CN116650081A - Coaxial puncture needle and puncture system based on electromagnetic navigation - Google Patents
Coaxial puncture needle and puncture system based on electromagnetic navigation Download PDFInfo
- Publication number
- CN116650081A CN116650081A CN202310937525.7A CN202310937525A CN116650081A CN 116650081 A CN116650081 A CN 116650081A CN 202310937525 A CN202310937525 A CN 202310937525A CN 116650081 A CN116650081 A CN 116650081A
- Authority
- CN
- China
- Prior art keywords
- needle
- puncture
- navigation
- assembly
- handle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 claims abstract description 17
- 230000000149 penetrating effect Effects 0.000 claims abstract description 15
- 230000000903 blocking effect Effects 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 4
- 210000003205 muscle Anatomy 0.000 claims description 2
- 239000002906 medical waste Substances 0.000 abstract description 3
- 238000001574 biopsy Methods 0.000 description 28
- 238000002679 ablation Methods 0.000 description 12
- 239000000463 material Substances 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 8
- 210000001519 tissue Anatomy 0.000 description 6
- 230000006698 induction Effects 0.000 description 5
- 230000001681 protective effect Effects 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 230000004308 accommodation Effects 0.000 description 3
- 210000004072 lung Anatomy 0.000 description 3
- 239000000523 sample Substances 0.000 description 3
- 238000004659 sterilization and disinfection Methods 0.000 description 3
- 229920000491 Polyphenylsulfone Polymers 0.000 description 2
- 238000002591 computed tomography Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 208000032843 Hemorrhage Diseases 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 238000003748 differential diagnosis Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000013188 needle biopsy Methods 0.000 description 1
- 201000003144 pneumothorax Diseases 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 1
- 239000004810 polytetrafluoroethylene Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- 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
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B2017/3454—Details of tips
-
- 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
- A61B2017/348—Means for supporting the trocar against the body or retaining the trocar inside the body
- A61B2017/3482—Means for supporting the trocar against the body or retaining the trocar inside the body inside
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2072—Reference field transducer attached to an instrument or patient
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The utility model discloses a coaxial puncture needle based on electromagnetic navigation, which comprises: a delivery assembly having a hollow cannula and a cannula mount through which a proximal end of the cannula extends; the puncture assembly is provided with a hollow puncture body and a puncture handle, the puncture body penetrates through the lumen of the sleeve, and the distal end of the puncture body extends out of the distal end of the sleeve and is in a closed spike shape; the navigation assembly comprises a navigation needle, an electromagnetic sensor arranged at the distal end of the navigation needle and a navigation needle connector fixedly connected with the proximal end of the navigation needle, wherein the navigation needle penetrates through the puncture body, the electromagnetic sensor is arranged at the distal end of the navigation needle, the electromagnetic sensor is electrically connected with the navigation needle connector through a signal wire penetrating through the inner cavity of the navigation needle, and the navigation needle connector is electrically connected with the magnetic navigator; in the navigation and conveying process, the electromagnetic sensor sends the position signal of the coaxial puncture needle to the magnetic navigator, so that the electromagnetic navigation of the coaxial puncture needle is realized, the cost of the coaxial puncture needle for electromagnetic navigation can be effectively reduced, and meanwhile, the generation of medical waste is reduced.
Description
Technical Field
The utility model relates to the technical field of medical instruments, in particular to a coaxial puncture needle and a puncture system based on electromagnetic navigation.
Background
In recent years, with the continuous development of computer graphics and medical imaging, computer-assisted medical treatment has become a popular research, and among them, surgical navigation systems have been attracting attention in clinic. The system organically combines the three-dimensional image of the lesion part of the patient, the surgical instrument and the clinical operation, and can accurately position the affected part and effectively navigate doctors by utilizing the three-dimensional model formed by fusion registration of the medical images before the operation. Wherein, how to obtain the spatial information of the surgical instrument and display the spatial information in the navigation system is a non-negligible step.
Current needle biopsy procedures, such as lung biopsy procedures, are conducted by obtaining the positional relationship between the needle tip and the lesion of a biopsy probe through multiple CT scans. The percutaneous lung puncture biopsy under CT guidance is used as a minimally invasive diagnosis method, has the advantages of high resolution, accurate positioning and the like, and is an important means for chest disease diagnosis and differential diagnosis. However, the repeated CT scan and needle insertion during the current procedure can cause significant radiation damage to the physician patient and complications such as pneumothorax and hemorrhage. The long-term use of CT devices also increases the cost of the procedure and limits the deployment of lung surgery in local hospitals.
The utility model patent with the publication number of CN205831832U discloses a coaxial puncture needle with a surgical navigation function, which is matched with a soft tissue biopsy needle/gun for use, and comprises an external puncture sleeve and an internal puncture sleeve, wherein the puncture sleeve is a hollow tube body, a clamping head at the tail end of the puncture needle tube and a joint at the tail end of the puncture sleeve are mutually clamped and fixed, the length of the puncture needle tube is longer than that of the puncture sleeve, a position sensor is embedded at the needle tip end of the puncture needle tube, and a data transmission line of the position sensor penetrates out from the tail end of the puncture needle tube and is connected with a magnetic navigator joint. The utility model realizes operation navigation by matching with a magnetic navigator, obtains the position data of the probe and displays the position data in a navigation image.
The utility model patent with the publication number of CN212879400U discloses a wireless magnetic positioning navigation biopsy needle, which comprises a biopsy needle body and a navigation module, wherein the biopsy needle body comprises a needle tube, a needle point at the front end of the needle tube and the tail end of the biopsy needle, the navigation module comprises a magnetic induction coil and a control circuit unit, the magnetic induction coil is arranged on the needle point, the control circuit unit is detachably arranged at the tail end of the biopsy needle, and the magnetic induction coil is connected with the control circuit unit through a data wire. Compared with the prior art, the utility model wirelessly transmits the magnetic induction coil positioning signals in the electromagnetic navigation system to the external host after digital signal processing, and the external host operates the magnetic positioning to determine the position of the needle tip magnetic induction coil and wirelessly transmits the position of the needle tip in the navigation interface to the navigation module, and the navigation module receives navigation information and displays the navigation information on the external display screen at the tail end of the biopsy needle.
The utility model patent with the publication number of CN214073402U discloses a biopsy gun with magnetic navigation, a sliding block is arranged in a sliding groove and can slide along the sliding groove, a spring fixing piece is arranged at the rear end of a finger ring, the rear end of an inner core needle is connected with a pull handle, the rear end of an outer tube needle is connected with the sliding block, the outer tube needle is sleeved outside the inner core needle, the pull handle comprises a pull head and a pull rod, the pull rod is arranged in the finger ring, a positioning coil is arranged in the inner core needle, one end of the positioning coil is arranged at the position of a cutting groove at the front end of the inner core needle, the other end of the positioning coil is arranged on the pull handle, a connector for externally connecting a magnetic navigator is arranged on the pull handle, and the inner end of the connector is connected with the positioning coil. Compared with the prior art, the utility model has the advantages that the positioning coil is embedded in the head end of the core needle, and the data transmission line of the positioning coil is connected with the track navigator through the connector at the tail end for space matching between the operation navigation system and a patient; the system reads in the position and angle information returned by the positioning coil and combines the physiological characteristics of the target point and the patient; after penetration of the needle, a conventional biopsy is taken.
However, the above prior art has the following disadvantages:
1. the price of the magnetic navigation sensor is relatively high, and the magnetic navigation sensor is directly arranged on the disposable ablation needle or biopsy needle, so that the medical consumable price of the ablation needle or biopsy needle is relatively high, and the popularization and application of the magnetic navigation technology are hindered;
2. the magnetic navigation sensor is arranged on the pull handle of the biopsy needle and is provided with a connector for externally connecting the magnetic navigator, and the detection navigation sensor is not arranged on the needle point of the biopsy needle, so that the puncture needle point cannot be accurately positioned, and the needle point can not reach the focus position accurately.
Disclosure of Invention
The utility model aims to provide a coaxial puncture needle and a puncture system based on electromagnetic navigation, which can effectively reduce the cost of the coaxial puncture needle and reduce the generation of medical waste.
The technical scheme of the utility model is as follows: a coaxial puncture needle based on electromagnetic navigation, comprising: a delivery assembly having a hollow cannula and a cannula mount, a proximal end of the cannula extending through the cannula mount in a direction extending along the length of the needle; the puncture assembly is provided with a hollow puncture body and a puncture handle which is coaxially and fixedly connected with the puncture body, the puncture body is arranged in the lumen of the sleeve in a penetrating way, and the distal end of the puncture body extends out of the distal end of the sleeve and is in a closed spike shape; the navigation assembly comprises a navigation needle, an electromagnetic sensor arranged at the far end of the navigation needle and a navigation needle connector fixedly connected with the near end of the navigation needle, the navigation needle penetrates through the puncture body, the electromagnetic sensor is arranged at the far end of the navigation needle, the electromagnetic sensor is electrically connected with the navigation needle connector through a signal wire penetrating through the inner cavity of the navigation needle, and the navigation needle connector is electrically connected with the magnetic navigator; in the navigation and conveying process, the electromagnetic sensor sends the position signal of the coaxial puncture needle to the magnetic navigator through the navigation needle connector, so that the electromagnetic navigation of the coaxial puncture needle is realized.
Preferably, the sleeve seat comprises a handle part, an abutting part and a connecting part which are sequentially and fixedly connected, the handle part is provided with an inner cavity, the proximal part of the sleeve is arranged at the far end of the handle part in a penetrating way and is communicated with the inner cavity of the handle part, and the inner cavity penetrates through the handle part, the abutting part and the connecting part along the length extending direction of the puncture needle; the utility model discloses a puncture assembly, including handle portion, connecting portion, conveying assembly, puncture assembly, the circumference surface of handle portion is provided with horizontal anti-skidding muscle, connecting portion with the puncture handle of puncture assembly can dismantle the connection, conveying assembly with when the puncture assembly is connected, the distal end of puncture handle with butt portion butt.
Preferably, the circumferential surface of the connecting part is provided with screw threads, and the inner wall of the front end of the puncture handle is provided with screw threads matched with the screw threads; the inner cavity of the handle part is in an inverted cone shape, when the conveying assembly is connected with the puncture assembly, the puncture handle is rotated to enable the screw teeth to be in threaded connection, and the puncture body of the puncture assembly penetrates through the inner cavity of the handle part and penetrates through the inner cavity of the sleeve.
Preferably, the circumferential surface of the puncture handle is provided with a longitudinal anti-skid rib parallel to the length extension direction of the puncture needle.
Preferably, the puncture handle has a first accommodating cavity, a second accommodating cavity, a blocking portion for separating the first accommodating cavity from the second accommodating cavity, and a conveying channel penetrating through the blocking portion, wherein a proximal end portion of the puncture body is penetrated in the conveying channel and fixedly connected with the conveying channel, and when the navigation assembly is connected with the puncture assembly, the navigation needle penetrates through the conveying channel and penetrates through the puncture body, and the second accommodating cavity is detachably connected with the navigation needle connector.
Preferably, the blocking portion extends towards one side of the first accommodating cavity to be provided with a fixing portion, and when the conveying assembly is connected with the puncture assembly, the distal end of the fixing portion is arranged in the inner cavity channel at the proximal end of the handle portion in a penetrating mode.
Preferably, the navigation needle connector comprises a threaded connection part and a positioning handle part, the proximal end part of the navigation needle penetrates through the threaded connection part and the positioning handle part, and when the navigation assembly is connected with the puncture assembly, the threaded connection part is in threaded connection with the proximal end of the puncture handle.
Preferably, the electromagnetic sensor part is arranged in the distal end of the navigation needle, and the proximal end of the electromagnetic sensor is connected with the signal wire so as to realize communication with the magnetic navigation instrument.
Preferably, the threaded connection circumferential surface is provided with graduations.
Based on the same conception, the utility model also provides a puncture system comprising the coaxial puncture needle as set forth in any one of the above.
Compared with the prior art, the utility model has the following advantages:
1. according to the technical scheme, the electromagnetic sensor is arranged on the independent navigation needle, the puncture body is of a tubular structure with the closed tip, and the navigation needle provided with the electromagnetic sensor is arranged in the puncture body in a penetrating and positioning process, so that on one hand, effective protection of the electromagnetic sensor can be realized, on the other hand, the tip of the puncture body is of a closed spike structure, biological tissues can be effectively isolated, the electromagnetic sensor and the navigation needle are not polluted, the electromagnetic sensor can be reused, and because the cost of the electromagnetic sensor is higher than that of the whole puncture needle, the technical scheme of the embodiment can greatly reduce the cost of medical consumables, reduce the economic burden of a patient, and reduce the generation of medical wastes.
2. According to the technical scheme, the electromagnetic sensor is ingeniously arranged on the navigation needle, so that on one hand, the navigation needle can be recycled, and on the other hand, compared with a solid puncture needle in the prior art, the multilayer tubular structure can obtain better strength, strengthen the integral strength of the coaxial puncture needle, and further reduce the risk in the puncture process.
3. According to the technical scheme, the threads on the inner side of the circumferential cavity wall of the first accommodating cavity are connected with the threads on the circumferential surface of the connecting part, and meanwhile, the distal end of the fixing part is penetrated through the inner cavity of the sleeve seat, so that the fixing part, the connecting part and the circumferential cavity wall of the first accommodating cavity form a three-layer mutually overlapped structure, the contact area is large, and the connecting structure is more stable.
4. According to the technical scheme, scales are arranged on the circumferential surface of the threaded connection part, so that operators can conveniently adjust the depth of the sensor according to requirements, and navigation is more accurate.
Drawings
FIG. 1 is a schematic view of the structure of the coaxial puncture needle of the present utility model;
FIG. 2 is a schematic illustration of the coaxial lancet delivery assembly, the lancet assembly, and the navigation assembly of the present utility model when not assembled;
FIG. 3 is a cross-sectional view of FIG. 1;
FIG. 4 is an enlarged schematic view of the structure shown at A in FIG. 3;
FIG. 5 is an enlarged schematic view of the structure shown at B in FIG. 3;
FIG. 6 is a schematic illustration of the connection of the delivery assembly to the spike assembly and the navigation assembly not connected;
FIG. 7 is a schematic illustration of the delivery assembly, the spike assembly, and the navigation assembly after connection;
FIG. 8 is a schematic view of the coaxial needle in a first condition of use;
FIG. 9 is a schematic view of the coaxial needle in a second position of use;
FIG. 10 is a schematic view of the coaxial needle in a third condition of use;
fig. 11 is a schematic view of a fourth state of the coaxial puncture needle in use.
Reference numerals illustrate:
1-a coaxial puncture needle; 2-a conveying assembly; 21-a sleeve seat; 211-handle part; 2111-transverse anti-skid ribs; 212-an abutment; 213-a connection; 2131-thread; 214-lumen tract; 22-sleeve; 3-piercing assembly; 31-piercing the body; 311-piercing the tip; 32-a puncture handle; 321-a first accommodation chamber; 322-a second accommodation chamber; 323-a barrier; 324-conveying channel; 325-fixing part; 326-longitudinal anti-skid ribs; a 4-navigation component; 41-electromagnetic sensors; 42-a navigation needle joint; 421-threaded connection; 4211-graduation; 422-positioning the handle portion; 43-navigation needle; 44-a data transmission line; 45-navigator plug; 46-protecting tube; 5-biopsy needle; 6-an ablation needle.
Detailed Description
Other advantages and effects of the present utility model will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present utility model with reference to specific examples. The utility model may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present utility model. It is to be understood that the terms "center," "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are directional or positional relationships as indicated based on the drawings, merely to facilitate describing the utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.
It should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art in a specific case.
Example 1
Referring to fig. 1, 2 and 3, which are schematic structural views of an electromagnetically navigated coaxial puncture needle, the present embodiment provides an electromagnetically navigated coaxial puncture needle 1, including: a delivery assembly 2, said delivery assembly 2 having a hollow cannula 22 and a cannula holder 21, the proximal end of said cannula 22 extending through said cannula holder 21 in a direction extending along the length of the needle; the puncture assembly 3 is provided with a hollow puncture body 31 and a puncture handle 32 which is coaxially and fixedly connected with the puncture body 31, the puncture body 31 is arranged in the lumen of the sleeve 22 in a penetrating way, and the distal end of the puncture body 31 extends out of the distal end of the sleeve 22 and is in a closed spike shape; the navigation assembly 4, the navigation assembly 4 includes a navigation needle 43, an electromagnetic sensor 41 disposed at the distal end of the navigation needle 43, and a navigation needle connector 42 fixedly connected to the proximal end of the navigation needle 43, the navigation needle 43 is disposed in the puncture body 31 in a penetrating manner, the electromagnetic sensor 41 is disposed at the distal end of the navigation needle 43, the electromagnetic sensor 41 is electrically connected to the navigation needle connector 42 through a signal line passing through the inner cavity of the navigation needle 43, and the navigation needle connector 42 is electrically connected to a magnetic navigator (not shown in the figure); during the navigation and transportation process, the electromagnetic sensor 41 sends the position signal of the coaxial puncture needle 1 to the magnetic navigator through the navigation needle connector 42, so that the electromagnetic navigation of the coaxial puncture needle 1 is realized.
Referring to fig. 3, a schematic structural view of the delivery assembly 2, the puncture assembly 3, and the navigation assembly 4 is shown. Unlike the prior art in which the electromagnetic sensor 41 is disposed on the puncture needle, the electromagnetic sensor 41 is disposed on the single navigation needle 43, and the puncture body 31 is of a tubular structure with a closed tip, in the puncture positioning process, the navigation needle 43 provided with the electromagnetic sensor 41 is arranged in the puncture body 31 in a penetrating manner, on the one hand, effective protection of the electromagnetic sensor 41 can be realized, and on the other hand, the tip of the puncture body 31 is of a closed spike structure, so that biological tissues can be effectively isolated, the electromagnetic sensor 41 and the navigation needle 43 are not polluted, and can be reused.
Another significant effect of this embodiment is that in the prior art, the electromagnetic sensor 41 is disposed on the puncture needle, the puncture needle is of a solid structure, the difficulty of placing the magnetic navigation sensor in the solid needle is great, and the cost is high, but if the needle core is changed into the hollow structure, the strength of the needle core is reduced, and when the needle core is triggered, the strength of the needle core is not bent enough, so that the puncture risk is brought. The electromagnetic sensor 41 is skillfully arranged on the navigation needle 43, so that on one hand, the navigation needle 43 can be recycled, and on the other hand, compared with a solid puncture needle in the prior art, the multilayer tubular structure can obtain better strength, strengthen the integral strength of the coaxial puncture needle 1, and further reduce the risk in the puncture process.
Preferably, the cannula holder 21 includes a handle portion 211, an abutment portion 212 and a connecting portion 213 which are fixedly connected in sequence, the handle portion 211 is provided with an inner cavity 214, the proximal portion of the cannula 22 is disposed through the distal end of the handle portion 211 and is in communication with the inner cavity 214 of the handle portion 211, and the inner cavity 214 penetrates the handle portion 211, the abutment portion 212 and the connecting portion 213 in the extending direction along the length of the puncture needle; the circumferential surface of the handle portion 211 is provided with a transverse anti-slip rib 2111, the connecting portion 213 is detachably connected with the puncture handle 32 of the puncture assembly 3, and when the delivery assembly 2 is connected with the puncture assembly 3, the distal end of the puncture handle 32 is abutted with the abutting portion 212.
Referring to fig. 2 and 5, lateral anti-slip ribs 2111 are provided on the surface of the handle portion 211 of the cannula holder 21 in order to increase friction between the hand and the surface of the handle portion 211 when the operator operates, thereby making the operation easier. The inner lumen 214 of the handle portion 211 provides a passageway for the lancing body 31 such that the distal end of the lancing body 31 can enter the cannula 22 and the tip thereof protrudes beyond the distal end of the cannula 22 for effective lancing. The cannula holder 21 is detachably connected with the puncture handle 32 of the puncture assembly 3 through the connecting part 213, so that after the puncture is positioned, the operator can withdraw the puncture assembly 3 and the navigation assembly 4, and the delivery assembly 2 is left to provide a guiding channel for biopsy or ablation and other operations. The butt portion 212 is arranged, so that a worker can accurately judge that the puncture assembly 3 is installed in place, deviation in operation caused by consumable installation errors is avoided, and the technical scheme is more reliable. Of course, the contact portion 212 may be integral with the handle portion 211, and the proximal end surface of the handle portion 211 may be the contact portion 212. Of course, in order to realize the above functions, any structure in the prior art can be used to facilitate the observation of whether the position is in place.
Preferably, the circumferential surface of the connecting portion 213 is provided with screw threads 2131, and the inner wall of the front end of the puncture handle 32 is provided with screw threads matching the screw threads 2131; the inner cavity 214 of the handle 211 is in an inverted cone shape, when the delivery assembly 2 is connected with the puncture assembly 3, the puncture handle 32 is rotated to connect the screw 2131 with the screw thread, and the puncture body 31 of the puncture assembly 3 penetrates the inner cavity 214 of the handle 211 and is arranged in the lumen of the cannula 22.
Referring to fig. 5, when the cannula holder 21 is connected with the puncture handle 32, the puncture handle 32 is rotated, and the screw 2131 on the circumferential surface of the connecting part 213 is screwed into the screw on the inner wall of the front end of the puncture handle 32, thereby detachably connecting the delivery assembly 2 and the puncture assembly 3. The inner channel 214 of the handle portion 211 has an inverted cone shape, i.e. a large proximal opening and a small distal opening, and a smooth connection between the proximal and distal ends, so that the front end of the piercing body 31 is easy to enter when entering the inner channel 214.
Preferably, the circumferential surface of the puncture handle 32 is provided with longitudinal anti-slip ribs 326 parallel to the length extension of the puncture needle. Because the cannula holder 21 is connected to the lancing unit 32 by rotating the lancing unit 32, the longitudinal anti-slip rib 326 is provided parallel to the longitudinal direction of the lancet, which prevents the lancet from being difficult to be mounted in place due to a large resistance during rotation.
Preferably, the puncture handle 32 has a first accommodating cavity 321, a second accommodating cavity 322, a blocking portion 323 separating the first accommodating cavity 321 from the second accommodating cavity 322, and a conveying channel 324 penetrating through the blocking portion 323, the proximal end portion of the puncture body 31 is penetrated in the conveying channel 324 and fixedly connected, when the navigation assembly 4 is connected with the puncture assembly 3, the navigation needle 43 penetrates through the conveying channel 324 and penetrates in the puncture body 31, and the second accommodating cavity 322 is detachably connected with the navigation needle connector 42.
The first accommodating cavity 321 and the second accommodating cavity 322 are provided, the first accommodating cavity 321 is used for being connected with the cannula holder 21, the second accommodating cavity 322 is used for being connected with the threaded connection portion 421, and the blocking portion 323 is provided with a conveying channel 324 for providing an access channel for the navigation needle 43.
Preferably, the blocking portion 323 extends toward one side of the first accommodating cavity 321 to provide a fixing portion 325, and when the delivery assembly 2 and the puncture assembly 3 are connected, a distal end of the fixing portion 325 is disposed in the inner cavity 214 near the handle portion 211.
The screw thread of the inside of the circumferential cavity wall of the first accommodating cavity 321 is in threaded connection with the screw thread 2131 of the circumferential surface of the connecting portion 213, and meanwhile, the distal end of the fixing portion 325 is penetrated through the inner cavity channel 214 of the cannula holder 21, so that the fixing portion 325, the connecting portion 213 and the circumferential cavity wall of the first accommodating cavity 321 form a three-layer mutually overlapped structure, the contact area is large, and the connecting structure is more stable.
Preferably, the navigation needle connector 42 includes a threaded connection portion 421 and a positioning handle portion 422, and the proximal portion of the navigation needle 43 penetrates through the threaded connection portion 421 and the positioning handle portion 422, and the threaded connection portion 421 is in threaded connection with the proximal end of the puncture handle 32 when the navigation module 4 and the puncture module 3 are connected.
The second accommodation cavity 322 is used for being connected with the threaded connection portion 421, the proximal end portion of the navigation needle 43 penetrates through the threaded connection portion 421 and the positioning handle portion 422, the navigation needle 43 enters the puncture body 31 through the conveying channel 324, and in the puncture process, the puncture body 31 with the closed tip can effectively avoid biological pollution to the electromagnetic sensor 41 arranged on the navigation needle 43, so that the recycling of the navigation assembly 4 is realized.
Preferably, the electromagnetic sensor 41 is partially disposed inside the distal end of the navigation needle 43, and the proximal end of the electromagnetic sensor 41 is connected to the signal line so as to communicate with the magnetic navigator.
In order to provide better protection for the electromagnetic sensor 41, the electromagnetic sensor 41 is partially disposed within the distal tip of the needle 43, preferably more than 1/2 of the electromagnetic sensor 41 is disposed within the distal tip of the needle 43. The ends of the electromagnetic sensor 41 and the guide needle 43 tube may be fixed by adhesive or by other means such as welding.
Preferably, the circumferential surface of the threaded connection 421 is provided with graduations 4211. The scale 4211 is arranged on the circumferential surface of the threaded connection portion 421, so that a user can conveniently adjust the depth of the sensor according to the requirement, and navigation is more accurate.
Referring to fig. 8-11, the application of the coaxial puncture needle 1 to a surgical robotic system for performing accurate puncture in percutaneous procedures such as biopsy, ablation, etc. is shown.
Preparation before puncture: the surgical robot system acquires the positions of human bodies and focuses in space coordinates constructed by the robot surgical system through image equipment, and then the device is arranged at the clamping part of a mechanical arm in the robot system; rotating the navigation needle joint 42, precisely adjusting the distance from the sensor to the needle point, and calibrating the space position of the needle point; thus, the human body, the focus and the needle tip are simultaneously in a space coordinate system of the robot system; and finally, planning a reasonable needle inserting route, and preparing the mechanical arm for puncture.
The puncture process is specifically as follows:
1. puncturing: referring to fig. 8, the mechanical arm clamps the coaxial puncture needle 1 of the present embodiment, punctures according to a preset route, and reaches the focus position;
2. establishing a channel: referring to fig. 9, after the navigation needle 43 guides the puncture to the target tissue, the navigation needle connector 42 is rotated, the puncture handle 32 is rotated, the combination of the puncture assembly 3 and the navigation assembly 4 is pulled out, and the conveying assembly 2 is kept still in the process, so that the puncture channel is established;
3. biopsy or ablation: referring to fig. 10, after biopsy needle 5 penetrates cannula 22 and is luer-connected with inner lumen 214 of cannula hub 21, biopsy needle 5 is fired to obtain a biopsy tissue sample;
alternatively, referring to fig. 11, after the ablation needle 6 is inserted into the cannula 22 and connected to the luer of the lumen 214 of the cannula hub 21, the ablation needle 6 is ablated.
4. And (3) completing the operation: the biopsy needle 5 or the ablation needle 6 is withdrawn and the penetration cannula 22 is withdrawn.
The conveying component 2, the navigation component 4 and the ablation needle 6, the biopsy needle 5 or the puncture component 3 are detachably connected, in some surgical procedures, the needle needs to be inserted, the ablation is performed after the biopsy, the conveying component 2 is left in the tissue after the needle is inserted for the first time, a channel is provided for the follow-up operation, the biopsy or the ablation needle 6 can reach the expected biopsy position, repeated puncture is avoided, and damage to the tissue is reduced.
The coaxial puncture needle 1 based on electromagnetic navigation can be matched with a robot operation system to perform operation, is more efficient and accurate, reduces operation risk and operation cost, and is more beneficial to the promotion and popularization of the magnetic navigation technology in the medical underdeveloped area.
Example two
Based on the same conception, this embodiment provides a puncture system comprising the coaxial puncture needle 1 according to any one of the first embodiment.
Preferably, the navigation module 4 further comprises a navigator plug 45 and a protective tube 46, the navigator needle connector 42 is connected with the navigator plug 45 through a data transmission line 44, the data transmission line 44 is used for connecting the navigator needle connector 42 and the navigator plug 45, and the data transmission line 44 is wrapped in the protective tube 46.
In one embodiment, the navigation module 4 of the coaxial puncture needle 1 is reusable, and the physician needs to perform disinfection and sterilization again before clinical use. The navigation needle connector 42 can be made of 316/304 metal material or high temperature resistant plastic material, such as: the peek material, the high temperature resistant protective tube adopts PTFE, silicone tube and other materials, and the navigator plug 45 adopts 316/304 metal material or high temperature resistant plastic material, such as PPSU and other materials.
Of course, the navigation component 4 of the coaxial puncture needle 1 can also be non-reusable, so that a doctor does not need to perform sterilization treatment again in clinical use, and the use is more convenient. At this time, the protection tube on the data transmission line 44 is a heat shrinkage tube made of EVA material, and is used for protecting the data transmission line 44. The outer shell of the navigation needle connector 42 can be made of common PP or ABS materials, the protective tube is made of PVC or TPU materials, and the navigator plug 45 is made of PC or PPSU materials.
In addition, in the description of the present utility model, "proximal" and "proximal" of "proximal" are terms commonly used in the medical arts. Specifically, the "proximal end" is an end close to the operator, the "proximal end" is an end face close to the operator, the "distal end" is an end far away from the operator, and the "distal end face" is an end face far away from the operator.
The embodiments of the present utility model have been described in detail with reference to the drawings, but the present utility model is not limited to the above embodiments. Even if various changes are made to the present utility model, it is within the scope of the appended claims and their equivalents to fall within the scope of the utility model.
Claims (10)
1. An electromagnetic navigation-based coaxial puncture needle, comprising:
a delivery assembly having a hollow cannula and a cannula mount, a proximal end of the cannula extending through the cannula mount in a direction extending along the length of the needle;
the puncture assembly is provided with a hollow puncture body and a puncture handle which is coaxially and fixedly connected with the puncture body, the puncture body can be arranged in the lumen of the sleeve in a penetrating way, and the distal end of the puncture body extends out of the distal end of the sleeve and is in a closed spike shape;
the navigation assembly comprises a navigation needle, an electromagnetic sensor arranged at the far end of the navigation needle and a navigation needle connector fixedly connected with the near end of the navigation needle, the navigation needle penetrates through the puncture body, the electromagnetic sensor is arranged at the far end of the navigation needle, the electromagnetic sensor is electrically connected with the navigation needle connector through a signal wire penetrating through the inner cavity of the navigation needle, and the navigation needle connector is electrically connected with the magnetic navigator;
in the navigation and conveying process, the electromagnetic sensor sends the position signal of the coaxial puncture needle to the magnetic navigator through the navigation needle connector, so that the electromagnetic navigation of the coaxial puncture needle is realized.
2. The coaxial puncture needle based on electromagnetic navigation according to claim 1, wherein the cannula holder comprises a handle part, an abutting part and a connecting part which are fixedly connected in sequence, the handle part is provided with an inner cavity, the proximal part of the cannula is penetrated at the distal end of the handle part and is communicated with the inner cavity of the handle part, and the inner cavity penetrates through the handle part, the abutting part and the connecting part along the length extension direction of the puncture needle; the utility model discloses a puncture assembly, including handle portion, connecting portion, conveying assembly, puncture assembly, the circumference surface of handle portion is provided with horizontal anti-skidding muscle, connecting portion with the puncture handle of puncture assembly can dismantle the connection, conveying assembly with when the puncture assembly is connected, the distal end of puncture handle with butt portion butt.
3. The coaxial puncture needle based on electromagnetic navigation according to claim 2, wherein the circumferential surface of the connecting part is provided with screw threads, and the inner wall of the front end of the puncture handle is provided with screw threads matched with the screw threads; the inner cavity of the handle part is in an inverted cone shape, when the conveying assembly is connected with the puncture assembly, the puncture handle is rotated to enable the screw teeth to be in threaded connection, and the puncture body of the puncture assembly penetrates through the inner cavity of the handle part and penetrates through the inner cavity of the sleeve.
4. An electromagnetic navigation based coaxial puncture needle according to claim 3, characterized in that the circumferential surface of the puncture handle is provided with longitudinal anti-slip ribs parallel to the length extension direction of the puncture needle.
5. The coaxial puncture needle based on electromagnetic navigation according to claim 4, wherein the puncture handle is provided with a first accommodating cavity, a second accommodating cavity, a blocking part for separating the first accommodating cavity from the second accommodating cavity and a conveying channel penetrating through the blocking part, the proximal end part of the puncture body penetrates through the conveying channel and is fixedly connected, and when the navigation assembly is connected with the puncture assembly, the navigation needle penetrates through the conveying channel and penetrates through the puncture body, and the second accommodating cavity is detachably connected with the navigation needle connector.
6. The coaxial puncture needle based on electromagnetic navigation according to claim 5, wherein a fixing part is arranged on one side of the blocking part, which faces the first accommodating cavity, and when the conveying component is connected with the puncture component, the distal end of the fixing part is arranged in the inner cavity channel at the proximal end of the handle part in a penetrating way.
7. The electromagnetic navigation-based coaxial needle of claim 1, wherein the navigation needle hub includes a threaded connection and a positioning handle portion, the proximal portion of the navigation needle extending through the threaded connection and the positioning handle portion, the threaded connection being threadably coupled to the proximal end of the needle handle when the navigation assembly and the needle assembly are coupled.
8. The electromagnetic navigation-based coaxial needle of claim 7, wherein the electromagnetic sensor portion is disposed inside the distal end of the needle, the proximal end of the electromagnetic sensor being coupled to the signal wire to enable communication with a magnetic navigator.
9. The electromagnetic navigation based coaxial puncture needle according to claim 7, wherein the threaded connection circumferential surface is provided with graduations.
10. A puncture system comprising the coaxial puncture needle according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310937525.7A CN116650081A (en) | 2023-07-28 | 2023-07-28 | Coaxial puncture needle and puncture system based on electromagnetic navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310937525.7A CN116650081A (en) | 2023-07-28 | 2023-07-28 | Coaxial puncture needle and puncture system based on electromagnetic navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116650081A true CN116650081A (en) | 2023-08-29 |
Family
ID=87710051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310937525.7A Pending CN116650081A (en) | 2023-07-28 | 2023-07-28 | Coaxial puncture needle and puncture system based on electromagnetic navigation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116650081A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117357237A (en) * | 2023-10-25 | 2024-01-09 | 四川锦江生命科技有限公司 | Puncture ablation needle |
| CN117442344A (en) * | 2023-12-01 | 2024-01-26 | 春风化雨(苏州)智能医疗科技有限公司 | Surgical instrument for electromagnetic positioning and navigation of orthopedic operation robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100081920A1 (en) * | 2008-09-29 | 2010-04-01 | Civco Medical Instruments Co., Inc. | Em tracking systems for use with ultrasound and other imaging modalities |
| US20120016316A1 (en) * | 2010-01-08 | 2012-01-19 | Bo Zhuang | Spatial needle guidance system and associated methods |
| US20130296691A1 (en) * | 2012-05-04 | 2013-11-07 | Ascension Technology Corporation | Magnetically tracked surgical needle assembly |
| CN114072081A (en) * | 2019-06-05 | 2022-02-18 | 乔伊马克斯有限责任公司 | Surgical needle kit and method of positioning surgical instrument |
| WO2023006075A1 (en) * | 2021-07-30 | 2023-02-02 | 北京迈迪斯医疗技术有限公司 | Puncture instrument |
| CN116327350A (en) * | 2023-05-24 | 2023-06-27 | 浙江伽奈维医疗科技有限公司 | Ablation needle assembly and ablation system |
-
2023
- 2023-07-28 CN CN202310937525.7A patent/CN116650081A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100081920A1 (en) * | 2008-09-29 | 2010-04-01 | Civco Medical Instruments Co., Inc. | Em tracking systems for use with ultrasound and other imaging modalities |
| US20120016316A1 (en) * | 2010-01-08 | 2012-01-19 | Bo Zhuang | Spatial needle guidance system and associated methods |
| US20130296691A1 (en) * | 2012-05-04 | 2013-11-07 | Ascension Technology Corporation | Magnetically tracked surgical needle assembly |
| CN114072081A (en) * | 2019-06-05 | 2022-02-18 | 乔伊马克斯有限责任公司 | Surgical needle kit and method of positioning surgical instrument |
| WO2023006075A1 (en) * | 2021-07-30 | 2023-02-02 | 北京迈迪斯医疗技术有限公司 | Puncture instrument |
| CN116327350A (en) * | 2023-05-24 | 2023-06-27 | 浙江伽奈维医疗科技有限公司 | Ablation needle assembly and ablation system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117357237A (en) * | 2023-10-25 | 2024-01-09 | 四川锦江生命科技有限公司 | Puncture ablation needle |
| CN117442344A (en) * | 2023-12-01 | 2024-01-26 | 春风化雨(苏州)智能医疗科技有限公司 | Surgical instrument for electromagnetic positioning and navigation of orthopedic operation robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11529070B2 (en) | System and methods for guiding a medical instrument | |
| US20230037993A1 (en) | Surgical instrument and method for detecting the position of a surgical instrument | |
| EP2654559B1 (en) | System to guide a rigid instrument | |
| EP1838378B1 (en) | Apparatus for guiding an instrument to a target in the lung | |
| EP1925262B1 (en) | System for navigating a surgical needle toward an organ of the body of a patient | |
| US8734466B2 (en) | Method and apparatus for controlled insertion and withdrawal of electrodes | |
| JP4166277B2 (en) | Medical method and apparatus using in-vivo probe | |
| US8494613B2 (en) | Combination localization system | |
| US7966057B2 (en) | Methods and apparatus for guided transluminal interventions using vessel wall penetrating catheters and other apparatus | |
| WO2019056784A1 (en) | Medical device having visible puncture apparatus | |
| CN116650081A (en) | Coaxial puncture needle and puncture system based on electromagnetic navigation | |
| CN111031886B (en) | Detection system and method for automatically detecting surgical instruments | |
| JP2009254837A (en) | Structure of endoscope and technique for navigating to target in branched structure | |
| WO2016183220A1 (en) | Adjustable length medical instrument assembly with localization elements for tracking medical instrument extension | |
| EP2139418A1 (en) | Method and apparatus for controlled insertion and withdrawal of electrodes | |
| CN115300750A (en) | Intelligent PCI (peripheral component interconnect) surgical catheter, and control system and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |