CN110464431A - A kind of laser guide of tumor puncture - Google Patents
A kind of laser guide of tumor puncture Download PDFInfo
- Publication number
- CN110464431A CN110464431A CN201910823390.5A CN201910823390A CN110464431A CN 110464431 A CN110464431 A CN 110464431A CN 201910823390 A CN201910823390 A CN 201910823390A CN 110464431 A CN110464431 A CN 110464431A
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- Prior art keywords
- laser
- puncture
- laser transmitter
- mechanical arm
- controller
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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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
- A61B90/13—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
Present disclose provides a kind of laser guide of tumor puncture, including first laser transmitter and second laser transmitter, the first laser transmitter is arranged in the first double freedom mechanical arm tail end, and the first double freedom mechanical arm can be moved along the first sliding rail；The second laser transmitter is arranged in the second double freedom mechanical arm tail end, and the second double freedom mechanical arm can be moved along the second sliding rail；First laser transmitter and second laser transmitter emit a wordline laser towards the default reverse extending line for puncturing entry point；The intersection point of first laser transmitter and two lines laser projection line with patient of second laser transmitter transmitting is to puncture entry point, so that guiding puncture process, improves the precision and speed of puncture.
Description
Technical field
The disclosure belongs to guiding puncture device field more particularly to a kind of laser guide of tumor puncture.
Background technique
Only there is provided background technical informations relevant to the disclosure for the statement of this part, it is not necessary to so constitute first skill
Art.
Puncture process is main still by doctor according to CT image or ultrasound image in Hospitals at Present, has by virtue of experience carried out
The experience of doctor is depended primarily at, the superiority and inferiority that this method punctures result, the insufficient doctor of experience and ill health
Doctor puncture result may will deviation, and due to puncture result deviation, need patient repeatedly to carry out in puncture process
CT scan increases the dosage that patient receives radiation.
Inventors have found that the laser guide of existing tumor puncture based on dot laser, is carried out to entry point is punctured
Label, the laser guide of this tumor puncture can not point out puncture direction, moreover, in the practical operation of doctor, point
Line laser, which is easy to be punctured needle, to be blocked, to lose guiding function.
Summary of the invention
To solve the above-mentioned problems, the disclosure provides a kind of laser guide of tumor puncture, uses two words
Line laser punctures entry point and punctures direction and indicated, so that guiding puncture process, improves the precision and speed of puncture.
To achieve the goals above, the disclosure adopts the following technical scheme that
A kind of laser guide of tumor puncture, comprising:
First laser transmitter and second laser transmitter, the first laser transmitter are arranged in the first double freedom machine
Tool arm end, the first double freedom mechanical arm can be moved along the first sliding rail；The second laser transmitter is arranged at second pair certainly
By degree mechanical arm tail end, the second double freedom mechanical arm can be moved along the second sliding rail；
First laser transmitter and second laser transmitter emit a word towards the default reverse extending line for puncturing entry point
Line laser；First laser transmitter and second laser transmitter transmitting two lines laser with patient the intersection point of projection line be
Puncture entry point.
As an implementation, the color of first laser transmitter and a wordline laser of second laser transmitter transmitting
It is different.
As an implementation, the first sliding rail and the second sliding rail are separately positioned on two sides above puncturing matrix.
As an implementation, the first double freedom mechanical arm tail end passes through the first driving mechanism and the first controller phase
Even；Second double freedom mechanical arm tail end is connected by the second driving mechanism with second controller；First controller and
The inside of two controllers is stored with known puncture path.
The present embodiment stores puncture path to the first controller and second controller, is controlled by the first controller and second
Device processed controls corresponding double freedom manipulator motion respectively, swashs so that corresponding laser emitter generates a default wordline
Light, and then realize guiding puncture, improve the accuracy and efficiency of guidance.
As an implementation, first controller and second controller are connected with CT equipment, the CT equipment
For acquiring CT image and exporting puncture path to the first controller and second controller.
As an implementation, coordinate system and first laser transmitter belonging to the puncture path that CT image determines and the
Coordinate system belonging to dual-laser transmitter is identical.
As an implementation, first driving mechanism is driving motor.
As an implementation, second driving mechanism is driving motor.
The beneficial effect of the disclosure is:
A kind of laser guide of tumor puncture of the disclosure, uses first laser transmitter and second laser transmitter
From different directions towards a wordline laser for the reverse extending line transmitting different colours for puncturing entry point and knub position line；Two beams
Laser issues from different directions, and projection on a patient body can generate intersection point, and intersection point is demarcated as the point of puncture on puncture path,
Puncture needle head is aligned and punctures entry point by doctor, rotates puncture needle, occurs two parallel lines simultaneously above puncture needle and swashs
Light time, puncture needle direction is just to puncture direction, so that guiding puncture process, improves the precision and speed of puncture.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, and the disclosure is shown
Meaning property embodiment and its explanation do not constitute the improper restriction to the disclosure for explaining the disclosure.
Fig. 1 is that the sliding rail of the embodiment of the present disclosure places side schematic view；
Fig. 2 is that the sliding rail of the embodiment of the present disclosure places schematic diagram；
Fig. 3 is the mechanical arm schematic diagram of the placement laser emitter of the embodiment of the present disclosure.
Wherein, 1- first laser transmitter；2- second laser transmitter；The first sliding rail of 3-；The second sliding rail of 4-；5- is punctured
Bed；6- the first double freedom mechanical arm.
Specific embodiment
The disclosure is described further with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the disclosure.Unless another
It indicates, all technical and scientific terms used herein has usual with disclosure person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the disclosure.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In the disclosure, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ",
The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this public affairs
The relative for opening each component or component structure relationship and determination, not refers in particular to either component or element in the disclosure, cannot understand
For the limitation to the disclosure.
In the disclosure, term such as " affixed ", " connected ", " connection " be shall be understood in a broad sense, and indicate may be a fixed connection,
It is also possible to be integrally connected or is detachably connected；It can be directly connected, it can also be indirectly connected through an intermediary.For
The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the disclosure as the case may be,
It should not be understood as the limitation to the disclosure.
As shown in Figure 1, a kind of laser guide of tumor puncture of the present embodiment, comprising:
First laser transmitter 1 emits a wordline laser towards tumour and the reverse extending line for puncturing entry point；
Second laser transmitter 2, the wordline towards tumour and the reverse extending line transmitting different colours for puncturing entry point swash
Light；
As shown in Fig. 2, the first sliding rail 3 and the second sliding rail 4 are separately positioned on 5 top two sides of puncturing matrix.
As shown in figure 3, the first laser transmitter 1 is arranged in 6 end of the first double freedom mechanical arm, first pair of freedom
Degree mechanical arm can be moved along the first sliding rail；Second laser transmitter setting is in the second double freedom mechanical arm tail end, and second
Double freedom mechanical arm can be moved along the second sliding rail.
The present embodiment is in such a way that sliding rail and double freedom mechanical arm drive laser emitter movement, so that Laser emission
The a wordline laser of device generation predeterminated position.
In specific implementation, the first double freedom mechanical arm tail end is connected by the first driving mechanism with the first controller；
Second double freedom mechanical arm tail end is connected by the second driving mechanism with second controller；First controller and the second control
The inside of device processed is stored with known puncture path.
The present embodiment stores puncture path to the first controller and second controller, is controlled by the first controller and second
Device processed controls corresponding double freedom manipulator motion respectively, swashs so that corresponding laser emitter generates a default wordline
Light, and then realize guiding puncture, improve the accuracy and efficiency of guidance.
In the present embodiment, first driving mechanism and the second driving mechanism are driving motor.
It should be noted that in other embodiments, the first driving mechanism and the second driving mechanism can also be used other and show
Some driving mechanisms is realized.
As a kind of specific embodiment, first controller and second controller are connected with CT equipment, the CT
Equipment is for acquiring CT image and exporting puncture path to the first controller and second controller.
During obtaining CT image, a metal dots are placed on one's sick bed, are placed on patient there are four metal dots
With, CT scan is carried out to patient, determines the knub position of patient, the position letter based on four metal dots in CT scan image
Breath generates the space coordinate of patient, and determines the puncture path information punctured by CT image.
It should be noted that determine that the puncture path information punctured can be realized by existing method by CT image, this
Place is not repeated.
As an implementation, coordinate system and first laser transmitter belonging to the puncture path that CT image determines and the
Coordinate system belonging to dual-laser transmitter is identical.
Specifically, it using the fixation metal dots placed on puncturing matrix, generates in CT image coordinate system and two wordline
The location information of metal dots is fixed in laser emitter coordinate system, and according to the location information of fixed metal dots to three coordinate systems
Carry out it is unified, it is unified among CT image coordinate system.
The present embodiment is by will be belonging to coordinate system where CT image and first laser transmitter and second laser transmitter
Coordinate system is unified, improves point of puncture and punctures the accuracy in direction, improves boot efficiency.
Such as: CT scan is carried out to patient, determines the position of tumour, doctor is according to CT image calibration knub position and puncture
Entry point, and shown in CT image coordinate system.The knub position and tumor puncture that computer is indicated according to doctor
Entry point does straight line, and this straight line of reverse extending at tumor puncture entry point.
First laser transmitter 1 and second laser transmitter 2 emit different from two different positions towards the same direction
The line laser of color.
For this example using line laser is emitted from different directions, projection of the two lines laser with patient only exists one
Intersection point, as puncture entry point, this method make the position of point of puncture more accurate.
Such as: selecting the laser rays of green and red two kinds of colors as guiding puncture laser.
It selects two different colors of a wordline laser as guiding puncture laser, improves laser identification, finally mention
The high accuracy and efficiency of guiding puncture.
First laser transmitter, a wordline laser of transmitting are red line laser, and the laser is towards tumour and puncture
The reverse extending line of entry point emits a wordline laser；
Second laser transmitter, a wordline laser of transmitting are green line laser, the laser simultaneously towards tumour and
The reverse extending line for puncturing entry point emits a wordline laser；
The first laser device and second laser in the both sides for puncturing hospital bed, the direction different from two to tumour and
The reverse extending line for puncturing entry point emits a wordline laser；
The crosspoint that the line laser of two different colours of described two laser transmittings projects with patient is puncture
Entry point；
The syringe needle alignment of puncture needle is punctured entry point by doctor, changes the direction of puncture needle, when display two on puncture needle
When the parallel line laser projection of different colours, it is believed that the direction of puncture needle is exactly to puncture direction at this time.
This implementation forms cross spider using two a wordline laser square crossings, and cross spider coincides with puncture path, hands over
Cross wires is mutually connected in point of puncture with patient skin, and the present apparatus implements to provide point of puncture and puncture direction simultaneously to puncture, improves and wear
Pierce precision and speed.
The laser guide of the tumor puncture of the present embodiment, using first laser transmitter and second laser transmitter from
Different directions emit a wordline laser of different colours towards the reverse extending line for puncturing entry point and knub position line, and two beams swash
Light issues from different directions, and projection on a patient body can generate intersection point, and intersection point is demarcated as the point of puncture on puncture path, doctor
Raw be directed at puncture needle head punctures entry point, rotates puncture needle, occurs two parallel line lasers simultaneously above puncture needle
When, puncture needle direction is just to puncture direction, so that guiding puncture process, improves the precision and speed of puncture.
The foregoing is merely preferred embodiment of the present disclosure, are not limited to the disclosure, for the skill of this field
For art personnel, the disclosure can have various modifications and variations.It is all within the spirit and principle of the disclosure, it is made any to repair
Change, equivalent replacement, improvement etc., should be included within the protection scope of the disclosure.
Claims (8)
1. a kind of laser guide of tumor puncture characterized by comprising
First laser transmitter and second laser transmitter, the first laser transmitter are arranged in the first double freedom mechanical arm
End, the first double freedom mechanical arm can be moved along the first sliding rail；The second laser transmitter is arranged in the second double freedom
Mechanical arm tail end, the second double freedom mechanical arm can be moved along the second sliding rail；
First laser transmitter and second laser transmitter emit a wordline towards the default reverse extending line for puncturing entry point and swash
Light；The intersection point of first laser transmitter and two lines laser projection line with patient of second laser transmitter transmitting is to puncture
Entry point.
2. the laser guide of tumor puncture as described in claim 1, which is characterized in that first laser transmitter and second
The color of a wordline laser of laser transmitter projects is different.
3. the laser guide of tumor puncture as described in claim 1, which is characterized in that the first sliding rail and the second sliding rail point
Not She Zhi above puncturing matrix two sides.
4. the laser guide of tumor puncture as described in claim 1, which is characterized in that the first double freedom mechanical arm end
End is connected by the first driving mechanism with the first controller；Second double freedom mechanical arm tail end passes through the second driving mechanism and the
Two controllers are connected；The inside of first controller and second controller is stored with known puncture path.
5. the laser guide of tumor puncture as claimed in claim 4, which is characterized in that first controller and second
Controller is connected with CT equipment, and the CT equipment is for acquiring CT image and exporting puncture path to the first controller and second
Controller.
6. the laser guide of tumor puncture as claimed in claim 5, which is characterized in that the puncture path that CT image determines
Affiliated coordinate system is identical as coordinate system belonging to first laser transmitter and second laser transmitter.
7. the laser guide of tumor puncture as claimed in claim 4, which is characterized in that first driving mechanism is to drive
Dynamic motor.
8. the laser guide of tumor puncture as claimed in claim 4, which is characterized in that second driving mechanism is to drive
Dynamic motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910823390.5A CN110464431A (en) | 2019-09-02 | 2019-09-02 | A kind of laser guide of tumor puncture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910823390.5A CN110464431A (en) | 2019-09-02 | 2019-09-02 | A kind of laser guide of tumor puncture |
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| Publication Number | Publication Date |
|---|---|
| CN110464431A true CN110464431A (en) | 2019-11-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201910823390.5A Pending CN110464431A (en) | 2019-09-02 | 2019-09-02 | A kind of laser guide of tumor puncture |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2449351C (en) * | 2003-07-14 | 2008-01-08 | Hitachi, Ltd. | Position measuring apparatus |
| CN102648871A (en) * | 2011-02-25 | 2012-08-29 | 西门子公司 | Imaging medical apparatus with a device to identify a plane in space |
| CN107174320A (en) * | 2017-06-29 | 2017-09-19 | 杨宗德 | A kind of puncture needle direction guider |
| CN107847278A (en) * | 2015-01-27 | 2018-03-27 | 伊美格医药公司 | Optics targets and track visualization |
| CN109793559A (en) * | 2019-01-24 | 2019-05-24 | 四川大学华西医院 | A kind of CT guided Percutaneous laser locating apparatus |
-
2019
- 2019-09-02 CN CN201910823390.5A patent/CN110464431A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2449351C (en) * | 2003-07-14 | 2008-01-08 | Hitachi, Ltd. | Position measuring apparatus |
| CN102648871A (en) * | 2011-02-25 | 2012-08-29 | 西门子公司 | Imaging medical apparatus with a device to identify a plane in space |
| CN107847278A (en) * | 2015-01-27 | 2018-03-27 | 伊美格医药公司 | Optics targets and track visualization |
| CN107174320A (en) * | 2017-06-29 | 2017-09-19 | 杨宗德 | A kind of puncture needle direction guider |
| CN109793559A (en) * | 2019-01-24 | 2019-05-24 | 四川大学华西医院 | A kind of CT guided Percutaneous laser locating apparatus |
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Application publication date: 20191119 |
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