阅读说明：本技术 一种用于肿瘤精准穿刺的导航装置及ct视觉导航系统 (Navigation device for accurate tumor puncture and CT (computed tomography) visual navigation system ) 是由 李玮 曹怡 袁双虎 韩毅 马志祥 孟祥伟 于 2020-03-10 设计创作，主要内容包括：本发明公开了一种用于肿瘤精准穿刺的导航装置及CT视觉导航系统,包括：底座,底座上设有机械臂,机械臂自由端设有穿刺针夹持装置；所述穿刺针夹持装置中设有下方开口的凹槽,所述凹槽中容纳移动采集和控制装置,所述移动采集和控制装置下方用于连接穿刺针的无刺针端,且移动采集和控制装置和穿刺针中轴线重合。本发明通过在穿刺针正上方设置移动采集和控制装置,有利于手术过程中穿刺针位置和角度的精准控制,提供了穿刺准确度。(The invention discloses a navigation device and a CT visual navigation system for accurate tumor puncture, which comprise: the automatic puncture device comprises a base, wherein a mechanical arm is arranged on the base, and a puncture needle clamping device is arranged at the free end of the mechanical arm; the puncture needle clamping device is characterized in that a groove with an opening at the lower part is arranged in the puncture needle clamping device, the groove is internally provided with a mobile acquisition and control device, the lower part of the mobile acquisition and control device is used for being connected with a puncture-free needle end of the puncture needle, and the mobile acquisition and control device is superposed with the central axis of the puncture needle. According to the invention, the mobile acquisition and control device is arranged right above the puncture needle, so that the accurate control of the position and the angle of the puncture needle in the operation process is facilitated, and the puncture accuracy is improved.)

1. A navigation device for precise tumor puncture, comprising: the automatic puncture device comprises a base, wherein a mechanical arm is arranged on the base, and a puncture needle clamping device is arranged at the free end of the mechanical arm; the puncture needle clamping device is characterized in that a groove with an opening at the lower part is arranged in the puncture needle clamping device, the groove is internally provided with a mobile acquisition and control device, the lower part of the mobile acquisition and control device is used for being connected with a puncture-free needle end of the puncture needle, and the mobile acquisition and control device is superposed with the central axis of the puncture needle.

2. The navigation device for precise tumor puncture according to claim 1, wherein the puncture needle holding device is further connected with an image acquisition device on the outer surface.

3. The navigation device for tumor precise puncture according to claim 1, wherein the mobile acquisition and control device comprises a control unit, and a wireless data transmission and reception module, an angle sensor and a displacement sensor which are connected with the control unit.

4. The navigation device for precise tumor penetration of claim 1, wherein the system further comprises a sliding track along which the base is relatively movable.

5. The navigation device for precise tumor puncture according to claim 3, wherein the mechanical arm is a six-degree-of-freedom mechanical arm.

6. A CT visual navigation system for precise tumor puncture, which is characterized by comprising the navigation device of any one of claims 1-5 and an upper computer.

7. The CT visual navigation system for precise tumor puncture according to claim 6, wherein the upper computer is configured to:

acquiring a spiral CT scanning image of a patient to be operated, receiving a target puncture point position confirmed by a doctor, performing three-dimensional reconstruction and displaying by taking the target puncture point as an origin, a horizontal plane as an X0Y plane and a vertical direction as a Z axis;

under the three-dimensional coordinate system, calculating the puncture angle and depth for guiding the puncture needle to enter;

correcting the angle and position of the puncture needle based on the mobile acquisition and control device;

and in the puncturing process, monitoring the angle and displacement information acquired by the mobile acquisition and control device in real time, converting the angle and displacement information into a puncturing angle and depth under the three-dimensional coordinate system, and displaying the puncturing angle and depth.

8. The CT visual guidance system for precise tumor puncture according to claim 7, wherein the correcting the angle of the puncture needle comprises:

and acquiring the angle value of the puncture needle measured by the angle sensor, judging whether the puncture needle is vertical to the horizontal plane, and if not, sending an angle adjustment control instruction to a control unit of the mobile acquisition and control device to ensure that the puncture needle is vertical to the horizontal plane.

9. The CT visual guidance system for precise tumor puncture according to claim 7, wherein the correcting the position of the puncture needle comprises:

and acquiring the displacement of the puncture needle measured by the displacement sensor, judging whether the displacement is 0, and if not, sending a position adjustment control instruction to a control unit of the mobile acquisition and control device to enable the displacement of the puncture needle to be 0.

10. The CT visual navigation system for precise tumor puncture as claimed in claim 7, wherein during the puncture process, images acquired by the image acquisition device are also acquired in real time, and whether the puncture needle is aligned with the external marker of the patient to be operated is determined by image analysis.

Technical Field

The invention belongs to the technical field of medical equipment, and particularly relates to a navigation device for accurate tumor puncture and a CT (computed tomography) visual navigation system.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

Puncture is the more common technique of modern surgery. According to the knowledge of the inventor, the currently known tumor puncture operation mainly depends on the free-hand operation of a doctor, and during the operation, the doctor needs to repeatedly enter a CT room to scan and confirm and adjust the included angle between the puncture needle angle and the human body fault plane, so that the operation time is prolonged, the exposure time of the doctor and a patient in a radiation environment is long, and the medical radiation quantity is increased. Doctors need to complete the medical operation by gradually cultivating hand feeling and continuously accumulating personal experience, the accuracy and the success rate of puncture completely depend on experience, errors caused by shaking are difficult to overcome, the puncture angle and depth cannot be guaranteed, the final result still deviates from an ideal planned route to a certain extent, and the treatment effect is influenced.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a navigation device for accurate tumor puncture and a CT visual navigation system.

In order to achieve the above object, one or more embodiments of the present invention provide the following technical solutions:

a navigation device for precise tumor penetration, comprising: the automatic puncture device comprises a base, wherein a mechanical arm is arranged on the base, and a puncture needle clamping device is arranged at the free end of the mechanical arm; the puncture needle clamping device is characterized in that a groove with an opening at the lower part is arranged in the puncture needle clamping device, the groove is internally provided with a mobile acquisition and control device, the lower part of the mobile acquisition and control device is used for being connected with a puncture-free needle end of the puncture needle, and the mobile acquisition and control device is superposed with the central axis of the puncture needle.

Furthermore, the outer surface of the puncture needle clamping device is also connected with an image acquisition device.

Furthermore, the mobile acquisition and control device comprises a control unit, and a wireless data transmitting and receiving module, an angle sensor and a displacement sensor which are connected with the control unit.

Further, the system also comprises a sliding track, and the base can move relatively along the sliding track.

Further, the mechanical arm is a six-degree-of-freedom mechanical arm.

One or more embodiments also provide a CT visual navigation system for precise tumor puncture, which comprises the navigation device and an upper computer.

Further, the host computer is configured to:

acquiring a spiral CT scanning image of a patient to be operated, receiving a target puncture point position confirmed by a doctor, performing three-dimensional reconstruction and displaying by taking the target puncture point as an origin, a horizontal plane as an X0Y plane and a vertical direction as a Z axis;

under the three-dimensional coordinate system, calculating the puncture angle and depth for guiding the puncture needle to enter;

correcting the angle and position of the puncture needle based on the mobile acquisition and control device;

and in the puncturing process, monitoring the angle and displacement information acquired by the mobile acquisition and control device in real time, converting the angle and displacement information into a puncturing angle and depth under the three-dimensional coordinate system, and displaying the puncturing angle and depth.

Further, correcting the angle of the puncture needle includes:

and acquiring the angle value of the puncture needle measured by the angle sensor, judging whether the puncture needle is vertical to the horizontal plane, and if not, sending an angle adjustment control instruction to a control unit of the mobile acquisition and control device to ensure that the puncture needle is vertical to the horizontal plane.

Further, correcting the position of the puncture needle includes:

and acquiring the displacement of the puncture needle measured by the displacement sensor, judging whether the displacement is 0, and if not, sending a position adjustment control instruction to a control unit of the mobile acquisition and control device to enable the displacement of the puncture needle to be 0.

Furthermore, in the puncture process, images acquired by the image acquisition device are acquired in real time, and whether the puncture needle is aligned to the in-vitro mark point of the patient to be operated is judged through image analysis.

The above one or more technical solutions have the following beneficial effects:

the navigation device ensures that the moving information of the puncture needle can be accurately acquired in the puncture process by arranging the moving acquisition and control device right above the puncture needle, improves the accuracy of puncture and relieves the pain of patients.

The CT visual navigation system realizes real-time display of the puncture needle in the CT image coordinate system by establishing the three-dimensional coordinate system based on the spiral CT image, can visually detect the position of the puncture needle in the operation process, is convenient for medical personnel to adjust the angle and the puncture depth of the puncture needle at any time, and improves the accuracy and the success rate of puncture.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.

FIG. 1 is a schematic diagram of a specific setup of a three-dimensional plane coordinate system according to an embodiment of the present invention;

FIG. 2 is a schematic illustration of a robot body and apparatus according to an embodiment of the present invention;

figure 3 is a perspective view of a robotic arm in an embodiment of the present invention.

Wherein, 1, the puncture needle is clamped; 2 is a puncture needle; 3. a mobile acquisition and control device; 4. puncturing needle; 5. is a camera; 6. a puncture needle holding device; 7. a mechanical arm body; 8. a slidable base; 9. the mechanical arm is connected with the shaft.

Detailed Description

It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.