CT laser navigation device and method

Abstract

The present invention belongs to the field of medical equipment technology, and discloses a CT laser navigation device and method. The device includes a base plate, a calibration plate, a laser emission component and a control unit. The base plate is fixed to the bed plate of the CT scanner, and the calibration plate is arranged at the front end of the base plate, on which multiple groups of imaging positioning balls are arranged for CT coordinate calibration; two groups of laser emission components are symmetrically installed on both sides of the base plate, and the laser emission angle is adjusted by a multi-degree-of-freedom pan-tilt motor; the control unit integrates respiratory positioning data, calculates in real time and dynamically corrects the puncture path. The method includes: establishing a coordinate system mapping relationship through the calibration plate, combining respiratory synchronization technology to compensate for target displacement, controlling the laser emission component to generate a dual-beam intersection path, and correcting deviations in real time. The present invention has the advantages of low cost, convenient installation, high precision, etc., can be adapted to existing CT equipment, and significantly improves the accuracy and safety of puncture surgery.

Description

Technical Field

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

[0002] Traditional puncture surgery relies on the doctor's experience and has problems such as insufficient precision and high risk of complications. Although the conventional robotic arm puncture navigation system can improve accuracy, it has 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 high overall costs, which limits its popularization in small and medium-sized hospitals. 2. The large size of the equipment 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 end of the robotic arm clamps the puncture needle for positioning, which makes it impossible for the doctor to directly perceive the puncture resistance and tissue feedback.

[0003] In comparison, laser puncture surgical navigation technology solves the above pain points through innovative design: 1. Size and flexibility advantages: The laser navigation equipment is compact and can be directly deployed on the existing CT bed without affecting the doctor's operating line. 2. Clamp-free operation ensures hand feel: By projecting the puncture path, the doctor can hold the puncture needle freely and retain tactile feedback. 3. Significant cost reduction: The core relies on algorithm models and low-cost optical components. 4. Consumables and process optimization: No high-value consumables such as electromagnetic positioning needles are required. Through integrated registration technology, traditional steps such as labeling and step-by-step needle insertion are eliminated, and preoperative preparation time is shortened; combined with respiratory synchronization technology, the number of CT scans is reduced and the radiation dose is reduced.

[0004] Currently, some CT manufacturers have integrated laser puncture surgical navigation systems into their CT scanners, enabling CT laser-guided puncture surgery. However, these CT scanners' laser puncture surgical navigation systems have the following main shortcomings:

[0005] 1. The laser puncture surgical navigation system is integrated into the CT scanner. To use laser navigation, you need to purchase a complete CT scanner, which is very expensive.

[0006] 2. The laser puncture surgical navigation system is integrated into the CT scanner, making the installation and operation complicated and tedious.

[0007] 3. Currently, these CT scanners integrated with laser puncture surgical navigation systems lack the ability to detect the patient's respiratory movement, which can affect puncture positioning and cause errors.

[0008] Therefore, there is an urgent need to develop a set of laser navigation devices that can be used independently to cooperate with existing CT scanners to realize CT laser navigation surgery, so as to reduce the use cost and improve the navigation accuracy. Summary of the Invention

[0009] The present invention aims to provide a CT laser navigation device and method to solve the above-mentioned technical problems.

[0010] 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:

[0011] A CT laser navigation device includes a base plate, a calibration plate, a laser emitting assembly and a control unit. The base plate is fixedly mounted on the bed plate of a CT scanner, the calibration plate is fixed to the base plate, two groups of laser emitting assemblies are fixed on both sides of the base plate, and the control unit is fixed to the ground on one side of the bed plate. The control unit is electrically connected to the laser emitting assembly and the CT scanner. The calibration plate is used for CT scanning identification and calibration of the position of the device, thereby establishing the relative coordinates of the laser emitting assembly in the CT coordinate system. The control unit is used to collect image data of the puncture site scanned by the CT scanner, plan the puncture path, and control the laser emitting assembly to emit the laser path. The laser emitting assembly emits laser according to the laser path calculated by the control unit to form the puncture path.

[0012] Furthermore, the base plate is detachably mounted on the bed plate of the CT scanner via fasteners.

[0013] Furthermore, the calibration plate is fixed to the front end of the base plate, and multiple groups of developing positioning balls are distributed on the calibration plate, at least three of which are not on the same horizontal line, and each group of developing positioning balls includes at least three.

[0014] Furthermore, the calibration plate is a structure with one end fixed and the other end openable and closable. A mounting seat is provided 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; a positioning groove is provided 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 fixing.

[0015] Furthermore, the calibration plate is semicircular or arch-shaped.

[0016] Furthermore, the laser emitting assembly includes a base, a first laser generator and a second laser generator, and the base, the first laser generator and the second laser generator are equipped with multiple pan-tilt motors. The base is fixedly mounted on the side of the bottom 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, and the first laser generator and the second laser generator adjust the position and laser emission angle through the pan-tilt motor.

[0017] Furthermore, a first pan-tilt motor is fixedly installed inside the base, the first pan-tilt motor is installed horizontally, and the 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, thereby realizing 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 the 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, thereby realizing angle adjustment of the second laser generator.

[0018] Furthermore, the first laser generator has a base at the bottom, on which a third pan-tilt motor is fixedly mounted. The third pan-tilt motor is vertically mounted, and the upper output end is fixedly connected to the bottom of the bracket. The bracket is fixed with a fourth pan-tilt motor, and the fourth pan-tilt motor is vertically mounted, and the upper output end is fixedly connected to the bottom of the laser diode component. A reflector is fixed to the top of the bracket, and the reflector is aligned with the emission port of the laser diode component. The first laser generator has an external shell, and a light-transmitting window is provided above the shell. The fan-shaped laser emitted by the laser diode component is reflected by the reflector and 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 to adjust the shape of the emitted light beam. The laser diode component is electrically connected to a control unit and its operation is controlled by the control unit. The internal structure of the second laser generator is the same as that of the first laser generator. All pan-tilt motors in the laser emission assembly are electrically connected to the control unit and can provide posture feedback to the control unit.

[0019] Furthermore, the control unit has a built-in data processing system that integrates and processes laser projection data, CT image data, and data from the respiratory positioning device. The control unit calculates the rotation angle of the pan-tilt motor and controls the rotation of each pan-tilt motor. The control unit calculates the laser emission path under the current respiratory state based on the image collected by the CT scanner and in combination with the respiratory 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 line connecting the intersection of the two groups of fan-shaped light beams is the puncture path.

[0020] The present invention also discloses a control method for a CT laser navigation device, comprising the following steps:

[0021] Step 1: Device installation and coordinate calibration:

[0022] Fix the base plate to the bed of the CT scanner and establish the mapping relationship between the laser emission assembly and the CT coordinate system through the development positioning ball on the calibration plate;

[0023] The control unit receives CT scan data and calculates the position and direction of the laser generator in the CT coordinate system through a spatial geometric transformation algorithm;

[0024] Step 2: Respiration synchronization and dynamic compensation:

[0025] The control unit collects waveform data from the respiratory positioning device in real time, combines it with the respiratory phase, and dynamically corrects the target coordinates in the CT image;

[0026] Step 3: Laser path generation and adjustment:

[0027] The control unit selects one of the laser generators in the left and right laser emission assemblies based on the planned puncture path and achieves beam alignment through mechanical adjustment steps. The left and right laser beams intersect, and the intersection line forms a real-time navigation path. The puncture needle direction is adjusted according to this path to achieve path fitting.

[0028] Step 4: Real-time feedback and error correction:

[0029] If the CT scan detects that the puncture needle has deviated from the path, the control unit recalculates the laser projection angle and dynamically adjusts the beam direction through the pan / tilt motor.

[0030] The CT laser navigation device and method of the present invention have the following advantages:

[0031] 1. Reduce costs and increase accessibility

[0032] The present invention provides a laser navigation device that is independent of the CT scanner and can be quickly installed and used on existing CT scanners without the need to purchase expensive integrated systems. This significantly reduces equipment costs, making it affordable for small and medium-sized hospitals, thereby increasing the popularity of the technology.

[0033] 2. Easy installation and flexible operation

[0034] The device is secured to the existing CT scanner bed using a base plate and fasteners (such as ceramic screws). Assembly and disassembly are simple, eliminating the need for complex installation procedures and preserving the physician's operating space and movement. Since the device is fixed to the CT scanner bed, the relative positions of the patient, calibration plate, and laser emission assembly are fixed and predictable. Therefore, laser path planning is unaffected by bed movement, improving navigation accuracy.

[0035] 3. Respiratory synchronization and dynamic compensation

[0036] The control unit integrates the data acquisition and processing functions of the respiratory positioning device, monitors the patient's respiratory movement in real time through the respiratory positioning device, and dynamically corrects the target coordinates in combination with the respiratory phase, effectively reducing puncture errors caused by respiratory movement, improving navigation accuracy, reducing the number of repeated CT scans, and reducing the radiation dose of patients and doctors. At the same time, it simplifies the surgical process and improves overall efficiency.

[0037] 4. Efficient real-time calibration and path planning

[0038] The calibration plate is fixed in position. During the entire operation, the mapping relationship between the device and the CT coordinate system can be quickly established in real time through CT scanning. The control unit automatically calculates and optimizes the puncture path in real time, shortening preoperative preparation time and improving efficiency and navigation accuracy.

[0039] 5. Modular design and multi-functional adjustment

[0040] The laser emission component adopts a modular design and is equipped with a multi-degree-of-freedom pan-tilt motor, which can flexibly adjust the angle and shape of the laser beam. Each group has two optional laser generators to adapt to different surgical needs and ensure the accuracy of path guidance.

[0041] 6. Real-time feedback and dynamic correction

[0042] The control unit monitors the position of the puncture needle in real time. If it detects a deviation from the path, it can dynamically adjust the laser projection angle to ensure accurate navigation throughout the operation.

[0043] In summary, the present invention has significant advantages in reducing costs, improving accuracy, optimizing operating procedures and enhancing safety, and is suitable for a wide range of clinical puncture surgery scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic diagram of the overall structure of the CT laser navigation device of the present invention;

[0045] Figure 2 It is a schematic diagram of the calibration plate structure of the present invention;

[0046] Figure 3 This is a schematic diagram of the puncture path of the CT laser navigation device of the present invention;

[0047] Figure 4 This is a schematic structural diagram of the laser emission assembly of the present invention;

[0048] Figure 5 This is a schematic diagram of the internal structure of the laser emission assembly of the present invention;

[0049] Figure 6 Schematic diagram of the electrical topology of the present invention;

[0050] Figure 7Schematic diagram of the operation flow of the device of the present invention;

[0051] Explanation of the marks in the figure: 1. Base plate; 11. Fastener; 12. Mounting seat; 13. Positioning groove; 2. Calibration plate; 21. Development positioning ball; 3. Laser emission assembly; 31. Base; 311. Pan-tilt motor 1; 32. Laser generator 1; 321. Pan-tilt motor 2; 322. Base; 323. Pan-tilt motor 3; 324. Bracket; 325. Pan-tilt 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. Respiratory positioning device; 7. Puncture needle. DETAILED DESCRIPTION

[0052] In order to better understand the purpose, structure and function of the present invention, the CT laser navigation device and method of the present invention are further described in detail below with reference to the accompanying drawings.

[0053] like Figure 1-3 As shown, a CT laser navigation device of the present invention includes a base plate 1, a calibration plate 2, a laser emitting assembly 3 and a control unit 4. The base plate 1 is fixedly mounted on the bed plate 5 of the CT scanner, the calibration plate 2 is fixed on the base plate 1, two groups of laser emitting assemblies 3 are fixed on both sides of the base plate 1, and 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 emitting assembly 3 and the CT scanner. The calibration plate 2 is used for CT scanning identification and calibration of the position of the device, thereby establishing the relative coordinates of the laser emitting assembly 3 in the CT coordinate system. The control unit 4 is used to collect image data of the puncture site scanned by the CT scanner, plan the puncture path, and control the laser emitting assembly 3 to emit the laser path. The laser emitting assembly 3 emits laser according to the laser path calculated by the control unit 4 to form a puncture path.

[0054] The base plate 1 is large enough for an adult to lie down, and both sides are detachably mounted on the bed plate 5 of the CT scanner via fasteners 11. Preferably, the fasteners 11 are ceramic screws that can be removed by hand, making them easy to disassemble and assemble, and easy to install on a CT scanner that requires laser navigation, and also easy to remove as a whole.

[0055] The calibration plate 2 is fixed to the front end of the base plate 1, away from the surgical area to minimize interference with surgical procedures. The calibration plate 2 is fixed at one end and openable at the other. Specifically, a mounting seat 12 is provided on one side of the front end of the base plate 1. One end of the calibration plate 2 is pivotally connected to the mounting seat 12 via a pin, allowing the calibration plate 2 to rotate about the mounting seat 12. A positioning groove 13 is provided on the other side of the front end of the base plate 1 for positioning the other end of the calibration plate 2. Before use, the calibration plate 2 is flipped open. After the patient lies on the base plate 1, the calibration plate 2 is rotated, and the free end of the calibration plate 2 snaps into the positioning groove 13 to secure it in place. The calibration plate 2 is shaped like a semicircular arc or an arch, ensuring ample space beneath the plate to accommodate the patient without interference. Multiple groups of imaging positioning balls 21 are distributed on the calibration plate 2, at least three of which are not aligned horizontally. Each group of imaging positioning balls 21 includes at least three positioning balls, enabling precise determination of the center position of each group of positioning balls 21. The combination of multiple groups of positioning balls 21 forms a positioning coordinate. The CT scanner can obtain the relative position of the calibration plate 2 in the CT coordinate system by scanning the multiple groups of development positioning balls 21 on the calibration plate 2. The laser emitting component 3 is fixed on the base plate 1, that is, it is fixed relative to the calibration plate 2. Therefore, the relative position of the laser emitting component 3 in the CT coordinate system can be calculated.

[0056] like Figure 4 As shown, the laser emitting assembly 3 includes a base 31, laser generator 1 32, and laser generator 2 33. Each of these is equipped with multiple pan-tilt motors. Base 31 is fixedly mounted on the side of base plate 1. The lower end of laser generator 1 32 is rotatably connected to base 31 via a pan-tilt motor, while the lower end of laser generator 2 33 is rotatably connected to the upper end of laser generator 1 32 via a pan-tilt motor. The pan-tilt motors adjust the position and laser emission angle of laser generators 1 32 and 33. Based on the calculated path, the control unit 4 selects the laser generator (laser generator 1 32 or laser generator 2 33) in the appropriate position from the left and right laser emitting assemblies 3 and adjusts the laser generator to the appropriate position to emit the laser beam.

[0057] Specifically, such as Figure 5 As shown, a pan / tilt motor 311 is fixedly mounted inside base 31. Pan / tilt motor 311 is mounted horizontally, with its output end fixedly connected to the lower end of laser generator 32. Rotation of pan / tilt motor 311 drives laser generator 32 back and forth, enabling angle adjustment of laser generator 32. A second pan / tilt motor 321 is mounted above laser generator 32. Pan / tilt motor 321 is mounted horizontally, with its output end fixedly connected to the lower end of laser generator 33. Rotation of pan / tilt motor 321 drives laser generator 33 back and forth, enabling angle adjustment of laser generator 33.

[0058] Laser generator 1 (32) has a base (322) at its bottom, a pan / tilt motor (323) fixedly mounted on it. Pan / tilt motor (323) is mounted vertically, with its upper output terminal fixedly connected to the bottom of a bracket (324). Bracket (324) also has a pan / tilt motor (425) fixedly mounted vertically, with its upper output terminal fixedly connected to the bottom of a laser diode (326). A reflector (327) is fixed to the top of bracket (324), aligning it with the emission port of laser diode (326). Laser generator 1 (32) has a housing (328) with a light-transmitting window (3281) above housing (328). The fan-shaped laser light emitted by laser diode (326) is reflected by the reflector (327) and emitted through light-transmitting window (3281). Pan / tilt motor (323) is used to adjust the rotation angle of bracket (324), thereby adjusting the emission direction of laser diode (326). The pan / tilt motor 4 325 is used to adjust the rotation angle of the laser diode 326. The laser diode 326 rotates relative to the reflector 327, thereby adjusting the shape of the emitted light beam. The laser diode 326 is electrically connected to the control unit 4 and its operation is controlled by the control unit 4.

[0059] The internal structure of the second laser generator 33 is the same as that of the first laser generator 32 and will not be described again here.

[0060] All pan / tilt motors in the laser emission assembly 3 are electrically connected to the control unit 4 and can feed back the posture to the control unit 4 .

[0061] like Figure 6 As shown, the control unit 4 has a built-in data processing system that integrates and processes laser projection data, CT image data, and data from the respiratory positioning device 6, automatically optimizes the navigation system configuration, ensures accurate visualization of the planned path, and improves the accuracy of medical operations. The control unit 4 calculates the rotation angle of the pan-tilt motor and controls the rotation of each pan-tilt motor. The control unit 4 calculates the laser emission path under the current respiratory state based on the image collected by the CT scanner and combined with the respiratory positioning device 6, selects a group of suitable laser diode components 326, and controls the laser emission component 3 to rotate to the appropriate position to emit laser light, which converges into the following image: Figure 2 The line connecting the intersection points of the two sets of fan-shaped beams is the puncture path.

[0062] Insert the puncture needle 7 through the consumables and tighten the fixing knob. Align the needle tip with the intersection below the laser path, then move the needle tail until the intersection above the laser path is at the center of the disk. The direction of the puncture needle 7 will now coincide with the planned path, completing navigation.

[0063] A control method for a CT laser navigation device of the present invention comprises the following steps:

[0064] Step 1: Device installation and coordinate calibration

[0065] The base plate 1 is fixed on the bed plate 5 of the CT scanner, and a mapping relationship between the laser emission assembly 3 and the CT coordinate system is established through the development positioning ball 21 on the calibration plate 2.

[0066] The control unit 4 receives the CT scanning data and calculates the position and direction of the laser generator in the CT coordinate system through a spatial geometric transformation algorithm.

[0067] Step 2: Respiratory synchronization and dynamic compensation

[0068] The control unit 4 collects 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 (such as the end-expiratory rest period) to offset the displacement error caused by respiratory movement.

[0069] Step 3: Laser Path Generation and Adjustment

[0070] The control unit 4 selects one of the laser generators in the left and right laser emitting assemblies 3 according to the planned puncture path, and achieves beam collimation through the following mechanical adjustment steps:

[0071] Control the pan / tilt motor 311 to adjust the pitch angle (front and back swing) of the laser generator 32.

[0072] Control the pan-tilt motor 2 321 to adjust the pitch angle (front and back swing) of the laser generator 2 33 .

[0073] The horizontal deflection and beam shape (such as the fan angle) of the laser diode device 326 are adjusted respectively by the pan-tilt motor 323 and the pan-tilt motor 4 325.

[0074] The left and right laser beams intersect, and the line connecting their intersections forms a real-time navigation path, based on which the doctor adjusts the direction of the puncture needle 7 to achieve path fitting.

[0075] Step 4: Real-time feedback and error correction

[0076] 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.

[0077] The implementation of the control method of the device can be carried out on a human body model to verify the effectiveness and reliability of the device and the control method.

[0078] like Figure 7 As shown, the operating procedures of the CT laser navigation device of the present invention are as follows:

[0079] The CT laser navigation device of the present invention is mounted on the bed plate 5 of the CT scanner, the control unit 4 is powered on, and all signals are connected in place.

[0080] The patient wears a respiratory positioning device 6: During the preoperative preparation stage, the patient wears a strap-type respiratory monitoring device; lies on the base plate 1 of the CT laser navigation device and enters the surgical posture;

[0081] Simple breathing exercises: Instruct the patient to follow medical instructions and perform regular breathing exercises. This exercise can effectively improve the synchronization of respiratory movements and image acquisition. This step may be optional, depending on the surgeon's assessment and clinical circumstances.

[0082] CT scanning: A CT scanner equipped with a three-dimensional reconstruction function is used to obtain a DICOM standard medical image data set containing the anatomical structure characteristics of the lesion. The obtained DICOM data is sent to the control unit 4.

[0083] Planning the puncture path: The data processing system of the control unit 4 plans the puncture path.

[0084] The laser puncture surgery navigation system operates and plans the puncture path: During the laser puncture surgery, the system will control the two required laser generators to move to the specified position according to the control algorithm, and emit laser beams to build a three-dimensional optical guidance channel on the body surface that conforms to the planned path.

[0085] Puncture operation: The operator combines real-time respiratory waveform monitoring data and performs the puncture operation along the optical navigation channel during the relative stillness period of the target organ or other clinical judgments.

[0086] Confirming puncture integrity: Perform an intraoperative CT scan immediately after puncture to confirm the fit of the instrument tip with the target area and assess the integrity of surrounding tissue structures. If necessary, re-plan the path and perform additional punctures.

[0087] It will be understood that the present invention is described by way of some embodiments, and it will be appreciated by those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. A CT laser navigation device, characterized in that: The invention comprises a base plate (1), a calibration plate (2), a laser emission assembly (3) and a control unit (4), wherein the base plate (1) is fixedly mounted on a bed plate (5) of a 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 scanning identification, the position of the calibration device, thereby establishing the relative coordinates of the laser emission assembly (3) in the CT coordinate system, and the control unit (4) is used to collect the image data of the puncture site scanned by the CT scanner. According to the calculation results, a puncture path is planned, and the laser emitting component (3) is controlled to emit the laser path. The laser emitting component (3) emits laser according to the laser path calculated by the control unit (4) to form a puncture path. The calibration plate (2) is a structure with one end fixed and the other end openable and closable. A mounting seat (12) is provided 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. The calibration plate (2) can be turned around the mounting seat (12). A positioning groove (13) is provided 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). The free end of the calibration plate (2) is clamped into the positioning groove (13) to be fixed.

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

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

4. The CT laser navigation device according to claim 1, characterized in that: The calibration plate (2) is semicircular or arch-shaped.

5. The CT laser navigation device according to claim 1, characterized in that: The laser emission assembly (3) includes a base (31), a laser generator 1 (32) and a laser generator 2 (33), wherein the base (31), the laser generator 1 (32) and the laser generator 2 (33) are equipped with a plurality of pan-tilt motors. The base (31) is fixedly mounted on the side of the bottom plate (1), the lower end of the laser generator 1 (32) is rotatably connected to the base (31) via the pan-tilt motor, the lower end of the laser generator 2 (33) is rotatably connected to the upper end of the laser generator 1 (32) via the pan-tilt motor, and the positions and laser emission angles of the laser generator 1 (32) and the laser generator 2 (33) are adjusted via the pan-tilt motor.

6. The CT laser navigation device according to claim 5, characterized in that: A pan-tilt motor (311) is fixedly installed inside the base (31), the pan-tilt motor (311) is installed horizontally, and the output end is fixedly connected to the lower end of the laser generator (32). The pan-tilt motor (311) rotates to drive the laser generator (32) to swing back and forth, thereby achieving angle adjustment of the laser generator (32); a pan-tilt motor (321) is installed on the upper end of the laser generator (32), the pan-tilt motor (321) is installed horizontally, and the output end is fixedly connected to the lower end of the laser generator (33). The pan-tilt motor (321) rotates to drive the laser generator (33) to swing back and forth, thereby achieving angle adjustment of the laser generator (33).

7. The CT laser navigation device according to claim 6, characterized in that: The bottom of the laser generator (32) has a base (322), and a pan-tilt motor (323) is fixedly mounted on the base (322). The pan-tilt motor (323) is vertically mounted, and the upper output end is fixedly connected to the bottom of the bracket (324). The bracket (324) is fixed with a pan-tilt motor (325), and the pan-tilt motor (325) is vertically mounted, and the upper output end is fixedly connected to the bottom of the laser diode (326). A reflector (327) is fixed on the top of the bracket (324), and the reflector (327) is aligned with the emission port of the laser diode (326). The laser generator (32) has a shell (328) on the outside, and a light-transmitting window (3281) is provided on the top of the shell (328). The fan-shaped light emitted by the laser diode (326) The laser is reflected by the reflector (327) and emitted from the light-transmitting window (3281). The 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 pan-tilt motor (4) 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). The internal structure of the laser generator (2) (33) is the same as that of the laser generator (1) (32). All pan-tilt motors in the laser emission assembly (3) are electrically connected to the control unit (4) and can feed back the posture to the control unit (4).

8. The CT laser navigation device according to claim 5, characterized in that: The control unit (4) has a built-in data processing system that integrates and processes laser projection data, CT image data, and data from the respiratory positioning device (6). The control unit (4) calculates the rotation angle of the pan-tilt motor and controls the rotation of each pan-tilt motor. The control unit (4) calculates the laser emission path under the current respiratory state based on the image 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 component (3) to rotate to a suitable position to emit two groups of fan-shaped light beams. The intersection line of the two groups of fan-shaped light beams is the puncture path.

Images