CN106725770A - A kind of method of the percutaneous intervening equipment geometry of fast registration - Google Patents

Abstract

The invention discloses a method for rapidly and accurately registering the geometric structure of a percutaneous interventional device under a high-precision infrared monitoring device. In traditional methods, multiple steps are required to register percutaneous interventional devices, and each step may cause errors due to manual operations by operators. The method can complete all calculation and registration links in one step during the process of registering the percutaneous interventional device, and effectively reduces errors caused by manual operations.

Description

A method for rapidly registering the geometry of percutaneous interventional devices

technical field

The invention discloses a method for quickly and accurately registering the geometric structure of a percutaneous interventional device under a high-precision infrared monitoring device. The method can complete all the calculation and registration links in one step during the registration of the percutaneous interventional device, effectively reducing the number of problems caused by Errors caused by manual operation.

Background technique

In modern surgery, percutaneous intervention is a relatively common operation. The operator uses the percutaneous interventional device to intervene in the tissues or organs of the human body to complete operations such as biopsy and local anesthesia. This technology is widely used in the diagnosis and treatment of human heart, artery, lung, kidney, liver, spine and other organs and tissues.

In percutaneous interventional surgery, the puncture accuracy is the key to the success of the operation. In order to improve the accuracy, more and more visualization or virtual reality technologies are applied to the guidance technology of percutaneous interventional surgery. The geometric structure of the device is registered under the monitoring equipment. The traditional registration method is that the operator holds the percutaneous interventional device and uses a three-dimensional probe to point the head and tail of the percutaneous interventional device, so as to determine the distance between the percutaneous interventional device and the positioning device. Positional relationship. The registration error of the traditional method is large, because during the hand-holding process, the geometric structure registration of the percutaneous interventional device is often inaccurate due to the shake of the operator's hand or other factors. There are deviations between the actual state of the percutaneous interventional device and the state of the percutaneous interventional device calculated by the monitoring equipment, and these deviations bring great inconvenience and danger to the operation.

In view of the above problems, it is necessary to find a method that can minimize the error caused by manual operation and register the geometric structure of the percutaneous interventional device quickly and with high precision to solve the problem.

Contents of the invention

Aiming at the deficiencies of the prior art, the technical problem solved by the present invention is to provide a method capable of quickly and accurately registering the geometric structure of a percutaneous interventional device. Further, what is provided is a method capable of quickly and accurately measuring the spatial positional relationship among the head, the tail, and the positioning device fixed to the tail of the percutaneous interventional device.

In order to solve the problems of the technologies described above, the technical solution of the present invention is achieved in the following way:

A method for quickly registering the geometric structure of a percutaneous interventional device is based on high-precision infrared monitoring equipment for tracking and positioning, and includes a percutaneous interventional device module to be registered, a positioning bracket module, and a control display module.

The percutaneous interventional device module to be registered includes the percutaneous interventional device to be registered and its positioning device, and the positioning device is fixed at the tail of the percutaneous interventional device to be registered.

The positioning support module includes a rigid support and a positioning device fixed on the rigid support.

The rigid bracket is divided into upper and lower parts. The upper part of the bracket includes a round hole through which the percutaneous interventional device to be registered can pass through, and the lower part of the rigid bracket includes a round hole for the head of the percutaneous interventional device to be placed. Inverted tapered grooves, a plurality of uprights with different heights fixed on the upper surface of the bottom of the rigid support, and a positioning device is respectively fixed on the uprights.

The monitoring and display module includes high-precision infrared monitoring equipment and three-dimensional position registration probes and computer software required for use. The high-precision infrared monitoring equipment can capture the three-dimensional position information of the above-mentioned positioning device, and the computer software can perform registration and calculation operations.

The present invention discloses a method for quickly registering the geometric structure of a percutaneous interventional device, comprising the following steps:

S1: Fix the positioning bracket within the monitoring range of the high-precision infrared monitoring equipment.

S2: Turn on the monitoring and display module, place the needle tip of the three-dimensional position registration probe in the position of the inverted tapered groove and the through hole of the positioning bracket respectively, use high-precision infrared monitoring equipment to measure and calculate the three-dimensional position coordinates of the probe needle tip at this time, That is, the three-dimensional position coordinates of the inverted tapered groove and the through hole are obtained, and then transmitted to the computer. At the same time, use high-precision infrared monitoring equipment to measure the three-dimensional position coordinates of the positioning device in the positioning bracket and transmit them to the computer.

In at least one embodiment of the present invention, the positioning device fixed on the rigid support is an infrared positioning ball that can be tracked and identified by high-precision infrared monitoring equipment. However, those skilled in the art should think of using other shaped marking objects made of other materials with obvious infrared characteristics to replace the positioning ball without creative work. Therefore, similar technical solutions do not exceed the scope disclosed and claimed by the present invention.

In the present invention, the number of positioning devices in the positioning bracket is preferably four, and the spatial position relationship of any three points cannot be an isosceles triangle so as to ensure that the detected motion of the positioning device can fully represent the six points in the three-dimensional space. degrees of freedom (translation and rotation in three directions in a three-dimensional coordinate system). If less than three positioning devices are used, the positioning accuracy will be affected, and even the positioning will be wrong. If there are more than four, although the accuracy is higher, the computational complexity is high, which is not worth it in practical applications.

S3: The computer records the three-dimensional position coordinates of the inverted tapered groove of the positioning bracket, the through hole and the three-dimensional position coordinates of the positioning device measured in S2, and calculates and stores the spatial position relationship of each component of the positioning bracket.

S4: Insert the percutaneous interventional device to be registered with the positioning device through the through hole, and put the head into the inverted tapered groove.

S5: Use high-precision infrared monitoring equipment to measure the three-dimensional coordinates of the positioning device fixed at the tail of the percutaneous interventional device and the three-dimensional position coordinates of the positioning device on the positioning bracket at this time, and transmit them to the computer.

In at least one embodiment of the present invention, the positioning device fixed on the tail of the percutaneous interventional device to be registered is an infrared positioning ball that can be tracked and identified by a high-precision infrared monitoring device. However, those skilled in the art should think of using other shaped marking objects made of other materials with obvious infrared characteristics to replace the positioning ball without creative work. Therefore, similar technical solutions do not exceed the scope disclosed and claimed by the present invention.

In the present invention, the number of positioning devices fixed on the tail of the percutaneous interventional device to be registered is preferably four, and the spatial position relationship of any three points cannot be an isosceles triangle to ensure that the detected motion of the positioning device can fully represent Changes in six degrees of freedom (translation and rotation in three directions in a three-dimensional coordinate system) in three-dimensional space. If less than three positioning devices are used, the positioning accuracy will be affected, and even the positioning will be wrong. If there are more than four, although the accuracy is higher, the computational complexity is high, which is not worth it in practical applications.

S6: The computer combines the three-dimensional position coordinates of the positioning device on the positioning bracket measured in S5 and the spatial position relationship between the components of the positioning bracket obtained in S3, and registers and calculates the inverted tapered groove and the through hole of the positioning bracket at this time The three-dimensional coordinates of the percutaneous interventional device to be registered, that is, the coordinates of the head and tail of the percutaneous interventional device to be registered; combined with the three-dimensional coordinates of the positioning device fixed at the tail of the percutaneous interventional device to be registered by S5 measurement, registration, calculation and record at this time The spatial position relationship between the positioning device at the tail of the percutaneous interventional device and the head and tail of the percutaneous interventional device is registered.

Further, the "spatial positional relationship between the positioning device for the tail of the percutaneous interventional device to be registered and the head and tail of the percutaneous interventional device to be registered" refers to the geometric structure of the percutaneous interventional device.

The beneficial effect of the present invention is that the geometric structure of the percutaneous interventional device can be quickly and accurately registered, avoiding large errors caused by manual hand-holding. All the registration process can be completed in one step, which not only facilitates the operator, but also reduces the error of human operation, greatly improves the accuracy of registration, and greatly increases the actual status of the percutaneous interventional device and the status of the percutaneous interventional device calculated by the monitoring device. Consistency is conducive to the precise guidance of the implementation of percutaneous interventional surgery.

Description of drawings

Figure 1: Schematic diagram of positioning bracket module

Figure 2: Schematic diagram of a percutaneous interventional device with a positioning device

Figure 3: Schematic diagram of the system principle

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Referring to Figures 1-3, the positioning device fixed on the tail of the percutaneous interventional device and the positioning device on the rigid support is an infrared positioning ball that can be identified by the high-precision infrared monitoring device. The surface of the infrared positioning ball is covered with a layer of material that can reflect most of the incident infrared light. The infrared light emitted by the high-precision infrared monitoring equipment is reflected back by the ball, and the monitoring equipment receives the reflected infrared light, analyzes the data and calculates the three-dimensional position coordinates of the infrared positioning ball recognized by the high-precision infrared monitoring equipment, and realizes monitoring and positioning purpose of the device.

Referring to Figure 1, the positioning devices 0, 1, 2, and 3 on the positioning bracket can be identified by the high-precision infrared monitoring equipment, and the inverted tapered grooves and the three-dimensional position registration probes can be used in conjunction with the high-precision infrared monitoring equipment and For the position of the through hole, the computer receives the position coordinates of the positioning device, the inverted tapered groove and the through hole and calculates the spatial position relationship among them. In this way, the positional relationship between the plurality of positioning devices and the space between the grooves and the circular holes has been determined and fixed. Therefore, under the high-precision infrared monitoring equipment, as long as the positioning devices 0, 1, 2, and 3 on the positioning bracket are detected, the inverted tapered groove and the through circle can be registered and calculated according to the known spatial position relationship. The coordinates of the hole.

Referring to FIG. 2 , the positioning device of the percutaneous interventional device is located at the tail of the percutaneous interventional device, and preferably includes four positioning devices. The present invention tracks and calculates the geometric structure of the percutaneous interventional equipment in real time through the positioning device of the percutaneous interventional equipment. The geometric structure of the percutaneous interventional device refers to the spatial positional relationship between the positioning device at the tail of the percutaneous interventional device and the head and tail of the percutaneous interventional device.

Referring to Figure 3, after inserting the percutaneous interventional device with the positioning device shown in Figure 2 through the round hole, put the head of the percutaneous interventional device into the inverted tapered groove, at this time the positioning of the percutaneous interventional device Devices 4, 5, 6, 7 and positioning devices 0, 1, 2, 3 on the positioning bracket are simultaneously within the monitoring range of the high-precision infrared monitoring equipment. The computer software receives the position coordinates of the positioning devices 0-3 measured by the high-precision infrared monitoring equipment at this time, and can calculate the position coordinates of the through hole and the inverted tapered groove, thereby calculating the position coordinates of the positioning devices 4, 5, 6, 7 and the spatial positional relationship between the inverted tapered groove and the through hole. Since the position of the inverted tapered groove is consistent with the head position of the percutaneous interventional device at this time, and the angle of the percutaneous interventional device is determined by the inverted tapered groove and the through hole, the head, angle and The positional relationship between the positioning devices is also determined, thereby completing the registration of the geometric structure of the percutaneous interventional device.

Claims (10)

1. A method for quickly registering the geometric structure of a percutaneous interventional device, characterized in that: the method includes a percutaneous interventional device module to be registered, a positioning bracket module and a monitoring display module; The percutaneous interventional device module to be registered includes a percutaneous interventional device to be registered and a positioning device for a percutaneous interventional device to be registered; The positioning support module includes a rigid support and a positioning device fixed on the rigid support; The monitoring and display module includes high-precision infrared monitoring equipment, three-dimensional position registration probes, and computer software. 2. A method for quickly registering the geometric structure of a percutaneous interventional device according to claim 1, wherein the positioning device of the percutaneous interventional device to be registered is installed at the tail of the percutaneous interventional device to be registered and can be The infrared positioning ball identified by the high-precision infrared monitoring equipment. 3. The method for quickly registering the geometric structure of a percutaneous interventional device according to claim 2, wherein the number of positioning devices of the percutaneous interventional device to be registered is preferably four. 4. A method for quickly registering the geometric structure of a percutaneous interventional device according to claim 1, wherein the rigid support in the positioning support module is divided into upper and lower parts, and the lower half of the support includes An inverted tapered groove for placing the head of the percutaneous interventional device to be registered. The upper part of the bracket includes a round hole through which the percutaneous interventional device to be registered can pass through. 5. A method for rapidly registering the geometric structure of a percutaneous interventional device according to claim 1, wherein the positioning device fixed on the rigid support in the positioning support module is supported by columns with inconsistent heights and fixed on Rigid bracket bottom upper surface. 6. A method for quickly registering the geometric structure of a percutaneous interventional device according to claim 5, wherein the number of positioning devices fixed on the rigid support is preferably four. 7. A method for quickly registering the geometric structure of a percutaneous interventional device according to claim 5, wherein the positioning device fixed on the rigid support is an infrared positioning ball that can be identified by the high-precision infrared monitoring device . 8. A method for rapidly registering the geometric structure of a percutaneous interventional device according to claim 1, wherein the high-precision infrared monitoring device in the monitoring and display module can detect the real-time three-dimensional position information of the positioning device. 9. A method for quickly registering the geometric structure of a percutaneous interventional device according to claim 1, wherein the three-dimensional position registration probe in the monitoring and display module is used in conjunction with the high-precision infrared monitoring device to measure The coordinates of the position of the probe tip. 10. A method for rapidly registering the geometric structure of a percutaneous interventional device according to claim 1, comprising the following steps: S1: Fix the positioning bracket within the monitoring range of the high-precision infrared monitoring equipment; S2: Turn on the monitoring and display module, place the needle tip of the three-dimensional position registration probe in the position of the inverted tapered groove and the through hole of the positioning bracket respectively, use high-precision infrared monitoring equipment to measure and calculate the three-dimensional position coordinates of the probe needle tip at this time, That is, the three-dimensional position coordinates of the inverted tapered groove and the through hole are obtained, and then transmitted to the computer; at the same time, the three-dimensional position coordinates of the positioning device in the positioning bracket are measured by high-precision infrared monitoring equipment, and transmitted to the computer; S3: The computer records the inverted tapered groove of the positioning bracket measured in S2, the three-dimensional position coordinates of the through hole and the three-dimensional position coordinates of the positioning device, and calculates and stores the spatial position relationship of each component of the positioning bracket; S4: Insert the percutaneous interventional device to be registered with the positioning device through the through hole, and put the head into the inverted tapered groove; S5: Use high-precision infrared monitoring equipment to measure the three-dimensional coordinates of the positioning device fixed at the tail of the percutaneous interventional device to be registered and the three-dimensional coordinates of the positioning device on the positioning bracket at this time, and transmit them to the computer; S6: The computer combines the three-dimensional position coordinates of the positioning device on the positioning bracket measured in S5 and the spatial position relationship between the components of the positioning bracket obtained in S3, and registers and calculates the inverted tapered groove and the through hole of the positioning bracket at this time The three-dimensional coordinates of the percutaneous interventional device to be registered, that is, the coordinates of the head and tail of the percutaneous interventional device to be registered; combined with the three-dimensional coordinates of the positioning device fixed at the tail of the percutaneous interventional device to be registered by S5 measurement, registration, calculation and record at this time The spatial position relationship between the positioning device at the tail of the percutaneous interventional device and the head and tail of the percutaneous interventional device is registered.