阅读说明：本技术 一种基于姿态角超声引导穿刺导航系统及方法 (Ultrasonic-guided puncture navigation system and method based on attitude angle ) 是由 孙建松 于 2020-05-07 设计创作，主要内容包括：本发明提供一种基于姿态角超声引导穿刺导航系统及方法,其硬件设备包含：电脑(或移动智能终端)、基准架(1)、探头姿态角传感器(2)、穿刺针姿态角传感器(3)、穿刺针(4)；其利用使医生可以在超声图像上看到预穿刺路径,从而达到有的放矢的特点,对病灶穿刺的实时精准把控,从而大大提高穿刺成功率,缩短病人手术时间,减少创口感染几率,减轻病人痛苦,也降低了手术对医生的技能要求,同时本发明适用于普通超声诊断仪,新增硬件价格低廉,使更多的基层医院能开展此类手术,提高了社会资源的利用率,有益于“看病难”问题的解决。(The invention provides an ultrasonic guided puncture navigation system and method based on attitude angles, and hardware equipment of the system comprises: the device comprises a computer (or a mobile intelligent terminal), a reference frame (1), a probe attitude angle sensor (2), a puncture needle attitude angle sensor (3) and a puncture needle (4); the invention makes use of the characteristic that doctors can see the pre-puncture path on the ultrasonic image, thereby achieving the goal of targeting, accurately controls the puncture of the focus in real time, thereby greatly improving the success rate of puncture, shortening the operation time of patients, reducing the probability of wound infection, relieving the pain of the patients and reducing the skill requirement of the operation on the doctors.)

1. A posture angle-based ultrasound-guided puncture navigation system, comprising: the device comprises a computer (or a mobile intelligent terminal), a reference frame (1), a probe attitude angle sensor (2), a puncture needle attitude angle sensor (3) and a puncture needle (4).

2. The reference frame (1) according to claim 1, characterized in that: the base surface of the reference frame (1) is matched with the profile of the lower edge of the side surface of the probe; the reference frame (1) is fixed on the ultrasonic probe (5); the front surface of the reference frame (1) is provided with a puncture needle clip (12) for fixing (or attaching) the puncture needle; the shape of the reference frame (1) can be rectangular or other shapes; the number of the reference frames (1) can be one, and also can be one on each side of the probe.

3. The probe attitude angle sensor (2) according to claim 1, characterized in that: the probe attitude angle sensor (2) is fixed on the ultrasonic probe (5).

4. The puncture needle attitude angle sensor (3) according to claim 1, characterized in that: the puncture needle attitude angle sensor (3) is fixed on the puncture needle (4).

5. The puncture needle (4) according to claim 1, characterized in that: the puncture needle is fixed (or attached) on a puncture needle clamp position (12) of the reference frame, and the central axis of the puncture needle (4) and the ultrasonic probe (5) form a joint which can deflect in all directions by taking the puncture needle clamp position of the reference frame as the center.

6. An ultrasound-guided puncture navigation method based on attitude angles, comprising:

a) fixing the reference frame (1) on an ultrasonic probe, and fixing (or attaching) the puncture needle (4) on a puncture needle clamping position of the reference frame (1);

b) acquiring real-time ultrasonic images and image resolution information, and transmitting the ultrasonic images to a computer (or a mobile intelligent terminal) in real time and displaying the ultrasonic images;

c) dynamically acquiring an ultrasonic probe attitude angle parameter through a probe attitude angle sensor (2), dynamically acquiring a puncture needle attitude angle parameter through a puncture needle attitude angle sensor (3), and calculating a dynamic space deflection angle value of a puncture needle central axis relative to an ultrasonic probe reference axis by taking a reference frame puncture needle clamping central point as a vertex;

d) and on the ultrasonic image, dynamically displaying the puncture navigation path (7) on a screen according to the dynamic space deflection angle value calculated in the step c) by taking the virtual ultrasonic probe reference axis (11) as a central line and the virtual reference frame puncture needle position clamping (8) as a central point.

e) Finding a target needing to be punctured on the ultrasonic image, adjusting the direction of the puncture needle (4) to enable the puncture navigation path to pass through the puncture target and the puncture navigation path to be on the ultrasonic image plane, and operating a doctor to push the puncture needle in the central axis direction of the puncture needle and simultaneously monitor through the ultrasonic image needle point image to achieve the puncture target.

Technical Field

The present invention relates to the field of medical instruments, and more particularly, to ultrasound guided puncture navigation systems and methods.

Background

The puncture under the guidance of ultrasonic positioning has the advantages of real-time display, convenient operation and the like, and is the mainstream puncture scheme at present, but in the puncture process, the needle point of the puncture needle is only visible when being positioned on an ultrasonic image plane, and in the actual operation, the puncture needle deviates from the ultrasonic examination plane to cause the position information of the puncture needle head to be lost on the ultrasonic image, which means that in most cases, a doctor cannot see the needle point of the puncture needle on the ultrasonic plane, and the difficulty in accurately moving the puncture needle to the position of the ultrasonic examination plane is very high.

The two clinically corresponding technical schemes exist at present, one scheme is that a puncture frame is used, but the puncture frame is relatively fixed in position, operation is rigid, fine adjustment cannot be performed in the operation process, the operation space of an operator is limited, and the puncture frame is rarely used clinically; the other is magnetic navigation positioning, but the magnetic navigation positioning is difficult to be widely used clinically due to the high possibility of being interfered by a magnetic field and high price.

Disclosure of Invention

The present invention is directed to provide an ultrasound guided puncture navigation system and method based on attitude angle (attitude angle: a set of directional angles of an object relative to a world coordinate system, for example, an airplane, and the air attitude of the airplane can be defined by a pitch angle, a heading angle, and a roll angle).

In order to achieve the purpose, the technical scheme adopted by the invention for solving the problems in the prior art is as follows: a puncture navigation system and method based on attitude angle ultrasonic guidance is used for dynamically positioning surgical puncture in real time, and hardware equipment of the puncture navigation system comprises: the device comprises a computer (or a mobile intelligent terminal), a reference frame (1), a probe attitude angle sensor (2), a puncture needle attitude angle sensor (3) and a puncture needle (4).

The above technical solution is further described as follows:

before puncture, the reference frame (1) is fixed on the ultrasonic probe (5), during puncture, the puncture needle (4) is fixed (or attached) on a puncture needle clamping position of the reference frame (1), a joint is formed between the ultrasonic probe (5) and the puncture needle (4), the puncture needle can deflect in all directions by taking the puncture needle clamping position of the reference frame (1) as a center, a real-time ultrasonic image is obtained and displayed through a computer (or a mobile intelligent terminal) host, posture angle information of the probe posture angle sensor (2) and the puncture needle posture angle sensor (3) is obtained, a space deflection angle of a puncture navigation path (7) is calculated by taking the ultrasonic probe (5) as a reference and is dynamically displayed in real time, a doctor can see a pre-puncture path on the ultrasonic image, and a targeted puncture effect is achieved.

The posture angle-based ultrasonic guided puncture navigation system and method provided by the invention have the advantages that a doctor can see a pre-puncture path on an ultrasonic image, so that the aim of targeting is achieved, the real-time and accurate control on focus puncture is realized, the puncture success rate is greatly improved, the operation time of a patient is shortened, the wound infection probability is reduced, the pain of the patient is relieved, and the skill requirement of the operation on the doctor is also reduced.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a diagram illustrating an image display effect according to the present invention;

FIG. 3 is a schematic structural diagram of the reference frame (1) of the present invention;

in the figure: 1. the ultrasonic imaging device comprises a reference frame, 2 probe attitude angle sensors, 3 puncture needle attitude angle sensors, 4 puncture needles, 5 ultrasonic probes, 6 ultrasonic probe reference axes, 7 puncture navigation paths, 8 virtual reference frame puncture needle clamping positions, 9 ultrasonic images, 10 virtual ultrasonic probes, 11 virtual ultrasonic probe reference axes and 12 reference frame puncture needle clamping positions.

Detailed Description

The invention will be further described by way of example with reference to the accompanying drawings, in which: the device comprises a computer (or a mobile intelligent terminal), a reference frame (1), a probe attitude angle sensor (2), a puncture needle attitude angle sensor (3) and a puncture needle (4).

As shown in fig. 1, the specific implementation steps of the present implementation are as follows:

before a puncture operation, one or two reference frames (1) are designed at one side or two sides (positions shown in figure 1) of an ultrasonic probe to be used, the base surface of each reference frame (1) is matched with the outline of the lower edge of the side surface of the probe, so that the base surface of each reference frame (1) is fully contacted with the corresponding position of the probe, the fixation is easy, and the fixation mode can be a sticking mode; a funnel-shaped and semi-enclosed puncture needle clamp is designed at the lower part of the reference frame (as shown in figure 3), the size of a gap of the clamp just can accommodate the puncture needle (4), the puncture needle (4) is fixed at the local position after being placed in the clamp, but can still make angular deflection and axial movement, and the form of the reference frame (1) can be rectangular or other forms; fixing the probe attitude angle sensor (2) on the ultrasonic probe (5), and fixing the puncture needle attitude angle sensor (3) on the puncture needle (4); the real-time ultrasonic image and the image resolution information are obtained at the image output end (or the ultrasonic image processing workstation) of the ultrasonic diagnostic apparatus, and the ultrasonic image is transmitted to a computer (or a mobile intelligent terminal) in real time and displayed, and the image transmission can be in a wireless transmission mode.

During puncture, the puncture needle (4) is fixed (or attached) on a puncture needle clamping position of the reference frame (1), a joint taking the puncture needle clamping position of the reference frame as the center is formed between the ultrasonic probe (5) and the central axis of the puncture needle, the puncture needle (4) can deflect in all directions taking the puncture needle clamping position of the reference frame (1) as the center, and the puncture needle (4) can also move in the direction of the central axis; in order to facilitate understanding and calculation, a straight line which passes through a clamping center point of the puncture needle of the reference frame and is parallel to the central axis of the ultrasonic probe is used as a reference axis (6) of the ultrasonic probe, as shown in fig. 1, the relation between the reference axis (6) of the ultrasonic probe and the central axis of the puncture needle is the relation between the ultrasonic probe (5) and the puncture needle (4), attitude angle parameters of the ultrasonic probe are dynamically obtained through a probe attitude angle sensor (2), attitude angle parameters of the puncture needle are dynamically obtained through a puncture needle attitude angle sensor (3), and a dynamic space deflection angle value of the central axis of the puncture needle relative to the reference axis of the ultrasonic probe can be calculated by taking the clamping center point of the puncture needle of the reference frame as a vertex.

On an ultrasonic image, an ultrasonic image is an ultrasonic probe check plane relative to a real object position and corresponds to an ultrasonic probe, as shown in fig. 2, a position of a virtual ultrasonic probe reference axis (11) is a position of an ultrasonic probe reference axis (6), a position of a virtual reference frame puncture needle position (8) is a position of a center point of a reference frame puncture needle position (12), the virtual ultrasonic probe reference axis (11) is taken as a center line, the virtual reference frame puncture needle position (8) is taken as a center point, a puncture navigation path (7) can be dynamically displayed on a screen according to a previously calculated dynamic space deflection angle value, an angle difference between the puncture navigation path (7) and the ultrasonic image plane can be directly displayed during three-dimensional display (such as AR and VR equipment), a projection of the puncture navigation path (7) on the ultrasonic image plane can be displayed during two-dimensional display, and different colors can be set according to the position of the punctured navigation path (7) relative to the ultrasonic image plane If the puncture navigation path (7) is set to be red in front of the ultrasound image plane, the puncture navigation path (7) is set to be green in the ultrasound image plane, and the puncture navigation path (7) is set to be yellow in back of the ultrasound image plane, whether the puncture navigation path (7) is on the ultrasound image plane can be judged according to the puncture navigation path color.

The target needing to be punctured is found on the ultrasonic image, the direction of the puncture needle (4) is adjusted, the puncture navigation path passes through the puncture target, and the puncture navigation path (7) can be used for surgical puncture on the ultrasonic image plane.