CT laser navigation device and method

Abstract

The invention belongs to the technical field of medical equipment, and discloses a CT laser navigation device and method.The device comprises a bottom plate, a calibration plate, a laser emitting assembly and a control unit, the bottom plate is fixed to a bed plate of a CT scanner, the calibration plate is arranged at the front end of the bottom plate, and multiple sets of developing positioning balls are arranged on the calibration plate and used for CT coordinate calibration; the two laser emission assemblies are symmetrically installed on the two sides of the bottom plate, and the laser emission angle is adjusted through the multi-degree-of-freedom holder motor. The control unit integrates respiration positioning data and calculates and dynamically corrects a puncture path in real time. The method comprises the following steps: establishing a coordinate system mapping relation through the calibration plate, compensating target displacement by combining a breathing synchronization technology, controlling the laser emission assembly to generate a double-beam intersection path, and correcting deviation in real time. The device has the advantages of being low in cost, convenient to install, high in precision and the like and can be matched with existing CT equipment, and the accuracy and safety of the puncture operation are remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to a CT laser navigation device and method. Background Art

[0002] Traditional puncture surgeries rely on doctors' experience and have problems such as insufficient accuracy and high risk of complications. Although conventional robotic arm type puncture navigation systems can improve accuracy, they have the following defects: 1. High equipment cost: The robotic arm system involves complex multi-axis motion control, high-precision sensors, and image registration technology, resulting in a relatively high overall cost and limiting the popularization in medium and small-sized hospitals. 2. Large equipment volume affects operation: The robotic arm body and supporting tracking equipment (such as electromagnetic field generators, optical locators) occupy the surgical space and may interfere with the doctor's operation path. 3. The clamping device affects the feel: The robotic arm end clamps the puncture needle for positioning, resulting in the doctor being unable to directly perceive the puncture resistance and tissue feedback.

[0003] In contrast, laser puncture surgery navigation technology solves the above pain points through innovative designs: 1. Advantages of volume and flexibility: Laser navigation devices are small in size and can be directly deployed on existing CT beds without affecting the doctor's operation movement line. 2. No clamping operation to ensure the feel: By projecting the puncture path, the doctor can hold the puncture needle and operate freely, retaining the tactile feedback. 3. Significantly reduced cost: It mainly relies on algorithm models and low-cost optical components. 4. Optimized consumables and processes: High-value consumables such as electromagnetic positioning needles are not required. Through integrated registration technology, steps such as traditional label pasting and step-by-step needle insertion are eliminated, shortening the preoperative preparation time; combined with respiratory synchronization technology, the number of CT scans is reduced, and the radiation dose is lowered.

[0004] Currently, some CT manufacturers integrate the laser puncture surgery navigation system into the CT scanner, enabling CT laser navigation puncture surgery. However, the laser puncture surgery navigation systems of these CT scanners mainly have the following deficiencies: 1. The laser puncture surgery navigation system is integrated on the CT scanner. To use laser navigation, a complete CT scanner needs to be purchased, resulting in huge costs.

[0005] 2. The integration of the laser puncture surgery navigation system on the CT scanner makes the installation operation complex and cumbersome.

[0006] 3. Currently, these CT scanners integrated with the laser puncture surgery navigation system lack the function of detecting the patient's respiratory movement, and respiratory movement will affect puncture positioning, resulting in errors.

[0007] Therefore, there is an urgent need to develop a laser navigation device that can be used independently, in cooperation with existing CT scanners to achieve CT laser navigation surgery, so as to achieve the purpose of reducing the usage cost and improving the navigation accuracy. Summary of the Invention

[0008] The object of the present invention is to provide a CT laser navigation device and method to solve the above technical problems.

[0009] To solve the above technical problems, the specific technical solutions of a CT laser navigation device and method of the present invention are as follows: A CT laser navigation device includes a base plate, a calibration plate, a laser emission assembly, and a control unit. The base plate is fixedly installed on the bed plate of a CT scanner. The calibration plate is fixed on the base plate. Two groups of laser emission assemblies are fixed on both sides of the base plate. The control unit is fixed on the ground on one side of the bed plate. The control unit is electrically connected to the laser emission assembly and the CT scanner. The calibration plate is used for CT scan recognition to calibrate the position of the device, thereby establishing the relative coordinates of the laser emission assembly in the CT coordinate system. The control unit is used to collect the image data of the puncture site scanned by the CT scanner, plan the puncture path, and control the laser emission assembly to emit a laser path. The laser emission assembly emits a laser according to the laser path calculated by the control unit to form a puncture path.

[0010] Further, the base plate is detachably installed on the bed plate of the CT scanner through fasteners.

[0011] Further, the calibration plate is fixed at the front end of the base plate. Multiple groups of developing positioning balls are distributed on the calibration plate, and at least 3 groups are not on the same horizontal line. Each group of developing positioning balls includes at least 3 balls.

[0012] Further, the calibration plate has a structure with one end fixed and the other end openable. There is a mounting seat on one side of the front end of the base plate. One end of the calibration plate is rotatably connected to the mounting seat through a pin shaft, and the calibration plate can be flipped around the mounting seat. There is a positioning groove on the other side of the front end of the base plate for positioning and clamping the other end of the calibration plate, and the free end of the calibration plate is clamped into the positioning groove for limit fixation.

[0013] Further, the calibration plate is semi-circular or arch-shaped.

[0014] Further, the laser emission assembly includes a base, a first laser generator, and a second laser generator. Multiple pan-tilt motors are built in the base, the first laser generator, and the second laser generator. The base is fixedly installed on the side of the base plate. The lower end of the first laser generator is rotatably connected to the base through a pan-tilt motor. The lower end of the second laser generator is rotatably connected to the upper end of the first laser generator through a pan-tilt motor. The positions and laser emission angles of the first laser generator and the second laser generator are adjusted through pan-tilt motors.

[0015] Further, a first pan-tilt motor is fixedly installed inside the base. The first pan-tilt motor is installed horizontally, and its output end is fixedly connected to the lower end of the first laser generator. The rotation of the first pan-tilt motor drives the first laser generator to swing back and forth, realizing the angle adjustment of the first laser generator. A second pan-tilt motor is installed at the upper end of the first laser generator. The second pan-tilt motor is installed horizontally, and its output end is fixedly connected to the lower end of the second laser generator. The rotation of the second pan-tilt motor drives the second laser generator to swing back and forth, realizing the angle adjustment of the second laser generator.

[0016] Further, the bottom of the first laser generator has a base. A third pan-tilt motor is fixedly installed on the base. The third pan-tilt motor is installed vertically, and its upper output end is fixedly connected to the bottom of the bracket. A fourth pan-tilt motor is fixed on the bracket. The fourth pan-tilt motor is installed vertically, and its upper output end is fixedly connected to the bottom of the laser diode component. A reflector is fixed on the top of the bracket. The reflector is aligned with the emission port of the laser diode component. The first laser generator has a housing outside. There is a light-transmitting window above the housing. The fan-shaped laser emitted by the laser diode component is reflected by the reflector and then emitted from the light-transmitting window. The third pan-tilt motor is used to adjust the rotation angle of the bracket, thereby adjusting the emission direction of the laser diode component. The fourth pan-tilt motor is used to adjust the rotation angle of the laser diode component. The laser diode component rotates relative to the reflector, thereby adjusting the shape of the emitted light beam. The laser diode component is electrically connected to the control unit and works under the control of the control unit. The internal structure of the second laser generator is the same as that of the first laser generator. All the pan-tilt motors in the laser emission assembly are electrically connected to the control unit and can feedback the attitude to the control unit.

[0017] Further, the control unit is built with a data processing system, which integrally processes laser projection data, CT image data, and data of the breathing positioning device. The control unit calculates the rotation angles of the pan-tilt motors and controls the rotation of each pan-tilt motor. The control unit calculates the laser emission path under the current breathing state according to the images collected by the CT scanner and in combination with the breathing positioning device, selects a group of laser diode components, and controls the laser emission assembly to rotate to a suitable position to emit two groups of fan-shaped light beams. The connecting line of the intersection points of the two groups of fan-shaped light beams is the puncture path.

[0018] The present invention also discloses a control method for a CT laser navigation device, including the following steps: Step 1: Device installation and coordinate calibration: Fix the bottom plate on the bed plate of the CT scanner, and establish the mapping relationship between the laser emission assembly and the CT coordinate system through the development positioning balls on the calibration plate. The control unit receives the CT scan data and calculates the position and direction of the laser generator in the CT coordinate system through the spatial geometric transformation algorithm. Step 2: Respiratory Synchronization and Dynamic Compensation: The control unit collects the waveform data of the respiratory positioning device in real time and dynamically corrects the target coordinates in the CT image in combination with the respiratory phase. Step 3: Laser Path Generation and Adjustment: The control unit selects one of the laser generators in the left and right laser emission components according to the planned puncture path and achieves beam collimation through mechanical adjustment steps; the left and right laser beams intersect, and the connecting line of their intersection points forms a real-time navigation path, and the puncture needle direction is adjusted according to this path to achieve path fitting. Step 4: Real-time Feedback and Error Correction: If the CT scan detects that the puncture needle deviates from the path, the control unit recalculates the laser projection angle and dynamically adjusts the beam direction through the pan-tilt motor.

[0019] A CT laser navigation device and method of the present invention have the following advantages: 1. Cost reduction and improved popularity The present invention provides a laser navigation device independent of the CT scanner, which can be quickly installed and used on the existing CT scanner without purchasing an expensive integrated system, significantly reducing the equipment cost, making it affordable for small and medium-sized hospitals, and thus improving the popularity of this technology.

[0020] 2. Convenient installation and flexible operation The device is fixed on the bed board of the existing CT scanner through the bottom plate and fasteners (such as ceramic screws), and the disassembly and assembly are simple without a complex installation process, and at the same time, it does not affect the doctor's operation space and movement line. The device is fixed on the bed board of the CT scanner, and the relative positions of the patient, the calibration board, and the laser emission component are fixed and can be deduced. Therefore, the planning of the laser path is not affected by the movement of the bed board, improving the accuracy of navigation.

[0021] 3. Respiratory Synchronization and Dynamic Compensation The control unit integrates the data acquisition and processing functions of the respiratory positioning device, real-time monitors the patient's respiratory movement through the respiratory positioning device, and dynamically corrects the target coordinates in combination with the respiratory phase, effectively reducing the puncture error caused by respiratory movement, improving the navigation accuracy, reducing the number of repeated CT scans, reducing the radiation dose of patients and doctors, and at the same time simplifying the surgical process and improving the overall efficiency.

[0022] 4. Efficient real-time calibration and path planning The position of the calibration board is fixed. During the whole operation process, through CT scanning, the mapping relationship between the device and the CT coordinate system can be quickly established in real time. The control unit automatically calculates and optimizes the puncture path in real time, shortening the preoperative preparation time, improving the efficiency and navigation accuracy.

[0023] 5. Modular Design and Multi-functional Adjustment The laser emission module adopts a modular design and is equipped with a gimbal motor with multiple degrees of freedom, which can flexibly adjust the angle and shape of the laser beam. Each group has two laser generators to choose from, adapting to different surgical needs and ensuring the accuracy of path guidance.

[0024] 6. Real-time Feedback and Dynamic Correction The control unit monitors the position of the puncture needle in real time. If a deviation from the path is detected, it can dynamically adjust the laser projection angle to ensure precise navigation throughout the surgery.

[0025] In summary, the present invention has significant advantages in reducing costs, improving accuracy, optimizing the operation process, and enhancing safety, and is applicable to a wide range of clinical puncture surgery scenarios. Description of the Drawings

[0026] Figure 1 is a schematic diagram of the overall structure of the CT laser navigation device of the present invention; Figure 2 is a schematic diagram of the calibration plate structure of the present invention; Figure 3 is a schematic diagram of the puncture path of the CT laser navigation device of the present invention; Figure 4 is a schematic diagram of the structure of the laser emission module of the present invention; Figure 5 is a schematic diagram of the internal structure of the laser emission module of the present invention; Figure 6 is a schematic diagram of the electrical topology structure of the present invention; Figure 7 is a schematic diagram of the operation process of the device of the present invention; Explanation of the marks in the figure: 1, bottom plate; 11, fastener; 12, mounting seat; 13, positioning groove; 2, calibration plate; 21, imaging positioning ball; 3, laser emission module; 31, base; 311, gimbal motor 1; 32, laser generator 1; 321, gimbal motor 2; 322, base; 323, gimbal motor 3; 324, bracket; 325, gimbal motor 4; 326, laser diode component; 327, reflector; 328, housing; 3281, light-transmitting window; 33, laser generator 2; 4, control unit; 5, bed board; 6, breathing positioning device; 7, puncture needle. Detailed Embodiment

[0027] In order to better understand the purpose, structure and function of the present invention, the following further describes in detail a CT laser navigation device and method of the present invention with reference to the drawings.

[0028] As Figures 1-3As shown in the figure, a CT laser navigation device of the present invention includes a bottom plate 1, a calibration plate 2, a laser emission assembly 3 and a control unit 4. The bottom plate 1 is fixedly installed on the bed plate 5 of the CT scanner. The calibration plate 2 is fixed on the bottom plate 1. Two groups of laser emission assemblies 3 are fixed on both sides of the bottom plate 1. The control unit 4 is fixed on the ground on one side of the bed plate 5. The control unit 4 is electrically connected to the laser emission assembly 3 and the CT scanner. The calibration plate 2 is used for CT scan recognition to calibrate the position of the device, thereby establishing the relative coordinates of the laser emission assembly 3 in the CT coordinate system. The control unit 4 is used to collect the image data of the puncture site scanned by the CT scanner, plan the puncture path, and control the laser emission assembly 3 to emit the laser path. The laser emission assembly 3 emits laser according to the laser path calculated by the control unit 4 to form the puncture path.

[0029] The size of the bottom plate 1 is large enough for an adult to lie on. Both sides are detachably installed on the bed plate 5 of the CT scanner through fasteners 11. Preferably, the fasteners 11 are ceramic screws, which can be disassembled by hand, facilitating disassembly and installation, and being convenient for installation on the CT scanner that needs to use laser navigation, and also convenient for overall removal.

[0030] The calibration plate 2 is fixed at the front end of the bottom plate 1, avoiding the surgical area to reduce interference with surgical operations. The calibration plate 2 has a structure with one end fixed and the other end openable. Specifically, there is a mounting seat 12 on one side of the front end of the bottom plate 1. One end of the calibration plate 2 is rotatably connected to the mounting seat 12 through a pin shaft, and the calibration plate 2 can be flipped around the mounting seat 12. On the other side of the front end of the bottom plate 1, there is a positioning groove 13 for positioning and clamping the other end of the calibration plate 2. Before use, the calibration plate 2 is flipped open. After the patient lies on the bottom plate 1, the calibration plate 2 is rotated, and the free end of the calibration plate 2 is snapped into the positioning groove 13 for limit fixation. The calibration plate 2 is in a shape such as a semi-circular arc or an arch shape, so that there is enough space below the calibration plate 2 to accommodate the patient without interference. Multiple groups of imaging and positioning balls 21 are distributed on the calibration plate 2, and at least 3 groups are not on the same horizontal line. Each group of imaging and positioning balls 21 includes at least 3, so as to accurately determine the center position of each group of imaging and positioning balls 21, and combine multiple groups of imaging and positioning balls 21 to form a positioning coordinate. By scanning multiple groups of imaging and positioning balls 21 on the calibration plate 2 with the CT scanner, the relative position of the calibration plate 2 in the CT coordinate system can be obtained. And the laser emission assembly 3 is fixed on the bottom plate 1, that is, fixed relative to the calibration plate 2. Therefore, the relative position of the laser emission assembly 3 in the CT coordinate system can be calculated.

[0031] As Figure 4As shown in the figure, the laser emission assembly 3 includes a base 31, a first laser generator 32, and a second laser generator 33. The base 31, the first laser generator 32, and the second laser generator 33 are internally equipped with multiple pan-tilt motors. The base 31 is fixedly installed on the side of the bottom plate 1. The lower end of the first laser generator 32 is rotationally connected to the base 31 through a pan-tilt motor, and the lower end of the second laser generator 33 is rotationally connected to the upper end of the first laser generator 32 through a pan-tilt motor. The first laser generator 32 and the second laser generator 33 adjust their positions and laser emission angles through the pan-tilt motors. The control unit 4 can select a laser generator (the first laser generator 32 or the second laser generator 33) at a suitable position from the left and right groups of laser emission assemblies 3 according to the calculated path and adjust the laser generator to a suitable position to emit a laser beam.

[0032] Specifically, as Figure 5 shown in the figure, a first pan-tilt motor 311 is fixedly installed inside the base 31. The first pan-tilt motor 311 is installed horizontally, and its output end is fixedly connected to the lower end of the first laser generator 32. The rotation of the first pan-tilt motor 311 drives the first laser generator 32 to swing back and forth, realizing the angle adjustment of the first laser generator 32. A second pan-tilt motor 321 is installed at the upper end of the first laser generator 32. The second pan-tilt motor 321 is installed horizontally, and its output end is fixedly connected to the lower end of the second laser generator 33. The rotation of the second pan-tilt motor 321 drives the second laser generator 33 to swing back and forth, realizing the angle adjustment of the second laser generator 33.

[0033] The bottom of the first laser generator 32 has a base 322. A third pan-tilt motor 323 is fixedly installed on the base 322. The third pan-tilt motor 323 is installed vertically, and its upper output end is fixedly connected to the bottom of the bracket 324. A fourth pan-tilt motor 325 is fixed on the bracket 324. The fourth pan-tilt motor 325 is installed vertically, and its upper output end is fixedly connected to the bottom of the laser diode component 326. A reflector 327 is fixed at the top of the bracket 324. The reflector 327 is aligned with the emission port of the laser diode component 326. The first laser generator 32 has an outer shell 328, and there is a light-transmitting window 3281 above the outer shell 328. The fan-shaped laser emitted by the laser diode component 326 is reflected by the reflector 327 and then emitted from the light-transmitting window 3281. The third pan-tilt motor 323 is used to adjust the rotation angle of the bracket 324, thereby adjusting the emission direction of the laser diode component 326. The fourth pan-tilt motor 325 is used to adjust the rotation angle of the laser diode component 326. The laser diode component 326 rotates relative to the reflector 327, thereby adjusting the shape of the emitted light beam. The laser diode component 326 is electrically connected to the control unit 4 and is controlled by the control unit 4 to work.

[0034] The internal structure of the second laser generator 33 is the same as that of the first laser generator 32 and will not be elaborated here.

[0035] All the pan-tilt motors in the laser emission assembly 3 are electrically connected to the control unit 4 and can feedback the attitude to the control unit 4.

[0036] As Figure 6 shown, the control unit 4 is built-in with a data processing system, which integrates and processes laser projection data, CT image data, and data of the breathing positioning device 6, automatically optimizes the navigation system configuration, ensures the accurate visualization of the planned path, and improves the accuracy of medical operations. The control unit 4 calculates the rotation angles of the pan-tilt motors and controls the rotation of each pan-tilt motor. The control unit 4 calculates the laser emission path in the current breathing state according to the images collected by the CT scanner and in combination with the breathing positioning device 6, selects a suitable set of laser diode components 326, and controls the laser emission assembly 3 to rotate to a suitable position to emit laser, which converges into a light beam as Figure 2 shown. The connecting line of the intersection points of the two sets of fan-shaped light beams is the puncture path.

[0037] Pass the puncture needle 7 through the consumable and tighten the fixing knob. Align the tip of the needle with the intersection point below the laser path, and then move the tail of the needle until the intersection point above the laser path is located at the center of the disc. At this time, the direction of the puncture needle 7 will coincide with the planned path, and the navigation is completed.

[0038] A control method for a CT laser navigation device of the present invention includes the following steps: Step 1: Device installation and coordinate calibration Fix the bottom plate 1 on the bed plate 5 of the CT scanner, and establish the mapping relationship between the laser emission assembly 3 and the CT coordinate system through the developing positioning balls 21 on the calibration plate 2.

[0039] The control unit 4 receives the CT scan data and calculates the position and direction of the laser generator in the CT coordinate system through the spatial geometric transformation algorithm.

[0040] Step 2: Breathing synchronization and dynamic compensation The control unit 4 real-time collects the waveform data of the breathing positioning device 6, and combines with the breathing phase (such as the end-expiratory rest period) to dynamically correct the target coordinates in the CT image to offset the displacement error caused by the breathing movement.

[0041] Step 3: Laser path generation and adjustment The control unit 4 selects one set of laser generators from the left and right laser emission assemblies 3 according to the planned puncture path, and realizes the beam collimation through the following mechanical adjustment steps: Control the pan-tilt motor one 311 to adjust the pitch angle (front and back swing) of the laser generator one 32.

[0042] Control the pan-tilt motor two 321 to adjust the pitch angle (front and back swing) of the laser generator two 33.

[0043] The horizontal deflection and beam shape (such as fan angle) of the laser diode component 326 are adjusted by the pan motor three 323 and the pan motor four 325 respectively.

[0044] The left and right laser beams intersect, and the connecting line of their intersection points forms a real-time navigation path. The doctor adjusts the direction of the puncture needle 7 accordingly to achieve path fitting.

[0045] Step 4: Real-time feedback and error correction If the CT scan detects that the puncture needle 7 deviates from the path, the control unit 4 recalculates the laser projection angle and dynamically adjusts the beam direction through the pan motor.

[0046] The implementation of the control method of this device can be carried out on a human model to verify the effectiveness and reliability of the device and the control method.

[0047] As Figure 7 shown, the usage operation process of the CT laser navigation device of the present invention is as follows: Install the CT laser navigation device of the present invention on the bed board 5 of the CT scanner, turn on the power supply of the control unit 4, and connect all signals in place.

[0048] The patient wears the respiratory positioning device 6: Wear a strap-type respiratory monitoring device for the patient during the preoperative preparation stage; lie on the bottom plate 1 of the CT laser navigation device and enter the surgical posture; Simple breathing training: Guide the patient to perform regular breathing training in cooperation with medical instructions, which can effectively improve the synchronization of respiratory movement and image acquisition. According to the evaluation of the operator and the actual clinical situation, this link can be selectively implemented.

[0049] CT scan: Use a CT scanner equipped with a three-dimensional reconstruction function to obtain a DICOM standard medical image dataset containing the anatomical structure characteristics of the lesion. Send the obtained DICOM data to the control unit 4.

[0050] Plan the puncture path: The data processing system of the control unit 4 plans the puncture path.

[0051] The laser puncture surgery navigation system operates and forms a puncture path: The laser puncture surgery navigation system will control the movement of the required 2 laser generators to the specified positions according to the control algorithm and emit laser beams to construct a three-dimensional optical guidance channel that conforms to the planned path on the body surface.

[0052] Puncture operation: The operator combines the real-time respiratory waveform monitoring data, during the relatively static period of the target organ movement or other clinical judgments, and performs the puncture operation along the optical navigation channel.

[0053] Confirm whether the puncture is in place: Immediately perform intraoperative CT scan verification after the puncture is completed to confirm the matching degree between the tip of the instrument and the target area, and evaluate the integrity of the surrounding tissue structure. If necessary, the path can be re-planned to perform supplementary puncture.

[0054] It can be understood that the present invention is described through some embodiments. Those skilled in the art know that without departing from the spirit and scope of the present invention, various changes or equivalent replacements can be made to these features and embodiments. In addition, under the teaching of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A CT laser navigation device, characterized in that, It includes a base plate (1), a calibration plate (2), a laser emission assembly (3) and a control unit (4). The base plate (1) is fixedly installed on the bed plate (5) of the CT scanner. The calibration plate (2) is fixed on the base plate (1). Two groups of laser emission assemblies (3) are fixed on both sides of the base plate (1). The control unit (4) is fixed on the ground on one side of the bed plate (5). The control unit (4) is electrically connected to the laser emission assembly (3) and the CT scanner. The calibration plate (2) is used for CT scan recognition to calibrate the position of the device, so as to establish the relative coordinates of the laser emission assembly (3) in the CT coordinate system. The control unit (4) is used to collect the image data of the puncture site scanned by the CT scanner, plan the puncture path, and control the laser emission assembly (3) to emit the laser path. The laser emission assembly (3) emits laser according to the laser path calculated by the control unit (4) to form a puncture path.

2. The CT laser navigation device according to claim 1, characterized in that, The base plate (1) is detachably installed on the bed plate (5) of the CT scanner through fasteners (11).

3. The CT laser navigation device according to claim 1, characterized in that, The calibration plate (2) is fixed at the front end of the base plate (1). Multiple groups of imaging positioning balls (21) are distributed on the calibration plate (2), and at least 3 groups are not on the same horizontal line. Each group of imaging positioning balls (21) includes at least 3.

4. The CT laser navigation device according to claim 1, characterized in that, The calibration plate (2) is a structure with one end fixed and the other end openable and closable. There is a mounting seat (12) on one side of the front end of the base plate (1). One end of the calibration plate (2) is rotatably connected to the mounting seat (12) through a pin shaft, and the calibration plate (2) can be flipped around the mounting seat (12). There is a positioning groove (13) on the other side of the front end of the base plate (1) for positioning and clamping the other end of the calibration plate (2), and the free end of the calibration plate (2) is snapped into the positioning groove (13) for limit fixation.

5. The CT laser navigation device according to claim 1, characterized in that, The calibration plate (2) is semi-circular arc-shaped or arch-shaped.

6. The CT laser navigation device according to claim 1, wherein, The laser emission assembly (3) includes a base (31), a first laser generator (32) and a second laser generator (33). Multiple pan-tilt motors are built in the base (31), the first laser generator (32) and the second laser generator (33). The base (31) is fixedly installed on the side of the base plate (1). The lower end of the first laser generator (32) is rotatably connected to the base (31) through a pan-tilt motor. The lower end of the second laser generator (33) is rotatably connected to the upper end of the first laser generator (32) through a pan-tilt motor. The first laser generator (32) and the second laser generator (33) adjust the position and the laser emission angle through the pan-tilt motor.

7. The CT laser navigation device according to claim 6, wherein Inside the base (31), a pan-tilt motor one (311) is fixedly installed. The pan-tilt motor one (311) is installed horizontally, and its output end is fixedly connected to the lower end of the laser generator one (32). The rotation of the pan-tilt motor one (311) drives the laser generator one (32) to swing back and forth, realizing the angle adjustment of the laser generator one (32); at the upper end of the laser generator one (32), a pan-tilt motor two (321) is installed. The pan-tilt motor two (321) is installed horizontally, and its output end is fixedly connected to the lower end of the laser generator two (33). The rotation of the pan-tilt motor two (321) drives the laser generator two (33) to swing back and forth, realizing the angle adjustment of the laser generator two (33).

8. The CT laser navigation device according to claim 7, characterized in that, At the bottom of the laser generator one (32), there is a base (322). On the base (322), a pan-tilt motor three (323) is fixedly installed. The pan-tilt motor three (323) is installed vertically, and its upper output end is fixedly connected to the bottom of the bracket (324). On the bracket (324), a pan-tilt motor four (325) is fixed. The pan-tilt motor four (325) is installed vertically, and its upper output end is fixedly connected to the bottom of the laser diode component (326). At the top of the bracket (324), a reflector (327) is fixed. The reflector (327) is aligned with the emission port of the laser diode component (326). Outside the laser generator one (32), there is a housing (328). Above the housing (328), there is a light-transmitting window (3281). The fan-shaped laser emitted by the laser diode component (326) is reflected by the reflector (327) and then emitted from the light-transmitting window (3281). The pan-tilt motor three (323) is used to adjust the rotation angle of the bracket (324), thereby adjusting the emission direction of the laser diode component (326). The pan-tilt motor four (325) is used to adjust the rotation angle of the laser diode component (326). The laser diode component (326) rotates relative to the reflector (327), thereby adjusting the shape of the emission beam; the laser diode component (326) is electrically connected to the control unit (4) and works under the control of the control unit (4); the internal structure of the laser generator two (33) is the same as that of the laser generator one (32). All the pan-tilt motors in the laser emission assembly (3) are electrically connected to the control unit (4) and can feedback the posture to the control unit (4).

9. The CT laser navigation device according to claim 6, characterized in that, The control unit (4) has a built-in data processing system, which integrally processes laser projection data, CT image data, and data of the respiratory positioning device (6). The control unit (4) calculates the rotation angles of the pan-tilt motors and controls the rotation of each pan-tilt motor. The control unit (4) calculates the laser emission path in the current respiratory state according to the images collected by the CT scanner and in combination with the respiratory positioning device (6), selects a group of laser diode components (326), and controls the laser emission assembly (3) to rotate to a suitable position to emit two groups of fan-shaped beams. The connecting line of the intersection points of the two groups of fan-shaped beams is the puncture path.

10. A control method for a CT laser navigation device according to any one of claims 1-9, characterized in that, It includes the following steps: Step 1: Device installation and coordinate calibration: Fix the bottom plate (1) on the bed plate (5) of the CT scanner, and establish the mapping relationship between the laser emission assembly (3) and the CT coordinate system through the imaging positioning balls (21) on the calibration plate (2); The control unit (4) receives the CT scan data and calculates the position and direction of the laser generator in the CT coordinate system through the space geometric transformation algorithm; Step 2: Respiratory synchronization and dynamic compensation: The control unit (4) collects the waveform data of the respiratory positioning device (6) in real time, and dynamically corrects the target coordinates in the CT image in combination with the respiratory phase; Step 3: Laser path generation and adjustment: The control unit (4) selects one group of laser generators from the left and right laser emission assemblies (3) according to the planned puncture path, and realizes beam collimation through mechanical adjustment steps; the left and right laser beams intersect, and the connection line of their intersection points forms a real-time navigation path, and the direction of the puncture needle (7) is adjusted according to this path to achieve path fitting; Step 4: Real-time feedback and error correction: If the CT scan detects that the puncture needle (7) deviates from the path, the control unit (4) recalculates the laser projection angle and dynamically adjusts the beam direction through the pan-tilt motor.

Images