WO2021253943A1 - Système de cadre de localisation laser - Google Patents

Système de cadre de localisation laser Download PDF

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Publication number
WO2021253943A1
WO2021253943A1 PCT/CN2021/086623 CN2021086623W WO2021253943A1 WO 2021253943 A1 WO2021253943 A1 WO 2021253943A1 CN 2021086623 W CN2021086623 W CN 2021086623W WO 2021253943 A1 WO2021253943 A1 WO 2021253943A1
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WO
WIPO (PCT)
Prior art keywords
laser
positioner
base
positioning
frame system
Prior art date
Application number
PCT/CN2021/086623
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202021097830.8U external-priority patent/CN213249817U/zh
Priority claimed from CN202021098499.1U external-priority patent/CN213189971U/zh
Priority claimed from CN202120307853.5U external-priority patent/CN215079876U/zh
Application filed by 湖南卓世创思科技有限公司 filed Critical 湖南卓世创思科技有限公司
Publication of WO2021253943A1 publication Critical patent/WO2021253943A1/fr

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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
    • 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
    • A61B90/13—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 guided by light, e.g. laser pointers

Definitions

  • the invention relates to a laser positioning frame system, which is arranged outside the body and used for locating lesions in the body.
  • 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.
  • 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.
  • 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);
  • 3D printing technology can be regarded as a simple version of neuronavigation.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • the side sliding rail is equipped with a side laser positioner for emitting laser lines into the positioning channel to be detected.
  • the present invention can be further optimized, and the following is the technical solution formed after optimization:
  • 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.
  • the first laser positioner and the second laser positioner are in-line laser positioners or cross-line laser positioners.
  • 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.
  • both the front laser positioner and the side laser positioner can rotate coaxially around their respective rotation centers.
  • the front laser positioner and the side laser positioner are in-line laser positioners or cross-line laser positioners.
  • 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.
  • 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.
  • 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.
  • both the front laser positioner and the side laser positioner can rotate coaxially around their respective rotation centers.
  • 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 front laser positioner and the side laser positioner are in-line laser positioners or cross-line laser positioners.
  • 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.
  • a magnetic gantry can be formed between the frame and the base, and the magnetic gantry includes a ferromagnetic
  • 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.
  • the switch-type magnetic base includes a base body and a base switch.
  • the seat body can be quickly locked after being moved into position.
  • 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.
  • the rotation joint is a single-degree-of-freedom joint with a lockable rotation angle.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • both the first laser positioner 2 and the second laser positioner 3 can be rotated.
  • 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:
  • 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.
  • 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.
  • the 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. .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • both the front laser positioner 3 and the side laser positioner 4 can be rotated.
  • 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:
  • the frame 100 and the base 22 can also be designed as a magnetic gantry as described in the first embodiment.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
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Abstract

Selon l'invention, un système de cadre de localisation laser comprend une base (22) et un cadre (100) monté sur la base (22), le cadre (100) comportant deux tiges verticales (25) et une tige transversale ; les deux tiges verticales (25) et la tige transversale délimitent un canal de localisation en attente d'inspection ; un dispositif de localisation laser, servant à émettre des rayons laser dans ledit canal de localisation, est monté sur un rail coulissant, ou un localisateur laser, servant à émettre des rayons laser dans ledit canal de localisation, est monté sur le cadre. Le système de cadre de localisation de la présente invention peut aider rapidement à déterminer un angle de perforation simulé et une profondeur de perforation simulée selon une image de film en clair de tomodensitométrie ou par résonance magnétique, est peu coûteux tout en étant simple et pratique à utiliser.
PCT/CN2021/086623 2020-06-15 2021-04-12 Système de cadre de localisation laser WO2021253943A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
CN202021098499.1 2020-06-15
CN202021097830.8U CN213249817U (zh) 2020-06-15 2020-06-15 激光定位框架结构
CN202021098499.1U CN213189971U (zh) 2020-06-15 2020-06-15 激光定位系统
CN202021097830.8 2020-06-15
CN202120307853.5U CN215079876U (zh) 2021-02-03 2021-02-03 磁吸龙门架
CN202120307853.5 2021-02-03

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WO2021253943A1 true WO2021253943A1 (fr) 2021-12-23

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PCT/CN2021/086623 WO2021253943A1 (fr) 2020-06-15 2021-04-12 Système de cadre de localisation laser

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114948261A (zh) * 2022-04-27 2022-08-30 深圳市萨米医疗中心 基于影像数据的精准定位方法
CN115500868A (zh) * 2022-11-09 2022-12-23 中南大学 可与被探测目标进行位置信息交互确认的b超定位系统
WO2024098804A1 (fr) * 2022-11-07 2024-05-16 中南大学 Système de navigation d'endoscope

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EP0687443B1 (fr) * 1994-06-17 1999-12-15 LAP GmbH Laser Applikationen Dispositif de positionnement et repérage d'un patient pour les appareils diagnostiques avant et après l'examen dans un appareil tomographie
CN201006198Y (zh) * 2007-03-01 2008-01-16 姚毅 用于立体定位放疗的激光定位装置
CN201223448Y (zh) * 2008-06-18 2009-04-22 山东新华医疗器械股份有限公司 移动式激光定位系统
CN202478416U (zh) * 2012-02-24 2012-10-10 南京市第一医院 病人体位在体模固定板上的定位复位架
CN204364086U (zh) * 2014-12-10 2015-06-03 万恒 便于操控的ct引导下的自动穿刺定位仪
CN207837652U (zh) * 2017-06-16 2018-09-11 郑树法 一种基于pacs系统的脑立体定向装置
CN108671420A (zh) * 2018-06-11 2018-10-19 南京市第医院 一种对病人在体模固定板上位置进行复位的定位架
CN208065283U (zh) * 2018-01-15 2018-11-09 葛汝武 一种医用妇科腹腔镜角度调整支架
CN209422783U (zh) * 2018-09-20 2019-09-24 成都真实维度科技有限公司 一种采用激光引导放射性粒子植入肿瘤的装置
CN110353775A (zh) * 2019-07-05 2019-10-22 张凌云 一种连续扫描截面升维空间定位方法

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0687443B1 (fr) * 1994-06-17 1999-12-15 LAP GmbH Laser Applikationen Dispositif de positionnement et repérage d'un patient pour les appareils diagnostiques avant et après l'examen dans un appareil tomographie
CN201006198Y (zh) * 2007-03-01 2008-01-16 姚毅 用于立体定位放疗的激光定位装置
CN201223448Y (zh) * 2008-06-18 2009-04-22 山东新华医疗器械股份有限公司 移动式激光定位系统
CN202478416U (zh) * 2012-02-24 2012-10-10 南京市第一医院 病人体位在体模固定板上的定位复位架
CN204364086U (zh) * 2014-12-10 2015-06-03 万恒 便于操控的ct引导下的自动穿刺定位仪
CN207837652U (zh) * 2017-06-16 2018-09-11 郑树法 一种基于pacs系统的脑立体定向装置
CN208065283U (zh) * 2018-01-15 2018-11-09 葛汝武 一种医用妇科腹腔镜角度调整支架
CN108671420A (zh) * 2018-06-11 2018-10-19 南京市第医院 一种对病人在体模固定板上位置进行复位的定位架
CN209422783U (zh) * 2018-09-20 2019-09-24 成都真实维度科技有限公司 一种采用激光引导放射性粒子植入肿瘤的装置
CN110353775A (zh) * 2019-07-05 2019-10-22 张凌云 一种连续扫描截面升维空间定位方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114948261A (zh) * 2022-04-27 2022-08-30 深圳市萨米医疗中心 基于影像数据的精准定位方法
WO2024098804A1 (fr) * 2022-11-07 2024-05-16 中南大学 Système de navigation d'endoscope
CN115500868A (zh) * 2022-11-09 2022-12-23 中南大学 可与被探测目标进行位置信息交互确认的b超定位系统

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