CN1408322A - Human body target direction micro trauma positioning and navigating bed frame and its positioning method - Google Patents
Human body target direction micro trauma positioning and navigating bed frame and its positioning method Download PDFInfo
- Publication number
- CN1408322A CN1408322A CN02130972A CN02130972A CN1408322A CN 1408322 A CN1408322 A CN 1408322A CN 02130972 A CN02130972 A CN 02130972A CN 02130972 A CN02130972 A CN 02130972A CN 1408322 A CN1408322 A CN 1408322A
- Authority
- CN
- China
- Prior art keywords
- positioning
- navigating
- scale
- human body
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The present invention belongs to the field of medical equipment and relates to a kind of extraneous positioning and navigating bed frame for target treatment and micro trauma treatment and its positioning method. The extraneous positioning and navigating bed frame consists of positioning bottom board assembly, repeated positioning frame assembly, measuring scale assembly and guide arc turning assembly. In CT scanning to transmit image to computer, the disease focus is located inside the effective scales and various scales and data are utilized to fix the positioning frame, regulate the positioning pin and positioning the target area for target treatment and micro trauma treatment.
Description
Technical field
The invention belongs to medical instruments field, relate to a kind of positioning and navigating bed frame and localization method thereof outside human body when being used for targeted therapy or minimally-invasive treatment.
Background technology
Continuous development along with science and technology, utilize the maneuver of targeted therapy or minimally-invasive treatment increasing gradually, there is hospital to adopt import electronic laser navigation frame to be used in combination at present with the CT machine, but the shelf structure complexity of should navigating, cost an arm and a leg, millions of approximately dollars one covers, China has only introduced the 2-3 cover, is not easy to popularize.Domestic existing department of cerebral surgery positioning head frame is unsuitable for the body location.The body location bed of using for X cutter, γ cutter irradiation treatment owing to there is not navigation feature, can not be carried out Minimally Invasive Surgery in addition.
In the surgical operation, how locating and to find target spot correct in the body or focus be the difficult problem of medical circle external, generally is rule of thumb to locate by the clinician who has wide experience.Specific practice is that the clinician rule of thumb inserts puncture needle in patient's body, under the CT machine, check the position of insertion then, again insert again as improper, up to finding correct position, this kind method complex operation is wasted time and energy, especially the time of delaying the CT machine, locate inaccurately simultaneously, increase patient's misery, clinical practice is limited.
The location when being used for targeted therapy or minimally-invasive treatment at present outside human body and the device of navigation and the localized method of employing positioning and navigating bed frame are still blank at home.
Summary of the invention
The object of the present invention is to provide a kind of simple in structure, positioning and navigating bed frame outside human body when being used for targeted therapy or minimally-invasive treatment with low cost.
Another object of the present invention is to provide a kind of easy and simple to handle, quick, the method for human body target direction micro trauma positioning and navigating bed frame in the human body outside fix used in accurate positioning.
The technical solution used in the present invention: a kind of human body target direction micro trauma positioning and navigating bed frame: it mainly is made of positioning plate parts, resetting frame chi parts, scale member, guiding arc pivoted frame parts.The base plate both sides of its positioning plate parts respectively are provided with a guiding T type chute, stud with six localization criteria lines in the central authorities, and the body fixed support is fixed on the base plate.The graduated frame chi that has of its resetting frame chi parts is arranged in the guiding T type chute, respectively is provided with the positioning needle that a band scale is regulated on three edges of frame chi.Its scale member has graduated X scale, the Y scale at right angles connects, and the scale coupling is fixed on the T type chute, and the Y scale cooperates connection with the scale coupling with dovetail groove.Camber pivoted frame of its guiding arc pivoted frame parts is the camber shape, with the X scale movingly, the guide plate support is installed on the camber pivoted frame, guide plate support and litter movingly, litter is provided with the implantation guide plate.Its six localization criteria lines comprise a centrage, about two parallel side position lines, two cross-shaped angles be 53 ° 08 ' z value position line, a positive negative wire.Its guide plate support is angle with litter and connects.
A kind of method of using human body target direction micro trauma positioning and navigating bed frame in the human body outside fix, use positioning and navigating bed frame, CT machine, computer, scanner, printer to finish, the labelling that utilization is done on human body combines with positioning and navigating bed frame, by CT machine scanning human body and positioning and navigating bed frame, image is input to computer, focus is positioned at effective scale of base plate, record body fixed support is finished area coordinate location, target area or focus entity and is operated with the spatial position data of location bedstead at the scale of T type chute frame chi; Utilize the labelling done on the human body and the positioning and navigating bed frame data according to computer output once more, stationary positioned frame chi is regulated positioning needle, finishes resetting operation on the operation table; By X scale, Y scale, on T type chute, find Z value position, finish X, Y, Z coordinate values targeting navigation operation.
The present invention can realize the outer target area zone location of human body, resetting, targeting navigation, be beneficial to targeted therapy and minimally-invasive treatment, has filled up the domestic blank that does not have external positioning navigation device at present.The present invention is simple in structure, and is with low cost, uses the present invention easy and simple to handle, and quick, accurate positioning is easy to popularize.
Description of drawings
Fig. 1 is the front view of structural representation of the present invention;
Fig. 2 is the vertical view of structural representation of the present invention;
Fig. 3 is the left view of structural representation of the present invention;
Fig. 4 is the target area zone coordinate example of the present invention on the CT sheet.
The specific embodiment
Consult Fig. 1, Fig. 2, shown in Figure 3, a kind of human body target direction micro trauma positioning and navigating bed frame, mainly be made of four parts such as positioning plate parts 10, resetting frame chi parts 20, scale member 30, guiding arc pivoted frame parts 40, wherein positioning plate parts 10 mainly comprise base plate 101, guiding T type chute 102, six location graticules 103,104,105,106, body fixed support 107 etc.; Its base plate 101 adopts carbon fiber to make, both sides respectively are provided with a guiding T type chute 102, stud with the localization criteria line that when CT scan, can develop in base plate 101 central authorities, six localization criteria lines by a centrage 104, about z value position line 105 and a positive negative wire 103 of two side position lines 106, two intersections form; About two side position lines 106 be parallel, parallel distance is 350mm, article two, side position line 106 equates to the distance of centrage 104, article two, z value position line 105 cross-shaped angles are 53 ° 08 ', centrage 104 is with its angle five equilibrium, this group echo line is " Magic triangle " shape and distributes, be that leg-of-mutton base length equals leg-of-mutton height, make on any CT image, can be by measuring the Z value that distance between 2 Z value telltale mark points obtains this CT layer, and the direction of Z value is determined by positive and negative line of direction; There is a positive negative wire 103 on the right of adjacent right edge position line 106, this line is not elongated, on one side but mind-set is made from base plate 101, purpose is a difference CT scan sheet human body head foot direction; Body fixed support 107 is fixed on the base plate 101, is used for fixing the two hip positions of human body, and is moving to prevent displacement body.
Resetting frame chi parts 20 mainly comprise frame chi 201, positioning needle 202 etc., three have graduated frame chi 201 both sides and are separately positioned in the guiding T type chute 102, and can on chute, slide, respectively be provided with the positioning needle 202 that a band scale is regulated on three edges of frame chi 201, the degree of depth of pin can be regulated as required.
Scale member 30 mainly comprises Y scale 301, scale coupling 302, X scale 303 etc., its X scale 303 is a column type, being 90 ° of right angles with Y scale 301 connects, be carved with scale on the scale, scale coupling 302 is fixed on the T type chute 102, and can on T type chute 102, slide, Y scale 301 connects with the form that dovetail groove cooperates with scale coupling 302.
Guiding arc pivoted frame parts 40 mainly comprise guide plate support 401, camber pivoted frame 402, litter 403, implant guide plate 404 etc., camber pivoted frame 402 is radius 350mm, the camber shape that radian is 110 °, be dynamic fit with X scale 303, can X scale 303 be that axle is done 180 ° of rotations, guide plate support 401 is installed on the camber pivoted frame 402, can on camber pivoted frame 402, slide, there is a litter 403 to be slidingly matched with it on the guide plate support 401, litter 403 the place aheads can be fixed respectively and implant guide plate 404 or puncture needle sleeve, be convenient to carry out various diagnosis and treatment, guide plate support 401 is angle with litter 403 and connects, to guarantee to make the center of the arc of sensing guiding all the time pivoted frames such as puncture needle.
A kind of method of using human body target direction micro trauma positioning and navigating bed frame in the human body outside fix, main described positioning and navigating bed frame of the present invention and the existing auxiliary facilities used: CT machine, computer, scanner, printer wait to be finished, the labelling that utilization is done on human body combines with positioning and navigating bed frame, by CT machine scanning human body and positioning and navigating bed frame, image is input to computer, obtains target area zone location or focus entity and the spatial position data of locating bedstead; Utilizing labelling and the positioning and navigating bed frame resetting of doing on the human body on the operation table once more, according to the data of computer output, the guiding arc pivoted frame on the operation positioning and navigating bed frame reaches the targeting navigation position, carries out targeted therapy or minimally-invasive treatment and inspection.Specifically comprise following operating procedure:
One, target area zone location
1. will have angle is 53 ° of 08 ' degree, the positioning plate 101 of the positioning and navigating bed frame of two cross-shaped z value position lines 105 is placed on the CT scan bed, by the scanner laser positioning line on the CT machine, adjust the position of positioning plate 101, make the plane of scanning motion pass through the graduation mark (as a left side+3, right+3) that the bilateral guiding T type chute 102 on the positioning plate 101 equates;
2. the patient lies in and reaches the comfortable steady statue of trying one's best on the positioning plate 101, and guarantees that focus is positioned at effective scale of base plate 101; Two hips are fixed record body fixed support 107 scales with body fixed support 107 at T type chute 102 frame chis;
3. adjust resetting frame chi 201 and arrive focus aspect on every side, record resetting frame chi 201 is in the calibration data of positioning plate 101 both sides T type chutes 102, adjust on the resetting frame chi 201 positioning needle 202 degree of depth that each band scale that is provided with is regulated on three edges again, make needle point just with contact skin (sides of body and top), under the sterilization situation, injecting a little methylene blue with the syringe that extracts methylene blue at location needle point and contact skin place marks, the scale position of record each positioning needle 202 this moment is finished body surface and is done several telltale mark points then;
4. the patient is sent into the CT scan district, find out the zone, target area;
5. carry out CT continuous sweep (according to focus size decision scanning slice 2-5 mm layer distance) around contiguous focus, select needed scanning aspect image after image to be scanned occurs, the center layer images will be indicated especially;
6. each layer of target region CT image is preserved in the mode of film or electronic graphics file, as localized objective basis;
7. localized relevant parameter is recorded in the positioning reporting.
Two. obtain the target coordinate spatial position data
1. determine zero: access the picture of center, target area aspect, zero is fixed on positioning plate 101 Center Line Markings 104 places, again horizontal axis is moved on two side position lines 106;
2. obtain target coordinate: in the CT sheet of target area is arranged, do vertical join line with coordinate axes from target spot, target spot is the Y coordinate figure of target spot relative localization base plate 101 to the collinear vertical dimension of X-axis, and target spot is the X coordinate figure of target spot relative localization base plate 101 to the horizontal range of centrage; The distance of measuring 105 of two Z value position lines is the Z coordinate figure of target spot relative localization base plate 101, and as shown in Figure 4 (X=26.3, Y=158.2, Z=71.25);
In every CT sheet that the target area arranged, all can find the respective coordinates of X, Y, Z, obtain the locus of target area relative localization base plate 101.
Three. resetting and targeting navigation
1. resetting: at first positioning plate 101 is put on the operation table when the patient need move to operating room and receives treatment, according to the parameters in the positioning reporting, the patient is positioned on the assigned position of location bedstead once more, the repeated positioning error should be less than 2mm;
After the patient lies on the positioning plate 101, resetting frame chi 201 is put on the positioning plate 101, the calibration data position of the T type chute 102 that posting chi 201 is positioned at write down when the patient does CT scan, after fixing posting chi 201, regulate the positioning needle 202 on three edges, this moment, the patient also will mobile slowly position, make needle point just with contact skin (body two sides and top) in advance with the methylene blue injection device place that marks, on inspection, data when making the scale position of each positioning needle 202 reach CT scan, tip alignment methylene blue mark, coordinate figure measured when the coordinate figure of target spot is with CT scan at this moment is consistent.
2. targeting navigation: according to a left side or the right side of target spot at centralized positioning line 104, decision Position Scale installed surface is (as the left side of focus at the centralized positioning line, then Position Scale is installed in the left side of positioning plate 101), press gained X, Y, the Z coordinate values is adjusted X scale 303 respectively, Y scale 301, mobile scale adapter 302, on T type chute 102, find Z value position, insert guide pin by the guide pin guide subsequently, then reach target position after arriving the degree of depth of stipulating, can carry out focus biopsy or particle then as required and implant, the supercool cutter, targeted therapies such as radio-frequency (RF) ablation.
Claims (8)
1. a human body target direction micro trauma positioning and navigating bed frame is characterized in that mainly being made of positioning plate parts (10), resetting frame chi parts (20), scale member (30), guiding arc pivoted frame parts (40).
2. human body target direction micro trauma positioning and navigating bed frame according to claim 1, base plate (101) both sides that it is characterized in that positioning plate parts (10) respectively are provided with a guiding T type chute (102), stud with six localization criteria lines in the central authorities, body fixed support (107) is fixed on the base plate (101).
3. human body target direction micro trauma positioning and navigating bed frame according to claim 1, it is characterized in that having of resetting frame chi parts (20) of graduated frame chi (201) is arranged in the guiding T type chute (102), respectively be provided with the positioning needle (202) that a band scale is regulated on three edges of frame chi (201).
4. human body target direction micro trauma positioning and navigating bed frame according to claim 1, it is characterized in that having of scale member (30) of graduated X scale (303), Y scale (301) at right angles connect, scale coupling (302) is fixed on the T type chute (102), and Y scale (301) cooperates connection with scale coupling (302) with dovetail groove.
5. human body target direction micro trauma positioning and navigating bed frame according to claim 1, the camber pivoted frame (402) of arc pivoted frame parts (40) of it is characterized in that leading is the camber shape, with X scale (303) movingly, guide plate support (401) is installed on the camber pivoted frame (402), guide plate support (401) and litter (403) movingly, litter (403) is provided with implants guide plate (404).
6. human body target direction micro trauma positioning and navigating bed frame according to claim 1 and 2, it is characterized in that six localization criteria lines comprise a centrage (104), about two parallel side position lines (106), two cross-shaped angles be 53 ° 08 ' z value position line (105), a positive negative wire (103).
7. according to claim 1 or 4 described human body target direction micro trauma positioning and navigating bed frames, it is characterized in that guide plate support (401) is angle with litter (403) and connects.
8. method of using human body target direction micro trauma positioning and navigating bed frame in the human body outside fix, use positioning and navigating bed frame, the CT machine, computer, scanner, printer is finished, it is characterized in that utilizing the labelling of on human body, doing to combine with positioning and navigating bed frame, by CT machine scanning human body and positioning and navigating bed frame, image is input to computer, focus is positioned at effective scale of base plate (101), record body fixed support (107) is finished area coordinate location, target area or focus entity and is operated with the spatial position data of location bedstead (101) at the scale of T type chute (102) frame chi; Utilize the labelling done on the human body and the positioning and navigating bed frame data according to computer output once more, stationary positioned frame chi (201) is regulated positioning needle (202), finishes resetting operation on the operation table; By X scale (303), Y scale (301), on T type chute (102), find Z value position, finish X, Y, Z coordinate values targeting navigation operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021309728A CN1193714C (en) | 2002-09-23 | 2002-09-23 | Human body target direction micro trauma positioning and navigating bed frame and its positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021309728A CN1193714C (en) | 2002-09-23 | 2002-09-23 | Human body target direction micro trauma positioning and navigating bed frame and its positioning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1408322A true CN1408322A (en) | 2003-04-09 |
| CN1193714C CN1193714C (en) | 2005-03-23 |
Family
ID=4746530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB021309728A Expired - Fee Related CN1193714C (en) | 2002-09-23 | 2002-09-23 | Human body target direction micro trauma positioning and navigating bed frame and its positioning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1193714C (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101420905A (en) * | 2004-04-14 | 2009-04-29 | 美国医软科技公司 | Lesion marking and characterization quality assurance method and system |
| CN102098975A (en) * | 2008-06-10 | 2011-06-15 | 美格罗德公司 | Magnetic targeting system for facilitating navigation |
| CN102727308A (en) * | 2011-04-01 | 2012-10-17 | 上海优益基医疗器械有限公司 | Positioning reference frame capable of being repeatedly mounted and dismounted used for surgery navigation system |
| CN105411678A (en) * | 2014-09-16 | 2016-03-23 | X-Nav技术有限责任公司 | System for determining and tracking movement during a medical procedure |
| CN108870045A (en) * | 2018-09-04 | 2018-11-23 | 安庆市睿霞机械有限公司 | A kind of cross adjustment seat |
-
2002
- 2002-09-23 CN CNB021309728A patent/CN1193714C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101420905A (en) * | 2004-04-14 | 2009-04-29 | 美国医软科技公司 | Lesion marking and characterization quality assurance method and system |
| CN102098975A (en) * | 2008-06-10 | 2011-06-15 | 美格罗德公司 | Magnetic targeting system for facilitating navigation |
| CN102098975B (en) * | 2008-06-10 | 2013-11-06 | 美格罗德公司 | Magnetic targeting system for facilitating navigation |
| CN102727308A (en) * | 2011-04-01 | 2012-10-17 | 上海优益基医疗器械有限公司 | Positioning reference frame capable of being repeatedly mounted and dismounted used for surgery navigation system |
| CN105411678A (en) * | 2014-09-16 | 2016-03-23 | X-Nav技术有限责任公司 | System for determining and tracking movement during a medical procedure |
| CN105411678B (en) * | 2014-09-16 | 2018-02-02 | X-Nav技术有限责任公司 | It is used to determine the system with tracing movement during medical procedure |
| CN108870045A (en) * | 2018-09-04 | 2018-11-23 | 安庆市睿霞机械有限公司 | A kind of cross adjustment seat |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1193714C (en) | 2005-03-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3254621B1 (en) | 3d image special calibrator, surgical localizing system and method | |
| CN101108140B (en) | Calibration mould used for image navigation operation system and calibration method thereof | |
| US9050132B2 (en) | System for determining the position of a knee prosthesis | |
| US6546279B1 (en) | Computer controlled guidance of a biopsy needle | |
| US8548563B2 (en) | Method for registering a physical space to image space | |
| JP4340345B2 (en) | Frameless stereotactic surgery device | |
| US8781630B2 (en) | Imaging platform to provide integrated navigation capabilities for surgical guidance | |
| US20080221520A1 (en) | Positioning System for Percutaneous Interventions | |
| WO2021217713A1 (en) | Surgical navigation system, computer for performing surgical navigation method, and storage medium | |
| CN107028659A (en) | Operation guiding system and air navigation aid under a kind of CT images guiding | |
| Yang et al. | Automatic 3-D imaging and measurement of human spines with a robotic ultrasound system | |
| JP2013540455A (en) | Assisted automatic data collection method for anatomical surfaces | |
| CN102715947B (en) | The self-align navigating surgery robot arm of follow-up spine | |
| Muratore et al. | Three-dimensional image registration of phantom vertebrae for image-guided surgery: a preliminary study | |
| Tebo et al. | An optical 3D digitizer for frameless stereotactic surgery | |
| CN207306723U (en) | Operation guiding system under the guiding of CT images | |
| CN1193714C (en) | Human body target direction micro trauma positioning and navigating bed frame and its positioning method | |
| CN203953815U (en) | Navigation system in the art of assisted surgery | |
| Kronreif et al. | Evaluation of robotic assistance in neurosurgical applications | |
| Xie et al. | Image-guided navigation system for minimally invasive total hip arthroplasty (MITHA) using an improved position-sensing marker | |
| WO2004075716A2 (en) | A stereotactic localizer system with dental impression | |
| CN112107366B (en) | Mixed reality ultrasonic navigation system | |
| CN201067408Y (en) | N type line stereo locating frame capable of real time monitoring location | |
| Caversaccio et al. | Image-guided surgical microscope with mounted minitracker | |
| Flaccavento et al. | Patient and probe tracking during freehand ultrasound |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |