 22 and the first plane mirror 21, the lens focus of the projector can be "equivalently" overlapped with the X-ray focus on the Y-axis; achieving the same effect as physical overlap (such as Figure 7 shown).

[0043] In a preferred embodiment of the present invention, Figure 5 As shown, it also includes a first driving mechanism 3, a microprocessing module 4, a first communication module 5 and a second driving mechanism 6; the first driving mechanism 3 can drive the projector 1 to move; if the adjustable direction between the first plane mirror 21 and the second plane mirror 22 of the reflecting device 2 is the Y-axis direction, the first driving mechanism 3 can drive the projector 1 to move in the plane formed by the X-axis and the Z-axis; the distance between the first plane mirror 21 and the second plane mirror 22 of the reflecting device 2 is adjusted by the second driving mechanism 6; the second driving mechanism 6 is electrically connected to the microprocessing module 4; the microprocessing module 4 is electrically connected to the first communication module 5; the microprocessing module 4 is electrically connected to the first driving mechanism 3. The projector is fixed on the X-ray tube through the first driving mechanism, and the position of the projector is adjusted in the X-axis and Z-axis directions by the first driving mechanism 3; the distance between the first safety mirror 22 and the first plane mirror 21 is adjusted by the second driving mechanism. In the process of making the lens focus of the projector coincide with the X-ray focus, the microprocessing module 4 controls the first driving mechanism 3 and the second driving mechanism 6 to achieve the effect of ensuring the accuracy of the adjustment. In this embodiment, the first drive mechanism 3 and the second drive mechanism 6 are set as electric structures controlled by the microprocessor module 4 in order to realize the automation of movement control and avoid the trouble of manual adjustment. However, in this embodiment, the first drive mechanism 3 and the second drive mechanism 6 can also adopt manual movement structures to manually adjust the movement of the projector and the second plane mirror. It should be noted that both the electric drive structure and the manual movement structure are prior arts in the art and will not be described in detail here.

[0044] In order to ensure the projection effect of the projector and avoid the light scattering of the projector, in the preferred embodiment of the present invention, the reflection device 2 includes a tubular shell 23 with sealed ends; the first plane mirror 21 and the second plane mirror 22 are fixed in the tubular shell 23; the first plane mirror 21 and the second plane mirror 22 are respectively located at the two ends of the tubular shell 23; the upper surface of the tubular shell 23 is provided with a light inlet 24; the lower surface of the tubular shell is provided with a light outlet 25; the light inlet 24 faces the mirror surface of the first plane mirror 22; the light outlet 5 faces the mirror surface of the second plane mirror 22; a periscope structure is formed; the light inlet 24 in this embodiment completely wraps the lens of the projector 1 by setting another tubular structure. In addition, in this embodiment, the tubular shell 23 can be set as a retractable tubular shell, so that the second driving mechanism controls the length of the tubular shell 23, thereby adjusting the distance between the first plane mirror 21 and the second plane mirror 22.

[0045] In this embodiment, a calibration device 7 is also included; the calibration device 7 is detachably fixed on the projector 1; the calibration device 7 includes a fixing member 75, a first metal ball 71, a second metal ball 72, a third metal ball 73 and a fourth metal ball 74; the first metal ball 71, the second metal ball 72, the third metal ball 73 and the fourth metal ball 74 are all fixed on the fixing member 75; the first metal ball 71, the second metal ball 72, the third metal ball 73 and the fourth metal ball 74 are located below the mirror surface of the second plane mirror. The specific method of using the calibration device 7 is shown in Example 2 of the present invention.

[0046] In this embodiment, a processing terminal 00 is also included; the processing terminal 00 includes a display 01, an image input terminal 02, an image output terminal 03, an image processing module 04, a processor 05 and a second communication module 06; the image input terminal 02 is electrically connected to the image output line of the C-arm X-ray machine; the image output terminal 03 is electrically connected to the display 01 and the projector 1; the second communication module 06 is electrically connected to the first communication module 5; the image input terminal 02, the image output terminal 03, the image processing module 04, the processor 05, and the second communication module 06 are all electrically connected through a bus. When calibrating using the calibration method in Example 2, the built-in calculation software is used to automatically calculate the adjustment distance of the projector on the X and Y axes and the adjustment distance between the first plane mirror and the second plane mirror. If the first driving mechanism 3 and the second driving mechanism 6 are both manually movable structures, the distance between the projector and the first plane mirror and the second plane mirror can be manually adjusted according to the calculated adjustment distance; if the first driving mechanism 3 and the second driving mechanism 6 are both electrically driven structures, the adjustment distance is sent to the microprocessing module 4 by utilizing the electrical connection between the first communication module 5 and the second communication module 06, and the first driving mechanism 3 and the second driving mechanism 6 are driven by the microprocessing module 4. The processing terminal 00 in this embodiment can also be a computer host embedded with the functional software required in the embodiment itself.

[0047] Example 2: Figures 6 to 9 As shown, when using the projection navigation device for a C-arm X-ray machine provided in Example 1 of the present invention, calibration is required, specifically:

[0048] Step S101: Install the projection navigation device on the side of the X-ray tube so that the lens of the projector faces the image intensifier and the reflector extends under the X-ray tube;

[0049] Step S102: Install the calibration device on the projector so that the line connecting the first metal ball and the second metal ball is parallel to the Y axis; the line connecting the third metal ball and the fourth metal ball is parallel to the X axis; the midpoint of the line connecting the first metal ball and the second metal ball is the first midpoint; the midpoint of the line connecting the third metal ball and the fourth metal ball is the second midpoint; the line connecting the first midpoint and the second midpoint is parallel to the Z axis; the first midpoint is located above the second midpoint; the distance between the first midpoint and the second midpoint is L; the distance between the first metal ball and the second metal ball is also L; the distance between the third metal ball and the fourth metal ball is also L;

[0050] Step S103: Perform perspective to obtain a perspective image; the distance between the first metal ball and the second metal ball on the perspective image is S1; the distance between the third metal ball and the fourth metal ball on the perspective image is S2; the midpoint of the line connecting the first metal ball and the second metal ball on the perspective image is (X0, Y0); the distance between the X-ray focus and the first metal ball in the Z-axis direction is H=S2*L / (S1-S2);

[0051] Step S104: Adjust the distance S of the projector on the Z axis Z =H-H0, where H0 is the distance between the center of the projector lens and the first metal ball in the Z-axis direction; the distance S adjusted by adjusting the projector on the X-axis X =S1*L / X0; the distance S between the second plane mirror and the first plane mirror on the Y axis Y =S1*L / Y0;

[0052] Step S105: After the position of the projector on the X-axis and Z-axis and the position between the second plane mirror and the first plane mirror on the Y-axis are adjusted, perspective is performed again to adjust the size of the image input to the projector so that the images of the first metal ball and the second metal ball projected by the projector coincide with the actual sizes and positions of the first metal ball and the second metal ball on the calibration device.

[0053] In Example 2 of the present invention, by connecting the image output line of the C-arm X-ray machine 0 to the processing terminal 00, the perspective image data information obtained in step S103 is sent to the processing terminal 00, the processing terminal 00 calculates the adjustment distances of the Z axis and the X axis, and sends the adjustment distance information of the Z axis and the X axis to the microprocessing module 4 through the communication connection between the first communication module 5 and the second communication module 06. The microprocessing module 4 drives the first driving mechanism 3 and the second driving mechanism 6 to adjust the Z axis and the X axis; thereby, the lens focus of the projector of the projection navigation device provided in Example 1 of the present invention is equivalently coincident with the X-ray focus.

[0054] Embodiment 3: Embodiment 3 of the present invention provides a projection navigation device for a C-arm X-ray machine, comprising a projector and a reflection device; the reflection device comprises a first plane mirror; the mirror surface of the first plane mirror is obliquely facing the lens of the projector; if the main optical axis of the lens of the projector is horizontal, the angle between the first plane mirror and the horizontal plane is 45°; the outgoing light from the main optical axis of the lens of the projector is vertical to the main optical axis of the lens of the projector after being reflected by the first plane mirror. Fig.10 As shown, compared with Example 1, Example 3 of the present invention reduces one plane mirror for reflection, but its principle is the same as that of Example 1, which is to make the light reflected by the main optical axis of the projector lens coincide with the main optical axis of the X-ray tube, so that the lens focus of the projector can physically coincide with the X-ray focus in the X-axis and Z-axis directions, and "equivalently" coincide on the Y-axis; and make the image output by the projector equal in size and coincide with the actual X-ray image. The principle of the calibration method of Example 3 of the present invention in the specific use process is consistent with that of Example 2 of the present invention. Those skilled in the art can make adaptive adjustments according to Example 3 in combination with the content of Example 2, which will not be repeated here.

[0055] Embodiment 4: When implementing the projection navigation device applied to a C-arm X-ray machine provided in Embodiment 1 of the present invention, the specific implementation method is as follows:

[0056] Step S201: installing the projection navigation device of the C-arm X-ray machine to the side of the line tube of the C-arm X-ray machine;

[0057] Step S202: calibrating the projection navigation device of the C-arm X-ray machine using a calibration device;

[0058] Step S203: dismantling the calibration device;

[0059] Step S204: starting the C-arm X-ray machine to perform perspective on the patient's body, and the projection navigation device projects the acquired perspective image onto the patient's body surface;

[0060] Step S205: The target points on the obtained C-arm X-ray machine's perspective image are marked and distinguished by using different colors. At this time, the perspective image projected onto the patient's body surface is the marked and distinguished perspective image.

[0061] When the doctor uses the C-arm X-ray machine, through step S204, the projector 1 projects the perspective image onto the patient's body surface, achieving the "what you see is what you get" effect of the target in the human body. The doctor performs surgery on the lesion according to the image projected on the patient's body, and realizes a panoramic observation of the perspective area of ​​the X-ray machine. In addition, through step S205, the doctor can use the graphics processing software embedded in the processing terminal to color the perspective image obtained by the C-arm X-ray machine, and use different colors to mark and distinguish the target points; the image projected onto the patient by the projector will be the colored image; by projecting light beams of different colors on the patient, accurate navigation of a single target can be achieved.

[0062] Those skilled in the art should understand that those skilled in the art can implement the above-mentioned variations by combining the prior art and the above-mentioned embodiments, which will not be described in detail here. Such variations do not affect the essential content of the present invention, and will not be described in detail here.

[0063] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can make many possible changes and modifications without departing from the technical solution of the present invention, or modify them into equivalent embodiments with equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. A projection navigation device applied to a C-arm X-ray machine, characterized in that: It includes a projector and a reflecting device; the reflecting device is used to reflect the light emitted by the projector; When the projection navigation device is used in a C-arm X-ray machine, the reflection device can reflect the light passing through the main optical axis of the lens of the projector to the bottom of the X-ray tube of the C-arm X-ray machine, and make the reflected light passing through the main optical axis of the lens of the projector coincide with the main optical axis of the X-ray tube.

2. The projection navigation device for a C-arm X-ray machine according to claim 1, characterized in that: The reflecting device includes a first plane mirror and a second plane mirror which are parallel to each other; the mirror surfaces of the first plane mirror and the second plane mirror are opposite to each other; the mirror surface of the first plane mirror is obliquely opposite to the lens of the projector; if the direction of the outgoing light through the main optical axis of the lens of the projector is vertically downward, the angle between the first plane mirror and the horizontal plane is 45°; the outgoing light through the main optical axis of the lens of the projector is reflected by the first plane mirror, irradiated to the second plane mirror, and then reflected by the second plane mirror to be parallel to the main optical axis of the lens of the projector.

3. The projection navigation device for a C-arm X-ray machine according to claim 2, characterized in that: The distance between the second plane mirror and the first plane mirror is adjustable.

4. The projection navigation device for a C-arm X-ray machine according to claim 3, characterized in that: It also includes a first driving mechanism; the first driving mechanism can drive the projector to move; if the adjustable direction between the first plane mirror and the second plane mirror of the reflecting device is the Y-axis direction, the first driving mechanism can drive the projector to move in the plane formed by the X-axis and the Z-axis.

5. The projection navigation device for a C-arm X-ray machine according to claim 4, characterized in that: It includes a micro-processing module and a first communication module; the micro-processing module is electrically connected to the communication module; the micro-processing module is electrically connected to the first driving mechanism.

6. The projection navigation device for a C-arm X-ray machine according to claim 5, characterized in that: It also includes a second driving mechanism; the distance between the two plane mirrors of the reflecting device is adjusted by the second driving mechanism; the second driving mechanism is electrically connected to the micro-processing module.

7. The projection navigation device for a C-arm X-ray machine according to claim 5, characterized in that: It also includes a processing terminal; the processing terminal includes an image input terminal, an image output terminal, a second communication module, a processor, an image processing module and a display; the image input terminal is electrically connected to the image output line of the C-arm X-ray machine; the image output terminal is electrically connected to the display and the projector; the second communication module is electrically connected to the first communication module; the image input terminal, the image output terminal, the image processing module, the processor, and the second communication module are all electrically connected through a bus.

8. The projection navigation device for a C-arm X-ray machine according to claim 2, characterized in that: It also includes a calibration device; the calibration device can be detachably fixed on the projector; the calibration device includes a fixing part, a first metal ball, a second metal ball, a third metal ball and a fourth metal ball; the first metal ball, the second metal ball, the third metal ball and the fourth metal ball are all fixed on the fixing part; the line connecting the first metal ball and the second metal ball is parallel to the Y axis; the line connecting the third metal ball and the fourth metal ball is parallel to the X axis; the midpoint of the line connecting the first metal ball and the second metal ball is the first midpoint; the midpoint of the line connecting the third metal ball and the fourth metal ball is the second midpoint; the line connecting the first midpoint and the second midpoint is parallel to the Z axis; the first midpoint is located above the second midpoint; the first metal ball, the second metal ball, the third metal ball and the fourth metal ball are located below the mirror surface of the second plane mirror.

9. The projection navigation device for a C-arm X-ray machine according to claim 2, characterized in that: The reflecting device comprises a tubular shell with sealed ends; the first plane mirror and the second plane mirror are fixed in the tubular shell; the first plane mirror and the second plane mirror are respectively located at the two ends of the tubular shell; a light inlet is provided on the upper surface of the tubular shell; a light outlet is provided on the lower surface of the tubular shell; the light inlet faces the mirror surface of the first plane mirror; the light outlet faces the mirror surface of the second plane mirror; the light inlet wraps around the lens of the projector.

10. The projection navigation device for a C-arm X-ray machine according to claim 1, characterized in that: The reflecting device comprises a first plane mirror; the mirror surface of the first plane mirror is obliquely facing the lens of the projector; if the main optical axis of the lens of the projector is horizontal, the angle between the first plane mirror and the horizontal plane is 45°; the outgoing light passing through the main optical axis of the lens of the projector is vertical to the main optical axis of the lens of the projector after being reflected by the first plane mirror.

11. A calibration method for a projection navigation device applied to a C-arm X-ray machine using any one of claims 2 to 9, characterized in that: include Step S101: Install the projection navigation device on the side of the X-ray tube so that the projection direction of the projector faces the image intensifier and the reflection device extends under the X-ray tube; Step S102: Install the calibration device on the projector, the first metal ball, the second metal ball, the third metal ball, and the fourth metal ball are located below the second plane mirror; the line connecting the first metal ball and the second metal ball is parallel to the Y axis; the line connecting the third metal ball and the fourth metal ball is parallel to the X axis; the midpoint of the line connecting the first metal ball and the second metal ball is the first midpoint; the midpoint of the line connecting the third metal ball and the fourth metal ball is the second midpoint; the line connecting the first midpoint and the second midpoint is parallel to the Z axis; the first midpoint is located above the second midpoint; the distance between the first midpoint and the second midpoint is L; the distance between the first metal ball and the second metal ball is also L; the distance between the third metal ball and the fourth metal ball is also L; Step S103: Perform perspective to obtain a perspective image; the distance between the first metal ball and the second metal ball on the perspective image is S1; the distance between the third metal ball and the fourth metal ball on the perspective image is S2; the midpoint of the line connecting the first metal ball and the second metal ball on the perspective image is (X0, Y0); the distance between the X-ray focus and the first metal ball in the Z-axis direction is H=S2*L / (S1-S2); Step S104: Adjust the distance S of the projector on the Z axis Z =H-H0, where H0 is the distance between the center of the projector lens and the first metal ball in the Z-axis direction; the distance S adjusted by adjusting the projector on the X-axis X =S1*L / X0; the distance S between the second plane mirror and the first plane mirror on the Y axis Y =S1*L / Y0; Step S105: After the position of the projector on the X-axis and Z-axis and the position between the second plane mirror and the first plane mirror on the Y-axis are adjusted, perspective is performed again to adjust the size of the image input to the projector so that the images of the first metal ball and the second metal ball projected by the projector coincide with the actual sizes and positions of the first metal ball and the second metal ball on the calibration device.

12. An implementation method of a projection navigation device applied to a C-arm X-ray machine, characterized in that: Step S201: installing the projection navigation device of the C-arm X-ray machine to the side of the line tube of the C-arm X-ray machine; Step S202: calibrating the projection navigation device of the C-arm X-ray machine using a calibration device; Step S203: dismantling the calibration device; Step S204: starting the C-arm X-ray machine to perform perspective on the patient's body, and the projection navigation device projects the acquired perspective image onto the patient's body surface; Step S205: The target points on the obtained C-arm X-ray machine's perspective image are marked and distinguished by using different colors. At this time, the perspective image projected onto the patient's body surface is the marked and distinguished perspective image.

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