WO2021253943A1

WO2021253943A1 - Laser locating frame system

Info

Publication number: WO2021253943A1
Application number: PCT/CN2021/086623
Authority: WO
Inventors: 张凌云; 唐丹; 陶鹤峰; 李佳
Original assignee: 湖南卓世创思科技有限公司
Priority date: 2020-06-15
Filing date: 2021-04-12
Publication date: 2021-12-23

Abstract

A laser locating frame system, comprising a base (22), and a frame (100) mounted on the base (22), wherein the frame (100) comprises two vertical rods (25) and a transverse rod; the two vertical rods (25) and the transverse rod define a locating channel waiting for inspection; and a laser locator for emitting laser rays into said locating channel is mounted on a sliding rail, or a laser locator for emitting laser rays into said locating channel is mounted on the frame. The locating frame system of the present invention can quickly assist with determining a simulated puncturing angle and a simulated puncturing depth according to a CT or magnetic resonance plain film image, and is low in cost and is simple and convenient to operate.

Description

Laser positioning frame system

Technical field

The invention relates to a laser positioning frame system, which is arranged outside the body and used for locating lesions in the body.

Background technique

How to locate the lesion based on CT or magnetic resonance images is a challenging clinical problem. Among them, the problem of surgical positioning of intracranial lesions is particularly important. The research background of the present invention is illustrated by taking the location of brain lesions as an example. At present, the standard positioning technology recognized by foreign academic circles includes traditional stereotactic instrument and navigation technology. Stereotactic instrument has high positioning accuracy, but it requires local anesthetic head nails to be fixed on the scalp to perform CT or MRI scanning again, which is difficult to learn, complicated and time-consuming, and is mostly used for high-precision operations such as stereotactic. Navigation technology, that is, frameless stereotactic technology, uses computer-assisted imaging data to match the body surface markers with the human body to perform image fusion, and feedback to the surgeon through a tracking rod or virtual reality glasses to guide the operation, but the navigation device It is expensive, cumbersome to use, and easily damaged. Only a few hospitals in China have conditions to equip it.

Clinicians draw on traditional stereotactic instruments to design various simplified versions of the in vitro marking system. After the patient wears this type of marking and receives CT or MRI scans, the lesion is located through a series of measurements and calculations to further determine the puncture angle and depth. Some of this type of equipment needs to be reconstructed and measured with the help of a computer, and some need to perform tedious measurements and calculations, which are not easy to use.

There are also some clinicians who have created a variety of body surface scribing and positioning methods combined with CT through a deep understanding of anatomy to assist in puncture positioning. This type of technology largely depends on the knowledge and experience of the surgeon. The curve is high, the precision is limited, and clinical promotion is difficult.

In addition, at present, it is not easy to determine the position of deep lesions on the actual human body based on the CT or magnetic resonance images displayed on the two-dimensional plane to guide the operation. It is difficult to restore deep lesions with dashed marks on the table. Take the location of the most demanding craniocerebral pathology as an example.

Several common solutions at present:

1. Stereotactic instrument technology, the patient's head is installed with a stereotaxic instrument frame (traditional stereotactic instrument uses head nails to drill into the outer skull plate for fixation or simple stereotactic instrument bandage fixation), CT or MRI scans to complete the planning, and the frame is positioned during surgery Sterilize the drape together with the head. This method can accurately restore the positioning information to guide the operation because the frame position does not move before and after the operation and the relative position of the head.

2. Neuronavigation technology, body surface markers are pasted on the patient's body surface (the marker may not be pasted when the positioning accuracy is not high, and the anatomical position such as the external auditory canal of the lens is used as the marker), CT or MRI scan is completed, the head is fixed, and the Under the stereo camera, the reconstructed image of the navigator is matched with the real skull through the markers. After the order is sterilized, the operation is guided by positioning according to the matched reconstructed image (similar to GPS map navigation);

3. 3D printing technology can be regarded as a simple version of neuronavigation. According to CT or MRI reconstruction, the corresponding guide plate is designed and printed. Its base matches the surface of the orbital nasal root, and the guide plate points to the target of the deep lesion, and prints the sterilized donor Used in.

4. Directly perform positioning and puncture operations under the guidance of CT.

As far as the actual situation is concerned, in most hospitals in China, internationally recognized precision positioning technologies such as stereotactic instruments and neuronavigation technology are far from popular. The vast majority of doctors still rely on experience for surgical positioning. The inability to standardize the positioning process makes the operation impossible to achieve an effective quality control plan;

According to patent application numbers: CN2019106027034, CN2020210978308, CN2020210984991 and other technologies, the surgical positioning process is significantly different from the above technologies. The first is in the positioning planning stage, the laser frame needs to restore the reference plane of the CT scan, and then determine the target level. Because the position of the patient's head relative to the operating table during the operation cannot be guaranteed to be consistent with the position of the head relative to the examination table during the CT scan, in order to restore the relative position of the patient's head, there are two options at this time: either adjust the patient's head position , Or adjust the positioning of the laser frame position. Obviously, the operation of adjusting the position of the patient's head is relatively cumbersome and not conducive to medical safety. A more appropriate choice is to keep the patient's head still or adjust it slightly, mainly by adjusting the positioned laser frame to restore the CT scan surface. At this time, the laser frame needs to move arbitrarily on the base under the patient's head and can change the inclination angle of the frame relative to the base under the head.

Summary of the invention

The present invention aims to provide a laser positioning frame system, by which the positioning frame system can quickly assist in determining the intended puncture angle and the intended puncture depth based on CT or magnetic resonance plain film images, with low cost and simple operation.

In order to achieve the above objective, the technical solution adopted by the present invention is:

A laser positioning frame system, which is characterized in that it comprises a base and a frame mounted on the base; the frame includes two vertical rods and a horizontal rod, and the two vertical rods and one horizontal rod are enclosed between the two vertical rods and the horizontal rod to be detected and positioned. aisle;

A front slide rail is installed on the cross bar, and the front slide rail extends perpendicularly with respect to the plane formed by the vertical bar and the cross bar;

At least one of the vertical rods is equipped with a side slide rail, and the side slide rail extends perpendicularly with respect to the plane formed by the vertical rod and the cross rod;

The front sliding rail is equipped with a front laser positioner for emitting laser lines into the positioning channel to be detected, and the side sliding rail is equipped with a side laser positioner for emitting laser lines into the positioning channel to be detected.

Therefore, by sliding the corresponding laser positioner on the slide rail, it is convenient for subsequent auxiliary positioning.

According to the embodiments of the present invention, the present invention can be further optimized, and the following is the technical solution formed after optimization:

Preferably, the two vertical rods are equipped with a first laser positioner and a second laser positioner for emitting laser lines into the positioning channel to be detected; the first laser positioner and the second laser positioner emit The plane formed by the laser line serves as the reference plane.

Preferably, the first laser positioner and the second laser positioner are in-line laser positioners or cross-line laser positioners.

Preferably, the front laser positioner and the side laser positioner are on the same plane but the emitted laser lines are not parallel. In the end, the two can intersect in a plane, and each point to the same bullseye in this plane.

Preferably, both the front laser positioner and the side laser positioner can rotate coaxially around their respective rotation centers.

Preferably, the front laser positioner and the side laser positioner are in-line laser positioners or cross-line laser positioners.

In order to keep the position of the slide rail and the laser positioner fixed after the laser positioner is adjusted to the specified position, locks are provided between the front slide rail and the front laser positioner, and between the side slide rail and the side laser positioner. Device.

Based on the same invention, a laser positioning frame system of the present invention includes two left and right slide rails arranged side by side on a base, and a frame mounted on the two slide rails and movable along the length of the slide rail. The frame includes Two vertical rods and one horizontal rod, between the two vertical rods and one horizontal rod, the positioning channel to be detected is enclosed;

The horizontal rod is equipped with a front laser positioner for emitting laser lines into the positioning channel to be detected, and at least one vertical rod is equipped with a side laser positioner for emitting laser lines into the positioning channel to be detected.

In order to facilitate fixing the frame adjusted in position, a locking device is provided between the bottom of the vertical pole and the sliding rail to lock the relative position of the two.

The laser positioning frame system of the present invention is mainly used as an auxiliary tooling in conjunction with a continuous scanning cross-section ascending space positioning method disclosed in Chinese patent application CN110353775A.

In order to conveniently adjust the position and inclination angle of the frame relative to the base through the rotary joint and the switch-type magnetic base, so that the operation is more convenient, a magnetic gantry can be formed between the frame and the base, and the magnetic gantry includes a ferromagnetic The base of the gantry frame and the gantry frame set on the base, the bottom of the pole of the gantry frame is equipped with a rotary joint with a lockable rotation angle, and a switch-type magnetic seat fixed at the bottom of the rotary joint; the switch-type magnetic seat can be The base is moved to the target position and locked, and the vertical rod can be rotated around the rotating joint to the target position and locked.

Therefore, in the present invention, the laser frame is installed with the rotary joint and the switch-type magnetic base to contact the base, and the contact area on the base with the frame is made of ferromagnetic material, which can achieve the above-mentioned object.

In one of the preferred embodiments, the switch-type magnetic base includes a base body and a base switch. As a result, the seat body can be quickly locked after being moved into position.

In one of the preferred embodiments, the rotary joint includes a joint body and a joint switch. As a result, the joint can be quickly locked after being rotated in place.

In one of the preferred embodiments, the rotation joint is a single-degree-of-freedom joint with a lockable rotation angle.

Compared with the prior art, the present invention has the following beneficial effects: the laser positioning frame system of the present invention has simple structure, low cost, flexible operation, and can be easily determined based on CT or magnetic resonance plain film images to quickly assist in determining the target The puncture angle and the intended puncture depth.

The invention quickly achieves any position activity by moving the magnetic base, and adjusts the frame and the base at any inclination angle through the rotating joint, and the operation is convenient and fast, thereby ensuring medical safety.

Description of the drawings

Figure 1 is the use of the laser positioning frame system of the present invention to restore the reference plane of CT or MRI scanning;

Figure 2 is to move the positive and lateral positioning laser on the slide rail to the target plane, and move the slide rail so that the laser intersection points of the two sets of lasers are aligned with the target in the positive and lateral positions;

Figure 3 shows the longitudinal parts of the two sets of positioning lasers respectively rotating on the slide rail so that they all pass through the puncture point on the body surface;

Figure 4 is to determine the body surface puncture line;

Figure 5 is the use of the laser positioning frame system of embodiment 2 to restore the reference plane of CT or MRI scanning;

Figure 6 is moving the laser positioning frame system of Embodiment 2 to determine the maximum scanning plane of the lesion;

Figure 7 is to move the two laser positioners to aim at the center of the lesion in the largest scanning plane of the lesion;

Figure 8 is the selection of body surface puncture points;

Figure 9 is the rotation of the front laser positioner and the side laser positioner so that the projected laser lines pass through the puncture points on the body surface respectively;

Figure 10 is the use of the laser positioning frame system of Example 2 to determine the puncture line;

Figure 11 is a schematic diagram of a frame with a rotary joint and a switch-type magnetic base;

Figure 12 is a schematic diagram of a rotary joint with a switch and a switch-type magnetic base;

Figure 13 is a diagram of the frame and base assembly and adjustment state.

In the picture

1- The first laser positioner; 2- The second laser positioner; 3- Front laser positioner; 4- Side laser positioner; 5- Front slide rail; 6 Side slide rail; 7- Laser projection of scanning reference plane Line; 8-the projection of the cross line of the positive laser on the body surface; 9-the projection of the cross line of the lateral laser on the body surface; 10-the puncture point on the body surface; 11-two laser lines are projected on the puncture needle at the same time Determine the puncture angle and puncture line; 12-body surface scan line; 13-determine and move the laser positioning frame system frame to a clear maximum scan plane of the lesion according to the reading; 14-first slide; 15-second slide; 22 -Base; 23-switch-type magnetic base; 24-rotation joint; 25-pole; 26-joint body; 27-joint switch; 28-base body; 29-base switch; 100-frame.

detailed description

Hereinafter, the present invention will be described in detail with reference to the drawings and in conjunction with the embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other if there is no conflict. For the convenience of description, if the words "upper", "lower", "left", "right" appear in the following text, they only indicate that they are consistent with the upper, lower, left, and right directions of the drawings themselves, and do not limit the structure.

Example 1

As shown in Figures 1-4, the laser positioning frame system of this embodiment includes a base, and a frame 100 mounted on the base. The frame 100 includes two vertical rods 25 and a horizontal rod, two vertical rods 25 and a horizontal rod. The positioning channel to be detected is enclosed between the cross bars. A front slide rail 5 is installed on the cross bar, and the front slide rail 5 extends perpendicularly with respect to the plane formed by the vertical bar 25 and the cross bar. The front slide rail 5 is equipped with a front laser positioner 3 for emitting laser lines into the positioning channel to be detected.

The vertical rod 25 is equipped with a side slide rail 6 which extends perpendicularly with respect to the plane formed by the vertical rod 25 and the cross rod. The side slide rail 6 is equipped with a side laser positioner 4 for emitting laser lines into the positioning channel to be detected. The two vertical rods 25 are equipped with a first laser positioner 1 and a second laser positioner 2 for emitting laser lines into the positioning channel to be detected; the first laser positioner 1 and the second laser positioner 2 The plane formed by the emitted laser line serves as the reference plane. The first laser positioner 1, the second laser positioner 2, the front laser positioner 3, and the side laser positioner 4 are in-line laser positioners or cross-line laser positioners. Both the front laser positioner 3 and the side laser positioner 4 can rotate coaxially around their respective rotation centers.

The front laser positioner 3 and the side laser positioner 4 are on the same plane but the emitted laser lines are not parallel.

When assisting positioning, the subject's head or chest and abdomen are located in the detection positioning channel, and then the laser positioner on the slide rail is moved to the target position, and then positioning is performed with reference to a continuous scanning section ascending space positioning method disclosed in CN110353775A.

In order to facilitate positioning, a first laser positioner 2 for emitting laser lines into the positioning channel to be detected is installed on the crossbar, and a second laser positioner for emitting laser lines into the positioning channel to be detected is installed on at least one vertical rod 25 3. The first laser positioner 2 and the second laser positioner 3 are in the same plane but the emitted laser lines are not parallel.

In order to facilitate adjustment of the laser positioner, both the first laser positioner 2 and the second laser positioner 3 can be rotated.

In specific positioning, the method of using a laser-assisted positioning frame system to perform stereo positioning of the lesion based on continuous cross-sections such as CT or magnetic resonance includes the following steps:

S1. Use the extracorporeal laser frame to restore the Cartesian coordinate system of human CT or MRI scan to determine the largest level of the lesion, and use two coplanar but not parallel front laser locators 3 and side laser locators 4 to point the center to the lesion center;

S2. Determine the puncture point on the body surface and rotate the front laser positioner 3 and the side laser positioner 4 to make the laser line pass through the puncture point. The two laser lines are projected into a cross on the puncture point on the body surface, the puncture point on the body surface and two laser lines The line of other intersections in the space is the puncture line, which is essentially the line of intersection of the plane represented by the two laser lines, and the intended puncture angle is determined in this way;

S3. According to the principle of equal length of parallelogram opposite sides, draw the parallel line of any laser positioner center line from the self-designed puncture point, and then make the parallel line of the puncture line between the two parallel lines to obtain the puncture depth.

In some preferred embodiments, as shown in Figures 11-13, a magnetic gantry can be formed between the frame 100 and the base 22, which specifically includes a ferromagnetic base 22 and a gantry frame 100 arranged on the base. The bottoms of the two vertical rods 25 of the gantry frame 100 are sequentially fixed on the base 22 through a lockable rotating joint 24 and a switch-type magnetic base 23.

The switch-type magnetic base 23 includes a base 28 and a base switch 29. When the position of the gantry frame 100 needs to be moved, the base switch 29 is turned on to move the gantry frame 100 to the target position, and then the base switch 29 is turned off.

The lockable rotary joint 24 includes a joint body 26 and a joint switch 27. When the angle of the gantry frame 100 needs to be rotated, the joint switch 27 is turned on. At this time, the pole 25 can rotate around the joint body 26. After reaching the target position, turn off the joint switch 27, and the gantry frame 100 can be locked at the target position. .

When in use, as shown in Figure 1 and Figure 2, taking the head as an example, first mark the corresponding scanning reference surface on the patient's body surface according to imaging equipment such as CT nuclear and magnetic resonance; then put the ferromagnetic substance The base is placed under the head; finally the frame equipped with the rotary joint and the switch-type magnetic base is placed on the base, and the switch-type magnetic base is moved to achieve any position of activity, and the frame and the base can be adjusted at any inclination through the rotary joint.

The switch-type magnetic base 23 of this embodiment is preferably a commercially available product. The rotary joint 24 of this embodiment is preferably a single-degree-of-freedom joint with a lockable rotation angle.

Example 2

As shown in Figures 5-10, the laser positioning frame system of this embodiment includes two left and right slide rails arranged side by side, and a frame 100 that is mounted on the two slide rails and can move along the length of the slide rail. 100 includes two vertical rods 25 and a horizontal rod, and a positioning channel to be detected is enclosed between the two vertical rods 25 and one horizontal rod. When assisting positioning, the subject’s head or chest and abdomen are located in the detection positioning channel, and then the frame 100 is moved to the target position. A locking device is provided between the bottom of the pole 25 and the slide rail to lock the relative positions of the two. At the target position, the frame is fixed by the locking device, and then the positioning is carried out by referring to a continuous scanning section ascending space positioning method disclosed in CN110353775A.

In order to facilitate positioning, the horizontal bar is equipped with a front laser positioner 3 for emitting laser lines into the positioning channel to be detected, and at least one vertical rod 25 is equipped with a side laser positioner 4 for emitting laser lines into the positioning channel to be detected. The front laser positioner 3 and the side laser positioner 4 are on the same plane but the emitted laser lines are not parallel.

In order to facilitate the adjustment of the laser positioner, both the front laser positioner 3 and the side laser positioner 4 can be rotated.

S1. Use the extracorporeal laser frame 100 to restore the Cartesian coordinate system of human CT or MRI scan to determine the maximum level of the lesion, and use two coplanar but not parallel front laser locators 3 and side laser locators 4 to point the center Disease center

In this embodiment, the frame 100 and the base 22 can also be designed as a magnetic gantry as described in the first embodiment.

The content clarified by the above embodiments should be understood as these embodiments are only used to illustrate the present invention more clearly, not to limit the scope of the present invention. After reading the present invention, those skilled in the art will understand various equivalent forms of the present invention. All the modifications fall within the scope defined by the appended claims of this application.

Claims

A laser positioning frame system, which is characterized by comprising a base (22) and a frame (100) mounted on the base (22); the frame (100) includes two vertical rods (25) and a cross rod, Two vertical rods (25) and a horizontal rod enclose a positioning channel to be detected;

A front slide rail (5) is installed on the cross bar, and the front slide rail (5) extends perpendicularly with respect to the plane formed by the vertical rod (25) and the cross bar;

At least one of the vertical rods (25) is equipped with a side slide rail (6), and the side slide rail (6) extends perpendicularly with respect to the plane formed by the vertical rod (25) and the cross rod;

The front sliding rail (5) is equipped with a front laser positioner (3) for emitting laser lines into the positioning channel to be detected, and the side sliding rail (6) is equipped with a laser line for emitting laser lines into the positioning channel to be detected. Side laser positioner (4).
The laser positioning frame system according to claim 1, wherein the two vertical rods (25) are both equipped with a first laser positioner (1) and a second laser positioner for emitting laser lines into the positioning channel to be detected. Laser positioner (2); the plane formed by the laser lines emitted by the first laser positioner (1) and the second laser positioner (2) is used as a reference plane.
The laser positioning frame system according to claim 2, wherein the first laser positioner (1) and the second laser positioner (2) are a word line laser positioner or a cross-line laser positioner.
The laser positioning frame system according to any one of claims 1-3, characterized in that, between the front slide rail (5) and the front laser positioner (3), the side slide rail (6) and A locking device is arranged between the side laser positioners (4).
A laser positioning frame system, which is characterized by comprising two left and right slide rails (14, 15) arranged side by side on a base (22), and two slide rails (14, 15) which can slide along the A frame (100) that moves in the length direction of the rail, the frame (100) includes two vertical rods (25) and a horizontal rod, and a positioning channel to be detected is enclosed between the two vertical rods (25) and one horizontal rod;

The horizontal rod is equipped with a front laser positioner (3) for emitting laser lines into the positioning channel to be detected, and at least one vertical rod (25) is equipped with a side laser positioner (4) that emits laser lines into the positioning channel to be detected ).
The laser positioning frame system according to claim 5, characterized in that a locking device is provided between the bottom of the pole (25) and the sliding rails (14, 15) to lock the relative positions of the two.
The laser positioning frame system according to any one of claims 1-6, wherein the front laser positioner (3) and the side laser positioner (4) are in the same plane but the emitted laser lines are not parallel.
The laser positioning frame system according to any one of claims 1-7, wherein the front laser positioner (3) and the side laser positioner (4) can both coaxially rotate around their respective rotation centers.
The laser positioning frame system according to any one of claims 1-8, wherein the front laser positioner (3) and the side laser positioner (4) are a line laser positioner or a cross-line laser positioner. Locator.
The laser positioning frame system according to any one of claims 1-9, wherein a magnetic gantry is formed between the frame (100) and the base (22), and the magnetic gantry includes a ferromagnetic The base (22) of the gantry frame (22) and the gantry frame (100) set on the base (22), the bottom of the pole (25) of the gantry frame (100) is equipped with a rotary joint (24) that can lock the rotation angle, and a fixed The switch-type magnetic base (23) at the bottom of the rotary joint (24);

The switch-type magnetic base (23) can be moved to the target position on the base (22) and then locked, and the upright rod (25) can be rotated around the rotating joint (24) to the target position and then locked.
The laser positioning frame system according to claim 10, wherein the switch-type magnetic base (23) comprises a base body (28) and a base switch (29).
The laser positioning frame system according to claim 10, wherein the rotary joint (24) includes a joint body (26) and a joint switch (27).
The laser positioning frame system according to claim 10, wherein the rotation joint (24) is a single-degree-of-freedom joint with a lockable rotation angle.