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
- Publication number
- CN104867388A CN104867388A CN201510311864.XA CN201510311864A CN104867388A CN 104867388 A CN104867388 A CN 104867388A CN 201510311864 A CN201510311864 A CN 201510311864A CN 104867388 A CN104867388 A CN 104867388A
- Authority
- CN
- China
- Prior art keywords
- puncture
- soft tissue
- puncture needle
- gelatin
- axis
- 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.)
- Granted
Links
- 210000004872 soft tissue Anatomy 0.000 title claims abstract description 86
- 238000012850 discrimination method Methods 0.000 title 1
- 229920000159 gelatin Polymers 0.000 claims abstract description 54
- 239000008273 gelatin Substances 0.000 claims abstract description 54
- 108010010803 Gelatin Proteins 0.000 claims abstract description 53
- 235000019322 gelatine Nutrition 0.000 claims abstract description 53
- 235000011852 gelatine desserts Nutrition 0.000 claims abstract description 53
- 238000000034 method Methods 0.000 claims abstract description 34
- 239000002131 composite material Substances 0.000 claims abstract description 18
- 239000000049 pigment Substances 0.000 claims description 10
- 239000003973 paint Substances 0.000 claims description 7
- 229920003023 plastic Polymers 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 3
- 239000011521 glass Substances 0.000 claims description 2
- 238000002474 experimental method Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000001356 surgical procedure Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 2
- 238000002059 diagnostic imaging Methods 0.000 description 2
- 210000003734 kidney Anatomy 0.000 description 2
- 210000004185 liver Anatomy 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000012803 optimization experiment Methods 0.000 description 2
- 239000011148 porous material Substances 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 208000003174 Brain Neoplasms Diseases 0.000 description 1
- LLQPHQFNMLZJMP-UHFFFAOYSA-N Fentrazamide Chemical compound N1=NN(C=2C(=CC=CC=2)Cl)C(=O)N1C(=O)N(CC)C1CCCCC1 LLQPHQFNMLZJMP-UHFFFAOYSA-N 0.000 description 1
- 206010020843 Hyperthermia Diseases 0.000 description 1
- 229920002472 Starch Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000008367 deionised water Substances 0.000 description 1
- 229910021641 deionized water Inorganic materials 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000011187 glycerol Nutrition 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036031 hyperthermia Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000007943 implant Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 210000002307 prostate Anatomy 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000008107 starch Substances 0.000 description 1
- 235000019698 starch Nutrition 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
- G09B23/285—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Computational Mathematics (AREA)
- Mathematical Optimization (AREA)
- Medical Informatics (AREA)
- Medicinal Chemistry (AREA)
- Chemical & Material Sciences (AREA)
- Algebra (AREA)
- Theoretical Computer Science (AREA)
- Educational Technology (AREA)
- Mathematical Analysis (AREA)
- General Health & Medical Sciences (AREA)
- Mathematical Physics (AREA)
- Pure & Applied Mathematics (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Pulmonology (AREA)
- Radiology & Medical Imaging (AREA)
- Materials For Medical Uses (AREA)
Abstract
本发明涉及一种穿刺针植入动物软组织后靶点定位精度的判定模型及判定方法，包括由动物软组织、明胶、透明方盒及盒盖制作的复合模型，盒盖上设置有多个整齐排列的阵列孔。利用穿刺针对无动物软组织的明胶空载模型进行设定参数的穿刺，以获取作为参考基准的穿刺起点和穿刺路径；再对置有动物软组织的复合模型进行相同参数的穿刺以获取穿刺动物软组织情况下明胶内穿刺针的偏斜状态。根据比例关系，得到明胶内多个点的实际横向偏斜量并拟合得到整个穿刺过程中穿刺针的偏斜函数；根据拟合的函数关系便能准确而便捷的求出动物软组织内任意轴向位置处穿刺针的横向偏斜量。该判定方法简便有效，靶点定位精度高。
The invention relates to a judgment model and a judgment method for the positioning accuracy of a target point after a puncture needle is implanted into an animal soft tissue, comprising a composite model made of animal soft tissue, gelatin, a transparent square box and a box cover, and the box cover is provided with a plurality of neatly arranged array of holes. Use puncture to perform puncture with set parameters on the gelatin empty model without animal soft tissue to obtain the puncture starting point and puncture path as a reference; then perform puncture with the same parameters on the composite model with animal soft tissue to obtain the puncture of animal soft tissue The deflection state of the puncture needle in the lower gelatin. According to the proportional relationship, the actual lateral deflection of multiple points in the gelatin can be obtained and the deflection function of the puncture needle during the whole puncture process can be obtained by fitting; any axis in the animal soft tissue can be accurately and conveniently calculated according to the fitted function relationship The amount of lateral deflection of the needle towards the position. The determination method is simple and effective, and the target positioning accuracy is high.
Description
技术领域technical field
本发明涉及一种穿刺针植入动物软组织后靶点定位精度的判定模型及判定方法，属于医疗穿刺介入技术领域。The invention relates to a judgment model and a judgment method for target point positioning accuracy after a puncture needle is implanted into animal soft tissue, and belongs to the technical field of medical puncture intervention.
背景技术Background technique
穿刺介入手术是一种典型的微创手术，因创伤小、患者痛苦小及恢复快等优点受到广泛应用。穿刺介入手术成功的关键是穿刺针具有较高的靶点定位精度。高靶点定位精度能降低穿刺次数，并能最大程度的提高治疗效果，降低手术副作用。本着穿刺路径最短的原则，医师会在穿刺介入手术实施前规划出一条最佳的直线穿刺路径，利用手动方式或借助微创手术机器人将穿刺针针尖植入目标靶点。然而软组织为非均质、各向异性材料，穿刺针进入软组织后会因受力不均而产生横向偏斜，使针尖偏离靶点，进而影响治疗效果。Puncture interventional surgery is a typical minimally invasive surgery, which is widely used due to its advantages of less trauma, less pain for patients and faster recovery. The key to the success of puncture interventional surgery is that the puncture needle has high target positioning accuracy. High target positioning accuracy can reduce the number of punctures, improve the treatment effect to the greatest extent, and reduce the side effects of surgery. Based on the principle of the shortest puncture path, the physician will plan an optimal straight line puncture path before the puncture interventional surgery, and implant the needle tip of the puncture needle into the target site manually or with the aid of a minimally invasive surgical robot. However, soft tissue is a heterogeneous and anisotropic material. After the puncture needle enters the soft tissue, it will be deflected laterally due to uneven force, causing the needle tip to deviate from the target point, thereby affecting the therapeutic effect.
为提高穿刺介入手术的靶点定位精度，许多学者利用离体动物软组织，如肝脏、肾脏等对穿刺针的结构形态和进针策略等展开了一系列的优化实验，以期最大程度的降低穿刺针的横向偏斜。然而动物软组织为不可视材料，穿刺针进入软组织后其偏斜状态无法直接观察，因而无法便捷判定实验的优化效果，从而影响穿刺参数的确定。CT、超声或C臂机等医学影像设备虽然能得到软组织内穿刺针的偏斜状态，但此类设备因价格昂贵、操作复杂、占用空间大等问题，无法大量应用在实验室研究当中。超声设备与软组织的接触还会引起软组织正常形态的改变，因而干扰靶点定位误差的准确判定。此外，影像设备mm级别的分辨率亦无法判定穿刺针1mm之内的偏斜状态。In order to improve the target positioning accuracy of puncture interventional surgery, many scholars have used isolated animal soft tissues, such as liver and kidney, to carry out a series of optimization experiments on the structure and shape of puncture needles and needle insertion strategies, in order to minimize the impact of puncture needles. lateral deflection. However, animal soft tissue is an invisible material, and the deflection state of the puncture needle after entering the soft tissue cannot be directly observed, so it is impossible to conveniently determine the optimization effect of the experiment, which affects the determination of puncture parameters. Although medical imaging equipment such as CT, ultrasound, or C-arm machine can obtain the deflection state of the puncture needle in soft tissue, such equipment cannot be widely used in laboratory research due to problems such as high price, complicated operation, and large space occupation. The contact between ultrasound equipment and soft tissue can also cause changes in the normal shape of soft tissue, thus interfering with the accurate determination of target positioning errors. In addition, the mm-level resolution of imaging equipment cannot determine the deflection state of the puncture needle within 1mm.
另外一些学者尝试使用类生物明胶进行穿刺过程的模拟研究，对明胶内设置的目标靶点进行针尖定位实验，以优化穿刺针的结构形态和进针策略。明胶模拟实验过程中，穿刺对象的可视化问题虽然得到了有效解决，但明胶与动物软组织的材料力学性能相差较大。穿刺明胶的模拟研究中所得穿刺针的结构参数和进针策略并不能完全适用于动物软组织的穿刺过程，大大降低了优化实验的作用，也降低了动物实验对临床治疗的指导效果。此外，面向不同动物软组织的穿刺过程，如肝脏、肾脏、前列腺等，往往需要花费大量的时间和精力去配置具有相近材料力学性能的明胶模型，严重影响实验进展。Other scholars try to use bio-gelatin to simulate the puncture process, and conduct needle point positioning experiments on the target points set in the gelatin to optimize the structure and shape of the puncture needle and the needle insertion strategy. During the gelatin simulation experiment, although the visualization problem of the puncture object has been effectively solved, the material mechanical properties of gelatin and animal soft tissue are quite different. The structural parameters and needle insertion strategy of the puncture needle obtained in the simulation study of puncturing gelatin are not fully applicable to the puncture process of animal soft tissue, which greatly reduces the role of optimization experiments and the guiding effect of animal experiments on clinical treatment. In addition, the puncture process for different animal soft tissues, such as liver, kidney, prostate, etc., often requires a lot of time and effort to configure gelatin models with similar material mechanical properties, which seriously affects the progress of experiments.
因此，寻找一种既能保证动物软组织穿刺过程的真实性又能准确判定软组织内穿刺针偏斜状态的方法尤为重要。Therefore, it is particularly important to find a method that can not only ensure the authenticity of the animal soft tissue puncture process but also accurately determine the deflection state of the puncture needle in the soft tissue.
发明内容Contents of the invention
针对现有技术的不足，本发明提供一种穿刺针植入动物软组织后靶点定位精度的判定模型。Aiming at the deficiencies of the prior art, the present invention provides a model for determining the accuracy of target positioning after a puncture needle is implanted in animal soft tissue.
本发明还提供一种利用上述判定模型进行穿刺针植入动物软组织后靶点定位精度的判定方法。The present invention also provides a method for judging the target location accuracy after the puncture needle is implanted into the soft tissue of the animal by using the above judgment model.
本发明的技术方案如下：Technical scheme of the present invention is as follows:
一种穿刺针植入动物软组织后靶点定位精度的判定模型，包括动物软组织、明胶、透明方盒及盒盖，所述盒盖上设置有多个整齐排列的阵列孔；所述明胶置于透明方盒内，所述盒盖设置在透明方盒上端，所述动物软组织置于盒盖上。A model for judging the positioning accuracy of a target after a puncture needle is implanted in animal soft tissue, comprising animal soft tissue, gelatin, a transparent square box and a box cover, the box cover is provided with a plurality of neatly arranged array holes; the gelatin is placed In the transparent square box, the box cover is arranged on the upper end of the transparent box, and the animal soft tissue is placed on the box cover.
优选的，所述阵列孔的孔径为5～8mm。Preferably, the diameter of the array holes is 5-8 mm.
优选的，所述透明方盒的横向面积大于待穿刺动物软组织的横截面积。Preferably, the transverse area of the transparent box is larger than the cross-sectional area of the soft tissue of the animal to be punctured.
优选的，所述透明方盒的材质为塑料或玻璃。Preferably, the transparent box is made of plastic or glass.
一种穿刺针植入动物软组织后靶点定位精度的判定方法，包括以下步骤：A method for determining the positioning accuracy of a target after a puncture needle is implanted in animal soft tissue, comprising the following steps:
(1)将配置好的明胶装满在透明方盒中，然后将加工有整齐阵列孔的盒盖盖在透明方盒上端，得到无动物软组织的空载模型，将空载模型放置在试验台上，以备后用；(1) Fill the prepared gelatin in the transparent square box, and then cover the box cover with a neat array of holes on the top of the transparent square box to obtain a no-load model without animal soft tissue, and place the no-load model on the test bench on, for later use;
(2)对夹持在现有穿刺装置主轴头上的穿刺针涂覆标记颜料，并将穿刺针置于空载模型上方；(2) Apply marking paint to the puncture needle clamped on the spindle head of the existing puncture device, and place the puncture needle above the unloaded model;
(3)启动穿刺装置向下进给穿刺针，对空载模型进行穿刺，穿刺针穿过盒盖上某个阵列孔的中心对透明方盒中的明胶进行穿刺；待穿刺完成后，回退穿刺针，标记颜料便记录下穿刺针在明胶内的穿刺起点和穿刺路径；(3) Start the puncture device and feed the puncture needle downward to puncture the empty model. The puncture needle passes through the center of an array hole on the box cover to puncture the gelatin in the transparent square box; after the puncture is completed, roll back The puncture needle, marking the pigment to record the puncture starting point and puncture path of the puncture needle in the gelatin;
(4)将事先制备好的动物软组织置于盒盖上，并使目标靶点位于穿刺起点的正上方或与穿刺起点重合，得到复合模型；以穿刺装置导向器下端出口为坐标原点，建立三维直角坐标，其中，以颜料标记的空载穿刺路径为Z轴，与透明方盒侧壁相互垂直的两条直线为X轴、Y轴；(4) Place the pre-prepared animal soft tissue on the box cover, and make the target point directly above or coincident with the puncture starting point to obtain a composite model; take the lower exit of the puncture device guide as the coordinate origin to establish a three-dimensional Cartesian coordinates, where the no-load puncture path marked with paint is the Z axis, and the two straight lines perpendicular to the side walls of the transparent box are the X and Y axes;
(5)以与步骤(3)穿刺过程相同的参数再次启动穿刺装置，穿刺装置向下进给穿刺针，对复合模型进行穿刺；同时利用垂直布置在X轴、Y轴方向上的相机采集明胶内穿刺针的偏斜状态和颜料标记的空载穿刺路径，并测量照片中穿刺针上多个点的X轴、Y轴方向上的偏斜量，根据比例关系，得到明胶内多个点在X轴、Y轴方向上的实际偏斜量；(5) Start the puncture device again with the same parameters as the puncture process in step (3), and the puncture device feeds the puncture needle downward to puncture the composite model; at the same time, use the cameras vertically arranged in the X-axis and Y-axis directions to collect gelatin The deflection state of the inner puncture needle and the no-load puncture path marked by the pigment, and the deflection in the X-axis and Y-axis directions of multiple points on the puncture needle in the photo are measured, and according to the proportional relationship, the multiple points in the gelatin are obtained. The actual deflection in the direction of X-axis and Y-axis;
(6)根据步骤(5)中得到明胶内多个点在X轴、Y轴方向上的实际偏斜量，拟合穿刺针在X轴、Y轴方向上的偏斜函数X(Z)和Y(Z)，根据勾股定理，得到穿刺针的空间偏斜函数；(6) According to the actual deflection of multiple points in the gelatin in the X-axis and Y-axis directions obtained in step (5), the deflection function X(Z) and Y(Z), according to the Pythagorean theorem, the spatial deflection function of the puncture needle is obtained;
(7)将动物软组织内穿刺针上任意点的轴向坐标Z代入由步骤(6)得到的空间偏斜函数，便能求得该点穿刺针的空间偏斜量。(7) Substituting the axial coordinate Z of any point on the puncture needle in the animal soft tissue into the spatial deflection function obtained in step (6), the spatial deflection of the puncture needle at this point can be obtained.
优选的，步骤(1)中，所述明胶与盒盖的上端面平齐。Preferably, in step (1), the gelatin is flush with the upper end surface of the lid.
优选的，步骤(2)中，使用装有颜料的注射器对夹持在现有穿刺装置主轴头上的穿刺针涂覆标记颜料。Preferably, in step (2), a syringe filled with pigment is used to apply marking pigment to the puncture needle clamped on the main shaft head of the existing puncture device.
优选的，步骤(4)中，所述事先制备好的动物软组织是指按照现有技术将动物软组织在含预期靶点的平面内切割，去除多余的软组织后得到的动物软组织。Preferably, in step (4), the pre-prepared animal soft tissue refers to the animal soft tissue obtained by cutting the animal soft tissue in a plane containing the expected target according to the prior art and removing excess soft tissue.
优选的，步骤(5)中，所述根据比例关系，得到明胶内多个点在X轴、Y轴方向上的实际偏斜量是指：a、以照片中穿刺针的直径与穿刺针的实际直径的比为比例尺；b、通过测量照片中穿刺针上某个点的X轴、Y轴方向上的偏斜量，并根据比例尺，即可换算得到该点在明胶中实际的X轴、Y轴方向上的偏斜量。Preferably, in step (5), according to the proportional relationship, the actual deflection of multiple points in the gelatin on the X-axis and the Y-axis direction refers to: a, the diameter of the puncture needle in the photo and the diameter of the puncture needle The ratio of the actual diameter is the scale; b. By measuring the deflection in the X-axis and Y-axis directions of a certain point on the puncture needle in the photo, and according to the scale, the actual X-axis and Y-axis of the point in the gelatin can be obtained by conversion The amount of skew in the Y-axis direction.
优选的，步骤(6)中，所述拟合穿刺针在X轴、Y轴方向上的偏斜函数X(Z)和Y(Z)是指利用Matlab软件拟合X(Z)和Y(Z)的函数关系。Preferably, in step (6), the skew function X(Z) and Y(Z) of the fitting puncture needle on the X-axis and the Y-axis direction refers to using Matlab software to fit X(Z) and Y( Z) function relationship.
本发明的有益效果在于：The beneficial effects of the present invention are:
1.本发明判定方法可实现对穿刺针靶点定位精度准确而便捷的判定，既能保证动物软组织穿刺过程的真实性又能准确判定软组织内穿刺针偏斜状态。1. The determination method of the present invention can realize accurate and convenient determination of the positioning accuracy of the puncture needle target point, which can not only ensure the authenticity of the animal soft tissue puncture process, but also accurately determine the deflection state of the puncture needle in the soft tissue.
2.本发明对动物软组织内穿刺针偏斜状态的判定便捷、准确，无需价格昂贵的医学影像设备，大大降低了实验成本。2. The present invention is convenient and accurate in judging the deflection state of the puncture needle in the animal soft tissue, and does not need expensive medical imaging equipment, which greatly reduces the experimental cost.
3.本发明无需配置材料力学性能要求严格的类动物软组织明胶模型，且无需花费大量的时间和精力研究所需穿刺动物软组织的材料力学性能，并能提高穿刺实验的真实性及参数优化的准确性。3. The present invention does not need to configure animal-like soft tissue gelatin models with strict requirements on material mechanical properties, and does not need to spend a lot of time and energy to study the material mechanical properties of the required punctured animal soft tissues, and can improve the authenticity of puncture experiments and the accuracy of parameter optimization sex.
4.本发明判定模型中对明胶内穿刺的穿刺针还能起到放大穿刺误差的作用，使穿刺针的偏斜状态更容易观察。4. The puncture needle used for puncturing the gelatin in the judgment model of the present invention can also amplify the puncture error, making it easier to observe the deflection state of the puncture needle.
5.本发明判定模型中盒盖上加工出排列整齐的阵列孔，为明胶提供多个穿刺通道，提高了明胶利用率。5. In the judgment model of the present invention, neatly arranged array holes are processed on the box cover to provide multiple puncture channels for gelatin and improve the utilization rate of gelatin.
6.本发明利用构建的判定模型进行穿刺针植入动物软组织后靶点定位精度判定的方法，解决了穿刺针植入不可视软组织后其偏斜状态难以观察而引起的靶点定位精度难以判定的问题，且该判定方法操作简便，作用明显、效果显著。6. The present invention utilizes the constructed judgment model to determine the target positioning accuracy after the puncture needle is implanted into the soft tissue of the animal, which solves the difficulty in determining the target positioning accuracy caused by the difficulty in observing the deflection state of the puncture needle after it is implanted into the invisible soft tissue problem, and the judgment method is easy to operate, with obvious effect and remarkable effect.
附图说明Description of drawings
图1为本发明穿刺针定位精度的判定原理图；Fig. 1 is a principle diagram for judging the positioning accuracy of the puncture needle of the present invention;
图2为本发明中加工有整齐阵列孔的盒盖；Fig. 2 is the box cover that is processed with neat array holes in the present invention;
图3为本发明中装满明胶带阵列孔盒盖的透明方盒；Fig. 3 is the transparent square box that is filled with gelatin tape array hole box cover among the present invention;
图4为本发明中对穿刺针涂覆标记颜料的示意图；Fig. 4 is a schematic diagram of coating marking pigments on puncture needles in the present invention;
图5为本发明中对空载模型穿刺后对穿刺起点和穿刺路径记录的示意图；Fig. 5 is a schematic diagram of recording the puncture starting point and puncture path after puncturing the empty model in the present invention;
图6为本发明中将动物软组织置于盒盖上复合模型的示意图；Fig. 6 is the schematic diagram of placing animal soft tissue on the box cover composite model in the present invention;
图7为本发明中穿刺针对复合模型进行穿刺的过程示意图；Fig. 7 is a schematic diagram of the process of puncturing the composite model in the present invention;
其中：1、立柱；201、Z轴进给平台；202、滑块；301、主轴头；302、穿刺针夹头；401、穿刺针；402、空载模型下的穿刺路径；403、复合模型下的穿刺路径；5、导向器；6、相机；701、动物软组织；702、盒盖；703、透明方盒；704、明胶；8、阵列孔。Among them: 1. Column; 201. Z-axis feed platform; 202. Slider; 301. Spindle head; 302. Puncture needle chuck; 401. Puncture needle; 402. Puncture path under no-load model; 403. Composite model 5, guider; 6, camera; 701, animal soft tissue; 702, box cover; 703, transparent square box; 704, gelatin; 8, array hole.
具体实施方式detailed description
下面通过实施例并结合附图对本发明做进一步说明，但不限于此。The present invention will be further described below through the embodiments and in conjunction with the accompanying drawings, but not limited thereto.
实施例1：Example 1:
本实施例提供一种穿刺针植入动物软组织后靶点定位精度的判定模型，如图2、图3和图6所示，包括动物软组织701、明胶704、透明方盒703及盒盖702，盒盖702上设置有整齐排列的阵列孔8，共四排七列，孔径为5mm，实际操作过程中，盒盖上排列孔的数量可根据不同的实验要求进行设置；明胶704置于透明方盒703内，盒盖702设置在透明方盒703上端，动物软组织701置于盒盖702上，即得到复合模型，用于后续穿刺针植入动物软组织后靶点定位精度的判定。在不放置动物软组织的情况下，明胶、透明方盒和盒盖组成空载模型，用于记录穿刺针在空载过程中的穿刺路径，为穿刺动物软组织后穿刺针偏斜状态的判定提供参考基准。This embodiment provides a judgment model for target positioning accuracy after the puncture needle is implanted in animal soft tissue, as shown in Figure 2, Figure 3 and Figure 6, including animal soft tissue 701, gelatin 704, transparent square box 703 and box cover 702, The box cover 702 is provided with neatly arranged array holes 8, a total of four rows and seven columns, and the hole diameter is 5mm. In the actual operation process, the number of holes arranged on the box cover can be set according to different experimental requirements; Inside the box 703, the box cover 702 is set on the upper end of the transparent square box 703, and the animal soft tissue 701 is placed on the box cover 702, and a composite model is obtained, which is used for determining the target positioning accuracy after the puncture needle is implanted in the animal soft tissue. In the absence of animal soft tissue, the gelatin, transparent square box and box cover form an empty model, which is used to record the puncture path of the puncture needle during the no-load process, and provide a reference for judging the deflection state of the puncture needle after puncturing the animal soft tissue benchmark.
其中，透明方盒703为塑料透明方盒，便于观察和取放，实际操作过程中，可使用透明度较高的塑料饭盒作为实验用透明方盒，且要求透明方盒703的横向面积大于需穿刺动物软组织701的横截面积；盒盖702具有一定程度的承载力，利用盒盖702承载软组织的重力以防止明胶的变形；盒盖上加工出的阵列孔8的孔径要略大于穿刺针经过阵列孔的横向偏斜量，以防止盒盖与穿刺针的干涉进而影响实验效果。Among them, the transparent square box 703 is a plastic transparent square box, which is convenient for observation and pick-and-place. In the actual operation process, a plastic lunch box with high transparency can be used as a transparent square box for experiments, and the lateral area of the transparent square box 703 is required to be larger than that required to be punctured. The cross-sectional area of the animal soft tissue 701; the box cover 702 has a certain degree of bearing capacity, and the gravity of the soft tissue is used to bear the weight of the box cover 702 to prevent the deformation of the gelatin; the aperture of the array hole 8 processed on the box cover is slightly larger than the puncture needle passing through the array hole The amount of lateral deflection to prevent the interference between the lid and the puncture needle and affect the experimental results.
模型中所用到的明胶704，其成分为：食用明胶粉(罗拨臣)、医用甘油(Paimini纯度99％)、精致淀粉、去离子水。因本判定方法对所用到明胶的材料力学性能无严格要求，所以配置过程可直接参照已发表文献中的配置步骤(参考文献：Molloy J A.A device fordelivering a highly localized hyperthermia treatment to deep seated braintumors[M].University of Virginia,1988.)。按参考文献中的方法完成明胶溶液的配置，将混合均匀的明胶溶液倒入透明的塑料方盒中。将带阵列孔的盒盖702盖在透明方盒703上后，从阵列孔中继续盛装明胶溶液使液面与盒盖的上端面平齐。将盛满明胶溶液的塑料透明方盒置于冰箱中冷却12小时后，满足实验要求的明胶便制备完成。将动物软组织在含预期靶点的平面内切割，去除多余的软组织，空载实验完成之后，将制备好的动物软组织直接放在阵列孔的盒盖上，并使动物软组织中预期的目标靶点与空载实验的穿刺起点重合。至此，一种既能保证动物软组织穿刺过程的真实性又能准确判定软组织内穿刺针偏斜状态的复合穿刺模型便制作完成。The gelatin 704 used in the model consists of: edible gelatin powder (Robertson), medical glycerin (Paimini purity 99%), refined starch, and deionized water. Since this determination method does not have strict requirements on the mechanical properties of the gelatin used, the configuration process can directly refer to the configuration steps in the published literature (reference: Molloy J A.A device for delivering a highly localized hyperthermia treatment to deep seated braintumors[M] . University of Virginia, 1988.). Complete the configuration of the gelatin solution according to the method in the reference, and pour the well-mixed gelatin solution into a transparent plastic square box. After covering the box cover 702 with the array holes on the transparent square box 703, continue to fill the gelatin solution from the array holes so that the liquid level is flush with the upper surface of the box cover. After cooling the plastic transparent square box filled with gelatin solution in the refrigerator for 12 hours, the gelatin that meets the experimental requirements is prepared. Cut the animal soft tissue in the plane containing the expected target, and remove the excess soft tissue. After the no-load experiment is completed, place the prepared animal soft tissue directly on the box cover of the array well, and make the expected target in the animal soft tissue It coincides with the puncture starting point of the no-load experiment. So far, a composite puncture model that can not only ensure the authenticity of the animal soft tissue puncture process but also accurately determine the deflection state of the puncture needle in the soft tissue has been produced.
实施例2：Example 2:
本实施例提供一种穿刺针植入动物软组织后靶点定位精度的判定模型，制作过程如实施例1所述，其不同之处在于：透明方盒703为玻璃制透明方盒，盒盖702上阵列孔8的孔径为8mm。孔径的大小根据实验经验数据选择安全数值，因穿刺不同的软组织或使用不同的穿刺针或穿刺策略，穿刺针的横向偏斜量不同，因此孔径的大小也不同。This embodiment provides a model for judging the target positioning accuracy after the puncture needle is implanted into the soft tissue of the animal. The diameter of the upper array hole 8 is 8mm. The size of the pore size is selected according to the experimental experience data. Due to the puncture of different soft tissues or the use of different puncture needles or puncture strategies, the amount of lateral deflection of the puncture needle is different, so the size of the pore size is also different.
实施例3：Example 3:
本实施例提供一种利用实施例1或实施例2中所述的判定模型进行穿刺针植入动物软组织后靶点定位精度判定的方法，其包括以下步骤：This embodiment provides a method for judging the accuracy of target location after the puncture needle is implanted into animal soft tissue using the judgment model described in Embodiment 1 or Embodiment 2, which includes the following steps:
一、配置空载模型：1. Configure the no-load model:
将配置好的明胶装满在透明方盒中，然后将加工有整齐阵列孔的盒盖盖在透明方盒上端，建立空载模型，其制作过程如实施例1所述，最后将空载模型放置在试验台上，以备后用；Fill the configured gelatin in the transparent square box, then cover the box cover with a neat array of holes on the upper end of the transparent square box to build the no-load model. The manufacturing process is as described in Example 1, and finally the no-load model Place it on the test bench for later use;
使用装有颜料的注射器对夹持在现有穿刺装置主轴头上的穿刺针涂覆标记颜料，如图4所示，该现有穿刺装置为直线进给平台，其中，主轴头301为美国InnovaDesign,Inc(美国创新科技公司)设计生产的Direct Drive Spindles；穿刺针夹头302为美国Innova Design,Inc(美国创新科技公司)设计生产的Three Jaw Gapless MicroChuck；Z轴进给平台201为中国Physik Instrumente(PI Shanghai)Co.,Ltd.(普爱纳米位移技术(上海)有限公司)设计生产的M-L01.4S0&C-663.10。并将穿刺针置于空载模型上方，准备进行空载模型的穿刺，以获取无动物软组织情况下，穿刺针的穿刺起点和穿刺路径，为后续复合模型的穿刺提供参考基点；Use a syringe filled with pigments to coat the puncture needle clamped on the spindle head of the existing puncture device with marking paint, as shown in Figure 4, the existing puncture device is a linear feed platform, wherein the spindle head 301 is American InnovaDesign ,Inc (American innovative technology company) designed and produced Direct Drive Spindles; puncture needle chuck 302 is the Three Jaw Gapless MicroChuck designed and produced by American Innova Design, Inc (American innovative technology company); Z-axis feed platform 201 is Chinese Physik Instrumente M-L01.4S0&C-663.10 designed and manufactured by (PI Shanghai) Co., Ltd. (Puai Nano Displacement Technology (Shanghai) Co., Ltd.). And place the puncture needle above the empty model to prepare for the puncture of the empty model, so as to obtain the puncture starting point and puncture path of the puncture needle without animal soft tissue, and provide a reference point for the subsequent puncture of the composite model;
二、对空载模型进行穿刺，以获取穿刺起点和穿刺路径作为后续复合模型的参考基点：2. Puncture the empty model to obtain the puncture starting point and puncture path as the reference point of the subsequent composite model:
空载穿刺过程如图5所示，现有穿刺装置按照设定的穿刺速度、穿刺深度等参数向下进给穿刺针对空载模型进行穿刺，穿刺针401穿过盒盖上的某个阵列孔8的中心对透明方盒703中的明胶704进行穿刺；待穿刺完成后，回退穿刺针，标记颜料便记录下穿刺针的穿刺起点和穿刺路径402，此时的穿刺起点和穿刺路径便作为后续复合模型的参考基点；The no-load puncture process is shown in Figure 5. The existing puncture device feeds downwards according to the set puncture speed, puncture depth and other parameters to puncture the no-load model, and the puncture needle 401 passes through a certain array of holes on the box cover. 8 to puncture the gelatin 704 in the transparent square box 703; after the puncture is completed, the puncture needle is retracted, and the marking pigment records the puncture starting point and puncture path 402 of the puncture needle, and the puncture starting point and puncture path 402 at this time are used as Reference base point for subsequent composite models;
三、配置复合模型并进行复合模型的穿刺：3. Configure the composite model and puncture the composite model:
将事先制备好的动物软组织701置于盒盖702上，并使目标靶点与穿刺起点重合，建立复合模型，如图6所示；Place the pre-prepared animal soft tissue 701 on the box cover 702, and make the target point coincide with the puncture starting point to establish a composite model, as shown in Figure 6;
以与步骤(3)空载穿刺过程相同的参数对复合模型进行穿刺，同时利用垂直布置在X轴、Y轴方向上的相机6采集明胶704内穿刺针的偏斜状态和穿刺路径403，并测量明胶内穿刺针X轴、Y轴方向上的偏斜量，；The composite model is punctured with the same parameters as in the no-load puncture process in step (3), and at the same time, the deflection state and puncture path 403 of the puncture needle in the gelatin 704 are collected by using the camera 6 vertically arranged in the direction of the X-axis and the Y-axis, and Measure the deflection of the puncture needle in the gelatin in the X-axis and Y-axis directions;
四、对穿刺针穿刺动物软组织靶点定位精度的计算：4. Calculation of target positioning accuracy for puncture needle puncture animal soft tissue:
穿刺针的实际直径与照片中直径测量值的比例，可形成照片的标尺。X轴、Y轴方向上穿刺针的实际横向偏斜量可根据照片中偏斜的穿刺针针轴和标记的空载穿刺路径中心距的测量值计算。The ratio of the actual diameter of the needle to the diameter measurement in the photograph forms the scale for the photograph. The actual lateral deflection of the puncture needle in the X-axis and Y-axis directions can be calculated according to the measured value of the center-to-center distance between the deflected puncture needle axis in the photo and the marked no-load puncture path.
以导向器5下端出口为坐标原点，建立三维直角坐标系，其中，以颜料标记的空载穿刺路径402为Z轴，与透明方盒侧壁相互垂直的两条直线为X轴、Y轴，并分别在X轴、Y轴上垂直布置两台相机。根据明胶中穿刺针多个点(X,Z)及(Y,Z)的坐标关系，可利用Matlab软件拟合X(Z)和Y(Z)的函数关系。根据勾股定理，可得穿刺针的空间横向偏斜函数。将动物软组织内穿刺针的任意轴向坐标Z代入，便能准确而便捷的求出该轴向位置处穿刺针的横向偏斜量。With the exit at the lower end of the guide 5 as the coordinate origin, a three-dimensional Cartesian coordinate system is established, wherein the no-load puncture path 402 marked with paint is the Z axis, and the two straight lines perpendicular to the side walls of the transparent box are the X axis and the Y axis, And two cameras are arranged vertically on the X axis and the Y axis respectively. According to the coordinate relationship of multiple points (X, Z) and (Y, Z) of the puncture needle in gelatin, the functional relationship of X (Z) and Y (Z) can be fitted by Matlab software. According to the Pythagorean theorem, the spatial lateral deflection function of the puncture needle can be obtained. By substituting any axial coordinate Z of the puncture needle in the soft tissue of the animal, the lateral deflection of the puncture needle at the axial position can be accurately and conveniently calculated.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510311864.XA CN104867388B (en) | 2015-06-09 | 2015-06-09 | The decision model and decision method of target spot positioning precision after a kind of puncture needle implantation animal soft tissue |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510311864.XA CN104867388B (en) | 2015-06-09 | 2015-06-09 | The decision model and decision method of target spot positioning precision after a kind of puncture needle implantation animal soft tissue |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104867388A true CN104867388A (en) | 2015-08-26 |
| CN104867388B CN104867388B (en) | 2017-06-20 |
Family
ID=53913191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510311864.XA Active CN104867388B (en) | 2015-06-09 | 2015-06-09 | The decision model and decision method of target spot positioning precision after a kind of puncture needle implantation animal soft tissue |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104867388B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN108597338A (en) * | 2018-05-30 | 2018-09-28 | 赵刘军 | Percutaneous kyplasty puncture angle auxiliary device and application method |
| 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 laboratory-use brain puncture accuracy detection device and a method of using the same |
| CN110338852A (en) * | 2018-04-04 | 2019-10-18 | 云南师范大学 | A tactile visual puncture surgery navigation system based on augmented reality |
| 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 |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2850550Y (en) * | 2005-09-29 | 2006-12-27 | 张惠玲 | Hand held puncture guide |
| CN202422544U (en) * | 2012-02-09 | 2012-09-05 | 德州学院 | Skin vascular tissue simulation device for intravenous injection practice |
| CN102708745A (en) * | 2012-05-17 | 2012-10-03 | 徐州医学院 | Training device for puncture operation |
| US20130109000A1 (en) * | 2011-11-02 | 2013-05-02 | Nelson Medical Enterprises, Llc | Method and device for injecting a fluid into an artificial venous structure |
| CN203276696U (en) * | 2013-05-14 | 2013-11-06 | 潘剑威 | Simulation apparatus for arteriopuncture and venipuncture and endovascular treatment |
| CN103886798A (en) * | 2014-03-13 | 2014-06-25 | 西安交通大学 | High-simulation interventional operation trainer |
| CN203773832U (en) * | 2014-02-25 | 2014-08-13 | 蒋茁荣 | See-through percutaneous renal biopsy training box guided by B-mode ultrasonography |
| CN104616577A (en) * | 2015-02-15 | 2015-05-13 | 上海市杨浦区中心医院 | Radial artery puncture practice model and method |
| CN204375307U (en) * | 2015-01-21 | 2015-06-03 | 襄阳市中心医院 | Percutaneous puncture training manikin under Medical CT |
-
2015
- 2015-06-09 CN CN201510311864.XA patent/CN104867388B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2850550Y (en) * | 2005-09-29 | 2006-12-27 | 张惠玲 | Hand held puncture guide |
| US20130109000A1 (en) * | 2011-11-02 | 2013-05-02 | Nelson Medical Enterprises, Llc | Method and device for injecting a fluid into an artificial venous structure |
| CN202422544U (en) * | 2012-02-09 | 2012-09-05 | 德州学院 | Skin vascular tissue simulation device for intravenous injection practice |
| CN102708745A (en) * | 2012-05-17 | 2012-10-03 | 徐州医学院 | Training device for puncture operation |
| CN203276696U (en) * | 2013-05-14 | 2013-11-06 | 潘剑威 | Simulation apparatus for arteriopuncture and venipuncture and endovascular treatment |
| CN203773832U (en) * | 2014-02-25 | 2014-08-13 | 蒋茁荣 | See-through percutaneous renal biopsy training box guided by B-mode ultrasonography |
| CN103886798A (en) * | 2014-03-13 | 2014-06-25 | 西安交通大学 | High-simulation interventional operation trainer |
| CN204375307U (en) * | 2015-01-21 | 2015-06-03 | 襄阳市中心医院 | Percutaneous puncture training manikin under Medical CT |
| CN104616577A (en) * | 2015-02-15 | 2015-05-13 | 上海市杨浦区中心医院 | Radial artery puncture practice model and method |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105910981B (en) * | 2016-05-06 | 2018-07-31 | 哈尔滨工程大学 | The in vitro soft tissue parameter measurement platform of multifunctional bio |
| 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 tactile visual puncture surgery 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 laboratory-use brain puncture accuracy detection device and a method of using the same |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104867388B (en) | 2017-06-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104867388B (en) | The decision model and decision method of target spot positioning precision after a kind of puncture needle implantation animal soft tissue | |
| CN103230283B (en) | Method for optimizing ultrasonic probe imaging plane space position calibration | |
| CN109805990B (en) | Auxiliary positioning device and positioning system for puncture | |
| CN104825232B (en) | A kind of trigeminal neuralgia direction finder based on CT guiding | |
| CN205215355U (en) | Mark point applied to optical operation navigation | |
| CN201759671U (en) | CT positioning puncture outfit | |
| CN203885618U (en) | Device for puncture positioning under real-time guide of CT (computed tomography) | |
| CN110432996A (en) | A kind of positioner for intracranial hematoma puncture and its localization method | |
| TWI572382B (en) | Fat injection device | |
| CN106137336B (en) | A kind of B ultrasound pricking device and its application method | |
| CN206700208U (en) | The fixed puncture of adjustable-angle and the holder device of radioactive prospecting instrument template | |
| Zhang et al. | Study on the control method and optimization experiment of prostate soft tissue puncture | |
| CN204797960U (en) | Puncture positioning tool for three-dimensional angle measurement | |
| CN203777019U (en) | Stereotactic puncture instrument for deep intracerebral hematoma and cerebral ventricle | |
| CN221730818U (en) | A thoracentesis guiding and positioning device | |
| CN201727586U (en) | CT-guided interventional positioning instrument | |
| CN201968838U (en) | Simple variable type positioning ruler for intracranial hematoma puncture | |
| CN206499517U (en) | Minimally Invasive Surgery pin with positioning function | |
| CN201200422Y (en) | Nerve block needle introducer | |
| CN210872103U (en) | Structure for Stereotaxic Brain Lesion Surgery | |
| CN204765919U (en) | Trigeminal nerve direction finder based on CT guide | |
| CN210383993U (en) | Apparatus for assisting intracranial puncture | |
| CN211934211U (en) | CT-guided puncture combined orienting device | |
| CN202761443U (en) | Puncturing three-dimensional positioning device | |
| CN215778494U (en) | Positioning navigation device for percutaneous puncture under CT guidance |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |