Laser treatment device with improved patient positioning

Abstract

The invention relates to a laser treatment device (1) comprising a device base (26), an application arm (12) fastened to the device base (26) and a laser light source (28) for generating treatment radiation (30), the application arm (12) having at least one working position (32) in which the application arm (12) is designed to guide the treatment radiation (30) into a processing region (22). Known laser treatment devices (1) have the disadvantage that the pre-positioning (P1) must be repeated when incorrectly performed, thereby increasing preparation time and reducing patient comfort. According to the invention, this is improved in that the laser treatment device (1) also has a projection unit (6) for simplifying the positioning of the person (22b) to be treated relative to the laser treatment device (1), and the projection unit (6) is designed to project a positioning mark (20) in such a way that the positioning mark represents the position of the processing region (22).

Description

TECHNICAL FIELD

[0001] The invention relates to a laser treatment device with improved patient positioning. The laser treatment device comprises a facility base, an application arm fixed at the facility base and a laser light source for generating treatment radiation, wherein the application arm has at least one working position in which the application arm is designed for directing the treatment radiation into a machining region. BACKGROUND

[0002] The positioning of a person to be treated, i.e. a patient, is a key aspect of medical treatment, in particular when using medical devices such as laser treatment devices. A correct positioning ensures the comfort of the person to be treated as well as safety, since unnecessary waiting times are avoided and an efficient and high- efficiency use of the used laser treatment device is ensured. The present disclosure in particular relates to a pre-positioning and a fine positioning, which are preparation steps for the fine positioning of the person to be treated relative to the laser treatment device. All positioning steps are summarized and explained under positioning.

[0003] Generally, the pre-positioning is carried out by an assistant, shortly called helper. In the simplest case, the person to be treated is able to be moved by the helper on a patient bed to the laser treatment device. A manual pre-positioning is prone to errors, wherein a wrong pre-positioning can lead to the fact that the position of the patient bed has to be corrected or even the pre-positioning has to be repeated. This increases the time required for preparing the operation, shortly called OP, and reduces the patient comfort. SUMMARY

[0004] It is therefore an object of the present invention to improve the state of the art solutions in order to perform the positioning of the person to be treated more accurately, more safely and more quickly.

[0005] The invention achieves this object with the laser treatment device mentioned in the opening part by providing a projection unit for simplifying the positioning of the person to be treated relative to the laser treatment device, wherein the projection unit is designed for casting a positioning marker, such that the positioning marker represents the position of the machining region of the laser treatment device. The position of the machining region can in particular comprise the positioning of the machining region in space and its orientation.

[0006] This positioning mark enables simple and in particular fast pre-positioning of the person to be treated. Since the positioning mark represents the treatment region, the person to be treated, in particular the region of the person to be treated to be treated, for example the eye, can be pre-positioned by moving to the positioning mark, wherein it is immaterial according to the application whether the person to be treated is moved to the laser treatment device or the laser treatment device is moved to the person to be treated. According to the application, it is also possible to move only a part of the laser treatment device, for example the device head, relative to the person to be treated. It is also possible to consider a combined movement of the person to be treated, for example by means of a patient bed, and the laser treatment device or part thereof. What is important is the relative movement between the person to be treated and the laser treatment device.

[0007] The laser treatment device according to the application can be improved by the specific design solutions described in more detail below. The further design solutions are each advantageous in their own way and can be combined with one another and / or omitted at will. If the design solutions are used to describe method steps, the design solutions can be transferred to the corresponding device. This means that the corresponding design solutions of the laser treatment device according to the application are designed to carry out the described method steps. If a flow of different method steps is explained, this means that the corresponding laser treatment device is designed to generate and / or store and / or process control data representing the flow of method steps.

[0008] In one design solution, the application arm can be fixed at the device head in a rigidly movable manner. In another design solution, the application arm can advantageously be fixed at the device head in a movable manner. In particular in the case of such an application arm which can be moved away from the treatment region, for example swiveled, swung or rotated away, there is a certain degree of uncertainty in the pre-positioning, since the application arm as a possible orientation is not in the vicinity of the treatment region, i.e. not above it. In the case of a rigid application arm, the application arm itself can restrict or block the view of the person being treated and make rough positioning or pre-positioning difficult. In the case of a pre-positioning error which can only be recognized when the application arm has already been moved to the treatment region, it is then necessary to correct the position of the patient bed or even to repeat the pre-positioning. This increases the time required for the preparation of the operation and reduces patient comfort due to unnecessary waiting times.

[0009] According to the application, the person to be treated, in particular the region of the person to be treated to be treated, for example the eye, can be pre-positioned by moving to the positioning mark without having to position the application arm, as a possible orientation for an assistant, at or above the treatment region for this purpose.

[0010] The working position is the position of the application arm in which the treatment can be reliably carried out in the treatment area. The working position is preferably only temporarily, i.e. not permanently, occupied by the pressure arm, more precisely, the pressure arm can preferably be positioned into the working position after a preliminary positioning. The treatment area can be a two- or three-dimensional area in which the treatment can be carried out.

[0011] The projection unit can comprise optical elements for actually depositing the positioning mark and control elements for the manipulation. The optical elements can be associated partly with the projection unit and other beam guiding units of the laser treatment device, so that the optical elements can have a dual or multiple function. Thus, the projection unit according to the application can be used together with optical elements already provided in the laser treatment device. The projection unit preferably comprises a light source and / or a display device displaying the positioning mark and optical elements for imaging the light source or the positioning mark displayed by the display device. The projection unit can be controlled by means of software, hardware or a combination of software and hardware. Purely by way of example and non-restrictively, an FPGA, a separate software or a separate software module can be used for the control.

[0012] The "representation of the treatment area" can be understood as the positioning mark deposited for marking the place of the treatment area, i.e. the positioning mark is imaged, so that the imaging is generated in the treatment area, or the imaging of the positioning mark encompasses the treatment area and can form the basis for a sufficiently precise fine positioning and ultra-fine positioning for further positioning progress, i.e. a sequence of positioning steps. Since the treatment area is determined by the laser treatment device and its geometry, e.g. the length and position of the application arm or the length and position of the initially laser outlet, the position of the treatment area relative to the laser treatment device is known. This position is indicated or represented by the positioning mark.

[0013] The projection unit can be designed for projecting the positioning mark onto an arbitrary projection surface, wherein the projection surface can be, for example, the patient bed, a support arranged on the patient bed, a sterile cover of the person to be treated or the person to be treated itself. The projection can also be carried out on a test object, which can be used to check the correctness of the positioning of the projection unit according to the application of the laser treatment device. The preliminary positioning can comprise a relative movement between the region to be treated of the person to be treated and the positioning mark projected on the projection surface, preferably the relative movement can be carried out until the positioning mark is located on the region to be treated or the region to be treated is located within the positioning mark.

[0014] Since the projection of the positioning mark proceeds along the projection beam path, it is possible to restrict the position of the positioning mark to a predetermined region along the projection beam path, i.e. to a predetermined region of the z coordinate (the z coordinate is measured along the projection beam path). The height of the position, when viewed along the projection beam path, can preferably be the height which the eye of the person to be treated on the patient bed above the ground has. This consideration obviously also applies to both eyes of the person to be treated or to another region to be treated of the person to be treated.

[0015] The application also makes it possible to position the person to be treated, who is covered with a sterile cover apart from the region to be treated. For example, a nonwoven fabric or a waterproof film can be used for the sterile cover, which can have a cutout or a cutout portion. The cutout portion makes it possible to access the region to be treated. The positioning mark can also be projected onto such a sterile cover. Thus, the explanations regarding the projection of the positioning mark on the face of the person to be treated can also be transferred to the person to be treated who is to be covered by means of a sterile cover, wherein the projection here takes place on the cover. Purely by way of example, the sterile cover can be formed in the form of a mask or a drape. The sterile cover can cover, for example, the head region which does not have to be treated, and for the region to be treated, for example, a single eye or, purely by way of example, a region of about 4 cm x 4 cm with a line of symmetry in the center of the eye.

[0016] If the positioning mark is projected onto a surface which is at a different height from the height of the region to be treated, i.e. at a z position along the projection beam path, this can be evident from the incorrectly or unrecognizably projected positioning mark. Such an incorrectly or unrecognizably projected positioning mark can indicate a state of insufficient or false height positioning of the person to be treated.

[0017] However, the patient bed can generally have a height which places the eye of the person to be treated at the correct height for treatment by means of the laser treatment device without or if necessary with a support for the head of the person to be treated.

[0018] According to the application, the projection unit can be fixedly attached at the facility base and / or at the device head and / or at the application arm in an exchangeable and detachable or non-exchangeable and non-detachable manner. The projection unit can be configured, for example, in two or more parts. For example, there can be two (or three or more) light sources with corresponding optical imaging elements, the beam paths of which cross in the machining region. The three crossing beam paths can define the correct position of the machining region in the three spatial directions x, y and z. In another design, the positioning mark can consist of two (or three or more) partial projections which cross within the machining region, so that it is possible to recognize on the basis of the overlap of the two (or three or more) partial projections whether the region to be treated of the person to be treated is within the machining region.

[0019] In this design, it is also feasible for two (or three or more) undifferentiated projections to be parallel projections, which have no focal area. Therefore, it is feasible to initially perform pre-positioning based on the first partial projection projected from the application arm, i.e., moving the patient bed with the head end facing the first partial projection projected at the bottom. Once the patient bed is moved into the beam path of the first partial projection, ideally, the patient bed is also located in the beam path of the second (or optionally a third or additional) partial projection, such that the second (or optionally a third or additional) partial projection is projected onto the patient bed. Then, the person to be treated, more precisely the area to be treated, such as the eye, can be positioned using the two partial projections such that the area to be treated is within the projection mark, i.e., within the two (or optionally three or all) superimposed partial projections.

[0020] If two (or three or more) partial projections still do not overlap after setting, this means that the height of the patient bed needs to be corrected. Once corrected, subsequent repositioning relative to the area to be treated with respect to the projection marks will be required.

[0021] Therefore, the design of projection units with intersecting partial projections has the advantage that the processing area can be represented based on the angles between the beam paths of the partial projections. Through the intersecting beam paths of the partial projections, the three-dimensional position of the processing area can be represented without affecting the divergence or convergence of the light from the positioning markers. Thus, by changing the angles between the beam paths of the partial projections, the entire laser treatment device can be positioned on different patient beds at different heights, thus becoming position-independent.

[0022] In a preferred design, the application arm can also have a stationary position or be positioned in a stationary position. In the stationary position, the application arm can swing or rotate or generally move away from the processing area, for example, by a combination of swinging and rotating movements. In particular, the projection unit can be designed such that positioning marks are projected when the application arm is in the stationary position. This is advantageous because when the application arm moves away from the processing area, it simplifies the movement of the patient bed, thus achieving pre-positioning, as the space that might be required for moving the patient bed is freed up by the application arm. In particular, the area to be treated for the patient can be approached from all directions. Although the application arm moves away from the processing area and is therefore no longer usable as a (visual) reference, the projection unit still achieves pre-positioning of the patient bed.

[0023] The preceding text has described how pre-positioning occurs when the positioning marker is (not yet) projected onto the patient's bed. In another advantageous design, the projection unit can be additionally or alternatively designed to project an additional positioning marker, wherein the positioning marker can have a projection distance that is less than the additional projection distance of the additional positioning marker.

[0024] The distance between the positioning mark and the projection unit can be understood as the projection distance, within which the projected positioning mark is clearly projected. A clear projection can be understood in a design scheme as a sharp projection, that is, the positioning mark is clearly imaged within the projection distance, while the projected mark is no longer clearly imaged at distances smaller or larger than that projection distance.

[0025] Therefore, clear imaging can be understood as: the projection of the positioning mark and / or additional positioning mark enables the differentiation of the positioning mark and / or additional positioning mark for different projection distances. Thus, the term "clear" can be understood as: the positioning mark and / or additional positioning mark does not fade or become blurred, or can be shown and perceived as a clearly identifiable, pre-confirmed pattern.

[0026] As long as imaging occurs within the depth of field, the image of the positioning marker can be understood as sharp. In other words, the projected distance is not immediately a precisely defined distance, but rather a range of distances. This range can extend from a few millimeters to a few centimeters, allowing for the positioning of the person receiving drug treatment according to the present invention, regardless of their size. For example, people of different head sizes can be uniformly positioned for ophthalmic surgery regardless of head size. Optionally, as described above, the positioning marker and / or additional positioning marker can each consist of two partial projections.

[0027] In another design, the positioning mark and / or additional positioning mark can be parallel projections. The additional positioning mark preferably differs from the positioning mark in shape and / or size, thus preventing confusion between the two. Another possibility for distinguishing the positioning mark and the additional positioning mark is to use different spectral proportions of light, i.e., different perceptible colors of the positioning mark and the additional positioning mark.

[0028] Positioning markers, such as lines, can be composed of individual elements that are substructures. Therefore, a line can, for example, be composed of filled or hollow circles without limitation. If the circles of a positioning marker can be discerned separately, a clear projection is made. However, if the circles cannot be discerned separately (i.e., a faded or blurred projection), the projection is made at a distance beyond the projection distance. Other forms of substructures are also possible, such as rectangles, squares, triangles, polygons, rhombuses, lines, etc.

[0029] A particular advantage is that the projection unit is designed to produce a clear projection of the positioning mark at the height of the patient bed, and also to produce a clear projection of an additional positioning mark on the ground. Therefore, the depth of field of the positioning mark extends to the height of the patient bed, more preferably to the height of the area to be treated on the patient, while the depth of field of the additional positioning mark extends to the ground. This has the advantage that pre-positioning can be performed using the additional positioning mark projected on the ground before the positioning mark is placed on the patient bed. Therefore, the assistant can begin pre-positioning the bed towards the additional positioning mark using the additional positioning mark projected on the ground. Once the patient bed has been moved into the beam path of the positioning mark, the positioning mark is projected onto the patient bed, thus completing the pre-positioning using the positioning mark. Therefore, the pre-positioning is independent of the position of the patient bed relative to the laser treatment device.

[0030] In an alternative design, the intersection of the beam paths of the partial projections of the positioning markers can therefore be located at the height of the patient bed. Accordingly, the intersection of the beam paths of the partial projections of the additional positioning markers can be located at the height of the ground.

[0031] It is also possible to consider projecting different spectral fractions onto different heights to check or ensure that the person to be treated is positioned at the correct height. Therefore, for example, an intuitive color scheme can be selected for the person performing the treatment or assistant, in which a positioning marker shown in red indicates that there is still a significant deviation between the actual position of the person to be treated and the target position, for example, a displacement distance exceeding 50 cm. A yellow positioning marker can indicate that the deviation has decreased, for example, corresponding to a displacement distance between 5 cm and 50 cm. A green positioning marker can indicate that the target position has been reached or is close to being reached, i.e., the deviation is less than 5 cm. Positioning markers and / or other positioning marks can each have at least one shape from the following shape list, including: oval; circular; rectangular; at least one crosshair; a guide path; multiple markers; or combinations of the above shapes. Positioning markers and / or other positioning marks can preferably have dimensions corresponding to or containing the area to be treated of the person to be treated.

[0032] Particularly advantageously, the additional positioning markers can have the shape of a guide path, for example and not limited to including multiple consecutively arranged lines and / or arrows. The guide path can represent the movement to be performed from the patient bed to the preparatory position, wherein the movement to be performed can be clearly and visually demonstrated to the assistant according to a projection structure such as arrows.

[0033] The positioning marker preferably has a shape that surrounds the area to be treated, and more preferably, it can provide another shape within the surrounding shape, the other shape representing a central or specific point within the treatment area. Thus, for example, in eye surgery when pre-positioning a person to be treated, the positioning marker can be circular, rectangular, or oval, and its size can be selected such that the positioning marker encompasses both eyes of the patient. Furthermore, the positioning marker can include crosshairs, for example, crosshairs that can represent the target position of at least one eye, preferably both eyes, of the person to be treated. Similarly, crosshairs can represent the target position of a central point located on the bridge of the nose between the eyes. Optionally, it is possible to consider projecting a first crosshair and / or a second crosshair, wherein the first crosshair, without limitation, can represent the target position of a first eye, and the second crosshair can represent the target position of a second eye. The position of the crosshairs or multiple crosshairs relative to each other or relative to the surrounding external structure can be set and adjusted according to patient-specific data.

[0034] In another advantageous design of the laser therapy device according to the invention, the laser therapy device further includes a camera module designed to: identify positioning marks and / or additional positioning marks and the patient bed in the acquired images; determine the (preferably relative) actual position of the patient bed relative to the positioning marks and / or additional positioning marks; compare the actual position with a (preferably relative) target position of the patient bed relative to the positioning marks and / or additional positioning marks; and from the comparison, determine the displacement distance and / or displacement direction required for the patient bed to reach the target position. The advantage of this design is that an assistant can perform pre-positioning by means of projected positioning marks, and simultaneously perform assisted semi-automatic or fully automatic pre-positioning by determining the required displacement distance and / or displacement direction.

[0035] Displacement distance and / or displacement direction description: This specifies the distance or direction the patient bed must be displaced to achieve the correct position. Successful pre-positioning occurs when the area to be treated on the patient is located in the pre-defined pre-position. The pre-position is not a precisely defined location, but can also include tolerances ranging from millimeters to centimeters. The pre-position can correspond to a two-dimensional or three-dimensional location or a range of two-dimensional or three-dimensional locations.

[0036] In one design, the camera module can include at least two cameras or at least one 3D (three-dimensional) camera. This enables the provision of three-dimensional displacement distance or displacement direction, i.e., it can also determine the required height correction of the patient bed and provide a height correction value representing that required height correction.

[0037] Measuring the displacement direction and / or displacement distance and / or the required height correction enables the deployment or provision of dynamic positioning markers. This can be understood as the shape and / or color of the positioning markers changing or dynamically adjusting according to the displacement direction and / or displacement distance and / or the required height correction.

[0038] For example, if the person to be treated is, by purely exemplary means, approaching the correct position (target position or preparatory position) in the Y direction (lateral direction), a portion or segment of the positioning marker can be illuminated or projected from the outside in (optionally movable). Similarly, by purely exemplary means, if the person to be treated is far from the target position, a portion or segment of the positioning marker can be illuminated or projected from the inside out. The target marker can be designed in a cross shape, where the bars can consist of dots and / or short lines and / or segments, and the shape and / or color of the lines in the X or Y direction can indicate the deviation of the actual position of the person to be treated from the target position in the X or Y direction.

[0039] Once the correct position (target position) is reached, all lines in the corresponding direction can light up or be projected, and / or the corresponding lines can be projected with the corresponding color. Red indicates a large displacement distance that still needs to be compensated, such as a displacement distance greater than 50 cm; yellow indicates a smaller displacement distance, such as between 5 and 50; and green indicates reaching the target position or a small remaining distance, such as less than 5 cm.

[0040] To illustrate the deviation between the actual and target positions in the Z direction, a circle can also be projected or faded in purely illustrative terms. The circle can be projected or imaged with a diameter that varies depending on the desired height. For example, as the correct height approaches, the circle "tightens," meaning it is projected or imaged with a smaller diameter. At the correct height, the circle can be projected or imaged as a point or a filled circle.

[0041] Technically, this dynamic positioning marker can be achieved using a scanner. When the color of the positioning marker is related to the displacement distance, the laser treatment device can also include colored LEDs or colored lasers, or a white laser and corresponding color-selectable elements.

[0042] In another design of the dynamic positioning marker, it is possible to consider incorporating additional information based on recorded camera images and / or the treatment plan, indicating whether the patient's left or right eye is being treated. Thus, for example, "OD (right eye)" or "OS (left eye)" can be faded into the positioning marker at a location where the right or left eye should be positioned (OD: right eye; OS: left eye). Furthermore, depending on the treatment plan, the area where the positioning marker is projected can be highlighted, indicating the area of ​​the eye to be treated first. Therefore, the probability of left-right eye confusion can be reduced, or confusion can be avoided. It is also possible to explicitly assign the positioning marker to the right or left eye within the surgical area.

[0043] Advantageously, the laser therapy device according to the invention can include an interactive interface designed to transmit displacement distance and / or displacement direction to an operator. The transmission can be visual and / or auditory and / or tactile. Therefore, in one design, the resulting displacement distance and / or displacement direction can be provided or transmitted to the operator (e.g., an assistant) in a manner easily understood by humans and preferably intuitive. The displacement distance can also be provided or transmitted via color-coded or dynamically positioned fade-in / fade-out portions or sections. In the case of color coding, different color profiles can be stored and recalled in the laser therapy device to, for example, consider the possible red-green color weakness of the person undergoing treatment. Similarly, the displacement distance can also be alternatively or additionally displayed on a display device. This display device can be a display device already provided at the laser therapy device, capable of displaying the displacement distance. Alternatively or additionally, a display device specifically for displaying the displacement distance can be provided. The display device can consist of one or more light sources (e.g., LEDs), which, when activated (i.e., emitting light), indicate the displacement direction. Similarly, an array composed of such light-emitting mechanisms can be considered, thereby representing the direction and / or distance of displacement. It is conceivable that an array of light-emitting mechanisms arranged in concentric circles, wherein, purely exemplary and non-limitingly, a plurality of radially activated light-emitting mechanisms starting from the center of the array, can represent the displacement distance (the number of radially activated light-emitting mechanisms is a function of or related to the displacement distance), and the angle relative to the center of the displacement direction can represent the displacement direction. In other designs, the display device can be a liquid crystal display (LCD) or a monitor.

[0044] The aforementioned dynamic positioning markers can be simultaneously displayed on one or more (two, three, or four) display devices of the laser treatment equipment. Similarly, the dynamic positioning markers can also be simultaneously displayed in the microscope field of view (monocular or binocular). The advantage of this is that the positioning of the person being treated can be monitored and / or controlled regardless of the relative positions of multiple individuals to the person being treated.

[0045] Advantageously, the control unit used to display displacement distance can be designed to convert it into the next smaller or larger unit of length, thus providing an intuitive representation for the operator. For example, displaying a displacement distance of "5 centimeters" is more intuitive than displaying "0.05 meters." Furthermore, this change in the unit of length can be correlated with a change in the display's color coding. For example, a change in the display from red to green can indicate to the operator that the patient bed is approaching the target position. This enables human-machine interaction based on information provided by the laser therapy device, thereby aiding in positioning.

[0046] The direction of movement can also be indicated on this display device, for example, by using arrows to indicate the direction of movement, which are associated with the laser treatment equipment and / or the operating room. Figure One The image is displayed on the device. Alternatively, in addition to the schematic diagram of the laser treatment device, it is possible to distinguish one of the four areas of the entire display device, or an area near the edge, from the rest of the schematic diagram, for example, by using different colors or flashing. For example, colored stripes at the edge of the schematic diagram on the display device (located on one of the four possible sides of the laser treatment device) can indicate a specific direction of movement relative to that side.

[0047] This method of representing displacement direction can also be displayed within a specific area of ​​the image. For example, selecting an area in the image displayed on the screen corresponding to (but not limited to) the side of the laser treatment device where the patient is located may be advantageous. Alternatively, a schematic diagram can symbolically indicate the target position of the treatment arm and / or the patient bed. For example, the displayed image area could contain four regions, which could be displayed in a different color than the other regions, or flash to indicate the direction of displacement. A more refined gradation of the representation of displacement direction can also be considered, displaying it in angular sectors. These sectors can represent 60°, 45°, 30°, 15°, or any other angle, ranging from 360° to sector areas in 1° increments. The control unit can change the size of a given angular sector (e.g., 90°) according to the displacement distance, for example, selecting a smaller angular sector as the displacement distance decreases.

[0048] The direction and / or distance of movement can be controlled by touch, for example, by vibrating a specific area on a sliding handle of the patient bed. For this purpose, one or two sliding handles can be equipped with a number of vibrating elements, such as vibration motors, which can be controlled by the control unit of the laser treatment device. For example (but not limited to), the direction of movement can be indicated by selecting controlled vibration elements, and the distance of movement can be indicated by the vibration intensity of these elements.

[0049] Since the display device may not be visible to the assistant, or may not always be visible, the laser therapy device provided by the present invention can include an interactive interface designed to set a monotone repetition frequency of the acoustic transmission displacement distance according to the displacement distance, and to set a tone frequency of the acoustic transmission displacement direction according to the displacement direction.

[0050] The advantage of this is that pre-positioning can be performed even when the display device is not visible.

[0051] Encoding displacement distance using monotone repetition frequency is merely an example and not the only way to provide this information to operators. An increase in monotone repetition frequency (i.e., a faster rate of continuous playback of the same monotone) indicates that the displacement distance is decreasing and the patient is approaching the target position. Conversely, a decrease in monotone repetition frequency indicates that the displacement distance is increasing and the patient is moving away from the target position. This method of displacement distance encoding is very intuitive, much like how car parking assist systems represent the remaining distance before a collision. Similarly, the patient reaching the target position or a specific area of ​​the patient can be represented by continuous tones.

[0052] The frequency of a single pulse can be used to represent the direction of displacement. A higher frequency corresponds to a first displacement direction, and a lower frequency corresponds to a second displacement direction opposite to the first displacement direction. Preferably, these two displacement directions can be parallel to the longitudinal direction of the patient bed. The transverse or anti-transverse displacement direction can be represented by different frequency tones, or by visual and / or tactile sensation.

[0053] Another method for transmitting displacement direction and making it easily distinguishable to users is to encode it using specific tone sequences. For example, these sequences can repeat periodically, but can contain different numbers of tones depending on the displacement direction, and the tone intervals may also differ. For instance (but not limited to), the necessary displacement in the first direction can be represented by a high-pitched frequency, and the displacement in the opposite direction can be represented by a low-pitched frequency; the first lateral direction perpendicular to these directions can be represented by two periodically repeating tone pulses; and the opposite second lateral direction can be represented by three periodically repeating tone pulses.

[0054] According to the present invention, the laser therapy device can selectively, alternately, in any combination, or simultaneously provide all of the above-described methods for representing displacement distance and / or displacement direction. These representation methods can be turned on or off in any combination. The application of the listed signal variations can be personalized based on the physician / assistant's experience with patient treatment and can be stored in at least one, optionally two, three, four, or any number of user profiles.

[0055] In another advantageous embodiment of the laser therapy device of the present invention, it may include a control module designed to automatically move the patient bed to a target position based on a determined displacement distance and / or displacement direction. The advantage of this embodiment is that pre-positioning can be automatically initiated from the point in time when the displacement direction and / or displacement distance is determined. Control data representing the displacement direction and / or displacement distance can then be provided directly or indirectly (e.g., via an intermediate controller) to the control unit. The patient bed controlled by this control unit can be located within the laser therapy device or within an automated patient bed.

[0056] If fully automatic or automatic pre-positioning is used, the wavelength of the light used to project the positioning markers can also be outside the visible spectrum, such as (but not limited to) the near-infrared spectrum. The advantage of this design is that the person being treated will not be distracted or stimulated by the light from the positioning markers, while the positioning markers and / or any additional positioning markers can still be detected by at least one camera.

[0057] The laser treatment device of the present invention can be further improved by configuring its projection unit to project a stripe pattern onto the processing area when it reaches a preparatory position (i.e., the processing area of ​​the person to be treated is located within the processing area). The stripe pattern may include multiple longitudinally arranged and spaced apart longitudinally, and multiple transversely arranged, intersecting the longitudinal stripes and spaced apart from each other. The laser treatment device may also include a camera module for recording the projected stripes and providing their images, and an evaluation module. The evaluation module may be designed to receive the projected stripe image, determine the distance between the stripes in the image, determine the position and / or angle of the longitudinal and transverse axes of symmetry based on the morphology of the stripe spacing and / or the variation in stripe spacing, and provide the displacement distance, displacement direction, and / or rotation angle required for positioning from the determined position and / or angle of the axes of symmetry and / or transverse axes of symmetry. Therefore, fine positioning can be performed directly after pre-positioning, preferably using the same projection unit. The evaluation module can be part of the computing unit or designed separately.

[0058] The projection of the stripe pattern can be initiated manually, automatically, or semi-automatically. With optimal alignment of the processing area (e.g., the eyes), the longitudinal direction can be aligned with the direction of the bridge of the nose. The lateral direction can be substantially perpendicular to the longitudinal direction.

[0059] Lines projected within the processing area can be arranged at equal intervals. If these lines are projected onto a plane, the distance between the lines in the beam path is the distance on the projection plane. If the projection plane is tilted, the distance between the lines on it will increase. For example, when the tilt angle is 45°, the distance will increase by a factor of √2 (approximately 1.414). To determine the change in distance, observe that the axis of the projection plane is not collinear with the illumination axis; that is, the two axes are at an angle to each other. In this way, lines with the same direction can be grouped together for mutual reference based on the gradient caused by the tilt (projection plane). Alternatively, the height profile can also be calculated. The gradient can be the first derivative of the height profile with respect to two spatial directions, x and y.

[0060] For example, lines can be aligned parallel to the direction of stimulation. In this process, the first line passing through a flat stimulation area shows almost no deformation. Whether the stimulation area is covered by a sterile covering is irrelevant, as the covering will present or replicate the shape of the stimulation area of ​​the person being treated. Therefore, even with a sterile covering, the facial structure of the person being treated can be referenced. Reference refers to a specific point or structure in reference space, or points or structures that serve as (positional) references in three-dimensional space. In contrast, lines projected onto the eye socket may undergo significantly greater deformation during projection. According to the invention, this deformation is detectable and allows inference of the projected position of the lines on the face or head of the person being treated. Longitudinal lines, i.e., lines parallel to the nasal structure, can also be referenced. For nasal structures, such as the bridge of the nose, angular deviations can be determined. Incorrect angular positions can be corrected by rotating the patient. Furthermore, correction values ​​can be provided after detecting incorrect angular positions. Even if the patient's nose is covered by a sterile covering, the evaluation module can be designed to analyze the topology of the recorded stripes, as the covering covers or adheres closely to the nose, and therefore its shape roughly matches the shape of the nose. While the shape of a covered nose cannot be exactly the same as that of an uncovered nose, the relative positions of the gradients on the nose are almost identical regardless of whether a covering is used. Therefore, the regulations concerning the nose of the person being treated also apply to those being treated who are covered with sterile coverings.

[0061] Specifically, non-sterile draping can be performed only around the eye socket during the procedure. As a feature structure that can serve as a positioning aid, the eyelid speculum can be used in another embodiment of the laser treatment device. Starting from the eyelid speculum with a favorable curvature, the direction of the eyeball center can be approximately determined based on its curvature. Furthermore, the distance from the eyelid speculum to the eyeball center can be estimated based on the known average eyeball size. Using the eyelid speculum as a positioning aid can assist or replace the aforementioned pre-positioning methods for determining displacement distance and / or displacement direction.

[0062] To provide a clear image, the camera used to record the striped projection can be equipped with a front-facing lens, which, to prevent potential image aberrations, is preferably symmetrical to one of the projection lines. Particularly preferably, the camera can be symmetrically arranged with respect to the nasal structure for symmetrical recording. The camera is preferably capable of simultaneously detecting both sides of the nose and the area between the eyebrows and eye sockets.

[0063] The nasal alae are an important feature for determining the patient's position relative to surgical instruments. Even when covered by a sterile surgical drape, the nasal alae remain clearly visible. Ideally, the camera should first be symmetrically aligned with the ideally positioned nasal alae. This alignment is best achieved using an adjustment element that can simulate or replicate the patient's head. This alignment method allows for simultaneous imaging of both nasal alae.

[0064] For this initial positioning, a central longitudinal stripe can be placed on the bridge of the nose (or on a sterile covering on the bridge of the nose). When the bridge of the nose (i.e., the area being treated) is ideally and unrestricted, the longitudinal stripes on both sides will form geometrically mirrored, approximately identical deformed lines. Subsequently, the stimulation area and the eye socket can be used for positioning. Similarly, the projection of the stimulation area line relative to the bridge of the nose should also be a mirror image.

[0065] Regarding the horizontal direction (i.e., from the left eye to the right eye), it's best to check the symmetry of the lines' distance. The corresponding axis of symmetry can serve as a center point, such as the bridge of the nose.

[0066] In the longitudinal direction, from the center of the vocal cords to the bridge of the nose, an increase in stripe spacing can be detected in the transition region from the eyebrow to the eye socket. The slope from the eyebrow to the eye socket can be used as a reference point here. This is sufficient to constitute a recognizable feature. This slope can be further calculated using the standard known distance from the center of the eyeball to the glottis, which can be understood as an offset. This analytical method using known distances can also be combined with a symmetry reference of the bridge of the nose to infer the position of the center of the eyeball based on the longitudinal and lateral positions.

[0067] To verify the rotation of the fringe projection, it is possible to check, for example, whether the increase in fringe spacing in the longitudinal direction occurs at the same coordinate relative to the transverse (Y direction) direction for both eyes. In other words, it is possible to compare the gradient at symmetrical positions on both sides of the bridge of the nose with the gradient at the same coordinate along the longitudinal direction. If the gradient is comparable or even identical, no angle correction is required. However, for example, if the gradient in the patient's right eye region is significantly lower than that in the left eye region, it may mean that the patient's head is rotated counterclockwise when viewed from above, requiring clockwise angle correction. In this case, the gradient in the patient's right eyebrow / stimulation region is detected to be significantly lower than the gradient in the upper part of the patient's left eye socket. According to the present invention, the laser treatment device can determine such angle correction and selectively provide it as a corresponding angle correction value, which represents the correction angle.

[0068] Therefore, the projection unit can include a stripe projector, a recording unit or camera, and an evaluation unit. Stripe projection can be achieved, for example, using a three-dimensional mesh. Furthermore, a specific intensity distribution can be imprinted on each stripe. This allows for the provision of an image for evaluation and the analysis of the symmetry of the stripe pattern and its intensity or brightness information. The brightness distribution imprinted on each stripe facilitates the identification of the corresponding stripe.

[0069] The evaluation unit can also be optionally or additionally designed to analyze stripes or the distance between stripes after receiving an image, for example, through a fast Fourier transform.

[0070] In addition, the evaluation unit is able to compare the terrain with the stripe spacing of a standardized face or head, and is designed to determine the correction parameters required for fine positioning based on this comparison.

[0071] Alternatively, the evaluation unit can be designed to detect the position and / or orientation of the axis of symmetry relative to the longitudinal direction of the left and right nasal alae in sequence or in parallel, and then detect areas where the striate spacing gradually increases, which indicates (decreased orbital height).

[0072] Information obtained through one of the above methods for calibrating the position of the processed area can be used to provide a control loop or control unit to position the person to be treated to the necessary measurements and perform automatic fine positioning.

[0073] Stripe projection can utilize light within the visible spectrum, but it is best to use light within a spectrum that is detectable only by a camera and imperceptible to the person being treated. Near-infrared light is used as an example only and is not a limiting factor.

[0074] Specifically, a correction signal can be calculated based on the measurement results, which can be used to readjust the position of the processing area (especially the patient's eye). For example, the correction signal can indicate that the processing area needs to be rotated X millimeters to the left, Y millimeters downward, and Z degrees clockwise (but is not limited to this). The compensating movement represented by the correction signal is the relative movement between the processing area and the laser treatment device. Therefore, this movement can be achieved by, for example, a patient bed, a treatment arm, or a device head, which can move in three spatial directions.

[0075] In another advantageous embodiment, the laser treatment device can be designed to align the application arm according to a provided displacement distance and / or displacement direction and / or rotation.

[0076] To ensure the patient's position is suitable for surgery, it is advantageous to implement a series of technical positioning steps. This cascaded positioning enables sufficiently precise positioning, which is a prerequisite for fine positioning. The cascaded positioning steps can include a pre-positioning procedure using positioning markers and a fine positioning procedure using fringe projection. In some laser treatment equipment configurations, only pre-positioning or only fine positioning may be provided as a preparatory step for fine positioning. In these configurations, the lack of provided fine positioning or pre-positioning can be achieved using separate equipment outside the laser treatment device.

[0077] Pre-positioning can be used to place the area of ​​the person to be treated within the effective range of a fine positioning system. For example, pre-positioning ensures that the processing area is within the capture area of ​​an eye tracker. This capture area can be 15mm × 15mm, 13mm × 13mm (corresponding to the average iris diameter), 10mm × 10mm, 5mm × 5mm, 3mm × 3mm, 2mm × 2mm, or smaller. The size of the capture area can also fall within these specific values. Preferably, the capture area of ​​the eye tracker is at least 13mm × 13mm. This ensures that pupils with an average diameter of 13mm can be captured. It is conceivable that the eye tracker can generate instructions for precise patient positioning and provide these instructions in the form of control data and / or output data, thereby ensuring that a sufficient processing area is maintained within the scanning range of the laser treatment device scanner. Furthermore, the scanning area can also be rectangular rather than square. Fine positioning can be performed by the eye tracker. Ideally, this fine positioning can be performed without moving the patient.

[0078] Similarly, this pre-positioning can, for example, ensure that the area of ​​the person to be treated is within the field of view of a camera (e.g., an overhead camera). Such cameras can serve as part of a fine-positioning device and provide evaluable image signals and / or control signals by performing fine-positioning.

[0079] The present invention may also include a computer-implemented method comprising the steps of: reading a captured image; identifying positioning markers and / or other positioning marks and a patient bed in the captured image; determining the (preferably relative) actual position of the patient bed relative to the positioning markers and / or other positioning marks; comparing the actual position with a (preferably relative) target position of the patient bed relative to the positioning markers and / or other positioning marks; and determining and (optionally) providing the displacement distance and / or displacement direction of the patient bed calculated based on the comparison to reach the target position. The method may also optionally include the step of providing display data, wherein the display data is capable of representing the required displacement distance and / or displacement direction of the patient bed, and is designed to: output the required displacement distance and / or displacement direction of the patient bed on a user interface (preferably a display device), provided that the display data is transmitted to the display device.

[0080] This computer-implemented method can run on any type of computing unit, such as an FPGA or a PC. The computing unit can be part of or connected to a laser therapy device.

[0081] The invention also includes a non-volatile storage medium containing instructions that, when executed on a processing unit, enable the implementation of a specific function of the computer method according to the invention. The invention also includes data structures and data signals having these instructions. Attached Figure Description

[0082] The present invention will now be described in more detail with reference to the accompanying drawings. Identical technical features and functionally identical features are denoted by the same reference numerals in the drawings. Various technical features shown in different drawings can be combined with each other as needed. The illustrated embodiments are merely illustrative and are not intended to limit the invention; repeated descriptions of technical features are omitted here.

[0083] Figure 1 A schematic diagram (top view) showing the position of the laser therapy equipment and the patient bed relative to the laser therapy equipment. Figure 2 Another schematic diagram (top view) showing the laser treatment device and its positioning with the aid of positioning markers; Figure 3 A schematic diagram of the laser treatment device according to the present invention is shown in the side view; Figures 4-7 A schematic diagram showing possible location markers; Figure 8 A schematic diagram showing the processing area represented by positioning marks and additional positioning marks; Figure 9 A schematic diagram illustrating another embodiment where the processing area is represented by positioning marks and additional positioning marks; Figures 10-13 A schematic diagram illustrating the fine positioning and evaluation of a laser therapy device using stripe projection according to the present invention is shown. Figure 14 and Figure 15 A schematic diagram of a dynamic positioning marker is shown. Detailed Implementation

[0084] For ease of description, it is assumed that the area to be processed is one or both eyes of the person to be treated. However, the invention is not limited to this area and is also applicable to other areas to be processed.

[0085] Figure 1A schematic top view of the laser therapy device 1 and patient bed 2 according to the present invention is shown. The patient bed 2 is shown only schematically to represent any type of patient transport device that can move a person to be treated (not shown) to the laser therapy device 1, including a transport chair with a movable backrest, a simple bed, a special bed, and (if applicable) a patient bed.

[0086] The patient bed 2 has a head area 4, in which the head of the person to be treated is placed. A support may also be provided in the head area 4, through which the head of the person to be treated can be indirectly rested against the head area 4 of the patient bed 2.

[0087] In another embodiment (not shown), a test subject may be placed within the head region 4, the test subject corresponding in shape, size, and / or characteristic elements or locations to the head of the person to be treated. This test subject can be used to check the correct position of the patient bed 2 relative to the laser treatment device 1 using the projection unit 6 described below.

[0088] The patient bed 2 is indicated by a solid line as its initial position 8, and then moved manually (e.g., by an assistant), semi-automatically, or automatically to a preparatory position 10, indicated by a dashed line. The distance between the initial position 8 and the preparatory position 10 corresponds to a displacement distance 11a. Similarly, the displacement direction 11b is defined by the direction from the initial position 8 to the preparatory position 10.

[0089] The laser therapy device 1 may be equipped with an application arm 12, which can be in a stationary position 14. In the stationary position 14, the laser therapy device 1 emits therapeutic radiation (see...). Figure 3 The laser output port 16 will rotate away from the person being treated, therefore the laser output port 16 cannot be used to properly position the patient bed 2. This may lead to... Figure 1 The rough positioning PI shown is inaccurate, that is, the position of the patient bed 2 does not match the initial position 10, or the deviation from the initial position 10 is too large, so that simple adjustment of the patient bed 2 by the laser treatment device 1 is not enough to bring it back to the initial position 10.

[0090] The displacement distance 11a and / or displacement direction 11b may be displayed on the display device 13a by the laser therapy device, and / or expressed by the speaker 13b, and / or provided to the user by the tactile feedback module 13c on the patient bed. At least one characteristic of the display may depend on the magnitude of the displacement distance 11a and / or the displacement direction 11b.

[0091] Figure 2 The positioning mark 20 projected by the projection unit 6 is shown schematically. The positioning mark 20 is only schematically drawn as a crosshair 20a and is not limited in any way; the general form of the positioning mark 20 and its various specific embodiments will be discussed below. Figures 5 to 11 This will be discussed in more detail later.

[0092] like Figure 2 As shown, the positioning mark 20 is projected onto the resting position 14 of the application arm 12. Once the patient bed 2 is positioned in or near the preparatory position 10, the positioning mark 20 is projected onto the head region 4 of the patient bed 2. Here, the positioning mark 20 represents the processing area 22. The positioning mark 20 can be placed on the head 22a of the person to be treated 22b (see circle 18a), or on the support region 22c of the patient bed for the head 22a of the person to be treated 22b (see circle 18b), or on the support 22d (see circle 18c). The support 22d allows the head 22a of the person to be treated 22b (not shown) to be indirectly supported on the patient bed 2, particularly in its head region 4.

[0093] about Figure 1 and Figures 10 to 13 In the diagram, it's important to note that the patient 22b is typically covered by a sterile surgical drape during the procedure. Other auxiliary tools, such as eyelid retractors, may also be used to keep the eyelids open. For clarity, these tools are not shown or described in detail in the diagram. It is particularly important to note that only the eye socket may be exposed during the procedure. However, as will be explained in detail later, preoperative positioning can still utilize facial features. This is because sterile surgical drapes (such as those made of non-woven fabric or film) conform to the patient's facial skin and can even conform to the facial contours. Therefore, the shape of the sterile surgical drape can correspond to the shape of the patient's face, including its contours.

[0094] Therefore, even with a sterile covering, the bridge of the nose remains a prominent landmark. Similarly, the eye sockets and stimulator area also serve as prominent landmarks. If the following description refers to the face or certain facial areas (22b) of the person to be treated, this description applies even if these facial areas are covered by a sterile covering. The sterile covering does not impede the ability of the laser treatment device of the present invention to rapidly locate the person to be treated.

[0095] The positioning mark 20 indicates the processing area 22. In other words, the processing area 22 can correspond to the area where the positioning mark 20 is projected. In one embodiment, the positioning mark 20 can completely surround the processing area 22, or it can only surround the central area 21 of the processing area 22. The positioning mark 20 is preferably symmetrically arranged in the central area 21 of the processing area 22, or marks the central area 21.

[0096] Figure 2The dashed lines in the diagram schematically represent the processing area 22 (see circles 18a-18c). Preferably, the processing area 22 is rectangular, but in other embodiments, it can also be circular or oval. The shape and / or size of the processing area 22 depends on the design of the scanning device (not shown) used in the laser treatment device 1. For example, if the device consists of two scanning mirrors (XY scanners), a rectangular area can be scanned. On the other hand, if the scanning device consists of a rotating reflective element (e.g., a prism) and a mirror rigidly rotatably connected to the reflective element and whose distance from the reflective element is variable, the processing area 22 can be circular or oval. A circular processing area 22 can also be obtained using a scanning lens.

[0097] The positioning mark 20 can also consist of several elements that can mark the center 21 of the processing area 22, such as the intersecting line 20b forming the crosshair 20a, and can at least partially surround the processing area.

[0098] The processing area 22 of the laser treatment device 1 can be a region of the person 22b to be treated, including at least one eye 24 of the person 22b to be treated, preferably including two eyes 24. In some figures, only one eye 24 is shown schematically, in order to cover other possible areas of the person 22b to be treated, or test subjects.

[0099] Using the current laser treatment device 1, any part of the person 22b to be treated can be located more easily and reliably. Location does not yet include treatment, i.e., any treatment or medical procedure performed on the body of the person 22b to be treated. Location is a preliminary step in such treatment, and can also be performed, for example, on test subjects (to verify the correct functioning of the laser treatment device 1).

[0100] Figure 3 A schematic side view of the laser therapy device 1 of the present invention is shown. The laser therapy device 1 includes a facility base 26 and a device head 27, an application arm 12 (preferably movable) connected to the device head 27, and a laser source 28 (schematic) for generating therapeutic radiation 30. The laser source 28 is shown only schematically in the device head 27; in other embodiments, it may be disposed in the facility base 26.

[0101] The application arm 12 and the laser exit 16 each have a working position 32, or can be positioned therein. The working position 32 is indicated by a dashed line. In this working position 32, the application arm 12 is designed to guide therapeutic radiation through the laser exit 16 to the processing area 22. The processing area 22 can be two-dimensional or three-dimensional. The processing area 22 is... Figure 3 This is represented by a line that extends into or outside the drawing plane (see [reference]). Figure 2The figure schematically shows an "eye" 24; the device is located within the processing area 22. Figure 3 The patient's head is not shown. Instead, a support 34 is placed on the patient bed 2 to support the patient receiving treatment (not shown) and / or indirectly secure them to the patient bed 2. Positioning marks 20 can be projected onto the patient's head, the head area of ​​the patient bed 2, or the support 34, as shown in the figure above. A schematic diagram of the support 34 is shown here.

[0102] The laser therapy device 1 includes a projection unit 6. This simplifies the positioning of the person to be treated relative to the laser therapy device 1.

[0103] The positioning marker 20 is projected by the projection unit 6 onto the rest position 14 of the application arm 12. Within this rest position 14, the person to be treated can move to the preparatory position 10 without colliding with the application arm 12.

[0104] In this way, the patient bed 2 can be positioned without obstruction, regardless of the position of the pressure arm 12. Preferably, the pressure arm 12 moves from the rest position 14 to the working position 32 (pivotual in the illustrated embodiment) only when the patient bed 2 reaches the preparatory position 10.

[0105] In the illustrated embodiment, the projection unit 6 is connected to the application arm 12. In other embodiments, the projection unit 6 can be connected to other locations on the laser treatment device 1, such as to the facility base 26.

[0106] Figure 3 The projection distance 36 is also shown, which corresponds to the distance between the projection unit 6 and the positioning mark 20 representing the processing area 22.

[0107] The position of the processing area 22 relative to the laser treatment device 1 is determined by the latter. In addition to the dimensions in the x and y directions (shown in the drawing plane), the processing area 22 also has a defined height 38, which ideally corresponds to the position of the eye 24 of the person being treated 22b. Here, height 38 refers to the distance from the ground 40 where the laser treatment device 1 is located to the processing area 22.

[0108] Figure 3A camera module 7 on the application arm 12 is also shown. The camera module 7 is capable of capturing images of the patient bed 2 and the positioning marker 20. These images can be transmitted to a processing unit 9, which calculates the displacement distance 11a and / or displacement direction 11b and provides this information to the user or for automatic positioning. In the illustrated embodiment, the processing unit 9 includes an evaluation module 83. In other embodiments not shown, the evaluation module can be configured separately and not as part of the processing unit 9. The evaluation module 83 is designed to evaluate images of the positioning marker 20 and / or the patient bed 2 captured by the camera module 7 (which can consist of at least one camera and / or at least one 3D camera).

[0109] Figures 4-7 A schematic diagram showing possible positioning markers 20 is provided. Figure 4 The rectangular positioning mark 20 is shown, which consists of two crosshairs 20a and a frame 20c.

[0110] Figure 5 Circular positioning mark 20 is shown. Figure 6 An oval-shaped positioning mark 20 is shown.

[0111] Figure 7 The diagram shows a rectangular positioning mark 20 with two crosshairs 20a and a broken frame 20d. The broken frame 20d can only contain corner points 20e, as shown below. Figure 7 As shown.

[0112] Before discussing the concept of projection distance 36 and its determination method in detail, we will first discuss... Figure 8 and Figure 9 The description of these two figures is related to the explanation of the projection distance of 36.

[0113] Figure 8 One method for determining the projection distance 36 is illustrated. Projection unit 6 generates converging light 42, which is capable of clearly imaging onto surface 46 within a depth of field 44. Depth of field 44 is preferably defined by the Rayleigh length of the light used, for example, twice the Rayleigh length. The convergence of light 42, i.e., the convergence through the optical elements (not shown) of projection unit 6, allows the position of depth of field 44 to be determined, thereby enabling the determination of the projection distance 36. Positioning marks 20 can be clearly mapped to the first layer 48a of surface 46, and the second layer 48b or third layer 48c of surface 46 (represented by different lines in the schematic diagram). Therefore, the projection distance 36 does not describe a specific numerical value, but rather a range of values ​​on a length scale. For clarity, this is schematically illustrated in the figure using three specific examples of projection distance 36, labeled 36a, 36b, and 36c. In the following description, only one specific example of projection distance 36 is mentioned, but for all examples, 36a, 36b, 36c, and all unshown markings are included.

[0114] In another embodiment, by modifying the projection unit 6, an additional positioning mark 50 can be projected in addition to the positioning mark 20. The additional positioning mark 50 can have an additional projection distance 52, for example, the additional projection distance can be greater than the projection distance 36.

[0115] Positioning marker 20 and additional positioning marker 50 can be projected simultaneously or alternately. The projection of positioning markers 20 and 50 can utilize the same optical elements of the projection unit 6 (e.g., a zoom lens not shown), or it can utilize separate optical elements for positioning markers 20 and 50 (fixed, but with different focal lengths for each positioning marker; not shown). The definition of the additional projection distance 52 corresponds to the projection distance 36 for imaging the additional positioning marker 50. The additional projection distance 52 preferably corresponds to the height of the projection unit 6 above the ground 40.

[0116] In one feasible embodiment, the laser treatment device 1 is designed to project a positioning marker 20 and an additional positioning marker 50. The positioning marker 20 is preferably projected at a distance 36 and clearly imaged, which corresponds to the height of one eye 24 of the person 22b to be treated. The additional positioning marker 50 is preferably clearly imaged on the ground 40.

[0117] In this embodiment, the positioning mark 20 cannot be clearly projected onto the ground 40, and the additional positioning mark 50 also cannot be clearly projected onto the patient bed 2 or the head 22a of the person to be treated. Clear projection means that the positioning mark and / or other positioning marks can be distinguished at different projection heights. Therefore, "clear" can be understood as the positioning mark and / or other positioning marks not being blurred and being displayed with a clearly discernible predefined projection pattern.

[0118] like Figure 7 As shown, the first enlarged portion 54a and the second enlarged portion 54b of one corner 20e of the broken frame 20d are schematically shown.

[0119] In the first enlarged section 54a, the substructure 56 at corner 22e is clearly visible and distinguishable. The substructure 56 represented by a square in the figure is for illustrative purposes only and is not intended to cover all substructures.

[0120] In the second magnified section 54b, the projection of the substructures 56 is inseparable from each other and cannot be perceived as distinguishable substructures 56.

[0121] The first enlarged section 54a indicates the case where the positioning mark 20 or the additional positioning mark 50 is projected at the correct projection distance 36 or the correct further projection distance 52, that is, the positioning mark 36 is located on the horizontal plane of the patient bed 2 and the additional positioning mark 50 is located on the horizontal plane of the ground 40.

[0122] However, the second magnified section 54b shows that the positioning mark 20 and the additional positioning mark 50 are not projected to the correct projection distance 36 and the correct further projection distance 52, respectively. This may occur when the positioning mark 36 is located on the ground 40, or when the additional positioning mark 50 is located on the patient bed 2. However, if the surface 46 on which the projection occurs is outside the depth of field 44 of the converging light 42, the images of the positioning mark 20 and the additional positioning mark 50 will also become blurred.

[0123] Preferably, the converging light 42 of the positioning mark 20 is more convergent than the light from the more distant positioning mark 50, so that a smaller deviation between the surface 46 and the projection distance 36 can be detected.

[0124] Figure 7 The partial structure 56 shown is purely schematic and can be replaced with any other structure and / or object, such as a point, circle, triangle, line, or similar structure.

[0125] Figure 8 The method of placing additional positioning marks 20 and / or additional positioning marks 50 and defining projection distance 36 is illustrated. In this embodiment, projection unit 6 consists of two projection elements 58, each generating a local projection 60. The local projection 60 of the first projection element 58a and / or the second projection element 58b is preferably a parallel projection 60c. Regardless of the distance between the projection element 58 and the projection surface, the parallel projection 60c can be correctly (i.e., clearly) projected onto the surface 46. Specifically, the first projection element 58a can be designed to project the additional positioning mark 50 as a first local projection 60a. Furthermore, the second projection element 58b can be designed to generate a second local projection 60b that intersects with the first local projection 60a. The intersection area 62 of the partial projections 60a and 60b represents the processing area 22.

[0126] Local projections 60a and 60b can in particular be composed of substructures 56, for example, they complement each other in the intersecting region 62. This is in Figure 8 The first enlarged section 54a and the second enlarged section 54b are shown in schematic form.

[0127] The first projection 60a is projected by the first projection element 58a, and in this embodiment, an additional positioning mark 50 is generated. The additional positioning mark 50 includes the corner 20e, but does not include the edge region 66 near the corner adjacent to the corner 20e.

[0128] The second projection element 58b generates a second local projection 60b, and projects only the edge region 66 near the corner point, without projecting the corner point 20e itself. The local element 56, not shown in the figure, is represented by a dashed ellipse.

[0129] By correctly superimposing the two partial projections 60a and 60b, the continuous frame 20c can be depicted and perceived. This is shown schematically in the third enlarged section 54c.

[0130] Corner point 20e and adjacent edge region 66 are drawn with different lines, solely for differentiation. The continuous frame 20c of positioning mark 20 is formed by superimposing the first part 60a and the second part projection 60b.

[0131] In this case, the complete or continuous frame 20c forms a positioning mark 20 and indicates the processing area 22.

[0132] If the height of surface 46 (i.e., the head 22a of patient bed 2 or the support 34 of person 22b to be treated) is incorrect, the complementary substructures 56 of the two partial projections 60a, 60b cannot complement each other.

[0133] like Figure 8 As shown in the fourth magnified section 54d, displacement 68 (indicated by a double arrow) indicates that the height of the processing area 22a of the person 22b to be treated is incorrect. In the fourth magnified section 54d, it can be seen that the corner point 20e of the first partial projection 60a and the adjacent corner point edge region 66 of the second partial projection 60b do not form a continuous positioning mark 20. For example, the eye 24 to be treated may not be within the processing area 22, but rather below or above it, thus requiring height correction. This may indicate the use of an unsuitable patient bed 2 or an unsuitable support 34. This displacement is capable of detecting and correcting the height deviation of the patient 22a.

[0134] Furthermore, another advantage of this design is that the additional positioning mark 50 is projected onto the ground 40 only before the patient bed moves to the position of the second partial projection 60b. Thereafter, the first partial projection 60a of the additional positioning mark 50, together with the second partial projection 60b, forms the positioning mark 20 on the ground 40.

[0135] Figures 10-13 The positioning of patient bed 2 within a fine positioning range is illustrated in schematic form. For example, the fine positioning adjustment range can be set to ±5mm. Within this adjustment range, the application arm can be aligned with the person to be treated 22b.

[0136] The face or head 22a of the person to be treated 22b provides significant possibilities for fine localization, especially the nose 72 and eye sockets 74. Intersecting principal lines of symmetry 76a and 76b can be projected onto the nasal bridge 72a and eye socket 74 areas, respectively. Principal line of symmetry 76a extends along the nasal bridge 72a, and principal line of symmetry 76b is perpendicular to it. The intersection 78 of principal lines of symmetry 76a and 76b can be used as a fulcrum 80 for fine localization of the person to be treated 22b.

[0137] In addition to the principal symmetry lines 76a and 76b, a symmetry check line 82 can also be projected. The symmetry check line 82 preferably maintains a constant distance from each adjacent symmetry check line 82 or each parallel adjacent principal symmetry line 76a and 76b. All parallel lines are preferably equidistant from each other.

[0138] For clarity, only two horizontally symmetrical test lines 82 and four vertically symmetrical test lines 82 are shown in the figure. In other configurations, any number of vertical and horizontally symmetrical test lines 82 can be combined.

[0139] In regions A and B, i.e., the eye socket 74, and at a distance 84 from the principal symmetry line 76a, the gradient or height profile H can be determined using the symmetry test line 82. A schematic diagram of this height profile H is shown in Figure 86a. It can be seen that the height profile H of regions A and B is both comparable to and similar to the ideal curve 88. "Similar" means that the height profile H of regions A and B lies within the predefined error range (not shown in the figure) of the ideal curve 88.

[0140] In region C, i.e., the bridge of the nose 72a, the height profile H is also defined by the vertical line of symmetry 82. However, in this case, the symmetry of the height profile H with respect to the principal axis symmetry 76b indicates that the laser treatment device 1 is correctly aligned with the person to be treated 22b. This is shown schematically in the second figure 86b.

[0141] exist Figure 11 In the process, the position of the person to be treated 22b relative to the laser treatment device 1 has a lateral deviation of 89 and a longitudinal deviation of 92.

[0142] If we consider regions A and B shown in the third chart 86c, the measured height profiles H in these regions are similar or even identical, but do not conform to the ideal curve 88. This indicates the presence of a longitudinal deviation 92.

[0143] In region C, the height profile H can also be determined, as shown in the fourth figure 86d, but it is asymmetrical with respect to the principal axis 76b, indicating a lateral deviation 89.

[0144] exist Figure 12 In this context, the patient being treated has an angular deviation of 90° relative to the laser treatment device 1 (also known as: 90° rotation). This 90° angular deviation results in a difference in the height profile H between regions A and B, and may cause a shift relative to the ideal curve 88. This is illustrated in Figure 86e, Part 5.

[0145] In region C, specifically at the bridge of the nose 72a, the asymmetry relative to the principal axis of symmetry 76b is clearly visible by determining the height profile H (see Figure 86f in section 6), caused by a 90° angular deviation. This 90° angular deviation can be determined using the height profile H measured in regions AB and C and its deviation from the ideal curve 88 (i.e., the asymmetry). This angular deviation corresponds to a 90° rotation.

[0146] Symmetry lines 76a, 76b, and 82 can be projected as supplements to or alternatives to positioning mark 20. For clarity, Figure 10 Only the positioning mark 20 is shown.

[0147] First, the person to be treated 22b can be guided into the predetermined position area by projecting the positioning marker 20. By adjusting the height, lines can be clearly projected onto the person to be treated, placing them at the predetermined height.

[0148] Figure 13 This illustration shows that if the patient 22b is not positioned correctly, the lines cannot be distinguished. Maximum contrast between the patient's skin and the lines can be achieved by adjusting the projections of lines 76a, 76b, and 82. The presence of multiple (spatial) frequencies within a small area indicates the patient's "focal point."

[0149] For the principal symmetry line 76a of the nose 72, symmetry analysis can be performed on the left and right sides of the line by checking whether the symmetry test lines 82 are paired and have the same intensity coordinates. If they are not the same, left and right corrections must be performed.

[0150] Regarding alignment using the eye socket 74, a similar comparison can be made: here, the coordinates on the symmetry check line 82 located to the left and right of the main symmetry line 76a (pointing to the bridge of the nose 72) should have the same intensity value for each pair of coordinates. If this is not the case, the angular alignment or rotation of the person to be treated 22b relative to the pivot point 80, as well as the y-axis adjustment of the person to be treated, can be corrected. The corresponding correction instructions can be displayed on the screen (not shown in the figure). To avoid any asymmetry in the facial area, the image area should not be too long or too wide, but should reliably capture the eye area.

[0151] Reference Figures 10 to 13 The evaluation of the described stripes 76a, 76b and 82 is preferably conducted by [the relevant authority / organization]. Figure 3The evaluation module 83 shown is used for this purpose. Evaluation module 83 is particularly suitable for determining the stripe spacing of the stripes or lines (76a, 76b, and 82) shown in the image, and for determining the position and / or angle of the longitudinal axis of symmetry (collinear with the main axis of symmetry 76a) and the position and / or angle of the transverse axis of symmetry (collinear with the main axis of symmetry 76b) based on the morphology of the stripe spacing and / or variations in the stripe spacing. Specifically, evaluation module 83 is capable of providing the displacement distance (11a), displacement direction (11b), and / or rotation angle (90°) required for positioning based on the determined position and / or angle of the axis of symmetry and the transverse axis of symmetry.

[0152] Figure 14 and Figure 15 A dynamic positioning marker 96 is schematically depicted. This marker consists of multiple substructures 56, where substructure 56a represents the y-direction and substructure 56b represents the x-direction. A circular illustration 94 is also shown or projected in the figure. The shape or size of the circular illustration 94 indicates the height setting.

[0153] If the person to be treated approaches the correct position (i.e., the initial position) in the Y direction, substructure 56b may emit light from the outside in. Conversely, if the person to be treated moves away, substructure 56b may gradually disappear from the inside out. Furthermore, or rather, all substructures 56b may be visible, which is similar to a chasing light with gradually increasing brightness, representing the process of moving away from the initial position from the inside out and approaching the initial position from the outside in.

[0154] Once the target position is reached, all substructures 56 can be illuminated or projected in their respective directions. For the Z direction, an additional circular illustration 94 will be displayed or projected.

[0155] Figure 14 This illustrates the situation where the correct position has been achieved in the x-direction. All substructures 56a are shown or projected. However, this is not the case in the y-direction, as not all substructures 56b are shown or projected. The radius of the circular illustration 94 is R1, which may indicate that the person to be treated is not yet at the correct height.

[0156] In comparison, Figure 15 This indicates that the preparatory position has been reached, and the x, y, and z coordinates of the person to be treated 22b are correctly set. Dynamic positioning markers 96 can be projected and / or shown or faded into on the display device or in the microscope view.

[0157] 1. Laser therapy equipment

[0158] 2 patient beds

[0159] 4. Head area

[0160] 6 projection units

[0161] 7 Camera Module

[0162] 8. Starting position

[0163] 9. Calculation Unit

[0164] 10. Ready Position

[0165] 11a Displacement distance

[0166] 11b Displacement direction

[0167] 12 Application Arm

[0168] 13a Display device

[0169] 13b speaker

[0170] 13c haptic feedback module

[0171] 14. Stationary position

[0172] 16 Laser Exit

[0173] 18a-18c Circle

[0174] 20. Location Markers

[0175] 20a Crosshair

[0176] 20b line

[0177] 20c continuous frame

[0178] 20d broken frame

[0179] 20e angle

[0180] 21 Central Committee

[0181] 22 Processing Area

[0182] 22a Head

[0183] 22b People awaiting treatment

[0184] 22c Support area

[0185] 22d support component

[0186] 24 eyes

[0187] 26 Facility Base

[0188] 27 Equipment Head

[0189] 28 Laser source

[0190] 30 Treatment radiation

[0191] 32 Work Location

[0192] 34 Support components

[0193] 36c Projection distance representation

[0194] 36 Projection distance 36a

[0195] 38 Height

[0196] 40 Ground

[0197] 42 Converging Light

[0198] 44 Depth of field

[0199] 46 Surface

[0200] 48a-48c First, Second, and Third Positions

[0201] 50 Additional positioning markers

[0202] 52 Additional projection distance

[0203] Enlarged sections 1, 2, 3, and 4 of 54a-54d

[0204] Structures of parts 56, 56a, and 56b

[0205] 58 Projection elements

[0206] 58a / 58b First / Second Projection Elements

[0207] 60-part projection

[0208] 60a / 60b First / Second Part Projection

[0209] 60c parallel projection

[0210] 62 Intersecting regions

[0211] Edge area near 66 degrees

[0212] 68 displacement

[0213] 72 Nose

[0214] 72a bridge of the nose

[0215] 74 Eye sockets

[0216] Principal symmetry lines of 76a and 76b

[0217] 78 intersections

[0218] 80 Rotation point

[0219] 82 Symmetrical inspection line

[0220] 84 Distance

[0221] Charts 1-6, 86a-86f

[0222] 88 Ideal Curve

[0223] 89 Lateral Deviation

[0224] 90 angle deviation

[0225] 92. Longitudinal Deviation

[0226] 94 Circular Diagram

[0227] 96 Dynamic positioning markers

[0228] Areas A, B, and C

[0229] H height profile

[0230] P1 Coarse Positioning

[0231] Radius of R1, R2

Claims

1. A laser therapy device (1) comprising a facility base (26), an application arm (12) fixed to the facility base (26), and a laser source (28) for generating therapeutic radiation (30), wherein, The application arm (12) has at least one working position (32) designed to guide the therapeutic radiation (30) into the processing area (22), wherein the laser treatment device (1) also has a projection unit (6) for simplifying the positioning of the person to be treated (22b) relative to the laser treatment device (1), and wherein the projection unit (6) is designed to project positioning marks (20) so that the positioning marks indicate the position of the processing area (22).

2. The laser therapy device (1) according to claim 1, wherein, The application arm (6) is movably fixed to the facility base (26).

3. The laser therapy device (1) according to claim 1 or 2, wherein, The projection unit (6) is fixed at the facility base (26) and / or the application arm (6).

4. The laser therapy device (1) according to any one of claims 1 to 3, wherein, The application arm (6) also has a stationary position (14) in which the application arm (6) moves away from the processing area (22) by swinging or rotating, and wherein the projection unit (12) is designed to project the positioning mark (20) when the application arm (12) is in the stationary position (14).

5. The laser therapy device (1) according to any one of claims 1 to 4, wherein, The projection unit (12) is designed to project additional positioning markers (50), wherein the positioning markers (20) have a projection distance (36) that is less than the additional projection distance (52) of the additional positioning markers (50).

6. The laser therapy device (1) according to claim 5, wherein, The projection unit (12) is designed to produce a clear projection of the positioning mark (20) at the height of the patient bed (2), and wherein the projection unit (12) is also designed to produce a clear projection of the additional positioning mark (50) on the ground (40).

7. The laser therapy device (1) according to any one of claims 1 to 6, wherein, The positioning mark (20) and / or the additional positioning mark (50) each have at least one shape from a shape list, the shape list including: -Oval; -Circular; -rectangle; - At least one crosshair (20a); - Boot path; - Multiple tags; or - A combination of the shapes described above.

8. The laser therapy device (1) according to any one of claims 1 to 7, further comprising: A camera module (7) is designed to identify the positioning marker (20) and / or additional positioning marker (50) in the captured images and to identify the patient bed (2), to determine the actual position of the patient bed (2) relative to the positioning marker (20) and / or additional positioning marker (50), to compare the actual position with the target position of the patient bed (2) relative to the positioning marker (20) and / or additional positioning marker (50), and to give from the comparison the displacement distance (11a) and / or displacement direction (11b) required for the patient bed (2) to reach the target position.

9. The laser therapy device (1) according to claim 8, wherein, The camera module (7) includes at least two cameras or at least one three-dimensional camera.

10. The laser therapy device (1) according to claim 8 or 9 further includes an interactive interface (13) designed to transmit the displacement distance (11a) and / or displacement direction (11b) to the operator in an optical and / or acoustic and / or tactile manner.

11. The laser therapy device (1) according to claim 10, wherein, The interactive interface (13) is designed to set the monotone repetition frequency of the acoustic transmission displacement distance (11a) according to the displacement distance (11a), and to set the pitch frequency of the acoustic transmission displacement direction (11b) according to the displacement direction (11b).

12. The laser therapy device (1) according to any one of claims 8 to 11 further includes a control module designed to control the patient bed (3) based on the derived displacement distance (11a) and / or displacement direction (11b) so that the patient bed automatically reaches the target position.

13. The laser therapy device (1) according to any one of claims 1 to 12, wherein, The projection unit (6) is designed to project a striped pattern in the processing area (22) upon reaching a preparatory position (10) in the processing area (22) for positioning the area to be treated of the person (22b) to be treated, wherein the striped pattern comprises: - Multiple longitudinal stripes spaced apart from each other and oriented along the longitudinal direction (76a, 82); and - Multiple transverse stripes (76b, 82) that intersect the longitudinal stripes (76a, 82), are spaced apart from each other, and are oriented in the transverse direction. The laser treatment device (1) further includes a camera module (7) for recording the projected stripes (76a, 76b, 82) and providing an image of the projected stripes, and an evaluation module (83) designed for: - Receive an image of the projected stripes; - The fringe spacing of the stripes (76a, 76b, 82) imaged in the image is obtained; - The position and / or angle of the longitudinally oriented axis of symmetry and the position and / or angle of the transversely oriented axis are derived from the morphology of the fringe spacing and / or the variation in the fringe spacing; and - The position and / or angle derived from the axis of symmetry and the transverse axis give the displacement distance (11a) and / or displacement direction (11b) and / or rotation (90) required for positioning.

14. The laser therapy device (1) according to claim 13, wherein the laser therapy device is designed to orient the application arm (12) according to the given displacement distance (11a) and / or displacement direction (11b) and / or rotation (90).

Images