CN109674518A - A kind of CT guidance auxiliary positioning sting device - Google Patents
A kind of CT guidance auxiliary positioning sting device Download PDFInfo
- Publication number
- CN109674518A CN109674518A CN201910076684.6A CN201910076684A CN109674518A CN 109674518 A CN109674518 A CN 109674518A CN 201910076684 A CN201910076684 A CN 201910076684A CN 109674518 A CN109674518 A CN 109674518A
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- China
- Prior art keywords
- auxiliary positioning
- puncture
- shaped support
- auxiliary
- servo motor
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
Abstract
The present invention provides a kind of CT to guide auxiliary positioning sting device, including C-shaped support working arm, C-shaped support connecting rod, C-shaped support backup arms, auxiliary locator, auxiliary positioning camera, puncture terminal, angular adjustment apparatus, image procossing and display system, control system, special cart and dedicated calibrating installation.C-shaped support working arm connect to form double C-type bracket with backup arms, and attachment rail sliding block in the track below C-shaped support, the sliding block is connect with angular adjustment apparatus, and the other end connection of angular adjustment apparatus punctures terminal, executes puncture procedure by puncture terminal.Auxiliary positioning camera is mounted on ceiling right above CT, is used for penetrating area auxiliary positioning together in conjunction with auxiliary locator.Positioning accuracy of the invention is high, it is good to puncture accuracy, and puncture procedure is automatically performed under control system control, reduces error caused by human factor, improves safety.
Description
Technical field
The present invention relates to CT guiding puncture technical fields, more particularly to a kind of puncture in CT Guided Percutaneous skin auxiliary to reach
To the automation medical apparatus of deep lesion.
Background technique
CT guided Percutaneous is human organ Deep Lesions pathologic sampling for diagnosis or certain disease local treatments
Important method, such as Drug eluting stent, liver tumour percutaneous puncture micro-wave therapeutic.Percutaneous lesion puncture technique does not require nothing more than
Puncture needle accurately reaches targeted site, and big blood vessel or other important features and internal organs must be avoided damage on puncture path.
The technology usually determines puncture position and angle with spatial impression according to the cross section CT scanning figure by operator at present, after local anaesthesia
It punctures manually, needs multiple CT scan in puncture process to confirm that puncture position is correct.
This method has a following deficiency: 1, it punctures require operator that need to have superb spatial impression and masterful technique manually, and it is right
In small lesion or central lesion, especially close to heart, big blood vessel or other important organs, the accuracy of this method is insufficient and wind
Danger is high.2, operator needs to hurry back and forth back and forth between scanning room and image room, and lung and intrapulmonary lesion are moved with patient respiratory
And be displaced, the lower half portion displacement of especially lung is more significant, and the accuracy of puncture is impacted.3, CT scan figure is cross section, is worn
Thorn direction is in left and right to adjustment, and the small lesion under blocking for small lesion, especially blood vessel side or rib cage, puncture needle needs
Cephalopodium is to adjustment direction, but these puncture the risk hardly possible that route spans multiple CT cross-sectional views, accuracy and injury of blood vessel
To hold.
In view of the above deficiencies, technically have following improvement:
1, ct fluoroscopy, i.e. CT real time scan are simultaneously imaged, and by real-time display, step is same as above substantially for human body cross-sectional face and puncture needle,
But operator is repeatedly exposed under ray.
2, it is quasi- to be guided to instrument: to calculate puncture angle after CT scanning, using standard to device guiding puncture, avoid artificially estimating
Error, but it is quasi- at present to instrument be divided into hand-held with it is fixed, the influence factor of from hand-held standard to instrument people are still big；It is fixed it is quasi- to
Instrument is mobile at present inconvenient, is chiefly used in carrying out auxiliary puncture after determining puncture path, but needs to adjust before puncturing quasi- to instrument position, essence
It spends not high.
Summary of the invention
To solve the above-mentioned problems, the present invention proposes a kind of CT Guided Percutaneous lesion auxiliary positioning sting device, is used for people
The puncture of body organ deep lesion realizes multi-direction adjustment puncture angle, improves puncture precision, reduces time being exposed under ray
Number reduces important organ damage risk.
Specifically, a kind of CT Guided Percutaneous lesion auxiliary positioning sting device, including auxiliary locator (2), C-shaped support
Working arm (3), C-shaped support connecting rod (4), C-shaped support backup arms (5), auxiliary positioning pad (6), auxiliary positioning camera (8),
Dedicated calibrating installation (9), punctures terminal (11), image procossing and display system (12), control system at angular adjustment apparatus (10)
(13) and special cart (14)；The C-shaped support working arm (3) and backup arms (5) connection form double C-type bracket, the c-type
Groove is equipped with below each arm stabilizer blade of bracket, stabilization is placed on CT (7) two sides convex ridges, each arm cross section of C-shaped support
There are two grooves up and down, upper grooves are laid with quad (15), attachment rail sliding block (16) in lower grooves, and the track is sliding
Block is connect with the angular adjustment apparatus (10) one end, and the angular adjustment apparatus other end connects the puncture terminal (11)；
The auxiliary positioning camera (8) is installed on ceiling right above CT (7), and the auxiliary positioning pad (6) is placed in CT (7)
The k level of top bed surface, the auxiliary locator (2) is placed on CT bed before puncture, with patient through CT scan
Frame scanning；It include the sense that can be identified by the auxiliary positioning camera on the auxiliary positioning pad (6) and auxiliary locator (6)
Ying Dian, the auxiliary positioning camera (8) are used to acquire the induction point of the auxiliary positioning pad (6) and auxiliary locator (2)
Image information, and be transmitted to the image procossing and display system (12), described image processing is used with display system (12)
In each induction point coordinate information is calculated, the control system (13) is for receiving described image processing and display system (12)
Parameter that treated generates inserting needle instruction, for controlling Needle localization and puncture procedure.
Preferably, the auxiliary locator (2) is and described C-shaped support working arm (3) same shape, identical height
The C-shaped support of degree, one piece of made triangular of engineering plastics are horizontally fixed on the auxiliary locator (2) top and put down
Row is constant parameter H away from CT bed surface height in CT bed surface, the thin slice, and being in three apexes of the triangular can be described
The induction point that auxiliary positioning camera (8) captures, the induction point are the made bead of bioceramic material, are used for CT scan
When make reference point, the auxiliary locator (2) enters CT scan frame with patient before puncture, schemes after CT imaging in CT
As upper for determining lesion point and entering the space coordinate of pin mark.
Preferably, the auxiliary positioning pad (6) is the thin plastic pad of " L " type, is placed in the k level of CT top bed surfaces,
The induction point that can be captured by the auxiliary positioning camera (8) on the auxiliary positioning pad (6) including O, X, Y tri-,
Straight line OX and OY are at right angle；The auxiliary positioning camera (8) is installed on ceiling right above CT (7), obtains lower section CT
Bed zone level image, using O as coordinate origin, OX be X-axis, OY is that Y-axis establishes level right angle coordinate system, while the auxiliary is fixed
The position height H of device (2) away from CT surfaces is constant, to build upwards for z-axis positive direction, according to right-handed system principle perpendicular to CT
Vertical O-XYZ rectangular coordinate system in space, described image processing and display system (12) according to lesion point, enter pin mark coordinate and calculate to design
Inserting needle path out;When the double C-type bracket mobile according to the C-shaped support position being calculated, the auxiliary positioning camera (8)
In real time obtain C-shaped support working arm (3) and the C-shaped support backup arms (5) image information, be transferred to described image processing and
Display system (12) carries out image recognition, then the control information synchronous transfer after identification is used for the control system (13)
Correct position.
Preferably, the angular adjustment apparatus (10) includes rail slider (16), holder pedestal (17), miniature holder
(18) it is fixed on the rail slider (16) with rigid connecting rod (19), described holder pedestal (17) one end, the holder pedestal
(17) other end connects the miniature holder (18), and the miniature holder (18) is fixed in described rigid connecting rod (19) one end,
Rigid connecting rod (19) other end is fixed on the puncture terminal (11).
Preferably, the rail slider (16) includes roller group (23), damper (24) and slide block shell (25)；The rail
Road sliding block (16) is fixed on the holder pedestal (17)；The holder pedestal (17) includes first servo motor (26), first watches
Take electric machine controller (27), the second servomotor controller (28), the second servo motor (29), the first electric cylinders push rod (30) and electricity
Cylinder shell (31)；The rail slider (16) controls the first servo motor by the first servo motor controller (27)
(26) roller group (23) is driven to slide in orbit, the sliding that the damper (24) is used for as the rail slider (16)
Damping is provided；Second servo controller (28) connect with the second servo motor (29), second servo motor (29) with
Electric cylinders shell (31) connection, the first electric cylinders push rod (30) are fixed on the miniature holder (18), second servo
Motor (29) is changed the height of the miniature holder (18) for driving the first electric cylinders push rod (30) flexible.
Preferably, the miniature holder (18) includes left hemisphere (182), central work nest (183), right hemisphere (181)
With rotatable base (184), one end of the rigid connecting rod (19) is fixed on described central work nest (183) center, described
Rigid connecting rod (19) is with central work nest (183) center rotation before and after the central work nest (183), the rigidity
Connecting rod (19) can front and back rotation 180 °, it is described center work nest (183) rotated on the rotatable base (184), institute
Can be rotated horizontally by stating rotatable base (184) by 360 °.
Preferably, the puncture terminal (11) includes third servo motor (20), twisted metal pipe group (21) and can wear
Puncture needle cartridge (22)；The third servo motor (20) includes micromotor (32), third servomotor controller (33) and motor
Shell (34), the motor housing (34) are threadably secured on the rigid connecting rod (19)；The piercing needle cartridge
(22) include the second electric cylinders push rod (35), syringe needle (36) and syringe shell (37), the syringe shell (37) be fixed on described in can
Twisted metal pipe group (21) one end, it is described can twisted metal pipe group (21) other end be fixed on the motor housing (34), it is described
Third servo motor (20) is connect with the second electric cylinders push rod (35).
Preferably, the dedicated calibrating installation (9) is the plastics cube for the circular through hole that six faces are all covered with diameter 1mm
The dedicated calibrating installation (9) is placed on empty CT bed before puncture and carries out simulation puncture, in the dedicated calibration cartridge by body
Two holes specified on (9) point-blank are set, control sting device executes automatic puncturing operation, and whether is observation puncture procedure
Meet setting, carries out precision calibration.
Preferably, the control system (13) includes master controller (13), first servo motor controller (27), second
Servomotor controller (28), third servomotor controller (33) and miniature cradle head controllor remove the master controller (13)
Outside separately as a component, remaining controller is integrated with respective execution mechanisms；The first servo motor control
Device (27), second servomotor controller (28), third servomotor controller (33) and miniature cradle head controllor all by
Master controller (13) control.
Preferably, the special cart (14) height, width are all identical as CT bed, can store the C-shaped support and attached
Mechanism can also cooperate C-shaped support to use as individually puncture auxiliary device under special circumstances.
The present invention determines percutaneous puncture entry point, adjustment puncture angle, before 1. puncturing, dedicated calibration cartridge according to CT image
Storing is placed on CT and simulates subject, obtains induction point on auxiliary positioning pad and auxiliary locator by auxiliary positioning camera
Image, plane right-angle coordinate is generated with OXY point on auxiliary positioning pad, induction point is obtained on auxiliary locator and is sat in OXY
Plane coordinates under mark system, the height H of the k level by auxiliary locator away from CT top bed surfaces obtain height coordinate Z,
Establish O-XYZ space coordinates；2. patient and auxiliary locator are entered the scanning of CT scan frame together, it is true that image is swept according to CT
Determine lesion point and enter pin mark, then is closed by lesion point in scanning figure, the position for entering P1, P2, P3 point on pin mark and auxiliary locator
System calculates lesion point by image procossing and display system, enters space coordinate of the pin mark under O-XYZ coordinate system, image procossing with
Display system software calculates the height and angle of angular adjustment apparatus, retrodicts out position of the double C-type bracket on CT bed；3. will
Double C-type bracket is moved to calculated position along scanning bed two sides convex ridge column, and in moving process, auxiliary positioning camera is real-time
Double C-type backing positions are obtained, is compared with image procossing and the calculated position of display system, deviation is transmitted to image procossing
With display system, standby signal is issued by image procossing and display system after double C-type bracket is mobile in place；4. moving double C-type
Rear control system adjusts miniature holder drive puncture terminal rotating to calculated angle to bracket in place, and syringe center line is to wear
Guiding route is pierced, first simulates puncture procedure using dedicated calibrating installation, after inserting needle path is consistent with setting path, subject is again
It lies in and carries out by above-mentioned process to puncture path first guiding patient using simulation puncture needle after determining, before puncture procedure on CT
It sterilizes, anaesthetize on subject's wall of the chest, and last school before being punctured by CT scan or the auxiliary positioning camera
Just.
The beneficial effects of the present invention are:
1, integrated level of the present invention is high, if the determination of puncture path is total to by the dry part and image procossing of auxiliary positioning with display system
With completion, the parameter of puncture path is transmitted to control system, and control system generates the related execution unit of control instruction control and completes
Puncture procedure simplifies puncture procedure, reduces the time that subject is exposed under ray.
2, angular adjustment apparatus of the invention, moves left and right in C-shaped support, and miniature holder liftable, rotation, band
The dynamic terminal that punctures covers wider array of puncture angle, realizes 360 ° of level, vertical 180 ° of range inserting needles, extends the portion of puncture
Position.
3, high degree of automation of the invention, by image procossing and display system by lesion point, enter pin mark and calculate most
Good inserting needle path, is controlled by controller, and initiates or terminate puncture movement, is operated whole controllable；Puncture terminal
After position and angle initialization are good, terminal automatic running is punctured by controller whole-process control, puncture movement is being controlled by puncture terminal
It is automatically performed under system control, avoids the error of manual operation, improve precision and safety.
4, accuracy of the present invention is high, obtains OXY point and auxiliary locator on auxiliary positioning pad by auxiliary positioning camera
On P1, P2, P3 point, dynamic calibration double C-type backing positions devise dedicated calibrating installation before puncture procedure and are punctured in advance
Operation, and puncture terminal region provide can twisted metal pipe group support manual fine-tuning, improve the accuracy of puncture.
5, the problem of present invention designs double C-type bracket, avoids single C-shaped support gravity center instability, and two brackets can be auxiliary
Carry out puncture procedure is helped, redundancy is increased, emergency risk caused by reducing bracket shakiness and damaging；And double C-type bracket connects
Expansible circular arc type bracket on extension bar, bracket hangers are further extended to multiple, can meet while carry out multiple location puncture procedure
Demand.
6, the matched bracket vehicle-width of the present invention is identical as CT bed, double C-type bracket and subsidiary body can be stored, in special feelings
Under condition, double C-type bracket can also be cooperated to use as individually puncture auxiliary device.
Detailed description of the invention
Fig. 1 is a kind of CT guidance auxiliary positioning sting device structure chart proposed by the present invention.
Fig. 2 is a kind of CT guidance auxiliary positioning sting device side view proposed by the present invention.
Fig. 3 is C-shaped support working arm front view in a kind of CT guidance auxiliary positioning sting device proposed by the present invention.
Fig. 4 is C-shaped support working arm section and bracket in a kind of CT guidance auxiliary positioning sting device proposed by the present invention
Annex map.
Fig. 5 is angular adjustment apparatus and puncture terminal knot in a kind of CT guidance auxiliary positioning sting device proposed by the present invention
Composition.
Fig. 6 is miniature holder and rigid connection rod structure in a kind of CT guidance auxiliary positioning sting device proposed by the present invention
Figure.
Fig. 7 is to puncture terminal detailed structure view in a kind of CT guidance auxiliary positioning sting device proposed by the present invention.
Fig. 8 is the operation schematic diagram 1 punctured using percutaneous lesion of the present invention.
Fig. 9 is the operation schematic diagram 2 punctured using percutaneous lesion of the present invention.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, this hair of Detailed description of the invention is now compareed
Bright specific embodiment.
As shown in Figure 1, 2, 3, a kind of CT Guided Percutaneous lesion auxiliary positioning sting device, including auxiliary locator 2, C
It is type bracket working arm 3, C-shaped support connecting rod 4, C-shaped support backup arms 5, auxiliary positioning pad 6, auxiliary positioning camera 8, dedicated
Calibrating installation 9, punctures terminal 11, image procossing and display system 12, control system 13 and special cart at angular adjustment apparatus 10
14.The C-shaped support working arm 3 and the connection of backup arms 5 form double C-type bracket, the C-shaped support working arm 3 and backup arms 5
Each arm stabilizer blade on the inside of be equipped with groove, stabilization be placed on 7 two sides convex ridge of CT bed.The 3 lower section inside of C-shaped support working arm
Equipped with track, the angular adjustment apparatus 10 is moved along track, and the other end of the angular adjustment apparatus 10 is fixed on described wear
Pierce terminal 11.The auxiliary positioning pad 6 is the thin plastic pad of " L " type, the k level of CT top bed surfaces is placed in, described
Include the induction point that can be captured by the auxiliary positioning camera 8 of O, X, Y tri- on auxiliary positioning pad 6, straight line OX and OY at
Right angle.The auxiliary locator 2 be with 3 same shape of C-shaped support working arm, mutually level C-shaped support, one piece
The made triangular of engineering plastics is horizontally fixed on the top of the auxiliary locator 2 and is parallel to CT bed surface, this is thin
The height in CT top of pitch of fins bed surface floor level face is constant parameter H；Being in three apexes of the triangular can quilt
The induction point that the auxiliary positioning camera 8 captures, the induction point are the made bead of bioceramic material, are swept for CT
Make reference point when retouching；The auxiliary locator 2 is placed on CT bed before puncture, is swept with patient through CT scan frame
It retouches.The auxiliary positioning camera 8 is installed on 7 surface ceiling of CT bed, and the auxiliary positioning camera 8 is described for acquiring
Tri- induction points of O, X, Y on auxiliary positioning pad 6 are transmitted to described image processing and display system 12, horizontal straight for establishing
The height H of angular coordinate system, the k level further according to the auxiliary locator 2 away from 7 top bed surface of CT bed obtains vertical direction
Scale, above-mentioned coordinate information are transmitted to the image procossing and display system for generating unified rectangular coordinate system in space O-
XYZ.In localised puncture entry point and inserting needle path, the auxiliary positioning camera 8 is captured on the auxiliary locator 2
The image information of three induction points, and it is transmitted to the image procossing and display system 12, described image processing is with display
System 12 is for being calculated the coordinate information of each induction point.The auxiliary locator 2 enters CT scan frame together with patient and sweeps
It retouches, after lesion point is determined on CT figure and enters pin mark, the positional relationship with 2 three anchor points of auxiliary locator described on CT figure
Conversion obtains lesion point, enters space coordinate of the pin mark under O-XYZ coordinate system, then is handled by described image and calculated with display system
It obtains inserting needle path, needle angle, is determined position of the C-shaped support working arm 3 at CT；The mobile c-type branch
Frame working arm 3 to described image processing and display system calculates gained position, in moving process, the auxiliary positioning camera
8 acquire the location information of C-shaped support working arm 3 in real time, and it is real-time with 12 analytical calculation of display system to be transmitted to described image processing
Error amount is transmitted to the control system 13 again with display system 12, is used for by position coordinates and error amount, described image processing
Carry out regulating error.After the movement in place of C-shaped support working arm 3, described image processing is issued with display system 12 to be prompted, institute
It states control system 13 and is converted into the position coordinates of the angular adjustment apparatus 10 and the angle of the puncture terminal 11 by needle angle
Information is spent, control instruction is generated, controls position of the angular adjustment apparatus 10 on the C-shaped support working arm 3, and adjust
The angular adjustment apparatus 10 makes the position for puncturing terminal 11 and angle meet inserting needle setting, and the puncture terminal 11 is being set
Determine to carry out puncture procedure under state modulator.The dedicated calibrating installation 9 is the modeling for the circular through hole that six faces are all covered with diameter 1mm
Expect cube, the dedicated calibrating installation 9 is placed on empty CT bed 7 before puncture and carries out simulation puncture, described dedicated
Two holes point-blank are specified on calibrating installation 9, control sting device executes automatic puncturing operation, observes puncture procedure
Whether meet setting, precision calibration carried out to the angular adjustment apparatus according to calibration result, with guarantee Needle localization with into
Needle path diameter meets default.
As shown in figure 4, there are two grooves up and down in 3 cross section of C-shaped support working arm, upper grooves are laid with quad
15, for power supply and transmission of control signals, the installation angular adjustment apparatus 10, the angular adjustment apparatus 10 in lower grooves
Including rail slider 16, holder pedestal 17, miniature holder 18 and rigid connecting rod 19, the rail slider 16 is installed on the C
In 3 lower grooves of type bracket working arm, described 17 one end of holder pedestal is fixed on described in the rail slider 16, other end connection
Miniature holder 18, the miniature holder 18 is fixed in described 19 one end of rigid connecting rod, the other end is fixed on the puncture terminal
11, drive the rotation of puncture terminal 11 to adjust needle angle by the miniature rotation of holder 18, it can be in 180 ° of front and back, level
360 ° of rotations change dimensional orientation, to increase the overlayable angle of puncture procedure.The puncture terminal 11 includes third servo electricity
Machine 20, can twisted metal pipe group 21 and syringe 22.Syringe 22 described in 20 output driving of third servo motor carries out puncture work
Industry.It is described can twisted metal pipe group 21 for the syringe 22 fine tuning puncture position and angle.
As shown in figure 5, the rail slider 16 includes roller group 23, damper 24 and slide block shell 25, the track is sliding
Block 16 is fixed on the miniature holder pedestal 17.The holder pedestal 17 includes first servo motor 26, first servo motor control
Device 27, the second servomotor controller 28, the second servo motor 29, the first electric cylinders push rod 30 and electric cylinders shell 31 processed.The rail
Road sliding block 16 controls the first servo motor 26 by the first servo motor controller 27 and the roller group 23 is driven to exist
Gliding in tracks, the damper 24 are used to provide damping for the sliding of the rail slider 16；Second servo controller
28 connect with the second servo motor 29, and second servo motor 29 is connect with the electric cylinders shell 31, and first electric cylinders push away
Bar 30 is fixed on the miniature holder 18, and second servo motor 29 is changed for driving the first electric cylinders push rod 30 flexible
Become the height of the miniature holder 18.
As shown in fig. 6, the miniature holder 18 includes left hemisphere 182, central work nest 183, right hemisphere 181 and rotatable
Pedestal 184, one end of the rigid connecting rod 19 are fixed on the center of the central work nest 183, the rigid connecting rod 19
In the central work nest 183 using the center of the central work nest 183 as the center of circle before and after rotate, the central work nest
183 rotate on the rotatable base 184, and the rigid connecting rod 19 can cover 180 ° of front and back, the region that 360 ° of level.
As shown in fig. 7, the puncture terminal 11 include third servo motor 20, can twisted metal pipe group 21 and syringe 22,
Third servo motor includes micromotor 32, third servomotor controller 33, motor housing 34.It is set on the motor housing 34
There is the threaded hole connecting with the rigid connecting rod 19；It is described can twisted metal pipe group 21 include 4 can twisted metal pipe, it is described
Can one end of twisted metal pipe group 21 be fixed on the motor housing 34, the other end connects the syringe 22, is turned round by described
Bent metal tube group 21 distorts to finely tune the orientation and angle of the syringe.The syringe 22 includes the second miniature electric cylinders 35, needle
First 36 and syringe shell 37.After the third servomotor controller 33 receives inserting needle instruction, the second miniature electric cylinders are controlled
35 execute inserting needle operation by setting inserting needle speed or dynamics parameter.
As shown in Figure 8, Figure 9, subject 38 lies down (or lie on one's side etc. unlimited) on CT bed 7, the double C-type bracket working arm
3 are located at position 1, and the auxiliary locator 2 is located at lesion point near zone can (shown in Fig. 9 be dotted line position).It establishes
Rectangular coordinate system in space: the auxiliary positioning camera 8 obtains the location information of induction point O, X, Y on the auxiliary positioning pad 6,
Be transmitted to described image processing and display system 12, using O point as coordinate origin, the direction OX be positive direction of the x-axis, the direction OY is y-axis
Positive direction, establishes OXY plane right-angle coordinate, and the auxiliary positioning camera 8 obtains triangle on the auxiliary locator 2
The location information of vertex induction point P1, P2, P3 are transmitted to described image processing and display system 12, obtain P1, P2, P3 in OXY
Plane coordinates under coordinate system, to be upwards z-axis positive direction perpendicular to 7 surface of CT bed, by the auxiliary locator 2 away from described
Height number H input described image processing and the display system 12 of the k level of 7 top bed surface of CT bed, establish the space O-XYZ
Rectangular coordinate system.Obtain puncture position and angle information: the subject 38 sweeps into CT together with the auxiliary locator 2
The scanning of frame 1 is retouched, the CT scan image comprising 2 induction point P1, P2, P3 location information of auxiliary locator is obtained, is schemed in CT
As upper determining lesion point A and entering pin mark B, according to itself and the positional relationship with induction point P1, P2, P3 on CT scan image,
Lesion point A is calculated and enters space coordinate of the pin mark B in O-XYZ space coordinates, the processing of input described image and display
System 12 is handled by described image and calculates inserting needle path, puncture with pin mark B coordinate is entered according to lesion point A with display system 12
The estimating position of terminal location, puncture angle and the C-shaped support working arm 3, such as the position 2 in Fig. 9；The mobile c-type
Bracket working arm 3 is to calculating gained position: removing the auxiliary locator 2, moves institute along 7 front-rear direction of CT bed
The C-shaped support working arm 3 stated, from position 1 to position 2 in Fig. 9, in moving process, the auxiliary positioning camera 8 is in real time
The location information for obtaining the C-shaped support working arm 3 is transmitted to described image processing and display system 12, with calculating gained position
It sets and is compared, the mobile C-shaped support working arm 3 of guidance, when the C-shaped support working arm 3 is moved to calculating gained position
When, described image processing issues movement with display system 12 and prompts in place.Puncture procedure prepares: described image processing is with display
The inserting needle path that system 12 is calculated is decomposed into syringe position and angle two indices, and the C-shaped support working arm is moved to
Behind calculating gained position, the control system 13 receives described image processing and calculates resulting coordinate parameters life with display system 12
At control instruction, it is moved to calculating gained position in the X direction by the gained puncture position control angular adjustment apparatus 10 is calculated
It sets, the miniature holder 18 drives the rigid connecting rod 19 to rotate with the puncture terminal 11, until 22 center line of the syringe
Parallel with gained path is calculated, the first electric cylinders push rod 30 pushes the miniature holder 18 to be moved to obtained by calculating in Z-direction
Puncture position, since Y-direction is mobile in place via the C-shaped support working arm 3, so when position be puncture position.From
It is dynamic to puncture: to specify inserting needle speed or dynamics, the third servo motor 32 to drive under this parameter in the control system 13
The second electric cylinders push rod 35 drives the syringe needle 36 to carry out puncture procedure；After syringe needle arrives at target point A, inserting needle operation stops
Only, it is completed to syringe needle arrival target point in puncture parameter setting to stop, the auxiliary positioning camera 8 acquires the syringe needle 36 in real time
Location information, and be transmitted to described image processing be compared with display system 12 with computed information, what is obtained is real-time
Control information synchronous transfer is to the controller 13, for carrying out regulating error, to guarantee that puncture path is consistent with design path.
During puncture procedure carries out or when needing the withdraw of the needle after the completion, Control System Design " key reset " function can stop inserting needle at any time
It operates and is exited by the withdraw of the needle speed of setting and return to initial position in patient body.As shown in figure 9, puncture procedure can be in non-c-type branch
It is carried out in frame working arm plane, extends the range of puncture angle covering, improve the flexibility and safety of patient's puncture.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in some embodiment
Part, reference can be made to the related descriptions of other embodiments.
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (10)
1. a kind of CT Guided Percutaneous lesion auxiliary positioning sting device, including auxiliary locator (2), C-shaped support working arm
(3), C-shaped support connecting rod (4), C-shaped support backup arms (5), auxiliary positioning pad (6), auxiliary positioning camera (8), dedicated school
Standard apparatus (9), angular adjustment apparatus (10), puncture terminal (11), image procossing and display system (12), control system (13) and
Special cart (14)；The C-shaped support working arm (3) and backup arms (5) connection form double C-type bracket, the C-shaped support
Groove is equipped with below each arm stabilizer blade, stabilization is placed on CT (7) two sides convex ridges, and each arm cross section of C-shaped support has up and down
Two grooves, upper grooves are laid with quad (15), attachment rail sliding block (16), the rail slider and institute in lower grooves
The connection of angular adjustment apparatus (10) one end is stated, the angular adjustment apparatus other end connects the puncture terminal (11)；It is described auxiliary
Positioning shooting head (8) is helped to be installed on ceiling right above CT (7), the auxiliary positioning pad (6) is placed in CT (7) top beds
The k level in face, the auxiliary locator (2) are placed on CT bed before puncture, are swept with patient through CT scan frame
It retouches；It include the induction that can be identified by the auxiliary positioning camera on the auxiliary positioning pad (6) and auxiliary locator (6)
Point, the auxiliary positioning camera (8) are used to acquire the induction point of the auxiliary positioning pad (6) and auxiliary locator (2)
Image information, and it is transmitted to the image procossing and display system (12), described image processing is used for display system (12)
Each induction point coordinate information is calculated, the control system (13) is for receiving at described image processing and display system (12)
Parameter after reason generates inserting needle instruction, for controlling Needle localization and puncture procedure.
2. CT as described in claim 1 guides auxiliary positioning sting device, which is characterized in that the auxiliary locator
(2) for described C-shaped support working arm (3) same shape, mutually level C-shaped support, one block of engineering plastics it is made three
Angular sheet is horizontally fixed on the auxiliary locator (2) top and is parallel to CT bed surface, which is away from CT bed surface height
Constant parameter H is the induction that can be captured by the auxiliary positioning camera (8) in three apexes of the triangular
Point, the induction point is the made bead of bioceramic material, for making reference point, the auxiliary locator when CT scan
(2) enter CT scan frame with patient before puncture, for determining lesion point and entering pin mark on CT image after CT imaging
Space coordinate.
3. CT as described in claim 1 guides auxiliary positioning sting device, which is characterized in that the auxiliary positioning pad (6) is
The thin plastic pad of " L " type, is placed in the k level of CT top bed surfaces, includes O, X, Y tri- on the auxiliary positioning pad (6)
A induction point that can be captured by the auxiliary positioning camera (8), straight line OX and OY are at right angle；The auxiliary positioning camera shooting
Head (8) is installed on ceiling right above CT (7), the CT zone level images in lower section is obtained, using O as coordinate origin, OX X
Axis, OY are that Y-axis establishes level right angle coordinate system, while height H of the auxiliary locator (2) away from CT surfaces is constant,
To be upwards z-axis positive direction perpendicular to CT, establish O-XYZ rectangular coordinate system in space according to right-handed system principle, at described image
Reason with display system (12) according to lesion point, enter pin mark coordinate calculating design inserting needle path;According to the C-shaped support being calculated
When the movement double C-type bracket of position, the auxiliary positioning camera (8) obtains C-shaped support working arm (3) and the C in real time
The image information of type bracket backup arms (5) is transferred to described image processing with display system (12) and carries out image recognition, then will know
Control information synchronous transfer after not is to the control system (13), for correcting position.
4. CT as described in claim 1 guides auxiliary positioning sting device, which is characterized in that the angular adjustment apparatus
It (10) include rail slider (16), holder pedestal (17), miniature holder (18) and rigid connecting rod (19), the holder pedestal
(17) one end is fixed on the rail slider (16), and holder pedestal (17) other end connects the miniature holder (18), institute
It states rigid connecting rod (19) one end and is fixed on the miniature holder (18), rigid connecting rod (19) other end is fixed on described
It punctures terminal (11).
5. CT as claimed in claim 4 guides auxiliary positioning sting device, which is characterized in that the rail slider (16) includes
Roller group (23), damper (24) and slide block shell (25)；The rail slider (16) is fixed on the holder pedestal (17)；Institute
Stating holder pedestal (17) includes first servo motor (26), first servo motor controller (27), the second servomotor controller
(28), the second servo motor (29), the first electric cylinders push rod (30) and electric cylinders shell (31)；The rail slider (16) passes through described
First servo motor controller (27) controls the first servo motor (26) and the roller group (23) is driven to slide in orbit,
The damper (24) is used to provide damping for the sliding of the rail slider (16)；Second servo controller (28) and the
Two servo motors (29) connection, second servo motor (29) connect with the electric cylinders shell (31), and first electric cylinders push away
Bar (30) is fixed on the miniature holder (18), and second servo motor (29) is for driving the first electric cylinders push rod (30) to stretch
Contracting, is changed the height of the miniature holder (18).
6. CT as claimed in claim 4 guides auxiliary positioning sting device, which is characterized in that miniature holder (18) packet
Include left hemisphere (182), central work nest (183), right hemisphere (181) and rotatable base (184), the rigid connecting rod (19)
One end be fixed on described central work nest (183) center, the rigid connecting rod (19) is in the central work nest (183)
Heart rotation before and after the central work nest (183), the rigid connecting rod (19) can 180 ° of front and back rotation, the center work
Make slot (183) to rotate on the rotatable base (184), the rotatable base (184) can rotate horizontally 360 °.
7. CT as described in claim 1 guides auxiliary positioning sting device, which is characterized in that puncture terminal (11) packet
Include third servo motor (20), can twisted metal pipe group (21) and piercing needle cartridge (22)；The third servo motor (20) includes
Micromotor (32), third servomotor controller (33) and motor housing (34), the motor housing (34) is threadably
It is fixed on the rigid connecting rod (19)；The piercing needle cartridge (22) includes the second electric cylinders push rod (35), syringe needle (36) and needle
Cylinder shell (37), the syringe shell (37) be fixed on it is described can twisted metal pipe group (21) one end, it is described can twisted metal pipe
Group (21) other end is fixed on the motor housing (34), the third servo motor (20) and the second electric cylinders push rod (35)
Connection.
8. CT as described in claim 1 guides auxiliary positioning sting device, which is characterized in that the dedicated calibrating installation
(9) all it is covered with the plastic tube of the circular through hole of diameter 1mm for six faces, puts the dedicated calibrating installation (9) before puncture
It is placed on empty CT bed and carries out simulation puncture, two holes point-blank, control are specified on the dedicated calibrating installation (9)
Sting device processed executes automatic puncturing operation, and whether observation puncture procedure meets setting, carry out precision calibration.
9. CT as described in claim 1 guides auxiliary positioning sting device, which is characterized in that control system (13) packet
Include master controller (13), first servo motor controller (27), the second servomotor controller (28), third Serve Motor Control
Device (33) and miniature cradle head controllor, in addition to the master controller (13) is separately as a component, remaining controller with phase
Executing agency is answered to integrate；The first servo motor controller (27), second servomotor controller (28),
Three servomotor controllers (33) and miniature cradle head controllor are all controlled by the master controller (13).
10. CT as described in claim 1 guides auxiliary positioning sting device, which is characterized in that the special cart (14) is high
Degree, width are all identical as CT bed, can store the C-shaped support and subsidiary body, under special circumstances, can also cooperate C-shaped support
It is used as the independent auxiliary device that punctures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910076684.6A CN109674518A (en) | 2019-01-26 | 2019-01-26 | A kind of CT guidance auxiliary positioning sting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910076684.6A CN109674518A (en) | 2019-01-26 | 2019-01-26 | A kind of CT guidance auxiliary positioning sting device |
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| Publication Number | Publication Date |
|---|---|
| CN109674518A true CN109674518A (en) | 2019-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910076684.6A Pending CN109674518A (en) | 2019-01-26 | 2019-01-26 | A kind of CT guidance auxiliary positioning sting device |
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| CN (1) | CN109674518A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110393545A (en) * | 2019-08-01 | 2019-11-01 | 上海市肺科医院 | A kind of AI intelligent monitor system checked suitable for CT enhancing |
| CN110680471A (en) * | 2019-10-10 | 2020-01-14 | 中国科学院合肥肿瘤医院 | Puncture auxiliary guide support |
| CN111839683A (en) * | 2020-07-27 | 2020-10-30 | 南通市第一人民医院 | Prostate puncture positioning aid |
| CN112353461A (en) * | 2020-10-08 | 2021-02-12 | 王洪奎 | CT real-time positioning accurate puncture robot |
| CN112690981A (en) * | 2020-12-23 | 2021-04-23 | 南通市第一人民医院 | Kidney puncture assistor |
| CN113041080A (en) * | 2021-03-19 | 2021-06-29 | 四川大学华西医院 | Positioning device for neurosurgery |
| CN114191050A (en) * | 2021-12-28 | 2022-03-18 | 东软医疗系统股份有限公司 | Puncture auxiliary positioning device and method and scanning equipment |
-
2019
- 2019-01-26 CN CN201910076684.6A patent/CN109674518A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110393545A (en) * | 2019-08-01 | 2019-11-01 | 上海市肺科医院 | A kind of AI intelligent monitor system checked suitable for CT enhancing |
| CN110680471A (en) * | 2019-10-10 | 2020-01-14 | 中国科学院合肥肿瘤医院 | Puncture auxiliary guide support |
| CN111839683A (en) * | 2020-07-27 | 2020-10-30 | 南通市第一人民医院 | Prostate puncture positioning aid |
| CN111839683B (en) * | 2020-07-27 | 2022-03-22 | 南通市第一人民医院 | Prostate puncture positioning aid |
| CN112353461A (en) * | 2020-10-08 | 2021-02-12 | 王洪奎 | CT real-time positioning accurate puncture robot |
| CN112690981A (en) * | 2020-12-23 | 2021-04-23 | 南通市第一人民医院 | Kidney puncture assistor |
| CN113041080A (en) * | 2021-03-19 | 2021-06-29 | 四川大学华西医院 | Positioning device for neurosurgery |
| CN114191050A (en) * | 2021-12-28 | 2022-03-18 | 东软医疗系统股份有限公司 | Puncture auxiliary positioning device and method and scanning equipment |
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Application publication date: 20190426 |