CN110101439A - A kind of Ultrasound intervention punctures navigation system and puncture supporter - Google Patents
A kind of Ultrasound intervention punctures navigation system and puncture supporter Download PDFInfo
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- CN110101439A CN110101439A CN201910479997.6A CN201910479997A CN110101439A CN 110101439 A CN110101439 A CN 110101439A CN 201910479997 A CN201910479997 A CN 201910479997A CN 110101439 A CN110101439 A CN 110101439A
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- 238000002604 ultrasonography Methods 0.000 title claims abstract description 51
- 238000001514 detection method Methods 0.000 claims abstract description 35
- 238000003384 imaging method Methods 0.000 claims abstract description 15
- 238000011897 real-time detection Methods 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 9
- 238000001574 biopsy Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 5
- 239000000523 sample Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 208000015181 infectious disease Diseases 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 230000026683 transduction Effects 0.000 description 1
- 238000010361 transduction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
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- Molecular Biology (AREA)
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- General Health & Medical Sciences (AREA)
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- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The invention discloses a kind of puncture supporters that can be used in Ultrasound intervention puncture, the puncture supporter can be connect with ultrasonic transducer, the ultrasonic transducer have be in contact with organism surface, can be by the imaging surface of ultrasonic signal, the puncture supporter includes: puncture needle fixing piece, angle detection unit and connector for puncture needle described in real-time detection relative to the puncture angle of the imaging surface.The connector is rotatably attached with the puncture needle fixing piece, so that the puncture needle fixing piece can continuously adjust the puncture angle.The puncture supporter solves the problems, such as that puncture supporter can not continuously adjust puncture angle and can not change puncture path in real time.
Description
Technical field
The invention belongs to medical supersonic technical fields more particularly to a kind of Ultrasound intervention to puncture navigation system.
Background technique
Existing ultrasonic puncture frame, for ultrasonic probe and puncture needle to be connected and fixed, during ultrasound guided puncture
Limit puncture needle space angle, guarantee its (mode in plane) parallel with the imaging plane of ultrasonic probe always or 90 ° it is vertical
(plane external square type), the space angle of puncture needle is stored in ultrasonic image-forming system, and the puncture path of needle is gone out by system-computed,
Puncture auxiliary guide line is shown in ultrasonic imaging, visualizes puncture path in advance, in order to preferably control puncture process.It should
The problems such as puncture supporter avoids puncture needle inserting needle direction offset when doctor manually punctures, puncture needle grip is unstable, presses for puncture needle
According to plan path reach target area provide be auxiliarily fixed, offset hand operation error.But this puncture supporter makes puncture needle
Angle it is relatively fixed relative to ultrasonic probe, a variety of puncture paths of consecutive variations can not be provided, this is puncturing doctor
In the process if it find that needing to change puncture path, if it has to select whole withdraws of the needle, then will be punctured again with ultrasonic probe
Needle puts target point of puncture, this not only lowers efficiency is punctured, also adds the risk of user's infection.
And existing ultrasonic puncture guide line needs the target come on puncture path by adjusting probe positions, right
The problems such as ultrasonic probe is due to volume and weight for Yu doctor can not accomplish fine fine tuning, affect puncture experience.
In addition, there are also some other factors to cause puncture precision not high, puncture experience is also affected.
Summary of the invention
Experience is punctured in order to improve, the present invention provides a kind of punctures that can be used in Ultrasound intervention puncture for first aspect
Frame, the puncture supporter can be connect with ultrasonic transducer, and the ultrasonic transducer, which has, to be in contact with organism surface, can pass through
The imaging surface of ultrasonic signal, the puncture supporter include: puncture needle fixing piece, are used for biopsy needle guide, so that puncture needle edge
Predefined paths reach puncture target area；Angle detection unit is used for puncture needle described in real-time detection relative to described
The puncture angle of imaging surface；And connector, it is rotatably attached with the puncture needle fixing piece, so that the puncture needle is solid
The puncture angle can continuously be adjusted by determining part；Wherein, the angle detection unit is included in the puncture needle fixing piece and institute
One in the connector upper magnetic part being arranged is stated, and on another in the puncture needle fixing piece and the connector
The magnetic coder of setting, the magnetic part and the magnetic coder relative spacing are arranged.
The connector of puncture supporter is rotatably attached with puncture needle fixing piece, allows the puncture angle of puncture needle continuous
Change, accomplish fine adjustment, even if doctor has found to need to change puncture path in puncture process, exits puncture without whole
Needle only need to be redefined target by ultrasonic transducer, and puncture needle is put on guiding puncture path, be passed through
This mode not only improves puncture efficiency, also reduces the risk of user's infection.
And on the one hand the angle detection unit being made of magnetic part and magnetic coder solves the real-time inspection of puncture needle angle
Survey problem, continuously adjustable for puncture angle provide necessary condition, i.e., the setting of above-mentioned angle detection unit is led so that puncturing
Boat system can obtain the angle information of puncture needle in real time, and plan the puncture path of puncture needle in real time, to improve puncture efficiency,
Guarantee the accuracy punctured and convenience.On the other hand, it is ensured that the miniaturization of device and simple structure increase in function
While do not bring volume structure excessive variation.
Preferably, the puncture needle fixing piece and the connector are detachably connected.Due to puncture needle fixing piece conduct
Sterile consumable products belong to disposable unit, and by detachably connected, the repeatable disinfection of connector uses, and is guaranteeing to defend
It is reduced costs while raw safe.
Preferably, it is provided with mutually matched locating part on the puncture needle fixing piece and the connector, to limit
State the rotating range of puncture needle fixing piece.The setting of locating part avoids puncture needle caused by maloperation and deviates normal puncture road
The consequence of diameter improves puncture safety.
Preferably, it is provided on the puncture needle fixing piece for keeping the puncture needle to move along the predefined paths
Holder, it is separate that the holder with the locating part on the puncture needle fixing piece is oppositely arranged on the puncture needle fixing piece
In the end sidewalls of the connector.
Preferably, the locating part of the puncture needle fixing piece is prodger, and the locating part of the connector is stop wall, institute
It states stop wall to be located on the path of prodger rotation, to limit the rotating range of the puncture needle fixing piece.
Preferably, the stop wall at least there are two, the prodger moves between two stop walls, two institutes
Stop wall is stated to connect by reinforcer.The setting of reinforcer prevents puncture needle fixing piece to be applied to, and the power in stop wall is excessive to be caused
Deformation occurs for stop wall, to guarantee the precision of boundary puncture angle.
Preferably, the magnetic part is permanent magnet or the magnetized puncture needle.
Preferably, the central axis of the magnetic part is relative to the deflection distance at magnetic coder center in 0.5mm or less.Again
Preferably, the deflection distance is in 0.25mm or less.It is further preferred that the center of the magnetic coder is located in magnetic part
On mandrel line.
Preferably, rotary shaft, the puncture needle are provided on one in the puncture needle fixing piece and the connector
Be provided on another in fixing piece and the connector with the matched hole of rotary shaft, by the way that the rotary shaft is inserted into institute
It states puncture needle fixing piece described in hole and the connector is rotatably attached.Preferably, the magnetic part and magnetic coding
One in device is located at the rotary shaft close to the end of the connector.
Preferably, the magnetic part is at a distance from the magnetic coder interval in the range of 0.5mm-2.5mm.
Preferably, the connector is rotatably attached with the ultrasonic transducer.Its adjustable puncture needle is changed with ultrasound
The relative position of energy device, to obtain ideal ultrasonic composograph.
Preferably, the puncture supporter further includes power detection unit, for detecting bio-tissue to the work of puncture needle needle body
Firmly；Preferably, the power detection unit be arranged in puncture needle fixing piece for keeping the puncture needle along described predetermined
On the mobile holder in path.Power based on the detection of power detection unit can obtain puncture needle needle under the action of bio-tissue
The deflection angle of body, and then the guiding puncture path in ultrasonic composograph is calibrated, reduce the possibility accidentally punctured.
Second aspect, the present invention provides a kind of Ultrasound interventions to puncture navigation system comprising: above-mentioned puncture supporter；Ultrasound
Energy converter is used to acquire the intracorporal ultrasound image information of organism in real time；Data acquisition unit is used to acquire the angle
The information of the puncture angle of detection unit detection；Data processing and transmission unit are used to handle data acquisition unit and adopt
The information of collection, and information is transferred to image processing unit by treated；Described image processing unit, receives and processes in real time
Ultrasound image information and the information transmitted by data processing and transmission unit, indicate organism with guiding puncture line to generate
Interior real-time ultrasound composograph；Image-display units, real-time ultrasound composograph described in real-time display.
Preferably, within a predetermined range whether the data processing and transmission unit judge puncture angle；If described wear
Pierce angle not within the predefined range, the data processing and transmission unit generate standby signal.It, can be with by judging puncture angle
Security of system is further provided for, the maloperation punctured is avoided.
Preferably, the data acquisition unit also acquires the puncture needle in the intracorporal deflection angle of organism.
Preferably, the deflection angle is by the bio-tissue for the power detection unit detection being arranged on puncture supporter to puncture
The Force feedback of needle needle body.
Preferably, the deflection angle is for calibrating the guiding puncture line.
The third aspect, the present invention provides a kind of puncture supporters that can be used in Ultrasound intervention puncture, which can be with
Ultrasonic transducer connection, the ultrasonic transducer have be in contact with organism surface, can be by the imaging table of ultrasonic signal
Face, the puncture supporter include: puncture needle fixing piece, are used for biopsy needle guide so that puncture needle with predetermined puncture angle along
Predefined paths reach the target area punctured；Power detection unit, being used for real-time detection keeps the puncture angle of the puncture needle inclined
The active force being applied on puncture needle needle body from predetermined puncture angle；The active force deviates institute for feeding back the puncture needle
The deflection angle of predetermined puncture angle is stated, to calibrate the guiding puncture line in ultrasonic composograph.
Fourth aspect, the present invention provides a kind of Ultrasound interventions to puncture navigation system comprising: the puncture supporter；Ultrasound is changed
Energy device, is used to acquire the intracorporal ultrasound image information of organism in real time；Data acquisition unit is used to acquire the power detection
The effect force information of unit detection；Data processing and transmission unit are used to handle the information of data acquisition unit acquisition, and will
Treated, and information is transferred to image processing unit；Described image processing unit, receives and processes ultrasound image information in real time
With the information by data processing and transmission unit transmission, the intracorporal real-time ultrasound of biology is indicated with guiding puncture line to generate
Composograph；Image-display units, real-time ultrasound composograph described in real-time display.
Power based on the detection of power detection unit can obtain the deflection angle of puncture needle needle body under the action of bio-tissue
Degree, and then the guiding puncture path in ultrasonic composograph is calibrated, the possibility accidentally punctured is reduced, punctures experience to improve.
Puncture supporter and puncture navigation system of the invention, compares the prior art, structure is simple, operates conveniently, and solves and wears
The problem of thorn frame can not continuously adjust puncture angle and can not change puncture path in real time.In addition, puncturing calibration by setting
Mechanism improves the safety of puncture procedure and punctures precision, generally improves puncture experience.
Detailed description of the invention
Fig. 1 is the probe distal end schematic device of embodiment of the present invention.
Fig. 2 is puncture needle ultrasonic navigation system schematic.
Fig. 3 is the ultrasonic composograph schematic diagram that guiding puncture line and ultrasound image synthesize.
Fig. 4 is the structural schematic diagram of puncture supporter.
Fig. 5 is the partial sectional view of puncture supporter.
Fig. 6 is the positional diagram of magnetic part and magnetic coder.
Fig. 7 is that schematic diagram is arranged in power detection unit.
Fig. 8 is that deflection angle calculates schematic diagram.
Fig. 9 is guiding puncture line computation schematic diagram.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this specification
Revealed content is understood other advantages and efficacy of the present invention easily.Although description of the invention will combine preferred embodiment
It introduces together, but this feature for not representing the invention is only limitted to the embodiment.On the contrary, being invented in conjunction with embodiment
The purpose of introduction is to be possible to the other selections extended or transformation to cover based on claim of the invention.In order to mention
For that will include many concrete details in depth understanding of the invention, being described below.The present invention can also be thin without using these
Section is implemented.In addition, in order to avoid confusion or obscuring emphasis of the invention, some details will be omitted in the de-scription.
Fig. 1-2 shows a kind of puncture needle ultrasonic navigation system, which includes medical supersonic transducer 1,2 and of puncture supporter
Image-forming block, ultrasonic transducer 1 are connected with puncture supporter 2, it is preferred that ultrasonic transducer 1 is detachably connected with puncture supporter 2, such as
It is fixed by snap.Ultrasonic transducer 1 acquires the ultrasonic signal of bio-tissue for confirming target in real time.It punctures
Frame 2 is provided with puncture needle fixing piece 21, and puncture needle 3 is mounted on puncture needle fixing piece 21, makes puncture needle 3 and ultrasonic transduction
Device 1 keeps intrinsic space geometry relationship, in order to calculate the specific location of puncture needle.Preferably, puncture supporter 2 is additionally provided with super
Sonic transducer fixing piece 20, to install ultrasonic transducer 1 in the case where not influencing ultrasonic signal and sending acquisition；Conversely, ultrasonic
It may also set up the fixing piece for installation settings puncture supporter 2 on energy converter 1.Image-forming block includes that image processing unit and image are aobvious
Show unit, in use, the imaging surface 10 of ultrasonic transducer 1 is in contact with organism surface B, image processing unit real-time reception
Angle information θ of the axis 30 of ultrasound image information and puncture needle 3 that ultrasonic transducer 1 transmits relative to imaging surface 10, and
The intracorporal real-time ultrasound composograph of expression biology with guiding puncture line 31 is generated, which can pass through
Image-display units real-time display, for details, reference can be made to ultrasonic composographs shown in Fig. 3.Expression with guiding puncture line 31 is raw
The generating algorithm of the intracorporal real-time ultrasound composograph of object belongs to the common knowledge of technical field, and details are not described herein again.
Image processing unit is preferably Ultrasound Instrument.Image processing unit is also possible to the combination of Ultrasound Instrument and computer, calculates at this time
Machine receives the ultrasound image information of Ultrasound Instrument transmission and the angle information of puncture needle 3 carries out image co-registration processing, generates to have and wear
Pierce the intracorporal real-time ultrasound composograph of expression biology of guide line 31.Wherein guiding puncture line can be a fine line or one
Bar dotted line or a plurality of actual situation line, for predicting puncture needle inserting needle track.
It is settable for acquiring the puncture detection unit for puncturing information in real time on puncture supporter 2, it is preferable that puncture detection unit
Including the angle detection unit for 3 angle of real-time detection puncture needle, then above-mentioned angle information can be acquired by data collector
The angle signal of process angle detection unit acquisition obtains.Specifically, the data acquisition unit acquisition angles of data collector are examined
The angle information of unit is surveyed, angle information is transferred to imaging section after the data processing of data collector and transmission unit processing
The image processing unit of part, image processing unit carry out the ultrasound image information received and angle information at image co-registration
Reason generates the intracorporal real-time ultrasound composograph of expression biology with guiding puncture line.In addition, above-mentioned angle information can also be by
User pre-enters.
Fig. 4 shows a kind of puncture supporter 2, and puncture supporter 2 has connector 22, connector 22 and ultrasonic transducer fixing piece 20
It being fixedly connected, this, which is fixedly connected, to be integrally formed, and can be and be detachably connected, it is also possible to non-dismountable connection, for
It is fixedly connected and is not particularly limited.Connector 22 is also connected with the puncture needle fixing piece 21 of puncture supporter 2, it is preferred that puncture needle
Fixing piece 21 is rotatably connected with connector 22, so that puncture needle 3 can be rotated around rotary shaft, it is continuous to adjust puncture angle θ,
To which puncture angle θ is adjusted to arbitrary desired angle.Preferably, puncture needle fixing piece 21 is by the way that rotary shaft 214 to be inserted into
To connector 22 with rotatably connect with connector 22 in the matched hole 223 of rotary shaft 214, referring specifically to Fig. 5.Another
Aspect, be also possible to connector rotary shaft be inserted into puncture needle fixing piece in the matched hole of rotary shaft rotatably with wear
The connection of pricker fixing piece.Preferably, rotary shaft can be axially removably secured with hole by frictional force, can also pass through buckle
It is axially removably secured, is not particularly limited for being removably secured.Since puncture needle fixing piece is sterilized consumable article, because
And connector 22 and puncture needle fixing piece 21 are detachably connected convenient for the Aseptic sterilisation of connector 22, so that its repeatable benefit
With, can guarantee it is safe and healthy in the case where reduce cost.Preferably, opposite with ultrasonic transducer 1 in order to adjust puncture needle 3
Position, connector 22 can rotatably be connect with ultrasonic transducer fixing piece 20 with the rotation axis perpendicular to rotary shaft 214,
To obtain ideal ultrasonic composograph.
Puncture angle θ unreasonable adjustment in order to prevent can be arranged mutually on puncture needle fixing piece 21 and connector 22
The locating part of cooperation, to limit the rotating range of puncture needle fixing piece 21, to make puncture angle θ in reasonable interval range
Adjustment.Prodger 213 is set such as on the outer surface of puncture needle fixing piece 21, in prodger 213 around the road that rotary shaft 214 rotates
Diameter upper connector 22 is provided with stop wall 222, it is preferable that there are two stop walls 222, and prodger 213 is limited in two stop walls
Space in move.Deformation occurs for 222 stress of stop wall in order to prevent, and two stop walls 222 are connected by reinforcer 221, excellent
Choosing, reinforcer 221 is arcwall, which can connect with the side wall of connector 22.It is provided on puncture needle fixing piece 21
Holder 211 for keeping puncture needle 3 to move along guide line 31, holder 211 have the shank of puncture needle 3 passable
Axial passage, when sending needle, which is used to guarantee that puncture needle 3 advances along guide line 31.Preferably, holder 211 with
Locating part on puncture needle fixing piece 21 is oppositely arranged in end sidewalls of the rotary shaft 214 far from connector 22.
Angle detection unit can also be arranged in puncture supporter 2, with the puncture angle of real-time detection puncture needle, referring specifically to Fig. 5.
Angle detection unit has magnetic part 215 and magnetic coder 224.Magnetic part 215 is preferably permanent magnet, is also possible to magnetized wear
Pricker.When the frontoparallel of plane and magnetic coder where the pole S, N of magnetic part 215 and when maintaining a certain distance, with
The variation of the rotation control puncture angle of puncture supporter 2,224 real-time detection of magnetic coder brought due to the rotation of magnetic part 215
Changes of magnetic field information, changes of magnetic field information is converted to angle information by analog-to-digital conversion, Digital Signal Processing, with real-time detection
The puncture angle of puncture needle.Angle information is sent to the image processing unit of image-forming block, image procossing list by data collector
Angle information and ultrasound image information are carried out image co-registration processing by member, and generating has the expression biology of guiding puncture line intracorporal
Real-time ultrasound composograph.Wherein, changes of magnetic field information is converted to the public affairs that the specific algorithm of angle information is technical field
Know common sense, details are not described herein.Preferably, the data processing of data collector and transmission unit determine the puncture angle of puncture needle
Whether within a predetermined range, as not within the predefined range, standby signal is sent, to inform user's puncture procedure mistake.Preferably,
Rotary shaft 214 is arranged in close to the end of connector 22 in magnetic part 215；Magnetic coder 224 is arranged on connector 22, with magnetism
215 relative spacing of part setting, referring specifically to Fig. 5.In order to obtain the linear relationship of better changes of magnetic field and angle, magnetic part
215 central axis relative to magnetic coder 224 center deflection distance in 0.5mm hereinafter, preferably in 0.25mm hereinafter, again
Preferably, the center of magnetic coder 224 is located on the central axis of magnetic part 215.In order to preferably detect changes of magnetic field, magnetic
Property part 215 and the positive distance L of magnetic coder 224 preferably in the range of 0.5mm-2.5mm, referring specifically to fig. 6.
When in use, ultrasonic transducer 1 is fixed on puncture supporter 2, the imaging surface 10 of ultrasonic transducer 1 is pressed in life
Body surface B, to find puncture target, referring to Fig. 1；Then by puncture needle 3 along the axial passage of holder 211 by puncture needle
3 are slowly sent into 1-2cm, and the real-time guiding puncture line 31 provided by observation image-display units, make puncture needle fixing piece 21
It is rotated along rotary shaft 214, slowly changes the puncture angle theta of the axis 30 of puncture needle 3 and the imaging surface 10 of ultrasonic transducer 1
Make 31 run-home penetrating area of guiding puncture line.Then the guiding puncture line 31 of holding run-home penetrating area is constant and will
Puncture needle 3 is sent into, while observing entire puncture process by image-display units, until puncture needle 3 reaches target puncture position.
Since in puncture process, when needle body enters bio-tissue, bio-tissue can generate puncture needle needle body horizontal
To the active force of promotion, causing needle body bending to deviate can not advance along the guiding puncture path that angular transducer is planned, but
It is deflected with planning path with certain deflection angle α, as shown in Figure 7.In order to obtain more accurate guiding puncture path, detection is punctured
Unit further includes the force snesor 216 for real-time detection puncture needle needle body stress F, to obtain deflection angle α, thus based on inclined
Gyration α and puncture angle θ calibrates guiding puncture path.Force snesor 216 is preferably provided at the holding of puncture needle fixing piece 21
On part 211, to detect the power F that needle body is applied to above puncture needle fixing piece 21.The specific calculation of deflection angle α is obtained based on power F
Method is as follows:
Regard puncture needle needle body as beam, under external force, the axis of puncture needle needle body becomes smooth continuous from straight line
Line of deflection, as shown in figure 8, dotted line indicates the deflection that occurs under the action of bio-tissue of puncture needle needle body.Wherein, by power
The power F=qL that sensor 216 detects；Q is to be located at uniform load suffered by puncture needle needle body in tissue, and L is into pin mark P to needle
The distance of sharp o.L can be calculated by detection, and also it can be assumed that the needle body length of puncture needle is L, L is given data.
Wherein, the Bending Moment Equations in needle body section are following formula (1) at the x apart from needle point o:
Wherein, 0≤x≤L.
According to line of deflection approximate differential equation, such as following formula (2),
Wherein, y be puncture needle needle body cross section centroid in the displacement perpendicular to needle body axis direction, E is puncture needle
Tension and compression elasticity modulus, I are the polars moment of inertia of puncture needle；E and I is given data.
In needle body in the case where the displacement of its axis direction is negligible, can by formula (1), (2), (3), measure power
F, and the deflection angle α of puncture needle needle body is calculated in known boundary condition.
After obtaining deflection angle, the guiding puncture path of planning can be compensated, to obtain accurate puncture needle
Guide line, the specific method is as follows, and following methods are only a kind of embodiments, and following sides are not limited to when determining puncture needle guide line
Method.
As shown in figure 9, puncture needle fixing piece 21 is rotated along point of rotation Z, the imaging surface of puncture needle 3 and ultrasonic transducer
10 angle is θ, and puncture needle 3 is inserted into bio-tissue from entering pin mark P, and the power F detected based on force snesor 216 is worn
Pricker deflection angle α.In the case where the ultrasound image upper left corner is origin, puncture track and the ultrasound image frame phase of puncture needle
Two o'clock (x1, y1), (x2, y2) are met at, referring to the dotted line in Fig. 9.According to the transmission picture altitude H of ultrasoundIWith width WI, ultrasound
The height H in regionSWith width WS, ultrasound image display size ratio etc. calculate the coordinate of guiding puncture line on the ultrasound image
(x1, y1), (x2, y2), specifically:
X1=WS, WSFor given value；
Y2=HS, HSFor given value；
Y1=k × tan (θ-α), k be into pin mark P with close to enter the supersonic region pin mark P edge at a distance from, by puncture supporter
Dimensions of mechanical structures obtain, be given value；
Again by the line segment between software real-time rendering (x1, y1), (x2, y2) two o'clock, guiding puncture line is generated.Work as angle
When with ultrasound parameter variation, guiding puncture line can be by certain frequency real-time update.Wherein originating can set with the two o'clock terminated
It is scheduled on the edge of ultrasonic display area.
Although combining attached drawing describes embodiments of the present invention, it will be apparent to those skilled in the art that not
Under the premise of being detached from the principle of the invention, various modifications and improvements can be made, these also should be regarded as belonging to protection of the invention
Range.
Claims (15)
1. a kind of puncture supporter that can be used in Ultrasound intervention puncture, the puncture supporter can be connect with ultrasonic transducer, the ultrasound
Energy converter, which has, to be in contact with organism surface, can include: by the imaging surface of ultrasonic signal, the puncture supporter
Puncture needle fixing piece, is used for biopsy needle guide, so that puncture needle reaches the target area punctured along predefined paths；
Angle detection unit is used for puncture angle of the puncture needle described in real-time detection relative to the imaging surface；With
Connector is rotatably attached with the puncture needle fixing piece, so that the puncture needle fixing piece can be adjusted continuously
The puncture angle；
Wherein, the angle detection unit includes the upper magnetic being arranged in the puncture needle fixing piece and the connector
The magnetic coder being arranged on property part, and another in the puncture needle fixing piece and the connector, the magnetic part
It is arranged with the magnetic coder relative spacing.
2. puncture supporter as described in claim 1, which is characterized in that the puncture needle fixing piece and the connector are removably
Connection.
3. puncture supporter as claimed in claim 1 or 2, which is characterized in that set on the puncture needle fixing piece and the connector
It is equipped with mutually matched locating part, to limit the rotating range of the puncture needle fixing piece.
4. puncture supporter as claimed in claim 3, which is characterized in that be provided on the puncture needle fixing piece for keeping described
The holder that puncture needle is moved along the predefined paths, the holder are opposite with the locating part on the puncture needle fixing piece
It is arranged in the end sidewalls of the puncture needle fixing piece far from the connector.
5. puncture supporter as claimed in claim 3, which is characterized in that the locating part of the puncture needle fixing piece is prodger, institute
The locating part for stating connector is stop wall, and the stop wall is located on the path of prodger rotation, to limit the puncture
The rotating range of needle fixing piece；Preferably, the stop wall at least there are two, the prodger is between two stop walls
It is mobile；Preferably, two stop walls are connected by reinforcer.
6. puncture supporter according to any one of claims 1 to 5, which is characterized in that the magnetic part is permanent magnet or magnetized
The puncture needle.Preferably, the magnetic part is at a distance from the magnetic coder interval in the range of 0.5mm-2.5mm.
7. such as puncture supporter of any of claims 1-6, which is characterized in that the central axis of the magnetic part relative to
The deflection distance at magnetic coder center is in 0.5mm or less；Preferably, the deflection distance is in 0.25mm or less；Further preferably, institute
The center for stating magnetic coder is located on the central axis of magnetic part.
8. such as puncture supporter of any of claims 1-7, which is characterized in that the puncture needle fixing piece and the connection
It is provided with rotary shaft on one in part, is provided with and rotates on another in the puncture needle fixing piece and the connector
The matched hole of axis, by the way that the rotary shaft is inserted into puncture needle fixing piece described in the hole and the connector rotatably
Connection；
One in the magnetic part and the magnetic coder is located at the rotary shaft close to the end of the connector.
9. such as puncture supporter of any of claims 1-8, which is characterized in that the connector and the ultrasonic transducer
It is rotatably attached.
10. puncture supporter as claimed in any one of claims 1-9 wherein, which is characterized in that the puncture supporter further includes that power detection is single
Member, for detecting bio-tissue to the active force of puncture needle needle body；Preferably, the power detection unit setting is solid in puncture needle
Determine the holder for keeping the puncture needle to move along the predefined paths of part.
11. a kind of Ultrasound intervention punctures navigation system comprising:
Such as puncture supporter of any of claims 1-10；
Ultrasonic transducer is used to acquire the intracorporal ultrasound image information of organism in real time；
Data acquisition unit is used to acquire the information of the puncture angle of the angle detection unit detection；
Data processing and transmission unit are used to handle the information of data acquisition unit acquisition, and information is transmitted by treated
To image processing unit；
Described image processing unit receives and processes ultrasound image information in real time and is transmitted by data processing and transmission unit
Information indicates the intracorporal real-time ultrasound composograph of biology with guiding puncture line to generate；
Image-display units, real-time ultrasound composograph described in real-time display.
12. Ultrasound intervention as claimed in claim 11 punctures navigation system, which is characterized in that the data processing and transmission are single
Within a predetermined range whether member judge the puncture angle；
If the puncture angle is not within the predefined range, the data processing and transmission unit generate standby signal.
13. the Ultrasound intervention as described in claim 11 or 12 punctures navigation system, which is characterized in that the data acquisition unit
The puncture needle is also acquired in the intracorporal deflection angle of organism.
14. Ultrasound intervention as claimed in claim 13 punctures navigation system, which is characterized in that the deflection angle is by being arranged in
Force feedback of the bio-tissue of power detection unit detection on puncture supporter to puncture needle needle body.
15. Ultrasound intervention according to claim 13 or 14 punctures navigation system, which is characterized in that the deflection angle is used for
Calibrate the guiding puncture line.
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