CN114010317A - Guiding device adaptive to nerve navigation - Google Patents

Abstract

The application relates to the technical field of medical equipment, especially, relate to a guiding device of adaptation nerve navigation, include: the guide tube body is arranged in the drainage tube and used for driving the drainage tube to move in human tissues; the first navigation bar is arranged at the front end of the guide tube body and is used for indicating the position of the drainage tube in human tissue; the first wire of connection on first navigation stick, the part sets up in the guide tube body, and this application can obtain the real-time spatial position of drainage tube through the position of control navigation stick whole journey, for the doctor provides reliable information of putting into to the accuracy when improving the drainage tube and putting the pipe.

Description

Guiding device adaptive to nerve navigation

Technical Field

The application relates to the technical field of medical equipment, in particular to a guiding device adaptive to nerve navigation.

Background

The nervous system diseases caused by traumatic craniocerebral injury and cerebral hemorrhage become important factors threatening the health of people at present, the craniocerebral injury and the cerebral hemorrhage become a great public health problem, the drainage tube is utilized to carry out timely intracranial drainage on nerve critical patients with traumatic craniocerebral injury, cerebral hemorrhage and the like, the life of the patients can be saved to a great extent, and the drainage tube is widely applied to the fields of abdominal cavity drainage, thoracic cavity drainage, gall bladder drainage and the like besides being used for extracranial drainage.

At present, a common drainage tube placing method is placed by hands, but the method is very dependent on the experience and the technology of a surgeon and lacks scientific judgment and inspection indexes, so the accuracy rate of placing the drainage tube is greatly reduced.

Disclosure of Invention

In order to improve the accuracy of catheterization, the application provides a guiding device for adapting to nerve navigation.

In a first aspect of the present application, a guiding device adapted for neuronavigation is presented, comprising: the guide tube body is arranged in the drainage tube and used for driving the drainage tube to move in human tissues; the first navigation rod is arranged at the front end of the guide tube body and used for indicating the position of the guide tube body in human tissue; and the guide wire is connected to the first navigation rod and is partially arranged in the guide tube body.

Through adopting above-mentioned technical scheme, the guiding device comprises the guide body and sets up the first navigation stick at the guide body front end and the first wire of being connected with first navigation stick, front end position at the guide body sets up first navigation stick, can obtain the position of five dimensions in its space through the change of first navigation stick magnetic flux in the magnetic field, can indirect acquisition drainage tube front end position in human tissue, then put the process of managing to patient, can monitor the real-time position of drainage tube in the whole journey, improvement drainage tube accuracy when putting the pipe that can show through this kind of mode, reduce the repeated pipe of twice or many times, also can reduce the infection risk of putting the pipe in-process.

Further, a handle is arranged at the rear end of the guide pipe body.

By adopting the technical scheme, the handle is arranged at the rear end of the guide tube body, so that a doctor can conveniently hold or clamp the guide device, and the guide device can be conveniently controlled to push the drainage tube into human tissues.

Still further, the guiding device further comprises: the second navigation rod is arranged in the handle, and a second lead is connected with the second navigation rod, and the second navigation rod is relatively vertical to the first navigation rod in spatial position.

By adopting the technical scheme, the second navigation rod is arranged in the handle in a relatively vertical direction, so that six degrees of freedom of the guide device in human tissues can be completely determined, and the spatial position of the guide device can be accurately determined.

Further, the guide tube body is made of metal, memory alloy or high polymer material.

Still further, the first navigation stick and the second navigation stick comprise a navigation tube body and an electromagnetic sensor arranged in the navigation tube body.

By adopting the technical scheme, the two navigation bars adopt the electromagnetic sensors, the electromagnetic induction principle is utilized, when the electromagnetic sensors are positioned in a magnetic field, the magnetic induction lines can penetrate through the electromagnetic sensors, if the electromagnetic sensors move in a normal way, the magnetic flux can also change, and induced electromotive force is generated at the same time.

Still further, epoxy glue or silica gel is filled between the navigation tube body and the electromagnetic sensor.

Through adopting above-mentioned technical scheme, the body of navigation stick surrounds electromagnetic sensor and can reduce the invasion of bacterium with the space filling is sealed.

Furthermore, the first lead and the second lead are also connected with electromagnetic navigation equipment, and the electromagnetic navigation equipment is used for monitoring the positions of the first navigation bar and the second navigation bar so as to indicate the position of the drainage tube in human tissue.

By adopting the technical scheme, the electromagnetic navigation equipment can track the position of the navigation rod at the head of the guide device in real time, and the real-time monitoring and control of the drainage tube placing track are not realized.

Further, the guide pipe body is of a hollow structure or is provided with filler. .

Through adopting above-mentioned technical scheme, seal the guide tube body through filling silica gel in the guide tube body, can prevent that the bacterium from getting into the drainage tube from the wire inside, reduce the risk of infecting.

In a second aspect of the application, there is provided a guiding system comprising a guiding device as defined in any of the above and a drainage tube; one end of the drainage tube is open, and the other end of the drainage tube is closed, and the side wall of the drainage tube is provided with a through hole; the guiding device is arranged in the drainage tube and used for driving the drainage tube to move in human tissues.

Drawings

The above and other features, advantages and aspects of various embodiments of the present application will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:

fig. 1 is a schematic view of a guide device in an embodiment of the present application.

FIG. 2 is a schematic diagram of another arrangement of the navigation stick in the embodiment of the present application.

FIG. 3 is a schematic view of the guiding device working with the drainage tube in the embodiment of the present application.

Description of reference numerals: 1. a guide tube body; 2. a first navigation bar; 3. a first conductive line; 4. a handle; 5. an electromagnetic navigation device; 6. a second navigation bar; 7. a second conductive line; 8. extending the lead; 9. a drainage tube.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship, unless otherwise specified.

Before describing embodiments of the present application, technical terms to be referred to below will be explained first.

The electromagnetic navigation system (Neuronavigator) is based on the imaging data of CT, MRI and the like of a patient, and an image guide space is established in the navigation system.

It should be noted that the neural navigation in the present application refers to electromagnetic neural navigation.

The following will explain in detail the guiding device provided in the embodiments of the present application with reference to the accompanying drawings.

The drainage tube is widely applied to external drainage of patients with craniocerebral injury, cerebral hemorrhage and the like, and the drainage tube is also widely applied to the fields of abdominal cavity drainage, thoracic cavity drainage, gall bladder drainage and the like besides craniocerebral external drainage.

The current common drainage tube placing mode is free-hand placing, the position of edema or hematoma is judged by means of CT or MRI images before implantation, and then an implantation path is designed. Insert the drainage tube according to predetermineeing the route when implanting to whether implant route that can't track the drainage tube in the implantation process coincides with predetermineeing the route, can only judge whether accurate in the position of implanting through CT image after implanting the end. This method is very dependent on the experience and technique of the surgeon, and lacks scientific judgment and inspection indexes, so that the accuracy of tube placement by hand is influenced by various factors.

The drainage tube placing mode with optical navigation is that the drainage tube is implanted into the cranium through a preset bone hole under the guidance of a guiding device, the tail position of the drainage tube can be tracked in real time through optical navigation by additionally arranging a reflective ball at the tail end of the drainage tube guiding device, then the head position of the guiding device is calculated according to the tail position, and finally the head position of the drainage tube is obtained through an indirect method. The optical navigation improves the accuracy of tube placement to a certain extent, but the tube placement accuracy is not very high due to the principle that the implantation track of the drainage tube is monitored by an indirect method. Because the guiding device may be bent during insertion of the drainage tube into the brain tissue, which is not detected by optical navigation.

In order to solve the above problems, embodiments of the present application provide a guiding device adapted to nerve navigation, which can monitor the position of a drainage tube in real time in the process of driving the drainage tube to move in human tissues, control the implantation track of the drainage tube, reduce the errors of implantation offset, insufficient or too deep puncture depth, and the like, and improve the accuracy and efficiency of tube placement.

It should be noted that the guiding device according to the embodiment of the present application is implemented based on an electromagnetic navigation system, which combines a navigation technology with a neurosurgery and implements the operation navigation monitoring through computer image processing and a tracking and positioning technology of a surgical instrument. The coordinate transformation relation between an image space and a real space (called as a patient space) where a patient is located is calculated through a space registration technology before operation, the coordinates of a surgical instrument in the patient space are tracked in real time through a space locator in the operation, the coordinates are transformed to the image space, a virtual surgical instrument is generated and is superposed and displayed on the patient image, therefore, the position of the real surgical instrument relative to the real patient anatomical structure is positioned through the position of the virtual surgical instrument relative to the patient image in the image space, a doctor is assisted to plan operation access and determine the position and the boundary of a focus, and damage to the surrounding normal tissue structure can be avoided.

Referring to fig. 1, the guiding device includes a guiding tube 1, a first navigation rod 2 disposed at a front end of the guiding tube 1, and a first wire 3 connected to the first navigation rod 2. The drainage tube 9 is arranged in to the guide body 1 and the drive drainage tube 9 moves in the human tissue, first navigation stick 2 is used for instructing the position of drainage tube 9 in the human tissue, in the mode of a possible realization, first navigation stick 2 and the cooperation of bonding of guide body 1 front end, can satisfy the connection under the condition that the diameter of first navigation stick 2 is greater than or equal to the internal diameter of guide body 1 fixed, in the mode of another possible realization, first navigation stick 2 and the cooperation of pegging graft of guide body 1 front end, first navigation stick 2 leaves partly outside guide body 1, can satisfy the connection of the condition that the diameter of first navigation stick 2 just is the same with guide body 1 diameter fixed. The first lead 3 is connected with the first navigation rod 2 and is led out by the guide tube body 1, at least part of the first lead is arranged in the guide tube body 1, and the led-out first lead 3 can also be connected with an electromagnetic navigation device 5 and is used for monitoring the position of the drainage tube 9 in human tissues in real time in cooperation with the first navigation rod 2.

In a possible implementation, referring to fig. 1, a handle 4 is further provided at the rear end position of the guide tube body 1, and the diameter of the end of the handle 4 connected with the guide tube body 1 is larger than the diameter of the guide tube body 1, in one example: the handle 4 can be set to be the same in diameter at both ends, and the bigger shape of mid portion diameter accords with the setting of handle 4 more and can make things convenient for the handheld or equipment centre gripping guiding device of doctor, is convenient for use guiding device to push the removal of drainage tube 9 in human tissue.

In some embodiments, as shown in fig. 2, a second navigation bar 6 and a second lead 7 connected with the second navigation bar 6 are also arranged in the handle 4, and the second navigation bar 6 is relatively perpendicular to the first navigation bar 2 in space position. Because an object has six degrees of freedom in space, namely the degree of freedom of movement along the directions of three orthogonal coordinate axes of x, y and z and the degree of freedom of rotation around the three coordinate axes, when only the first navigation bar 2 is arranged, when the first navigation bar 2 rotates along the rotation axis, the magnetic flux in the direction of the rotation axis in the first navigation bar 2 is not changed, only one navigation bar is arranged to identify the direction of five dimensions in the space except for self rotation, after the two navigation bars are arranged in the relatively vertical directions, when the first navigation bar 2 rotates along the rotation axis, the second navigation bar 6 rotates at a certain point to do circular motion, at the moment, the second navigation bar 6 can obtain the direction change which cannot be identified by the first navigation bar 2, and similarly, the first navigation bar 2 can also obtain the position and orientation information which cannot be obtained by the second navigation bar 6, so by arranging the two relatively vertical navigation bars, the six degrees of freedom of the guiding device in the spatial position of the body tissue can be accurately determined, so that the position of the obtained drainage tube 9 is more accurate.

In an implementation mode, after the wire is led out of the guiding device, a connector or a contact can be arranged at the tail part of the wire, when in use, the wire is connected with the external extension wire 8 and then is connected with the electromagnetic navigation device 5, and after the tube placing is finished, the extension wire 8 is pulled out.

In this embodiment, the guiding tube body 1 may be made of metal, memory alloy or polymer material, in some embodiments, the guiding tube body 1 may be set as a hollow structure or be set with filler, for example, practical silica gel or epoxy gel is used for filling, the first navigation rod 2 and the second navigation rod 6 include a navigation tube body and an electromagnetic sensor arranged in the navigation tube body, epoxy gel or silica gel is filled between the navigation tube body and the electromagnetic sensor, the outer diameter of the navigation rod is generally 0.1 to 2mm, and the guiding tube body 1 may select a tube body of a corresponding specification according to the size of the navigation rod to match the fixed connection of the navigation rod and the driving of the drainage tube 9.

The navigation stick adopts electromagnetic sensor, it is the principle of utilizing the electromagnetic induction, when electromagnetic sensor is in magnetic field, the line of magnetic induction can pass electromagnetic sensor, if electromagnetic sensor law moves, the magnetic flux also can change, produce induced electromotive force simultaneously, because the inhomogeneous but definite spatial direction that has of distribution of magnetic field in the space, its induction strength is different when consequently electromagnetic sensor is in the unnecessary position in magnetic field, can calculate electromagnetic sensor's spatial position in proper order, thereby obtain the position that obtains the navigation stick, the body of navigation stick surrounds electromagnetic sensor and can reduce the invasion of bacterium with the space filling seal in addition.

In a practical way, after the guiding tube body 1 is connected with the first navigation rod 2 and the first lead 3 is led out, the inside of the guiding tube body can be filled with silica gel, and the guiding tube body 1 is sealed, so that bacterial infection caused by bacteria entering the drainage tube 9 through the guiding tube body 1 can be prevented, and in a practical way, the guiding tube body 1 can also be provided as a hollow structure.

On the other hand, the embodiment of the present application further provides a guiding device, which includes the above guiding device and the drainage tube 9; one end of the drainage tube 9 is open and the other end is closed, and the side wall is provided with a through hole; and the guiding device is arranged inside the drainage tube 9 and is used for driving the drainage tube 9 to move in the human tissue.

Because the guiding device is required to be matched with the guiding device to push the drainage tube 9 to advance in the embedding process, the handle 4 is arranged at the tail part of the guiding device and is used for being held by a doctor or used for clamping equipment, in some embodiments, one navigation rod in the horizontal direction of the drainage tube 9 can be arranged in the head part of the drainage tube 9, the other navigation rod is arranged at the handle 4 of the guiding device, the navigation rod at the handle 4 is relatively vertical to the navigation rod in the developing head, when the difference between the outer diameter size of the guiding device and the inner diameter size of the drainage tube 9 is not large, the gap between the outer diameter size of the guiding device and the inner diameter size of the drainage tube 9 is small, the positions of the navigation rod in the handle 4 and the navigation rod in the developing head are relatively fixed, and the position of the drainage tube 9 can be obtained in a matched mode.

In the embodiment of the present application, referring to fig. 3, first, the guiding device is connected and connected with the electromagnetic navigation device 5, the guiding device is placed in the drainage tube 9, and the guiding device can be controlled by a doctor holding the handle 4 of the guiding device or using the device to clamp the handle 4, so as to place the drainage tube 9 into the cranial cavity according to the preset implantation path. In the whole process of placing the drainage tube 9, the electromagnetic navigation device 5 can receive the coordinates of the two navigation rods in real time, because the first navigation rod 2 is located at the head position of the guiding device, and the guiding device is used for pushing the drainage tube 9 to move in the cranial cavity, the position of the first navigation rod 2 is also located at the head position of the drainage tube 9, the position of the first navigation rod 2 is the position of the head of the drainage tube 9, and the electromagnetic navigation device 5 receives the coordinate positions of the two navigation rods in real time and displays the coordinate positions as the drainage tube 9 in a superposition mode on a patient image through conversion, so that the position movement of the drainage tube 9 in the cranial cavity is monitored in real time, and the drainage tube 9 is controlled to be more accurately placed in the cranial cavity according to the preset implantation path.

The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the application referred to in the present application is not limited to the embodiments with a particular combination of the above-mentioned features, but also encompasses other embodiments with any combination of the above-mentioned features or their equivalents without departing from the spirit of the application. For example, the above features may be replaced with (but not limited to) features having similar functions as those described in this application.

Claims (9)

1. A guidance device adapted for neuronavigation, comprising:

the guide tube body (1) is arranged in the drainage tube (9) and used for driving the drainage tube (9) to move in human tissues;

the first navigation rod (2) is arranged at the front end of the guide tube body (1) and is used for indicating the position of the guide tube body (1) in human tissue;

and a first lead (3) connected to the first navigation rod (2) is partially arranged in the guide tube body (1).

2. The guiding device for fitting neuronavigation according to claim 1, characterized in that the rear end of the guiding tube body (1) is provided with a handle (4).

3. The guidance device of claim 2, wherein the guidance device further comprises:

a second navigation rod (6) arranged in the handle (4) and a second lead (7) connected with the second navigation rod (6), wherein the second navigation rod (6) is relatively vertical to the first navigation rod (2) in spatial position.

4. The guiding device adapted for neuronavigation according to claim 1, wherein the guiding tube body (1) is made of metal, memory alloy or polymer material.

5. The device according to claim 1, wherein the first and second navigation sticks (2, 6) comprise a navigation tube and an electromagnetic sensor disposed within the navigation tube.

6. The device as claimed in claim 5, wherein epoxy or silica gel is filled between the navigation tube and the electromagnetic sensor.

7. The neuro-navigation adapted guidance device of claim 5 or 6, wherein an electromagnetic navigation device (5) is further connected to the first lead (3) and the second lead, the electromagnetic navigation device (5) being configured to monitor the position of the first navigation stick (2) and the second navigation stick (6) to indicate the position of the drainage tube (9) within the human tissue.

8. The guiding device adapted for neuronavigation according to claim 1, characterized in that the guiding tube body (1) is a hollow structure or provided with a filler.

9. A guiding system adapted for neuronavigation, comprising a guiding device according to any of claims 1 to 8 and a drainage tube (9);

one end of the drainage tube (9) is open, and the other end is closed, and the side wall of the drainage tube is provided with a through hole;

the guiding device is arranged in the drainage tube (9) and is used for driving the drainage tube (9) to move in human tissues.

Images