CN110755134A - Out-of-plane ultrasonic guiding device - Google Patents
Out-of-plane ultrasonic guiding device Download PDFInfo
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- CN110755134A CN110755134A CN201910592865.4A CN201910592865A CN110755134A CN 110755134 A CN110755134 A CN 110755134A CN 201910592865 A CN201910592865 A CN 201910592865A CN 110755134 A CN110755134 A CN 110755134A
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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
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
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- Heart & Thoracic Surgery (AREA)
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- General Health & Medical Sciences (AREA)
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- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The invention relates to an out-of-plane ultrasonic guiding device, which comprises a telescopic arm, wherein a fixed end of the telescopic arm is provided with a rotating sleeve, the axial center line of the rotating sleeve is superposed with the central axis of an ultrasonic probe, and the transverse axis of the telescopic arm is vertical to the central axis; the ultrasonic puncture device comprises a telescopic arm, an ultrasonic machine, a positioning sleeve, a microcomputer and a rotating mechanism, wherein the telescopic end of the telescopic arm is provided with the rotating mechanism, the rotating mechanism is provided with a telescopic positioning sleeve and the microcomputer, the ultrasonic machine is used for measuring the vertical distance between the intersection point of the central axis and the skin and the puncture terminal point, the positioning sleeve is used for measuring the vertical length between the puncture starting point and the transverse axis, the microcomputer is used for calculating the rotating angle of the rotating mechanism according to the vertical distance, the vertical length and the horizontal distance data, and the rotating mechanism drives the axis of the positioning sleeve. The invention can realize the rotation of the positioning sleeve of the positioning puncture needle through the telescopic arm, the rotating mechanism, the telescopic positioning sleeve, the microcomputer and the like, thereby accurately positioning the puncture angle of the puncture needle from the outside of a plane.
Description
Technical Field
The invention relates to a puncture positioning device, in particular to an out-of-plane ultrasonic guiding device.
Background
In ultrasound-guided puncture, there are a distinction between ultrasound in-plane puncture (the puncture needle is located in the imaging plane of the ultrasound probe) and ultrasound out-of-plane puncture (the puncture needle is located outside the imaging plane of the ultrasound probe), depending on the relative positions of the puncture needle and the ultrasound probe. Ultrasonic out-of-plane venipuncture is widely used because it completely shows the path of the needle and the position of the needle tip, as opposed to ultrasonic out-of-plane venipuncture. In the case of the in-plane ultrasound method, since the puncture needle can be imaged on the ultrasound screen only by moving in the imaging plane of the ultrasound probe to reach the target site, the needle insertion point and the needle insertion direction of the puncture needle need to be strictly controlled. At present, most puncture needle positioning devices applied to ultrasonic plane external puncture only consider a needle inlet point, are not accurate to a puncture angle, a puncture length and the like, and can cause the phenomenon of inaccurate puncture, thereby increasing the pain of patients.
Disclosure of Invention
In order to solve the technical problems, the invention provides an out-of-plane ultrasonic guiding device which can ensure accurate puncture.
The technical scheme adopted by the invention for solving the technical problems is as follows: an out-of-plane ultrasonic guiding device comprises a telescopic arm capable of transversely stretching, wherein a fixed end of the telescopic arm is provided with a rotating sleeve sleeved outside an ultrasonic probe of an ultrasonic machine, the axial center line of the rotating sleeve is overlapped with the central axis of the ultrasonic probe, the rotating sleeve can rotate around the central axis, and the transverse axis of the telescopic arm is perpendicular to the central axis; the telescopic end of the telescopic arm is provided with a rotating mechanism, the rotating mechanism is provided with a telescopic positioning sleeve capable of positioning the puncture needle, and the rotating mechanism drives the axis of the positioning sleeve to rotate in a plane determined by the transverse axis and the central axis; the ultrasonic puncture device is provided with a microcomputer, the ultrasonic machine measures the vertical distance between the intersection point of the central axis and the skin and the puncture terminal, the microcomputer calculates the rotation angle of the rotating mechanism according to the input vertical distance data and the horizontal distance data between the intersection point and the puncture starting point, and the rotating mechanism drives the axis of the positioning sleeve to rotate to be coincident with the straight line determined by the puncture starting point and the puncture terminal according to the rotation angle.
Preferably, the processing center is provided with the microcomputer, the processing center comprises the microcomputer, the horizontal distance data is measured through the telescopic arm, the horizontal distance data and the vertical distance data are transmitted to the processing center, the processing center transmits the data to the microcomputer, the microcomputer calculates the rotation angle according to the pythagorean theorem and then transmits the rotation angle to the processing center, and the processing center controls the rotation mechanism to rotate according to the rotation angle.
Preferably, the telescopic arm is an electric telescopic arm, a displacement sensor is arranged on the telescopic arm, the displacement sensor detects the distance between the end point of the telescopic end of the telescopic arm and the central axis, and distance data are sent to the processing center.
Preferably, the rotating mechanism comprises a rotating shaft arranged at the telescopic end of the telescopic arm and a servo motor for driving the rotating shaft to rotate, the axis of the rotating shaft is perpendicular to the transverse axis of the telescopic arm, the end point of the telescopic end of the telescopic arm is located on the axis of the rotating shaft, and the servo motor controls the rotating angle of the rotating shaft according to the rotating angle information of the processing center.
Preferably, the rotating shaft is provided with a positioning through hole, the axis of the positioning through hole is perpendicular to the axis of the rotating shaft, the axis of the positioning through hole passes through the end point of the telescopic end, and the positioning sleeve is coaxially arranged in the positioning through hole.
Preferably, the positioning sleeve extends and retracts in an electric, pneumatic or hydraulic mode.
Preferably, a shaft sleeve is fixed on the ultrasonic probe, and the rotating sleeve is sleeved outside the shaft sleeve and can rotate relative to the shaft sleeve.
Preferably, the periphery of the lower end of the shaft sleeve is formed with a convex edge, and the lower end face of the rotating sleeve abuts against the convex edge.
Preferably, a plurality of positioning holes are circumferentially distributed on the rotating sleeve, the shaft sleeve is provided with positioning bolts, and the positioning bolts are screwed into the corresponding positioning holes to fix the rotating sleeve and the shaft sleeve.
According to the technical scheme, the positioning sleeve of the positioning puncture needle can rotate through the telescopic arm, the rotating mechanism, the microcomputer and the like, so that the puncture angle of the puncture needle can be accurately positioned from the outside of a plane, and even if a doctor who has no contact with ultrasonic-assisted puncture or a doctor who has the hand that cannot control the stability and has weak space imagination or the doctor does not have contact with the ultrasonic-assisted puncture or the doctor can quickly and accurately operate the needle, a patient can be better served.
Drawings
Fig. 1 is a schematic structural view of a preferred embodiment of the present invention.
Fig. 2 is a schematic top view of a portion of fig. 1.
Detailed Description
The present invention will be described in detail with reference to fig. 1 and 2, and the exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
The invention provides an out-of-plane ultrasonic guiding device, which comprises a telescopic arm 1 capable of transversely stretching, wherein a fixed end of the telescopic arm is provided with a rotating sleeve 2 sleeved outside an ultrasonic probe 6 of an ultrasonic machine, the axial center line of the rotating sleeve is superposed with the central axis of the ultrasonic probe, and the rotating sleeve can rotate around the central axis, so that the telescopic arm can be driven to any position; the transverse axis of the telescopic arm is perpendicular to the central axis, so that the telescopic arm is perpendicular to the ultrasonic probe; the puncture needle positioning device is characterized in that a rotating mechanism 3 is arranged at the telescopic end of the telescopic arm and moves along with the telescopic arm, a telescopic positioning sleeve 5 capable of positioning the puncture needle is arranged on the rotating mechanism, the rotating mechanism drives the axis of the positioning sleeve to rotate in a plane determined by the transverse axis and the central axis, and therefore the puncture needle is positioned in the plane determined by the ultrasonic probe and the telescopic arm.
The invention is also provided with a microcomputer, the ultrasonic machine measures the vertical distance between the intersection point O of the central axis and the skin and a puncture terminal point E, the puncture terminal point is a puncture target, namely a target point reached by the puncture needle, and the depth of the target point can be measured by the ultrasonic machine through an ultrasonic principle, which is the prior art and is not described herein. The depth of the target point of the invention is the vertical distance from the intersection point of the central axis of the ultrasonic probe and the skin to the target point. In practice, in-plane paracentesis is the insertion of a needle at any point on the AB line shown in FIG. 1; out-of-plane venipuncture requires insertion of the needle at any point in the plane shown in fig. 1 (the plane defined by AB and OC/OD, which is perpendicular to the central axis of the ultrasound probe, and C, D at any point in the plane). Therefore, the invention can measure the horizontal distance from the intersection point O to the puncture starting point C or D and the like, and adopts manual measurement, automatic machine measurement and the like; the puncture starting point C or D is an arbitrary puncture point outside the plane; the vertical distance data and the horizontal distance data are manually or automatically input into the microcomputer, so that the angle of the rotating mechanism which needs to rotate can be calculated, the rotating mechanism drives the axis of the positioning sleeve to rotate according to the rotating angle until the axis coincides with the straight line determined by the puncture starting point and the puncture terminal point, the needle inserting angle of the puncture needle is determined, and a doctor can reach a target point only by pushing the puncture needle along the positioning piece.
Preferably, the present invention is further provided with a processing center including the microcomputer and a processing chip, etc., which is easily implemented according to the design intent of the present invention without overcoming any technical obstacles. In the implementation process, horizontal distance data are measured through the telescopic boom, particularly, the telescopic boom is an electric or pneumatic or hydraulic telescopic boom such as an air cylinder or a hydraulic cylinder, a displacement sensor is arranged on the telescopic boom and used for detecting the distance between the end point of the telescopic boom and the central axis, and distance data are sent to the processing center. For example, the distance from the end point of the telescopic end to the central axis when the telescopic arm is not extended is set as a length base number, the extension amount of the telescopic arm is detected by the displacement sensor, and the length base number plus the extension amount is set as the horizontal distance. In the operation process, after the puncture starting point is determined, the horizontal distance can be obtained only by extending the telescopic arm to be right above the puncture starting point. And then transmitting the horizontal distance data and the vertical distance data to the processing center, transmitting the data to the microcomputer by the processing center, controlling the rotating mechanism to rotate after the microcomputer calculates the rotating angle according to the Pythagorean theorem, or transmitting the information of the rotating angle back to the processing center, and controlling the rotating mechanism to rotate by the processing center according to the rotating angle. In the implementation process, a straight line where the vertical distance and the horizontal distance are located forms a right angle, namely the intersection point, the puncture starting point and the puncture terminal point form a right triangle OCE/ODE, the included angle between the bevel edge and the horizontal distance, namely the needle insertion angle, can be calculated according to the pythagorean theorem, the length of the bevel edge, namely the length between the puncture starting point and the puncture terminal point can also be calculated, and the puncture length can be accurately obtained, so that the purpose of accurately positioning to the puncture starting point, the puncture angle, the puncture length and the puncture terminal point is realized.
Preferably, the rotating mechanism comprises a rotating shaft 31 arranged at the telescopic end of the telescopic arm and a servo motor 32 driving the rotating shaft to rotate, the axis of the rotating shaft is perpendicular to the transverse axis of the telescopic arm, and the end point of the telescopic end of the telescopic arm is positioned on the axis of the rotating shaft, so that the accuracy of angle measurement is ensured; and the servo motor controls the rotation angle of the rotating shaft according to the rotation angle information of the processing center. Specifically, the rotating shaft is provided with a positioning through hole 4, the axis of the positioning through hole is perpendicular to the axis of the rotating shaft, and the axis of the positioning through hole passes through the end point of the telescopic end, so that the positioning through hole always rotates around the end point of the telescopic end, and the precision of the rotation angle is ensured; a positioning sleeve 5 is coaxially arranged in the positioning through hole, and a puncture needle can be inserted into the positioning sleeve, so that the puncture needle and the positioning through hole are coaxial, and the puncture is convenient and accurate to position. When the rotating shaft rotates to the calculated rotating angle, the position where the axis of the positioning through hole is parallel to the central axis is required to be the initial angle position. In the implementation process, the positioning sleeve is stretched in an electric, pneumatic or hydraulic mode, the principle and the structure of the positioning sleeve are similar to those of stretching of the stretching arm, but the positioning sleeve needs to be hollow so as to place a puncture needle; therefore, the puncture needle can be positioned to any position outside the plane through the extension and retraction of the positioning sleeve.
In the operation process, because a certain fixed distance exists between the rotating sleeve and the intersection point, after the rotating angle is calculated and the rotating shaft is rotated, the processing center calculates the corrected elongation of the telescopic arm according to the principle of a similar triangle, namely the distance from the intersection point of the extension line of the hypotenuse of the right triangle 0CE/ODE and the transverse axis to the projection point of the puncture starting point on the transverse axis, when the telescopic end point of the telescopic arm is positioned right above the puncture point, the telescopic arm continuously extends for a corresponding length according to the corrected elongation calculated by the processing center, and the puncture needle is ensured to be positioned on the extension line of the hypotenuse of the right triangle. In the implementation process, the puncture length of the puncture needle can be determined in a scale mode, the puncture length is calculated by the puncture starting point of the puncture needle contacting with the skin, and then the length of the hypotenuse of the puncture needle is pushed, so that the target point can be reached.
The ultrasonic probe is fixed with a shaft sleeve 7, and the rotating sleeve 2 is sleeved outside the shaft sleeve and can rotate relative to the shaft sleeve, so that the rotating sleeve drives the telescopic arm to rotate around a central axis, and the telescopic arm can reach any position outside a plane. Preferably, the outer periphery of the lower end of the shaft sleeve is formed with a convex edge 71, and the lower end surface of the rotating sleeve abuts against the convex edge so as to support the rotating sleeve, so that the structure is simple, and the cost is low. A plurality of positioning holes 72 are circumferentially distributed on the shaft sleeve, a positioning bolt 8 is arranged on the rotary sleeve, the positioning bolt is screwed into the corresponding positioning hole to fix the rotary sleeve and the shaft sleeve, and after the rotary sleeve drives the telescopic arm to rotate to a designated position, the telescopic arm can be fixed through the positioning bolt, so that the stability of the whole guide device is ensured, and the puncture is convenient.
According to the invention, the puncture needle is positioned at an accurate puncture angle through the positioning sleeve, and meanwhile, the puncture length can be obtained through calculation, so that the out-of-plane accurate positioning of a puncture starting point, a puncture angle, a puncture length and a puncture terminal point is really realized, the puncture accuracy is ensured, and the pain of a patient is reduced. The device is not only simple to operate, but also rapid and accurate, and saves manpower.
Claims (9)
1. An out-of-plane ultrasound guide device comprising a transversely telescoping boom, characterized in that: the fixed end of the telescopic arm is provided with a rotating sleeve which is sleeved outside an ultrasonic probe of an ultrasonic machine, the axial center line of the rotating sleeve is superposed with the central axis of the ultrasonic probe, the rotating sleeve can rotate around the central axis, and the transverse axis of the telescopic arm is vertical to the central axis; the telescopic end of the telescopic arm is provided with a rotating mechanism, the rotating mechanism is provided with a telescopic positioning sleeve capable of positioning the puncture needle, and the rotating mechanism drives the axis of the positioning sleeve to rotate in a plane determined by the transverse axis and the central axis; the ultrasonic puncture device is provided with a microcomputer, the ultrasonic machine measures the vertical distance between the intersection point of the central axis and the skin and the puncture terminal, the microcomputer calculates the rotation angle of the rotating mechanism according to the input vertical distance data and the horizontal distance data between the intersection point and the puncture starting point, and the rotating mechanism drives the axis of the positioning sleeve to rotate to be coincident with the straight line determined by the puncture starting point and the puncture terminal according to the rotation angle.
2. An out-of-plane ultrasound guiding device according to claim 1, wherein: the processing center is provided with the microcomputer, the processing center comprises the microcomputer, the horizontal distance data are measured through the telescopic arm, the horizontal distance data and the vertical distance data are transmitted to the processing center, the processing center transmits the data to the microcomputer, the microcomputer calculates the rotation angle according to the pythagorean theorem and then transmits the rotation angle to the processing center, and the processing center controls the rotation mechanism to rotate according to the rotation angle.
3. An out-of-plane ultrasonic guidance device according to claim 2, wherein: the telescopic boom is an electric telescopic boom, a displacement sensor is arranged on the telescopic boom and used for detecting the distance between the end point of the telescopic end of the telescopic boom and the central axis and sending the distance data to the processing center.
4. An out-of-plane ultrasonic guidance device according to claim 3, wherein: the rotating mechanism comprises a rotating shaft arranged at the telescopic end of the telescopic arm and a servo motor for driving the rotating shaft to rotate, the axis of the rotating shaft is perpendicular to the transverse axis of the telescopic arm, the end point of the telescopic end of the telescopic arm is located on the axis of the rotating shaft, and the servo motor controls the rotating angle of the rotating shaft according to the rotating angle information of the processing center.
5. An out-of-plane ultrasonic guidance device according to claim 4, wherein: the rotating shaft is provided with a positioning through hole, the axis of the positioning through hole is perpendicular to the axis of the rotating shaft, the axis of the positioning through hole passes through the end point of the telescopic end, and the positioning sleeve is coaxially arranged in the positioning through hole.
6. An out-of-plane ultrasonic guidance device according to claim 5, wherein: the positioning sleeve adopts an electric, pneumatic or hydraulic mode to stretch.
7. An out-of-plane ultrasound guiding device according to claim 1, wherein: the ultrasonic probe is fixed with a shaft sleeve, and the rotating sleeve is sleeved outside the shaft sleeve and can rotate relative to the shaft sleeve.
8. An out-of-plane ultrasonic guidance device according to claim 7, wherein: the periphery of the lower end of the shaft sleeve is provided with a convex edge, and the lower end face of the rotating sleeve abuts against the convex edge.
9. An out-of-plane ultrasonic guidance device according to claim 7, wherein: and a plurality of positioning holes are distributed on the shaft sleeve along the circumferential direction, and the rotating sleeve is provided with a positioning bolt which is screwed into the corresponding positioning hole to fix the rotating sleeve and the shaft sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910592865.4A CN110755134A (en) | 2019-07-03 | 2019-07-03 | Out-of-plane ultrasonic guiding device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910592865.4A CN110755134A (en) | 2019-07-03 | 2019-07-03 | Out-of-plane ultrasonic guiding device |
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| CN110755134A true CN110755134A (en) | 2020-02-07 |
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| CN201910592865.4A Pending CN110755134A (en) | 2019-07-03 | 2019-07-03 | Out-of-plane ultrasonic guiding device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111195148A (en) * | 2020-02-24 | 2020-05-26 | 汕头大学医学院 | Simple brain puncture operation positioning support, design auxiliary support and method |
| CN111904548A (en) * | 2020-07-28 | 2020-11-10 | 宦乡 | External semi-automatic positioning puncture device for ultrasonic anesthesia plane |
| CN112168299A (en) * | 2020-09-30 | 2021-01-05 | 中国人民解放军总医院第四医学中心 | PICC puts a tub supersound puncture positioner and positioning system |
-
2019
- 2019-07-03 CN CN201910592865.4A patent/CN110755134A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111195148A (en) * | 2020-02-24 | 2020-05-26 | 汕头大学医学院 | Simple brain puncture operation positioning support, design auxiliary support and method |
| CN111195148B (en) * | 2020-02-24 | 2021-06-25 | 汕头大学医学院 | Simple brain puncture operation positioning support, design auxiliary support and method |
| CN111904548A (en) * | 2020-07-28 | 2020-11-10 | 宦乡 | External semi-automatic positioning puncture device for ultrasonic anesthesia plane |
| CN111904548B (en) * | 2020-07-28 | 2021-09-17 | 徐州市中心医院 | External semi-automatic positioning puncture device for ultrasonic anesthesia plane |
| CN112168299A (en) * | 2020-09-30 | 2021-01-05 | 中国人民解放军总医院第四医学中心 | PICC puts a tub supersound puncture positioner and positioning system |
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