CN107049371A - A kind of prostate biopsy art biopsy removing method and device - Google Patents
A kind of prostate biopsy art biopsy removing method and device Download PDFInfo
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- CN107049371A CN107049371A CN201710378802.XA CN201710378802A CN107049371A CN 107049371 A CN107049371 A CN 107049371A CN 201710378802 A CN201710378802 A CN 201710378802A CN 107049371 A CN107049371 A CN 107049371A
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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
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- 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
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- 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
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Abstract
The present invention provides one kind to doctor can accurately operate prostate biopsy pin to carry out biopsy removing method, and provide the computational methods of preoperative puncture needle locus.By being improved to traditional sextant biopsy, six parts will be integrally carried out to prostate in the past to divide equally (at the top of prostate, middle part and bottom, the left and right sides) it is improved to only puncture area-of-interest reconnaissance, it is entirely capable of being supplied to doctor clearly by preoperative image information, three-dimensional prostatic lesion region, by adding an angle adjustment indicating graduation disk auxiliary device, and calculate pin mark position on the basis of planning in the preoperative, path planning and the required puncture anglec of rotation, the puncturing kit after improving is enabled to realize accurately rotation process, with higher precision, and the individual specificity of height, realize venipuncture.
Description
Technical field
The invention belongs to medical Instrument field, a kind of local puncture side for prostatic lesion tissue is specifically related to
Method, and preoperative puncture needle locus computational methods.
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
Improved and preoperative puncture needle it is an object of the invention to provide a kind of puncturing kit structure for prostate biopsy art
The computational methods of locus so that puncture needle is rotated in art and is possibly realized, and the prompting of its work angle is more accurate, and provide one
The computational methods of personalized preoperative puncture needle locus are planted, accurately sextant biopsy procedure is realized.The main pin of this method
To following technical problem present in prior art：
(1) the angle prompting of rotation process is inaccurate
Because only pointing out the anglec of rotation by the tail tag coplanar with puncture needle needle point come sense organ, rotation process is not entered
Row quantifies, with the operation indicating that the arrival in precision operation epoch, inevitable requirement quantify, so the operation set with accurate scale
Part turns into inevitable.
(2) determination of sextant biopsy sites is completely by rule of thumb
Because prostate intervention operation is carried out under the guiding of 2D TRUSs, can only see prostata tissue profile and
Soft tissue is can't see, then sensitive can not be distinguished to chronic prostatitis, hypertrophy of the prostate, with early prostate cancer, so six points
Instrument biopsy is generally divided into six parts from prostate top, middle part and bottom, the left and right sides respectively, carries out representative sample and takes
Go out, this random biopsy is without the prediction carried out when accurately grasping cancer position, it is impossible to ensure the high detection of cancer
Top area in prostate occurs for rate, most cancer, although biopsy is guided via TURS, can not but puncture needle is possibly
Target area is accurately arrived at, only doctor's skills and experience is positioned to puncture needle, it is impossible to accurate to determine whether accurately.
The present invention is exactly to provide one kind to doctor can accurately operate prostate biopsy pin to carry out biopsy removing method, and
Provide the computational methods of preoperative puncture needle locus., will be in the past to preceding by being improved to traditional sextant biopsy
Row gland, which integrally carries out six parts, to be divided equally (at the top of prostate, middle part and bottom, the left and right sides) and is improved to only select area-of-interest
Point is punctured, and is entirely capable of being supplied to the prostatic lesion region of doctor clearly, three-dimensional by preoperative image information, is passed through addition one
Individual angle adjustment indicating graduation disk auxiliary device, and in the preoperative plan on the basis of calculate pin mark position, path planning and
The required puncture anglec of rotation so that the puncturing kit after improvement can realize accurately rotation process, with higher precision, with
And the individual specificity of height, realize venipuncture.
The technical scheme is that：
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 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
According to the desired contact force adjustment puncture needle handle tail end spatial attitude, until reaching desired first object
Enter pin mark, taken out by the flexible pipe by inspection tissue substance A1；
Continue to adjust the spatial attitude of puncture needle handle tail end, reach the second, third, fourth, fifth planned in advance, the
Six targets enter pin mark；Taken out by the flexible pipe by inspection tissue substance A2, A3, A4, A5, A6.
Further, the tail end outer rim of the epitheca also connects an angle prompting dial, and the angle points out dial
Counterclockwise to arrange, the sagittal overlapping of axles of the direction of 0 scale and human body coordinate system in dial.
Further, including：
Point of puncture is delineated, and medical imaging modalities are obtained in advance in the preoperative to person under inspection, is carried out according on the image mode
Path planning is operated, and
Using iterative threshold segmentation combining form operation carry out by inspection station diagram picture segmentation, after singulation by inspection position
The extraction of target signature form is carried out in region using dual-threshold voltage, three-dimensional visualization is then carried out using iso-surface patch method, most
Image will be visualized afterwards imports 3D Slicer by space anatomical position relation selection first of the operator based on target signature form
Target enters pin mark to the 6th target and enters pin mark, so as to take out by inspection tissue substance A2, A3, A4, A5, A6.
Further, including,
The medical imaging modalities are one of following, Medical Resonance (MR) imagings；Computer tomography (CT) is imaged；Just
Electronic emission spectrum (PET) is imaged；Or single photon emission computed tomography (SPECT) imaging.
Further, including, the calculating that ultrasonoscopy and tracking system coordinate system are calibrated,
The first step, medical imaging modalities equipment has customized coordinate system, is designated as the tracking system coordinate in methods described
It is CT, voxel location parameter, voxel size parameter, layer in medical imaging modalities image DICOM file are obtained away from parameter
The coordinate information of reference point；
Second step, will inject water or couplant, puncturing kit is put on fixed support, container one is affixed in calibrated vessel
Side and fixation, the ultrasonoscopy in collection calibrated vessel, records the transition matrix T2 that now second place sensor is provided in real time；
3rd step, metal probe locator is fixed in probe clamp bracket, mobile metal probe locator space bit
Put, when occurring bright spot on ultrasonoscopy, stop movement, now metal probe locator is fixed, metal probe needle point is located at super
In acoustic imaging region, record now metal probe locator in tracking system coordinate system CTIn coordinate Pi, and record ultrasonoscopy
Coordinate I of this upper bright spot on ultrasound image coordinates system Cusi；
4th step, repeats aforesaid operations n times, obtains tracking system coordinate system CTIn point set Pi(i=1,2 ..., n), this n
The coordinate of individual point is differed, and obtains the point set I in ultrasound image coordinates system Cus corresponding with this n pointi(i=1,
2,…,n)；By coordinate relation, Pi=T2T1Ii, wherein Pi、Ii, T2 be, it is known that T1 waits to ask.
Further, including,
Make US coordinate systems (Cus) and tracking system coordinate system (CT) between transition matrix T=T2T1, then Pi=
T·Ii；T is solved using one of following rigid point set method for registering, ICP (Iterative Closest Points) algorithm, CPR
(coherent point drift) algorithm, RP (robust point match) algorithm；Obtain after T, T1=(T2) -1T.
As one embodiment of the present of invention, a kind of equipment is also provided, it is characterised in that including：Puncturing kit, mobile list
Member, calibrated vessel 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 mobile unit is moved in real time on three-dimensional to clamping thing；
The calibrated vessel is the container of a top end opening.
Further, including,
The tail end outer rim of the epitheca also connects an angle prompting dial, and the angle prompting dial is side counterclockwise
To arrangement, the direction of 0 scale and the sagittal overlapping of axles of human body coordinate system in dial.
Further, including,
Metal probe locator, the metal probe locator is made up of handle, pin, alignment sensor, and tracking system can
Real-time coordinates of the alignment sensor in tracking system coordinate system are shown in real time.
Further, including,
The mobile unit is made up of base and some rod members and clamper, is connected between rod member by slide rail, slidably
And geometrical clamp holder clamping metal probe locator, and can be allowed to be moved to target location and fixation, make metal probe locator
Keep down vertical.
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 6 points of sampling schematic diagrames of the invention.
Fig. 2 illustrates the schematic diagram of map device for the angle dial of the present invention.
Fig. 3 calibrates numerical procedure flow chart for the ultrasonoscopy of the present invention with tracking system coordinate system.
Fig. 4 is US of the invention and tracking system coordinate system calibrating installation.
Embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments, the present invention is described in detail.
The invention mainly comprises two aspects：
One is that puncturing kit structure improves accurate cues anglec of rotation when to operate in art；Another is matingly
Provide a kind of personalized anglec of rotation computational methods.
1) 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.Processor can fulfil some processing functions as described below, and contact force is introduced in puncturing kit
Sensor and position sensor, an angle prompting dial is connect in the tail end outer rim of puncturing kit epitheca.Angle dial is set
Meter such as Fig. 2：The sagittal overlapping of axles of the direction of 0 scale and human body coordinate system in dial；The direction of angle increase is side counterclockwise
To；The hole in center is reserves hole, the epitheca for being nested in puncturing kit.Operation consent establishes the space bit by inspection position
Put, and set up according to the reading of contact force sensor that puncture needle remote front-end is anterior and target go out it is desired between pin mark
Contact force, the different stress values by inspection position (such as prostate, rectum, uterus) of normal conditions are different, for personalization
For surgical navigational, experienced doctor can set up relation between force value and locus as auxiliary in advance, during operation
The epitheca of disk with a scale is fixed, puncture needle and flexible pipe are embedded in outer intrathecal turnover rectum or rotation process, the arrow of puncture needle tail end
Head reserve outside epitheca, by read arrow the instruction of dial and processor provide by force parameter come real-time read operation when
The anglec of rotation.
2) calculating that personalized ultrasonoscopy is calibrated with tracking system coordinate system
Supporting ultrasonoscopy and tracking system coordinate system calibration numerical procedure flow chart such as Fig. 3：
The first step, medical imaging modalities equipment has customized coordinate system, is designated as the tracking system coordinate in methods described
It is CT, voxel location parameter, voxel size parameter, layer in medical imaging modalities image DICOM file are obtained away from parameter
The coordinate information of reference point；
Second step, puncturing kit (9) is put on fixed support (11) by injection water or couplant in calibrated vessel (4),
Container (4) side and fixation are affixed on, the ultrasonoscopy (6) in calibrated vessel (4) is gathered in real time, now the second place is sensed record
The transition matrix T2 that device (10) is provided；
3rd step, metal probe locator 5 (being made up of handle 5-1 and pin 5-2) is fixed in probe clamp bracket, mobile
Metal probe locator (5) locus, when occurring bright spot on ultrasonoscopy, stops movement, now metal probe locator
Fixed, metal probe needle point (5-2) is located in ultrasonic imaging field, record now metal probe locator (5) in tracking system
Coordinate system CTIn coordinate (7) Pi, and record coordinate (8) I of this bright spot on ultrasound image coordinates system Cus on ultrasonoscopyi；
4th step, repeats aforesaid operations n times, obtains tracking system coordinate system CTIn point set Pi(i=1,2 ..., n), the seat of this n point
Mark is differed, and obtains the point set I in ultrasound image coordinates system Cus corresponding with this n pointi(i=1,2 ..., n)；By sitting
Mark relation, Pi=T2T1Ii, wherein Pi、Ii, T2 be, it is known that T1 waits to ask.
Make US coordinate systems (Cus) and tracking system coordinate system (CT) between transition matrix T=T2T1, then Pi=
T·Ii；T is solved using one of following rigid point set method for registering, ICP (Iterative Closest Points) algorithm, CPR
(coherent point drift) algorithm, RP (robust point match) algorithm；Obtain after T, T1=(T2) -1T.
As shown in figure 4, the purpose of probe clamp bracket (1) is clamping metal probe locator (5), and metal probe can be made
Locator (5) is moved to target location and fixation.Probe clamp bracket is by base and cradling piece (1), cross bar (2), vertical pole (3) group
Into cradling piece (1), cross bar (2), vertical pole are connected between (3) by slide rail, slidably and fixed.Clamper is housed on vertical pole (3),
The handle 5-1 of metal probe locator (5) can be clamped, pin 5-2 is kept down vertically.
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
According to the desired contact force adjustment puncture needle handle tail end spatial attitude, until reaching desired first object enters pin
Point, is taken out by inspection tissue substance A1 by the flexible pipe；
Continue the spatial attitude of adjustment puncture needle handle tail end, reach the second, third, fourth, fifth planned in advance, the 6th mesh
Mark into pin mark；Taken out by the flexible pipe by inspection tissue substance A2, A3, A4, A5, A6.
2. according to the method described in claim 1, it is characterised in that the tail end outer rim of the epitheca also connects an angle prompting and carved
Scale, the angle prompting dial is counterclockwise arranges, the direction of 0 scale and the sagittal of human body coordinate system in dial
Overlapping of axles.
3. method according to claim 2, it is characterised in that including：
Point of puncture is delineated, and medical imaging modalities are obtained in advance in the preoperative to person under inspection, according to the enterprising walking along the street footpath of the image mode
Program operation, and
Using iterative threshold segmentation combining form operation carry out by inspection station diagram picture segmentation, after singulation by inspection area
Interior use dual-threshold voltage carries out the extraction of target signature form, then carries out three-dimensional visualization using iso-surface patch method, finally will
Visualize image and import 3D Slicer by space anatomical position relation selection first object of the operator based on target signature form
Enter pin mark to the 6th target and enter pin mark, so as to take out by inspection tissue substance A2, A3, A4, A5, A6.
4. method according to claim 3, it is characterised in that including,
The medical imaging modalities are one of following, Medical Resonance (MR) imagings；Computer tomography (CT) is imaged；Positive electron
Emission spectrum (PET) is imaged；Or single photon emission computed tomography (SPECT) imaging.
5. method according to claim 4, it is characterised in that including the meter that ultrasonoscopy is calibrated with tracking system coordinate system
Calculate,
The first step, medical imaging modalities equipment has customized coordinate system, is designated as the tracking system coordinate system C in methods describedT,
Voxel location parameter, voxel size parameter, layer in medical imaging modalities image DICOM file are referred to away from parameter
The coordinate information of point；
Second step, will inject water or couplant, puncturing kit is put on fixed support, container side is affixed on simultaneously in calibrated vessel
Fixed, the ultrasonoscopy in collection calibrated vessel, records the transition matrix T2 that now second place sensor is provided in real time；
3rd step, metal probe locator is fixed in probe clamp bracket, mobile metal probe locator locus, when
When there is bright spot on ultrasonoscopy, stop movement, now metal probe locator is fixed, metal probe needle point is located at ultrasonic imaging
In region, record now metal probe locator in tracking system coordinate system CTIn coordinate Pi, and it is bright to record on ultrasonoscopy this
Coordinate I of the point on ultrasound image coordinates system Cusi；
4th step, repeats aforesaid operations n times, obtains tracking system coordinate system CTIn point set Pi(i=1,2 ..., n), this n point
Coordinate differ, and obtain the point set I in ultrasound image coordinates system Cus corresponding with this n pointi(i=1,2 ..., n)；
By coordinate relation, Pi=T2T1Ii, wherein Pi、Ii, T2 be, it is known that T1 waits to ask.
6. method according to claim 5, it is characterised in that including,
Make US coordinate systems (Cus) and tracking system coordinate system (CT) between transition matrix T=T2T1, then Pi=TIi；
T is solved using one of following rigid point set method for registering, ICP (Iterative Closest Points) algorithm, CPR
(coherent point drift) algorithm, RP (robust point match) algorithm；Obtain after T, T1=(T2) -1T.
7. a kind of equipment, it is characterised in that including：Puncturing kit, mobile unit, calibrated vessel 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 mobile unit is moved in real time on three-dimensional to clamping thing；
The calibrated vessel is the container of a top end opening.
8. equipment according to claim 7, it is characterised in that including,
The tail end outer rim of the epitheca also connects an angle prompting dial, and the angle prompting dial is counter clockwise direction cloth
Put, the sagittal overlapping of axles of the direction of 0 scale and human body coordinate system in dial.
9. equipment according to claim 8, it is characterised in that including,
Metal probe locator, the metal probe locator is made up of handle, pin, alignment sensor, and tracking system can be real-time
Show real-time coordinates of the alignment sensor in tracking system coordinate system.
10. equipment according to claim 9, it is characterised in that including,
The mobile unit is made up of base and some rod members and clamper, is connected between rod member by slide rail, slidably and solid
Determine gripper metal probe locator, and can be allowed to be moved to target location and fixation, keep metal probe locator
Downward vertically.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710378802.XA CN107049371B (en) | 2017-05-26 | 2017-05-26 | A kind of prostate biopsy art biopsy removing method and device |
| PCT/CN2018/087396 WO2018214807A1 (en) | 2017-05-26 | 2018-05-17 | Removal method and apparatus for prostate puncture biopsy |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710378802.XA CN107049371B (en) | 2017-05-26 | 2017-05-26 | A kind of prostate biopsy art biopsy removing method and device |
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| CN107049371B CN107049371B (en) | 2019-08-13 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018214807A1 (en) * | 2017-05-26 | 2018-11-29 | 北京龙慧珩医疗科技发展有限公司 | Removal method and apparatus for prostate puncture biopsy |
| CN109758213A (en) * | 2019-01-11 | 2019-05-17 | 宋刚 | A kind of magnetic resonance-ultrasound fusion prostate biopsy needle localization method and system |
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| CN107049371B (en) * | 2017-05-26 | 2019-08-13 | 北京龙慧珩医疗科技发展有限公司 | A kind of prostate biopsy art biopsy removing method and device |
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| CN203338648U (en) * | 2013-05-20 | 2013-12-11 | 浙江大学 | Simulation training system of ultrasonic guided needle puncture surgery |
| CN205924126U (en) * | 2016-06-26 | 2017-02-08 | 袁征 | Visual guiding device is intervene to supersound |
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| WO2018214807A1 (en) * | 2017-05-26 | 2018-11-29 | 北京龙慧珩医疗科技发展有限公司 | Removal method and apparatus for prostate puncture biopsy |
| CN109758213A (en) * | 2019-01-11 | 2019-05-17 | 宋刚 | A kind of magnetic resonance-ultrasound fusion prostate biopsy needle localization method and system |
| CN109758213B (en) * | 2019-01-11 | 2020-09-08 | 北京大学第一医院 | Magnetic resonance-ultrasonic fusion prostate puncture needle positioning method and system |
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