CN208756190U - A kind of surgical navigational probe and operation navigation device - Google Patents

Abstract

The utility model is a kind of surgical navigational probe, including shank and the positioning component being connected on shank, the positioning component includes in conplane upper locating piece and lower locating piece, latticed positioning grid is provided on the surface of upper locating piece and lower locating piece, the color difference of the Fill Color of adjacent positioning grid differs greatly, the intersection point of four adjacent positioned grids is anchor point, and there are two anchor points for formation on upper locating piece, and an anchor point is formed on lower locating piece；An anchor point on two anchor points and lower locating piece on upper locating piece constitutes a master positioning face.The utility model also provides a kind of operation navigation device, further includes two high-definition cameras, processor and display.The utility model is able to achieve precision navigation, it is ensured that the accurate judgement of illness position reduces the wound area of the edge of a knife.

Description

A kind of surgical navigational probe and operation navigation device

Technical field

The utility model relates to position tool, and in particular to location of operation utensil.

Background technique

Location of operation just refers to the position for finding illness, and then the point is accurately positioned, according to the position of positioning into Row operation, to realize precisely medical treatment, to reduce wound area and range.Common location of operation is by shooting CT images or X Light, then doctor judges the size and location of illness according to oneself learning, however, this method there are biggish subjectivities simultaneously It is required that doctor has more rich dissection experience, it could accurate judgement out position and size.Because of traditional CT machine shooting imaging shadow When piece, a section can only be taken, that is, be equivalent to and human body is subjected to cutting, the cross-sectional view that this section is seen is exactly into The image of picture, it is a two-dimensional plan view, as soon as not being a three-dimensional figure, doctor needs to go to judge according to the experience of itself This section be shot in which position, and human body be it is movable, the plane intercepted may change at any time.It is this Method usually requires to shoot multiple images, and doctor goes to judge position and the size of illness according to itself knowledge and experience, therefore, this Kind way is a kind of method with very strong subjectivity, and each organ of human body can be movable relatively, and will to shoot When position and position when operation have relative variability, be thus easy to so that the edge of a knife range performed the operation is big, wound range Greatly.This existing method more generally used is created often because the point of judgement has variation or inaccuracy and opens multiple edges of a knife It is big to hurt range, is located at internal organ especially for illness position, more difficult accurate positionin.A kind of existing accurate positioning Mode is that is, the mark by way of labelling on the body in patient, by the label pasted on human body, to human body Image is positioned and clapped, the illness position of human body is accurately positioned out in this way.But this quadrat method is there are significant limitation, this Kind method can only fix human body, and each position of body is stiff, it is desirable in the mistake for clapping CT images and operation Cheng Zhong fixes patient, guarantees the opposing stationary of position, to improve precision and accuracy.Although these methods are all in determination Accuracy is improved in illness position, but its precision is not high, and scalpel edge is larger, and is easy mistake and examines it is necessary to repeat to operate on, and leads Cause the further increasing of wound range.

Utility model content

In order to overcome the above-mentioned deficiency of the prior art, the purpose of this utility model is to provide a kind of surgical navigational probe and Operation navigation device, the surgical navigational probe and operation navigation device can precisely navigate illness position, greatly reduce edge of a knife model It encloses, reduces wound, and accomplish to be accurately positioned.

The technical solution of the utility model realization above-mentioned purpose are as follows:

A kind of surgical navigational probe, including shank and the positioning component being connected on shank, which is included in together The upper locating piece of one plane and lower locating piece are provided with latticed positioning grid on the surface of upper locating piece and lower locating piece The color difference of lattice, the Fill Color of adjacent positioning grid differs greatly, and the intersection point of four adjacent positioned grids is anchor point, and Anchor point there are two being formed on the upper locating piece, is formed with an anchor point on the lower locating piece；The upper locating piece On two anchor points and the lower locating piece on an anchor point constitute a master positioning face；

The shank is straight-bar, and one of anchor point on the upper locating piece and last one of the lower locating piece Straight line parallel where straight line where anchor point, with the shank axle center.

The color of the adjacent positioning grid is respectively the maximum white of color difference and black.

The color of the adjacent positioning grid is respectively yellow and blue, perhaps red and green or yellow and black Color.

Bending is formed in the middle part of the syringe needle section of the shank.

Secondary positioning component is also connected on the shank, which includes that the secondary and lower positioning of upper positioning is secondary, on The secondary and lower positioning pair of positioning is in same plane；There are two the anchor points for setting in the upper positioning pair, and described lower fixed It is provided with the anchor point in the pair of position, these three anchor points form secondary positioning surface.

The upper locating piece is secondary greater than the upper positioning to the lower positioning pair to the distance between the lower locating piece Between distance；Or the upper locating piece is secondary less than the upper positioning to the lower positioning to the distance between the lower locating piece The distance between pair.

The positioning component and the secondary positioning component have front and back sides, and the distribution of color in the grid of front and back sides is opposite Claim.

Grip part is additionally provided on the shank.

A kind of operation navigation device comprising surgical navigational probe described above further includes two high-definition cameras, place Device and display are managed, the high-definition camera is electrically connected the processor, and the processor is electrically connected the display；Also wrap Bracket is included, the high-definition camera and the display are connected on the bracket.

The utility model have compared with prior art it is below the utility model has the advantages that

The utility model is able to achieve precision navigation, and precision can reach 0.12mm, it is ensured that the accurate judgement of illness position, doctor Operation pathway can be planned in an optimal manner, reduce the wound area of the edge of a knife.The utility model is known as a kind of guiding tool of operation Other precision is high, thus greatly reduces the risk of operation；Using the principle of optical guidance, more external labelling method side Just, after equipment Alignment, patient can be move freely without influencing to position.The image obtained by high-definition camera refreshes speed Degree is fast, and positions rapid；By rotating the shank of probe, the positioning surface on camera changes, and system can be set automatically Positioning surface changes, so that it is matched to change algorithm, therefore, regardless of probe rotates, can be identified to, not deposit The case where blind area is with that cannot identify.

Detailed description of the invention

Fig. 1 is the schematic perspective view of the embodiments of the present invention 1；

Fig. 2 is the main view of embodiment 1；

Fig. 3 is the main view of embodiment 2；

Fig. 4 is the positioning comb mesh pattern contrast schematic diagram on the front and back two sides of positioning component.

Specific embodiment

The utility model is described in further detail in the following with reference to the drawings and specific embodiments.

Embodiment 1:

Such as Fig. 1, a kind of surgical navigational probe, including shank 1 and the positioning component being connected on shank 1, the positioning component Including being provided with grid on the surface of upper locating piece 2 and lower locating piece 3 in conplane upper locating piece 2 and lower locating piece 3 The color difference of the positioning grid of shape, the Fill Color of adjacent positioning grid differs greatly, and the intersection point of four adjacent positioned grids is Anchor point, and there are two anchor points for formation on the upper locating piece 2, are formed with an anchor point on the lower locating piece 3； An anchor point on two anchor points and the lower locating piece 3 on the upper locating piece 2 constitutes a master positioning face；

The shank 1 is straight-bar, and one of anchor point on the upper locating piece 2 and the lower locating piece 3 were last Straight line parallel where straight line where one anchor point, with 1 axle center of shank.The middle part shape of the syringe needle section of the shank 1 At there is bending.

The working principle of the surgical navigational probe of the utility model, cooperation high-definition camera is in use, such as Fig. 2, camera The information on positioning grid is read, the intersection point for positioning grid is anchor point, therefore, there are two anchor point on upper locating piece, There is an anchor point on lower locating piece, such as Fig. 2, the anchor point on the anchor point and lower locating piece on the right side on upper locating piece is same On one straight line, and this straight line is parallel with straight line where the axle center of shank.Two anchor points on upper locating piece with it is lower fixed Not on the same line, therefore these three points just constitute a positioning surface to anchor point on the block of position, by preset algorithm and Program can navigate to the top position of probe.

Such as Fig. 2, it is preferred that the color of the adjacent positioning grid is respectively the maximum white of color difference and black.

Another program, the color of the adjacent positioning grid are respectively yellow and blue, perhaps red and green or Yellow and black.

Referring to Figures 1 and 2, the color of the preferred orientation grid of the utility model is that black and white is alternate, due to white Maximum with the color difference of black, contrast is also maximum, is just very easy to be identified when positioning, therefore, using attached drawing In black and white interval positioning grid, can quickly be set out by high-definition camera very much.And in addition to the scheme of colour of black and white, also Other schemes of colour can be used, anchor point and positioning grid can be obtained, that is to say, that as long as two have the color matching side of color difference Case filling positioning grid, can obtain anchor point, can be achieved with the technical solution of the utility model, and black and white therein color matching is Most preferably.

Preferred embodiment, such as Fig. 1 are also connected with secondary positioning component on the shank 1, which includes upper positioning Pair 4 and lower positioning pair 5, upper positioning pair 4 and lower positioning pair 5 are in same plane；There are two described for setting in the upper positioning pair 4 Anchor point, and it is provided with the anchor point in the lower positioning pair 5, these three anchor points form secondary positioning surface.This reality Not only there are positioning component, also functional secondary positioning component identical with positioning component, it is preferred that secondary positioning component is opposite with novel Positioning component is vertically set on shank；Plane where secondary positioning component can also be in an any angle with positioning component, this Angle is greater than 0 °.The purpose of secondary positioning component is set, be in order to enable probe turn to it is flat where being just parallel to positioning component When face, positioning grid can not be recognized, camera can recognize the positioning grid on secondary positioning component at this time, to complete to determine Position.

When the visual angle of high-definition camera identification state as shown in Figure 1, positioning component and secondary positioning component are respectively positioned on and set In range, therefore, system will select one of them as location base.Positioning component is different with the secondary spacing of positioning component, Therefore, system also has the difference of algorithm when calculating, the anchor point guaranteed it is accurate.

The upper locating piece 2 is secondary to the lower positioning greater than the upper positioning pair 4 to the distance between the lower locating piece 3 The distance between 5；Or the upper locating piece 2 to the distance between the lower locating piece 3 is less than the upper positioning secondary 4 to described The distance between lower positioning pair 5.Such as Fig. 2 and Fig. 3, spacing between two locating pieces and secondary positioning component on positioning component Spacing between two positioning pairs differs, and just can guarantee camera in this way in identification, only with one of face as base Plinth, and algorithm is corresponding accurate.If two spacing described above are identical, when two positioning surfaces appear at identification In region, which face is system can not just judge using, and cannot be accurately positioned.

Such as Fig. 4, the positioning component and the secondary positioning component have front and back sides, and the color in the grid of front and back sides point Cloth is symmetrical.Since the positioning grid color matching of front and back sides is just symmetrical, so, it is the specific fixed of use that system, which can judge automatically, Plane can be accurately judged to the position of positioning.

Such as Fig. 1 and Fig. 2, grip part 6 is additionally provided on the shank 1.Grip part is set, the gripping of hand can be facilitated, side Just it uses.

A kind of operation navigation device comprising surgical navigational probe described above of the utility model, further includes two height Clear camera, processor and display, the high-definition camera are electrically connected the processor, described in the processor electrical connection Display.

Further include bracket, the high-definition camera and the display are connected on the bracket.

The operation navigation device of the utility model, is a kind of operation navigation device that accuracy is high, and accuracy can reach 0.12mm is to have high precision compared to localization method both domestic and external.And external method, patient is cannot be free It is movable, and if identification region blocked by doctor, blind spot will be generated, can not be set by camera to there is more Limitation.

A kind of air navigation aid using the operation navigation device:

Step 1, starter import the faultage image of CT, carry out three-dimensional reconstruction；

High-definition camera is directed at surgical navigational probe by step 2, carries out the initialization of surgical navigational probe and 3 points of corrections；

Step 3 positions illness position by surgical navigational probe in 3D solid；

Step 4, mobile surgical navigational probe, high-definition camera get the positioning surface information of surgical navigational probe, and The position of needle point meaning is accurately indicated in 3D solid；And surgical navigational probe can be inserted into internal；

Step 5 is accurately positioned illness location and range finally by surgical navigational probe, facilitates doctor to carry out operation, lead Boat terminates.

The imaging of the utility model can not only use CT, and (Computed Tomography, electronic computer tomography are swept Retouch), MRI (Magnetic Resonance Imaging, magnetic resonance imaging) can also be used.3 points described in the utility model Correction refers to when to operation navigation probe correction, finds three points on human body first, these three preferred points are located at The positions such as edges and corners and cheekbone near sharp-featured position, such as the bridge of the nose of skull, temple.Then by surgical navigational The needle point of probe refers on a point wherein, and the calibration to the point is carried out on the image of 3D solid, is sequentially completed three in this way After the calibration of a point, the system initialization of operation navigation device is just completed.The operation navigation device corrected by 3 points, just It accurate navigation and can located.

The application method of the operation navigation device of the utility model:

It takes pictures imaging firstly, carrying out CT to patient, multiple pictures is continuously shot by CT, then to the progress of these CT sequences Processing and three-dimensional modeling, processing and algorithm by system will obtain the 3D solid structure chart an of human body or part. Each CT images are a sectional views of human body, and continuous human body sectional view is stacked up, the three-dimensional of human body has just been obtained Entity.Then, then by the editor of program and processing, the perspective view of the organs such as the internal organ, blood vessel, bone of human body will be obtained. Finally, carrying out system initialization by the surgical navigational probe in the utility model, datum mark is found in 3 points of probe corrections, and In the 3D solid colonel certainly position of human body, can start to work normally.Then pass through the use of surgical navigational probe, mobile needle The position of point, precision navigation just completes the accurate positioning of lesion locations, then can to the position of lesion on 3D solid To perform the operation.The shank of the utility model is thinner, can be inserted into human body, and shank can sterilize use repeatedly.

It, can three-dimensional and intuitive perception lesion position and big by the use of the operation navigation device of the utility model It is small, and by the precision navigation of surgical navigational probe and positioning, lesion locations can be accurately positioned on human body, precision is reachable Then 0.2mm can be carried out performing the operation and operating on, greatly reduce edge of a knife range, also provides well for the development of operation It is intuitive to help, improve the accuracy that doctor judges the state of an illness.

There is bending in the middle part of the shank of the probe of the present embodiment, and preferred embodiment is in positioning surface inner bending, in this way, needle The top of bar, that is, needle point not on the same line with any two anchor point just will form a new anchor point. Because the needle point of shank and positioning surface are in the same plane, when rotating shank, needle point follows positioning surface to turn always It is dynamic, it ensure that the accurate of needle point positioning.

Compared with whole section of shank for for straight-bar, the shank of comparison diagram 2 and Fig. 3, the present embodiment have bending, such knot at middle part Structure has more preferable and more accurately locating effect.Such as Fig. 3, in the axis rotation around shank, positioning surface is also this structure Axis around shank rotates, and camera can only recognize positioning surface and be rotated, not necessarily be sentenced when identification Break to the specific location of needle point.And as shown in Fig. 2, this structure can more accurately judge the position of needle point.Because of needle point It is used to specify the sick and wounded position of sufferer, needle point is rotation relative to the body of patient, and distance will not change, and probe turns When dynamic, bending place position below can be rotated around axis, and position more than bending place is also rotated around axis, whole at this time A positioning surface just has a three-dimensional change in location.Camera, whenever probe one angle of rotation, is taken the photograph when identifying positioning surface Picture head just relocates and determines a positioning surface, also retrieves the position of needle point, so that positioning is more accurate.

The operation navigation device of the utility model is that a structure composition is simple, but the surgical navigational dress that accuracy of identification is high It sets, one in two high-definition cameras is used to acquire imaging, another is accurately to judge and position, compared with a high-definition camera The imaging of head is truer, and location determination is more acurrate.In addition, the utility model not only limits two high-definition cameras, it is more than two Camera combination be also the protection scope of the utility model.Usually it is understood that the application method of the utility model, disease People lies low on operating table, and two high-definition cameras are placed on the surrounding any position of hospital bed, and camera is directed at the body of patient, Then carry out using.

Embodiment 2, as shown in figure 3, being different from embodiment 1, shank is a straight-bar, is not bent at the middle part of shank.

The present embodiment the difference from embodiment 1 is that shank shape and structure, shank be a straight straight-bar, it is such Structure is also able to achieve the purpose of this utility model.

Pattern such as Fig. 4, two locating pieces of pattern and the right of two locating pieces on the left side is exactly the opposite, if the left side is Front, then the right is reverse side.In this way, camera can accurately just know that face has occurred in surgical navigational probe when identification Rotation, adjustment algorithm is needed, to match corresponding positioning surface.Fig. 4 is the front and back sides of positioning component, likewise, secondary positioning group The front and back sides of part are identical as the pattern setting of Fig. 4.

The positioning grid of the utility model not only can be the form of the grid in attached drawing, the shapes such as diamond shape, triangle It is the form that the positioning grid of the utility model may be implemented.

The embodiments of the present invention is without being limited thereto, according to the above content of the utility model, utilizes the general of this field Logical technological know-how and customary means, under the premise of not departing from the utility model above-mentioned basic fundamental thought, the utility model may be used also To make the modification, replacement or change of other diversified forms, all fall within the utility model rights protection scope.

Claims (9)

1. a kind of surgical navigational probe, it is characterised in that: including shank (1) and the positioning component being connected on shank (1), this is fixed Hyte part includes in conplane upper locating piece (2) and lower locating piece (3), in the table of upper locating piece (2) and lower locating piece (3) Face is provided with latticed positioning grid, and the color difference of the Fill Color of adjacent positioning grid differs greatly, and four adjacent fixed The intersection point of position grid is anchor point, and there are two anchor points for formation on the upper locating piece (2), in the lower locating piece (3) On be formed with an anchor point；A positioning on two anchor points and the lower locating piece (3) on the upper locating piece (2) Point constitutes a master positioning face；

The shank (1) is straight-bar, and on one of anchor point on the upper locating piece (2) and the lower locating piece (3) Straight line parallel where straight line where an a anchor point, with the shank (1) axle center.

2. a kind of surgical navigational probe according to claim 1, it is characterised in that: the color of the adjacent positioning grid The respectively maximum white of color difference and black.

3. a kind of surgical navigational probe according to claim 1, it is characterised in that: the color of the adjacent positioning grid Respectively yellow and blue, perhaps red and green or yellow and black.

4. a kind of surgical navigational probe according to claim 1, it is characterised in that: in the syringe needle section of the shank (1) Portion is formed with bending.

5. a kind of surgical navigational probe according to any one of claims 1 to 4, it is characterised in that: on the shank (1) also It is connected with secondary positioning component, which includes that upper positioning secondary (4) and lower positioning are secondary (5), upper positioning secondary (4) and lower positioning Secondary (5) are in same plane；There are two the anchor points for setting in the upper positioning secondary (4), and in the lower positioning secondary (5) It is provided with the anchor point, these three anchor points form secondary positioning surface.

6. a kind of surgical navigational probe according to claim 5, it is characterised in that: the upper locating piece (2) is under described The distance between locating piece (3) is greater than the distance between described upper positioning secondary (4) the extremely lower positioning secondary (5)；Or it is described on The distance between locating piece (2) the extremely lower locating piece (3) is less than the upper positioning secondary (4) between the lower positioning secondary (5) Distance.

7. a kind of surgical navigational probe according to claim 5, it is characterised in that: the positioning component and the secondary positioning Component has front and back sides, and the distribution of color in the grid of front and back sides is symmetrical.

8. a kind of surgical navigational probe according to claim 5, it is characterised in that: be additionally provided on the shank (1) Grip part (6).

9. a kind of operation navigation device comprising surgical navigational probe described in any one of claim 1-8 claim, special Sign is: further including at least two high-definition cameras, processor, display and bracket, the high-definition camera is electrically connected institute Processor is stated, the processor is electrically connected the display；The high-definition camera and the display are connected to the bracket On.