WO2021238909A1 - 定位针、定位装置以及穿刺装置 - Google Patents

定位针、定位装置以及穿刺装置 Download PDF

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Publication number
WO2021238909A1
WO2021238909A1 PCT/CN2021/095771 CN2021095771W WO2021238909A1 WO 2021238909 A1 WO2021238909 A1 WO 2021238909A1 CN 2021095771 W CN2021095771 W CN 2021095771W WO 2021238909 A1 WO2021238909 A1 WO 2021238909A1
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Prior art keywords
positioning
marking
needle
positioning pin
pin according
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PCT/CN2021/095771
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English (en)
French (fr)
Inventor
刘贵臻
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京东方科技集团股份有限公司
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Publication of WO2021238909A1 publication Critical patent/WO2021238909A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • 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

Definitions

  • the present disclosure relates to the field of positioning technology, in particular to a positioning needle, a positioning device and a puncture device.
  • Computed Tomography Computed Tomography
  • CT Computed Tomography
  • the doctor first uses a positioning needle to penetrate the internal organs at the estimated lesion location, and then performs a CT scan on the patient; then, Position the needle and the center position of the lesion based on the image measurement to determine the puncture position and angle of the ablation needle used for the puncture operation.
  • the doctor judges the position of the positioning needle based on the image measurement results based on the operating experience and visual inspection, and punctures the ablation needle to perform the puncture operation.
  • the embodiments of the present disclosure provide a positioning needle, a positioning device, and a puncture device.
  • a positioning needle which includes: at least two needle bodies, a support, and a plurality of marking components.
  • the support includes a first surface and a second surface that are opposed to each other, and connects the first surface and the Two sides of the surface;
  • Each of the needle bodies is uniformly fixed on the second surface, and the marking assembly is fixed on the first surface or the side surface.
  • the needle body includes a needle tip, and each of the needle tips faces the same;
  • Each of the needle bodies is arranged in parallel and perpendicular to the second surface.
  • the cross section of the bracket along the first direction is ring-shaped, and the first direction is parallel to the plane where the second surface is located.
  • the ring shape is a circular ring shape, and each of the marking components is evenly arranged on the side surface.
  • each of the marking assembly and the side surface is provided with a fixed point
  • Each fixed point on the side surface is distributed symmetrically with the center of the circular ring as the center of symmetry.
  • the marking assembly includes a marking unit and a fixing unit, and the fixing unit connects the marking unit and the bracket.
  • the marking unit is a marking ball
  • the fixing unit is a support rod
  • the support rod is fixed on the side surface of the bracket, and the support rod is perpendicular to the side surface.
  • the marking assembly further includes a reflective layer, and the reflective layer covers the marking ball.
  • the marking component has a hollow structure.
  • the material of the needle body is metal or metal alloy.
  • the marking component is made by an injection molding process, or is made by compression molding.
  • the needle body or the marking component and the bracket are fixed by welding or fixed by a fixing member.
  • a positioning device which includes an image scanner and the positioning pin as described above.
  • a puncture device which includes a puncture robot and the positioning device described above.
  • Fig. 1 is a schematic diagram of a positioning pin structure provided by the present disclosure
  • FIG. 2 is a schematic diagram of another positioning pin structure provided by the present disclosure.
  • Fig. 3 is a top view of the positioning pin structure of Fig. 1.
  • words such as “first” and “second” are used to distinguish the same or similar items with basically the same function and effect.
  • words such as “first” and “second” do not limit the number and execution order.
  • the directions or positional relationships indicated by the terms “upper”, “lower”, etc. are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or It is implied that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure.
  • plural means two or more, and “at least two” means two or more, unless otherwise specifically defined.
  • the embodiment of the present disclosure provides a positioning needle, as shown in FIG. 1, comprising: at least two needle bodies 101, a bracket (not marked in FIG. 1) and a plurality of marking components 102; the bracket includes a first surface 1031 disposed oppositely And the second surface (not shown in FIG. 1), and the side surface 1033 connecting the first surface 1031 and the second surface; the needle body 101 is uniformly fixed on the second surface, and the marking component 102 is fixed on the first surface 1031 or the side surface 1033.
  • the positioning needle may include two needle bodies, or may include three or more needle bodies. Considering that too many needles will cause iatrogenic injury to the patient, a positioning needle including two needles can be selected for positioning in practical applications.
  • the above-mentioned needle body may include a needle tip, a needle body, and a needle tail, and may also include other structures such as a needle tip protective cover.
  • the specific structure of the needle body is not limited herein.
  • the material of the needle body can be metal; or metal alloy, such as titanium alloy. Specific materials can be determined according to actual requirements.
  • the positioning needle penetrates the organ of the human body through the positioning needle.
  • the positioning needle can avoid positioning errors caused by the patient’s breathing.
  • the patient is scanned by an image scanner to obtain a picture of the patient’s organ position.
  • Multiple marking components can delineate an area in the picture of the position of the patient's organ, and this area is the location of the lesion.
  • the material of the above-mentioned marking component is not limited here; for example, the material of the above-mentioned marking component may be a composite material, for example, a composite material formed of plastic and carbon fiber.
  • the above-mentioned marking component can be made by injection molding process, or can be made by compression molding, which is not limited here.
  • the specific shape of the stent is not limited here.
  • the shape of the stent is a hollow cylinder, a hollow triangular prism, a hollow quadrangular prism, and the like. If the shape of the stent is a hollow cylinder, refer to FIG. 1.
  • the first surface 1031 is the upper surface of the hollow cylinder
  • the second surface (not shown in FIG. 1) is the lower surface of the hollow cylinder.
  • the side surface 1033 connects the upper surface and the lower surface of the hollow cylinder.
  • the specific material of the bracket is not limited here.
  • the material of the bracket may be carbon fiber.
  • the marking component is fixed on the first surface or the side surface.
  • the marking component may be fixed on the first surface 1031 as shown in FIG. 3, where FIG. 3 is a top view of the positioning pin structure of FIG. 1.
  • the marking component can also be fixed on the side as shown in Fig. 2 (not marked in Fig. 2).
  • the fixing method of the bracket, the marking assembly and the needle body can be fixed by welding, or fixed by a fixing member.
  • the fixing member is a screw and a nut, and the fixing method is not limited here.
  • the embodiment of the present disclosure provides a positioning needle, including: at least two needle bodies, a bracket, and a plurality of marking components; Side; each needle body is evenly fixed on the second surface, and the marking component is fixed on the first surface or the side. Due to the support and fixation effect of the stent on the at least two needles, the positioning error caused by the movement of the needles caused by the breathing of the patient can be avoided; further, by providing multiple marking components, the lesion area can be further determined, thereby further improving the robot The positioning accuracy of the lesion before the puncture operation.
  • the positioning method of the positioning pin is simple and the positioning accuracy is high.
  • the positioning needle provided in the present disclosure can avoid positioning errors caused by the uncertainty of breathing in the solution, and the positioning accuracy is higher. .
  • the needle body 101 includes a needle tip 1011, each of the needle tips 1011 faces the same; each needle body 101 is arranged in parallel and perpendicular to the second surface (not shown in FIG. 1 ).
  • the above-mentioned needle bodies are arranged in parallel and are all perpendicular to the second surface. At this time, the overall structure of the positioning needle formed is more stable and convenient to use.
  • the cross section of the bracket along the first direction is annular, and the first direction is parallel to the plane where the second surface is located.
  • the above-mentioned stent is a ring stent, specifically, the ring may be a circular ring, an elliptical ring, or a polygonal ring.
  • the above-mentioned ring shape is a circular ring shape, and the marking components are evenly arranged on the side surface.
  • the above-mentioned marking components are evenly arranged on the side surface means that there are fixed points on each marking component and the side surface, and each fixed point is connected clockwise or counterclockwise along the side of the bracket to form a circular ring.
  • the center of the ring is the center of symmetry and is distributed symmetrically.
  • the marking assembly 102 includes a marking unit 1021 and a fixing unit 1022, and the fixing unit 1022 is connected to the marking unit 1021 and the bracket 103.
  • the shape of the marking unit may be a sphere, a cube or other shapes, and the specific shape of the marking unit is not limited here.
  • the above-mentioned marking unit may be made of a composite material.
  • the composite material is a composite of plastic and lead powder.
  • the specific material of the above-mentioned marking unit There is no limitation on the specific material of the above-mentioned marking unit.
  • the above-mentioned fixing unit may be a cylinder, a triangular prism or a quadrangular prism, and the specific shape of the above-mentioned fixing unit is not limited here.
  • the marking unit is a marking ball
  • the fixing unit is a support rod
  • the above-mentioned marking ball may be made of a composite material.
  • the composite material is a composite of plastic and lead powder, that is, the marking ball may be made of an injection-molded plastic mixed with a small amount of lead powder.
  • the specific material of the above-mentioned marker ball is not limited here.
  • the above-mentioned marked ball is a sphere, which may be a hollow sphere or a solid sphere. In consideration of further weight reduction, a hollow sphere may be used. There is no limitation on the size of the marking ball mentioned above, and the size can be selected according to the actual application.
  • the above-mentioned support rod may be hollow or solid. In consideration of further weight reduction, a hollow support rod may be used. There is no limitation on the length of the above-mentioned support rod, and the length can be selected according to the actual application.
  • the above-mentioned support rod can be fixed on the side or the first surface of the support; in consideration of reducing the difficulty of production and further improving the stability of the positioning pin, the support rod can be selected to be fixed on the side of the support; at this time, the support rod can be fixed vertically on the side of the support , In order to facilitate production.
  • the marking component further includes a reflective layer, and the reflective layer covers the marking ball.
  • the specific material of the above-mentioned reflective layer is not limited.
  • it may be a pearlescent reflective layer to ensure medical image marking and binocular recognizability.
  • the positioning needle penetrates the organ of the human body through the positioning needle.
  • the positioning needle can avoid positioning errors caused by the patient’s breathing.
  • the patient is scanned by an image scanner to obtain a picture of the patient’s organ position.
  • the marker ball can delineate an area in the picture of the patient's organ location, and this area is the location of the lesion.
  • the marking component has a hollow structure.
  • the marking assembly is set as a hollow structure here to reduce the overall weight of the positioning needle.
  • the embodiments of the present disclosure provide a positioning device, including an image scanner and the positioning pin provided in the above embodiments.
  • the above positioning device uses the positioning needle as in the above embodiment to penetrate the organs of the human body.
  • the positioning needle can avoid positioning errors caused by the patient's breathing, and then scan the patient through the image scanner to obtain a picture of the patient's organ position. , And then determine the center position of the lesion based on the obtained picture, thereby determining the puncture position and angle of the ablation needle used for the puncture operation, and achieve precise positioning.
  • the positioning device has a simple positioning method and high positioning accuracy.
  • the embodiments of the present disclosure provide a puncture device, including a puncture robot and the positioning device provided in the above embodiments.
  • Puncture ablation is more and more widely recognized by doctors and patients in the treatment of liver, lung and other organ tumors. Robot positioning assistance and robot puncture have gradually penetrated this field.
  • the embodiments of the present disclosure provide a puncture device, including a puncture robot and the positioning device provided in the above embodiments.
  • the puncture device Before using the puncture device to perform a puncture operation, the patient’s lesion is accurately positioned by the positioning device as in the above embodiment, and then the puncture robot determines the ablation needle used for the puncture operation according to the center of the lesion position determined by the positioning device The puncture position and angle to perform the puncture operation.
  • the puncture device has high puncture precision and good puncture effect.
  • the puncture device provided by the embodiments of the present disclosure combines positioning technology and robotic puncture technology, resulting in less iatrogenic injury to patients, short operation time, and high puncture accuracy.

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Abstract

定位针、定位装置以及穿刺装置，涉及定位技术领域。该定位针，包括：至少两个针体(101)、支架和多个标记组件(102)；所述支架包括相对设置的第一表面(1031)和第二表面，以及连接所述第一表面(1031)和所述第二表面的侧面(1033)；每个所述针体(101)均匀固定在所述第二表面，所述标记组件(102)固定在所述第一表面(1031)或者所述侧面(1033)。

Description

定位针、定位装置以及穿刺装置
相关申请的交叉引用
本公开要求在2020年05月29日提交中国专利局、申请号为202020958260.0、名称为“一种定位针、定位装置以及穿刺装置”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及定位技术领域，尤其涉及一种定位针、定位装置以及穿刺装置。
背景技术
在电子计算机断层扫描仪器(Computed Tomography，CT)影像引导下手工进行穿刺手术时，医生首先用定位针在预估的病变位置经皮刺入体内脏器后，再对患者进行CT扫描；然后，基于图像测量定位针和病灶中心位置，以确定用于进行穿刺手术的消融针的穿刺位置和角度。医生再根据图像测量结果凭借操作经验和目测判断定位针方位，刺入消融针进行穿刺手术。
概述
本公开的实施例提供一种定位针、定位装置以及穿刺装置。
本公开的技术方案如下：
一方面，提供了一种定位针，包括：至少两个针体、支架和多个标记组件所述支架包括相对设置的第一表面和第二表面，以及连接所述第一表面和所述第二表面的侧面；并且
每个所述针体均匀固定在所述第二表面，所述标记组件固定在所述第一表面或者所述侧面。
可选地，所述针体包括针尖，各所述针尖朝向相同；并且
每个所述针体平行设置、且均与所述第二表面垂直。
可选地，所述支架沿第一方向的截面为环形，所述第一方向与所述第二表面所在平面平行。
可选地，所述环形为圆环形，每个所述标记组件均匀设置在所述侧面上。
可选地，每个所述标记组件与所述侧面均设置有固定点；并且
所述侧面的每个固定点以所述圆环形的圆心为对称中心呈中心对称分布。
可选地，所述标记组件包括标记单元和固定单元，所述固定单元连接所述标记单元和所述支架。
可选地，所述标记单元为标记球，所述固定单元为支撑杆。
可选地，所述支撑杆固定在所述支架的侧面，所述支撑杆与所述侧面垂直。
可选地，所述标记组件还包括反射层，所述反射层覆盖所述标记球。
可选地，所述标记组件为空心结构。
可选地，所述针体的材料为金属或者金属合金。
可选地，所述标记组件采用注塑工艺制作，或采用模压成型制作。
可选地，所述针体或所述标记组件与所述支架的固定方式为焊接固定，或通过固定件固定。
另一方面，提供了一种定位装置，包括图像扫描仪和如上所述的定位针。
再一方面，提供了一种穿刺装置，包括穿刺机器人和如上所述的定位装置。
上述说明仅是本公开技术方案的概述，为了能够更清楚了解本公开的技术手段，而可依照说明书的内容予以实施，并且为了让本公开的上述和其它目的、特征和优点能够更明显易懂，以下特举本公开的具体实施方式。
附图简述
为了更清楚地说明本公开实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本公开提供的一种定位针结构示意图；
图2为本公开提供的又一种定位针结构示意图；并且
图3为图1的定位针结构的俯视图。
详细描述
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
为了便于清楚描述本公开实施例的技术方案，在本公开的实施例中，采用了“第一”、“第二”等字样对功能和作用基本相同的相同项或相似项进行区分，本领域技术人员可以理解“第一”、“第二”等字样并不对数量和执行次序进行限定。
在本公开的实施例中，术语“上”、“下”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。
在本公开的实施例中，“多个”的含义是两个或两个以上，“至少两个”的含义是两个或两个以上，除非另有明确具体的限定。
本公开实施例提供了一种定位针，参考图1所示，包括：至少两个针体101、支架(图1中未标记)和多个标记组件102；支架包括相对设置的第一表面1031和第二表面(图1中未示出)，以及连接第一表面1031和第二表面的侧面1033；针体101均匀固定在第二表面，标记组件102固定在第一表面1031或者侧面1033。
上述定位针包括至少两个针体的含义是：该定位针可以是包括两个针体，也可以是包括三个及三个以上针体。考虑到针体的数量过多会造成患者的医源性伤害，在实际应用中可以选择包括两个针体的定位针进行定位。
上述针体可以包括针尖、针身以及针尾，还可以包括其它的诸如针尖保护套等结构，这里对针体的具体结构不做限定。
上述针体的材料可以是金属；或者金属合金，例如：钛合金。具体材料可以根据实际要求确定。
上述定位针在实际使用过程中，通过定位针刺入人体的脏器，定位针可以避免由于患者呼吸造成的定位误差，再通过图像扫描仪对患者进行扫描，得到病患脏器位置的图片，多个标记组件在病患脏器位置的图片中可以圈定 出一个区域，该区域即为病灶位置。
这对于标记组件的具体数量不做限定。在实际应用中，一方面，为了提高定位的准确性，需要数量较多的标记组件；另一方面，考虑到定位针的重量较大可能对患者造成医源性伤害，标记组件的数量需要较少。综合两方面考量，可以选择包括三个或者四个标记组件的定位针进行定位。
这里对于上述标记组件的材料不做限定；示例地，上述标记组件的材料可以是复合材料，例如：由塑料和碳纤维形成的复合材料。
上述标记组件可以采用注塑工艺制作，也可以采用模压成型制作，这里不做限定。
这里对于支架的具体形状不做限定，示例地，该支架的形状为空心圆柱体、空心三棱柱、空心四棱柱等。若该支架的形状为空心圆柱体，参考图1所示，此时，第一表面1031是空心圆柱体的上表面，第二表面(图1中未示出)是空心圆柱体的下表面，侧面1033连接空心圆柱体的上表面和下表面。
这里对于支架的具体材质不做限定，示例地，该支架的材质可以是碳纤维。
上述标记组件固定在第一表面或者侧面。示例地，标记组件可以如图3所示，固定在第一表面1031上，其中，图3是图1的定位针结构的俯视图。或者，标记组件还可以是如图2所示，固定在侧面(图2中未标记)。
上述支架、标记组件以及针体的固定方式可以采用焊接固定，还可以是通过固定件固定，示例地，该固定件是螺丝及螺母，这里对于上述固定方式不做限定。
本公开的实施例提供了一种定位针，包括：至少两个针体、支架和多个标记组件；支架包括相对设置的第一表面和第二表面，以及连接第一表面和第二表面的侧面；各针体均匀固定在第二表面，标记组件固定在第一表面或者侧面。由于支架对至少两个针体的支撑和固定作用，从而避免因患者呼吸造成针体移动带来的定位误差；进一步地，通过设置多个标记组件，可以进一步确定病灶区域，从而更进一步提高机器人进行穿刺手术前的病灶定位精度。定位针定位方法简单，定位精度高。另外，相较于相关技术中在患者体表粘贴定位标记、基于定位标记完成穿刺的方法，本公开提供的定位针可以避免该方案中因呼吸的不确定性造成的定位误差，定位精度更高。
可选地，参考图1所示，针体101包括针尖1011，各针尖1011朝向相同；各针体101平行设置、且均与第二表面(图1中未示出)垂直。
上述各针体平行设置、且均与第二表面垂直，此时，所形成的定位针的整体结构的稳定性更高，方便使用。
为了进一步减轻定位针的重量，提高病人舒适度，可选地，上述支架沿第一方向的截面为环形，第一方向与第二表面所在平面平行。
上述支架为环形支架，具体的，该环形可以是圆环形、椭圆环形以及多边环形。
可选地，上述环形为圆环形，各标记组件均匀设置在侧面上。
上述各标记组件均匀设置在侧面上的含义是：各标记组件与侧面均存在固定点，各固定点沿支架的侧面，依顺时针方向或者逆时针方向连接形成圆环形，各固定点以该圆环形的圆心为对称中心呈中心对称分布。
可选地，参考图2所示，标记组件102包括标记单元1021和固定单元1022，固定单元1022连接标记单元1021和支架103。
上述标记单元的形状可以是球体、正方体或者其他形状，这里对于上述标记单元的具体形状不做限定。
上述标记单元可以是复合材料制作的，示例地，该复合材料为塑料和铅粉复合而成。这里对于上述标记单元的具体材料不做限定。
上述固定单元可以是圆柱体、三棱柱或者四棱柱，这里对于上述固定单元的具体形状不做限定。
可选地，标记单元为标记球，固定单元为支撑杆。
上述标记球可以是复合材料制作的，示例地，该复合材料为塑料和铅粉复合而成，即可以采用混合少量铅粉的注塑塑料制作该标记球。这里对于上述标记球的具体材料不做限定。
上述标记球为球体，该球体可以是空心球体，也可以是实心球体，考虑到进一步减轻重量，可以采用空心球体。这里对于上述标记球的大小不做限定，其大小可根据实际应用进行选择。
上述支撑杆可以为空心的，也可以为实心的，考虑到进一步减轻重量，可以采用空心支撑杆。这里对于上述支撑杆的长度不做限定，其长度可根据实际应用进行选择。上述支撑杆可以固定在支架的侧面或者第一表面；考虑 到降低制作难度和进一步提高定位针的稳定性，可以选择支撑杆固定在支架的侧面；此时，支撑杆可以垂直固定在支架的侧面，以利于制作。
可选地，标记组件还包括反射层，反射层覆盖标记球。
上述反射层的具体材料不做限定，示例地，可以是珠光反射层，以确保医疗影像标记和二目可识别性。
上述定位针在实际使用过程中，通过定位针刺入人体的脏器，定位针可以避免由于患者呼吸造成的定位误差，再通过图像扫描仪对患者进行扫描，得到病患脏器位置的图片，标记球在病患脏器位置的图片中可以圈定出一个区域，该区域即为病灶位置。通过在标记球上设置反射层，可以有效提高标记球在医疗影像中的可识别性，提高定位精度。
可选地，标记组件为空心结构。
考虑到定位针的重量较大可能对患者造成医源性伤害，这里将标记组件设置为空心结构，以减轻定位针的整体重量。
本公开实施例提供了一种定位装置，包括图像扫描仪和上文实施例提供的定位针。
上述定位装置通过使用如上文实施例中的定位针刺入人体的脏器，定位针可以避免由于患者呼吸造成的定位误差，再通过图像扫描仪对患者进行扫描，得到病患脏器位置的图片，然后，基于获得图片确定病灶的中心位置，从而确定用于进行穿刺手术的消融针的穿刺位置和角度，实现精准的定位。该定位装置定位方法简单，定位精度高。
本公开实施例提供了一种穿刺装置，包括穿刺机器人及上文实施例提供的定位装置。
穿刺消融术在肝、肺等脏器肿瘤治疗方面越来越受到医患广泛认可。机器人定位辅助和机器人穿刺也逐渐渗透这一领域。
本公开实施例提供了一种穿刺装置，包括穿刺机器人及上文实施例提供的定位装置。在使用该穿刺装置进行穿刺手术前，先通过如上文实施例中的定位装置对患者的病灶进行精准定位，然后，穿刺机器人根据定位装置确定的病灶位置中心，确定用于进行穿刺手术的消融针的穿刺位置和角度，进行穿刺手术。该穿刺装置穿刺精度高，穿刺效果好。
本公开实施例提供的穿刺装置，结合了定位技术和机器人穿刺技术，患 者医源性伤害小、手术时间短、穿刺的精准度高。
以上所述，仅为本公开的具体实施方式，但本公开的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本公开揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本公开的保护范围之内。因此，本公开的保护范围应以所述权利要求的保护范围为准。

Claims (15)

  1. 一种定位针，其中，包括：至少两个针体、支架和多个标记组件；
    所述支架包括相对设置的第一表面和第二表面，以及连接所述第一表面和所述第二表面的侧面；并且
    每个所述针体均匀固定在所述第二表面，所述标记组件固定在所述第一表面或者所述侧面。
  2. 根据权利要求1所述的定位针，其中，所述针体包括针尖，每个所述针尖朝向相同；并且
    每个所述针体平行设置、且均与所述第二表面垂直。
  3. 根据权利要求2所述的定位针，其中，所述支架沿第一方向的截面为环形，所述第一方向与所述第二表面所在平面平行。
  4. 根据权利要求3所述的定位针，其中，所述环形为圆环形，每个所述标记组件均匀设置在所述侧面上。
  5. 根据权利要求4所述的定位针，其中，每个所述标记组件与所述侧面均设置有固定点；并且
    所述侧面的每个固定点以所述圆环形的圆心为对称中心呈中心对称分布。
  6. 根据权利要求1-5任一项所述的定位针，其中，所述标记组件包括标记单元和固定单元，所述固定单元连接所述标记单元和所述支架。
  7. 根据权利要求6所述的定位针，其中，所述标记单元为标记球，所述固定单元为支撑杆。
  8. 根据权利要求7所述的定位针，其中，所述支撑杆固定在所述支架的侧面，所述支撑杆与所述侧面垂直。
  9. 根据权利要求7所述的定位针，其中，所述标记组件还包括反射层，所述反射层覆盖所述标记球。
  10. 根据权利要求9所述的定位针，其中，所述标记组件为空心结构。
  11. 根据权利要求1所述的定位针，其中，所述针体的材料为金属或者金属合金。
  12. 根据权利要求1所述的定位针，其中，所述标记组件采用注塑工艺制作，或采用模压成型制作。
  13. 根据权利要求1所述的定位针，其中，所述针体或所述标记组件与 所述支架的固定方式为焊接固定，或通过固定件固定。
  14. 一种定位装置，其中，包括图像扫描仪和权利要求1-13任一项所述的定位针。
  15. 一种穿刺装置，其中，包括穿刺机器人和权利要求14所述的定位装置。
PCT/CN2021/095771 2020-05-29 2021-05-25 定位针、定位装置以及穿刺装置 WO2021238909A1 (zh)

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