CN210541757U - Puncture gesture monitoring devices under ultrasonic guidance - Google Patents
Puncture gesture monitoring devices under ultrasonic guidance Download PDFInfo
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- CN210541757U CN210541757U CN201921032295.5U CN201921032295U CN210541757U CN 210541757 U CN210541757 U CN 210541757U CN 201921032295 U CN201921032295 U CN 201921032295U CN 210541757 U CN210541757 U CN 210541757U
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Abstract
The embodiment of the application provides a puncture gesture monitoring devices under ultrasonic guidance. The puncture posture monitoring device under the ultrasonic guidance comprises an ultrasonic transducer, a puncture needle, a first three-degree-of-freedom acceleration sensor, a second three-degree-of-freedom acceleration sensor and an operation module. The operation module is in communication connection with the first three-degree-of-freedom acceleration sensor and the second three-degree-of-freedom acceleration sensor and is used for calculating a first included angle between the central axis of the puncture needle and the plane of the probe and a second included angle between the central axis of the puncture needle and the ultrasonic plane of the ultrasonic transducer, comparing the first included angle and the second included angle with reference values respectively and outputting comparison results. The monitoring device and the monitoring method in the embodiment of the application can monitor the included angle between the puncture needle and the skin surface of the puncture part, can monitor whether the puncture needle is always in an ultrasonic plane and give a monitoring result, realize the operation guidance of medical workers and reduce the risk of patient injury.
Description
Technical Field
The application relates to the technical field of medical treatment, in particular to an ultrasonic-guided puncture posture monitoring device.
Background
The puncture under the ultrasonic guidance has relatively clear description and requirements on the body position of a patient, the direction position and the height of a medical staff relative to the patient, an operation part, the angle between an operation tool and the operation part of the patient and the like, for example, the angle between a vein puncture needle and the skin of the patient when a peripheral vein is opened, the angle of puncture needle for sampling blood or placing a tube in a peripheral artery, the angle of the ultrasonic probe which is required to be vertical to the skin when the puncture needle is used for intraspinal anesthesia, the angle of the ultrasonic probe which is frequently changed by the tilting and rotating operations of the ultrasonic probe when an ultrasonic scanning operation is carried out, and the like.
However, in the actual operation process, the action posture of the medical worker using the medical instrument (such as the ultrasonic probe, the puncture needle, etc.) does not always meet the corresponding requirement when performing the medical operation, thereby increasing the risk of injury of the patient.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of this application is to provide a puncture gesture monitoring devices under ultrasonic guidance for whether monitoring medical staff's use gesture accords with the operation requirement, in order to guide medical staff to carry out standardized operation, reduce the risk of patient's injury.
The embodiment of the application provides an ultrasonic-guided puncture posture monitoring device, which comprises an ultrasonic transducer and a puncture needle; and
the first three-degree-of-freedom acceleration sensor is arranged on an operating handle of the puncture needle and used for establishing a first coordinate information set corresponding to the central axis of the puncture needle;
the second three-degree-of-freedom acceleration sensor is arranged on the ultrasonic transducer and used for establishing a second coordinate information set corresponding to the short-axis central section of the ultrasonic transducer;
the operation module is in communication connection with the first three-degree-of-freedom acceleration sensor and the second three-degree-of-freedom acceleration sensor and is used for calculating a first included angle between the central axis of the puncture needle and the plane of the probe and a second included angle between the central axis of the puncture needle and the ultrasonic plane of the ultrasonic transducer, comparing the first included angle and the second included angle with reference values respectively and outputting comparison results;
the probe plane is the skin surface of the ultrasonic transducer, which is contacted with the scanned part.
In the implementation process, the first included angle can monitor the included angle between the puncture needle and the skin surface of the puncture part, the second included angle can monitor whether the puncture needle is always in the ultrasonic plane, the data of the first included angle and the second included angle are obtained in real time and are compared with the existing related reference value in the background computer, if the data are within the range of the normal reference value, correct feedback is given, if the data exceed the normal reference value, warning feedback is given, and correction compensation prompt is given, so that medical workers are guided to operate, and the risk of injury of patients is reduced.
In a possible implementation manner, the ultrasound-guided puncture posture monitoring device further comprises a first three-degree-of-freedom angular velocity sensor arranged on an operating handle of the puncture needle so as to acquire the angular acceleration of the puncture needle around the central axis thereof.
In a possible implementation manner, the ultrasound-guided puncture posture monitoring device comprises a second three-degree-of-freedom angular velocity sensor arranged on the ultrasound transducer and used for acquiring the angular velocity of the ultrasound plane.
In a possible implementation manner, the puncture posture monitoring device under ultrasonic guidance further comprises a force sensor which is arranged on an operating handle of the puncture needle and used for acquiring the resistance of the puncture needle to the top end and the needle wall of the puncture needle caused by the skin tissue when the puncture needle is inserted into the skin tissue.
In a possible implementation manner, the ultrasound-guided puncture posture monitoring device further comprises a data acquisition box for collecting angular velocity information of the puncture needle and resistance information of the skin tissue to the puncture needle tip and the needle wall.
According to another aspect of the present application, there is also provided an ultrasound-guided puncture posture monitoring method, including:
taking the surface of the skin, which is contacted with the scanned part, of the probe of the ultrasonic transducer as a probe plane;
acquiring a first included angle between the central axis of the puncture needle and the plane of the probe, and acquiring a second included angle between the central axis of the puncture needle and the ultrasonic plane of the ultrasonic transducer;
and comparing the first included angle and the second included angle with reference values respectively, and outputting a comparison result.
In one possible implementation, the ultrasound plane is perpendicular to the probe plane.
In one possible implementation manner, the obtaining of the first included angle between the central axis of the puncture needle and the plane of the probe comprises:
a first three-degree-of-freedom acceleration sensor is arranged on an operating handle of the puncture needle, and a second three-degree-of-freedom acceleration sensor is arranged on the ultrasonic transducer;
acquiring a first coordinate information set corresponding to the central axis of the puncture needle in the first three-degree-of-freedom acceleration sensor;
acquiring a second coordinate information set corresponding to the short axis central section of the ultrasonic transducer in the second three-degree-of-freedom acceleration sensor and a third coordinate information set corresponding to the probe plane;
and projecting the first coordinate information set, the second coordinate information set and the third coordinate information set to an absolute system coordinate, and calculating an included angle between the central axis of the puncture needle and the plane of the probe, namely a first included angle, according to an included angle a between the central axis of the puncture needle and the horizontal direction in the absolute system coordinate and an included angle b between the projection of the central section of the short axis of the ultrasonic transducer and the horizontal direction.
In one possible implementation manner, the acquiring the second included angle between the central axis of the puncture needle and the ultrasonic plane of the ultrasonic transducer includes:
acquiring a fourth coordinate information set corresponding to the central section of the long axis of the ultrasonic transducer in the second three-degree-of-freedom acceleration sensor;
acquiring a fifth coordinate information set corresponding to the coordinate information set of the central axis of the puncture needle in the coordinate system of the second three-degree-of-freedom acceleration sensor according to the relation between the coordinate system of the second three-degree-of-freedom acceleration sensor and the coordinate system of the first three-degree-of-freedom acceleration sensor;
and calculating an included angle between the central axis of the puncture needle and the central section of the long axis of the ultrasonic transducer, namely a second included angle, according to the fourth coordinate information set and the fifth coordinate information set.
In one implementation mode, a first three-degree-of-freedom angular velocity sensor is further arranged on an operating handle of the puncture needle to acquire the angular acceleration of the puncture needle around the central axis of the puncture needle.
In the implementation process, the rotation angle of the puncture needle can be obtained through the first three-degree-of-freedom angular velocity sensor, and the monitoring of the rotation posture of the puncture needle and the collection of data can be realized.
In one possible implementation, a second three-degree-of-freedom angular velocity sensor is disposed on the ultrasonic transducer to acquire the angular velocity of the ultrasonic plane.
In the implementation process, whether the ultrasonic plane rotates or not can be monitored through the second three-degree-of-freedom angular velocity sensor. Generally, during the ultrasonic process, the position of the ultrasonic transducer is aligned and then does not move and rotate, so that the acquired ultrasonic plane can be used as a reference plane. After the ultrasound plane is determined not to rotate, the puncture position of the puncture needle can be determined by utilizing the ultrasound plane, and the specific implementation process is as follows: because the puncture needle needs to be located in the ultrasonic plane all the time, the puncture position of the puncture needle needs to be parallel to the ultrasonic plane and located in the same plane, the puncture needle needs to be swung continuously before puncture, when the degree of the second included angle is 0 degree, the puncture needle is located in the ultrasonic plane, the puncture needle is in contact with the skin under the condition that the puncture needle does not swing at the moment, and the contact point can be used as the puncture position of the puncture needle. And the searching process of the puncture position of the puncture needle is also the change making process of the second included angle.
In a possible implementation manner, a force sensor is further arranged on an operating handle of the puncture needle so as to acquire resistance of the puncture needle to the puncture needle tip and the needle wall when the puncture needle is inserted into skin tissue.
In the implementation process, the resistance of the skin tissue to the top end of the puncture needle and the needle wall is indirectly acquired through the force sensor, and how much puncture force needs to be applied to the skin tissue during puncture can be reversely deduced.
According to the technical scheme, the monitoring device and the monitoring method in the embodiment of the application can monitor the included angle between the puncture needle and the skin surface of the puncture part, can monitor whether the puncture needle is always positioned in an ultrasonic plane, and can compare the two data with the existing related reference values in the background computer and feed back the monitoring result by acquiring the two data in real time, so that the medical workers can be guided to operate and the risk of injury of the patient is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a state diagram of ultrasound-guided lancing;
fig. 2 is a flowchart of a method for monitoring a puncture posture under ultrasound guidance according to an embodiment of the present disclosure;
FIG. 3 shows a projection of the ultrasound transducer and the puncture needle in an absolute coordinate system;
fig. 4 shows a schematic structural diagram of an ultrasound-guided puncture posture monitoring device shown in an embodiment of the present application;
fig. 5 is a schematic view of a puncture needle according to an exemplary embodiment of the present application.
Icon: 100-an ultrasonic transducer; 200-puncture needle; 210-a needle body; 220-needle fixation; 230-a grip handle; 240-a force sensor; 300-a first three-degree-of-freedom acceleration sensor; 400-a second three-degree-of-freedom acceleration sensor; 500-data collection box.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Fig. 1 is a state diagram of ultrasound-guided lancing. Referring to fig. 1, the ultrasonic plane of the ultrasonic transducer 100 is a sector-shaped section S. The ultrasound transducer 100 includes a major axis center section S1 and a minor axis center section S2. The ultrasonic plane formed by the ultrasonic plane in the center section of the long axis is called a long axis ultrasonic plane, and the ultrasonic plane formed by the ultrasonic plane in the center section of the short axis is called a short axis ultrasonic plane. Ultrasound-guided puncture is generally a condition in which the puncture needle 200 needs to be maintained in the ultrasound plane of the ultrasound transducer 100 in order to observe the puncture condition of the puncture needle 200. While the orientation, position and height of insertion of the ultrasound-guided lower needle 200 into the skin surface are clearly required, the present inventors have provided a means of monitoring whether the needle 200 is in the ultrasound plane and whether the orientation, position and height of insertion of the needle 200 into the skin surface meet operational requirements to guide medical practitioners in performing standardized procedures.
Fig. 2 is a flowchart of a method for monitoring a puncture posture under ultrasound guidance according to an embodiment of the present application. Referring to fig. 2, the ultrasound-guided puncture posture monitoring method includes the following steps:
s101: the surface of the skin where the probe of the ultrasound transducer 100 is in contact with the scanned site is taken as the probe plane.
In one implementation, the ultrasound plane is perpendicular to the probe plane, i.e., the major axis center section S1 and the minor axis center section S2 of the ultrasound transducer 100 are both perpendicular to the skin surface of the site to be scanned.
In the actual operation process of the ultrasonic transducer, the ultrasonic plane and the probe plane can be obliquely arranged or vertically arranged. In an implementation of an embodiment of the application, the ultrasound plane is perpendicular to the probe plane. In the implementation process, the ultrasonic plane is perpendicular to the probe plane, firstly, the conventional use habit of the ultrasonic transducer is met, secondly, when the relation among the puncture needle, the ultrasonic plane and the probe plane is established, the ultrasonic plane is perpendicular to the probe plane, the simplification of the relation among the three is facilitated, and when the relation is associated with other reference systems, the association relation is relatively simplified compared with the inclination of the ultrasonic plane and the probe plane.
S102: a first angle between the central axis of the puncture needle 200 and the plane of the probe is obtained, and a second angle between the central axis of the puncture needle 200 and the plane of the ultrasound transducer 100 is obtained.
In one possible implementation, a first three-degree-of-freedom acceleration sensor is provided on the operating handle of the puncture needle 200. When the first three-degree-of-freedom acceleration sensor is fixedly mounted on the operating handle of the puncture needle 200, the relative positional relationship between the first three-degree-of-freedom acceleration sensor and the central axis of the puncture needle 200 is determined. Each point in the central axis of the puncture needle 200 is associated with a reference system defined by the first three-degree-of-freedom acceleration sensor itself, and through this association, the motion trajectory and the motion direction of the first three-degree-of-freedom acceleration sensor can be regarded as the motion trajectory and the motion direction of the puncture needle 200.
A second three-degree-of-freedom acceleration sensor is disposed on the ultrasonic transducer 100. When the second three-degree-of-freedom acceleration sensor is fixedly mounted on the ultrasonic transducer 100, the relative positional relationship between the second three-degree-of-freedom acceleration sensor and the central axis of the ultrasonic transducer 100 (the intersection of the long-axis central section S1 and the short-axis central section S2) is determined. Each point of the central axis of the ultrasonic transducer 100 is associated with the reference frame defined by the first three-degree-of-freedom acceleration sensor itself, and through this association, the motion trajectory and the motion direction of the second three-degree-of-freedom acceleration sensor can be regarded as the motion trajectory and the motion direction of the ultrasonic transducer 100. Since the ultrasonic plane is located in the long axis central section S1 or the short axis central section S2, the motion trajectory and the motion direction of the ultrasonic plane are also equivalent to those of the second three-degree-of-freedom acceleration sensor.
By associating the reference frame of the first three-degree-of-freedom acceleration sensor with the reference frame of the second three-degree-of-freedom acceleration sensor, association between the puncture needle 200 and the ultrasound transducer 100 is achieved. In the embodiment of the present application, the reference frame of the first three-degree-of-freedom acceleration sensor and the reference frame of the second three-degree-of-freedom acceleration sensor are associated with each other in the horizontal direction.
In one possible implementation, obtaining a first angle between the central axis of the needle 200 and the plane of the probe comprises:
acquiring a coordinate information set corresponding to the central axis of the puncture needle 200 in the first three-degree-of-freedom acceleration sensor, and recording the coordinate information set as a first coordinate information set;
and acquiring a coordinate information set corresponding to the short axis center section of the ultrasonic transducer 100 in the second three-degree-of-freedom acceleration sensor, and recording the coordinate information set as a second coordinate information set, and a coordinate information set corresponding to the probe plane, and recording the coordinate information set as a third coordinate information set. Because the probe plane is perpendicular to the ultrasonic plane, and the probe is fixed at the position of the ultrasonic transducer 100 and has a fixed position relationship with the short axis central section of the ultrasonic transducer 100, the position of the probe plane can also be mapped in the coordinate system of the second three-degree-of-freedom acceleration sensor, and a corresponding coordinate information set is obtained.
The first, second, and third sets of coordinate information are projected into absolute system coordinates, and fig. 3 shows a projection of the ultrasound transducer and the puncture needle in an absolute coordinate system. Referring to fig. 3, an angle between the central axis of the puncture needle 200 and the probe plane L3, i.e., a first angle c, is calculated according to an angle a between the central axis L1 of the puncture needle 200 and the horizontal direction L in the absolute coordinate system and an angle b between the projection L2 of the central cross section of the short axis of the ultrasonic transducer 100 and the horizontal direction L. Wherein, the relation between c and a, b is: c is a + b-90 deg.
In one possible implementation, obtaining a second angle between the central axis of the needle 200 and the plane of the probe comprises:
acquiring a coordinate information set corresponding to the central section of the long axis of the ultrasonic transducer 100 in the second three-degree-of-freedom acceleration sensor, and recording the coordinate information set as a fourth coordinate set;
and acquiring a coordinate information set of the central axis of the puncture needle 200 in the coordinate system of the second three-degree-of-freedom acceleration sensor according to the relationship between the coordinate system of the second three-degree-of-freedom acceleration sensor and the coordinate system of the first three-degree-of-freedom acceleration sensor, and recording the coordinate information set as a fifth coordinate set. And calculating the included angle between the central axis of the puncture needle 200 and the central section S1 of the long axis of the ultrasonic transducer 100 according to the fourth coordinate information set and the fifth coordinate information set, namely a second included angle.
S103: and comparing the first included angle and the second included angle with reference values respectively, and outputting a comparison result.
In the implementation process, the first included angle can monitor the included angle between the puncture needle 200 and the skin surface of the puncture part, the second included angle can monitor whether the puncture needle 200 is always in the ultrasonic plane, the data of the first included angle and the second included angle are obtained in real time and compared with the existing related reference value in the background computer, if the data are in the normal reference value range, correct feedback is given, if the data exceed the normal reference value, warning feedback is given, and correction compensation prompt is given, so that medical workers are guided to operate, and the risk of injury of patients is reduced.
In one possible implementation, a first three-degree-of-freedom angular velocity sensor is also provided on the operating handle of the puncture needle 200 to acquire the angular acceleration of the puncture needle 200 about its central axis.
In the implementation process, the rotation angle of the puncture needle 200 can be obtained through the first three-degree-of-freedom angular velocity sensor, and the monitoring of the rotation posture of the puncture needle 200 and the data collection can be realized.
In one possible implementation, a second three-degree-of-freedom angular velocity sensor is disposed on the ultrasonic transducer 100 to acquire the angular velocity of the ultrasonic plane.
In the implementation process, whether the ultrasonic plane rotates or not can be monitored through the second three-degree-of-freedom angular velocity sensor. Generally, during the ultrasound process, the position of the ultrasound transducer 100 is aligned and then no longer moved and rotated, so that the acquired ultrasound plane can be used as a reference plane. After the ultrasound plane is determined not to rotate, the puncture position of the puncture needle can be determined by utilizing the ultrasound plane, and the specific implementation process is as follows: because the puncture needle needs to be located in the ultrasonic plane all the time, the puncture position of the puncture needle needs to be parallel to the ultrasonic plane and located in the same plane, the puncture needle needs to be swung continuously before puncture, when the degree of the second included angle is 0 degree, the puncture needle is located in the ultrasonic plane, the puncture needle is in contact with the skin under the condition that the puncture needle does not swing at the moment, and the contact point can be used as the puncture position of the puncture needle. And the searching process of the puncture position of the puncture needle is also the change making process of the second included angle.
The puncture operation also has requirements on force change during the operation, such as breakthrough feeling of skin, breakthrough feeling of blood vessel puncture, breakthrough feeling of fascia puncture, breakthrough feeling of ligament puncture, resistance to bone contact and the like. In one possible implementation, therefore, a force sensor is also provided on the operating handle of the needle 200 to capture the resistance of the needle 200 to the tip and needle wall of the needle 200 as it is inserted into the skin tissue.
In the above implementation process, the resistance of the skin tissue to the top end and the needle wall of the puncture needle 200 is indirectly obtained through the force sensor, and how much puncture force needs to be applied to the skin tissue during puncturing can be reversely deduced.
In one possible implementation, the rotational position (e.g., angular velocity) of the needle 200 and the force exerted by the needle 200 (as derived from the resistance of the skin tissue against the tip and wall of the needle 200) can be collected and used in an artificial intelligence to simulate learning the position and manipulation of the needle 200.
According to another aspect of the application, an ultrasound-guided puncture posture monitoring device corresponding to the puncture posture monitoring method is provided. Fig. 4 is a schematic structural diagram of an ultrasound-guided puncture posture monitoring device shown in an embodiment of the present application, and fig. 5 is a schematic structural diagram of a puncture needle shown in an embodiment of the present application. As shown in fig. 4 and 5, the ultrasound-guided puncture posture monitoring device includes an ultrasound transducer 100, a puncture needle 200, a first three-degree-of-freedom acceleration sensor 300, a second three-degree-of-freedom acceleration sensor 400, and an operation module (not shown in the drawings). The installation location of the operation module is not particularly limited in the present application, and may include, but is not limited to, installation on the ultrasound transducer 100, the operation handle of the puncture needle 200, or a remote computer.
The first three-degree-of-freedom acceleration sensor 300 is provided on the operation handle of the puncture needle 200 for establishing a first coordinate information set corresponding to the central axis of the puncture needle 200. The motion trail and the motion direction of the first three-degree-of-freedom acceleration sensor 300 can be regarded as the motion trail and the motion direction of the puncture needle 200.
A second three-degree-of-freedom acceleration sensor 400 is arranged on the ultrasonic transducer 100 for establishing a second set of coordinate information corresponding to the short axis center cross-section of the ultrasonic transducer 100. The motion trajectory and the motion direction of the second three-degree-of-freedom acceleration sensor 400 can be regarded as the motion trajectory and the motion direction of the ultrasonic transducer 100.
The operation module is in communication connection with the first three-degree-of-freedom acceleration sensor 300 and the second three-degree-of-freedom acceleration sensor 400, and is used for calculating a first included angle between the central axis of the puncture needle 200 and the plane of the probe and a second included angle between the central axis of the puncture needle 200 and the ultrasonic plane of the ultrasonic transducer 100, comparing the first included angle and the second included angle with reference values respectively, and outputting a comparison result. The calculation method of the first included angle and the second included angle is referred to the above calculation method, and is not described herein again.
In one possible implementation, the ultrasound-guided puncture posture monitoring apparatus further includes a first three-degree-of-freedom angular velocity sensor provided on the operation handle of the puncture needle 200 to acquire an angular acceleration of the puncture needle 200 about its central axis.
In a possible implementation manner, the first three-degree-of-freedom angular velocity sensor and the first three-degree-of-freedom angular velocity sensor may be integrated in one device, and as another implementation manner, the first three-degree-of-freedom acceleration sensor 300 and the first three-degree-of-freedom angular velocity sensor in this application may be replaced by a six-degree-of-freedom attitude sensor (including one three-degree-of-freedom angular velocity sensor and one three-degree-of-freedom angular velocity sensor).
In a possible implementation manner, the ultrasound-guided puncture posture monitoring apparatus further includes a second three-degree-of-freedom angular velocity sensor disposed on the ultrasound transducer 100 to acquire an angular velocity of the ultrasound plane. In one possible implementation, the second three-degree-of-freedom angular velocity sensor and the second three-degree-of-freedom angular velocity sensor may be integrated in one device. As another implementation manner, the second three-degree-of-freedom acceleration sensor 400 and the second three-degree-of-freedom angular velocity sensor in the present application may also be replaced by a six-degree-of-freedom attitude sensor (including one three-degree-of-freedom angular velocity sensor and one three-degree-of-freedom angular velocity sensor).
Referring to fig. 5, the puncture needle 200 includes a needle body 210, a needle holder 220, and a grip handle 230. A force sensor 240 is provided between the grip handle 230 and the needle holder 220, and the resistance of the puncture needle 200 to the tip and the needle wall of the puncture needle 200 when the puncture needle 200 is inserted into the skin tissue is obtained by the force sensor 240. And a second three-freedom-degree angular velocity sensor and/or a second three-freedom-degree angular velocity sensor are/is arranged in the holding handle, or a six-freedom-degree attitude sensor is directly arranged in the holding handle.
In one possible implementation, the ultrasound-guided puncture posture monitoring device further includes a data collection box 500, see fig. 4, for collecting information on the angular velocity of the puncture needle 200 and the resistance of the skin tissue to the tip and the needle wall of the puncture needle 200.
According to the technical scheme, the monitoring device and the monitoring method in the embodiment of the application can monitor the included angle between the puncture needle 200 and the skin surface of the puncture part, can monitor whether the puncture needle 200 is always in an ultrasonic plane, and can realize operation guidance of medical workers and reduce the risk of injury of patients by acquiring two kinds of data in real time, comparing the data with the existing related reference values in a background computer and feeding back monitoring results.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It is noted that, herein, relational terms such as first and second, and the like may be 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. Also, 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. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (5)
1. The utility model provides a puncture gesture monitoring devices under supersound guide, includes ultrasonic transducer and pjncture needle, its characterized in that still includes:
the first three-degree-of-freedom acceleration sensor is arranged on an operating handle of the puncture needle and used for establishing a first coordinate information set corresponding to the central axis of the puncture needle;
the second three-degree-of-freedom acceleration sensor is arranged on the ultrasonic transducer and used for establishing a second coordinate information set corresponding to the short-axis central section of the ultrasonic transducer;
the operation module is in communication connection with the first three-degree-of-freedom acceleration sensor and the second three-degree-of-freedom acceleration sensor and is used for calculating a first included angle between the central axis of the puncture needle and the plane of the probe and a second included angle between the central axis of the puncture needle and the ultrasonic plane of the ultrasonic transducer, comparing the first included angle and the second included angle with reference values respectively and outputting comparison results;
the probe plane is the skin surface of the ultrasonic transducer, which is contacted with the scanned part.
2. The ultrasound-guided puncture posture monitoring device according to claim 1, further comprising a first three-degree-of-freedom angular velocity sensor provided on an operation handle of the puncture needle to acquire an angular acceleration of the puncture needle about a central axis thereof.
3. The ultrasound-guided puncture posture monitoring device according to claim 1, further comprising a second three-degree-of-freedom angular velocity sensor disposed on the ultrasound transducer for acquiring an angular velocity of an ultrasound plane.
4. The ultrasound-guided puncture posture monitoring device according to any one of claims 1 to 3, further comprising a force sensor provided on an operation handle of the puncture needle, for acquiring a resistance of the puncture needle to a tip and a wall of the puncture needle when the puncture needle is inserted into the skin tissue.
5. The ultrasound-guided puncture posture monitoring device according to claim 4, further comprising a data collection box for collecting information on the angular velocity of the puncture needle and information on the resistance of the skin tissue to the puncture needle tip and the needle wall.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110200683A (en) * | 2019-07-03 | 2019-09-06 | 北京积水潭医院 | Ultrasound-guided Biopsy attitude monitoring method and device |
| CN111904552A (en) * | 2020-07-28 | 2020-11-10 | 宦乡 | Semi-automatic positioning puncture device in ultrasonic anesthesia plane |
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2019
- 2019-07-03 CN CN201921032295.5U patent/CN210541757U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110200683A (en) * | 2019-07-03 | 2019-09-06 | 北京积水潭医院 | Ultrasound-guided Biopsy attitude monitoring method and device |
| CN111904552A (en) * | 2020-07-28 | 2020-11-10 | 宦乡 | Semi-automatic positioning puncture device in ultrasonic anesthesia plane |
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