Projection navigation apparatus applied to c-arm x-ray machine and calibration and implementation method

Abstract

Disclosed is a projection navigation apparatus applied to a C-arm X-ray machine, comprising a projector (1) and a reflection apparatus (2). The reflection apparatus (2) is configured for reflecting light rays emitted by the projector (1). When the projection navigation apparatus is used in a C-arm X-ray machine, the reflection apparatus (2) may reflect light rays passing through a main optical axis of a lens of the projector (1) to below an X-ray tube (0) of the C-arm X-ray machine, and coincide the reflected light rays passing through the main optical axis of the lens of the projector (1) with a main optical axis of the X-ray tube (0). The projection navigation apparatus further comprises a calibration apparatus (7). The calibration apparatus (7) is detachably fixed to the projector (1).

Description

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

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

[0002] Traditional surgical incision is large, bleeding is much, and the body is damaged greatly, and after the operation, not only the scar is large, which affects the appearance, but also may cause related complications. With the development of minimally invasive surgery, it is expected to complete the operation through small incision or percutaneous puncture. But this depends on the percutaneous accurate positioning of the target in the body and the accurate path navigation to the target.

[0003] Chinese patent application No. 201920068139.8 discloses a laser positioner and surgical navigation system based on C-arm X-ray machine, which is installed at the end of the image intensifier of the C-arm X-ray machine and can generate a visible laser beam. The laser beam is used to complete the accurate navigation of the target in the body. TECHNICAL PROBLEM

[0004] However, the laser positioner has the following problems, first, the size of the laser positioner is large, and it is installed at the end of the image intensifier. In order to obtain a sufficient perspective field of view, the patient needs to be as close to the image intensifier as possible, so that the space from the laser positioner to the patient's body surface is greatly reduced, which is not conducive to the operation of the surgeon; second, the navigation of the laser beam depends on the movement of the stepping motor, and the stepping motor is prone to jamming, step loss and noise during movement, which will cause the navigation accuracy to decrease and interfere with the operation process; third, the laser beam can only navigate and position a single target, and cannot realize panoramic display of the target in the operation area and simultaneous positioning of multiple targets; fourth, the laser positioner has metal components such as laser generating tube which are not transparent to X-rays, and these components are located in the X-ray projection area, which will block the surgical target of the human body and affect the imaging. TECHNICAL SOLUTION

[0005] In view of the above technical problems, the projection navigation device and method applied to the C-arm X-ray machine provided by the present application can effectively solve the technical problems existing in the prior art, and has the advantages of simple structure, small occupied volume, effectively widened operation space, no blocking to the surgical target, no need to move the equipment components during the operation, and realization of panoramic observation of the X-ray machine perspective area, separate display of specific target and visual linear navigation.

[0006] To achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0007] A projection navigation device applied to a C-arm X-ray machine, comprising a projector and a reflecting device; the reflecting device is used for reflecting light emitted by the projector; when the projection navigation device is applied to the C-arm X-ray machine, the reflecting device can reflect light along the main optical axis of the lens of the projector to below an X-ray tube of the C-arm X-ray machine, and the reflected light along the main optical axis of the lens of the projector is coincident with the main optical axis of the X-ray tube.

[0008] The projection navigation device applied to the C-arm X-ray machine provided by the application preferably comprises mutually parallel first and second plane mirrors; the mirror surfaces of the first and second plane mirrors are opposite to each other; the mirror surface of the first plane mirror is obliquely opposite to the lens of the projector; if the direction of the light emitted along the main optical axis of the lens of the projector is vertically downward, the included angle between the first plane mirror and the horizontal plane is 45°; after the light emitted along the main optical axis of the lens of the projector is reflected by the first plane mirror, the light irradiates the second plane mirror, and after being reflected by the second plane mirror, the light is parallel to the main optical axis of the lens of the projector.

[0009] The projection navigation device applied to the C-arm X-ray machine provided by the application preferably has adjustable distance between the second plane mirror and the first plane mirror.

[0010] The projection navigation device applied to the C-arm X-ray machine provided by the application preferably further comprises a first driving mechanism; the first driving mechanism can drive the projector to move; if the adjustable direction between the first and second plane mirrors of the reflecting device is the Y-axis direction, the first driving mechanism can drive the projector to move in the plane formed by the X-axis and the Z-axis.

[0011] The projection navigation device applied to the C-arm X-ray machine provided by the application preferably comprises a micro-processing module and a communication module; the micro-processing module is electrically connected with the communication module; the micro-processing module is electrically connected with the first driving mechanism.

[0012] The projection navigation device applied to the C-arm X-ray machine provided by the application preferably further comprises a second driving mechanism; the distance between the two plane mirrors of the reflecting device is adjusted by the second driving mechanism; the second driving mechanism is electrically connected with the micro-processing module.

[0013] The projection navigation device applied to the C-arm X-ray machine provided by the application preferably further comprises a calibration device; the calibration device is detachably fixed on the projector; the calibration device comprises a fixing member, a first metal ball, a second metal ball, a third metal ball and a fourth metal ball; the first, second, third and fourth metal balls are all fixed on the fixing member.

[0014] The application provides a projection navigation device applied to a C-arm X-ray machine.

[0015] The application provides a projection navigation device applied to a C-arm X-ray machine.

[0016] The application provides a projection navigation device applied to a C-arm X-ray machine.

[0017] Step S102: install a calibration device on the projector, so that the line connecting the first metal ball and the second metal ball is parallel to the Y axis; the line connecting the third metal ball and the fourth metal ball is parallel to the X axis; the midpoint of the line connecting the first metal ball and the second metal ball is the first midpoint; the midpoint of the line connecting the third metal ball and the fourth metal ball is the second midpoint; the line connecting the first midpoint and the second midpoint is parallel to the Z axis; the first midpoint is above the second midpoint; the distance between the first midpoint and the second midpoint is L; the distance between the first metal ball and the second metal ball is also L; the distance between the third metal ball and the fourth metal ball is also L.

[0018] Step S103: perform perspective to obtain a perspective image; the distance between the first metal ball and the second metal ball on the perspective image is S1; the distance between the third metal ball and the fourth metal ball on the perspective image is S2; the midpoint of the line connecting the first metal ball and the second metal ball on the perspective image is (X0, Y0); the distance between the X-ray focal point and the Z axis direction of the first metal ball is H=S2*L / (S1-S2).

[0019] Step S104: adjust the distance S Z of the projector on the Z axis, H-H0, wherein H0 is the distance between the center of the projector lens and the first metal ball in the Z axis direction; adjust the distance S X of the projector on the X axis, S1*L / X0; and adjust the distance S between the second plane mirror and the first plane mirror on the Y axis.Y =S1*L / Y0;

[0020] Step S105: After adjusting the position of the projector on the X-axis and Z-axis and the position of the second plane mirror and the first plane mirror on the Y-axis, perform perspective again and adjust the image size input to the projector so that the images of the first and second metal spheres projected by the projector coincide with the actual size and position of the first and second metal spheres on the calibration device.

[0021] The method for implementing the projection navigation device for a C-arm X-ray machine provided by the present invention, preferably,

[0022] Step S201: Install the projection navigation device of the C-arm X-ray machine onto the side of the X-ray tube of the C-arm X-ray machine;

[0023] Step S202: Calibrate the projection navigation device of the C-arm X-ray machine using a calibration device;

[0024] Step S203: Remove the calibration device;

[0025] Step S204: Start the C-arm X-ray machine to perform fluoroscopy on the patient's body, and the projection navigation device projects the acquired fluoroscopic images onto the patient's body surface;

[0026] Step S205: Mark and distinguish the target points on the obtained C-arm X-ray fluoroscopic image using different colors. At this time, the fluoroscopic image projected onto the patient's body surface is the fluoroscopic image after marking and distinguishing. Beneficial effects

[0027] The above technical solution has the following advantages or beneficial effects:

[0028] This invention provides a projection navigation device for a C-arm X-ray machine. The device comprises a projector and a reflecting device. The reflecting device reflects the light emitted from the projector. When used with a C-arm X-ray machine, the reflecting device reflects the light rays passing through the projector's lens principal axis to below the X-ray tube of the C-arm X-ray machine, aligning the reflected light rays with the principal axis of the X-ray tube. Before use, the position and angle of the projector's output light path are precisely calibrated and locked. Subsequent use eliminates the need to readjust the projector and reflecting device positions, achieving a "what you see is what you get" effect. This enables panoramic observation of the X-ray machine's fluoroscopic area and individual display and linear navigation of specific targets. Furthermore, compared to existing C-arm X-ray machine auxiliary positioning or navigation devices, it occupies a smaller volume, effectively expanding the surgical space. Attached Figure Description

[0029] The present application, its features, form and advantages will become more apparent upon reading the following non-restrictive embodiment in conjunction with the accompanying drawings in which like reference numerals refer to like elements in the several figures. The figures are not drawn on scale and the emphasis instead lies on illustrating the principal of the present application.

[0030] Fig. 1 is a schematic diagram of the projection navigation device applied to the C-arm X-ray machine according to the present application;

[0031] Fig. 2 is a schematic diagram of the reflecting device according to the present application;

[0032] Fig. 3 is another schematic diagram of the projection navigation device applied to the C-arm X-ray machine according to the present application;

[0033] Fig. 4 is a C-arm X-ray machine provided with the projection navigation device applied to the C-arm X-ray machine according to the present application;

[0034] Fig. 5 is a schematic diagram of the electric connection line according to the present application;

[0035] Fig. 6 is a schematic diagram of the light rays of the projector and the calibration device according to the present application;

[0036] Fig. 7 is a schematic diagram of the light rays of the projector and the reflecting device according to the present application (the center of the projector lens and the X-ray focal point are "equivalent" coincident);

[0037] Fig. 8 is a partial schematic diagram of the calibration device according to the present application;

[0038] Fig. 9 is a schematic diagram of the perspective image in step S103 according to the present application;

[0039] Fig. 10 is another schematic diagram of the light rays of the projector and the reflecting device according to the embodiment 3 of the present application. Best Mode for Carrying Out the Invention

[0040] The present application will be further described in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present application. Embodiment 1

[0041] As shown in FIG. 1-3, the projection navigation device applied to the C-arm X-ray machine provided by the embodiment 1 of the present application comprises a projector 1 and a reflecting device 2; the reflecting device 2 comprises a first plane mirror 21 and a second plane mirror 22 which are parallel to each other; the mirror surface of the first plane mirror 21 is opposite to the mirror surface of the second plane mirror 22; the mirror surface of the first plane mirror 21 is obliquely opposite to the lens of the projector 1; if the direction of the outgoing light ray through the main light axis of the lens of the projector 1 is vertically downward, the included angle between the first plane mirror 21 and the horizontal plane is 45°; after the outgoing light ray through the main light axis of the lens of the projector 1 is reflected by the first plane mirror 21, the light ray is irradiated to the second plane mirror 22, and then is reflected by the second plane mirror 22 and is parallel to the main light axis of the lens of the projector 1. When the projection navigation device applied to the C-arm X-ray machine provided by the embodiment 1 of the present application is used, the projector 1 is installed on the side of the X-ray tube 0 as shown in FIG. 4; the second plane mirror 22 is placed below the X-ray tube, the light ray reflected by the projector is coincided with the main light axis of the X-ray tube, the projection light path is horizontally translated, the lens focal point of the projector is physically coincided with the X-ray focal point in the X-axis and Z-axis directions, and the "equivalent" coincidence is realized in the Y-axis; and the image output by the projector is equal to and coincided with the actual X-ray image. The projector, the C-arm X-ray machine and the processing terminal are connected respectively, the image obtained by the X-ray machine is projected on the patient's body through the projector, at this time, the projected image on the patient's body is completely consistent with the transmission image inside the patient's body, and is one-to-one corresponding to the size and position inside the patient's body, the effect of "what you see is what you get" is realized, and the doctor directly operates according to the image projected on the patient's body. After the calibration before use, the lens center is physically coincided with the X-ray focal point in the X-axis and Z-axis directions and "equivalent" coincided with the X-ray focal point in the Y-axis (as shown in FIG. 7), the image output by the projector is equal to and coincided with the actual X-ray image, the position of the projector does not need to be adjusted again, the larger the X-ray perspective area is, the larger the projected image corresponding to the size can be directly obtained by the doctor, the effect of "what you see is what you get" is realized, the panoramic observation of the X-ray machine perspective area is realized; and the occupied volume is small compared with the prior art, the operation space is effectively widened.

[0042] In order to make the projection navigation device applied to the C-arm X-ray machine provided by the present application suitable for different C-arm X-ray machines, in the preferred embodiment of the present application, the distance between the second plane mirror 22 and the first plane mirror 21 is adjustable. By adjusting the fixed position of the projector on the X-ray tube, the lens focal point of the projector is physically coincided with the X-ray focal point in the X-axis and Z-axis directions; by adjusting the distance between the second plane mirror 22 and the first plane mirror 21, the lens focal point of the projector is "equivalent" coincided with the X-ray focal point in the Y-axis; the same effect as the physical coincidence is realized (as shown in FIG. 7).

[0043] In the preferred embodiment of the present application as shown in Fig. 5, it further comprises a first driving mechanism 3, a micro-processing module 4, a first communication module 5 and a second driving mechanism 6; the first driving mechanism 3 can drive the projector 1 to move; if the adjustable direction between the first plane mirror 21 and the second plane mirror 22 of the reflecting device 2 is the Y-axis direction, the first driving mechanism 3 can drive the projector 1 to move in the plane constituted by the X-axis and the Z-axis; the distance between the first plane mirror 21 and the second plane mirror 22 of the reflecting device 2 is adjusted by the second driving mechanism 6; the second driving mechanism 6 is electrically connected with the micro-processing module 4; the micro-processing module 4 is electrically connected with the first communication module 5; the micro-processing module 4 is electrically connected with the first driving mechanism 3. The projector is fixed on the X-ray tube by the first driving mechanism, the position of the projector is adjusted in the X-axis and Z-axis direction by the first driving mechanism 3; the distance between the first plane mirror 22 and the first plane mirror 21 is adjusted by the second driving mechanism. In the process of making the focal point of the lens of the projector coincide with the focal point of the X-ray, the first driving mechanism 3 and the second driving mechanism 6 are controlled by the micro-processing module 4, which can effectively ensure the accuracy of the adjustment. In the present embodiment, the first driving mechanism 3 and the second driving mechanism 6 are set as electric structures controlled by the micro-processing module 4, in order to realize the automation of the movement control and avoid the trouble of manual adjustment. However, in the present embodiment, the first driving mechanism 3 and the second driving mechanism 6 can also adopt manual movement structure, and the movement of the projector and the second plane mirror is adjusted manually. It should be noted that whether the driving structure is electric or manual, it is all the prior art in the field, which will not be described here.

[0044] In order to ensure the projection effect of the projector and avoid the scattering of the light of the projector, in the preferred embodiment of the present application, the reflecting device 2 comprises a tubular shell 23 with both ends sealed; the first plane mirror 21 and the second plane mirror 22 are fixed in the tubular shell 23; the first plane mirror 21 and the second plane mirror 22 are respectively located at both ends of the tubular shell 23; the upper surface of the tubular shell 23 is provided with a light inlet 24; the lower surface of the tubular shell is provided with a light outlet 25; the light inlet 24 is opposite to the mirror surface of the first plane mirror 22; the light outlet 5 is opposite to the mirror surface of the second plane mirror 22; the structure of periscope is formed; the light inlet 24 in the present embodiment completely wraps the lens of the projector 1 by setting another tubular structure. And in the present embodiment, the tubular shell 23 can be set as a telescopic tubular shell, so that the length of the tubular shell 23 is controlled by the second driving mechanism, so as to adjust the distance between the first plane mirror 21 and the second plane mirror 22.

[0045] In the embodiment, the calibration device 7 is further included; the calibration device 7 is detachably fixed on the projector 1; the calibration device 7 includes a fixing piece 75, a first metal ball 71, a second metal ball 72, a third metal ball 73 and a fourth metal ball 74; the first metal ball 71, the second metal ball 72, the third metal ball 73 and the fourth metal ball 74 are all fixed on the fixing piece 75; the first metal ball 71, the second metal ball 72, the third metal ball 73 and the fourth metal ball 74 are located below the second plane mirror. The specific use method of the calibration device 7 is shown in the embodiment 2 of the application.

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

[0047] Embodiment 2: As shown in FIGS. 6-9, when the projection navigation device applied to the C-arm X-ray machine provided in the embodiment 1 of the application is used, calibration is needed, and the specific calibration process is as follows:

[0048] Step S101: The projection navigation device is installed on the side of the X-ray tube, so that the lens of the projector is directed to the image enhancement device, and the reflecting device is extended below the X-ray tube;

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

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

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

[0052] Step S105: after the position adjustment of the projector on the X axis and the Z axis and the position adjustment between the second plane mirror and the first plane mirror on the Y axis are completed, perform perspective again, and adjust the image size input to the projector, so that the images of the first metal ball and the second metal ball projected by the projector coincide with the actual size and position of the first metal ball and the second metal ball on the calibration device.

[0053] In the embodiment 2 of the present application, the image output line of the C-arm X-ray machine 0 is connected with the processing terminal 00, the perspective image data information obtained in step S103 is sent to the processing terminal 00, the processing terminal 00 calculates the adjustment distances of the Z axis and the X axis, the adjustment distance information of the Z axis and the X axis is sent to the micro-processing module 4 through the communication connection between the first communication module 5 and the second communication module 06, and the micro-processing module 4 drives the first driving mechanism 3 and the second driving mechanism 6 to adjust the Z axis and the X axis; so that the lens focal point of the projector of the projection navigation device provided in the embodiment 1 is equivalent to the X-ray focal point.

[0054] Embodiment 3: The projection navigation device applied to the C-arm X-ray machine provided by the embodiment 3 of the present application comprises a projector and a reflecting device; the reflecting device comprises a first plane mirror; the mirror surface of the first plane mirror is opposite to the lens of the projector; if the main optical axis of the lens of the projector is in the horizontal direction, the included angle between the first plane mirror and the horizontal plane is 45°; the outgoing light ray through the main optical axis of the lens of the projector is reflected by the first plane mirror, and the main optical axis of the lens of the projector is perpendicular. As shown in FIG. 10, the embodiment 3 of the present application reduces one plane mirror for reflection compared with the embodiment 1, but the principle is consistent with the embodiment 1, and both are to make the light ray through the main optical axis of the lens of the projector coincide with the main optical axis of the X-ray tube after reflection, so that the focal point of the lens of the projector and the X-ray focal point are physically coincident in the X-axis and Z-axis directions, and are “equivalent” coincident in the Y-axis; and the image output by the projector is equal to and coincident with the actual X-ray image. The principle of the calibration method in the specific use process of the embodiment 3 of the present application is consistent with the embodiment 2 of the present application, and the person skilled in the art can make adaptive adjustment according to the embodiment 3 combined with the content of the embodiment 2, which will not be described here.

[0055] Embodiment 4: When the projection navigation device applied to the C-arm X-ray machine provided by the embodiment 1 of the present application is implemented, the specific implementation method is as follows:

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

[0057] Step S202: The projection navigation device of the C-arm X-ray machine is calibrated by using the calibration device;

[0058] Step S203: The calibration device is removed;

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

[0060] Step S205: The target point on the obtained perspective image of the C-arm X-ray machine is marked and distinguished by using different colors, at this time, the perspective image projected to the patient's body surface is the perspective image after marking and distinguishing.

[0061] In the process of using the C-arm X-ray machine, the projector 1 projects the perspective view onto the patient's body surface through step S204, realizing the "what you see is what you get" effect of the target in the human body. The doctor operates the lesion according to the image projected on the patient's body, realizing panoramic observation of the perspective area of the X-ray machine. Moreover, through step S205, the doctor can use the graphic processing software embedded in the processing terminal to color the perspective view obtained by the C-arm X-ray machine, and use different colors to mark and distinguish the target points; the image projected on the patient's body will be the colored image; through the light beams of different colors projected on the patient's body, the precise navigation of the single target is achieved.

[0062] Those skilled in the art should understand that the skilled person in the art can realize the changes described above in combination with the prior art and the above-mentioned embodiments, which will not be described here. Such changes do not affect the essential content of the present application, which will not be described here.

[0063] The preferred embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and the devices and structures not described in detail should be understood as being implemented in the ordinary way in the art; any person skilled in the art can make many possible changes and modifications, or modify equivalent embodiments without departing from the technical solutions of the present application, which does not affect the essential content of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, without departing from the technical solutions of the present application, still belongs to the protection scope of the technical solutions of the present application.

Claims

1. A projection navigation device applied to a C-arm X-ray machine, characterized in that, The projection navigation device comprises a projector and a reflecting device; the reflecting device is used for reflecting the light emitted by the projector; When the projection navigation device is used for a C-arm X-ray machine, the reflecting device can reflect the light along the main light axis of the lens of the projector to the position below the X-ray bulb of the C-arm X-ray machine, and the reflected light along the main light axis of the lens of the projector is coincident with the main light axis of the X-ray bulb.

2. The projection navigation device for a C-arm X-ray machine of claim 1, wherein, The reflecting device comprises a first plane mirror and a second plane mirror which are parallel to each other; the mirror surfaces of the first plane mirror and the second plane mirror are opposite to each other; the mirror surface of the first plane mirror is obliquely opposite to the lens of the projector; if the direction of the light emitted along the main light axis of the lens of the projector is vertically downward, the included angle between the first plane mirror and the horizontal plane is 45°; after the light emitted along the main light axis of the lens of the projector is reflected by the first plane mirror, the light is irradiated to the second plane mirror, and then the light is reflected by the second plane mirror and is parallel to the main light axis of the lens of the projector.

3. The projection navigation device for a C-arm X-ray machine of claim 2, wherein, The distance between the second plane mirror and the first plane mirror is adjustable.

4. The projection navigation device for a C-arm X-ray machine of claim 3, wherein, The projection navigation device further comprises a first driving mechanism; the first driving mechanism can drive the projector to move; if the adjustable direction between the first plane mirror and the second plane mirror of the reflecting device is the Y-axis direction, the first driving mechanism can drive the projector to move in the plane constituted by the X-axis and the Z-axis.

5. The projection navigation device for a C-arm X-ray machine of claim 4, wherein, The projection navigation device comprises a micro-processing module and a first communication module; the micro-processing module is electrically connected with the communication module; the micro-processing module is electrically connected with the first driving mechanism.

6. The projection navigation device for a C-arm X-ray machine of claim 5, wherein, The projection navigation device further comprises a second driving mechanism; the distance between the two plane mirrors of the reflecting device is adjusted by the second driving mechanism; the second driving mechanism is electrically connected with the micro-processing module.

7. The projection navigation device for a C-arm X-ray machine of claim 5, wherein, The projection navigation device further comprises a processing terminal; the processing terminal comprises an image input terminal, an image output terminal, a second communication module, a processor, an image processing module and a display; the image input terminal is electrically connected with the image output line of the C-arm X-ray machine; the image output terminal is electrically connected with the display and the projector; the second communication module is electrically connected with the first communication module; the image input terminal, the image output terminal, the image processing module, the processor and the second communication module are electrically connected through a bus.

8. The projection navigation device for a C-arm X-ray machine of claim 2, wherein, The projection navigation device further comprises a calibration device; the calibration device is detachably fixed on the projector; the calibration device comprises a fixing member, a first metal ball, a second metal ball, a third metal ball and a fourth metal ball; the first metal ball, the second metal ball, the third metal ball and the fourth metal ball are fixed on the fixing member; the line connecting the first metal ball and the second metal ball is parallel to the Y-axis; the line connecting the third metal ball and the fourth metal ball is parallel to the X-axis; the midpoint of the line connecting the first metal ball and the second metal ball is a first midpoint; the midpoint of the line connecting the third metal ball and the fourth metal ball is a second midpoint; the line connecting the first midpoint and the second midpoint is parallel to the Z-axis; the first midpoint is above the second midpoint; the first metal ball, the second metal ball, the third metal ball and the fourth metal ball are below the mirror surface of the second plane mirror.

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

10. The projection navigation device for a C-arm X-ray machine of claim 1, wherein, The reflection device comprises a first plane mirror; a mirror surface of the first plane mirror is obliquely opposite to the lens of the projector; if a main optical axis of the lens of the projector is in a horizontal direction, an included angle between the first plane mirror and the horizontal plane is 45°; after the outgoing light ray through the main optical axis of the lens of the projector is reflected by the first plane mirror, the main optical axis of the lens of the projector is vertical.

11. A calibration method for the projection navigation device for a C-arm X-ray machine according to any one of claims 2 to 9, characterized in that, The reflection device comprises a first plane mirror; a mirror surface of the first plane mirror is obliquely opposite to the lens of the projector; if a main optical axis of the lens of the projector is in a horizontal direction, an included angle between the first plane mirror and the horizontal plane is 45°; after the outgoing light ray through the main optical axis of the lens of the projector is reflected by the first plane mirror, the main optical axis of the lens of the projector is vertical. The reflection device comprises a first plane mirror; a mirror surface of the first plane mirror is obliquely opposite to the lens of the projector; if a main optical axis of the lens of the projector is in a horizontal direction, an included angle between the first plane mirror and the horizontal plane is 45°; after the outgoing light ray through the main optical axis of the lens of the projector is reflected by the first plane mirror, the main optical axis of the lens of the projector is vertical. The reflection device comprises a first plane mirror; a mirror surface of the first plane mirror is obliquely opposite to the lens of the projector; if a main optical axis of the lens of the projector is in a horizontal direction, an included angle between the first plane mirror and the horizontal plane is 45°; after the outgoing light ray through the main optical axis of the lens of the projector is reflected by the first plane mirror, the main optical axis of the lens of the projector is vertical. The reflection device comprises a first plane mirror; a mirror surface of the first plane mirror is obliquely opposite to the lens of the projector; if a main optical axis of the lens of the projector is in a horizontal direction, an included angle between the first plane mirror and the horizontal plane is 45°; after the outgoing light ray through the main optical axis of the lens of the projector is reflected by the first plane mirror, the main optical axis of the lens of the projector is vertical. Step S104: adjust the distance S of the projector on the Z axis Z = H - H0, wherein H0 is the distance between the center of the projector lens and the first metal ball in the Z axis direction; adjust the distance S of the projector adjustment on the X axis X = S1 * L / X0; the distance S between the second plane mirror and the first plane mirror on the Y axis Y = S1 * L / Y0; The reflection device comprises a first plane mirror; a mirror surface of the first plane mirror is obliquely opposite to the lens of the projector; if a main optical axis of the lens of the projector is in a horizontal direction, an included angle between the first plane mirror and the horizontal plane is 45°; after the outgoing light ray through the main optical axis of the lens of the projector is reflected by the first plane mirror, the main optical axis of the lens of the projector is vertical. The reflection device comprises a first plane mirror; a mirror surface of the first plane mirror is obliquely opposite to the lens of the projector; if a main optical axis of the lens of the projector is in a horizontal direction, an included angle between the first plane mirror and the horizontal plane is 45°; after the outgoing light ray through the main optical axis of the lens of the projector is reflected by the first plane mirror, the main optical axis of the lens of the projector is vertical. The reflection device comprises a first plane mirror; a mirror surface of the first plane mirror is obliquely opposite to the lens of the projector; if a main optical axis of the lens of the projector is in a horizontal direction, an included angle between the first plane mirror and the horizontal plane is 45°; after the outgoing light ray through the main optical axis of the lens of the projector is reflected by the first plane mirror, the main optical axis of the lens of the projector is vertical. The reflection device comprises a first plane mirror; a mirror surface of the first plane mirror is obliquely opposite to the lens of the projector; if a main optical axis of the lens of the projector is in a horizontal direction, an included angle between the first plane mirror and the horizontal plane is 45°; after the outgoing light ray through the main optical axis of the lens of the projector is reflected by the first plane mirror, the main optical axis of the lens of the projector is vertical. The reflection device comprises a first plane mirror; a mirror surface of the first plane mirror is obliquely opposite to the lens of the projector; if a main optical axis of the lens of the projector is in a horizontal direction, an included angle between the first plane mirror and the horizontal plane is 45°; after the outgoing light ray through the main optical axis of the lens of the projector is reflected by the first plane mirror, the main optical axis of the lens of the projector is vertical. The reflection device comprises a first plane mirror; a mirror surface of the first plane mirror is obliquely opposite to the lens of the projector; if a main optical axis of the lens of the projector is in a horizontal direction, an included angle between the first plane mirror and the horizontal plane is 45°; after the outgoing light ray through the main optical axis of the lens of the projector is reflected by the first plane mirror, the main optical axis of the lens of the projector is vertical. Step S205: Marking and distinguishing the target points on the obtained fluoroscopy image of the C-arm X-ray machine by using different colors, at this time, the fluoroscopy image projected to the patient's body surface is the fluoroscopy image after marking and distinguishing.

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