CN107874817A - A kind of puncture positioning device and bootstrap technique - Google Patents
A kind of puncture positioning device and bootstrap technique Download PDFInfo
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- CN107874817A CN107874817A CN201610874608.6A CN201610874608A CN107874817A CN 107874817 A CN107874817 A CN 107874817A CN 201610874608 A CN201610874608 A CN 201610874608A CN 107874817 A CN107874817 A CN 107874817A
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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
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The invention discloses a kind of puncture positioning device and bootstrap technique, by setting positioning unit, while puncture needle is fixed, before puncture needle enters in human body, simulation puncture can be carried out, puncture needle is accurately guided using collimation unit, simulation puncture can ensure that puncture angle and position can be accurate, it can once succeed during actual puncture, avoid bringing pain to patient because repeatedly puncturing, and can realize while branched puncture needle is positioned and guided, improve and puncture efficiency, present invention construction is succinct, easy to operate, effectively improves puncture accuracy.
Description
Technical field
The invention belongs to medical instruments field, specifically, is related to a kind of puncture positioning device and bootstrap technique.
Background technology
When some diseases occur for inside of human body, in order to correctly diagnose pathology to make correct treatment, it is necessary to using wearing
Thorn carries out biopsy to focus, also or by puncturing is oriented treatment, is determined mostly by way of instrument such as CT scan device
Go out the orientation of focus and skin anchor point and the depth of puncture needle, measure the position of focus in a certain cross-sectional aspect of human body first
Put, optimal inserting needle position and needle angle are selected in the aspect, utilizes the angle of inserting needle aspect, needle angle and depth of needle
Three-dimensional conformation determine the exact position of focus and lancet puncture.
, it is necessary to puncture needle be fixed so as to which puncture needle is positioned after CT scan device is accurately positioned, ensure to puncture
Pin can be stablized, easily be punctured, and existing positioning and guiding equipment can not fix puncture needle, or puncture needle is consolidated
Surely it is mostly mechanical arm or needle holder, to control the puncture position of puncture needle and angle, needs exact operations due to puncturing, no
One-time puncture success is can guarantee that, and larger pain can be brought to patient by repeatedly carrying out puncture, puncture efficiency is low, while to puncture needle
Positioning need to carry out a variety of regulations, complex operation, time of puncture certainly will be increased, therefore, for medical personnel and patient,
There is inconvenience in unfavorable.
In view of this it is special to propose the present invention.
The content of the invention
The technical problem to be solved in the present invention is overcome the deficiencies in the prior art, there is provided a kind of puncture positioning device and draws
Guiding method, by setting positioning unit, while puncture needle is fixed, before puncture needle enters in human body, simulation can be carried out and worn
Thorn, is accurately guided puncture needle using collimation unit, and simulation puncture can ensure that puncture angle and position can be accurate, actual
It can once succeed during puncture, avoid because repeatedly puncturing and bringing pain to patient, and can realize while to branched puncture needle
Positioned and guided, improved and puncture efficiency, construction is succinct, easy to operate, effectively improves puncture accuracy.
In order to solve the above technical problems, the present invention is using the basic conception of technical scheme：
One aspect of the present invention provides a kind of puncture positioning device, including positioning unit, and described positioning unit includes making to wear
Pricker passes through and is used for the alignment layers for fixing puncture needle, and described alignment layers are with certain elastic high-molecular porous material
Layer.
Further, described positioning unit also includes hard layer, and the upper surface of described hard layer and alignment layers connects,
Described hard layer is cloth, yarn or reticular fibre.
Further, described hard layer is fiber cloth, gauze, non-woven fabrics, cotton or synthetic fiber cloth.
Further, the clathrum that the material that described positioning unit also includes to be developed by x-ray forms, described grid
Layer is provided with uniform grid, and described clathrum is located in alignment layers or is connected with the upper surface of alignment layers.
Further, described grid is grid or grid, and the spacing of grid or grid is 5~20mm, and described x-ray can
The material of development is wire, the silk thread containing metal ingredient, plastic cord or rubber covered wire.
Preferably, the spacing of grid or grid is 10mm.
Further, the thickness of described alignment layers is 10~100mm.
Preferably, the thickness of described alignment layers is 20mm.
Further, described alignment layers are made of wood cellulose fibers or foamed plastic polymer, spongia
Natural sponge, also or synthetic sponge made of other materials.
Further, described positioning unit also includes being used for the adhered layer by alignment layers fixation and human epidermal, described
Adhered layer be medical dual-side glue, described adhered layer is pasted with alignment layers lower surface to be connected.
Further, the collimation unit of the needle angle for guiding determination puncture needle, described collimation unit are included
Laser aid, the angle measurement unit for measuring puncture needle needle angle and installation above-mentioned two including launching laser beam
The fixed seat of device, the support with fixed seat rotation connection, the upright projection of described laser beam comprise at least straight line section,
During work, described laser beam is vertical with the plane where the needle angle for the puncture needle that positioning unit grips.
Further, described collimation unit also includes base, and described support is connected with base rotation, described fixation
The rotation direction of seat is vertical with the rotation direction of support.
Further, described collimation unit also includes being used to measure tilt angle device of the support with respect to base rotation angle,
Described tilt angle device is arranged on support or base.
Further, described laser beam is a word laser beam or cross laser beam, it is preferable that is a word laser beam.
Further, described angle measurement unit is inclinometer, inclinator, the level meter that can carry out angular surveying.
Preferably, described inclinometer is the inclinometer with weight or spirit bubble.
Further, described angle measurement unit is the mobile terminal that can carry out angular surveying.
Further, described angle measurement unit is the mobile phone that can carry out angular surveying.
Further, described fixed seat is provided with the installation folder for being used for activity installation mobile terminal.
Further, described laser beam is a word laser beam or cross laser beam.
Further, described collimation unit can also be two-dimentional inclination angle needle holder, described two-dimentional inclination angle needle holder bag
Include flat first inclinator and the second inclinator, hold needle arm, described needle arm one end of holding is vertical with the first inclinator and turn
Dynamic connection, the described needle arm other end of holding are provided with the pin hole of holding for being used for clamping puncture needle, and described holds needle arm and the second inclinator
Rotation connection, between the second described inclinator is arranged on the first inclinator and holds pin hole, the first described inclinator and second
Inclinator is orthogonal, and described holding is provided with needle arm coordinates instruction angular dimension with the first inclinator, the second inclinator
The first pointer, the second pointer, the first described pointer, the second pointer, to hold pin hole vertical with holding needle arm.
Another aspect of the present invention provides a kind of guiding puncture method, comprises the following steps：
Step S1, positioning unit is pasted onto to human epidermal to be scanned, by the maximum aspect of CT scan focus, drafted
Go out inserting needle position, and needle angle is determined according to inserting needle position, regard the intersection point of needle angle and positioning unit upper surface as the
Two inserting needle positions；
Step S2, the laser aid that upright projection is comprised at least to straight line section laser beam are consolidated with angle measurement unit
It is fixed, make laser aid and angle measurement unit synchronous axial system, with the first straight line section upright projection of laser beam and needle angle
Axis of reference carries out parallel alignment or coincidence correction；
Step S3, laser aid is rotated together with angle measurement unit, rotated by angle measurement unit precise control
One needle angle；
Step S4, puncture needle is placed on the second inserting needle position, the drop point of puncture needle gradient or laser beam is adjusted, makes puncture
The first straight line section upright projection parallel alignment of pin and laser beam overlaps, it is determined that puncturing direction；
Step S5, puncture needle is inserted into positioning unit according to direction is punctured, puncture needle does not touch human body, keeps puncture needle to consolidate
It is fixed motionless.
Further, in addition to step S6：
Again by CT scan, position and puncture whether direction meets inserting needle position that confirmation puncture needle contacts with human body surface
Put, needle angle, if meeting, punctured, if not meeting, puncture needle is extracted and carries out step S4.
Further, described step S2 is：
Step S21, the laser aid that upright projection is comprised at least to straight line section laser beam are consolidated with angle measurement unit
It is fixed, make laser aid and angle measurement unit synchronous axial system, adjust laser aid and make laser beam upright projection in needle angle
Axis of reference where plane；
Step S22, laser aid is rotated, makes the first straight line section upright projection of laser beam and the axis of reference of needle angle
Parallel alignment or coincidence.
Further, described angle measurement unit is the inclinometer with weight, inclinator, the water that can carry out angular surveying
Level.
Further, described laser beam is a word laser beam or cross laser beam.
After adopting the above technical scheme, the present invention has the advantages that compared with prior art.
The positioning unit that the present invention is set, puncture needle is fixed, so as to accurate biopsy needle guide needle angle, in puncture needle
Before in into human body, positioning unit can also play a part of simulation and puncture, and simulation puncture can ensure the equal energy of puncture angle and position
It is accurate, actually puncture when, can one-time puncture can succeed, avoid repeatedly puncturing and bringing not to patient because of misoperation
Necessary pain, and can realize while branched puncture needle is positioned and guided, improve and puncture efficiency.
The collimation unit that the present invention is set, using the angular dimension invariance principle of synchronous axial system, puncture needle can be carried out accurate
Really guiding, without carrying out structure increase to pricking device, it can be realized to the accurate guiding of puncture needle by collimation unit, reduce equipment
Space-consuming, beneficial to puncture.
The present invention is simple in construction, and construction is succinct, easy to operate, practical, effectively reduces the cost of guiding puncture equipment,
Improve and puncture accuracy.
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
A part of the accompanying drawing as the application, for providing further understanding of the invention, of the invention is schematic
Embodiment and its illustrate to be used to explain the present invention, but do not form inappropriate limitation of the present invention.Obviously, drawings in the following description
Only some embodiments, to those skilled in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.In the accompanying drawings：
Fig. 1 is the structural representation of positioning unit of the present invention；
Fig. 2 is the structural representation of the embodiment of collimation unit one of the present invention；
Fig. 3 is the side view of the embodiment of collimation unit one of the present invention；
Fig. 4 is the inventive method schematic flow sheet；
Fig. 5 is the schematic diagram of one embodiment of the invention；
Fig. 6 is the schematic diagram of further embodiment of this invention；
Fig. 7 is the structural representation of the another embodiment of collimation unit of the present invention；
Fig. 8 is the side view of the another embodiment of collimation unit of the present invention；
Fig. 9 is the schematic diagram one of the another embodiment of collimation unit of the present invention；
Figure 10 is the schematic diagram two of the another embodiment of collimation unit of the present invention.
In figure：1-CT scanning planes；2- laser aids；3- puncture needles；4- fixed seats；5- angle measurement units；6- supports；7-
Base；8- pivots；9- tilt angle devices；10- alignment layers；11- hard layers；12- clathrums；13- adhered layers；100- people's body surface
Skin；200- focuses；201- inserting needles position；The second inserting needles of 202- position；The inclinators of 310- first；The pointers of 311- first；320-
Two inclinators；The pointers of 321- second；330- holds needle arm；331- holds pin hole.
It should be noted that these accompanying drawings and word description are not intended as the design model limiting the invention in any way
Enclose, but be that those skilled in the art illustrate idea of the invention by reference to specific embodiment.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in embodiment is clearly and completely described, following examples be used for illustrate the present invention, but
It is not limited to the scope of the present invention.
It is term " on ", " under ", "front", "rear", "left", "right", " perpendicular in the description of the invention, it is necessary to explanation
Directly ", the orientation of the instruction such as " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, merely to just
In the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary.For this
For the those of ordinary skill in field, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As shown in Figures 1 to 10, one aspect of the present invention provides a kind of puncture positioning device, including positioning unit, described
Positioning unit includes the alignment layers 10 for passing through puncture needle 3 and being used to fix puncture needle, and described alignment layers 10 are with certain
The high-molecular porous material layer of elasticity.
Specifically, positioning unit is used to fix puncture needle, including alignment layers 10, and puncture needle can be from the upper surface of alignment layers 10
Piercing into, passed from the lower surface of alignment layers 10, alignment layers 10 have certain thickness, when puncture needle 3 is inserted in alignment layers 10,
Alignment layers 10 can give puncture needle 3 and support, and ensure that puncture needle 3 is fixed, while puncture needle 3 can also be worn in positioning unit
OK, so that it is guaranteed that needle angle is accurate, alignment layers are should also have with certain elastic high-molecular porous material layer, alignment layers
Certain elasticity, attachment can be stablized thereon when placing or being pasted onto human epidermal 100, hold mode, the thickness of alignment layers
For 10~100mm, it is preferable that alignment layers natural sea made of wood cellulose fibers or foamed plastic polymer, spongia
Silk floss, or synthetic sponge made of other materials, as low-density polyethers, polyvinyl alcohol and polyester are made, foam sea also can be selected
Silk floss, sponge of compacting, memory foam, silica gel, latex, medical silica-gel, medical latex, EVA plastic cement, the thickness of described alignment layers are
20mm。
Present invention additionally comprises the collimation unit for guiding the needle angle for determining puncture needle, described collimation unit includes
Launch the laser aid 2, the angle measurement unit 5 for measuring puncture needle needle angle and installation above-mentioned two dress of laser beam
The fixed seat 4 put, the support 6 being rotatablely connected with fixed seat 4, the upright projection of described laser beam comprise at least straight line
Section, during work, described laser beam is vertical with the plane where the needle angle for the puncture needle 3 that positioning unit grips.It is accurate
Straight unit and positioning unit can be the unit being independently arranged, and two units are mutually not attached to, and the device space are reduced, beneficial to puncture
Operation, collimation unit is supported by support 6, and is rotatably connected with support 6, and laser aid 2, angle are provided with fixed seat 4
Measurement apparatus 5, laser beam are launched by laser aid 2, and the upright projection that the laser beam of transmitting is formed comprises at least straight line section.
Wherein, fixed seat 4 forms pivot 8 with the rotation connection of support 6, and fixed seat 4 can do circumference around pivot 8
Motion.When fixed seat 4 rotates, laser aid 2 and angle measurement unit 5 are driven and turned, and laser beam consequently also rotates certain
Angle, the straightway of laser beam can equally rotate, now, 2 turns of angle and the laser aid of the straightway rotation of laser beam
Dynamic angle is identical, and the angle that laser aid 2 rotates then is shown by angle measurement unit 5, therefore can be filled by angular surveying
The size of 5 control laser beam rotational angles is put, therefore in use, needs the upright projection of laser beam in puncture needle needle angle
Institute planar, need to ensure that laser beam is vertical with the plane where puncture needle needle angle.
For positioning unit as support, the device of fixed puncture needle 3, described positioning unit also includes hard layer 11, described
Hard layer 11 be connected with the upper surface of alignment layers 10, alignment layers 10 can pass through puncture needle, for ensure puncture needle positioning
It is fixed in layer 10, a hard layer 11 is set, and hard layer 11 is attached to the upper surface of alignment layers 10, in this way, can strengthen to puncturing
Pin it is firm, described hard layer 11 be cloth, yarn or reticular fibre, it is preferable that hard layer 11 be fiber cloth, gauze, non-woven fabrics,
Enough puncture needles in space between the line and line of cotton or synthetic fiber cloth, cloth or fiber cloth by, meanwhile, also have certain
It is moulding, stable support is formed to puncture needle.After determining puncture position, mark puncture position is similarly important, is more convenient positioning
Inserting needle position 201, the clathrum 12 that the material that described positioning unit also includes to be developed by x-ray forms, described clathrum
12 are provided with uniform grid, and described clathrum 12 is located in alignment layers 10 or is connected with the upper surface of alignment layers 10, and grid is
The spacing of grid or grid, grid or grid is 5~20mm.In CT scan focus 200, corresponding mark can be left.Grid
The upper surface that layer 12 can be affixed directly to alignment layers 10, also or with reference to hard layer 11 set, i.e., alignment layers 10, hard layer 11,
Clathrum 12 is pasted successively, and hard layer 11 can be one layer with clathrum 12, be wholely set, when hard layer 11 is processed directly by net
Compartment 12 is processed inside.Wherein, described grid is grid or grid, and the spacing of grid or grid is 5~15mm, described
The material that x-ray can develop is wire or silk thread, plastic cord or rubber covered wire containing metal ingredient, and grid can be bar shaped lattice
It is or grid-like, it is preferable that described grid is 10 × 10mm grid, after determining inserting needle position 201, records the inserting needle position
Which mesh 201 be located in, and further preferably, clathrum 12 is provided with label, is longitudinally, laterally equipped with corresponding numeral, so as to
Mesh is quickly determined by crossover location.
Positioning unit is in use, need to be placed on human epidermal 100, and constant to stablize its position, described determines
It is medical double that bit location, which also includes being used to fix alignment layers 10 with the adhered layer of human epidermal 100 13, described adhered layer 13,
Face glue, described adhered layer 13 is pasted with the lower surface of alignment layers 10 to be connected.Adhered layer 13 can use medical dual-side glue, double faced adhesive tape one
Face is pasted onto the lower surface of alignment layers 10, in use, the another side of double faced adhesive tape is pasted onto into the human epidermal at focus 200 to be measured
100, then by CT scan focus 200, in this way, positioning unit can be corresponding with position in CT images, during puncture, puncture needle is successively
Enter human body after through clathrum 12, hard layer 11, alignment layers 10, adhered layer 13.
Collimation unit of the present invention also includes base 7, and described support 6 is the universal structure freely rotated, or with
Base 7 is rotatably connected, and the rotation direction of described fixed seat 4 is vertical with the rotation direction of support 6, and support 6 can be with respect to base 7
Rotate, fixed seat 4 can opposite brackets 6 rotate, for more accurately rotation direction and rotational angle size, support 6 is around 7 turns of base
Dynamic direction is perpendicular around the direction that support 6 rotates with fixed seat 4, and support 6 rotates the plane formed and rotates shape with fixed seat 4
Into plane it is orthogonal and be vertical plane.Wherein, described collimation unit also includes being used to measure support 6 with respect to base 7
The tilt angle device 9 of rotational angle, described tilt angle device 9 are arranged on support 6 or base 7, can be by support by tilt angle device 9
6 angles rotated relative to base 7 intuitively show, convenient to control the rotational angle of support 6, and tilt angle device 9 is inclinometer, again
Hammer instrument into shape.
Angle measurement unit 5 is the inclinometer with weight, inclinator, the level meter that can carry out angular surveying, and laser beam is
One word laser beam or cross laser beam, it is preferable that angle measurement unit 5 is inclinator, and laser beam is a word laser beam.As another
A kind of outer preferred embodiment, angle measurement unit 5 are the mobile terminal that can carry out angular surveying, install to enter such as in smart mobile phone
The software of row angular surveying, conventional angle can be measured and substituted, be not limited to peculiar equipment, it is any to carry out setting for angular surveying
It is standby, optimize equipment application.Accordingly, fixed seat 4 is provided with the installation folder for being used for activity installation mobile terminal, can be by movement eventually
The convenient installation or removal in end, are easy to apply.
It is to be understood that collimation unit of the present invention does not limit to said structure, collimation unit is needed to puncture needle
Needle angle guide, it is only necessary to realize the determination or guiding of needle angle.Collimation unit can also be two-dimentional inclination angle
Needle holder, two-dimentional inclination angle needle holder include the flat inclinator 320 of first inclinator 310 and second, hold needle arm 330, and first
Inclinator 320, the second inclinator 330 are used for measurement angle, the inclinometer with weight or spirit bubble can be selected, also or angulation
Device, the 310 vertical and rotation connection of the one end of needle arm 330 and the first inclinator is held, the other end of needle arm 330 is held and is provided with for clamping puncture
Pin 3 holds pin hole 331, holds needle arm 330 and is rotatablely connected with the second inclinator 320, the second inclinator 320 is arranged on the first inclinator
310 and between holding pin hole 331, the first inclinator 310 and the second inclinator 320 are orthogonal, hold and are provided with needle arm 330 and the
One inclinator 310, the second inclinator 320 coordinate the first pointer 311, the second pointer 321 of instruction angular dimension, the first pointer
311st, the second pointer 321, to hold pin hole 331 vertical with holding needle arm 330 and be fixedly installed on and hold in needle arm 330, for ease of behaviour
Make, the first pointer 311, the second pointer 321, hold pin hole 331 and be disposed in parallel relation to one another.
Another aspect of the present invention provides a kind of guiding puncture method, comprises the following steps：
Step S1, positioning unit is pasted onto to human epidermal 100 to be scanned, passes through the maximum layer of CT scan focus 200
Face, inserting needle position 201 is drafted out, and needle angle is determined according to inserting needle position 201, by needle angle and positioning unit upper surface
Net bar point intersection point on light is positioned in the CT of the maximum aspect of CT scan focus as the second inserting needle position 202.
Specifically, positioning unit is pasted onto human epidermal 100, with CT scan and finds the maximum aspect of focus 200, root
Scheme is drafted out according to the position of focus 200, it is determined that the inserting needle position 201 punctured, and indicated in skin surface, by inserting needle position
201 and the angle of the point of impact line of focus 200 and trunnion axis, vertical axes or CT scan face 1 axle in length and breadth be needle angle, reference chart
5, coordinate system o-xyz is established, with human body longitudinal direction for x-axis, the vertical CT scan face 1 of x-axis, level is to for y-axis, perpendicular in CT scan face 1
Directly to for z-axis, x-axis, y-axis, z-axis are orthogonal, define needle angle to puncture the angle α in direction and z-axis.Disease is connected with straight line
Stove 200 and skin inserting needle position 201, and 200 and 201 line is extended to the clathrum of positioning unit, clathrum is provided with net
Bar point, the mesh that the extended line passes through is recorded, by needle angle and the net bar point of positioning unit upper surface in CT scan focus
Intersection point in the CT of maximum aspect on positioning light is as the second inserting needle position 202.It should be noted that above-mentioned coordinate system is only used
In understanding present invention, to the present invention not as restriction.Needle angle and positioning unit upper surface intersection point are the second inserting needle position
202 are put, the second inserting needle position 202, inserting needle position 201 are on needle angle line.
Step S21, upright projection is comprised at least to the laser aid 2 and angle measurement unit 5 of straight line section laser beam
It is fixed, make laser aid 2 and the synchronous axial system of angle measurement unit 5, adjust laser aid 2 and make laser beam upright projection in inserting needle
Plane where the axis of reference of angle.
Specifically, laser aid 2 and angle measurement unit 5 are fixed together, ensure that the two can be rotated together,
Laser beam is ray, utilizes the linearity of laser beam, by laser beam projection on plane is punctured, the upright projection bag of the laser beam
Include straight line section, it is preferable that laser beam is a word laser beam or cross laser beam, and upright projection is a word or cross.Such as
With reference to the coordinate system o-xyz in above-mentioned steps, the upright projection of laser beam is set to fall in yoz planes.Have again with reference to figure 6, work as CT
When the plane of scanning motion is with x-axis out of plumb, the gradient of laser aid 2 is adjusted, it is ensured that laser beam upright projection falls in y ' o ' z ' planes
On.
Step S22, laser aid 2 is rotated, makes the first straight line section upright projection of laser beam and the reference axis of needle angle
Line parallel alignment or coincidence.
Specifically, laser aid 2 is rotated, laser aid 2 rotates together with angle measurement unit 5, makes one in laser beam
Straightway projection overlaps with the axis of reference of needle angle.When laser beam uses a word laser beam, rotating laser aid 2 makes a word
Projection overlaps with axis of reference, when laser beam for cross or other laser beams including straightway when, definition wherein certain straight line
Section is first straight line section, and it is overlapped with axis of reference.With reference to the coordinate system o-xyz in above-mentioned, make laser beam and oz axle weights
Close.
Step S3, laser aid 2 is rotated together with angle measurement unit 5, pass through the accurate rotational one of angle measurement unit 5
Individual needle angle.
Specifically, laser aid 2 is rotated, and is rotated together with angle measurement unit 5, according to the moment of angle measurement unit 5
The angular dimension of rotation is checked, when rotating the corner of needle angle size, stops operating and keeps the position of laser aid 2
Put,
Step S4, puncture needle 3 is placed on the second inserting needle position 202, adjusts the drop point of the gradient of puncture needle 3 or laser beam,
Make the first straight line section upright projection parallel alignment of puncture needle 3 and laser beam or overlap, it is determined that puncturing direction.
Specifically, puncture needle 3 is placed on the second inserting needle position 202, and adjusts the gradient of puncture needle 3 or adjust
The projection drop point of laser beam, or keep laser aid 2 not rotate, in a certain plane translation parallel to needle angle plane
Laser aid 2, make puncture needle 3 and first straight line section upright projection parallel alignment or overlap, now the position of puncture needle 3 is
For needle angle position, the angle positioning to puncture needle 3 is realized.It should be noted that needle angle is the angle in certain plane
Degree, when being positioned to the needle angle of puncture needle 3, puncture needle is in needle angle institute planar, positions inserting needle angle here
The angle of degree positioning puncture needle 3 and reference axis mainly in the plane.Puncture needle 3 is operated in the plane, can be swept according to CT
The angle of face and vertical plane is retouched to control puncture needle 3, puncture needle 3 is in the plane.
Step S5, puncture needle is inserted into positioning unit according to direction is punctured, puncture needle does not touch human body, keeps puncture needle to consolidate
It is fixed motionless.
Specifically, puncture needle 3 is inserted into positioning unit according to direction is punctured from the second inserting needle position 202, puncture needle exists
Support is kept in the presence of positioning unit, the needle angle of puncture is constant, treats the syringe needle of puncture needle 3 and will reach inserting needle position
When 201, stop puncturing, and keep this state, the needle angle of puncture needle 3 determines.
Step S6, again by CT scan, position and puncture whether direction accords with that confirmation puncture needle contacts with human body surface
Inserting needle position 201, needle angle are closed, if meeting, is punctured, if not meeting, puncture needle is extracted and carries out step S4.
To ensure that it is consistent with needle angle that puncture needle 3 is inserted in the angle in positioning unit, now, by the puncture of this state
Device carries out CT scan again, it is ensured that and the angle that puncture needle 3 is now placed in positioning unit is consistent with needle angle, meanwhile, also
Ensure that position of the puncture needle 3 when touching human epidermal 100 is consistent with inserting needle position 201.If needle angle and inserting needle position
201 is consistent, then can carry out follow-up puncture and other work, if needle angle and inserting needle position 201 have one it is inconsistent,
Then need to extract puncture needle 3 from positioning unit, return to step S4, carry out step S4, guided and positioned with collimation unit again, really
Protect inserting needle position 201, needle angle entirely accurate.
Angle measurement unit 5 of the present invention is the inclinometer with weight, inclinator, the level that can carry out angular surveying
Instrument, it is preferable that angle measurement unit 5 is the mobile terminal that can carry out angular surveying, and angle can be carried out by being installed such as in smart mobile phone
Spend the software of measurement, conventional angle can be measured and substituted, be not limited to peculiar equipment, it is any carry out angular surveying equipment it is equal
Can, optimize equipment application.
The positioning unit that the present invention is set, puncture needle is fixed, so as to accurate biopsy needle guide needle angle, in puncture needle
Before in into human body, positioning unit can also play a part of simulation and puncture, and simulation puncture can ensure the equal energy of puncture angle and position
It is accurate, actually puncture when, can one-time puncture can succeed, avoid repeatedly puncturing and bringing not to patient because of misoperation
Necessary pain, and can realize while branched puncture needle is positioned and guided, improve and puncture efficiency.
The collimation unit that the present invention is set, using the angular dimension invariance principle of synchronous axial system, puncture needle can be carried out accurate
Really guiding, without carrying out structure increase to pricking device, it can be realized to the accurate guiding of puncture needle by collimation unit, reduce equipment
Space-consuming, beneficial to puncture.
The present invention is simple in construction, and construction is succinct, easy to operate, practical, effectively reduces the cost of guiding puncture equipment,
Improve and puncture accuracy.
Embodiment one
As shown in Figures 1 to 5, a kind of puncture positioning device described in the present embodiment, including positioning unit, collimation unit,
Described positioning unit includes the alignment layers 10 for passing through puncture needle 3 and being used to fix puncture needle, and described collimation unit is used for
Guiding determine puncture needle needle angle, described alignment layers 10 be with certain elastic high-molecular porous material layer, it is described
Collimation unit include the transmitting laser aid 2 of laser beam, the angle measurement unit 5 for measuring puncture needle needle angle and
The fixed seat 4 of above-mentioned two device, the support 6 being rotatablely connected with fixed seat 4 are installed, the upright projection of described laser beam is at least
Including straight line section, during work, the plane where the needle angle of puncture needle 3 that described laser beam clamps with positioning unit is hung down
Directly.
Specifically, positioning unit is used to fix puncture needle, including alignment layers 10, and alignment layers 10 are foam sponge, puncture needle
It can pierce into from the upper surface of alignment layers 10, be passed from the lower surface of alignment layers 10, the thickness of alignment layers 10 is 20mm, in puncture needle
When being inserted in alignment layers 10, alignment layers 10 can give puncture needle support, ensure that puncture needle is fixed, it is ensured that needle angle is accurate
Really.Collimation unit is supported by support 6, and is rotatably connected with support 6, laser aid 2 is provided with fixed seat 4, angle is surveyed
Device 5 is measured, laser beam is launched by laser aid 2, and the upright projection that the laser beam of transmitting is formed comprises at least straight line section.
Wherein, fixed seat 4 forms pivot 8 with the rotation connection of support 6, and fixed seat 4 can do circumference around pivot 8
Motion.When fixed seat 4 rotates, laser aid 2 and angle measurement unit 5 are driven and turned, and laser beam consequently also rotates certain
Angle, the straightway of laser beam can equally rotate, now, 2 turns of angle and the laser aid of the straightway rotation of laser beam
Dynamic angle is identical, and the angle that laser aid 2 rotates then is shown by angle measurement unit 5, therefore can be filled by angular surveying
The size of 5 control laser beam rotational angles is put, therefore in use, needs the upright projection of laser beam in puncture needle needle angle
Institute planar, need to ensure that laser beam is vertical with the plane where puncture needle needle angle.
Positioning unit also includes hard layer 11 as support, the device of fixed puncture needle 3, positioning unit, and hard layer 11 is
The upper surface of non-woven fabrics, hard layer 11 and alignment layers 10, which is pasted, to be connected, and hard layer 11 is attached to the upper surface of alignment layers 10, can strengthened
Puncture needle is consolidated, the enough puncture needles in space between the line and line of non-woven fabrics by, meanwhile, non-woven fabrics has certain modeling
Shape, stable support is formed to puncture needle.
The clathrum 12 that the silk thread for the baric composition that positioning unit also includes to be developed by x-ray forms, clathrum 12 are provided with
Uniform grid, 10 × 10mm of grid grid, clathrum 12 are provided with label, are longitudinally, laterally equipped with corresponding numeral, clathrum
12 are organized in hard layer 11, and hard layer 11 is pasted with alignment layers 10 to be connected, and clathrum 12 is roentgenopaque plastic cord,
During CT scan focus 200, corresponding mark can be left, focus 200 and the inserting needle position 201 of skin surface are connected with straight line, and
The line of 200 and inserting needle position 201 is extended to clathrum, records the mesh mark that the extended line passes through, i.e. the second inserting needle position
202 are put, the mesh where inserting needle position is quickly determined by corresponding digital crossover position.
It is doctor that positioning unit, which also includes being used to fix alignment layers 10 with the adhered layer of human epidermal 100 13, adhered layer 13,
With double faced adhesive tape, double faced adhesive tape one side is pasted onto the lower surface of alignment layers 10, in use, the another side of double faced adhesive tape is pasted onto into disease to be measured
Human epidermal 100 at stove 200, then by CT scan focus 200, in this way, positioning unit can be corresponding with position in CT images,
During puncture, puncture needle enters human body after sequentially passing through clathrum 12, hard layer 11, alignment layers 10, adhered layer 13.
Angle measurement unit 5 is the mobile terminal that can carry out angular surveying, and fixed seat 4 is provided with mobile eventually for activity installation
The installation folder at end, mobile terminal can easily be installed or removed, be easy to apply.
Using when, positioning unit is pasted onto human epidermal 100, now, CT surface sweepings plane it is parallel with vertical plane or overlap,
Needle angle and inserting needle position 201 are determined according to CT scan image and establish coordinate system o-xyz, the human body longitudinal axis is positioned as x-axis,
The section of CT scan is yoz planes, and y-axis is trunnion axis, and z-axis is vertical axes, and x-axis, y-axis, z-axis are orthogonal.It is assumed that inserting needle angle
Spend and positioned for α, needle angle with positioning unit upper table veil bar point in the CT of the maximum aspect of CT scan focus on light
Intersection point is the second inserting needle position 202, and laser aid 2 is aligned into yoz planes, word laser beam upright projection shape in yoz planes
Projected into a word, rotating laser aid 2 makes word projection be overlapped with z-axis, the record angle that now angle measurement unit is shown；Root
According to needle angle, laser aid 2 is rotated again, and laser aid 2 is rotated into α angular dimensions, because laser aid 2 and angle are surveyed
The fixed and synchronous axial system together of device 5 is measured, rotates laser aid 2, angle measurement unit 5 is rotated, filled according to angular surveying together
The angle for putting 5 determinations rotation is α sizes, and stop operating laser aid 2, and now a word laser beam forms α angles with z-axis；It will wear
Pricker 3 is placed on the second inserting needle position 202, and the gradient of adjustment puncture needle 3 makes puncture needle 3 be overlapped with word projection, or adjustment
Laser aid 2, make laser aid 2 in a certain plane translation parallel to yoz planes, to realize word projection and puncture needle 3
Overlap, now the angle of inclination of puncture needle 3 is needle angle, completes the guiding positioning of puncture needle 3, it is preferable that with reference to two kinds
Adjustment mode, puncture needle 3 is projected punching with a word eventually and overlap, it is ensured that the needle angle of puncture needle 3 is accurate.By puncture needle 3 from
Two inserting needle positions 202 are inserted positioning unit and inserted along needle angle direction, and inserting needle position will be reached by treating the syringe needle of puncture needle 3
When putting 201, stop puncturing, and keep this state, the sting device of this state is subjected to CT scan again, it is ensured that puncture needle 3 this
When angle in positioning unit it is consistent with needle angle, meanwhile, also to ensure puncture needle 3 when touching human epidermal 100
Position it is consistent with inserting needle position 201.If needle angle and inserting needle position 201 are consistent, now, the extended line of puncture needle or
The hacures of formation pass through focus 200, then can carry out follow-up puncture and other work, if needle angle and inserting needle position
201 have one it is inconsistent, then need to extract puncture needle 3 from positioning unit, return to step S4, carry out step S4, again with standard
Straight unit guiding positioning, it is ensured that inserting needle position 201, needle angle entirely accurate.
The positioning unit that the present invention is set, puncture needle is fixed, so as to accurate biopsy needle guide needle angle, in puncture needle
Before in into human body, positioning unit can also play a part of simulation and puncture, and simulation puncture can ensure the equal energy of puncture angle and position
It is accurate, actually puncture when, can one-time puncture can succeed, avoid repeatedly puncturing and bringing not to patient because of misoperation
Necessary pain, and can realize while branched puncture needle is positioned and guided, improve and puncture efficiency.
The present invention by laser come the needle angle of biopsy needle guide, using the angular dimension invariance principle of synchronous axial system,
Puncture needle 3 is accurately guided, it is ensured that needle angle is accurate, while present device is separately provided as auxiliary equipment, and reduction is held
The equipment such as pin device take up space, and beneficial to puncture procedure, and mechanism is succinct, simple to operate, are easy to apply.
Embodiment two
As shown in Figures 1 to 6, the present embodiment is the further restriction of above-described embodiment two, and a kind of described Needle localization fills
Put, guidance unit also includes base 7, and described support 6 is rotatably connected with base 7, and described base 7 or support 6 are provided with
For measuring tilt angle device of the support 6 with respect to the rotational angle of base 7, the tilt angle device can adjust guidance unit and be put down with respect to CT scan
The angle in face, so as to which when CT surface sweeping planes are non-vertical, guidance unit and the angle of CT scan plane are adjusted by tilt angle device,
Make laser beam upright projection eventually in CT surface sweeping planes, so that the needle angle of laser beam positioning is more accurate.Collimation unit
Also include base 7, support 6 is rotatably connected with base 7, and the rotation direction of fixed seat 4 is vertical with the rotation direction of support 6, branch
Frame 6 can rotate relative to base 7, fixed seat 4 can opposite brackets 6 rotate, for more accurately rotation direction and rotational angle size, branch
Frame 6 is perpendicular around the direction that support 6 rotates with fixed seat 4 around the direction that base 7 rotates, and support 6 rotates the plane formed
It is orthogonal and be vertical plane that the plane formed is rotated with fixed seat 4.Wherein, collimation unit also includes being used to measure support 6
With respect to the tilt angle device 9 of the rotational angle of base 7, tilt angle device 9 is arranged on support 6 or base 7, can be incited somebody to action by tilt angle device 9
Support 6 intuitively shows that convenient to control the rotational angle of support 6, tilt angle device 9 is angle relative to the angle that base 7 rotates
Instrument.
Tilt angle device can adjust angle of the collimation unit with respect to CT scan plane, so as to when CT surface sweeping planes are non-vertical,
Collimation unit and the angle of CT scan plane are adjusted by tilt angle device, make laser beam upright projection eventually in CT surface sweeping planes,
So that the needle angle of laser beam positioning is more accurate.
Concrete application, when CT surface sweepings plane and vertical plane one angle, θ of rotation, coordinate system o '-x ' y ' z ' are established, human body is indulged
Axle is positioned as x ' axles, and the section of CT scan is y ' o ' z ' planes, and y ' axles are trunnion axis, the vertical y ' of z ' axles, the folder of z ' axles and x ' axles
Angle is β (not shown)s, β, θ complementary angle each other, sets needle angle as α '.By laser aid 2 parallel to x ' o ' z ' planes
A certain rotation in surface, and make the rotational angle of laser aid 2 be θ, it is ensured that the projection of a word laser beam falls on plane y ' o ' z '
To be vertical, laser aid 2 is then rotated further by, a word of a word laser beam is projected parallel with z ' axles or is overlapped, can also pass through
In certain plane translation laser aid 2 parallel to plane y ' o ' z ', make word projection and z ' overlapping of axles；Again by laser aid 2
A α ' angular dimension is rotated, the angle for confirming to rotate by the angle measurement unit 5 rotated together with laser aid 2 is α '；
Puncture needle 3 is placed on inserting needle position 201, the gradient of adjustment puncture needle 3 makes puncture needle 3 parallel with word projection or overlapped, also
Or coordinate translation laser aid 2, laser aid 2 is moved in certain plane parallel to plane y ' o ' z ', make puncture needle 3 eventually
Overlapped with word projection, now the angle of inclination of puncture needle 3 is needle angle, completes the guiding to the needle angle of puncture needle 3
Positioning, then carry out the follow-up puncture working in above-described embodiment.
To improve the convenient applicability of the present invention, described angle measurement unit 5 is the movement that can carry out angular surveying
Terminal, described fixed seat 4 are provided with the clip for being used for detachably installing mobile terminal, and mobile terminal mentioned here refers to carry
The mobile terminal of angle measuring function, such as installation can carry out the software of angular surveying in smart mobile phone, in this way, guiding can be simplified
The component of device, it is convenient to be replaced using the multi-purpose equipment formed so that the guiding positioning to puncture needle 3 is with more extensive
Applicability, a variety of changing devices are provided for guiding puncture positioning.
Embodiment three
As shown in Fig. 1, Fig. 7 to Figure 10, a kind of puncture positioning device described in the present embodiment, including positioning unit, collimation
Unit, positioning unit include alignment layers 10, hard layer 11, clathrum 12, adhered layer 13, clathrum 12, hard layer 11, alignment layers
10th, adhered layer 13 is pasted together successively, and collimation unit is two-dimentional inclination angle needle holder.
Wherein, alignment layers 10 are foam sponge, and the thickness of alignment layers 10 is 20mm, is inserted in puncture needle in alignment layers 10
When, alignment layers 10 can give puncture needle support, ensure that puncture needle is fixed, it is ensured that needle angle is accurate.Hard layer 11 is
Non-woven fabrics, hard layer 11 are attached to the upper surface of alignment layers 10, can strengthen and puncture needle is consolidated, between the line and line of non-woven fabrics
The enough puncture needles in space pass through.Clathrum 12 is provided with uniform grid, and grid is 10 × 10mm grid, and clathrum 12 is provided with mark
Number, corresponding numeral is longitudinally, laterally equipped with, clathrum 12 is organized in hard layer 11, and clathrum 12 is roentgenopaque plastics
Line, in CT scan focus 200, corresponding mark can be left.Adhered layer 13 is medical dual-side glue, and it is fixed that double faced adhesive tape one side is pasted onto
The lower surface of position layer 10, in use, the another side of double faced adhesive tape is pasted onto into the human epidermal 100 at focus 200 to be measured, then passes through
CT scan focus 200, in this way, positioning unit can be corresponding with position in CT images.During puncture, puncture needle sequentially passes through clathrum
12nd, human body is entered after hard layer 11, alignment layers 10, adhered layer 13.
Two-dimentional inclination angle needle holder includes the flat inclinator 320 of first inclinator 310 and second, holds needle arm 330, and first
The inclinator 320 of inclinator 310 and second is the inclinometer with weight, hold the one end of needle arm 330 it is vertical with the first inclinator 310 and
Rotation connection, hold the other end of needle arm 330 be provided be used to clamping puncture needle 3 hold pin hole 331, hold the inclinator of needle arm 330 and second
320 rotation connections, between the second inclinator 320 is arranged on the first inclinator 310 and holds pin hole 331, the first inclinator 310 and the
Two inclinators 320 are orthogonal, hold and are provided with needle arm 330 and the first inclinator 310, the second inclinator 320 cooperation indicated angle
The first pointer 311, the second pointer 321 of size are spent, the first pointer 311, the second pointer 321, holds pin hole 331 with holding needle arm
330 is vertical and be fixedly installed on and hold in needle arm 330, for ease of operation, the first pointer 311, the second pointer 321, holds pin hole 331
It is disposed in parallel relation to one another.
Using when, hold needle arm 330, keep weight be located at center, now inclinator is 0 °, will hold needle arm 330
Axially it is placed in parallel with human body short axial, the first inclinator 310 is located at the left side or right side of human body, and the major axis of human body is head pin side
To vertical with the second inclinator 320, people's long axis of body is parallel with the first inclinator 310, is rotated according to CT surface sweepings plane and vertical plane
Needle arm 330 is held in one angle, θ, rotation, is made to hold needle arm 330 and is relatively rotated with the first inclinator 310, and the first pointer 311 indicates
Angle be angle, θ, if θ be 0 °, the first inclinator 310 need not be rotated.Then further according to needle angle α, held to rotate
Needle arm and the second inclinator 320, make the second inclinator 320 be relatively rotated with holding needle arm 330, the angle of the second pointer instruction
As needle angle α, due to the first pointer 311, the second pointer 321, to hold pin hole 331 parallel to each other and be fixedly installed on and hold needle arm
On 330, the path for now holding the biopsy needle guide 3 of pin hole 331 is needle angle, completes the positioning of puncture needle needle angle.Will
Puncture needle 3 inserts positioning unit and along the insertion of the channeling direction of pin hole 331 is held from inserting needle position, treats that the syringe needle of puncture needle 3 will
When reaching human epidermal 100, stop puncturing, and keep this state, the sting device of this state is subjected to CT scan again, it is ensured that
The angle that puncture needle 3 is now placed in positioning unit is consistent with needle angle, meanwhile, also to ensure that puncture needle 3 is touching human body
Position during epidermis 100 is consistent with inserting needle position 201.If now the angle of puncture needle 3, position meet sets requirement, can
To carry out follow-up puncture and other work, if undesirable, need to extract puncture needle 3 from positioning unit, use again
Collimation unit guiding positioning, it is ensured that the position of the inserting needle of puncture needle 3 and the equal entirely accurate of angle.
Described above is only presently preferred embodiments of the present invention, not makees any formal limitation to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any technology people for being familiar with this patent
Member without departing from the scope of the present invention, when the technology contents using above-mentioned prompting make it is a little change or be modified to
The equivalent embodiment of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technical spirit pair according to the present invention
Any simple modification, equivalent change and modification that above example is made, in the range of still falling within the present invention program.
Claims (10)
1. a kind of puncture positioning device, it is characterised in that including positioning unit, described positioning unit includes passing through puncture needle
And for fixing the alignment layers of puncture needle, described alignment layers are with certain elastic high-molecular porous material layer.
2. a kind of puncture positioning device according to claim 1, it is characterised in that described positioning unit also includes hard
The upper surface of layer, described hard layer and alignment layers connects, and described hard layer is cloth, yarn or reticular fibre, it is preferable that described
Hard layer be fiber cloth, gauze, non-woven fabrics, cotton or synthetic fiber cloth.
3. a kind of puncture positioning device according to claim 1, it is characterised in that described positioning unit also includes by X
The clathrum for the material composition that line can develop, described clathrum are provided with uniform grid, and described clathrum is located at alignment layers
Interior or with alignment layers upper surfaces are connected.
A kind of 4. puncture positioning device according to claim 3, it is characterised in that described grid is grid or grid,
The spacing of grid or grid is 5~20mm, and the material that described x-ray can develop is wire, the silk thread containing metal ingredient, modeling
Stockline or rubber covered wire, it is preferable that the spacing of grid or grid is 10mm.
5. a kind of puncture positioning device according to claim 1, it is characterised in that described alignment layers are with certain bullet
Property polymer material layer, the thickness of alignment layers is 10~100mm, it is preferable that alignment layers are natural sponge, synthetic sponge, thick
Spend for 20mm.
6. a kind of puncture positioning device according to claim 1, it is characterised in that described positioning unit also includes being used for
It is medical dual-side glue that alignment layers, which are fixed with the adhered layer of human epidermal, described adhered layer, described adhered layer and alignment layers
Paste connection in lower surface.
7. a kind of puncture positioning device according to claim 1, it is characterised in that also include being used to guide determining puncture needle
Needle angle collimation unit, described collimation unit includes the laser aid of transmitting laser beam, enters for measuring puncture needle
The angle measurement unit of pin angle and the support installed the fixed seat of above-mentioned two device, be rotatablely connected with fixed seat, it is described
The upright projection of laser beam comprise at least straight line section, during work, what described laser beam gripped with positioning unit
Plane where the needle angle of puncture needle is vertical.
A kind of 8. guiding puncture method, it is characterised in that comprise the following steps：
Step S1, positioning unit is pasted onto to human epidermal to be scanned, by the maximum aspect of CT scan focus, drafts out
Pin position, and needle angle is determined according to inserting needle position, needle angle and the intersection point of positioning unit upper surface are entered as second
Pin position；
Step S2, the laser aid that upright projection is comprised at least to straight line section laser beam are fixed with angle measurement unit, made
Laser aid and angle measurement unit synchronous axial system, with the first straight line section upright projection of laser beam and the reference axis of needle angle
Line carries out parallel alignment or coincidence correction；
Step S3, laser aid is rotated together with angle measurement unit, one is rotated by angle measurement unit precise control
Needle angle；
Step S4, puncture needle is placed on the second inserting needle position, adjusts the drop point of puncture needle gradient or laser beam, make puncture needle with
The first straight line section upright projection parallel alignment of laser beam or coincidence, it is determined that puncturing direction；
Step S5, puncture needle is inserted into positioning unit according to direction is punctured, puncture needle does not touch human body, keeps puncture needle to fix not
It is dynamic.
9. a kind of guiding puncture method according to claim 8, it is characterised in that also including step S6：
Again by CT scan, confirm position that puncture needle contacts with human body surface and puncture direction whether meet inserting needle position,
Needle angle, if meeting, punctured, if not meeting, puncture needle is extracted and carries out step S4.
10. a kind of guiding puncture method according to claim 8, it is characterised in that described step S2 is：
Step S21, the laser aid that upright projection is comprised at least to straight line section laser beam are fixed with angle measurement unit, made
Laser aid and angle measurement unit synchronous axial system, adjust laser aid and make reference of the laser beam upright projection in needle angle
Plane where axis；
Step S22, laser aid is rotated, makes the first straight line section upright projection of laser beam parallel with the axis of reference of needle angle
Alignment overlaps.
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| CN112674850A (en) * | 2021-01-05 | 2021-04-20 | 上海睿触科技有限公司 | Compact image-guided puncture surgery auxiliary system |
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