CN213430521U - Operation positioning device - Google Patents
Operation positioning device Download PDFInfo
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- CN213430521U CN213430521U CN202021516778.5U CN202021516778U CN213430521U CN 213430521 U CN213430521 U CN 213430521U CN 202021516778 U CN202021516778 U CN 202021516778U CN 213430521 U CN213430521 U CN 213430521U
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- tracker
- puncture drainage
- drainage needle
- holder
- support arm
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Abstract
The utility model provides a surgery positioner, include: the support arm fixer comprises a support arm mounting and fixing hole and a puncture drainage needle sleeve, wherein the support arm mounting and fixing hole is used for mounting and fixing the support arm fixer on a support arm of the operation positioning frame, and the puncture drainage needle sleeve is used for enabling the puncture drainage needle to penetrate through and restraining the puncture drainage needle to move along the length direction so as to implement puncture drainage; the tracker mounting table is arranged on the support arm fixer and is adjustable in direction; the tracker is arranged on the tracker mounting table, and the angle of the tracker changes along with the change of the direction of the tracker mounting table; the orientation sensor is arranged on the tracker mounting table and used for acquiring angle information of the tracker; and the displacement sensor is arranged on the bracket arm fixer corresponding to the puncture drainage needle and is used for acquiring displacement information of the puncture drainage needle.
Description
Technical Field
The utility model relates to a medical equipment technical field, concretely relates to operation positioner.
Background
In medical practice, it is often necessary to perform puncture drainage on lesions in parenchymal organs or tissues, such as hematomas or abscesses, because tissues are not transparent, and some auxiliary means are generally used clinically to improve puncture accuracy. Common auxiliary means are: 1. the puncture direction and depth are estimated according to the imaging data and the body surface marks, the advantages are convenience and simplicity, and the defect is that the puncture point drifts frequently due to the base line difference before and during the operation. 2. The B-ultrasonic positioning in the operation has the advantages of real-time guiding and reliable precision, and has the defects of needing a sterile sleeve, complex operation, easy pollution, larger volume of a B-ultrasonic probe and limited operation space under a skull drilling hole or a laparoscope. 3. The three-dimensional navigation system is accurate and reliable, and has the defects of needing to wear a frame before an operation, CT or MR scanning and planning, high requirements on equipment and personnel and high cost.
The current three-dimensional navigation system also has a navigation auxiliary device for shielding an operation scene, and a positioning frame of the navigation auxiliary device comprises two trackers: the first tracker positions the channel direction, and the second tracker is used for tracking depth information in real time, however, the relation between first tracker and the channel position is fixed, can't adjust the angle of first tracker in the art, must make special transformation to current puncture drainage apparatus can obtain defect such as depth information, influences the smooth implementation of operation, increases extra work and cost, and the universality is not high.
SUMMERY OF THE UTILITY MODEL
The utility model provides a solve above-mentioned technical problem, provide a surgery positioner, can realize accurate puncture drainage location to can effectively avoid the tracker to the sheltering from of operation scene, thereby can improve the intellectuality and the convenience of operation greatly, the cost is lower, and the suitability is wider.
The utility model adopts the technical scheme as follows: a surgical positioning device comprises a support arm fixer, wherein the support arm fixer comprises support arm mounting and fixing holes and a puncture drainage needle sleeve which are positioned at different positions, the support arm mounting and fixing holes are used for mounting and fixing the support arm fixer on a support arm of a surgical positioning frame, and the puncture drainage needle sleeve is used for enabling a puncture drainage needle to penetrate through and restricting the puncture drainage needle to move along the length direction so as to implement puncture drainage; the tracker mounting table is arranged on the support arm fixer, and the direction of the tracker mounting table is adjustable; a tracker mounted on the tracker mounting stage, an angle of the tracker varying with a change in a direction of the tracker mounting stage; the orientation sensor is arranged on the tracker mounting table and is used for acquiring angle information of the tracker; the displacement sensor is arranged on the bracket arm fixer corresponding to the puncture drainage needle and is used for acquiring displacement information of the puncture drainage needle.
The surgical positioning apparatus further comprises: the wireless transmission module is used for carrying out wireless communication with external positioning equipment; the processor is respectively connected with the wireless transmission module, the azimuth sensor and the displacement sensor, and the processor is used for controlling the wireless transmission module to send the angle information of the tracker and the displacement information of the puncture drainage needle to the external positioning equipment.
The support arm fixing device is in a cake shape, the support arm mounting fixing hole is formed in the center of the cake shape, the puncture drainage needle sleeve is arranged on one surface of the support arm fixing device, one end of the puncture drainage needle sleeve penetrates through the support arm fixing device to serve as an outlet of the puncture drainage needle, and the outlet is located between the support arm mounting fixing hole and the edge of the support arm fixing device.
The bracket arm fixer comprises a first part and a second part, wherein the puncture drainage needle sleeve is positioned on the first part, and the bracket arm mounting fixing hole is positioned on the second part.
The tracker mounting table is mounted to a side wall of the support arm holder.
The tracker mounting stage is mounted to the second portion.
The orientation sensor is a three-dimensional angle sensor.
The angular information includes three-dimensional angular coordinates of the tracker to tracker mount connection point.
The displacement sensor is a photoelectric displacement sensor arranged on the other surface of the bracket arm fixer.
The displacement information comprises the length of the puncture drainage needle extending out of the other surface of the bracket arm fixer.
The utility model has the advantages that:
(1) the utility model discloses an introduce position sensor and acquire tracker angle and displacement sensor and acquire puncture drainage needle displacement, can realize accurate puncture drainage location, through setting up direction adjustable tracker mount table, make the angularly adjustable of tracker, can effectively avoid sheltering from of tracker to the operation scene, thereby can improve the intellectuality and the convenience of operation greatly, the cost is lower, need not to do special design and reform transform to current apparatus, need not to carry out the secondary registration to the position of apparatus head in the art, and has wide applicability, easy and simple to handle's advantage.
(2) The upper part and the lower part of the bracket arm fixer are separated, so that the disinfection is convenient, and the separation of an aseptic area and a pollution area is achieved.
Drawings
Fig. 1 is a schematic view of a surgical positioning apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic view of another perspective of the surgical positioning apparatus according to an embodiment of the present invention;
FIG. 3 is a block diagram of a surgical positioning apparatus according to an embodiment of the present invention;
fig. 4 is a schematic view of a coordinate system provided in the surgical positioning apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a puncture drainage positioning device according to an embodiment of the present invention;
fig. 6 is a schematic view of an application scenario of the surgical positioning apparatus according to an embodiment of the present invention;
fig. 7 is a schematic view of a positioning device of a conventional positioning device.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1 and 2, the surgical positioning apparatus according to the embodiment of the present invention includes a support arm fixture 1, a tracker mounting table 2, a tracker 3, a position sensor 4, and a displacement sensor 5. The support arm fixator 1 comprises support arm mounting and fixing holes 6 and a puncture drainage needle sleeve 7 which are positioned at different positions, wherein the support arm mounting and fixing holes 6 are used for mounting and fixing the support arm fixator 1 on a support arm 8 of an operation positioning frame, and the puncture drainage needle sleeve 7 is used for enabling a puncture drainage needle 9 to penetrate through and restraining the puncture drainage needle 9 to move along the length direction so as to implement puncture drainage; the tracker mounting table 2 is arranged on the support arm fixer 1, and the direction of the tracker mounting table 2 is adjustable; the tracker 3 is arranged on the tracker mounting table 2, and the angle of the tracker 3 changes along with the change of the direction of the tracker mounting table 2; the azimuth sensor 4 is arranged on the tracker mounting table 2, and the azimuth sensor 4 is used for acquiring angle information of the tracker 3; the displacement sensor 5 is arranged on the bracket arm fixer 1 corresponding to the puncture drainage needle 9, and the displacement sensor 5 is used for acquiring displacement information of the puncture drainage needle 9.
Further, as shown in fig. 3, the surgical positioning apparatus may further include a wireless transmission module 10 and a processor 11, the wireless transmission module 10 is configured to perform wireless communication with an external positioning device, the processor 11 is respectively connected to the wireless transmission module 10, the position sensor 4 and the displacement sensor 5, and the processor 11 is configured to control the wireless transmission module 10 to send the angle information of the tracker 3 and the displacement information of the puncture drainage needle 9 to the external positioning device. The position information sent by the tracker orientation sensor 4 and the photoelectric displacement sensor 5 is matrix information.
In an embodiment of the present invention, as shown in fig. 1 and 2, the bracket arm holder 1 is a pie, the bracket arm mounting hole 6 can be opened at the center of the pie, the puncture drainage needle sleeve 7 can be disposed in one side of the bracket arm holder 1, and one end of the puncture drainage needle sleeve 7 runs through the bracket arm holder 1 as the outlet of the puncture drainage needle 9, wherein the outlet is located between the bracket arm mounting hole 6 and the edge of the bracket arm holder 1.
In one embodiment of the present invention, as shown in fig. 2, the holder arm holder 1 may include a first portion a where the puncture drainage needle cannula 7 is located and a second portion b where the holder arm mounting fixing hole 6 is located. Two parts are arranged through the puncture drainage needle sleeve 7 and the support arm mounting fixing hole 6, the upper part and the lower part are separated, the part where the puncture drainage needle sleeve 7 is located is convenient to sterilize, the part where the support arm mounting fixing hole 6 is located is not in contact with an affected part, and the separation of a sterile area and a pollution area is realized.
As shown in fig. 2, the tracker mounting table 2 may be mounted to a side wall of the holder arm fixture 1. Further, the tracker mounting stage 2 is mounted to the second part b, i.e. the tracker mounting stage 2 may be arranged in a contaminated area, isolated from the sterile area where the puncture drainage needle cannula 7 is located.
In one embodiment of the present invention, the position sensor 4 may be a three-dimensional angle sensor, as shown in fig. 4, and the angle information may include a three-dimensional angle coordinate (r) of a connection point of the tracker 3 and the tracker mounting stage 2x，ry，rz) The origin of coordinates of the angular coordinate system may be selected from the center point of the tracker mounting table 2, and may be selected from other fixed reference points near the tracker mounting table 2.
In an embodiment of the present invention, the displacement sensor 5 may be a photoelectric displacement sensor disposed on the other side of the holder arm holder 1, as shown in fig. 4, and the displacement information may include the length D of the puncture drainage needle 9 extending out of the other side of the holder arm holder 1.
The above-described operation positioning device is provided on the movable operation positioning frame 12 with wheels shown in fig. 5, and constitutes a puncture drainage positioning apparatus for performing puncture drainage shown in fig. 5.
The utility model discloses puncture drainage positioning device can constitute operation positioning system with outside positioning device, and the application scene of assisting operating lamp, operating table etc. is shown in figure 6.
The utility model discloses puncture drainage positioning device's use step is as follows:
and S1, mounting the bracket arm fixer 6 on the operation positioning frame through the bracket arm mounting and fixing hole 6.
S2, the tracker 3 is mounted on the tracker mounting stage 2 with adjustable direction.
And S3, adjusting the tracker mounting table 2 to a proper angle, and sending the acquired angle information to an external positioning device by the position sensor 4 so as to track the direction of the puncture drainage needle 9. Wherein, the external positioning device can be pre-stored with world three-dimensional coordinate system information and uses itself as the origin of coordinates (x shown in fig. 4)w，yw，zw) The current three-dimensional angular coordinate and the initial three-dimensional angular coordinate of the tracker 3 are combined to perform coordinate transformation calculation, so that the three-dimensional coordinate of the tracker 3 (x shown in fig. 4) can be obtainedm，ym，zm) Thereby obtaining the puncture direction of the puncture drainage needle 9. In other embodiments of the present invention, the coordinate transformation calculation can be performed in the processor, and the coordinate transformation calculation is sent to the external positioning device after the calculation is completed.
S4, the puncture drainage needle performs puncture drainage through the puncture drainage sleeve, and the displacement sensor feeds the displacement information of the puncture drainage needle back to the external positioning equipment in real time so as to obtain the punctured position by combining the direction of the puncture drainage needle. Through the coordinate transformation calculation, the displacement D of the puncture drainage needle is combined, namely z shown in figure 4pCan obtain the variation ofCurrent coordinates of the needle of the puncture drainage needle (x shown in fig. 4)p，yp，zp)。
According to the utility model discloses operation positioner acquires tracker angle and displacement sensor through position sensor and acquires puncture drainage needle displacement, can realize accurate puncture drainage location, through setting up the tracker mount table of direction adjustable for the angularly adjustable of tracker can effectively avoid sheltering from of tracker to the operation scene, thereby can improve the intellectuality and the convenience of operation greatly, and the cost is lower, and the suitability is wider.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A surgical positioning apparatus, comprising:
the support arm fixer comprises a support arm mounting and fixing hole and a puncture drainage needle sleeve, wherein the support arm mounting and fixing hole is used for mounting and fixing the support arm fixer on a support arm of an operation positioning frame, and the puncture drainage needle sleeve is used for enabling a puncture drainage needle to penetrate through and restraining the puncture drainage needle to move along the length direction so as to implement puncture drainage;
the tracker mounting table is mounted on the support arm fixing device through a fixing rod, and the direction of the tracker mounting table is adjustable;
a tracker mounted on the tracker mounting stage, an angle of the tracker varying with a change in a direction of the tracker mounting stage;
the orientation sensor is arranged on the tracker mounting table and is used for acquiring angle information of the tracker;
the displacement sensor is arranged on the bracket arm fixer corresponding to the position of the puncture drainage needle and is used for acquiring displacement information of the puncture drainage needle.
2. The surgical positioning apparatus of claim 1, further comprising:
the wireless transmission module is used for carrying out wireless communication with external positioning equipment;
the processor is respectively connected with the wireless transmission module, the azimuth sensor and the displacement sensor, and the processor is used for controlling the wireless transmission module to send the angle information of the tracker and the displacement information of the puncture drainage needle to the external positioning equipment.
3. The surgical positioning device according to claim 1 or 2, wherein the holder arm holder is shaped like a circular cake, the holder arm mounting hole is opened at a central position of the circular cake, the puncture drainage needle cannula is arranged on one side of the holder arm holder, and one end of the puncture drainage needle cannula penetrates through the holder arm holder as an outlet of the puncture drainage needle, wherein the outlet is located between the holder arm mounting hole and an edge of the holder arm holder.
4. The surgical positioning device of claim 3, wherein the holder arm holder includes a first portion and a second portion, wherein the puncture drainage needle cannula is in the first portion and the holder arm mounting securing hole is in the second portion.
5. The surgical positioning apparatus of claim 4, wherein the tracker mounting stage is mounted to a side wall of the holder arm holder.
6. The surgical positioning apparatus of claim 5, wherein the tracker mounting stage is mounted to the second portion.
7. The surgical positioning apparatus of claim 6, wherein the orientation sensor is a three-dimensional angle sensor.
8. The surgical positioning apparatus of claim 7, wherein the angular information includes three-dimensional angular coordinates of the tracker to tracker mount connection point.
9. A surgical positioning device as set forth in claim 6 wherein the displacement sensor is a photoelectric displacement sensor disposed on the other face of the support arm holder.
10. The surgical positioning apparatus of claim 9, wherein the displacement information includes a length of the puncture drainage needle extending beyond the other face of the holder arm holder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021516778.5U CN213430521U (en) | 2020-07-28 | 2020-07-28 | Operation positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021516778.5U CN213430521U (en) | 2020-07-28 | 2020-07-28 | Operation positioning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213430521U true CN213430521U (en) | 2021-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021516778.5U Active CN213430521U (en) | 2020-07-28 | 2020-07-28 | Operation positioning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213430521U (en) |
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2020
- 2020-07-28 CN CN202021516778.5U patent/CN213430521U/en active Active
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