CN107049370A - A kind of prostate biopsy external member - Google Patents
A kind of prostate biopsy external member Download PDFInfo
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- CN107049370A CN107049370A CN201710368990.8A CN201710368990A CN107049370A CN 107049370 A CN107049370 A CN 107049370A CN 201710368990 A CN201710368990 A CN 201710368990A CN 107049370 A CN107049370 A CN 107049370A
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- ultrasonic transducer
- contact force
- sensor
- remote front
- end portion
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
- A61B10/0241—Pointed or sharp biopsy instruments for prostate
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
Abstract
The present invention seeks to guide prostate biopsy using high precision electro magnetic orientator real-time tracking ultrasonic transducer and puncture needle, and provide the orientation of the ultrasonic transducer and the wave beam launched by ultrasonic transducer in a kind of external member for calculating prostate biopsy；And it can determine that being aligned or not aligned with for the two axis.Once the axis is aligned, the tension force that ultrasonic transducer can be carried out on operation and contact force sensor can be read to set up institutional framework and contact force, it is consequently for accurately judging the locus of puncture needle, by multimodal medical image registration and integration technology, higher-quality targeting guided puncture is provided with reference to the Diagnostic Superiority of preoperative MRI image and the guiding in real time advantage of TRUS images.
Description
Technical field
The invention belongs to medical Instrument field, it is specifically related to a kind of for prostate biopsy external member.
Background technology
Prostate cancer is one of most common cancer in males, and its fatal rate ranks in non-skin cancer
Two.At present, the prostate cancer screening method of prevalence the most is serum PSA examination, next to that in real-time 2D warps
Lower six times or more the biopsies carried out of endorectal ultrasonography guiding.As the part of this program, prostate is generally divided into 6 etc.
The region of volume.It is one or many from each acquisition in this six regions in system but substantially direction-free mode
Biopsy.This program is referred to as sextant biopsy.
Because sextant biopsy cost is low and relatively simple and extensive relative to the other method of detection prostate cancer
Use.However, sextant biopsy has been shown with serious false negative rate, and may on biopsy actual position not
Accurately.Sought ways to return sb.'s kindness usually using the primary standard of prostate and accuse the result of sextant biopsy, on the primary standard figure of prostate, disease
Reason doctor manually explains biopsy results.This figure is substantially inaccurate, because the Pathology Doctors ' explained is not known
The true position of biopsy.The systemic aspiration biopsy of TRUS (TRUS) guiding seems to solve above-mentioned technical barrier,
Because of its real-time, radiationless, important indicator of the performance such as inexpensive and simple to operate as inspection diagnosis of prostate cancer is imaged.
But, ultrasonic imaging speed is fast, although can in art real time imagery, but due to the limited resolution of ultrasonography, image
Discrimination between middle soft tissue is not also high, though the position of energy real-time tracing sample conduit, can not be by image to pathological tissues
Be accurately positioned, cause to be based purely on the method for sampling of ultrasound, the sensitivity to cancer detection is not high, only 60% to
85%.
The content of the invention
The purpose of the present invention is to utilize high precision electro magnetic orientator real-time tracking ultrasonic transducer and puncture needle guiding prostatitis
Gland puncture, and a kind of external member for prostate biopsy is provided.Its operation principle is that external member is flexible cylindrical body pipeline, such as
Power is not present on fruit pipe end or if power is parallel to distal end axis, then the coupling part of flexible cylindrical body pipeline
Distal end and proximal end are aligned, and distal end axis is aligned with the axis of the distal part of flexible cylindrical body pipeline；
If on the contrary, there is asymmetric force on end, the two malalignement.
According to above-mentioned physical model, in all cases, can calculate the ultrasonic transducer in the external member of prostate biopsy with
And the orientation for the wave beam launched by ultrasonic transducer；And it can determine that being aligned or not aligned with for the two axis.Once the axis
Alignment, the tension force that ultrasonic transducer can be carried out on operation and contact force sensor can be read to set up knot of tissue
Structure and contact force, are consequently for accurately judging the locus of puncture needle, by multimodal medical image registration and integration technology,
Higher-quality targeting guiding is provided with the guiding in real time advantage of TRUS images with reference to the Diagnostic Superiority of preoperative MRI image to wear
Thorn.This method is mainly for following technical problem present in prior art：
Prostate MRI and ultrasonoscopy difference are big, prostate is produced compared with large deformation and ultrasonoscopy by probe extruding
Available for the reason such as feature is less of registration, the registration of prostate MRI-TRUS images is required for clinician to take a significant amount of time
MRI and TRUS data are done with manual segmentation, and the unstable influence to registration effect of segmentation result is larger, relatively tool clinical practice
Property for Xu S, the targeting lancing system of the prostate based on electromagnetic positioners that Kruecker J are proposed, the system is first to preoperative
MRI and 3D TRUS images carry out manual rigid registration, then carry out two peacekeepings three using magnetic tracking in puncture process
TRUS image registration is tieed up, is schemed finally according to two-dimensional ultrasonic image in preoperative rigid registration result logistic and preoperative MRI
The space transformational relation of picture, however, the 3D TRUS data used in the system are based on the electromagnetic location being attached on ultrasonic probe
Sensor and serial two-dimension images data reconstruction are obtained, and the method is computationally intensive, sweep time is long, and rebuild scanning process probe
Different degrees of extruding, influence reconstruction precision are easily caused on prostate.
The present invention accurately positions ultrasonic probe and puncture needle by means of electromagnetic location instrument, manual by MRI and 3D TRUS
Rigid registration, using high specific of the MRI image to early prostate cancer, accurate regioselective penetrating area is used as perceptual interest
Area, this selective aspiration biopsy is different from conventional sextant biopsy method, and sextant biopsy is generally respectively from prostate
Top, middle part and bottom, the left and right sides are divided into six parts, carry out representative sample taking-up, this random biopsy be
Without the prediction carried out when accurately grasping cancer position, it is impossible to ensure the high detection rate of cancer, using the present invention only to sense
Interest region reconnaissance piercing method, is entirely capable of being supplied to the prostatic lesion of doctor clearly, three-dimensional by preoperative image information
Region, so as to improve the recall rate of prostate cancer, and a kind of prostate biopsy external member proposed by the invention solve it is traditional
Image rebuilding method is computationally intensive, spend time length and rebuild the shape as caused by ultrasonic probe extruding prostate in scanning process
Becoming difference causes the low shortcoming of reconstruction precision, improves the accuracy of three-dimensional data.
The technical scheme is that：
Puncturing kit is inserted into the chamber in the body of person under inspection, the puncturing kit has epitheca, is embedded in institute
Outer intrathecal puncture needle and flexible pipe are stated, the tail end outer rim of the epitheca connects first position sensor, and the puncture needle has for operating
The hand-held handle tail end of person and contact are by the remote front-end for examining position；Contact force sensor, position positioned at the remote front-end portion
Transmitter, receiver and ultrasonic transducer in the remote front-end portion, and second on rear side of the remote front-end portion
Position sensor；
The puncture needle is manipulated to and contacted with the target detection point in the wall of the chamber；
The anterior and described target of the puncture needle remote front-end is set up in response to the reading of the contact force sensor to go out
Desired contact force between pin mark；And
Position and the orientation of second place sensor are sensed according to electromagnetic location instrument, the electromagnetic location instrument utilizes and generates magnetic field
Coil, by generating magnetic field and sensing signal with predetermined swept volume.
Further, the second place sensor includes the spring of duplex form, is arranged on rear side of remote front-end portion
In and contact force sensor nearside；The portions of proximal of contact force sensor is configured around longitudinal axis.
Further, when power is not present or if power is parallel to the axis of symmetry in spring, then the distal end of spring and near
Side end is aligned, and the axis of symmetry is aligned with the longitudinal axis of the distal part of flexible pipe；If there is asymmetric force on spring,
Then the two malalignements；According to variable signal of the spring in magnetic field, ultrasonic transducer is calculated and by ultrasonic transducer
The orientation of the wave beam of transmitting；And determine being aligned or not aligned with for the two axis.
Further, processor can determine angular deflection of the remote front-end portion relative to portions of proximal, thus can calculate
Contact force and the misalignment amount with portions of proximal.
Further, processor directly exports the 3 D tropism of ultrasonic transducer and is derived there by ultrasonic transducer
The direction of the wave beam of transmitting；Ultrasonic transducer can be improved by being calibrated relative to second place sensor orientation to wave beam
Direction.
Further, the receiver in the remote front-end portion is one group of three coil；Three coils be based on by
Incident radiation that the transmitter is produced and generative power dependent signals；The analysis of the power dependent signals provides distal end
Relative to the orientation of the axis of the proximal end of the spring in contact force sensor, i.e. the amount of bow of helical spring.
As an alternative embodiment of the invention, the present invention also provides a kind of equipment, it is characterised in that including：Puncture set
Part, electromagnetic location instrument and information process unit,
The puncturing kit has epitheca, is embedded in the outer intrathecal puncture needle and flexible pipe, the tail end outer rim of the epitheca
First position sensor is connect, the puncture needle has for the hand-held handle tail end of operator and contact by the remote front-end for examining position；
Contact force sensor positioned at the remote front-end portion, transmitter, receiver and ultrasonic transduction positioned at the remote front-end portion
Device, and the second place sensor on rear side of the remote front-end portion；
The anterior and described target of the puncture needle remote front-end is set up in response to the reading of the contact force sensor to go out
The processor of desired contact force between pin mark；And
The information process unit of ultrasonoscopy is set up in response to the processor and the ultrasonic transducer echo-signal,
The position of the electromagnetic location instrument sensing second place sensor and orientation, the electromagnetic location instrument utilize and generate magnetic field
Coil, by generating magnetic field and sensing signal with predetermined swept volume；
Further, the second place sensor includes the spring of duplex form, is arranged on rear side of remote front-end portion
In and contact force sensor nearside；The portions of proximal of contact force sensor is configured around longitudinal axis.
Further, the receiver in the remote front-end portion is one group of three coil；Three coils be based on by
Incident radiation that the transmitter is produced and generative power dependent signals；The analysis of the power dependent signals provides distal end
Relative to the orientation of the axis of the proximal end of the spring in contact force sensor, i.e. the amount of bow of helical spring.
Further, the processor exports the ping launched by ultrasonic transducer via the receiver, and passes through
Wave beam is calibrated relative to position sensor orientation to improve ultrasonic transducer direction.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is using the system that tissue is treated according to the puncturing kit of embodiment of the present invention.
Fig. 2 is the remote front-end graphic illustration according to the puncturing kit in the operating position of embodiment of the present invention.
Fig. 3 is the fragmentary elevational view of the remote front-end of the puncturing kit according to embodiment of the present invention.
Fig. 4 is the graphic illustration of the receiver according to embodiment of the present invention.
Embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments, the present invention is described in detail.
The improvement that the present invention is carried out in terms of the puncturing kit with ultrasonic transducer, it is main to include two aspects.
Puncturing kit structure is improved
Operative process is analyzed：
During operation, patient is lain low, and the puncturing kit of per rectum is entered prostate, ultrasonic wave warp by intervention doctor by rectum
Cross rectal wall, prostate and rectum interface and enter prostate from prostate side, energy is penetrated in order to ensure ultrasonic signal
Power, working frequency is generally in 6.5MHz or so, because preoperative doctor has obtained lesion region in medical imaging modalities equipment
Position, intervention doctor chooses area-of-interest and carries out to pin by rule of thumb, and that six parts are integrally carried out to prostate is equal by traditional
The pathological tissues reconnaissance for dividing (prostate top, middle part and bottom, the left and right sides) to be improved to only to above-mentioned area-of-interest is punctured,
Respectively to the previous-next of the pathological tissues, L-R, anterior-posterior six direction reconnaissance, such as Fig. 1；Because rectum and prostate is not
Organ is connected, puncture needle can only be carried out in rectum, and puncturing kit can only be moved up and down in rectum, so if needing as far as possible
In the case of reducing thorn points and depth that puncture needle enters prostate, puncture needle direction of advance need to be adjusted, i.e. hand
Hold puncture needle handle tail end to carry out around axle itself rotation where handle so that puncture needle is in the situation to inserting needle of pathological tissues
It is lower that 6 points of samplings are realized by turnover and rotation.
Puncturing kit is improved：
For the operation that assists a physician, the puncture needle handle tail end of puncturing kit is included to be carried to the processor in console
For the position sensor of signal.Fig. 1 is illustrated utilizes puncturing kit progress ultrasonic therapy corresponding to one embodiment of the invention
The fundamental block diagram of system.In this embodiment, patient therapy device is simultaneously including ultrasonic transducer 45 and ultrasonic imaging transducer.
The two transducers can be separating apparatus, or can be integrated equipment, wherein being shown with high-strength focused super
Sound and imaging ultrasound element are located in same transducer head.Control imaging and the operation of ultrasonic transducer 45 are system controllers
113, the system controller 113 may include one or more processors with universal or special program, to perform above-mentioned functions.
System controller 113 provides control signal to transmitter 48, and the transmitter 48 selects the ultrasonic wave provided by ultrasonic transducer 45
The frequency of signal.In one embodiment, operation power grade is by launching the test signal of multiple different capacity grades simultaneously
The echo signal of test signal generation to being launched is parsed and selected.When the desired characteristics for observing echo signal
When, such as when the certain power distribution on different fundamental frequencies and resonant component is detected in echo signal, for specific by inspection portion
The Ultrasonic Diagnosis power grade of position is just chosen.
Imaging transducer 108 is controlled by imaging ultrasound controller 110, and the imaging ultrasound controller 110 includes passing
The ultrasonic components of system, such as transmitting/reception switch, Beam-former, radio frequency amplifier and signal processor.Ultrasonic controller
110 output feeds back to ultrasonic signal processing device 111, is used to show on video monitor 112 or other display devices to produce
The ultrasound image signal shown.Described image signal is storable in computer-readable medium (DVD, video-tape etc.), by printer
Get or otherwise store, so as to follow-up diagnosis or analysis.
Second place sensor 50 (or computer control steering gear) is controlled by system controller 113, to generate multiple senses
Region of interest to carry out biopsy to tissue.In one embodiment, second place sensor 50 mechanically adjusts ultrasonic transducer 45
Angle orientation or x, y location and focal regions depth.In another embodiment, the motorized adjustment ultrasound of second place sensor 50 is changed
The depth of the angle orientation or x of the energy focal regions of device 45, y location and the focal regions of ultrasonic transducer 45.
By floor push 115, ultrasonic energy can optionally be delivered to ultrasonic transducer 45 by doctor or its assistant.Separately
Outside, doctor can be used control panel 114 on one or more operating keys manually change the size and dimension of area-of-interest with
And the other functions of system.
In certain embodiments, system may include picture position controller 109, and it changes the orientation of imaging transducer 108,
Enable a physician to different angles or check in Different Plane want target puncturing tissue.Picture position control can be mechanical
Or it is DYN dynamic, and can be controlled by system controller 113.
Referring now to Fig. 2, it is the puncturing kit being shown in operating position according to embodiment of the present invention
The graphic illustration of 41 ends.Puncture needle 40 is forced into be contacted with rectum barrier film 105.However, contact force is asymmetrical, thus
The spring 51 of contact force sensor 43 is caused to bend.Be not close to rectum barrier film 105 by inspection position 47, but with rectum barrier film 105
Form angle 106.The axis of symmetry 461 and the misalignment of longitudinal axis 52, but it is intersecting with angle 107.
The contact of puncturing kit 41 is as shown in Figure 3 by the remote front-end at inspection position 47：Positioned at the remote front-end portion 42
Contact force sensor 43, transmitter 48, receiver 44 and ultrasonic transducer 45 positioned at the remote front-end portion 42, and be located at
49 second place sensor 50 on rear side of the remote front-end portion；
The remote front-end of puncture needle 40 front portion 42 is set up in response to the reading of the contact force sensor 43 and described
The processor (not shown) for the desired contact force that target goes out between pin mark；And
The information process unit of ultrasonoscopy is set up in response to the processor and the echo-signal of the ultrasonic transducer 45,
The position of the electromagnetic location instrument sensing second place sensor 50 and orientation, the electromagnetic location instrument utilize and generate magnetic
The coil of field, by generating magnetic field and sensing signal with predetermined swept volume；
Operator can be by the data provided in response to the processor of above-mentioned sensing signal of viewing console, with reference to letter
Number process circuit is by receiving, amplifying, filtering and digitizing the signal from first position sensor, regulation and control handle tail end.
The second place sensor 50, includes the spring 51 of duplex form, in being arranged on 49 on rear side of remote front-end portion
And the nearside of contact force sensor 43.The portions of proximal 49 of contact force sensor 43 is configured around longitudinal axis 52.When
When spring 51 is bent, longitudinal axis 52 need not be aligned with the axis of symmetry 46.In other words, contact force sensor 53 serves as end 41
Joint between the section of the nearside of contact force sensor 43.If power is not present on end 47 or if power is parallel to symmetrical
Axis 46, the then distal end of spring 51 and proximal end alignment, and the distal part of the axis of symmetry 46 and conduit (are located at and connect
The nearside of touch force sensor 43) longitudinal axis 52 be aligned.If there is asymmetric force on end 47, the two axis are not right
It is accurate.In all cases, the orientation of ultrasonic transducer 45 and the wave beam launched by ultrasonic transducer 45 can be calculated；And can be true
Determine being aligned or not aligned with for the two axis.
Further, including,
The processor is swashed via the cable for passing to the console by the transmitter 48 positioned at the remote front-end portion
The ultrasonic transducer 45 living exports the 3 D tropism of ultrasonic transducer 45, and is derived there what is launched by ultrasonic transducer 45
The direction of wave beam.Further, including,
The processor exports the ping launched by ultrasonic transducer 45 via the receiver 44, and by relative to
Second place sensor 50 is orientated to be calibrated to improve the direction of ultrasonic transducer 45 to wave beam.
Receiver 10 as shown in Figure 4, receiver 10 preferably include be wrapped on air-core two or more simultaneously
And more preferably three cell windings 101,102,103.Coil has mutually orthogonal axis.The length of coil 102 and conduit
Axis is advantageously aligned.Coil 101,102,103 is closely separated along the axis of conduit, to reduce second place sensor
Diameter and so that the sensor is adapted to be incorporated into the remote front-end portion.
For most applications, catheter distal end relative to reference system position and orientation quantitative measurment be must
Want.This needs at least two nonoverlapping radiators, and the radiator generates at least two distinguishable AC magnetic fields, the radiator
Relative to reference system relevant position and be oriented to known；Radiator driver, the radiator driver is preferably radiation
Device continuously provides AC signals to generate AC magnetic fields；And position sensor, the position sensor include at least two it is non-parallel pass
Sensor is to measure the magnetic fluxes as caused by described at least two distinguishable magnetic fields.The quantity of radiator is multiplied by the number of sensor
Amount is equal to or more than the quantity of the free degree of expectation quantitative measurment of the sensor relative to the position of reference system and orientation.Work as expectation
When determining six positions and the orientation coordinate of the distal end of conduit, at least two coils are needed in receiver 10.Preferably
Using three coils to improve the accuracy and reliability of position measurement., can in some applications of less dimension are wherein needed
Only single coil is needed in receiver 10, the coil is oriented as the dipole emission axis vertical take-off with transmitter.
The signal that lead 104 is used to detect cell winding 101,102,103 is transmitted via the proximal end of conduit
Handled to signal processor, to produce desired position information.Preferably, lead 104 is twisted-pair feeder to reduce pickup simultaneously
And can be by further electrical shielding.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of method, it is characterised in that comprise the following steps：
Puncturing kit is inserted into the chamber in the body of person under inspection, the puncturing kit has epitheca, is embedded in outside described
Intrathecal puncture needle and flexible pipe, the tail end outer rim of the epitheca connects first position sensor, and the puncture needle has for operator's hand
The handle tail end held and contact are by the remote front-end for examining position；Contact force sensor positioned at the remote front-end portion, positioned at institute
State the transmitter, receiver and ultrasonic transducer in remote front-end portion, and the second place on rear side of the remote front-end portion
Sensor；
The puncture needle is manipulated to and contacted with the target detection point in the wall of the chamber；
The anterior and described target of the puncture needle remote front-end is set up in response to the reading of the contact force sensor and goes out pin mark
Between desired contact force；And
Position and the orientation of second place sensor are sensed according to electromagnetic location instrument, the electromagnetic location instrument utilizes the line for generating magnetic field
Circle, by generating magnetic field and sensing signal with predetermined swept volume.
2. according to the method described in claim 1, it is characterised in that the second place sensor includes the bullet of duplex form
Spring, in being arranged on rear side of remote front-end portion and contact force sensor nearside；The portions of proximal of contact force sensor is around vertical
It is configured to axis.
3. method according to claim 2, it is characterised in that including：
When power is not present or if power is parallel to the axis of symmetry in spring, then the distal end of spring and proximal end alignment, and
And the axis of symmetry is aligned with the longitudinal axis of the distal part of flexible pipe；If there is asymmetric force on spring, the two axis
Misalignment；According to variable signal of the spring in magnetic field, ultrasonic transducer and the wave beam launched by ultrasonic transducer are calculated
Orientation；And determine being aligned or not aligned with for the two axis.
4. method according to claim 3, it is characterised in that including,
Processor can determine angular deflection of the remote front-end portion relative to portions of proximal, thus can calculate contact force and with it is near
The misalignment amount of side part.
5. method according to claim 4, it is characterised in that including,
Processor directly exports the wave beam that the 3 D tropism of ultrasonic transducer and being derived there is launched by ultrasonic transducer
Direction；Ultrasonic transducer direction can be improved by being calibrated relative to second place sensor orientation to wave beam.
6. method according to claim 5, it is characterised in that including,
The receiver in the remote front-end portion is one group of three coil；Three coils are based on being produced by the transmitter
Incident radiation and generative power dependent signals；The analysis of the power dependent signals provides distal end and passed relative to contact force
The orientation of the axis of the proximal end of spring in sensor, i.e. the amount of bow of helical spring.
7. a kind of equipment, it is characterised in that including：Puncturing kit, electromagnetic location instrument and information process unit,
The puncturing kit has epitheca, is embedded in the outer intrathecal puncture needle and flexible pipe, and the tail end outer rim of the epitheca connects
One position sensor, the puncture needle has for the hand-held handle tail end of operator and contact by the remote front-end for examining position；It is located at
The contact force sensor in the remote front-end portion, transmitter, receiver and ultrasonic transducer positioned at the remote front-end portion, with
And the second place sensor on rear side of the remote front-end portion；
The anterior and described target of the puncture needle remote front-end is set up in response to the reading of the contact force sensor and goes out pin mark
Between desired contact force processor；And
The information process unit of ultrasonoscopy is set up in response to the processor and the ultrasonic transducer echo-signal,
The position of the electromagnetic location instrument sensing second place sensor and orientation, the electromagnetic location instrument utilize the line for generating magnetic field
Circle, by generating magnetic field and sensing signal with predetermined swept volume.
8. equipment according to claim 7, it is characterised in that
The second place sensor includes the spring of duplex form, is arranged in remote front-end portion rear side and contact force is passed
The nearside of sensor；The portions of proximal of contact force sensor is configured around longitudinal axis.
9. equipment according to claim 8, it is characterised in that including,
The receiver in the remote front-end portion is one group of three coil；Three coils are based on being produced by the transmitter
Incident radiation and generative power dependent signals；The analysis of the power dependent signals provides distal end and passed relative to contact force
The orientation of the axis of the proximal end of spring in sensor, i.e. the amount of bow of helical spring.
10. equipment according to claim 9, it is characterised in that including,
The processor exports the ping launched by ultrasonic transducer via the receiver, and by relative to position sensing
Device orientation is calibrated to improve ultrasonic transducer direction to wave beam.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710368990.8A CN107049370B (en) | 2017-05-26 | 2017-05-26 | A kind of prostate biopsy external member |
| PCT/CN2018/087394 WO2018214805A1 (en) | 2017-05-26 | 2018-05-17 | Prostate puncture kit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710368990.8A CN107049370B (en) | 2017-05-26 | 2017-05-26 | A kind of prostate biopsy external member |
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| CN107049370A true CN107049370A (en) | 2017-08-18 |
| CN107049370B CN107049370B (en) | 2019-08-06 |
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| CN201710368990.8A Active CN107049370B (en) | 2017-05-26 | 2017-05-26 | A kind of prostate biopsy external member |
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| WO (1) | WO2018214805A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018214805A1 (en) * | 2017-05-26 | 2018-11-29 | 北京龙慧珩医疗科技发展有限公司 | Prostate puncture kit |
| WO2018214806A1 (en) * | 2017-05-26 | 2018-11-29 | 北京龙慧珩医疗科技发展有限公司 | Elastic registration method and apparatus for prostate operation |
| CN109044530A (en) * | 2018-07-17 | 2018-12-21 | 哈尔滨理工大学 | A kind of multi-modal sensory perceptual system and data fusion method of operation on prostate robot |
| CN110037779A (en) * | 2019-05-05 | 2019-07-23 | 深圳大学 | A kind of application method of hand-held intervention device and hand-held intervention device |
| CN110151270A (en) * | 2019-05-10 | 2019-08-23 | 中国科学院苏州生物医学工程技术研究所 | Vibrate sting device, frequency adjusting method and ultrasonic image-forming system |
| CN110811702A (en) * | 2019-12-03 | 2020-02-21 | 贵州中医药大学第一附属医院 | Bronchoscope intelligence biopsy forceps |
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2017
- 2017-05-26 CN CN201710368990.8A patent/CN107049370B/en active Active
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2018
- 2018-05-17 WO PCT/CN2018/087394 patent/WO2018214805A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018214805A1 (en) * | 2017-05-26 | 2018-11-29 | 北京龙慧珩医疗科技发展有限公司 | Prostate puncture kit |
| WO2018214806A1 (en) * | 2017-05-26 | 2018-11-29 | 北京龙慧珩医疗科技发展有限公司 | Elastic registration method and apparatus for prostate operation |
| CN109044530A (en) * | 2018-07-17 | 2018-12-21 | 哈尔滨理工大学 | A kind of multi-modal sensory perceptual system and data fusion method of operation on prostate robot |
| CN110037779A (en) * | 2019-05-05 | 2019-07-23 | 深圳大学 | A kind of application method of hand-held intervention device and hand-held intervention device |
| CN110037779B (en) * | 2019-05-05 | 2020-09-29 | 深圳大学 | Handheld intervention device and use method thereof |
| CN110151270A (en) * | 2019-05-10 | 2019-08-23 | 中国科学院苏州生物医学工程技术研究所 | Vibrate sting device, frequency adjusting method and ultrasonic image-forming system |
| CN110151270B (en) * | 2019-05-10 | 2024-01-30 | 中国科学院苏州生物医学工程技术研究所 | Vibration puncture device, frequency adjustment method and ultrasonic imaging system |
| CN110811702A (en) * | 2019-12-03 | 2020-02-21 | 贵州中医药大学第一附属医院 | Bronchoscope intelligence biopsy forceps |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018214805A1 (en) | 2018-11-29 |
| CN107049370B (en) | 2019-08-06 |
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