JPS6320548B2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention projects images of tomography, which is performed using X-rays, on a cathode ray tube display in advance of medical treatment such as surgery. In order to know where the surgical position is when proceeding with treatment based on the photograph, a pantograph type position detector is used to detect the surgical position, that is, the position of the tip contact part of the detector, and the The present invention relates to a surgical position detection device that allows plotting and displaying on photographs.

(Conventional technology) In conventional medical procedures such as surgery,
Doctors could only perform treatment by relying on their intuition and comparing the surgical location based on tomography images taken using X-rays, especially when it was necessary to perform precise surgery such as brain surgery. This was a cause of surgical errors, and urgent improvements were called for since the problem directly affected human life.

(Problems to be Solved by the Invention) The present inventor completed the present invention as a result of repeated research to solve these problems. An object of the present invention is to display a photograph of an X-ray tomography taken in advance on a cathode ray tube, and to use the photograph to determine the position of the surgical operation, that is, the position of the tip contact portion of a pantograph type position detector. By making it possible to continuously detect the position of the throat and simultaneously plot it on the cathode ray tube, it is possible to accurately determine the actual position of the surgical position on the Cranke, which was previously relied on by intuition. It is an object of the present invention to provide a surgical position detection device that can improve surgical precision and greatly reduce surgical errors.

(Means for Solving the Problems) The first gist of the present invention is to provide an X-ray tomogram of a surgical site, a display device that displays the X-ray photograph on a cathode ray tube, and a distal end contact portion that contacts the surgical position. a pantograph type position detector for detecting the coordinates of a surgical position; and means for plotting the coordinate position detected by the pantograph type position detector on the X-ray photograph displayed on the cathode ray tube. A surgical position detection device is characterized in that it has the following.

The second gist of the present invention is (a) an X-ray tomogram of a surgical site, (b) a display device that displays the X-ray photograph on a cathode ray tube, and (c) a proximal end provided at the proximal end. It has an arm, an intermediate arm provided at the intermediate portion, and a contact arm provided at the tip, an angle sensor for detecting the angle of each arm is provided at the base end of each arm, and the tip contact portion of the contact arm is provided. (d) a pantograph type position detector that detects the coordinates of the surgical position by bringing it into contact with the surgical position; When there is movement in the surgical position, the coordinates of the tip of the contact arm at the tip are continuously calculated by the three angle sensors, and the coordinates of the tip of the contact arm are plotted on the cathode ray tube. The present invention resides in a surgical position detection device characterized by plotting on a line photograph.

(Function) The crank is fixed at a fixed position and set so that the coordinates of the X-ray photograph taken in advance and the operating coordinates of the contact arm at the tip of the pantograph position detector match. A doctor moves the contact arm to a position where treatment is required (surgery position) while looking at an X-ray tomography photograph displayed on a cathode ray tube. The coordinates calculated from the coordinates detected as the contact arm moves are plotted on a cathode ray tube, and the position on the X-ray photograph and the actual position of the contact arm relative to the crank are displayed on a single cathode ray tube. The doctor will confirm this and perform the necessary surgery.

(Example) An example of the present invention will be described below based on the accompanying drawings.

Although this embodiment will be described using an example in which surgery is performed on a human head, it goes without saying that the present invention is not limited to this embodiment. In the drawings, reference numeral 1 denotes a display that displays a front photograph 14 of an X-ray tomography photograph outputted from a computer 5 via a camera 4 on a cathode ray tube display device, and 2 a side photograph of the X-ray tomography photograph. 15 is output from the computer 5 via the camera 4 and displayed on the display. 3 is a display controller that switches the contents of the display. 5 is a computer for data processing and storage of tomographic photographs. Reference numerals 11 and 12 are positioning handles for determining the position of the crank 16, which are attached to the fixed base 13.

A pantograph type position detector 20 is rotatably attached to the fixed base 13.
The pantograph type position detector 20 has a proximal arm 18, an intermediate arm 17 and a contact arm 19, and angle sensors 8, 7 and 6 are provided at the proximal end of each arm, respectively. Each arm 18,
17 and 19 are each rotatable, and the rotation angle of each arm 18, 17, 19 is detected by each angle sensor 8, 7, 6. Each angle sensor 8, 7, 6 is connected to a computer 5, and detected angle information is input to the computer 5. Reference numeral 9 denotes a tip contact portion of the contact arm 19, which comes into contact with the crank 16.

The computer 5 has each angle sensor 8, 7,
The coordinates of the tip contact portion 9 are calculated based on the angle information input from 6, and the obtained coordinates are plotted and displayed on a cathode ray tube display device. The computer 5 is also connected to the TV camera 4 and to the display device via the display controller 3, and stores the X-ray tomograms taken by the TV camera 4, and stores the X-ray tomograms taken by the TV camera 4. It can be displayed accordingly.

A specific usage example will be explained below.

Front photo 1 of the X-ray tomography photograph taken in advance
Two photographs, 4 and a side photograph 15, are stored in a computer 5 using a camera 4. Next, this tomographically photographed crank 16 is set on the fixed table 13.

Then, display 1 the front photo 14 of the tomography photograph previously stored in the cathode ray tube display device, set the tip contact portion 9 of the contact arm 19 on the side of the head of the crank 16, and while looking at the display 1, place the front photo 14 on the display 1. Handle 1 attached to 13
2 to fix the display 1 at the position where arrow B indicates the temporal region.

Next, the tip contact portion 9 is located at a position 1 indicated by a dotted line.
0 and set the contents of the display device.The display control 3 is switched to display the side photograph 15 of the X-ray tomogram stored in the computer 5 as shown in the display 2. In the same way as when aligning the front coordinates, move the crank 16 to the position using the handle 11 so that the point indicated by arrow A on the display 2 is the same as the point 10 where the tip contact part 9 was moved and set. Moving.

By determining these two positions, the coordinates of the tomographic photographs 14, 15 and the Kranke 16 are displayed as coincident points on the cathode ray tube.

The moving coordinates of the tip contact portion 9 of the pantograph type position detector 20 are continuously calculated by inputting the angle signals detected by the angle sensors 6, 7, and 8 into the computer 5, and the results are indicated by the arrows. The images are displayed as shown by A and B on Displays 1 and 2.

The output signals of the detectors 6, 7, and 8 are as shown in Figure 2, and by knowing which of the A phase and B phase is leading and the number of pulses, it is possible to know the direction of rotation and the amount of movement. .

FIG. 3 is a diagram showing the basic principle that coordinates can be determined by knowing two angles.

A calculation example of the basic principle is as follows. Arm lengths a and b are determined.

Angles α and β are detected by angle sensors.

β＝θ＋g g＝90−α β＝θ＋90−α θ＝α＋β−90 OA＝a cosα AC＝a sinα DB＝b sinθ BC＝b cosθ X＝a cosα＋b sinθ =a cosα＋b sin(α＋β−90) Y＝ a sin α-b cos θ = a sin α-b cos (α+β-90) Therefore, the coordinates of the tip contact portion 9 of the contact arm 19 are determined by detecting the angles α and β.

No matter where the tip contact portion 9 moves, its movement is continuously sampled, and the arrows A and B move on the X-ray photograph display on the cathode ray tube in proportion to the amount of movement.

Also, lateral X-ray photograph 15 and front X-ray photograph 1
The tomographic photograph No. 4 can be displayed by switching the display control 3 by the doctor.

In this way, the current position of the tip contact portion 9 is displayed accurately, so if the positions indicated by points C and D are treatment areas or surgical positions, the distance thereto can be confirmed at a glance. .

(Effects of the Invention) As described above, according to the present invention, a photograph of an X-ray tomography taken in advance is displayed on a cathode ray tube, and the position of the surgical operation is determined based on the photograph.
In other words, it becomes possible to continuously detect the position of the tip of the tip of the contact arm of the pantograph type position detector in the X-ray photograph and simultaneously plot it on the cathode ray tube, making it possible to perform surgery that previously relied on intuition. It is possible to accurately know the actual position of the Cranke where the location or treatment area is located, which has the great effect of improving surgical precision and greatly reducing surgical errors.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram showing a specific usage example of the device of the present invention, Fig. 2 is a drawing showing a signal waveform output from an angle sensor for detecting the angle, and Fig. 3 is a drawing showing the coordinates of the tip contact part. FIG. 2 is an explanatory diagram showing the basic principle for 1, 2...Display, 3...Display controller, 4...Camera, 5...Computer, 6, 7 and 8...Angle sensor, 9...Tip contact portion, 11, 12...Cranke positioning handle, 13 ... Fixed table, 14, 15 ... X-ray tomography photograph, 16 ... Kranke, 17 ... Intermediate arm, 18 ... Proximal arm, 19 ... Contact arm,
20...Pantograph type position detector.

Claims (1)

[Scope of Claims] 1. An X-ray tomogram of the surgical site, a display device that displays the X-ray photograph on a cathode ray tube, and coordinates of the surgical position are detected by bringing the tip contact portion into contact with the surgical position. A pantograph type position detector and a coordinate position detected by the pantograph type position detector displayed on the cathode ray tube.
A surgical position detection device comprising: means for plotting on a line photograph. 2. (a) An X-ray tomogram of the surgical site; (b) A display device that displays the X-ray photograph on a cathode ray tube; (c) A proximal arm provided at the proximal end and a tomographic image provided at the intermediate portion. It has an intermediate arm and a contact arm provided at the distal end, an angle sensor for detecting the angle of each arm is provided at the base end of each arm, and the distal contact portion of the contact arm is brought into contact with the surgical position. (d) means for plotting the coordinate position detected by the pantograph position detector on the X-ray photograph displayed on the cathode ray tube; and, when there is movement in the surgical position, the coordinates of the tip contact part are continuously calculated by the three angle sensors and plotted on the X-ray photograph on the cathode ray tube. Surgical position detection device.