CN114376685B - Intraspinal puncture ultrasonic probe - Google Patents
Intraspinal puncture ultrasonic probe Download PDFInfo
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- CN114376685B CN114376685B CN202110818428.7A CN202110818428A CN114376685B CN 114376685 B CN114376685 B CN 114376685B CN 202110818428 A CN202110818428 A CN 202110818428A CN 114376685 B CN114376685 B CN 114376685B
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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
- A61B17/3401—Puncturing needles for the peridural or subarachnoid space or the plexus, e.g. for anaesthesia
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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
- A61B17/3494—Trocars; Puncturing needles with safety means for protection against accidental cutting or pricking, e.g. limiting insertion depth, pressure sensors
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
-
- 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
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
Abstract
The invention discloses an intraspinal puncture ultrasonic probe which comprises a probe body, wherein the probe body is electrically connected with a computer system, the ultrasonic probe body is used for automatically searching a target structure in a spinal canal and automatically measuring a target position, the computer system is used for processing data measured by the ultrasonic probe body, the ultrasonic probe body comprises a measuring module, the measuring module is used for measuring the target position and the target structure in the spinal canal, the measuring module is electrically connected with a comparing module, the comparing module is used for comparing a puncture angle, the comparing module is electrically connected with a feedback module, the feedback module is used for feeding the data measured by the measuring module back to the computer system, the feedback module is electrically connected with a transmission module, and the transmission module is used for transmitting the data collected by the ultrasonic probe body.
Description
Technical Field
The invention relates to the technical field of intraspinal puncture ultrasonic probes, in particular to an intraspinal puncture ultrasonic probe.
Background
With the development of accurate medical, accurate anesthesia, ultrasound has become the second pair of eyes of anesthesiologists. By means of ultrasound, puncture or manipulation targets can be accurately identified. In addition, under the guidance of ultrasound, anesthesia puncture operation can be more accurately and safely implemented;
in the existing intra-vertebral canal puncture ultrasonic probe, the distance may be shortened because tissues are extruded in the puncture process of the puncture needle, and the puncture needle is damaged by exceeding a certain depth at the moment, and meanwhile, the puncture needle is difficult to position, so that the design of the intra-vertebral canal puncture ultrasonic probe is more accurate and safer.
Disclosure of Invention
The invention aims to provide an intraspinal puncture ultrasonic probe for solving the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: an intraspinal puncture ultrasonic probe, comprising a probe, characterized in that: the probe is electrically connected with a computer system, the ultrasonic probe is used for automatically searching a target structure in the vertebral canal and automatically measuring a target position, and the computer system is used for processing data measured by the ultrasonic probe.
According to the technical scheme, the ultrasonic probe comprises a measuring module, the measuring module is used for measuring a target position and a target structure in a vertebral canal, the measuring module is electrically connected with a comparison module, the comparison module is used for comparing a puncture angle, the comparison module is electrically connected with a feedback module, the feedback module is used for feeding data measured by the measuring module back to a computer system, the feedback module is electrically connected with a transmission module, and the transmission module is used for transmitting data collected by the ultrasonic probe.
According to the technical scheme, the measuring module comprises a distance measuring unit and a searching unit, the distance measuring unit is used for measuring the distance between the epidural space and the skin, the searching unit is used for automatically searching the target structure in the vertebral canal, and data collected by the measuring module are input into the computer system through the transmission module so as to carry out subsequent calculation and screening.
According to the technical scheme, the computer system comprises a calculation module, the feedback module is electrically connected with the calculation module, the feedback module inputs data into the computer module, the calculation module is electrically connected with an audit module, the calculation module is used for calculating data transmitted by the probe, an obtained result is conveyed into the audit module for audit, the audit module is electrically connected with a control module, the control module is electrically connected with a puncture needle, the control module controls the movement of the puncture needle by utilizing the numerical value after the audit of the audit module, so that the puncture needle punctures, the control module is electrically connected with a storage module, and the storage module is used for storing the data.
According to the technical scheme, the working steps of the intraspinal puncture ultrasonic probe are as follows:
s1, transmitting data measured in real time into a comparison module by a detection module, comparing the data measured by the comparison module, transmitting the data after comparison into a transmission module through a feedback module, and transmitting the data into a control module by the transmission module to control a puncture needle;
s2, inputting the received numerical value into a calculation module by a feedback module, calculating the received data by the calculation module, and inputting the calculated result into an auditing module;
s3, auditing the calculated data by an auditing module, and inputting the audited data into a control module to control the puncture needle;
s4, the control module inputs the received data into the storage module, simultaneously transmits the data in the storage module into the comparison module,
in the puncturing process, as tissues are extruded, the distance is possibly shortened, the ultrasonic probe feeds back the depth automatically measured in real time to the computer system, the puncturing depth is corrected by the computer system, and when the puncture needle is in target deviation due to different tissue densities or patient movement, the ultrasonic probe timely guides the puncture needle to puncture according to the correct direction, so that the puncturing operation can be accurately and safely implemented.
According to the above technical solution, in the step S1, the specific steps are as follows:
s1-1, a distance measuring unit and a searching unit detect a target structure and a target position in a vertebral canal, a comparison module compares the target structure and the target position through data in a storage module, and the compared result is transmitted into a feedback module;
s1-2, the feedback module collates the compared results and inputs the collated data into the transmission module;
s1-3, the transmission module transmits the received data information to the control module;
s1-4, the control module controls the puncture needle through the received data information, if the deviation is large, the puncture needle is withdrawn to the subcutaneous position, the direction of the puncture needle is adjusted, and then the puncture is performed again,
when the compared data exceeds a certain range, the angle of the puncture needle is biased, and the steps S1-2 to S1-4 start to run, so that the puncture needle is timely controlled to puncture in a correct direction, the puncture operation of the puncture needle is more accurate, and damage to a patient due to the change of the puncture angle is avoided.
According to the above technical solution, in step S2, the calculation formula of the distance from the dura mater of the epidural space to the body surface is:
wherein: a is the distance from the dura mater of the epidural space to the body surface, b is the distance between the probe and the puncture needle, alpha is the included angle formed between the vertical projection point of the dura mater of the epidural space from the probe and the body surface from the probe to the puncture needle, the vertical projection point of the dura mater of the epidural space is the needle insertion point of the puncture needle, the motion track of the ultrasonic probe is that the probe starts to gradually detect from a smaller angle to the deep part, alpha increases by a certain value each time, the distance from the dura mater of the epidural space to the body surface in the alpha increasing process also increases, the value of the alpha increase is recorded by the detection module, so the calculation module can know the real-time size of alpha, and the distance a from the dura mater of the epidural space to the body surface is calculated through alpha, so that the puncture distance of the puncture needle is more accurate.
According to the technical scheme, the number of the probes is two, the puncture targets and the puncture paths can be positioned in two directions, sagittal positions and coronal positions are positioned at the same time, deviation in the other direction is prevented, the movement of the two probes is independent, the movement of one probe does not influence the movement of the other probe, the appearance can be a split mechanism or a combined structure, the probes are pressed on the skin, the contact points with the skin do not move, the tail ends of the probes move, and the distance between the probes and the skin puncture points is fixed, so that calculation can be well completed.
According to the technical scheme, when the distance from the dura mater, which is the epidural space, to the body surface is calculated by the probe, the calculation formula of the distance between the probe and the puncture needle is as follows:
the calculated numerical value is stored in the storage module through the control module, so that the comparison module can compare the data measured by the measurement module through the data in the storage module, when the puncture angle of the puncture needle deviates, the distance between the probe and the puncture needle can be obviously different from the data stored in the storage module, the feedback module transmits the data to the transmission module, and then the steps S1-2 to S1-4 start to run, and the puncture needle is prevented from continuing to puncture after a certain angle deviation, so that the equipment is safer.
According to the above technical scheme, in steps S3 to S4, the auditing module audits the images obtained in real time through the big data of the intra-vertebral ultrasonic image in the storage module, when a certain similarity is reached, namely the images are considered as targets, and meanwhile, the successfully punctured image data collected by the detection module is stored in the storage module, so that the data stored in the storage module is more abundant, the auditing module performs audit timing through the data stored in the storage module, the more abundant data can improve the auditing accuracy of the auditing module to the data information, and the equipment is more accurate to use.
Compared with the prior art, the invention has the following beneficial effects: in the puncturing process, the distance is possibly shortened because tissues are extruded, the ultrasonic probe feeds back the depth automatically measured in real time to the computer system, the puncturing depth is corrected by the computer system, and when the puncture needle is different in tissue density or the patient moves and generates target deviation, the ultrasonic probe timely guides the puncture needle to puncture according to the correct direction, so that the puncturing operation can be accurately and safely implemented.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of a modular connection of the present invention;
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the present invention provides the following technical solutions: an intraspinal puncture ultrasonic probe, comprising a probe, characterized in that: the probe is electrically connected with a computer system, the ultrasonic probe is used for automatically searching a target structure in the vertebral canal and automatically measuring a target position, and the computer system is used for processing data measured by the ultrasonic probe;
the ultrasonic probe comprises a measuring module, wherein the measuring module is used for measuring a target position and a target structure in a vertebral canal, the measuring module is electrically connected with a comparison module, the comparison module is used for comparing a puncture angle, the comparison module is electrically connected with a feedback module, the feedback module is used for feeding back data measured by the measuring module into a computer system, the feedback module is electrically connected with a transmission module, and the transmission module is used for transmitting data collected by the ultrasonic probe;
the measuring module comprises a ranging unit and a searching unit, wherein the ranging unit is used for measuring the distance between the epidural space and the skin, the searching unit is used for automatically searching a target structure in the vertebral canal, and data collected by the measuring module are input into the computer system through the transmission module so as to carry out subsequent calculation and screening;
the computer system comprises a calculation module, a feedback module is electrically connected with the calculation module, the feedback module inputs data into the computer module, the calculation module is electrically connected with an auditing module, the calculation module is used for calculating the data transmitted by the probe, the obtained result is transmitted into the auditing module for auditing, the auditing module is electrically connected with a control module, the control module is electrically connected with a puncture needle, the control module controls the movement of the puncture needle by utilizing the numerical value audited by the auditing module, the puncture needle punctures, the control module is electrically connected with a storage module, and the storage module is used for storing the data;
the working steps of the intraspinal puncture ultrasonic probe are as follows:
s1, transmitting data measured in real time into a comparison module by a detection module, comparing the data measured by the comparison module, transmitting the data after comparison into a transmission module through a feedback module, and transmitting the data into a control module by the transmission module to control a puncture needle;
s2, inputting the received numerical value into a calculation module by a feedback module, calculating the received data by the calculation module, and inputting the calculated result into an auditing module;
s3, auditing the calculated data by an auditing module, and inputting the audited data into a control module to control the puncture needle;
s4, the control module inputs the received data into the storage module, simultaneously transmits the data in the storage module into the comparison module,
in the puncturing process, as tissues are extruded and the distance is possibly shortened, the ultrasonic probe feeds back the depth automatically measured in real time to the computer system, the puncturing depth is corrected by the computer system, and when the puncture needle is in target deviation due to different tissue densities or patient movement, the ultrasonic probe timely guides the puncture needle to puncture in the correct direction, so that the puncturing operation can be more accurately and safely implemented;
in step S1, the specific steps are as follows:
s1-1, a distance measuring unit and a searching unit detect a target structure and a target position in a vertebral canal, a comparison module compares the target structure and the target position through data in a storage module, and the compared result is transmitted into a feedback module;
s1-2, the feedback module collates the compared results and inputs the collated data into the transmission module;
s1-3, the transmission module transmits the received data information to the control module;
s1-4, the control module controls the puncture needle through the received data information, if the deviation is large, the puncture needle is withdrawn to the subcutaneous position, the direction of the puncture needle is adjusted, and then the puncture is performed again,
when the compared values are within a certain range, the angle of the puncture needle is not deviated, the feedback module does not transmit data information to the control module, at the moment, the steps S1-2 to S1-4 stop running, the step S2 continues running, the feedback module inputs the data information to the calculation module to carry out subsequent calculation, when the compared data exceeds a certain range, the angles of the puncture needle deviate to a certain extent, and the steps S1-2 to S1-4 start running, so that the puncture needle is timely controlled to puncture according to the correct direction, the puncture operation of the puncture needle is more accurate, and damage to a patient due to the change of the puncture angle is avoided;
in step S2, the calculation formula of the distance from the dura mater of the epidural space to the body surface is:
wherein: a is the distance from the dura mater of the epidural space to the body surface, b is the distance between the probe and the puncture needle, alpha is the included angle formed between the vertical projection point of the dura mater of the epidural space from the probe and the body surface from the probe to the puncture needle, the vertical projection point of the dura mater of the epidural space is the needle insertion point of the puncture needle, the motion track of the ultrasonic probe is that the probe starts to gradually detect from a smaller angle to the deep part, alpha increases by a certain value each time, the distance from the dura mater of the epidural space to the body surface increases in the alpha increasing process, and the value of the alpha increase is recorded by the detection module, so that the calculation module can know the real-time size of alpha, and the distance a from the dura mater of the epidural space to the body surface is calculated through alpha, so that the puncture distance of the puncture needle is more accurate;
the number of the probes is two, the probes can be positioned in two directions, the sagittal position and the coronal position can simultaneously position the puncture target and the puncture path, the deviation in the other direction is prevented, the movement of the two probes is independent, the movement of one probe does not influence the movement of the other probe, the appearance can be a split mechanism or a combined structure, the contact point between the probes and the skin does not move after the probes are pressed on the skin, the tail end of the probe moves, and the distance between the probes and the skin puncture point is fixed, so that the calculation can be well completed;
when the probe calculates the distance from the dura mater, which is the epidural space, to the body surface, the calculation formula of the distance between the probe and the puncture needle is as follows:
the calculated numerical value is stored in the storage module through the control module, so that the comparison module can compare the data measured by the measurement module through the data in the storage module, when the puncture angle of the puncture needle deviates, the distance between the probe and the puncture needle is obviously different from the data stored in the storage module, the feedback module transmits the data to the transmission module, and further the steps S1-2 to S1-4 start to operate, so that the puncture needle is prevented from continuing to puncture after a certain angle deviation, and the patient is prevented from being injured, and the equipment is safer;
in the steps S3 to S4, the auditing module audits the images obtained in real time through the large data of the intraspinal ultrasound images in the storage module, when the images reach a certain similarity, namely the images are considered as targets, and meanwhile, the successfully-punctured image data collected by the detection module is stored in the storage module, so that the data stored in the auditing module is more abundant, the auditing module can audit the data information through the data stored in the storage module, the auditing accuracy of the auditing module can be improved, and the equipment is more accurate to use.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. An intraspinal puncture ultrasonic probe, comprising a probe, characterized in that: the probe is electrically connected with a computer system, the ultrasonic probe is used for automatically searching a target structure in the vertebral canal and automatically measuring a target position, and the computer system is used for processing data measured by the ultrasonic probe;
the ultrasonic probe comprises a measuring module, wherein the measuring module is used for measuring a target position and a target structure in a vertebral canal, the measuring module is electrically connected with a comparison module, the comparison module is used for comparing a puncture angle, the comparison module is electrically connected with a feedback module, the feedback module is used for feeding back data measured by the measuring module into a computer system, the feedback module is electrically connected with a transmission module, and the transmission module is used for transmitting data collected by the ultrasonic probe;
the measuring module comprises a ranging unit and a searching unit, wherein the ranging unit is used for measuring the distance between the epidural space and the skin, the searching unit is used for automatically searching a target structure in the vertebral canal, and data collected by the measuring module are input into a computer system through the transmission module so as to carry out subsequent calculation and screening;
the computer system comprises a calculation module, wherein the feedback module is electrically connected with the calculation module, the feedback module inputs data into the computer module, the calculation module is electrically connected with an auditing module, the calculation module is used for calculating the data transmitted by the probe, the obtained result is transmitted into the auditing module for auditing, the auditing module is electrically connected with a control module, the control module is electrically connected with a puncture needle, the control module controls the movement of the puncture needle by utilizing the numerical value audited by the auditing module to puncture the puncture needle, the control module is electrically connected with a storage module, and the storage module is used for storing the data;
the working steps of the intraspinal puncture ultrasonic probe are as follows:
s1, transmitting data measured in real time into a comparison module by a detection module, comparing the data measured by the comparison module, transmitting the data after comparison into a transmission module through a feedback module, and transmitting the data into a control module by the transmission module to control a puncture needle;
s2, inputting the received numerical value into a calculation module by a feedback module, calculating the received data by the calculation module, and inputting the calculated result into an auditing module;
the calculation formula of the distance from the dura mater of the epidural space to the body surface is as follows:
；
wherein: a is the distance from the dura mater of the epidural space to the body surface, b is the distance between the probe and the puncture needle, alpha is the included angle formed between the vertical projection point of the dura mater of the epidural space from the probe to the body surface of the epidural space and the puncture needle, the vertical projection point of the dura mater of the epidural space is the needle insertion point of the puncture needle, the motion track of the ultrasonic probe is that the probe starts to gradually detect from a smaller angle to the deep part, alpha increases by a certain value each time, the distance from the dura mater of the epidural space to the body surface also increases in the alpha increasing process, the value of the alpha increase is recorded by the detection module, so the calculation module can know the real-time size of alpha, and the distance a from the dura mater of the epidural space to the body surface is calculated through alpha;
s3, auditing the calculated data by an auditing module, and inputting the audited data into a control module to control the puncture needle;
s4, the control module inputs the received data into the storage module, and simultaneously transmits the data in the storage module into the comparison module;
in the step S1, the specific steps are as follows:
s1-1, a distance measuring unit and a searching unit detect a target structure and a target position in a vertebral canal, a comparison module compares the target structure and the target position through data in a storage module, and the compared result is transmitted into a feedback module;
s1-2, the feedback module collates the compared results and inputs the collated data into the transmission module;
s1-3, the transmission module transmits the received data information to the control module;
s1-4, the control module controls the puncture needle through the received data information, if the deviation is large, the puncture needle is withdrawn to the subcutaneous position, the direction of the puncture needle is adjusted, and then the puncture is performed again;
when the numerical value compared by the comparison module is within a certain range, the angle of the puncture needle is not deviated, the feedback module does not transmit data information into the control module, at the moment, the steps S1-2 to S1-4 stop running, the step S2 continues running, the feedback module inputs the data information into the calculation module to enable the data information to be calculated in a follow-up mode, when the compared data exceeds a certain range, the angle of the puncture needle is deviated to a certain extent, and the steps S1-2 to S1-4 start running, so that the puncture needle is controlled to puncture in a correct direction in time;
the number of the probes is two, the puncture targets and the puncture paths can be positioned in two directions, the sagittal position and the coronal position can be positioned at the same time, the deviation in the other direction is prevented, the movement of the two probes is independent, the movement of one probe does not influence the movement of the other probe, the contact point between the probe and the skin does not move after the probe is pressed on the skin, the tail end of the probe moves, and the distance between the probe and the skin puncture point is fixed;
when the distance from the dura mater, which is the epidural space, to the body surface is calculated by the probe, the calculation formula of the distance between the probe and the puncture needle is as follows:
；
c is the distance between the probe and the puncture needle, the calculated value is stored into the storage module through the control module, the comparison module compares the data measured by the measurement module through the data in the storage module, when the puncture angle of the puncture needle deviates, the distance between the probe and the puncture needle is obviously different from the data stored in the storage module, and the feedback module transmits the data into the transmission module, so that the steps S1-2 to S1-4 start to operate;
in the steps S3 to S4, the auditing module audits the images obtained in real time through the big data of the intra-vertebral canal ultrasonic images in the storage module, and when the images reach a certain similarity, the images are considered as targets, and meanwhile, the successfully-punctured image data collected by the detection module is stored in the storage module, so that the data stored in the storage module is more abundant.
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| CN110200683A (en) * | 2019-07-03 | 2019-09-06 | 北京积水潭医院 | Ultrasound-guided Biopsy attitude monitoring method and device |
| CN111134794A (en) * | 2020-01-20 | 2020-05-12 | 苏州科技城医院 | Ultrasonic guide out-of-plane puncture method |
| CN111904548A (en) * | 2020-07-28 | 2020-11-10 | 宦乡 | External semi-automatic positioning puncture device for ultrasonic anesthesia plane |
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