CN111671502B - Needle holder for intelligent guidance of percutaneous puncture minimally invasive surgery - Google Patents
Needle holder for intelligent guidance of percutaneous puncture minimally invasive surgery Download PDFInfo
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- CN111671502B CN111671502B CN202010304576.2A CN202010304576A CN111671502B CN 111671502 B CN111671502 B CN 111671502B CN 202010304576 A CN202010304576 A CN 202010304576A CN 111671502 B CN111671502 B CN 111671502B
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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
- A61B17/3478—Endoscopic needles, e.g. for infusion
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- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
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- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- 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
- A61B2034/2055—Optical tracking systems
- A61B2034/2057—Details of tracking cameras
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
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Abstract
The invention relates to a needle holder for intelligent guidance of percutaneous puncture minimally invasive surgery, wherein the tail ends of a first joint and a third joint of a positioning mechanical arm are fixedly connected with a base fixing device and a puncture guiding device respectively; the puncture guiding device comprises a metal puncture frame, a universal joint and a monocular camera, and the monocular camera is fixedly connected with the tail end of the third joint; the optical tracking system comprises optical tracking equipment and an infrared reflective marker ball matched with the optical tracking equipment; the monocular camera and the optical tracking device are respectively connected with the data processing system. The needle holder disclosed by the invention can be used for accurately acquiring the pose of the puncture needle in the operation under the coordinate system of a patient and the displacement information of the puncture needle in real time, and displaying the pose and the displacement information in real time through the display screen, so that great convenience is brought to an operator, the needle inserting speed and the needle inserting direction control accuracy of the puncture needle are improved to a great extent, meanwhile, the visual field is good, the real-time monitoring of the puncture operation progress of the doctor is facilitated, and unnecessary injuries to the patient are avoided.
Description
Technical Field
The invention relates to the technical field of medical auxiliary equipment, in particular to a needle holder for intelligent guidance of percutaneous puncture minimally invasive surgery.
Background
In the existing minimally invasive surgery, the application potential of the percutaneous puncture surgery is larger and larger, the requirements of doctors on the positioning precision of the needle point of the puncture needle in the puncture surgery are very high, and the position of the needle point needs to be tracked in real time. The rapid tracking of the needle point position requires that the positioning and tracking device can autonomously, rapidly and accurately position, and has good tracking adaptation to puncture objects with complex shapes, so that higher requirements are provided for the movement flexibility and the position tracking accuracy of the automatic tracking device.
While puncture surgery under X-ray, CT or stereotactic guidance significantly improves the success rate of puncture and reduces the occurrence of complications relative to freehand puncture, they take up a long time and the somewhat cumbersome equipment restricts the convenience of the surgical procedure, and repeated X-ray irradiation by the patient and long-term cumulative radiation damage by medical staff are of concern. In recent years, although the electromagnetic navigation system has simple structure and operation, low manufacturing cost and no surgical blind area, the electromagnetic navigation system is easy to be interfered by surrounding ferromagnetic objects and has unstable precision, so that the electromagnetic navigation system is not suitable for the field of surgical puncture, and the optical positioning system has the advantages of high precision, simplicity and convenience in operation and the like and plays an increasingly important role in percutaneous puncture minimally invasive surgery.
In the percutaneous puncture minimally invasive surgery process, the puncture success rate is directly determined by the needle insertion direction of the puncture needle and the control of the needle insertion speed of the puncture needle. In recent years, more and more medical staff use nerve navigation technology in percutaneous puncture surgery to achieve good effect, but in existing nerve navigation systems, most of the marker reference frames are fixed on the head of a patient and ensure no sliding. This approach not only causes discomfort to the patient, but also has unstable navigational accuracy, and may have a non-negligible error in the accuracy of the penetration procedure.
Disclosure of Invention
In view of the above, it is necessary to provide a needle holder for intelligent guidance of percutaneous puncture minimally invasive surgery, which can accurately acquire the pose of a puncture needle in a patient coordinate system and displacement information of the puncture needle in real time and has a good field of view, aiming at the problems existing in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a needle holder for intelligent guidance of percutaneous puncture minimally invasive surgery comprises a positioning mechanical arm, a puncture guiding device, an optical tracking system and a data processing system;
the positioning mechanical arm comprises three joints, the tail end of a first joint is fixedly connected with the base fixing device, and the tail end of a third joint is fixedly connected with the puncture guiding device;
the puncture guiding device comprises a metal puncture frame, a universal joint and a monocular camera, wherein the metal puncture frame comprises a U-shaped body and a U-shaped metal sliding block tightly matched with the U-shaped body, puncture needle guiding grooves are formed in corresponding positions of the inner wall of the bottom of the U-shaped body and the bottom of the U-shaped metal sliding block, the diameter of each puncture needle guiding groove is the same as that of each puncture needle, and each puncture needle guiding groove is used for guiding a puncture needle to slowly enter a focus point from a skin needle entering point of a patient;
the universal joint comprises a universal ball, a universal ball base and a supporting rod, the universal ball base is fixedly connected with the tail end of the third joint, and the universal ball is fixedly connected with the U-shaped body through the supporting rod;
the monocular camera is fixedly connected with the tail end of the third joint through a camera bracket, a black point is arranged at the tail end of the puncture needle, and the monocular camera takes the black point as a characteristic point to acquire the displacement information of the puncture needle in real time;
the optical tracking system comprises optical tracking equipment and an infrared reflecting marking ball matched with the optical tracking equipment, the infrared reflecting marking ball is fixedly arranged on the outer side wall of the U-shaped body opposite to the optical tracking equipment, and the optical tracking equipment is used for measuring the position of the infrared reflecting marking ball in real time so as to acquire the three-dimensional space coordinates of the infrared reflecting marking ball in real time;
the monocular camera and the optical tracking equipment are respectively connected with the data processing system, the data processing system rebuilds a three-dimensional image model of a focus of a patient according to CT images or MRI images of the patient, and the real-time data sent by the monocular camera and the optical tracking equipment are combined to register a patient coordinate system and a surgical instrument coordinate system to obtain the real-time pose of the puncture needle under the patient coordinate system, and the real-time pose is displayed in real time through a virtual three-dimensional navigation interface of a display screen in the data processing system.
The invention has the beneficial effects that: the needle holder for intelligent guidance of percutaneous puncture minimally invasive surgery provided by the invention can acquire the pose of the puncture needle in the operation under the coordinate system of a patient and the displacement information of the puncture needle in real time and accurately, and can display the pose and the displacement information of the puncture needle in real time through the display screen, so that great convenience is brought to a surgeon, the needle insertion speed and the accuracy of needle insertion direction control of the puncture needle are improved to a great extent, meanwhile, the visual field is good, the real-time monitoring of the puncture operation progress of the surgeon is facilitated, and unnecessary injuries to the patient are avoided.
Drawings
FIG. 1 is a schematic view of a needle holder for intelligent guidance of a percutaneous transluminal minimally invasive procedure in accordance with one embodiment of the present invention;
FIG. 2 is a schematic structural view of a U-shaped body;
FIG. 3 is a schematic structural view of a U-shaped metal slider;
fig. 4 is a schematic view of the structure of the puncture needle.
Detailed Description
The technical scheme of the present invention will be described in detail with reference to the accompanying drawings and preferred embodiments.
In one embodiment, as shown in fig. 1-4, the invention discloses a needle holder for intelligent guidance of percutaneous puncture minimally invasive surgery, which comprises a positioning mechanical arm, a puncture guiding device, an optical tracking system and a data processing system 1.
Specifically, the positioning mechanical arm comprises three joints, namely a first joint 2, a second joint and a third joint 4, wherein the tail end of the first joint 2 is fixedly connected with the base fixing device 3, and the tail end of the third joint 4 is fixedly connected with the puncture guiding device. Further, the positioning mechanical arm in the embodiment is a mechanical arm with five degrees of freedom, so that an operator can make the metal puncture frame 5 roughly aim at the puncture part of the patient by adjusting the joint of the mechanical arm.
The puncture guiding device comprises a metal puncture frame 5, a universal joint 6 and a monocular camera 7, wherein the metal puncture frame 5 comprises a U-shaped body 5-1 and a U-shaped metal sliding block 5-2 which is tightly matched with the U-shaped body 5-1, as shown in fig. 2-3, a puncture needle guiding groove 5-3 is formed on the corresponding position of the bottom inner wall of the U-shaped body 5-1 and the bottom of the U-shaped metal sliding block 5-2, when the U-shaped body 5-1 is tightly matched with the U-shaped metal sliding block 5-2, a puncture needle guiding groove 5-3 on the U-shaped body 5-1 and the U-shaped metal sliding block 5-2 forms a slotted hole for accommodating the puncture needle 8, the puncture needle 8 is positioned in the slotted hole, and the U-shaped body 5-1 is tightly matched with the U-shaped metal sliding block 5-2, so that the puncture needle 8 cannot fall off, the puncture needle guiding groove 5-3 is completely consistent with the size of the puncture needle 8 in size, namely the diameter of the puncture needle guiding groove 5-3 is identical with the diameter of the puncture needle 8, and the needle body of the puncture needle 8 can move along the axial line direction of the puncture needle guiding groove 5-3 for gradually entering the puncture needle 8 from the puncture needle guiding groove 5-3 to the puncture point of a patient.
As shown in FIG. 1, the universal joint 6 comprises a universal ball 6-1, a universal ball base 6-2 and a supporting rod 6-3, wherein the universal ball base 6-2 is fixedly connected with the tail end of the third joint 4, and the universal ball 6-1 is fixedly connected with the U-shaped body 5-1 through the supporting rod 6-3. The universal ball 6-1 in the embodiment has three degrees of freedom, which is convenient for an operator to accurately adjust the metal puncture frame 5 before puncture operation, so that the puncture needle guide groove 5-3 is used for admitting needle points.
The monocular camera 7 is used for intra-operatively tracking the puncture needle to acquire displacement information of the puncture needle 8 in real time. The tail end of the puncture needle 8 is provided with black spots, and the black spots are preferably round in shape, so that the monocular camera 7 can acquire the position information of the tail end of the puncture needle in real time. The monocular camera 7 is fixedly connected with the tail end of the third joint 4 through a camera bracket, the black point at the tail end of the puncture needle 8 is used as a marker, the monocular camera 7 can acquire the sub-pixel center coordinates of the black point in real time by utilizing a characteristic extraction method in the process of puncture operation, and the displacement information of the needle point of the puncture needle can be acquired by utilizing the three-dimensional reconstruction principle of the marker point of the monocular camera to acquire the displacement information of the tail end of the operation tool.
The optical tracking system has a real-time navigation function for acquiring the position of the metal piercing carriage 5. The optical tracking system comprises an optical tracking device 9 and an infrared reflecting marking ball 10 matched with the optical tracking device 9, the infrared reflecting marking ball 10 is fixedly arranged on the outer side wall of the U-shaped body 5-1 opposite to the optical tracking device 9, the relative position relation between the infrared reflecting marking ball 10 and the puncture needle guiding groove 5-3 is known when the metal puncture frame 5 is manufactured, and the optical tracking device 9 is used for measuring the position of the infrared reflecting marking ball 10 in real time so as to acquire the three-dimensional space coordinates of the infrared reflecting marking ball 10 in real time. Further, the optical tracking device 9 in this embodiment adopts a binocular optical navigator, the core component of the binocular optical navigator is a binocular camera, the infrared reflective marker ball 10 needs to work within the public view range formed by the binocular camera, and fig. 1 and fig. 2 are only for convenience of explanation, in which the infrared reflective marker ball 10 is fixedly mounted on the outer side wall of the U-shaped body 5-1, and does not form a real space positional relationship with the optical tracking device 9 depicted in the drawings. In an actual puncture operation, the infrared reflective marker ball 10 should be located on the opposite side of the U-shaped body 5-1 from the optical tracking device 9.
The monocular camera 7 and the optical tracking device 9 are connected to a data processing system 1, respectively, the data processing system 1 being adapted to process data received from the monocular camera 7 and the optical tracking device 9 in real time. After acquiring CT images or MRI images of a focus of a patient, the data processing system 1 reconstructs a three-dimensional image model of the focus of the patient according to the CT images or the MRI images of the patient, after reconstructing the three-dimensional image model, the data processing system registers a patient coordinate system and a surgical instrument coordinate system by combining real-time data sent by the monocular camera 7 and the optical tracking device 9 to obtain a real-time pose of the puncture needle 8 under the patient coordinate system, a display screen is arranged in the data processing system 1 and is used for monitoring the puncture operation process in real time, and after obtaining the real-time pose of the puncture needle 8 under the patient coordinate system, the three-dimensional image model and the pose of the puncture needle 8 are displayed in real time through a virtual three-dimensional navigation interface of the display screen so as to assist an operator to successfully complete percutaneous puncture minimally invasive operation.
Further, as shown in fig. 2-3, a protrusion 5-4 is provided at a relative position on an inner side wall of the U-shaped body 5-1, a guiding groove 5-5 is formed at the bottom of the protrusion 5-4 and the U-shaped body 5-1, a protruding guiding rail 5-6 is provided at two sides of the U-shaped metal sliding block 5-2, when the U-shaped metal sliding block 5-2 is tightly matched with the U-shaped body 5-1, the guiding rail 5-6 is located in the guiding groove 5-5, and the guiding rail 5-6 is tightly matched with the guiding groove 5-5, and the protrusion 5-4 plays a limiting role on the guiding rail 5-6, so that the puncture needle 8 located in the puncture needle guiding groove 5-3 is not easy to fall off.
Further, the number of the infrared reflective marker balls 10 is more than 3, and all the spheres of the infrared reflective marker balls 10 are on the same plane, and the mounting and fixing positions of the infrared reflective marker balls 10 and the U-shaped body 5-1 are rigidly connected so as to ensure that the infrared reflective marker balls 10 do not slide. The optical tracking device 9 tracks the position information of the infrared reflective marker balls 10, so that the space coordinates of the ball centers of the infrared reflective marker balls 10 are obtained, after the distance between the infrared reflective marker balls 10 is calculated, a straight line where the ball centers of the two infrared reflective marker balls 10 with the largest distance are located is taken as an x axis, the ball center of the other infrared reflective marker ball 10 is taken as a y axis, the vertical line of the x axis is taken as a y axis, and then the z axis direction is determined according to the right-hand coordinate system rule, so that a basic coordinate system can be established. And then calculating the direction vector of the puncture needle guide groove 5-3 under the basic coordinate system according to the relative position relation of the infrared reflective marking ball 10 and the puncture needle guide groove 5-3, and obtaining the direction vector of the puncture needle guide groove 5-3 under the optical tracking equipment coordinate system by calculating the transformation matrix of the basic coordinate system and the optical tracking equipment coordinate system, thereby obtaining the pose of the puncture needle 8, namely the needle inserting direction of the puncture needle 8.
The application method of the needle holder for intelligent guidance of the percutaneous puncture minimally invasive surgery provided by the embodiment comprises the following steps:
step 1, assembling a needle holder for intelligent guidance of percutaneous puncture minimally invasive surgery;
step 4, slowly inserting the puncture needle 8 into the puncture needle guide groove 5-3, so that the tip of the puncture needle 8 slowly approaches the puncture needle point of the skin of the patient;
step 5, acquiring the real-time displacement of the needle point of the puncture needle 8 by using a monocular camera, and completing the real-time acquisition of the needle point displacement information of the puncture needle 8;
and 6, converting the pose of the puncture needle 8 under the patient coordinate system according to the conversion relation between the patient coordinate system and the surgical instrument coordinate system, and displaying the puncture operation process in real time on a three-dimensional virtual navigation interface of a display screen in the data processing system.
The invention has the beneficial effects that: the needle holder for intelligent guidance of percutaneous puncture minimally invasive surgery provided by the invention can acquire the pose of the puncture needle in the operation under the coordinate system of a patient and the displacement information of the puncture needle in real time and accurately, and can display the pose and the displacement information of the puncture needle in real time through the display screen, so that great convenience is brought to a surgeon, the needle insertion speed and the accuracy of needle insertion direction control of the puncture needle are improved to a great extent, meanwhile, the visual field is good, the real-time monitoring of the puncture operation progress of the surgeon is facilitated, and unnecessary injuries to the patient are avoided.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (4)
1. The needle holder for intelligent guidance of percutaneous puncture minimally invasive surgery is characterized by comprising a positioning mechanical arm, a puncture guiding device, an optical tracking system and a data processing system (1);
the positioning mechanical arm comprises three joints, the tail end of the first joint (2) is fixedly connected with the base fixing device (3), and the tail end of the third joint (4) is fixedly connected with the puncture guiding device;
the puncture guiding device comprises a metal puncture frame (5), a universal joint (6) and a monocular camera (7), wherein the metal puncture frame (5) comprises a U-shaped body (5-1) and a U-shaped metal sliding block (5-2) tightly matched with the U-shaped body (5-1), a puncture needle guiding groove (5-3) is formed in the corresponding position of the inner wall of the bottom of the U-shaped body (5-1) and the bottom of the U-shaped metal sliding block (5-2), the diameter of the puncture needle guiding groove (5-3) is the same as that of a puncture needle (8), and the puncture needle guiding groove (5-3) is used for guiding the puncture needle (8) to slowly enter a focus point from a skin needle entering point of a patient; a convex part (5-4) is arranged at the opposite position on the inner side wall of the U-shaped body (5-1), a guide groove (5-5) is formed at the bottom of the convex part (5-4) and the bottom of the U-shaped body (5-1), convex guide rails (5-6) are arranged at the two sides of the U-shaped metal sliding block (5-2), and when the U-shaped metal sliding block (5-2) is tightly matched with the U-shaped body (5-1), the guide rails (5-6) are positioned in the guide groove (5-5) and the guide rails (5-6) are tightly matched with the guide groove (5-5);
the universal joint (6) comprises a universal ball (6-1), a universal ball base (6-2) and a supporting rod (6-3), the universal ball base (6-2) is fixedly connected with the tail end of the third joint (4), and the universal ball (6-1) is fixedly connected with the U-shaped body (5-1) through the supporting rod (6-3);
the monocular camera (7) is fixedly connected with the tail end of the third joint (4) through a camera bracket, a black point is arranged at the tail end of the puncture needle (8), and the monocular camera (7) takes the black point as a characteristic point to acquire displacement information of the puncture needle (8) in real time;
the optical tracking system comprises optical tracking equipment (9) and an infrared reflecting marking ball (10) matched with the optical tracking equipment (9), wherein the infrared reflecting marking ball (10) is fixedly arranged on the outer side wall of the U-shaped body (5-1) opposite to the optical tracking equipment (9), and the optical tracking equipment (9) is used for measuring the position of the infrared reflecting marking ball (10) in real time so as to acquire the three-dimensional space coordinates of the infrared reflecting marking ball (10) in real time;
the monocular camera (7) and the optical tracking device (9) are respectively connected with the data processing system (1), the data processing system (1) reconstructs a three-dimensional image model of a focus of a patient according to CT images or MRI images of the patient, and the real-time data sent by the monocular camera (7) and the optical tracking device (9) are combined to register a patient coordinate system and a surgical instrument coordinate system to obtain the real-time pose of the puncture needle (8) under the patient coordinate system, and the real-time pose is displayed in real time through a virtual three-dimensional navigation interface of a display screen in the data processing system (1).
2. The needle holder for intelligent guidance of percutaneous puncture minimally invasive surgery according to claim 1, wherein,
the positioning mechanical arm is a mechanical arm with five degrees of freedom.
3. The needle holder for intelligent guidance of percutaneous puncture minimally invasive surgery according to claim 1, wherein,
the optical tracking device (9) is a binocular vision optical navigator.
4. The needle holder for intelligent guidance of percutaneous puncture minimally invasive surgery according to claim 1, wherein,
the number of the infrared reflective marker balls (10) is more than 3, the spheres of all the infrared reflective marker balls (10) are located on the same plane, and the infrared reflective marker balls (10) are rigidly connected with the installation fixing parts of the U-shaped body (5-1).
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| US20230100638A1 (en) * | 2021-02-05 | 2023-03-30 | Shenzhen Institutes Of Advanced Technology Chinese Academy Of Sciences | Soft-bodied apparatus and method for opening eyelid |
| CN112971986A (en) * | 2021-03-31 | 2021-06-18 | 南京逸动智能科技有限责任公司 | Tracer for navigation operation and positioning method |
| CN113580141B (en) * | 2021-08-18 | 2022-11-29 | 佗道医疗科技有限公司 | Pose solving method for 6-axis mechanical arm |
| CN113974831B (en) * | 2021-11-19 | 2024-05-31 | 苏州寻是科技有限公司 | Medical image registration method for surgical navigation |
| CN116086359B (en) * | 2023-04-07 | 2023-07-07 | 杭州键嘉医疗科技股份有限公司 | Error measurement device and method for surgical instrument tracking array |
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