CN105310782B - Surgical laser alignment system - Google Patents
Surgical laser alignment system Download PDFInfo
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- CN105310782B CN105310782B CN201510746407.3A CN201510746407A CN105310782B CN 105310782 B CN105310782 B CN 105310782B CN 201510746407 A CN201510746407 A CN 201510746407A CN 105310782 B CN105310782 B CN 105310782B
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Abstract
The present invention relates to medical instruments field, specifically for a kind of surgical laser alignment system.The present invention includes distal end guide device and human body bilateral positioner；The distal end guide device includes support base, support bar, Universal active arm, laser fixed mount and distal end generating laser；Locking mechanism is provided between the laser fixed mount and distal end generating laser；The human body bilateral positioner:Including linking arm, two fixed laser collimaters, each fixed laser collimater can launch the laser of laser and the transmitting of two fixed laser collimaters on the same line to two opposite directions respectively；The linking arm is provided with the scale being distributed along radian bearing of trend.The present invention can either be accurately positioned simultaneously again with low cost.The present invention can either be accurately positioned simultaneously and cost is relatively low.
Description
Technical field
The present invention relates to medical instruments field, specifically for a kind of surgical laser alignment system.
Background technology
Brain is control motion, sensigenous and the higher nervous center for realizing higher brain, is accurate control people
There is important function in the nerve center of each part of body, each region, once damage may cause permanent wound to patient
Evil.Meanwhile, we have found that the lesions such as intracranial hematoma, intracranial tumors are frequently located in cranium brain deep (up to 4-5cm) in clinic, this
Require medical worker to find one and can reasonably avoid critical function area, find the operation road in accurate ditch go back to and direction
Line, and require can be strictly in operation accurately performed the operation according to given surgical route.
It is understood that the increase of surgical depth can deepen the difficulty of operative approach (position, direction, depth) significantly, and in fact
If the direction of border operation route, position, depth generation deviation will cause the damage of important brain structure, operative failure is caused, such as
What is precisely performed the operation, and this is accomplished by using location of operation technology, is our urgent problems.
Current location of operation technology is divided into two major classes：
One class is preoperative positioning, and it is to determine lesions position using the preoperative all kinds of scannings (CT, MRI) done to patient,
Then rely on the professional knowledge planning surgery route of doctor and performed the operation, be aided with extra scanning in operation again to operation route
It is corrected and aids in；
This is current clinically most common way, but such method error is larger, if do cranium brain (CT,
Position is incorrect when MRI) scanning (such as patient's stupor, restless, mind are fuzzy, child), and to frequently result in timebase inconsistent,
Difficulty and the degree of accuracy of cranium brain positioning will be greatly increased, and cranium brain is an irregular subsphaeroidal structure, merely by unenhanced
The difficulty for carrying out the positioning of intracranial lesion and being performed the operation is very big, and is difficult to grasp.
If in addition, CT scan is carried out in operation can also increase the amount of radiation of patient and medical worker, being caused to human body
Harm.
Another kind of is Intraoperative position navigation, and this is one of current positioning method state-of-the-art in the world, it is known that probe
The constantly information of position, precisely operation is instructed, but its is expensive, it is difficult to popularize, common City Hospitals, absolutely mostly
Number County Hospitals could not power purchase, but the patient such as craniocerebral trauma, hypertensive cerebral hemorrhage (deep hemotoncus), hydrocephalus is again main in county
City Hospitals carry out operative treatment, therefore be again counties and cities' one-level hospital for can so be accurately positioned guiding operation route
Device has urgent demand.
Therefore, invent a kind of actual demand for meeting current City Hospitals and most County Hospitals and buy energy
Power, can either be accurately positioned simultaneously again lower-cost surgery positioning device as the task of top priority.
The content of the invention
The goal of the invention of the present invention is：There is provided one kind can either be accurately positioned while lower-cost surgical laser is determined again
Position system, its operation is relatively simple, be adapted to large-scale promotion application.
The present invention is achieved through the following technical solutions：
A kind of surgical laser alignment system, it is characterised in that：It is used to guide the remote of given surgical route including at least one
End guide device and the human body bilateral positioner that given surgical route is determined for distal guide device；
The distal end guide device：
Including support base, the support bar being fixed in support base, with the Universal active arm of the universal connection of support bar, with
The laser fixed mount of the universal connection of Universal active arm and the distal end generating laser being rotatably connected on fixed mount；
Being provided between the laser fixed mount and distal end generating laser is used to both relative positions are locked or solved
Except the locking mechanism of locking；
The human body bilateral positioner:
Linking arm including an arc, two be individually fixed in linking arm two ends fixed laser collimater, Mei Gegu
Determine laser aligner can launch the laser of laser and two fixed laser collimater transmittings same to two opposite directions respectively
On one straight line；
The linking arm is provided with the scale being distributed along radian bearing of trend.
Its operation principle and using step it is:
As shown in Figures 5 to 7, operation route telltale mark：Before surgery, using existing CT or MRI scan image with
And 3D graphics softwares are found out and most preferably performed the operation into line, and make virtual extended line mark in vitro virtual operation route entrance and
Exit point；
Human body bilateral positioner is positioned：In operation, first by the Postural immobilization of patient, then by human body bilateral positioner
Operative site is placed on, and fixed laser collimater is opened, the angle and direction that adjustment human body bilateral positioner is placed makes
Obtain the entrance that the laser launched two fixed laser collimater front ends is radiated at the operation route that labeled in vitro goes out respectively
On exit point；
Distal end guide device positioning：Move and adjust distal end guide device and Universal active arm cause it is fixed from human body bilateral
The laser reversely projected on the device of position is irradiated on the alignment target in the generating laser of distal end, is then finely tuned Universal active arm and is allowed sharp
Light beam is injected in the generating laser of distal end, and appropriate fine adjustment of remote generating laser now will untill calibration bead is shinny
Distal end generating laser axial-rotation 180 degree simultaneously keeps being relatively fixed between distal end generating laser and Universal active arm；
Light path is examined：Laser optical path calibration equipment is fixed on human body bilateral positioner, and allows distal end Laser emission
The laser beam that device and one of fixed laser collimater are launched is injected from the two ends of light path calibration passage respectively to be made
It is that can verify that two beam laser are fully located on same straight line to obtain two calibration beades simultaneously shinny；
Certainly, also laser optical path calibration equipment can be replaced with a translucent scraps of paper here, allows two beam laser to irradiate respectively
On the two sides of the translucent scraps of paper simultaneously, it is seen that two beam laser irradiate on one point；
Operation guiding positioning：Finally, human body bilateral positioner is removed, distal end generating laser launches the light of laser
Road is always positioned on set operation route, constantly helps medical worker to verify whether carried out operation route occurs deviation.
Its principle is the entrance and outlet of the operation route gone out according to two fixed laser collimator-alignment labeled in vitro
After point, 2 points have uniquely determined straight line so that it is determined that theoretical operation route, while so that distal end guide device is launched
Laser be located along the same line with the laser beam on human body bilateral positioner, that is, be able to ensure that remove human body bilateral determine
The laser and set operation circuit that distal end guide device is launched after the device of position are located along the same line.
In order to preferably implement this programme, following preferred scheme is additionally provided：
Further, the human body bilateral positioner also includes at least one auxiliary arm of connection, and the one end for connecting auxiliary arm leads to
Crossing one can be flexibly connected along the connection sliding sleeve that linking arm radian bearing of trend is moved freely or locked with linking arm；
Connect auxiliary arm be provided with extend along a length thereof directional spreding scale, more than one can extend along a length thereof direction from
The first movable sliding sleeve from moving or locking and at least one can launch the first movement of laser to two opposite directions respectively
Laser aligner, the first movement laser aligner is rotatably connected on the first movable sliding sleeve and its rotation centerline and company
Plane where connecing auxiliary arm is perpendicular.
The first movement laser aligner can be measured with respect to the first movable sliding sleeve rotation by being additionally provided with described first movable sliding sleeve
Turn the first angulation disk of deflection angle.
Further, at least one is additionally provided with the linking arm freely to be moved along linking arm radian bearing of trend
Dynamic or locking the second movable sliding sleeve and at least one can launch the second movement laser of laser to two opposite directions respectively
Collimater, the second movement laser aligner is rotatably connected on the second movable sliding sleeve and its rotation centerline and linking arm
Place plane is perpendicular.
The laser positioning of human body bilateral positioner can be expanded a new dimension by connecting auxiliary arm so that human body is double
Side positioner can not only be in a three-dimensional spatially realization positioning.
Sometimes, the problem of producing unexpected during actual operation forces medical worker to have to abandon in advance
The given surgical route of design, and the effect for moving laser aligner is to help medical worker quickly to set up new operation road
Line.
In use, only need to will mobile laser aligner Laser emission position alignment operative site direction, then with similar collimation
One distal end guide device and movement generating laser collimation can quickly be set up one by the method for fixed laser transmitter
Individual new preferable operation route.
Further, the second movement laser aligner can be measured with respect to the second work by being additionally provided with the described second movable sliding sleeve
Second angulation disk of dynamic sliding sleeve rotating and excursion angle.
Further, institute on the fixed laser collimater, the second movement laser aligner and distal end generating laser
The laser of transmitting is single-point laser or cross laser.
Further, the laser launched on the first movement laser aligner and distal end generating laser is single-point
Laser or cross laser.
Further, the distal end generating laser rear end be provided with the perpendicular alignment target of the laser launched with it, it is remote
The inside of end generating laser is provided with launches the calibration bead that laser is on same straight line with it.
Use after alignment target and calibration bead so that user is easier the laser for allowing distal end generating laser to be launched
Light beam is on same straight line with the laser beam that fixed laser collimater is reversely projected.
Further, in addition to laser optical path calibration equipment；
The light path verification that the laser optical path calibration equipment includes verifying the main body of passage with light path, being divided into main body is logical
Road two ends and with light path verify vertical two alignment targets of passage bearing of trend, be arranged on the light path of main body verify in passage two
It is individual calibration bead, be arranged on two calibration beades between and perpendicular to light path verify passage bearing of trend light insulation pad and
For main body to be installed into the fixed arm being connected on human body bilateral positioner.
The effect of laser optical path calibration equipment is to confirm laser beam and fixed laser that distal end generating laser is launched
The laser beam that collimater is reversely projected is on same straight line.
Further, at least one auxiliary laser transmitter, auxiliary laser are also attached on the distal end generating laser
The laser that transmitter is launched is parallel with the laser of distal end laser transmitter projects.
The laser beam that auxiliary laser transmitter is sent is radiated on the body surface near surgical portal point, and medical worker is led to
Cross and observe the relative position of the luminous point and surgical portal point and whether change and can easily confirm during operation
Whether the position of patient changes, to ensure that the laser beam that distal end generating laser is sent is always positioned at set operation
On route.
Further, the auxiliary laser transmitter is rotatably connected on the outer wall of distal end generating laser and can be with remote
The laser that end generating laser is launched freely rotates for axis.
By rotation, the light beam that auxiliary laser transmitter can be allowed to be sent is radiated on the suitable position of patient body-surface.
Than before for technology, beneficial effects of the present invention are：
1st, the present invention can be accurately positioned operation using the laser system in preoperative CT, MRI scan image and operation
Route, the orientation direction laser of transmitting can constantly guide and calibrate medical worker's operation route, registration；
2nd, advantage of lower cost of the present invention, can meet the purchasing power of country hospital；
3rd, pre-operative patients need not dress any additional instrument and equipment, only need to normally be checked, operation letter
It is single and the pain of patient will not be increased.
Brief description of the drawings
Fig. 1 is human body bilateral positioner front view；
Fig. 2 is human body bilateral positioner left view；
Fig. 3 is distal end guide device schematic diagram；
Fig. 4 is laser optical path calibration equipment schematic diagram；
Fig. 5 is operation principle schematic diagram of the present invention；
Fig. 6 is use state schematic diagram one in art of the present invention；
Fig. 7 is use state schematic diagram two in art of the present invention；
Fig. 8 is distal end generating laser front schematic view；
Fig. 9 is distal end generating laser right side schematic diagram.
Label declaration：The movable sliding sleeve of 11- linking arms, 12- second, 13- fixed lasers collimater, the movement laser of 14- second
The movable sliding sleeve of collimater, the auxiliary arm of 15- connections, 16- connections sliding sleeve, 17- first, the movements of 18- first laser aligner, 21- supports
Base, 22- support bars, 23- Universal actives arm, 24- laser fixed mount, 25- distal ends generating laser, 26- locking mechanisms, 27-
Alignment target, 28- calibration bead, 29- auxiliary lasers transmitter, the second angulations of 210- disk, the first angulations of 211- disk, 31- main bodys,
32- fixed arms, 33- light insulation pads.
Embodiment
Illustrate to elaborate to the present invention below in conjunction with the accompanying drawings：
As shown in Fig. 1-Fig. 9, the present invention include at least one be used for guide the distal end guide device of given surgical route with
And the human body bilateral positioner of given surgical route is determined for distal guide device；
The distal end guide device：
Including the support base 21, support bar being fixed in support base 21 22, universal with the universal connection of support bar 22
Lever arm 23, the laser fixed mount 24 with the universal connection of Universal active arm 23 and the distal end being rotatably connected on fixed mount 24 are swashed
Optical transmitting set 25；
Being provided between the laser fixed mount 24 and distal end generating laser 25 is used to lock both relative positions
Or the locking mechanism 26 unlocked；
The human body bilateral positioner:
Linking arm 11 including an arc, two be individually fixed in the two ends of linking arm 11 fixed laser collimater 13,
Each fixed laser collimater 13 can launch laser to two opposite directions respectively and two fixed laser collimaters 13 are launched
Laser on the same line；
The linking arm 11 is provided with the scale being distributed along radian bearing of trend.
The present invention is one kind of preoperative location technology, is different from airmanship in art, only need to be by preoperative image data
Being accurately positioned in art can be achieved, eliminates a large amount of expensive detectings used in art in airmanship and image parsing is set
It is standby, therefore greatly reduce manufacturing cost；
Simultaneously again different from existing way, provided very for medical worker using both sides positioning mode and with reference to laser assisted
Good reference, substantially increases the accuracy of operation.
Moreover, existing stereotactic apparatus, patient is required to wear the equipment in the preoperative and in art, patient's action is caused
Inconvenience, invasive and pain；And this hair is then different, it is only necessary to can be taken off after the completion of being positioned when performing the operation and starting, completely dispense with and hold
It is continuous to carry, while can also accomplish to be accurately positioned, greatly reduce the pain of patient.
In addition, the system can be additionally used in backbone endoscopic surgery, the precise positioning of vertebral internal fixation and guiding.In order to more preferable
Implementation this programme, additionally provide following preferred scheme：
Further, the human body bilateral positioner also includes at least one auxiliary arm 15 of connection, connects the one of auxiliary arm 15
End can be lived by one along the connection sliding sleeve 16 that the radian bearing of trend of linking arm 11 is moved freely or locked with linking arm 11
Dynamic connection；
Connect auxiliary arm 15 be provided with extend along a length thereof directional spreding scale, more than one can extend along a length thereof direction
The the first movable sliding sleeve 17 for moving freely or locking and at least one can launch the first of laser to two opposite directions respectively
Mobile laser aligner 18, the first movement laser aligner 18 is rotatably connected on the first movable sliding sleeve 17 and it rotates
Center line is perpendicular with being connected the auxiliary place plane of arm 15.
The first movement laser aligner 18 can be measured with respect to the first activity cunning by being additionally provided with described first movable sliding sleeve 17
Cover the first angulation disk 211 of 17 rotating and excursion angles.
Further, at least one is additionally provided with the linking arm 11 can be along the radian bearing of trend of linking arm 11 certainly
The second movable sliding sleeve 12 from moving or locking and at least one second moving of can launching laser to two opposite directions respectively
Dynamic laser aligner 14, the second movement laser aligner 14 is rotatably connected on the second movable sliding sleeve 12 and in its rotation
Heart line and the place plane of linking arm 1 are perpendicular.
Further, the second movement laser aligner 14 relative the can be measured by being additionally provided with the described second movable sliding sleeve 12
Second angulation disk 210 of the two movable rotating and excursion angles of sliding sleeve 12.
Further, the movement laser aligner 14 of fixed laser collimater 13, second and distal end generating laser
The laser launched on 25 is single-point laser or cross laser.
Further, the laser launched is on the first movement laser aligner 18 and distal end generating laser 25
Single-point laser or cross laser.
Further, the rear end of distal end generating laser 25 is provided with the perpendicular alignment target of the laser launched with it
27th, the inside of distal end generating laser 25 is provided with launches the calibration bead 28 that laser is on same straight line with it.
Further, in addition to laser optical path calibration equipment；
The laser optical path calibration equipment includes verifying the main body 31 of passage with light path, is divided into the light path school of main body 31
The light path verification for test passage two ends and verify vertical two alignment targets 27 of passage bearing of trend with light path, being arranged on main body 31 is led to
Two in road are calibrated beades 28, are arranged between two calibration beades 28 and verify passage bearing of trend perpendicular to light path
Light insulation pad 33 and be connected to fixed arm 32 on human body bilateral positioner for main body 31 to be installed.
Further, at least one auxiliary laser transmitter 29 is also attached on the distal end generating laser 25, is aided in
The laser that generating laser 29 is launched is parallel with the laser that distal end generating laser 25 is launched.
Further, the auxiliary laser transmitter 29 is rotatably connected on the outer wall of distal end generating laser 25 and can
Freely rotated as axis using the laser that distal end generating laser 25 is launched.
Although the present invention is illustrated and illustrated to the present invention using specific embodiment and its alternative, but it should reason
Solution, can implement without departing from the variations and modifications in the scope of the present invention.It is therefore understood that except by with
Outside the limitation of attached claim and its condition of equivalent, the present invention is not limited by all senses.
Claims (10)
1. a kind of surgical laser alignment system, it is characterised in that：The distal end for being used to guide given surgical route including at least one
Guide device and the human body bilateral positioner that given surgical route is determined for distal guide device；
The distal end guide device：
Including support base (21), the support bar (22) being fixed in support base (21) and support bar (22) universal connection
Universal active arm (23), with the laser fixed mount (24) of Universal active arm (23) universal connection and being rotatably connected on fixed mount
(24) the distal end generating laser (25) on；
Being provided between the laser fixed mount (24) and distal end generating laser (25) is used to lock both relative positions
Or the locking mechanism (26) unlocked；
The human body bilateral positioner:
Linking arm (11) including an arc, two be individually fixed in linking arm (11) two ends fixed laser collimater
(13), each fixed laser collimater (13) can launch laser and two fixed laser collimaters to two opposite directions respectively
(13) transmitting laser on the same line；
The linking arm (11) is provided with the scale being distributed along radian bearing of trend.
2. surgical laser alignment system according to claim 1, it is characterised in that：The human body bilateral positioner is also wrapped
Include at least one and connect auxiliary arm (15), the one end for connecting auxiliary arm (15) can be along linking arm (11) radian extension side by one
It is flexibly connected to the connection sliding sleeve (16) for moving freely or locking with linking arm (11)；
Connect auxiliary arm (15) be provided with extend along a length thereof directional spreding scale, more than one can extend along a length thereof direction from
The first movable sliding sleeve (17) from moving or locking and at least one can launch the first of laser to two opposite directions respectively
Mobile laser aligner (18), the first movement laser aligner (18) be rotatably connected on the first movable sliding sleeve (17) and
Its rotation centerline is perpendicular with being connected auxiliary arm (15) place plane；
The first movement laser aligner (18) can be measured with respect to the first activity cunning by being additionally provided with described first movable sliding sleeve (17)
Cover the first angulation disk (211) of (17) rotating and excursion angle.
3. surgical laser alignment system according to claim 1, it is characterised in that：It is additionally provided with the linking arm (11)
At least one the second movable sliding sleeve (12) that can be moved freely or lock along linking arm (11) radian bearing of trend and extremely
Few one can launch the second movement laser aligner (14) of laser, the second movement laser quasi to two opposite directions respectively
Straight device (14) is rotatably connected on the second movable sliding sleeve (12) and its rotation centerline mutually hangs down with plane where linking arm (11)
Directly.
4. surgical laser alignment system according to claim 3, it is characterised in that：On described second movable sliding sleeve (12) also
Provided with second angulation of relative second movable sliding sleeve (12) the rotating and excursion angle of the second movement laser aligner (14) can be measured
Disk (210).
5. the surgical laser alignment system according to any one of claim 3 or 4, it is characterised in that：The fixed laser
The laser launched on collimater (13), the second movement laser aligner (14) and distal end generating laser (25) swashs for single-point
Light or cross laser.
6. surgical laser alignment system according to claim 2, it is characterised in that：The first movement laser aligner
(18) laser and on distal end generating laser (25) launched is single-point laser or cross laser.
7. the surgical laser alignment system according to claim 1-4 any one, it is characterised in that：The distal end laser hair
Emitter (25) rear end is provided with the perpendicular alignment target (27) of the laser launched with it, the inside of distal end generating laser (25) and set
Have and launch the calibration bead (28) that laser is on same straight line with it.
8. the surgical laser alignment system according to claim 1-4 any one, it is characterised in that：Also include laser optical path
Calibration equipment；
The laser optical path calibration equipment includes verifying the main body (31) of passage with light path, is divided into the light path school of main body (31)
Test passage two ends and two alignment targets (27) vertical with light path verification passage bearing of trend, the light path school for being arranged on main body (31)
Two in passage calibration beades (28) are tested, is arranged between two calibration beades (28) and verifies passage perpendicular to light path
The light insulation pad (33) of bearing of trend and the fixed arm for being connected to main body (31) installation on human body bilateral positioner
(32)。
9. the surgical laser alignment system according to claim 1-4 any one, it is characterised in that：The distal end laser hair
At least one auxiliary laser transmitter (29) is also attached in emitter (25), the laser that auxiliary laser transmitter (29) is launched with
The laser of distal end generating laser (25) transmitting is parallel.
10. surgical laser alignment system according to claim 9, it is characterised in that：The auxiliary laser transmitter (29)
Be rotatably connected on the laser that can be launched on the outer wall of distal end generating laser (25) and using distal end generating laser (25) as
Axis is freely rotated.
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| CN201510746407.3A CN105310782B (en) | 2015-11-04 | 2015-11-04 | Surgical laser alignment system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510746407.3A CN105310782B (en) | 2015-11-04 | 2015-11-04 | Surgical laser alignment system |
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| CN107126249A (en) * | 2016-02-26 | 2017-09-05 | 陈德路 | Tumour 3 D localised puncture apparatus uses laser rays positioning centre structure |
| CN105832427B (en) * | 2016-03-18 | 2019-01-18 | 南京鼓楼医院 | The external laser alignment guidance system of intracranial hematoma microscopic wound dissection and localization method |
| CN107432768A (en) * | 2016-05-25 | 2017-12-05 | 陈德路 | A kind of circular arc with collimater |
| KR101863574B1 (en) * | 2016-12-29 | 2018-06-01 | 경북대학교 산학협력단 | Application method to fluoroscopy in laser guidance system, recording medium and laser guidance system including calibration tool for performing the method |
| CN107498590A (en) * | 2017-08-09 | 2017-12-22 | 泗洪县正心医疗技术有限公司 | A kind of large scale equipment mobile navigation instrument |
| CN209422093U (en) * | 2018-07-19 | 2019-09-24 | 苏州铸正机器人有限公司 | Location of operation labelling apparatus |
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| US4497319A (en) * | 1981-10-28 | 1985-02-05 | Nippon Infrared Industries Co., Ltd. | Laser irradiating apparatus |
| CN1522672A (en) * | 2003-09-04 | 2004-08-25 | 高春平 | Tridimensional orienting tumour thermotherapy system |
| US8033284B2 (en) * | 2006-01-11 | 2011-10-11 | Curaelase, Inc. | Therapeutic laser treatment |
| CN202776560U (en) * | 2012-09-11 | 2013-03-13 | 王峰 | CT (Computed tomography) guided puncture combination directional device |
| CN205234654U (en) * | 2015-11-04 | 2016-05-18 | 庄源东 | Operation laser positioning system |
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