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目的研制新型的用于肺小病灶穿刺诊断的同步实时跟踪 X 线立体定位系统。方法采用 X 线电视影像技术及 X 线准直技术,结合双 C 臂双管 X 线机,从垂直向和水平向2个不同平面同步实时获取图像,经计算机图像处理和计算机视觉处理,确定并动态跟踪肺小病灶和穿刺细针的三维空间位置。结果垂直和水平向同时相交成像的两束 X 射线之间没有干扰,可以完成两路图像的同步实时采集,实现正常呼吸状态下肺部小病灶和穿刺细针空间位置的同步实时跟踪。组建的 X 线立体定位系统的平均定位误差为0.5 mm 左右,最大定位误差为1.0 mm 左右,实时显示速度为5帧/s。结论建立一种新型的双 C 臂双管同步实时跟踪 X 线立体定位系统是可行的,为肺小病灶同步实时跟踪立体定位穿刺肺癌早期诊断提供了可能。
Objective To develop a new type of simultaneous real-time tracking X-ray positioning system for puncture diagnosis of small pulmonary lesions. Methods Using X-ray television technique and X-ray collimation technique, combined with double C-arm double-tube X-ray machine, the images were acquired synchronously from two vertical and horizontal to two different planes in real time. After computer image processing and computer vision processing, Dynamic tracking of small pulmonary lesions and puncturing three-dimensional needle position. Results There is no interference between the two beams of X - rays which intersect at the same time in horizontal and vertical directions. Thus, the simultaneous real - time acquisition of two images can be completed and the real - time tracking of the spatial location of the small pulmonary lesions and the punctured fine needles under normal breathing can be achieved. The average positioning error of the constructed X-ray stereo positioning system is about 0.5 mm, the maximum positioning error is about 1.0 mm, and the real-time display speed is 5 frames / s. Conclusion It is feasible to establish a new double C-arm double-track simultaneous real-time X-ray positioning system and provide the possibility for early diagnosis of small lung lesion with simultaneous and real-time tracking of stereotactic puncture lung cancer.