CN110123426B - Ultrasonic intervention puncture navigation system and puncture frame - Google Patents
Ultrasonic intervention puncture navigation system and puncture frame Download PDFInfo
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- CN110123426B CN110123426B CN201910478906.7A CN201910478906A CN110123426B CN 110123426 B CN110123426 B CN 110123426B CN 201910478906 A CN201910478906 A CN 201910478906A CN 110123426 B CN110123426 B CN 110123426B
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- 238000001514 detection method Methods 0.000 claims abstract description 31
- 238000003384 imaging method Methods 0.000 claims abstract description 23
- 238000002604 ultrasonography Methods 0.000 claims description 43
- 230000035515 penetration Effects 0.000 claims description 13
- 239000002131 composite material Substances 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000002787 reinforcement Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 description 11
- 239000000523 sample Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000007499 fusion processing Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 208000015181 infectious disease Diseases 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 239000003351 stiffener Substances 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
Abstract
The invention discloses a puncture frame capable of being used for ultrasonic interventional puncture, which is capable of being connected with an ultrasonic transducer, wherein the ultrasonic transducer is provided with an imaging surface which is contacted with a biological surface and can pass ultrasonic signals, and the puncture frame comprises: a puncture needle holder, a force detection unit for detecting in real time a force acting on the puncture needle body to deviate the puncture angle of the puncture needle from a predetermined puncture angle. The puncture frame reduces the possibility of false puncture and improves the puncture experience.
Description
Technical Field
The invention belongs to the technical field of medical ultrasound, and particularly relates to an ultrasound interventional puncture navigation system.
Background
The existing ultrasonic puncture frame is used for connecting and fixing an ultrasonic probe and a puncture needle, limiting the space angle of the puncture needle in the ultrasonic guiding puncture process, ensuring that the space angle of the puncture needle is always parallel to the imaging plane of the ultrasonic probe (in-plane mode) or is vertical to the imaging plane of the ultrasonic probe (out-of-plane mode), storing the space angle of the puncture needle in an ultrasonic imaging system, calculating the puncture path of the needle by the system, displaying a puncture auxiliary guide wire in ultrasonic imaging, and visualizing the puncture path in advance so as to facilitate better control of the puncture process. The puncture frame solves the problems that the puncture needle is deviated in the needle feeding direction, the puncture needle is unstable to hold and the like when a doctor punctures by hand, and provides auxiliary fixation for the puncture needle to reach a target area according to a planned path so as to counteract a freehand operation error. However, the puncture frame ensures that the angle of the puncture needle is relatively fixed relative to the ultrasonic probe, and can not provide various puncture paths which continuously change, so that a doctor has to select all puncture points to withdraw if finding that the puncture path needs to be changed in the puncture process, and then the puncture needle is placed on a target puncture point again by the ultrasonic probe, thereby not only reducing the puncture efficiency, but also increasing the risk of infection of a user.
Moreover, the existing ultrasonic puncture guide wire needs to be close to a target on a puncture path by adjusting the position of the probe, so that the ultrasonic probe cannot be finely adjusted due to the problems of volume, weight and the like for doctors, and the puncture experience is affected.
In addition, there are other factors that result in poor penetration accuracy and also affect the penetration experience.
Disclosure of Invention
In order to improve the lancing experience, a first aspect of the present invention provides a lancing carriage for ultrasound interventional lancing, the lancing carriage being connectable to an ultrasound transducer having an imaging surface in contact with a biological surface capable of passing ultrasound signals, the lancing carriage comprising: a puncture needle holder for guiding the puncture needle such that the puncture needle reaches a target region of puncture along a predetermined path at a predetermined puncture angle; a force detection unit for detecting in real time a force acting on the lancet body to deviate the puncture angle of the lancet from a predetermined puncture angle; the force is used to feed back the deflection angle of the needle away from the predetermined puncture angle to calibrate the puncture guide wire in the ultrasound composite image.
The deflection angle of the puncture needle body under the action of the organism tissue can be obtained based on the force detected by the force detection unit, so that the puncture guiding path in the ultrasonic composite image is calibrated, the possibility of false puncture is reduced, and the puncture experience is improved.
Preferably, the puncture needle holder is provided with a holder for holding the puncture needle to move along the predetermined path, and the force detection unit is provided on the holder. The device can more accurately detect the acting force of the tissue on the puncture needle body.
Preferably, the puncture stand further comprises an angle detection unit for detecting a puncture angle of the puncture needle with respect to the imaging surface. The angle detection device solves the problem of real-time detection of the angle of the puncture needle, provides necessary conditions for continuous adjustment of the puncture angle, namely, the angle detection unit enables the puncture navigation system to acquire the angle information of the puncture needle in real time and plan the puncture path of the puncture needle in real time so as to improve the puncture efficiency and ensure the accuracy and convenience of puncture.
Preferably, the puncture frame further comprises a connecting member rotatably connected with the puncture needle holder so that the puncture needle holder can continuously adjust the predetermined puncture angle. The connecting piece of puncture frame and pjncture needle mounting rotationally connect for the puncture angle of pjncture needle can change in succession, accomplishes fine tuning, even the doctor discovers in the puncture process and need not to withdraw from the pjncture needle entirely yet, only need through ultrasonic transducer redetermine target spot, and put the pjncture needle on the guide pjncture path can, through this kind of mode not only improved puncture efficiency, still reduced the risk of user's infection.
Preferably, the angle detection unit includes a magnetic member provided on one of the puncture needle holder and the connection member, and a magnetic encoder provided on the other of the puncture needle holder and the connection member, the magnetic member being provided at a distance from the magnetic encoder. The angle detection unit not only can detect the puncture angle in real time, but also ensures the miniaturization and simple structure of the device, and does not bring excessive change of the volume structure of the device while increasing the functions.
Preferably, the lancet holder and the connector are detachably connected. The puncture needle fixing piece belongs to a disposable part as a sterile consumable product, and the connecting piece can be repeatedly sterilized and used through detachable connection, so that the cost is reduced while the sanitation and the safety are ensured.
Preferably, the puncture needle fixing piece and the connecting piece are provided with mutually matched limiting pieces so as to limit the rotation range of the puncture needle fixing piece. The setting of locating part has avoided the result that the pjncture needle that the maloperation caused deviates from normal puncture route, has improved puncture security.
Preferably, the puncture needle fixing member is provided with a holding member for holding the puncture needle to move along the predetermined path, and the holding member is arranged on the side wall of the end part of the puncture needle fixing member, which is far away from the connecting member, opposite to the limiting member on the puncture needle fixing member.
Preferably, the limiting member of the puncture needle fixing member is a protruding member, the limiting member of the connecting member is a blocking wall, and the blocking wall is located on a rotating path of the protruding member so as to limit the rotating range of the puncture needle fixing member.
Preferably, there are at least two stop walls between which the protruding member moves, the two stop walls being connected by a reinforcement member. The arrangement of the reinforcing piece prevents the deformation of the stop wall caused by overlarge force applied to the stop wall by the puncture needle fixing piece, thereby ensuring the precision of the puncture angle at the boundary.
Preferably, the magnetic member is a permanent magnet or magnetized puncture needle.
Preferably, the deflection distance of the central axis of the magnetic element relative to the center of the magnetic encoder is below 0.5 mm. Still more preferably, the deflection distance is 0.25mm or less. Further preferably, the center of the magnetic encoder is located on the central axis of the magnetic member.
Preferably, a rotation shaft is provided on one of the puncture needle holder and the connector, a hole matching the rotation shaft is provided on the other of the puncture needle holder and the connector, and the puncture needle holder and the connector are rotatably connected by inserting the rotation shaft into the hole. Preferably, one of the magnetic member and the magnetic encoder is provided at an end of the rotation shaft near the connection member.
Preferably, the magnetic member is spaced from the magnetic encoder by a distance in the range of 0.5mm to 2.5 mm.
Preferably, the connector is rotatably connected with the ultrasonic transducer. The relative position of the puncture needle and the ultrasonic transducer can be adjusted to obtain an ideal ultrasonic composite image.
In a second aspect, the present invention provides an ultrasound interventional puncture navigation system comprising: the puncture frame; an ultrasonic transducer for acquiring ultrasonic image information in a living body in real time; the data acquisition unit is used for acquiring the acting force information detected by the force detection unit; the data processing and transmitting unit is used for processing the information acquired by the data acquisition unit and transmitting the processed information to the image processing unit; the image processing unit is used for receiving and processing the ultrasonic image information and the information transmitted by the data processing and transmitting unit in real time so as to generate a real-time ultrasonic synthetic image with a puncture guide wire and representing the organism; and an image display unit for displaying the real-time ultrasound synthesized image in real time.
Preferably, the data processing and transmitting unit converts the force information into the deflection angle and generates, by the image processing unit, a real-time ultrasound composite image representing the living body with the puncture guide wire calibrated based on the deflection angle.
Preferably, the data acquisition unit further acquires a puncture angle of the puncture needle relative to the imaging surface in real time, and the data processing and transmitting unit judges whether the puncture angle is within a preset range; and if the puncture angle is not within the preset range, the data processing and transmitting unit generates a prompt signal. By judging the puncture angle, the system safety can be further provided, and misoperation of puncture is avoided.
In a third aspect, the present invention provides a penetration carriage capable of being used for ultrasound interventional penetration, the penetration carriage being connectable to an ultrasound transducer having an imaging surface in contact with a biological surface capable of passing ultrasound signals, the penetration carriage comprising: a puncture needle holder for guiding the puncture needle so that the puncture needle reaches a target region of puncture along a predetermined path; an angle detection unit for detecting a puncture angle of the puncture needle with respect to the imaging surface in real time; and a connecting member rotatably connected with the puncture needle holder so that the puncture needle holder can continuously adjust the puncture angle; the angle detection unit comprises a magnetic piece arranged on one of the puncture needle fixing piece and the connecting piece and a magnetic encoder arranged on the other of the puncture needle fixing piece and the connecting piece, wherein the magnetic piece and the magnetic encoder are arranged at opposite intervals.
In a fourth aspect, the present invention provides an ultrasound interventional puncture navigation system comprising: the puncture frame; an ultrasonic transducer for acquiring ultrasonic image information in a living body in real time; the data acquisition unit is used for acquiring the information of the puncture angle detected by the angle detection unit; the data processing and transmitting unit is used for processing the information acquired by the data acquisition unit and transmitting the processed information to the image processing unit; the image processing unit is used for receiving and processing the ultrasonic image information and the information transmitted by the data processing and transmitting unit in real time so as to generate a real-time ultrasonic synthetic image with a puncture guide wire and representing the organism; and an image display unit for displaying the real-time ultrasound synthesized image in real time.
The angle detection unit composed of the magnetic piece and the magnetic encoder solves the problem of real-time detection of the angle of the puncture needle, and provides a necessary condition for continuous adjustment of the puncture angle, namely, the puncture navigation system can acquire the angle information of the puncture needle in real time by the arrangement of the angle detection unit, and plan the puncture path of the puncture needle in real time so as to improve the puncture efficiency and ensure the accuracy and convenience of puncture. On the other hand, the miniaturization and simple structure of the device are ensured, and the functions are increased without causing excessive change of the volume structure.
Compared with the prior art, the puncture frame and the puncture navigation system have the advantages of simple structure and convenient operation, and solve the problems that the puncture frame cannot continuously adjust the puncture angle and cannot change the puncture path in real time. In addition, through setting up puncture calibration mechanism, improved the security and the puncture precision of puncture operation, improved the puncture experience in general.
Drawings
Fig. 1 is a schematic view of a probe front-end device according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a needle ultrasound navigation system.
FIG. 3 is a schematic view of an ultrasound composite image of a puncture guide line and an ultrasound image composite.
Fig. 4 is a schematic structural view of the puncture stand.
Fig. 5 is a partial cross-sectional view of the lancing carriage.
FIG. 6 is a schematic diagram of the positional relationship between a magnetic element and a magnetic encoder.
Fig. 7 is a force detection unit setup schematic.
Fig. 8 is a schematic diagram of deflection angle calculation.
Fig. 9 is a schematic illustration of a puncture guide wire calculation.
Detailed Description
Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present specification, by describing the embodiments of the present invention with specific examples. While the description of the invention will be described in connection with the preferred embodiments, it is not intended to limit the inventive features to the implementation. Rather, the purpose of the invention described in connection with the embodiments is to cover other alternatives or modifications, which may be extended by the claims based on the invention. The following description contains many specific details for the purpose of providing a thorough understanding of the present invention. The invention may be practiced without these specific details. Furthermore, some specific details are omitted from the description in order to avoid obscuring the invention.
Fig. 1-2 show a needle ultrasound navigation system comprising a medical ultrasound transducer 1, a puncture frame 2 and imaging means, the ultrasound transducer 1 being connected to the puncture frame 2, preferably the ultrasound transducer 1 being detachably connected to the puncture frame 2, e.g. by snap-fitting. The ultrasonic transducer 1 is used for confirming a target spot and collecting ultrasonic signals of organism tissues in real time. The puncture frame 2 is provided with a puncture needle fixing piece 21, and the puncture needle 3 is arranged on the puncture needle fixing piece 21, so that the puncture needle 3 and the ultrasonic transducer 1 keep an inherent space geometric relationship, and the specific position of the puncture needle is calculated conveniently. Preferably, the puncture frame 2 is further provided with an ultrasonic transducer fixing member 20 to mount the ultrasonic transducer 1 without affecting the ultrasonic signal transmission and collection; conversely, the ultrasonic transducer 1 may also be provided with a fixing member for mounting the puncture frame 2. The imaging means comprises an image processing unit and an image display unit, wherein in use, the imaging surface 10 of the ultrasonic transducer 1 is in contact with the biological body surface B, the image processing unit receives in real time the ultrasonic image information transmitted by the ultrasonic transducer 1 and the angle information θ of the axis 30 of the puncture needle 3 relative to the imaging surface 10, and generates a real-time ultrasound composite image representing the inside of the biological body with the puncture guide wire 31, which can be displayed in real time by the image display unit, in particular, see the ultrasound composite image shown in fig. 3. The algorithm for generating the real-time ultrasound synthetic image representing the living body with the puncture guide line 31 is well known in the art and will not be described in detail herein. The image processing unit is preferably an ultrasound meter. The image processing unit may be a combination of an ultrasonic instrument and a computer, where the computer receives ultrasonic image information transmitted by the ultrasonic instrument and angle information of the puncture needle 3 to perform image fusion processing, and generates a real-time ultrasonic composite image representing the living body with the puncture guide wire 31. Wherein the puncture guide wire may be a thin solid line or a dashed line or a plurality of dashed solid lines for predicting the needle penetration trajectory of the puncture needle.
The puncture frame 2 may be provided with a puncture detection unit for acquiring puncture information in real time, preferably, the puncture detection unit includes an angle detection unit for detecting an angle of the puncture needle 3 in real time, and the angle information may be acquired by acquiring and processing an angle signal acquired by the angle detection unit by the data acquisition unit. The device comprises a data acquisition unit, an image processing unit, a data acquisition unit, a data transmission unit, an imaging component and a real-time ultrasonic synthetic image processing unit, wherein the data acquisition unit of the data acquisition unit acquires angle information of the angle detection unit, the angle information is transmitted to the image processing unit of the imaging component after being processed by the data processing and transmission unit of the data acquisition unit, and the image processing unit performs image fusion processing on the received ultrasonic image information and the angle information to generate a real-time ultrasonic synthetic image with a puncture guide wire and representing the inside of a living body. The angle information may be input by the user in advance.
Fig. 4 shows a puncture stand 2, in which the puncture stand 2 has a connecting member 22, and the connecting member 22 is fixedly connected to an ultrasonic transducer fixing member 20, and the fixed connection may be integrally formed, may be detachable or non-detachable, and is not particularly limited. The connecting member 22 is also connected to the needle holder 21 of the puncture frame 2, and the needle holder 21 is preferably rotatably connected to the connecting member 22 so that the puncture needle 3 can rotate around the rotation axis to continuously adjust the puncture angle θ to any desired angle. Preferably, the needle mount 21 is rotatably coupled to the connector 22 by inserting the rotation shaft 214 into a hole 223 of the connector 22 that mates with the rotation shaft 214, see in particular fig. 5. On the other hand, the rotating shaft of the connector may be inserted into a hole of the puncture needle holder matching with the rotating shaft and rotatably connected to the puncture needle holder. Preferably, the rotation shaft and the hole may be axially detachably fixed by friction force, or may be axially detachably fixed by a buckle, and the detachably fixed is not particularly limited. Because the puncture needle fixing part is a sterile consumable, the detachable connection of the connecting part 22 and the puncture needle fixing part 21 facilitates the sterile disinfection of the connecting part 22, so that the connecting part can be reused, and the cost can be reduced under the condition of ensuring sanitation and safety. Preferably, to adjust the relative position of the needle 3 and the ultrasound transducer 1, the connector 22 can be rotatably connected to the ultrasound transducer mount 20 with an axis of rotation perpendicular to the axis of rotation 214 to obtain a desired ultrasound composite image.
In order to prevent the puncture angle θ from being unreasonably adjusted, a limiting member may be provided on the puncture needle holder 21 and the connector 22 to limit the rotation range of the puncture needle holder 21, so that the puncture angle θ is adjusted within a reasonable interval range. If the protruding member 213 is provided on the outer surface of the lancet holder 21, the coupling member 22 is provided with the stopper walls 222 on the path along which the protruding member 213 rotates about the rotation axis 214, and preferably, there are two stopper walls 222, and the protruding member 213 moves within the space defined by the two stopper walls. To prevent the stop walls 222 from being deformed by force, the two stop walls 222 are connected by a stiffener 221, preferably the stiffener 221 is an arcuate wall that can be connected to the side wall of the connector 22. The needle holder 21 is provided with a holder 211 for holding the needle 3 along the guide wire 31, the holder 211 having an axial passage through which the needle shaft of the needle 3 can pass, which axial passage serves to ensure that the needle 3 is advanced along the guide wire 31 when delivering a needle. Preferably, the retainer 211 is disposed on the end side wall of the rotating shaft 214 remote from the connector 22 opposite the stopper on the lancet holder 21.
The puncture frame 2 may also be provided with an angle detection unit to detect the puncture angle of the puncture needle in real time, see fig. 5 in particular. The angle detection unit has a magnetic member 215 and a magnetic encoder 224. The magnetic member 215 is preferably a permanent magnet, and may be a magnetized lancet. When the plane of the S, N pole of the magnetic member 215 is parallel to the front surface of the magnetic encoder and keeps a certain distance, the magnetic encoder 224 detects the magnetic field change information caused by the rotation of the magnetic member 215 in real time along with the change of the puncture angle controlled by the rotation of the puncture frame 2, and the magnetic field change information is converted into angle information through analog-to-digital conversion and digital signal processing, so as to detect the puncture angle of the puncture needle in real time. The angle information is transmitted to an image processing unit of the imaging component by a data collector, and the image processing unit performs image fusion processing on the angle information and the ultrasonic image information to generate a real-time ultrasonic synthetic image with a puncture guide wire and representing the inside of the organism. The specific algorithm for converting the magnetic field change information into the angle information is common knowledge in the technical field, and will not be described herein. Preferably, the data processing and transmitting unit of the data collector judges whether the puncture angle of the puncture needle is within a preset range, and if not, sends a prompt signal to inform a user of the puncture operation error. Preferably, the magnetic member 215 is disposed at an end of the rotation shaft 214 near the connection member 22; a magnetic encoder 224 is provided on the connector 22, spaced opposite the magnetic member 215, see in particular fig. 5. In order to obtain a better linear relationship between the magnetic field variation and the angle, the central axis of the magnetic member 215 is offset from the center of the magnetic encoder 224 by a distance of less than 0.5mm, preferably less than 0.25mm, and more preferably, the center of the magnetic encoder 224 is located on the central axis of the magnetic member 215. For better detection of the magnetic field change, the distance L of the magnetic element 215 from the front face of the magnetic encoder 224 is preferably in the range of 0.5mm-2.5mm, see in particular fig. 6.
In use, the ultrasound transducer 1 is fixed to the puncture frame 2, and the imaging surface 10 of the ultrasound transducer 1 is pressed against the biological surface B to find a puncture target, see fig. 1; then, the puncture needle 3 is slowly fed into the puncture needle 3 by 1-2cm along the axial passage of the holder 211, and the puncture needle holder 21 is rotated along the rotation axis 214 by observing the real-time puncture guide wire 31 provided by the image display unit, and the puncture guide wire 31 is aimed at the target puncture area by slowly changing the puncture angle θ between the axis 30 of the puncture needle 3 and the imaging surface 10 of the ultrasonic transducer 1. The puncture guide wire 31 aimed at the target puncture area is then kept unchanged and the puncture needle 3 is fed in while the entire puncture process is observed through the image display unit until the puncture needle 3 reaches the target puncture location.
Since the body tissue generates a force to push the needle body laterally when the needle body enters the body tissue during penetration, the needle body is bent away from the penetration guide path planned by the angle sensor and is deflected at a deflection angle α from the planned path, as shown in fig. 7. In order to obtain a more accurate puncture guiding path, the puncture detection unit further comprises a force sensor 216 for detecting the puncture needle body force F in real time to obtain the deflection angle α, thereby calibrating the puncture guiding path based on the deflection angle α and the puncture angle θ. The force sensor 216 is preferably disposed on the holder 211 of the needle mount 21 to detect the force F exerted by the needle body on the needle mount 21. The specific algorithm for obtaining the deflection angle α based on the force F is as follows:
considering the lancet body as a beam, the axis of the lancet body changes from a straight line to a smooth continuous flexible line under the action of an external force, as shown in fig. 8, the broken line indicates the deflection of the lancet body due to the action of the biological tissue. Wherein the force f=ql detected by force sensor 216; q is the uniform load applied to the body of the lancet located in the tissue, and L is the distance from the insertion point P to the tip o. L can be obtained through detection and calculation, and can also be determined that the length of the needle body of the puncture needle is L, wherein L is known data.
Wherein, the bending moment equation of the needle section at the x position from the needle point o is as follows:
wherein x is more than or equal to 0 and less than or equal to L.
According to the flexible line approximation differential equation, the following equation (2),
wherein y is the displacement of the centroid of the cross section of the puncture needle body in the direction vertical to the axial line of the needle body, E is the tensile and compressive elastic modulus of the puncture needle, and I is the polar moment of inertia of the puncture needle; e and I are both known data.
In the case of a negligible displacement of the needle body in its axial direction, the deflection angle α of the lancet needle body can be calculated from equations (1), (2), (3), the measured force F, and known boundary conditions.
After obtaining the deflection angle, the planned puncture guiding path may be compensated for, thereby obtaining an accurate puncture guiding wire, and the following method is merely an embodiment, and is not limited to the following method when determining the puncture guiding wire.
As shown in fig. 9, the puncture needle holder 21 rotates along the rotation point Z, the puncture needle 3 forms an angle θ with the imaging surface 10 of the ultrasonic transducer, the puncture needle 3 is inserted into the living tissue from the insertion point P, and the puncture needle deflection angle α is obtained based on the force F detected by the force sensor 216. In the case where the upper left corner of the ultrasound image is the origin, the puncture trajectory of the puncture needle intersects the ultrasound image frame at two points (x 1, y 1), (x 2, y 2), see the dashed line in fig. 9. From ultrasound transmitted image height H I And width W I Height H of ultrasound region S And width W S The coordinates (x 1, y 1), (x 2, y 2) of the puncture guide line on the ultrasonic image are calculated by the ultrasonic image display size proportion and the like, and specifically:
x1＝W S ，W S is a known value;
y2＝H S ，H S is a known value;
y1=k×tan (θ—α), k being the distance of the needle entry point P from the edge of the ultrasound region close to the needle entry point P, which is derived from the mechanical dimensions of the puncture frame, is a known value;
and drawing a line segment between the two points (x 1, y 1) and (x 2, y 2) in real time by software to generate a puncture guide line. The puncture guide wire can be updated in real time at a certain frequency as the angle and ultrasound parameters change. Wherein the two points of initiation and termination may be set at the edges of the ultrasound display region.
Although embodiments of the present invention have been described in conjunction with the accompanying drawings, it will be apparent to those skilled in the art that several variations and modifications may be made without departing from the principles of the invention, which are also considered to be within the scope of the invention.
Claims (15)
1. A penetration carriage capable of being used for ultrasound interventional penetration, the penetration carriage being connectable to an ultrasound transducer having an imaging surface capable of being brought into contact with a biological surface by ultrasound signals, the penetration carriage comprising:
a puncture needle holder for guiding the puncture needle such that the puncture needle reaches a target region of puncture along a predetermined path at a predetermined puncture angle;
a force detection unit for detecting in real time a force F acting on the lancet body to deviate the puncture angle of the lancet from a predetermined puncture angle;
the acting force F is used for feeding back a deflection angle alpha of the puncture needle deviating from the preset puncture angle so as to calibrate a puncture guide wire in an ultrasonic composite image;
the puncture needle fixing piece is provided with a retaining piece for retaining the puncture needle to move along the preset path, and the force detection unit is arranged on the retaining piece;
the deflection angle α is obtained by the following equation:
wherein,x is the distance from the needle body of the puncture needle to the needle tip, q is the uniform load applied to the needle body of the puncture needle in the tissue, and L is the distance from the needle point to the needle tip of the puncture needle; e is the tensile and compressive elastic modulus of the puncture needle, and I is the polar moment of inertia of the puncture needle;
q＝F/L；
and after the deflection angle alpha is obtained, compensating a planned puncture guiding path, so as to obtain the calibrated puncture guide line.
2. The lancing rack of claim 1, wherein the lancing rack further comprises an angle detection unit for detecting a lancing angle of the lancing needle with respect to the imaging surface.
3. The lancing apparatus of claim 2, wherein said lancing apparatus further comprises a coupling member rotatably coupled to said lancet holder such that said lancet holder continuously adjusts said predetermined lancing angle.
4. The lancing apparatus of claim 3, wherein the angle detection unit includes a magnetic member provided on one of the lancet holder and the coupling member, and a magnetic encoder provided on the other of the lancet holder and the coupling member, the magnetic member being disposed at a distance from the magnetic encoder.
5. The lancing rack of claim 3, wherein the lancet holder and the connector are removably connected.
6. A puncture stand as set forth in claim 3, wherein said puncture needle holder and said connecting member are provided with mutually cooperating stoppers to limit the rotation range of said puncture needle holder.
7. The lancing apparatus of claim 6, wherein the means for maintaining the movement of the lancet along the predetermined path of the lancet holder is disposed on an end side wall of the lancet holder remote from the coupling member opposite the stop means on the lancet holder.
8. The lancing apparatus of claim 6, wherein the stop of the lancet holder is a projection and the stop of the connector is a stop wall located in the path of rotation of the projection to define the range of rotation of the lancet holder.
9. The lancing rack of claim 8, wherein there are at least two of said stop walls and said projection member moves between two of said stop walls.
10. The lancing carriage of claim 9, wherein two of said stop walls are connected by a reinforcement member.
11. The lancing apparatus of claim 4, wherein one of said lancet holder and said coupling member is provided with a rotation shaft, the other of said lancet holder and said coupling member is provided with a hole matching the rotation shaft, and said lancet holder and said coupling member are rotatably coupled by inserting said rotation shaft into said hole;
one of the magnetic member and the magnetic encoder is provided at an end of the rotation shaft near the connection member.
12. The puncture carriage according to any one of claims 3 to 11, characterized in that the connecting element is rotatably connected with the ultrasonic transducer.
13. An ultrasonic interventional puncture navigation system, comprising:
the puncture stand according to any one of claims 1 to 12;
an ultrasonic transducer for acquiring ultrasonic image information in a living body in real time;
the data acquisition unit is used for acquiring the acting force F information detected by the force detection unit;
the data processing and transmitting unit is used for processing the information acquired by the data acquisition unit and transmitting the processed information to the image processing unit;
the image processing unit is used for receiving and processing the ultrasonic image information and the information transmitted by the data processing and transmitting unit in real time so as to generate a real-time ultrasonic synthetic image with a puncture guide wire and representing the organism;
and an image display unit for displaying the real-time ultrasound synthesized image in real time.
14. The ultrasound interventional puncture navigation system according to claim 13, wherein the data processing and transmission unit converts the force F information into the deflection angle α and generates by the image processing unit a real-time ultrasound composite image representing the living being with a puncture guide line calibrated based on the deflection angle α.
15. The ultrasonic interventional puncture navigation system according to claim 13 or 14, wherein the data acquisition unit further acquires a puncture angle of the puncture needle with respect to the imaging surface in real time, and the data processing and transmission unit judges whether the puncture angle is within a predetermined range;
and if the puncture angle is not within the preset range, the data processing and transmitting unit generates a prompt signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910478906.7A CN110123426B (en) | 2019-06-03 | 2019-06-03 | Ultrasonic intervention puncture navigation system and puncture frame |
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