CN114028692A - Guiding device for assisting optical navigation - Google Patents
Guiding device for assisting optical navigation Download PDFInfo
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- CN114028692A CN114028692A CN202111511017.XA CN202111511017A CN114028692A CN 114028692 A CN114028692 A CN 114028692A CN 202111511017 A CN202111511017 A CN 202111511017A CN 114028692 A CN114028692 A CN 114028692A
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- Prior art keywords
- guide
- tube
- optical navigation
- drainage tube
- tube body
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0021—Catheters; Hollow probes characterised by the form of the tubing
- A61M25/0023—Catheters; Hollow probes characterised by the form of the tubing by the form of the lumen, e.g. cross-section, variable diameter
- A61M25/0026—Multi-lumen catheters with stationary elements
-
- 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
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0043—Catheters; Hollow probes characterised by structural features
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M2025/0001—Catheters; Hollow probes for pressure measurement
- A61M2025/0002—Catheters; Hollow probes for pressure measurement with a pressure sensor at the distal end
Abstract
The application relates to the technical field of medical instruments, in particular to a guiding device for assisting optical navigation, which comprises a guiding tube body, a guiding tube body and a guiding tube, wherein the guiding tube body is used for being arranged in the guiding tube body and driving a drainage tube to move in human tissues; the guide pipe body is provided with a pressure sensitive material; the guide pipe body is connected with a guide wire, and the guide wire is used for connecting the pressure signal processing equipment; when receiving the exogenic action, the deformation of guide tube body makes the stress of its different positions change, and pressure signal processing equipment is used for reflecting the change of drainage tube implantation orbit according to the stress change at the different positions of guide tube body, and this application can compensate the defect that optical navigation can't directly monitor the drainage tube front end position and take place the skew.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to a guiding device for assisting optical navigation.
Background
The nervous system diseases caused by traumatic craniocerebral injury and cerebral hemorrhage become important factors threatening the physical health of people at present, the newly increased serious traumatic craniocerebral injury and cerebral hemorrhage of China are as many as millions of cases, so that 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.
The method is that a light reflecting ball is additionally arranged at the tail end of the guide needle, the tail position of the drainage tube can be tracked in real time through optical navigation, then the head position of the guide needle 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 can improve the accuracy of tube placement to a certain extent, but the principle of monitoring the implantation track of the drainage tube by an indirect method determines that the tube placement accuracy is not very high, because the bending deformation of the guide needle can occur in the process of inserting the drainage tube into the human tissue, which cannot be detected by the optical navigation.
Disclosure of Invention
In order to compensate the defect that the position of the front end of the drainage tube cannot be directly monitored by optical navigation, the application provides a guiding device for assisting the optical navigation.
In a first aspect of the application, a guiding device for use with optical navigation is presented, comprising a guiding tube body for being placed inside a drainage tube body and the drainage tube being moved in a body tissue; the guide pipe body is provided with a pressure sensitive material; the guide tube body is connected with a guide tube body, and the guide tube body is connected with a pressure signal processing device; when the drainage tube is under the action of external force, the deformation of the guide tube body changes the stress of different parts of the guide tube body, and the pressure signal processing equipment is used for reflecting the change of the implantation track of the drainage tube according to the stress change of different parts of the guide tube body.
By adopting the technical scheme, the pressure sensitive material is arranged on the guide pipe body, the pressure sensitive material can sense the stress change generated by pressure when being extruded, the guide pipe body is connected with the pressure signal processing equipment through the lead, the stress change generated by the pressure sensitive material is transmitted to the pressure signal processing equipment in other forms of signals for receiving and analyzing, whether the position of the front end part of the guide device deviates in the pipe placing process can be analyzed through the difference of the transmitted signals, and the tail position of the guide device can only be monitored because the optical navigation is arranged at the tail part of the guide device, so that the defect that whether the position of the front end part deviates, which cannot be monitored by the optical navigation, can be overcome by arranging the pressure sensitive material on the guide pipe body of the guide device.
Preferably, a handle is connected to the tail of the guide tube body.
Preferably, the guiding tube body comprises an inner tube body and an outer tube body, the inner tube body and the outer tube body are fixedly connected to the handle, the inner tube body is arranged in the outer tube body, and the inner tube body and the outer tube body are free of contact.
Preferably, the outer surface of the inner tube body is provided with a pressure sensing film material or a strain gauge.
By adopting the technical scheme, the guide tube body can be set into a double tube body, the outer surface of the inner tube body is wrapped with the piezoelectric film material or attached with the micro strain gauge as a pressure sensitive material on the guide tube body, wherein the piezoelectric film material can be converted into an electric signal to reflect the stress change of the piezoelectric film material, the pressure distribution of the piezoelectric film material can be determined due to high sensitivity of the piezoelectric film material, the strain gauge can be converted into a resistance value to reflect the stress change of the strain gauge, when the outer tube body deforms and extrudes the inner tube body when an external force is applied, the inner tube body generates different electric signals or resistance values according to the extrusion degree, and the pressure signal processing equipment is used for reflecting whether the implantation track of the drainage tube deviates and/or the direction of deviation according to the electric signal change or the resistance value change.
Preferably, the inner wall of the guide tube body is provided with a pressure sensing film material or a strain gauge.
Through adopting above-mentioned technical scheme, attached piezoelectric film material or attached miniature foil gage on the inner wall of guide body comes as the pressure sensitive material on the guide body, when receiving the exogenic action, outer body produces different signal of telecommunication or resistance value according to receiving the extrusion degree, and pressure signal processing equipment is used for reflecting whether the drainage tube is implanted the track and takes place the skew and/or the direction that takes place the skew according to signal of telecommunication change or resistance value change.
Preferably, the outer tube is made of metal or a polymer material.
Preferably, the handle is provided with at least 3 light-reflecting regular polyhedrons, the light-reflecting regular polyhedrons are asymmetrically arranged and have different heights, and the light-emitting regular polyhedrons are used for being matched with external optical navigation equipment to obtain the tail position of the guide pipe body.
Preferably, the light-emitting regular polyhedron is made of a sterilizable material.
In a second aspect of the present application, there is also presented a drainage system comprising a guide device as defined in any one of the above; one end of the drainage tube is open and the other end is closed, and the side wall of the drainage tube is provided with a drainage hole; the guiding device is arranged in the drainage tube and is used for driving the drainage tube to move in human tissues; and the pressure signal processing equipment is connected with the lead in the guide device and is used for reflecting the change of the implantation track of the drainage tube according to the stress change generated by the deformation of the guide tube body.
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 diagram of a guiding device for assisting optical navigation according to an embodiment of the present application.
Fig. 2a is a schematic view of another structure of the guiding device in the embodiment of the present application in a normal state.
Fig. 2b is a schematic view of another structure of the guiding device in the embodiment of the present application in a stressed state.
Fig. 3a is a schematic view of an arrangement of pressure sensitive material in the guiding device according to the embodiment of the present application.
Fig. 3b is a schematic view of another arrangement of the pressure sensitive material in the guiding device according to the embodiment of the present application.
Description of reference numerals: 1. a guide tube body; 101. an outer tubular body; 102. an inner tube body; 2. a wire; 3. a pressure signal processing device; 4. a handle; 5 reflecting regular polyhedron; 6. a pressure sensitive material.
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.
In order to facilitate understanding of the embodiments of the present application, some terms referred to in the embodiments of the present application are first explained.
When an object is deformed by an external factor (stress, humidity, temperature field change, etc.), an internal force is generated between the parts in the object to resist the external factor and try to restore the object from the deformed position to the position before the deformation.
The nervous system diseases caused by traumatic craniocerebral injury and cerebral hemorrhage become important factors threatening the physical health of people at present, the newly increased serious traumatic craniocerebral injury and cerebral hemorrhage of China are as many as millions of cases, so that 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 drainage tube is implanted into a human body by utilizing a tracking function of optical navigation under the guidance of a guide needle, the drainage tube is implanted into human tissue by a preset bone hole under the guidance of the guide needle, a light reflecting ball is additionally arranged at the tail end of the guide needle of the drainage tube, optical navigation equipment can track the tail position of the guide needle in real time, then the head position of the guide needle is calculated according to the tail position, and finally the head position of the drainage tube is obtained by 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. In addition, in the process of inserting the drainage tube into the human tissue, if the inner diameter of the drainage tube is larger, a thicker guide needle can be used for pushing the drainage tube, the thicker guide needle can be regarded as a rigid body, the possibility of deformation generated when the drainage tube is pushed is extremely small, and the drainage tube can be placed into a preset position according to a preset path. However, for a drainage tube with a smaller diameter, the outer diameter of the guide needle is limited, and the smaller the diameter of the guide needle is, the weaker the rigidity of the guide needle is, and the deformation caused by the external force is more likely to occur in the implantation process. Therefore, the front end of the drainage tube is likely to shift during the implantation process, which cannot be detected by optical navigation. At present, the optical navigation generally uses a reflective ball as a navigation marker, the reflective ball is high in price and is disposable, and the use cost of the optical navigation is directly increased.
The defect that drainage tube head position can not be monitored to the optical navigation who provides above-mentioned, the application provides a guiding device of supplementary optical navigation, this guiding device can use with optical navigation collocation, optical navigation is used for monitoring the afterbody position of drainage tube, the guiding device of this application can be used for monitoring whether the position of drainage tube head takes place the position skew, compensate the defect that optical navigation can't directly monitor the skew of drainage tube front position, place the process at the drainage tube, provide reliable implantation track monitoring data for the doctor, and then in time and accurately rectify and implant the deviation.
The following describes an optical navigation guidance device in an embodiment of the present application with reference to the drawings of the specification:
fig. 1 is a schematic diagram of a guiding device for assisting optical navigation according to an embodiment of the present application, as shown in fig. 1, including: the guide tube body 1 is arranged in the drainage tube body and used for driving the drainage tube to move in human tissues; the guide pipe body 1 is provided with a pressure sensitive material; the lead 2 is connected to the guide tube body 1, and the lead 2 is used for connecting the pressure signal processing equipment 3; when the drainage tube is acted by external force, the stress of different parts of the guide tube body 1 is changed due to the deformation of the guide tube body 1, and the pressure signal processing equipment 3 is used for reflecting the change of the implantation track of the drainage tube according to the stress change of different parts of the guide tube body 1.
In the embodiment of the present application, the guiding tube body 1 can be placed in the drainage tube to drive the drainage tube to move in the human tissue, the drainage hole on the drainage tube is placed in the pathological position according to the preset implantation path, and the drainage tube bodies with different thicknesses are configured according to different drainage tubes, in some embodiments of the present application, the guiding tube body 1 can be made of metal or polymer material. The outer surface or the inner wall of the front end of the drainage tube body is provided with a pressure sensitive material which coats the whole tube body of the drainage tube body, so as to collect the extrusion force from any direction in the human tissue, so that the stress of different parts of the guide tube body 1 is changed, the lead 2 is connected with the pressure sensitive material, is connected with the pressure signal processing device 3 after being led out along the guide tube body 1, when the guide tube body 1 is acted by external force, the pressure sensitive material on the guide tube body 1 generates different stress changes according to the extrusion degree, in the embodiment of the present application, the pressure sensitive material can be made of different materials to convert the stress variation into other signals, such as electrical signals (charge or voltage), resistance value, etc., with different stress and stress variations, the generated signals are different, and the pressure signal processing device 3 analyzes whether the front end implantation of the drainage tube is deviated or not through the received signal change.
In some application embodiments, a handle 4 is connected to the rear portion of the guiding tube body 1, and the diameter of the end of the handle 4 connected to the guiding tube body 1 is larger than the diameter of the guiding tube body 1, in one example, the handle 4 may be shaped such that the diameters of both ends are the same and the diameter of the middle is slightly smaller, which is more convenient for a doctor to hold or an apparatus to hold the guiding device.
In some embodiments, as shown in fig. 2a, guide tube 1 includes an inner tube 102 and an outer tube 101, wherein inner tube 102 and outer tube 101 are fixedly connected to handle 4, inner tube 102 is disposed inside outer tube 101, and inner tube 102 and outer tube 101 are contactless.
The guiding tube 1 is made into a double tube, in an realizable way, the outer tube 101 can be made of metal or high molecular material, the inner tube 102 can be made of common metal or non-metal material, the inner tube 102 and the outer tube 101 are connected on the handle 4 to fix the position between the two tubes, the guiding tube 1 and the handle 4 can be connected in an adhesive way or can be arranged in an integral way, the lead 2 is led out from the inside of the guiding tube 1 and can be led out from the inside of the inner tube 102 or the gap between the inner tube 102 and the outer tube 101 and then is led out from the inside of the handle 4, the guiding tube 1 can be made into a double tube by arranging the guiding tube 1 and arranging a pressure sensitive material on the inner tube 102 to enable the guiding tube 1 to sense the external pressure, the structural design enables the guiding tube 1 to form a pressure sensor on the whole, as shown in figure 2b, the stress change is generated to the external pressure, due to the design of the inner layer structure and the outer layer structure, the outer pipe body 101 can protect the pressure sensitive materials arranged on the inner pipe body 102, interference caused by external non-offset is reduced, the pressure sensitive materials can respond only when the guide device is offset, and accuracy of monitoring results is guaranteed.
In some embodiments, as shown in FIG. 3b, the outer surface of the inner tube 102 is provided with a pressure sensing membrane material or strain gauge.
When the guide pipe body is a double-pipe body, the outer surface of the inner pipe body 102 can be wrapped with a pressure sensing film material or attached with a micro strain gauge as a pressure sensitive material on the guide pipe body, and the contact pressure distribution condition of a contact surface can be accurately measured by using an ultrathin, flexible and bendable pressure sensing film; the strain gauge is an element for measuring strain, which is composed of a sensitive grid and the like, the working principle of the resistance strain gauge is manufactured based on the strain effect, namely, when a conductor or a semiconductor material generates mechanical deformation under the action of external force, the resistance value of the conductor or the semiconductor material can correspondingly change, and the strain gauge can also be used for analyzing the compression condition of the guide tube body.
Punching is carried out on the pressure sensing film or the strain gauge, an upper electrode and a lower electrode are arranged to be connected with the lead 2, when the outer surface of the inner tube body 102 is wrapped by the pressure sensing film, the pressure signal processing equipment 3 connected with the lead 2 is a pressure distribution measuring system, the pressure distribution measuring system can display the contact pressure of the whole contact surface of the pressure sensing film in a two-dimensional or three-dimensional color pressure distribution image mode, and can record the whole stress process; when the outer surface of the inner tube 102 is provided with the strain gauge, the resistance strain gauge can be adopted, and the pressure signal processing device 3 connected with the lead 2 can be a special receiver of the resistance strain gauge, so as to receive the resistance value generated when the guide tube is extruded by external force, and convert the resistance change into the strain value of the guide tube, thereby displaying the compression condition of the guide tube. Whether the implantation track of the drainage tube deviates and/or the deviation direction can be reflected on the pressure signal processing equipment 3 through the arrangement of the two pressure sensitive materials, so that the whole implantation process of the drainage tube is monitored in the implantation process of the drainage tube by matching with optical navigation.
In some embodiments, as shown in fig. 3a, the inner wall of the guiding tube body 1 is provided with a pressure sensing film material or strain gauge.
Under the condition that the guiding pipe body 1 is a single pipe and does not have an inner-layer structure and an outer-layer structure, the pressure sensing film material or the micro strain gauge can be attached to the inner wall of the guiding pipe body 1 and uniformly arranged around the pipe wall, by perforating the pressure sensing film or strain gauge and placing the upper and lower electrodes in connection with the leads 2, this arrangement can be used as described in the above embodiments, the guiding tube body 1 is arranged in an internal and external structure, and the pressure sensing film material or the micro strain gauge is wrapped on the outer surface of the inner tube body 102 to play the same role, when the front end of the drainage tube deviates, the guiding tube body 1 is extruded by the drainage tube, and when the stress change is generated at the extruded part, the stress change can be displayed in a form of converting the stress change into a pressure image by an externally connected pressure distribution measuring system or a special receiver of a resistance strain gauge.
It should be noted that, in the present application, when the guiding device is of a double-tube structure, the pressure-sensitive material is disposed on the outer surface of the inner tube body, or when the guiding device is of a single-tube structure, the pressure-sensitive material is disposed on the inner surface of the inner tube body, and both of these two arrangements can achieve the protection effect on the pressure-sensitive material, and will not contact with the interstitial fluid between the drainage tube and the guiding device.
In other application embodiments, the pressure sensing film material or the strain gauge may also be disposed on the outer surface of the guiding tube body 1, and in use, the pressure sensing film material or the strain gauge on the outer layer of the guiding tube body 1 may directly contact with the inner bore of the drainage tube to cause the stress response of the pressure sensing film material or the strain gauge, and the function of disposing the pressure sensing film material or the strain gauge on the inner surface of the guiding tube body 1 in the above embodiments may also be achieved.
In some embodiments, at least 3 reflective regular polyhedrons are disposed on the handle 4, the reflective regular polyhedrons are asymmetrically disposed and have different heights, the reflective regular polyhedrons are used to cooperate with an external optical navigation device to obtain the tail position of the guiding tube body 1, where the reflective ball used in the optical navigation in the related art is replaced by the reflective regular polyhedrons, the functional replacement of the reflective ball is realized by attaching a reflective film on each surface of the regular polyhedron, there is no object blocking between the external optical navigation device and the reflective regular polyhedrons, the optical navigation device can track the light beam reflected by each reflective regular polyhedron in real time, and the positions of the regular polyhedrons on the handle 4 are asymmetric in left and right directions and have different heights, so that the tail position of the guiding device can be more accurately obtained, in some embodiments, the regular polyhedrons can be made of materials capable of being sterilized, the regular polyhedron can be repeatedly used, and the cost is reduced.
In another aspect, the present application also proposes a drainage system comprising a guide device as described above; the drainage tube is characterized by also comprising 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 drainage hole; the guiding device is arranged in the drainage tube and used for driving the drainage tube to move in human tissues; and the pressure signal processing equipment 3 is connected with the guiding device through a lead 2 and is used for reflecting the change of the implantation track of the drainage tube according to the stress change generated by the deformation of the guiding tube body 1.
In the embodiment of the application, the guiding device is firstly connected with the pressure signal processing device 3 through the lead 2 to establish contact, the guiding device is placed into the drainage tube, and a doctor can control the guiding device by holding the handle 4 of the guiding device or the clamping handle 4 of the practical device, so that the drainage tube is placed into human tissues according to a preset implantation path. In the implantation process, the reflecting regular polyhedron arranged on the handle 4 can be matched with an optical navigation device to monitor the position of the tail part of the drainage tube in real time, the pressure sensitive material arranged on the guide tube body 1 can sense the pressure in real time, when the implantation path of the drainage tube deviates, the deformation of the guide tube body 1 causes the stress of different parts to change, the stress change is converted into other signals through the lead 2 and is transmitted to the connected pressure signal processing device 3, the pressure signal processing device 3 carries out signal analysis again, and then the pressure signals are converted into a pressure image form and displayed, so that the implantation path at the front end position of the drainage tube can be monitored in real time, the defect that the optical navigation cannot directly monitor the front end position of the drainage tube is overcome, the reliable implantation track monitoring data can be provided for a doctor in the drainage tube implantation process by matching of the reflecting regular polyhedron and the optical navigation device, and the implantation deviation can be timely and accurately corrected, reduce the technical dependence on people when placing the drainage tube, improve and put the pipe degree of accuracy.
Claims (9)
1. A guiding device for assisting optical navigation is characterized by comprising,
the drainage tube body is arranged in the drainage tube body and drives the drainage tube to move in human tissues;
the guide pipe body is provided with a pressure sensitive material;
the guide tube body is connected with a guide tube body, and the guide tube body is connected with a pressure signal processing device;
when the drainage tube is under the action of external force, the deformation of the guide tube body changes the stress of different parts of the guide tube body, and the pressure signal processing equipment is used for reflecting the change of the implantation track of the drainage tube according to the stress change of different parts of the guide tube body.
2. The optical navigation aid guide device of claim 1, wherein a handle is connected to the end of the guide tube.
3. The optical navigation guidance device of claim 2,
the guide pipe body comprises an inner pipe body and an outer pipe body, the inner pipe body and the outer pipe body are fixedly connected to the handle, the inner pipe body is arranged in the outer pipe body, and the inner pipe body and the outer pipe body are free of contact.
4. The optical navigation aid guide device of claim 3, wherein the optical navigation aid guide device
The outer surface of the inner tube body is provided with a pressure sensing film material or a strain gauge.
5. The optical navigation guidance device of claim 1,
and the inner wall of the guide pipe body is provided with a pressure sensing film material or a strain gauge.
6. The optical navigation aid guide device of claim 3, wherein the outer tube is made of metal or polymer material.
7. The optical navigation guidance device of claim 2,
the handle is provided with at least 3 regular light-reflecting polyhedrons, the regular light-reflecting polyhedrons are asymmetrically arranged and have different heights, and the regular light-emitting polyhedrons are used for being matched with external optical navigation equipment to obtain the tail position of the guide pipe body.
8. The optical navigation aid guide device of claim 7, wherein the light-emitting regular polyhedron is made of a sterilizable material.
9. A drainage system comprising a guide device according to any one of claims 1 to 8;
one end of the drainage tube is open and the other end is closed, and the side wall of the drainage tube is provided with a drainage hole;
the guiding device is arranged in the drainage tube and is used for driving the drainage tube to move in human tissues;
and the pressure signal processing equipment is connected with the lead in the guide device and is used for reflecting the change of the implantation track of the drainage tube according to the stress change generated by the deformation of the guide tube body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111511017.XA CN114028692A (en) | 2021-12-10 | 2021-12-10 | Guiding device for assisting optical navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111511017.XA CN114028692A (en) | 2021-12-10 | 2021-12-10 | Guiding device for assisting optical navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114028692A true CN114028692A (en) | 2022-02-11 |
Family
ID=80140268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111511017.XA Withdrawn CN114028692A (en) | 2021-12-10 | 2021-12-10 | Guiding device for assisting optical navigation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114028692A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116549113A (en) * | 2023-05-12 | 2023-08-08 | 北京长木谷医疗科技股份有限公司 | Intelligent optical positioning system of surgical robot |
-
2021
- 2021-12-10 CN CN202111511017.XA patent/CN114028692A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116549113A (en) * | 2023-05-12 | 2023-08-08 | 北京长木谷医疗科技股份有限公司 | Intelligent optical positioning system of surgical robot |
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Application publication date: 20220211 |