WO2011082517A1 - 一种具有实时引导功能的立体定向仪 - Google Patents

一种具有实时引导功能的立体定向仪 Download PDF

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Publication number
WO2011082517A1
WO2011082517A1 PCT/CN2010/002133 CN2010002133W WO2011082517A1 WO 2011082517 A1 WO2011082517 A1 WO 2011082517A1 CN 2010002133 W CN2010002133 W CN 2010002133W WO 2011082517 A1 WO2011082517 A1 WO 2011082517A1
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Prior art keywords
fastener
real
sensor
beta
alpha
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PCT/CN2010/002133
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English (en)
French (fr)
Inventor
吕田明
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Lv Tianming
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Publication of WO2011082517A1 publication Critical patent/WO2011082517A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles

Definitions

  • the present invention relates to a stereotactic device, and more particularly to a stereotactic device capable of accurately delivering a surgical instrument to a target when a human or animal undergoes craniocerebral surgery.
  • the present invention relates to an auxiliary instrument for craniocerebral surgery, and more particularly to a stereotactic instrument having a real-time guiding function for a human or animal performing a craniocerebral operation.
  • Stereotactic device is a kind of positioning device that can accurately position the intracranial target with the cooperation of image localization technology. Then, the surgical instruments such as microelectrodes and puncture needles can be accurately placed into specific intracranial targets to retain tissue specimens and damaged targets.
  • a surgical instrument for organizing or removing lesions at a point which is commonly used in disease diagnosis, treatment, and animal experiments.
  • Currently a known Chinese patent number is a known Chinese patent number.
  • the stereotactic device described in the patent "ZL200720054994.0", entitled “A simple stereotactic device” is based on the principle of linear orientation, and two azimuth angles are determined by two brackets fixed on the chassis to determine the puncture direction. Then, the distance is determined according to the distance parameter to send the surgical instrument to the target.
  • Such a stereotactic device does not require a frame that covers all the surgical regions as the stereotactic device adopts the three-dimensional coordinate positioning principle. Therefore, its volume can be made smaller, thereby simplifying the structure and cost, and promoting stereotactic orientation.
  • the object of the present invention is to provide a stereotactic device with real-time guiding function, which can The actual working position of the surgical instrument is displayed during the operation, so that the stereotactic instrument guided by the operator in real time can be provided to facilitate the operation and improve the quality of the operation.
  • the stereotactic device with real-time guiding function comprises two parts: a stereotactic device and a sensor; the stereotactic part comprises a chassis, an alpha bracket, a beta bracket and an adjustable tensioning plate with a guiding hole thereon Fasteners.
  • the sensor portion includes an ⁇ -angle sensor, a ⁇ -angle sensor and a distance sensor.
  • the ⁇ -angle sensor is fixedly disposed on the d-shaped bracket and the chassis, and the ⁇ -angle sensor is fixedly disposed on the ⁇ -shaped bracket and the chassis to respectively correspond to the surgical instrument.
  • the change of the azimuth angle and the azimuth angle of a reference point in the space is measured, and a part of the distance sensor is fixedly disposed on the fastener, and when the surgical instrument is used, another part of the distance sensor is fixedly disposed on the surgical instrument for the operation
  • the change in linear displacement of the instrument is measured.
  • the changes in the azimuth, beta azimuth, and linear displacement of the surgical instrument were measured separately.
  • the values of the azimuth, azimuth, and linear displacement of the surgical instrument can be input to the computer-assisted surgical planning system to complete the display of the actual working position of the surgical instrument, thereby guiding the operator in real time.
  • the invention is provided with a sensor on the stereotactic device, so that the operator can be guided in real time, which not only provides convenience for surgery, but also improves the quality of surgery.
  • Fig. 1 is a schematic view showing the structure of a stereotactic device having a real-time guiding function according to the present invention.
  • Fig. 2 is a schematic view showing another structure of the above stereotactic device.
  • the present invention provides a stereotactic device with a real-time guiding function, including a stereotactic device and a sensor.
  • the stereotactic part includes a chassis 1, an alpha bracket 2, and a beta bracket 3. And an adjustable elastic fastener 4 having a guide hole thereon;
  • the sensor portion includes an alpha angle sensor 5, a beta angle sensor 6 and a distance sensor 7, the alpha angle sensor 5 being fixedly disposed on the alpha bracket 2
  • the ⁇ -angle sensor 6 is fixedly disposed on one of the connecting portions of the cymbal arch 3 and the chassis 1 to respectively respectively determine the ⁇ azimuth and the ⁇ azimuth of the surgical instrument relative to a reference point in the space.
  • the alpha angle sensor 5 can also be disposed on the bow 2 and the fastener 4
  • the beta angle sensor 6 can also be disposed on the beta bracket 3 and the fastener 4.
  • another stereotactic device with real-time guiding function provided by the present invention is basically the same as that of Embodiment 1, except that the bow 2 of the present embodiment adopts a double bridge structure, which has Higher stability; each sensor is placed in the same manner as described above on the stereotactic device of the structure.
  • the ⁇ -shaped bracket 3 can also adopt a double-bridge structure, or both the bow-shaped frame 2 and the ⁇ -shaped bracket 3 can adopt a double-bridge structure.
  • the stereotactic device is fixed on the skull and scanned for image localization in a conventional manner, and the obtained image data is input into a computer-aided planning system for image processing to determine a surgical target. Transfer all output signals from the displacement sensor to the computer aided planning system The real-time display of the actual working position of the surgical instrument is performed. The operator adjusts the insertion direction and the insertion depth of the surgical instrument according to the spatial position of the surgical instrument and the surgical target displayed on the display in real time to deliver the surgical instrument to the surgical target and complete the operation.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Pathology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)

Description

说 明 书
一种具有实时引导功能的立体定向仪 技术领域
本发明涉及立体定向仪， 特别是一种对人或动物进行颅脑手术时能实 时弓 I导术者将手术器械精确送至靶点的立体定向仪。
本发明涉及颅脑手术的辅助器械， 特别是一种对人或动物进行颅脑手 术时具有实时引导功能的立体定向仪。
背景技术
立体定向仪是一种可以在影像定位技术的配合下对颅内靶点进行较精 确定位， 然后将微电极、 穿刺针等手术器械精确置入颅内特定靶点， 留取 组织标本、 损毁靶点处组织或去除病灶的一种手术仪器， 是疾病诊断、 治 疗及动物实验的常用设备。 目前一种已知的中国专利号为
"ZL200720054994.0"、 名称为 "一种结构简单的立体定向仪"专利所述的 立体定向仪是基于直线定向原理， 由固定在底盘上的两个弓形架确定两个 方位角以便确定穿刺方向， 然后， 根据距离参数确定距离将手术器械送至 靶点。 此种立体定向仪不像采用三维坐标定位原理的立体定向仪那样需要 附带能覆盖全部手术区域的框架， 因此， 它的体积就可以做得较小， 从而 结构简单、 成本低廉， 促进了立体定向仪在外科手术中的普及。 但是， 这 种立体定向仪不能在手术过程中将手术器械的位置实时显示出来供术者参 考， 因此， 无法实现术中准确的实时引导。
发明内容
本发明的目的是提供一种具有实时引导功能的立体定向仪， 它能够实 现术中对手术器械实际所处工作位置进行显示， 从而能对术者实时引导的 立体定向仪， 以便为手术提供方便和提高手术质量。
本发明提供的具有实时引导功能的立体定向仪， 包括立体定向仪和传 感器两部分； 所说的立体定向仪部分包括底盘、 α弓形架、 β弓形架以及 其上有一引导孔的并可调节松紧的紧固件。 传感器部分包括一个 α角度传 感器、 一个 β角度传感器和一个距离传感器， α角度传感器固定设置在 d 弓形架与底盘上， β角度传感器固定设置在 β弓形架与底盘上， 以分别对 手术器械相对于空间中某一参考点的 α方位角、 β方位角的变化进行测量， 距离传感器的一部分固定设置在紧固件上， 当使用手术器械时距离传感器 的另一部分固定设置在手术器械上以便对手术器械直线位移的变化进行测 量。 以分别对手术器械的 α方位角、 β方位角以及直线位移的变化进行测 量。 手术器械的 α方位角、 Ρ方位角和直线位移的变化数值可被输入至计 算机辅助手术计划系统完成对手术器械实际所处工作位置的显示， 从而对 术者实时引导。
本发明由于在立体定向仪上设置了传感器， 从而能对术者实时引导， 既为手术提供了方便， 又能提高手术质量。
附图说明
图 1 为本发明说所的具有实时引导功能的立体定向仪的一种结构示意 图。
图 2为上述立体定向仪的另一种结构示意图。
具体实施方式
下面结合附图中的具体实施例对本发明作进一步地详细说明， 但不构 成对本发明的任何限制。
实施例 1
参照图 1 所示， 本发明提供的一种具有实时引导功能的立体定向仪， 包括立体定向仪和传感器两部分，所说的立体定向仪部分包括底盘 1、 α弓 形架 2、 β弓形架 3， 以及其上有一引导孔的并可调节松紧的紧固件 4; 传 感器部分包括一个 α角度传感器 5、一个 β角度传感器 6和一个距离传感器 7， α角度传感器 5固定设置在 α弓形架 2与底盘 1的连接部上， β角度传 感器 6固定设置在 Ρ弓形架 3与底盘 1的其中一个连接部上， 以分别对手 术器械相对于空间中某一参考点的 α方位角、 β方位角的变化进行测量； 距离传感器 7的一部分固定设置在紧固件 4上， 当使用手术器械 8时距离 传感器 7的另一部分固定设置在手术器械 8上， 以便对手术器械 8直线位 移的变化进行测量。 等效， α角度传感器 5也可以设置在 a弓形架 2与紧 固件 4上， β角度传感器 6也可以设置在 β弓形架 3与紧固件 4上。
实施例 2
参照图 2所示， 为本发明提供的另一种具有实时引导功能的立体定向 仪， 与实施例 1基本相同， 不同的是本实施例中的 a弓形架 2采用双桥式 结构， 它具有较高的稳定性； 各传感器在该结构的立体定向仪上的设置方 式与上述相同。 同理， β弓形架 3也可以釆用双桥式结构， 或者 a弓形架 2 和 β弓形架 3均可以采用双桥式结构。
本发明应用时， 以传统的方式将立体定向仪固定在颅骨上并进行影像 定位扫描， 将获得的影像资料输入计算机辅助计划系统进行图像处理， 确 定手术目标。 将所有的位移传感器的输出信号传输至计算机辅助计划系统 对手术器械实际所处工作位置进行实时显示， 术者根据显示器上实时显示 的手术器械及手术目标的空间位置实时调整手术器械插入方向及插入深度 将手术器械送达手术目标并完成手术。

Claims

权 利 要 求
1、 一种具有实时引导功能的立体定向仪， 包括底盘（1)， 在底盘 （1) 上分别连接有 α弓形架 （2)、 β弓形架 （3) 以及其上有一引导孔的并可调 节松紧的紧固件 （4)， 其特征是， 所述的 α弓形架 （2) 与底盘 （1) 的连 接部或者 α弓形架 （2) 与紧固件 （4) 的连接部设有 α角度传感器 （5)， 在 β弓形架 （3) 与底盘 （1) 的其中一个连接部或者 3弓形架 （3) 与紧固 件 （4) 的连接部设有 β角度传感器 （6), 在紧固件 （4) 上还固定有距离 传感器 （7) 的其中一部分。
2、根据权利要求 1所述的具有实时引导功能的立体定向仪，其特征是， 所述的 α弓形架 （2) 或 /和 β弓形架 （3) 采用双桥式结构。
PCT/CN2010/002133 2010-01-11 2010-12-22 一种具有实时引导功能的立体定向仪 WO2011082517A1 (zh)

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EP2567668A1 (en) * 2011-09-08 2013-03-13 Stryker Leibinger GmbH & Co. KG Axial surgical trajectory guide for guiding a medical device
US9867667B2 (en) 2014-02-27 2018-01-16 Canon Usa Inc. Placement apparatus
US9867673B2 (en) 2015-07-14 2018-01-16 Canon U.S.A, Inc. Medical support device
US10765489B2 (en) 2016-01-29 2020-09-08 Canon U.S.A., Inc. Tool placement manipulator
DE102019133421A1 (de) * 2019-12-06 2021-06-10 InLine-Med GmbH Nadelführungsvorrichtung und Set mit mehreren Elementen
WO2022165978A1 (zh) * 2021-02-02 2022-08-11 湖南卓世创思科技有限公司 一种手术用角度记录器

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US10765489B2 (en) 2016-01-29 2020-09-08 Canon U.S.A., Inc. Tool placement manipulator
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