CN104867388A - Discrimination model and discrimination method for target positioning precision after puncture needle is implanted into animal soft tissue - Google Patents
Discrimination model and discrimination method for target positioning precision after puncture needle is implanted into animal soft tissue Download PDFInfo
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Abstract
The invention relates to a discrimination model and a discrimination method for target positioning precision after a puncture needle is implanted into animal soft tissue. The model comprises a composite model manufactured by an animal soft tissue, gelatin, a transparent square box, and a box cover. The box cover is provided with a plurality of array holes arranged in order. The method comprises: using a puncture needle to perform puncture in set parameters on a gelatin no-load model without an animal soft tissue, to obtain a puncture starting point and a puncture path used as basis reference; performing puncture in the same parameters on the composite model which is provided with the animal soft tissue, to obtain a deflected state of the puncture needle in the gelatin under the condition of puncturing the animal soft tissue; according to proportional relation, obtaining practical lateral deflected quantities of a plurality of points in the gelatin, and fitting the lateral deflected quantities to obtain a deflection function of the puncture needle in a whole puncture process; and according to the fitting functional relation, accurately and conveniently solving the lateral deflected quantities of the puncture needle on any axial position in the animal soft tissue. The discrimination method is simple and effective, and high in target positioning precision.
Description
Technical field
The present invention relates to decision model and the decision method that target spot positioning precision after animal soft tissue implanted by a kind of puncture needle, belong to medical puncturing interventional technique field.
Background technology
Puncture intervene operation is a kind of typical Minimally Invasive Surgery, is subject to widespread use because wound is little, patient suffering is little and recover the advantage such as fast.The successful key of puncture intervene operation is that puncture needle has higher target spot positioning precision.High target spot positioning precision can reduce puncture time, and farthest can improve result for the treatment of, reduces surgery side effect.In line with the principle that puncture path is the shortest, doctor can implement front lay at puncture intervene operation and mark a best straight line puncture path, utilizes manual mode or by micro-wound operation robot, puncture needle needle point is implanted target.But soft tissue is heterogeneous body, anisotropic material, lateral drift can be produced because of unbalance stress after puncture needle enters soft tissue, make needle point depart from target spot, and then affect result for the treatment of.
For improving the target spot positioning precision of puncture intervene operation, many scholars utilize in vitro animal soft tissue, as liver, kidney etc. expand a series of Optimal Experimental, to farthest reducing the lateral drift of puncture needle to the structural form of puncture needle and inserting needle strategy etc.But animal soft tissue is not visible material, after puncture needle enters soft tissue, its deflected condition cannot directly be observed, thus cannot convenient judge experiment effect of optimization, thus impact puncture parameter determination.Although the medical imaging devices such as CT, ultrasonic or C arm machine can obtain the deflected condition of puncture needle in soft tissue, this kind equipment because of expensive, complicated operation, take up room the problem such as large, cannot widely apply in the middle of laboratory study.The contact of ultrasonic device and soft tissue also can cause the change of soft tissue normal morphology, thus the accurate judgement of disturbance target point positioning error.In addition, the resolution of image documentation equipment mm rank also cannot judge the deflected condition within puncture needle 1mm.
Other scholar attempts using class biogelatin to carry out the modeling effort of piercing process, carries out needle point positioning experiment, to optimize structural form and the inserting needle strategy of puncture needle to the target arranged in gelatin.In gelatin simulated experiment process, although the visualization problem of puncture object obtains effective solution, gelatin differs larger with the material mechanical performance of animal soft tissue.In the modeling effort of puncture gelatin, the structural parameters of gained puncture needle and inserting needle strategy can not be applicable to the piercing process of animal soft tissue completely, greatly reduce the effect of Optimal Experimental, also reduce zoopery and instruct effect to clinical treatment.In addition, towards the piercing process of different animals soft tissue, as liver, kidney, prostate etc., often require a great deal of time and there is with energy configure the gelatin model of similar materials mechanical property, have a strong impact on experiment progress.
Therefore, find and a kind ofly can ensure that the authenticity of animal soft tissue piercing process accurately can judge that again the method for puncture needle deflected condition in soft tissue is particularly important.
Summary of the invention
For the deficiencies in the prior art, the invention provides the decision model that target spot positioning precision after animal soft tissue implanted by a kind of puncture needle.
The present invention also provides a kind of utilize above-mentioned decision model to carry out the decision method that target spot positioning precision after animal soft tissue implanted by puncture needle.
Technical scheme of the present invention is as follows:
After puncture needle implantation animal soft tissue, a decision model for target spot positioning precision, comprises animal soft tissue, gelatin, transparent square box and lid, described lid is provided with the array hole of multiple proper alignment; Described gelatin is placed in transparent square box, and described lid is arranged on transparent square box upper end, and described animal soft tissue is placed on lid.
Preferably, the aperture of described array hole is 5 ~ 8mm.
Preferably, the horizontal area of described transparent square box is greater than the cross-sectional area treating puncture animal soft tissue.
Preferably, the material of described transparent square box is plastics or glass.
A decision method for target spot positioning precision after puncture needle implantation animal soft tissue, comprises the following steps:
(1) gelatin configured is filled in transparent square box, then the lid being processed with ordered array hole is covered in transparent square box upper end, obtain the unloaded model without animal soft tissue, unloaded model is placed on testing table, for future use;
(2) to the puncture needle coating mark pigment be clamped on existing sting device main tapping, and puncture needle is placed in above unloaded model;
(3) start sting device to lower feeding puncture needle, puncture to unloaded model, puncture needle punctures to the gelatin in transparent square box through the center of certain array hole on lid; After puncture completes, rollback puncture needle, mark pigment just records the puncture starting point of puncture needle in gelatin and puncture path;
(4) animal soft tissue prepared in advance is placed on lid, and make target be positioned at puncture starting point directly over or with puncture starting point overlap, obtain composite model; With the outlet of sting device guides lower end for true origin, setting up three-dimensional rectangular coordinate, wherein, with the unloaded puncture path of pigment mark for Z axis, is X-axis, Y-axis with orthogonal two straight lines of transparent square box sidewall;
(5) again start sting device with the parameter identical with step (3) piercing process, sting device, to lower feeding puncture needle, punctures to composite model; Utilize the deflected condition of puncture needle in the collected by camera gelatin be arranged vertically in X-axis, Y direction and the unloaded puncture path of pigment mark simultaneously, and the deflection measured in the X-axis of multiple point on puncture needle in photo, Y direction, under a proportional relationship, the actual deflection of multiple point in X-axis, Y direction in gelatin is obtained;
(6) according to obtaining the actual deflection of multiple point in X-axis, Y direction in gelatin in step (5), the deflection function X (Z) of matching puncture needle in X-axis, Y direction and Y (Z), according to Pythagorean theorem, obtain the spatial offset function of puncture needle;
(7) the axial coordinate Z of arbitrfary point on puncture needle in animal soft tissue is substituted into the spatial offset function obtained by step (6), just can try to achieve the spatial offset amount of this puncture needle.
Preferably, in step (1), described gelatin is concordant with the upper surface of lid.
Preferably, in step (2), use the syringe that pigment is housed to the puncture needle coating mark pigment be clamped on existing sting device main tapping.
Preferably, in step (4), the described animal soft tissue prepared in advance refers to and conventionally animal soft tissue is cut at the in-plane containing expection target spot, the animal soft tissue obtained after removing unnecessary soft tissue.
Preferably, in step (5), under a proportional relationship described, obtain the actual deflection of multiple point in X-axis, Y direction in gelatin and refer to: a, with photo in the diameter of puncture needle be engineer's scale with the ratio of the actual diameter of puncture needle; Deflection in b, the X-axis passing through certain point on puncture needle in measurement photo, Y direction, and according to engineer's scale, can convert the deflection obtained in this X-axis actual in gelatin, Y direction.
Preferably, in step (6), the deflection function X (Z) of described matching puncture needle in X-axis, Y direction and Y (Z) refers to the funtcional relationship utilizing Matlab software matching X (Z) and Y (Z).
Beneficial effect of the present invention is:
1. decision method of the present invention can realize accurately and easily judging puncture needle target spot positioning precision, can ensure that the authenticity of animal soft tissue piercing process accurately can judge puncture needle deflected condition in soft tissue again.
2. the present invention is convenient, accurate to the judgement of puncture needle deflected condition in animal soft tissue, without the need to expensive medical imaging device, greatly reduces experimental cost.
3. the present invention requires strict class animal soft tissue gelatin model without the need to configuring material mechanical performance, and without the need to spending a large amount of time and efforts research institutes need to puncture the material mechanical performance of animal soft tissue, and the authenticity of puncture experiment and the accuracy of parameter optimization can be improved.
4. can also play the effect of amplifying puncture error to the puncture needle punctured in gelatin in decision model of the present invention, the deflected condition of puncture needle is more easily observed.
5. in decision model of the present invention, lid processes the array hole of marshalling, for gelatin provides multiple puncture channel, improve gelatin utilization factor.
6. the method that after the present invention utilizes the decision model of structure to carry out puncture needle implantation animal soft tissue, target spot positioning precision judges, solve puncture needle implant not visible soft tissue after its deflected condition be difficult to observe and the target spot positioning precision that causes is difficult to the problem that judges, and this decision method is easy and simple to handle, effect is obvious, Be very effective.
Accompanying drawing explanation
Fig. 1 is the resolution principle figure of puncture needle positioning precision of the present invention;
Fig. 2 is the lid being processed with ordered array hole in the present invention;
Fig. 3 is the transparent square box filling gelatin band array hole lid in the present invention;
Fig. 4 is the schematic diagram to puncture needle coating mark pigment in the present invention;
Fig. 5 is to the schematic diagram to puncture starting point and puncture path record after unloaded model puncture in the present invention;
Fig. 6 is the schematic diagram in the present invention, animal soft tissue being placed in composite model on lid;
Fig. 7 is the process schematic that in the present invention, puncture needle punctures to composite model;
Wherein: 1, column; 201, Z axis feeding platform; 202, slide block; 301, main tapping; 302, puncture needle chuck; 401, puncture needle; 402, the puncture path under unloaded model; 403, the puncture path under composite model; 5, guides; 6, camera; 701, animal soft tissue; 702, lid; 703, transparent square box; 704, gelatin; 8, array hole.
Embodiment
Below by embodiment, also the present invention will be further described by reference to the accompanying drawings, but be not limited thereto.
Embodiment 1:
The present embodiment provides a kind of puncture needle to implant the decision model of target spot positioning precision after animal soft tissue, as shown in Fig. 2, Fig. 3 and Fig. 6, comprise animal soft tissue 701, gelatin 704, transparent square box 703 and lid 702, lid 702 is provided with the array hole 8 of proper alignment, totally four row seven row, aperture is 5mm, and in actual mechanical process, on lid, the quantity of aligned apertures can be arranged according to different requirement of experiment; Gelatin 704 is placed in transparent square box 703, and lid 702 is arranged on transparent square box 703 upper end, and animal soft tissue 701 is placed on lid 702, namely obtains composite model, for the judgement of target spot positioning precision after follow-up puncture needle implantation animal soft tissue.When not placing animal soft tissue, gelatin, transparent square box and lid form unloaded model, for recording the puncture path of puncture needle in idle operation, for after puncture animal soft tissue, the judgement of puncture needle deflected condition provides reference data.
Wherein, transparent square box 703 is plastic, transparent square box, is convenient to observe and pick and place, in actual mechanical process, the higher plastic lunch box of transparency can be used to use transparent square box as experiment, and require that the horizontal area of transparent square box 703 is greater than the cross-sectional area of the animal soft tissue 701 that need puncture; Lid 702 has bearing capacity to a certain degree, utilizes lid 702 to carry the gravity of soft tissue to prevent the distortion of gelatin; The aperture of the array hole 8 that lid processes is larger than the lateral drift amount of puncture needle through array hole, to prevent the interference of lid and puncture needle and then to affect experiment effect.
Gelatin 704 used in model, its composition is: edible gelatin powder (sieve dials minister), medical glycerine (Paimini purity 99%), exquisite starch, deionized water.Because of this decision method to the material mechanical performance of used gelatin without strict demand, so layoutprocedure can directly with reference to the configuration step (list of references: Molloy J A.A device fordelivering a highly localized hyperthermia treatment to deep seated braintumors [M] .University of Virginia, 1988.) delivered in document.Complete the configuration of gelatin solution by the method in list of references, the gelatin solution mixed is poured in transparent plastics square box.The lid 702 of band array hole is covered after on transparent square box 703, from array hole, continues splendid attire gelatin solution make liquid level concordant with the upper surface of lid.The plastic, transparent square box filling with gelatin solution is placed in refrigerator and cooled but after 12 hours, the gelatin meeting requirement of experiment has just been prepared.Animal soft tissue is cut at the in-plane containing expection target spot, remove unnecessary soft tissue, after no load test completes, the animal soft tissue prepared is placed directly on the lid of array hole, and the set goal target spot in animal soft tissue is overlapped with the puncture starting point of no load test.So far, a kind ofly can ensure that the authenticity of animal soft tissue piercing process accurately can judge that again the compound puncturing pattern of puncture needle deflected condition in soft tissue just completes.
Embodiment 2:
The present embodiment provides a kind of puncture needle to implant the decision model of target spot positioning precision after animal soft tissue, and as described in Example 1, its difference is manufacturing process: transparent square box 703 is the transparent square box of glass system, and on lid 702, the aperture of array hole 8 is 8mm.The size in aperture experimentally empirical data selects security value (s), and because puncturing different soft tissue or use different puncture needles or puncture strategy, the lateral drift amount of puncture needle is different, and therefore the size in aperture is also different.
Embodiment 3:
The present embodiment provides a kind of and utilizes embodiment 1 or the decision model described in embodiment 2 to carry out puncture needle to implant the method that target spot positioning precision judges after animal soft tissue, and it comprises the following steps:
One, unloaded model is configured:
Filled by the gelatin configured in transparent square box, then cover the lid being processed with ordered array hole in transparent square box upper end, set up unloaded model, unloaded model as described in Example 1, is finally placed on testing table, for future use by its manufacturing process;
Use the syringe that pigment is housed to the puncture needle coating mark pigment be clamped on existing sting device main tapping, as shown in Figure 4, this existing sting device is straight-line feed platform, wherein, main tapping 301 is the Direct Drive Spindles that American I nnovaDesign, Inc (Create New Technology S. R. L. of the U.S.) design is produced; Puncture needle chuck 302 is the Three Jaw Gapless MicroChuck that American I nnova Design, Inc (Create New Technology S. R. L. of the U.S.) design is produced; Z axis feeding platform 201 is the M-L01.4S0 & C-663.10 that Chinese Physik Instrumente (PI Shanghai) Co., Ltd. (general love nanometer displacement technology (Shanghai) Co., Ltd.) design is produced.And puncture needle is placed in above unloaded model, prepare the puncture carrying out unloaded model, to obtain without in animal soft tissue situation, the puncture starting point of puncture needle and puncture path, for the puncture of follow-up composite model provides reference mark;
Two, unloaded model is punctured, to obtain puncture starting point and puncture path as the reference mark of follow-up composite model:
Unloaded piercing process as shown in Figure 5, existing sting device punctures to unloaded model to lower feeding puncture needle according to the parameter such as puncture speed, paracentesis depth of setting, and puncture needle 401 punctures to the gelatin 704 in transparent square box 703 through the center of certain array hole 8 on lid; After puncture completes, rollback puncture needle, mark pigment just records puncture starting point and the puncture path 402 of puncture needle, and puncture starting point now and puncture path are just as the reference mark of follow-up composite model;
Three, configure composite model and carry out the puncture of composite model:
The animal soft tissue 701 prepared in advance is placed on lid 702, and target is overlapped with puncture starting point, set up composite model, as shown in Figure 6;
With the parameter identical with step (3) unloaded piercing process, composite model is punctured, utilize the camera 6 be arranged vertically in X-axis, Y direction to gather deflected condition and the puncture path 403 of puncture needle in gelatin 704 simultaneously, and the deflection measured in gelatin in puncture needle X-axis, Y direction;
Four, to the calculating of lancet puncture animal soft tissue target spot positioning precision:
In the actual diameter of puncture needle and photo, the ratio of diameter measurements, can form the scale of photo.In X-axis, Y direction, the actual lateral drift amount of puncture needle can calculate according to the measured value of the unloaded puncture path centre distance of the puncture needle needle shaft of deflection in photo and mark.
With the outlet of guides 5 lower end for true origin, set up three-dimensional cartesian coordinate system, wherein, with the unloaded puncture path 402 of pigment mark for Z axis, be X-axis, Y-axis with orthogonal two straight lines of transparent square box sidewall, and in X-axis, Y-axis, be arranged vertically two cameras respectively.According to the coordinate relation of the multiple point (X, Z) of puncture needle in gelatin and (Y, Z), the funtcional relationship of Matlab software matching X (Z) and Y (Z) can be utilized.According to Pythagorean theorem, the space lateral drift function of puncture needle can be obtained.Any axial coordinate Z of puncture needle in animal soft tissue is substituted into, just accurately and easily can obtain the lateral drift amount of this axial positions puncture needle.
Claims (10)
1. a decision model for target spot positioning precision after animal soft tissue implanted by puncture needle, it is characterized in that, comprises animal soft tissue, gelatin, transparent square box and lid, described lid is provided with the array hole of multiple proper alignment; Described gelatin is placed in transparent square box, and described lid is arranged on transparent square box upper end, and described animal soft tissue is placed on lid.
2. the decision model of target spot positioning precision after animal soft tissue implanted by puncture needle as claimed in claim 1, and it is characterized in that, the aperture of described array hole is 5 ~ 8mm.
3. the decision model of target spot positioning precision after animal soft tissue implanted by puncture needle as claimed in claim 1 or 2, it is characterized in that, the horizontal area of described transparent square box is greater than the cross-sectional area of animal soft tissue of waiting to puncture.
4. the decision model of target spot positioning precision after animal soft tissue implanted by puncture needle as claimed in claim 1 or 2, and it is characterized in that, the material of described transparent square box is plastics or glass.
5. utilize the decision model described in any one of claim 1 to 4 to carry out the decision method that target spot positioning precision after animal soft tissue implanted by puncture needle, comprises the following steps:
(1) gelatin configured is filled in transparent square box, then the lid being processed with ordered array hole is covered in transparent square box upper end, obtain the unloaded model without animal soft tissue, unloaded model is placed on testing table, for future use;
(2) to the puncture needle coating mark pigment be clamped on existing sting device main tapping, and puncture needle is placed in above unloaded model;
(3) start sting device to lower feeding puncture needle, puncture to unloaded model, puncture needle punctures to the gelatin in transparent square box through the center of certain array hole on lid; After puncture completes, rollback puncture needle, mark pigment just records the puncture starting point of puncture needle in gelatin and puncture path;
(4) animal soft tissue prepared in advance is placed on lid, and make target be positioned at puncture starting point directly over or with puncture starting point overlap, obtain composite model; With the outlet of sting device guides lower end for true origin, setting up three-dimensional rectangular coordinate, wherein, with the unloaded puncture path of pigment mark for Z axis, is X-axis, Y-axis with orthogonal two straight lines of transparent square box sidewall;
(5) again start sting device with the parameter identical with step (3) piercing process, sting device, to lower feeding puncture needle, punctures to composite model; Utilize the deflected condition of puncture needle in the collected by camera gelatin be arranged vertically in X-axis, Y direction and the unloaded puncture path of pigment mark simultaneously, and the deflection measured in the X-axis of multiple point on puncture needle in photo, Y direction, under a proportional relationship, the actual deflection of multiple point in X-axis, Y direction in gelatin is obtained;
(6) according to obtaining the actual deflection of multiple point in X-axis, Y direction in gelatin in step (5), the deflection function X (Z) of matching puncture needle in X-axis, Y direction and Y (Z), according to Pythagorean theorem, obtain the spatial offset function of puncture needle;
(7) the axial coordinate Z of arbitrfary point on puncture needle in animal soft tissue is substituted into the spatial offset function obtained by step (6), just can try to achieve the spatial offset amount of this puncture needle.
6. the decision method of target spot positioning precision after animal soft tissue implanted by puncture needle as claimed in claim 5, and it is characterized in that, in step (1), described gelatin is concordant with the upper surface of lid.
7. the decision method of target spot positioning precision after animal soft tissue implanted by puncture needle as claimed in claim 5, it is characterized in that, in step (2), use the syringe that pigment is housed to the puncture needle coating mark pigment be clamped on existing sting device main tapping.
8. the decision method of target spot positioning precision after animal soft tissue implanted by puncture needle as claimed in claim 5, it is characterized in that, in step (4), the described animal soft tissue prepared in advance refers to and conventionally animal soft tissue is cut at the in-plane containing expection target spot, the animal soft tissue obtained after removing unnecessary soft tissue.
9. the decision method of target spot positioning precision after animal soft tissue implanted by puncture needle as claimed in claim 5, it is characterized in that, in step (5), under a proportional relationship described, obtain the actual deflection of multiple point in X-axis, Y direction in gelatin and refer to: a, with photo in the diameter of puncture needle be engineer's scale with the ratio of the actual diameter of puncture needle; Deflection in b, the X-axis passing through certain point on puncture needle in measurement photo, Y direction, and according to engineer's scale, can convert the deflection obtained in this X-axis actual in gelatin, Y direction.
10. the decision method of target spot positioning precision after animal soft tissue implanted by puncture needle as claimed in claim 5, it is characterized in that, in step (6), the deflection function X (Z) of described matching puncture needle in X-axis, Y direction and Y (Z) refers to the funtcional relationship utilizing Matlab software matching X (Z) and Y (Z).
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| CN105910981A (en) * | 2016-05-06 | 2016-08-31 | 哈尔滨工程大学 | Multifunctional biological in-vitro soft tissue parameter measurement platform |
| CN107038923A (en) * | 2017-05-22 | 2017-08-11 | 太和县人民医院 | A kind of in-vitro simulated trainer of ultrasound guided puncture |
| CN107038923B (en) * | 2017-05-22 | 2022-12-27 | 太和县人民医院 | Ultrasonic-guided puncture in-vitro simulation training device |
| CN110338852A (en) * | 2018-04-04 | 2019-10-18 | 云南师范大学 | A kind of haptic visualization puncturing operation navigation system based on augmented reality |
| CN108597338A (en) * | 2018-05-30 | 2018-09-28 | 赵刘军 | Percutaneous kyplasty puncture angle auxiliary device and application method |
| CN108597338B (en) * | 2018-05-30 | 2024-05-31 | 宁波市第六医院 | Accurate angle puncture auxiliary device for percutaneous kyphoplasty teaching model and use method thereof |
| CN108538138A (en) * | 2018-06-21 | 2018-09-14 | 青海大学 | A kind of acquisition punctures the kinetic control system and its application method of experimental data information |
| CN109745121B (en) * | 2019-03-05 | 2023-06-27 | 山东威高医疗科技有限公司 | Device and method for measuring intracranial puncture error of mechanical arm under magnetic navigation |
| CN109745121A (en) * | 2019-03-05 | 2019-05-14 | 山东威高医疗科技有限公司 | For measuring the device and method of mechanical arm intracranial puncture error under magnetic navigation |
| CN109887392A (en) * | 2019-04-10 | 2019-06-14 | 山东大学 | A kind of use for laboratory brain punctures accuracy detecting device and its application method |
| CN109887392B (en) * | 2019-04-10 | 2024-03-15 | 山东大学 | Brain puncture precision detection device for laboratory and application method thereof |
| CN111297448A (en) * | 2020-02-24 | 2020-06-19 | 东软医疗系统股份有限公司 | Puncture positioning method, device and system |
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