CN117481815A - Intelligent puncture navigation system - Google Patents

Abstract

The invention belongs to the field of medical operation navigation, and relates to an intelligent puncture navigation system, which comprises medical imaging equipment, an upper computer, a positioning device and an intelligent puncture needle; the medical imaging device is used for acquiring a three-dimensional scanning image of the tissue to be penetrated; the upper computer is used for determining puncture information according to the three-dimensional scanning image; the positioning device is used for forming marks on the skin surface of the part to be punctured according to the puncture information; the intelligent puncture needle is used for puncturing according to the mark and puncture information and acquiring real-time angle information of the puncture needle; the upper computer is also used for monitoring the intelligent puncture needle according to the real-time angle information. The system can realize the navigation function without the image registration process, avoid puncture deviation or failure caused by image registration errors, is flexible to use, and improves the puncture efficiency and accuracy.

Description

An intelligent puncture navigation system

Technical field

The invention belongs to the field of medical surgical navigation, and specifically relates to an intelligent puncture navigation system.

Background technique

When internal lesions of the human body need to be biopsied or treated by puncture, the position of the lesion and the skin positioning point and the depth of the puncture needle can usually be determined with the help of a CT scanner. That is, the CT scanner is first used to measure the cross section of the human body. The location of the lesion is selected, and the optimal needle insertion position and needle insertion angle are selected at this level. The three-dimensional conformation of the needle insertion level, needle insertion angle, and needle insertion depth is used to determine the precise location of the lesion and puncture needle puncture. Although the CT scanner can accurately determine the three-dimensional needle insertion angle and depth, the puncture process is performed after the patient is removed from the CT scanning layer. When the patient leaves the CT scanner, the doctor can only use his or her own judgment. , determine a general needle insertion direction, perform puncture, and then conduct a CT scan to confirm. Due to many human factors, needle insertion is often inaccurate and affects the accuracy of treatment. Sometimes the needle needs to be inserted multiple times, and in severe cases, it may lead to mispuncture, causing great pain and risk to the patient.

In order to solve the above problems, the puncture surgery navigation system came into being. The puncture surgery navigation system consists of positioning, reconstructing three-dimensional image stereoposition and a robotic arm. The operator controls the system's robotic arm based on the original stored image data of the monitor, and the monitor can observe to the puncture needle channel, which improves puncture accuracy and safety. According to different positioning methods, the current puncture surgery navigation systems are divided into two types, one is the optical navigation system and the other is the magnetic navigation system. The optical navigation system uses two laser receivers to misalign and extract the position of the reflective positioning point on the human body for registration with the CT scan image. However, optical positioning is easily affected by occlusion, which leads to errors in matching the human body and the image. At the same time, after the puncture needle enters the human body, it is no longer possible to locate the needle tip. What is seen on the monitor is a virtual image, and it is actually impossible to truly determine whether the puncture is correct. The magnetic navigation system matches the human body and the image by collecting magnetic points attached to the human body. Although magnetic navigation can locate the needle tip by attaching magnetic substances to the needle tip, the magnetic receiver of magnetic navigation needs to be very close to the human body, which is easy to It interferes with the operation, and magnetic navigation is also very easily affected by electrical appliances, which in turn causes matching errors. The two puncture surgery navigation systems cannot display the angle information of the puncture needle. They can only determine the angle information of the robotic arm to estimate the angle of the puncture needle. They cannot display the angle of the puncture needle in real time. During the puncture process, the patient's position changes, the puncture accuracy will also change.

The robotic arm of the above-mentioned puncture surgery navigation system can guide the puncture needle to perform puncture at a set puncture angle during puncture. Although the robotic arm can guide the puncture direction and ensure that the puncture angle does not shift, it is very inflexible to adjust. The patient is generally required to remain still during puncture, but in fact, the human body cannot be completely still. The intestines, lungs, and trachea in the human body are all moving, so the puncture angle often needs to be adjusted during the puncture process. When the puncture needle part has entered the body, the adjustment of the puncture angle is not simply from one angle to another. Due to the clamping of the muscles, the deformation and rigidity of the puncture needle, etc., for example, it needs to be adjusted by 15 degrees. It may be necessary to adjust the puncture angle by 15 degrees. Press or push up the puncture needle 30 degrees or even 50 degrees, so that the 15-degree adjustment can be achieved when the puncture needle naturally rebounds. Therefore, it is inconvenient to use the above-mentioned robotic arm that can only guide a fixed puncture direction to guide puncture, and it cannot be adjusted in real time as needed. Moreover, the current puncture surgery navigation system is expensive and difficult to popularize.

Contents of the invention

In order to solve the above problems, the present invention provides an intelligent puncture navigation system.

In order to achieve the above objects, the present invention adopts the following technical solution: an intelligent puncture navigation system, including medical imaging equipment, a host computer, a positioning device, and an intelligent puncture needle; wherein: the medical imaging equipment is used to obtain three-dimensional images of the tissue to be punctured Scan the image; the host computer is used to determine puncture information based on the three-dimensional scan image; the positioning device is used to form a mark on the skin surface of the site to be punctured based on the puncture information; the smart puncture needle is used to determine puncture information based on the puncture information. The mark and the puncture information are used to puncture, and the real-time angle information of the puncture needle is obtained; the host computer is also used to monitor the smart puncture needle based on the real-time angle information.

Further, the host computer is also configured to form a simulation animation on the three-dimensional scan image based on the real-time angle information.

Further, monitoring the smart puncture needle according to the angle information includes: issuing an alarm message when the difference between the real-time puncture angle and the puncture information is greater than a first set angle value.

Further, the puncture information includes puncture point location, puncture angle and needle insertion depth.

Further, assuming that the puncture angle is a, the real-time angle information is b, the first set angle value is c, when b∈(a-c,a+c), the alarm information is the simulation In the animation, the puncture needle is displayed as the first set color; when b∉(a-c,a+c), the puncture needle is displayed as the second set color.

Further, the smart puncture needle includes a puncture needle, which is provided with a gyroscope, a Bluetooth module and a power module, and the gyroscope and the Bluetooth module are electrically connected to the power module respectively.

Further, the positioning device includes a first rail and a second rail, the first rail and the second rail are arranged directly above the scanning bed of the medical imaging equipment, wherein the first rail is parallel to the scanning bed. Set in the length direction, the second track is set perpendicular to the first track, and is set on the first track, and can slide along the first track driven by the first track; the lower side of the second track, A laser emitter is provided facing the scanning bed, and the laser emitter can move along the second track driven by it;

The positioning device also includes a microcontroller, the microcontroller and a wireless communication module, the wireless communication module and the laser transmitter are electrically connected to the microcontroller, and the microcontroller is used to control the third One orbit and said second orbit move.

Further, the intelligent puncture navigation system also includes a puncture needle fixing device, which includes a silicone fixing plate, an adjustment device and a hook; the adjustment device includes an adjustment rope and an adjustment buckle, and the adjustment buckle includes a lock buckle. body, one end of the adjustment rope is fixedly connected to the lock body, and passes through the lock body to be connected to the silicone fixing plate. The other end of the adjustment rope passes through the lock body and is connected to the lock body. The lock body is adjustable and connected, and one end of the hook is slidingly connected to the bend of the adjustment rope.

Further, the medical imaging equipment is CT or magnetic resonance imaging equipment.

Further, the positioning device, the smart puncture needle and the medical imaging equipment share a coordinate system.

The intelligent puncture navigation system of the present invention can automatically mark the location of the puncture point on the human body through the positioning device after obtaining the puncture information through the medical imaging equipment, obtain the real-time angle information of the puncture through the intelligent puncture needle, and monitor the puncture angle in real time. In turn, the key information during the puncture process, namely the location of the puncture point and the puncture angle, can be guided to accurately guide the puncture. The system is simple in composition, and medical imaging equipment is currently standard equipment in hospitals. As long as a positioning device, an intelligent puncture needle, and a host computer are installed, the system's puncture navigation function can be realized, which greatly reduces the diagnosis and treatment costs of the hospital and patients. This system can realize the navigation function without going through the image registration process, avoiding puncture deviation or failure caused by image registration errors. In addition, the use of smart puncture needles does not have to be limited to the constraints of the robotic arm. It can be flexibly used and adjusted according to the actual situation during the puncture process. It can measure and display puncture angle information on the host computer in real time according to changes in the human body during the operation, which greatly improves the efficiency of puncture. Efficiency and precision.

Description of the drawings

Figure 1 is a schematic diagram of the module structure of the intelligent puncture navigation system;

Figure 2 is a schematic diagram of the installation structure of the positioning device of the intelligent puncture navigation system;

Figure 3 is a schematic structural diagram of the positioning device of the intelligent puncture navigation system;

Figure 4 is a schematic structural diagram of Figure 3 with the frame removed;

Figure 5 is a structural schematic diagram of the puncture needle of the intelligent puncture navigation system;

Figure 6 is a schematic diagram of the partial structure of Figure 5 after the housing is hidden;

Figure 7 is a cross-sectional view of Figure 5;

Figure 8 is another structural schematic diagram of the puncture needle of the intelligent puncture navigation system;

Figure 9 is a schematic structural diagram of the housing in Figure 8;

Figure 10 is a cross-sectional view of Figure 9;

Figure 11 is a schematic structural diagram of the elastic clip;

Figure 12 is a schematic structural diagram of the first pogopin connector and the first pogopin connector;

Figure 13 is a schematic diagram of the arrangement of the holes on the housing;

Figure 14 is a schematic structural diagram of the cannula installed on the puncture needle;

Figure 15 is a schematic structural diagram of the casing;

Figure 16 is a schematic structural diagram of the second pogopin connection socket;

Figure 17 is a schematic structural diagram of the puncture needle fixation device;

Figure 18 is a cross-sectional view of the lock body;

Figure 19 is a schematic diagram of the OC coordinate system;

Figure 20 is a schematic diagram of the OU coordinate system;

In the above figure: 1-Medical imaging equipment; 11-Scanning bed; 2-Host computer; 3-Positioning device; 31-First track; 311-First frame; 312-First conveyor belt; 313-First motor; 32 -Second track; 321-Second frame; 322-Second conveyor belt; 323-Second motor; 33-Laser emitter; 34-Connecting plate; 4-Intelligent puncture needle; 41-Puncture needle; 411-Needle core; 412-needle sleeve; 4121-needle sleeve rod; 4122-needle sleeve handle; 41221-first installation plane; 41222-card slot; 42-casing; 421-second installation plane; 422-clamp block; 423-elastic clip ; 424-anti-slip protrusion; 425-first pogopin connector; 426-first pogopin connector; 427-second pogopin connector; 43-sleeve; 431-laser receiver; 432-second pogopin connector; 5-Puncture needle fixing device; 51-Silicone fixing plate; 511-Hanging ring; 52-Adjusting device; 521-Adjusting rope; 522-Lock body; 523-Adjusting button; 524-Fixed hook; 53-Hook.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.

There are two commonly used puncture surgery navigation systems in the existing technology, namely the optical navigation system and the magnetic navigation system. Both navigation systems can match the human body and virtual images, and can guide the puncture, making the puncture surgery intuitive and visual. . However, whether it is an optical navigation system or a magnetic navigation system, there is a process of matching with the virtual image, and it is very easy to produce matching errors, which will affect the subsequent puncture guidance process and even lead to puncture failure. Moreover, although the mechanical arm that guides puncture can theoretically be adjusted at multiple angles, it is often necessary to adjust the puncture angle during the puncture process. Since the puncture needle has partially entered the human body at this time, due to the clamping of muscles, and The rigidity and toughness of the puncture needle are affected. The adjustment process is not simply adjusting from one angle to another. For example, to adjust 15 degrees, you may need to press down or push up the puncture needle 30 degrees or even 50 degrees before it can be adjusted. The puncture needle achieves the purpose of adjusting 15 degrees when it naturally rebounds. In view of this situation, the above-mentioned robotic arm is inconvenient and inflexible to use. Moreover, the current puncture surgery navigation system is expensive and costly, but the actual effect is not good. Moreover, the matching process between the human body and the virtual image usually takes 30-40 minutes, which also increases the time and risk of the operation.

In order to solve the above problems, the present invention provides an intelligent puncture navigation system, as shown in Figure 1 , including a medical imaging device 1, a host computer 2, a positioning device 3 and an intelligent puncture needle 4.

The medical imaging device 1 is used to obtain a three-dimensional scan image of the tissue to be punctured. Medical imaging equipment is mainly CT or MRI equipment commonly used in hospitals. CT includes conventional CT equipment and cone beam CT (CBCT). Taking CT as an example, CT equipment is generally scanned to obtain a cross-sectional scan image of the human body, and the cross-sectional image can be reconstructed into a three-dimensional scan image.

The host computer 2 is used to determine puncture information based on the three-dimensional scan image. When the three-dimensional scan image of the tissue to be punctured is obtained through the medical imaging device 1, it will be transmitted to the host computer 2. The doctor will determine the puncture information based on the three-dimensional scan image on the host computer. First, determine the level of needle insertion, and determine the puncture path based on the anatomical structure and tumor location. The puncture path avoids important organs such as nerves, blood vessels, and bones. Then, the puncture information is further determined, including the puncture point location, puncture angle, and needle insertion depth.

The positioning device 3 is used to form a mark on the skin surface of the site to be punctured based on the puncture information. The positioning device 3 communicates with the host computer 2, transmits the coordinate information of the puncture point to the positioning device 3, and forms a linkage, which is mainly used to mark the location to be punctured on the surface of the skin to be punctured.

The smart puncture needle 4 is used to puncture according to the mark and the puncture information, and obtain real-time angle information of the smart puncture needle. Common puncture needles are equipped with scales, so when the doctor punctures, he can observe the depth of the needle at any time, but the puncture angle cannot be observed intuitively. Using the smart puncture needle 4 of the present invention for puncture can know the real-time puncture. angle. The smart puncture needle 4 integrates smart sensors, such as angle sensors, gyroscopes, etc., on ordinary puncture needles to form a smart puncture needle, which can obtain real-time angle information of the puncture needle during the puncture process.

The host computer 2 is also used to monitor the smart puncture needle based on the real-time angle information. After obtaining the real-time angle information of the smart puncture needle, the information is transmitted to the host computer 2, and the host computer 2 monitors the puncture angle of the puncture needle based on the real-time angle information.

When the intelligent puncture navigation system in the above embodiment is used, it first obtains a three-dimensional scan image of the site to be punctured based on the medical imaging device 1, and then the host computer 2 determines the puncture information based on the three-dimensional scan image. Puncture information generally includes puncture point location, puncture angle, and needle insertion depth. The system also includes a positioning device 3, which can form a mark on the skin surface of the site to be punctured based on the puncture information, that is, mark the location on the human skin based on the puncture point location information. At the same time, when using the smart puncture needle 4 for puncture, you can know the needle insertion depth by observing the scale value on the puncture needle. You can also obtain the real-time angle information of the puncture needle through the smart puncture needle 4, which can be used during the puncture process and puncture. By comparing the angle information, you can know whether the puncture angle deviates from the setting. In addition, the host computer 2 can also monitor the smart puncture needle based on real-time angle information to realize automatic monitoring of the puncture needle.

The intelligent puncture navigation system of the present invention can automatically mark the position of the puncture point on the human body through the positioning device 3 after obtaining the puncture information, obtain the real-time angle information of the puncture through the intelligent puncture needle 4, and monitor the puncture angle in real time. In turn, key information during the puncture process, namely the location of the puncture point and the puncture angle, can be provided to guide the puncture. The system is simple in composition. The medical imaging equipment and host computer are both standard equipment in the current hospital. As long as the positioning device 3 and the intelligent puncture needle 4 are installed, the puncture navigation function of the system can be realized, which greatly reduces the cost of the hospital and the patient. Diagnosis and treatment costs. This system can realize the navigation function without going through the image registration process, avoiding puncture deviation or failure caused by image registration errors. In addition, the use of the smart puncture needle 4 does not have to be limited to the constraints of the mechanical arm. It can be flexibly used and adjusted according to the actual situation during the puncture process, and can determine the next operation based on real-time angle information, which greatly improves the efficiency and accuracy of puncture.

Further, the host computer 2 is also configured to form a simulation animation on the three-dimensional scan image based on the real-time angle information. This simulation animation is mainly used to simulate the puncture process of the puncture needle, mainly the angle change process of the puncture needle. The difference between this simulation animation and the simulation animation in the puncture surgery navigation system in the prior art is that the simulation animation of the present invention collects the real-time angle information of the puncture needle and uses the real-time angle information to simulate the puncture needle. The angle change is a real-time monitoring behavior. However, the puncture surgery navigation system in the existing technology accurately matches the virtual human body in the simulation image with the real human body, and uses virtual image data to guide the puncture direction. This is a prior behavior and requires high accuracy, so it is easy to "mistake". "The slightest difference makes a thousand miles", in contrast, the real-time simulation used in the present invention is more instructive.

Further, monitoring the smart puncture needle according to the real-time angle information includes: issuing an alarm message when the angle difference between the real-time angle information and the puncture information is greater than a first set angle value. The alarm information may be one of a visual alarm, an audible alarm, or a combination of both. The visual alarm includes flashing lights, image color changes, etc., and the audible alarm includes beeps, voice prompts, etc.

In a specific embodiment, a specific manner of warning information is provided, and the warning information is a visual warning.

Assume that the puncture angle is a, the real-time angle information is b, and the first set angle value is c. When b ∈ (ac, a+c), the alarm information is the value in the simulation animation. The puncture needle is displayed in the first set color; when b ∉ (ac, a+c), the puncture needle is displayed in the second set color. For example, the first set color can be set to green, and the second set color can be set to red. When the puncture angle of the puncture needle is within the normal error range, the puncture needle is green in the virtual animation, indicating that the puncture is proceeding normally and the puncture can be continued safely. When the puncture angle exceeds the normal error range, the puncture needle turns red in the virtual animation, indicating that the puncture angle has shifted, prompting the doctor to correct the deviation.

In this embodiment, the specific structure of the positioning device 3 is provided to realize its function.

As shown in Figure 2, the positioning device 3 includes a first rail 31 and a second rail 32. The first rail 31 and the second rail 32 are arranged directly above the scanning bed 11 of the medical imaging equipment 1, wherein the first rail 31 is parallel Set in the length direction of the scanning bed 11, the second track 32 is set perpendicular to the first track 31, and is set on the first track 31, and can slide along it driven by the first track 31; the lower side of the second track 32, A laser transmitter 33 is provided facing the scanning bed 11, and the laser transmitter 33 can move along it driven by the second track 32; the positioning device 3 also includes a microcontroller and a wireless communication module, and the wireless communication module and the laser transmitter are connected with the second track 32. The microcontroller is electrically connected, and the microcontroller is used to control the movement of the first track 31 and the second track 32 .

During installation, the positioning device 3 needs to be placed facing the scanning bed 11 of the medical imaging equipment 1, as shown in Figure 2. For example, it can be fixed on the roof facing the scanning bed 11, with two rails set vertically, of which the first rail 31 is parallel. Disposed in the length direction of the scanning bed 11 , the second rail 32 is disposed on the first rail 31 and can slide along it driven by the first rail 31 . A laser emitter 33 is provided on the lower side of the second track 32 . The laser emitter 33 should be positioned directly opposite the scanning bed 11 so that the light emitted by the laser emitter 33 can shine on the patient lying on the scanning bed 11 . The laser emitter 33 is fixed on the second rail 32, and when the second rail 32 moves, it can drive the laser emitter 33 to move along it. In addition, the device also includes a microcontroller and a wireless communication module. The wireless communication module and the laser transmitter 33 are electrically connected to the microcontroller. The microcontroller is used to control the movement of the first track 31 and the second track 32 .

Before using this device, it must first be registered with the medical imaging device 1 to ensure that the coordinates of the two are consistent. When used, the doctor first determines the puncture point position and puncture angle based on the scanned image on the host computer 2. After determining the puncture point position, its spatial coordinates can be determined. At this time, the host computer 2 communicates wirelessly with the microcontroller and sends the coordinate information. To the microcontroller, the microcontroller controls the movement of the first track 31 and the second track 32 respectively according to the coordinate information of the puncture point, and adjusts the laser emitter 33 to the coordinate position. At this time, the microcontroller controls the laser emitter to emit laser. , the laser point hits the human body, which is the location of the puncture point.

This positioning device, by setting up automated equipment and linking with medical imaging equipment and host computers, can automatically mark the puncture point on the human body with a laser transmitter according to the spatial coordinate information of the puncture point after determining the puncture point. It is easy to use and Accurate, avoiding errors caused by manual measurement.

In a specific embodiment, a specific structure of the first track 31 is provided. As shown in Figure 3, the first track 31 includes a first frame 311 and a first conveyor belt 312. The first frame 311 is provided with rotating shafts at both inner ends. Both ends of the first conveyor belt 312 are fixed on the rotating shaft; a first motor 313 is provided on the first frame 311 for driving the rotating shaft to rotate; the first motor 313 is electrically connected to the microcontroller. By setting the specific structure of the conveying device, the microcontroller is able to control the movement of the first track 31 .

Furthermore, the plane formed by the center line of the first frame 311 and the center line of the scanning bed 11 is perpendicular to the scanning bed 11 . The center line of the first frame 311 refers to the center line along its length direction, and the center line of the scanning bed 11 is also the center line along its length direction. By setting the plane where the two are located perpendicular to the scanning bed 11, the first frame 311 is located on the scanning bed 11. Right above 11, it is convenient to match the coordinates of the medical imaging equipment 1 and the intelligent puncture positioning device 3.

Further, as shown in Figure 3, the second track 32 includes a second frame 321 and a second conveyor belt 322. The second frame 321 is slidingly connected to the first frame 311 and fixedly connected to the first track 31; the inside of the second frame 321 Rotating shafts are provided at both ends, and both ends of the second conveyor belt 322 are fixed on the rotating shafts; a second motor 323 is provided on the second frame 321 for driving the rotating shaft to rotate; the second motor 323 is electrically connected to the microcontroller. The second frame 321 is provided to be slidingly connected to the first frame 311 and fixedly connected to the first rail 31, so that the first frame 311 can bear the weight of the second frame 321 and the first conveyor belt 312 can drive the second frame 321. move.

This embodiment provides a specific structure in which the second frame 321 is disposed on the first frame 311. As shown in Figures 3 and 4, the second frame 321 is fixed on the connecting plate 34, and the connecting plate 34 is slidingly connected to the first frame 311. , and fixed on the second conveyor belt 322. The laser emitter 33 is fixed on the second conveyor belt 322.

Further, the laser emitter 33 is a cross laser emitter, which emits cross laser points to facilitate positioning.

In this embodiment, the specific structure of the smart puncture needle 4 is provided to realize its function.

The smart puncture needle 4 of this embodiment includes a puncture needle 41. The puncture needle 41 is provided with a gyroscope, a Bluetooth module and a power module. The gyroscope and the Bluetooth module are electrically connected to the power module respectively.

The smart puncture needle 4 is equipped with a gyroscope, a Bluetooth module and a power module. The gyroscope is used to pick up the angle between the puncture needle and the set reference plane; the Bluetooth module is used for wireless communication to transmit the detected angle information to the mobile phone. , host computer or tablet computer, etc.; the power module supplies power to the gyroscope and Bluetooth module.

By integrating the gyroscope, Bluetooth module and power module on the ordinary puncture needle, the puncture angle of the puncture needle can be detected in real time. Therefore, once the puncture angle deviates during puncture, it can be detected in time to avoid the puncture angle deviation. This may lead to puncture failure or puncture into blood vessels, bones or other important parts.

Further, as shown in Figure 5 or Figure 8, the puncture needle 41 is provided with a housing 42, and the gyroscope, Bluetooth module, and power module are all provided in the housing 42. When puncturing, it is very important for the puncture needle to be flexible and light. It must be small and symmetrical in weight. In order to meet this need, the cross section of the housing 42 is set to be an "n" shape. Through reasonable arrangement, both sides of the housing can be The weight is comparable while still retaining space for connecting cables.

Further, the gyroscope and Bluetooth module are integrated on the circuit board and are arranged on one side of the housing 42, and the power module is arranged on the other side of the housing 42, as shown in Figure 6. In addition, control switches such as electromagnetic switches and other chips can be integrated on the circuit board. In this way, the electronic components attached to the smart puncture needle are divided into two categories. One category is the gyroscope, Bluetooth module, etc., which can be integrated on the circuit board and disposed on one side of the casing 42, and the heavier power module is disposed on the casing. On the other side corresponding to 42, the weight can be balanced so that the weight on both sides of the housing 42 is roughly balanced. In addition, the connection between the power module and the circuit board can be arranged in the side wall connecting both sides of the housing 42.

In another embodiment, the housing-based structure provides another way for the power supply to power the circuit board. As shown in Figures 12 and 13, a first pogopin connector 425 is electrically connected to the circuit board, and a first pogopin connector 426 is electrically connected to the power supply. The first pogopin connector 425 and the first pogopin connector 426 are arranged and formed oppositely. Contact, the housing 42 is provided with a hole corresponding to the position where the first pogopin connector 425 and the first pogopin connection base 426 contact. The pogo pin connector includes a pogopin connector and a pogopin connection base. It is small in size and saves space. It is very suitable for use in the compact housing of the present invention without wiring and saving space. A hole is provided on the housing 42 corresponding to the contact position between the first pogopin connector 425 and the first pogopin connector 426, as shown in Figure 13. When not in use, a hole can be inserted between the first pogopin connector 425 and the first pogopin connector 425. An insulating paper piece is placed between the connection bases 426 to save electric energy. When used, the insulating paper piece can be removed to power on. This arrangement can turn on and off the power without installing a switch chip, saving space in the casing. , very convenient and practical.

Further, after the circuit board is fixed in the housing 42 , the plane where the circuit board is located is parallel to the axis of the puncture needle 41 . This design facilitates the gyroscope to pick up the rotation angle of the puncture needle 41 and simplifies the calculation process.

Furthermore, in a specific embodiment, a nine-axis Bluetooth module can be used to replace the Bluetooth module and the gyroscope. The nine-axis Bluetooth module is a chip that integrates the functions of the Bluetooth module and the gyroscope. The chip is compact in size. It has powerful functions and is very suitable for application in the smart puncture needle of the present invention.

Two specific embodiments are provided below to illustrate the installation method and position of the housing 42 on the puncture needle 41.

As shown in Figure 5, the puncture needle 41 generally includes a coaxial needle core 411 and a needle sleeve 412. Generally, the needle sleeve 412 includes a metal needle sleeve rod 4121 and a plastic needle sleeve handle 4122, both of which are injection molded or pasted. Fastened together. In a specific embodiment, the housing 42 is fixed on the needle sleeve handle 4122 of the puncture needle, as shown in FIG. 5 .

The lower end of the needle sleeve handle 4122 is thin, which can be easily connected to the needle sleeve rod 4121, and the upper end is thicker, which is convenient for grasping the puncture needle. The connection between the upper end and the lower end is in a gradual transition shape and gradually becomes thicker from bottom to top. The cross section of the housing 42 is "n" shaped. In order to adapt to the shape of the needle sleeve handle 4122, the housing 42 is configured to be larger at the top and smaller at the bottom, as shown in Figure 7 .

Further, as shown in Figures 5 and 7, the lower end of the needle sleeve handle 4122 is provided with a first mounting plane 41221 symmetrically on both sides, and a clamping groove 41222 is provided on the upper side of the first installation plane; The second mounting plane 421 matches the first mounting plane 41221, and a clamping block 422 matching the clamping slot is provided on the upper side of the second mounting plane 421.

By providing a first mounting plane 41221 at the lower end of the needle sleeve handle and a second mounting plane 421 on the inside of the housing 42, as well as matching slots 41222 and clamping blocks 422, the housing 42 can be easily fixed on the needle sleeve handle 4122. .

Further, the smart puncture needle also includes a sleeve 43. As shown in Figure 14, the sleeve 43 is detachably set outside the needle sleeve 412 of the puncture needle 41. The side wall of the sleeve 43 is provided with a flexible sleeve along its length direction. Circuit board, as shown in Figures 15 and 16, the flexible circuit board is provided with at least two laser receivers 431, corresponding to the laser receivers 431, the sleeve 43 is provided with a hole, and the end of the sleeve 43 is provided with a second pogopin The connector 432 and the second pogopin connector 432 are electrically connected to the flexible circuit board. A second pogopin connection seat 427 is provided on the lower side of the corresponding housing. The second pogopin connection seat 427 is electrically connected to the circuit board.

Since the lower end of the needle sleeve handle 4122 is thinner and the upper end is thicker, and the connection between the upper end and the lower end is in a gradual transition shape, the sleeve 43 can be detachably installed on the needle sleeve handle 4122, and is provided at the second end of the sleeve 43 The pogopin connector 432 corresponds to the second pogopin connector 427 provided on the lower side of the housing. When the sleeve 43 is fixed on the needle sleeve handle 4122, the second pogopin connector 432 can be inserted into the second pogopin connector 427. , to achieve electrical connectivity. In a specific embodiment, two laser receivers 431 are provided on the sleeve 43, and the two laser receivers 431 are provided along a straight line, which is parallel to the axis of the puncture needle.

The above settings are to complete the registration of the smart puncture needle and the medical imaging equipment. Taking CT equipment as an example, the registration of the CT equipment is to emit a laser at the set zero position. At this time, the doctor holds the laser on the smart puncture needle. The receiver 431 picks up the laser light. When the two laser receivers 431 located on the same straight line both pick up the laser light, the position is set as the zero point of the puncture needle.

During use, remove the insulating paper between the first pogopin connector 425 and the first pogopin connector 426, the smart puncture needle is powered on, and the second pogopin connector 432 and the second pogopin connector 427 are powered on and communicate. When the laser receiver When 431 receives the laser signal, it will transmit the information to the host computer through the Bluetooth module. When the host computer receives the signals transmitted by the two laser receivers 431 at the same time, the position of the puncture needle at this time is set to the zero position, realizing and automatic registration of medical imaging equipment.

In other embodiments, the housing 42 is detachably mounted on the needle sleeve shaft 4121 of the puncture needle. The detachable connection method is to facilitate the reuse of smart components. The cross section of the housing 42 is "n" shaped. In order to adapt to the shape of the needle sleeve rod 4121, the housing 42 has the same size from top to bottom, as shown in Figure 8.

As shown in FIG. 8 , an elastic clip 423 is provided inside the housing 42 for matching puncture needles of different thicknesses. As shown in Figure 11, the elastic clip 423 has an "n"-shaped cross section and is integrally formed from a metal sheet. The outer side of the elastic clip 423 is a right angle, the inner side is an arc shape, and the connection between the inner and outer sides is an arc-shaped transition. . It is integrally formed with a metal sheet, making it easy to use the mechanical deformation of the metal sheet to generate elasticity, thereby fixing the puncture needle. In order to adapt to the shape of the housing 42, the cross section of the elastic clip 423 is also "n" shaped, and the outside of the elastic clip 423 is a right angle. In order to adapt to the shape of the inside of the housing, the inside of the elastic clip 423 is arc-shaped. Adapts to the shape of the puncture needle.

As shown in Figures 9 and 10, a groove is provided on the rear side of the elastic clip 423, and a protrusion is provided on the inner side of the corresponding housing 42. The elastic clip 423 is fixed together by the protrusion and the groove.

In order to prevent slipping when grasped, anti-slip protrusions 424 are provided on the outside of the housing 42 .

The step-by-step acupuncture method in the prior art is to scan while puncturing to determine whether the puncture path is correct to avoid mistaken puncture. When scanning during the puncture process, in order to avoid radiation, the patient is scanned independently in the scanning room. At this time, the puncture needle has been partially inserted into the human body, so it is difficult to fix it. It is also impossible to determine whether the puncture needle was damaged due to human body movement or other factors during the scanning process. This causes the puncture direction to shift.

This embodiment provides a puncture needle fixing device 5 when the puncture needle has been partially inserted into the body during the puncture process. As shown in Figure 17 , it includes a silicone fixing plate 51, an adjustment device 52 and a hook 53. The adjustment device 52 includes an adjustment rope 521 and an adjustment buckle. The adjustment buckle includes a lock body 522 and an adjustment rope 521. One end of the adjustment rope 521 is fixedly connected to the lock body 522, and passes through the lock body 522 to be connected to the silicone fixing plate 51. The other end of the adjustment rope 521 passes through the lock body 522 and is adjustably connected to the lock body 522. One end of the hook 53 is slidingly connected to the bend of the adjustment rope 521.

The puncture needle fixing device includes a silicone fixing plate 51. The silicone fixing plate 51 is made of medical silicone, which is skin-friendly and soft, and can fit on the human skin without being affected by the shape of the skin. As long as the appropriate thickness and size are selected, It can support the puncture needle through its own gravity and friction with the skin. The hook 53 is used to hook the puncture needle. The hook 53 and the silicone fixing plate 51 are connected through an adjusting device 52. On the one hand, it is used to adjust the distance between the hook 53 and the silicone fixing plate 51. In addition, it is also used to adjust the hook 53. It plays a supporting role and facilitates the adjustment of the fixed angle of the puncture needle.

The adjustment device 52 includes an adjustment rope 521 and a lock body 522. Both ends of the adjustment rope 521 pass through the lock body 522, one end of which is fixed on the lock body 522 and connected to the silicone fixing plate 51, and the other end is in a position where the lock body 522 can be adjusted. In the adjusted state, the length of the free end located outside the lock body 522 can be adjusted, thereby adjusting the distance between the hook 53 and the silicone fixing plate 51, and one end of the hook 53 is slidingly connected to the bend of the adjustment rope 521 to ensure that the hook One end of 53 is always located near the midpoint of the bend.

When in use, first hook the hook 53 on the puncture needle to be fixed, then stretch the hook 53 and the adjustment device 52, stick the silicone fixing plate 51 to a suitable position on the patient's skin, and then fine-tune the length of the free end of the adjustment rope 521. Just adjust it to a suitable position and fix the puncture needle. In addition, you can also adjust the position of the hook 53 on the puncture needle, and then adjust the direction of fixing the puncture needle. The puncture needle fixing device can fix the puncture needle during puncture scanning without affecting the scanning process, and is convenient and quick to use.

In a specific embodiment, a specific structure of an adjustment device is provided. As shown in Figure 18, the lock body 522 is provided with a fixing hole and an adjustment hole correspondingly. One end of the adjustment rope 521 passes through the fixation hole and the silicone fixing plate 51. The adjustment rope 521 is fixedly connected to the fixed hole. The other end of the adjustment rope 521 passes through the adjustment hole. An adjustment button 523 is provided on the adjustment hole. When the adjustment button 523 is pressed, the adjustment rope 521 can move forward and backward along the adjustment hole. When loosened When the adjusting button 523 is opened, the adjusting rope 521 is fixed in the adjusting hole.

Further, as shown in Figure 18, the lower end of the adjusting button 523 is provided with a through hole. After the adjusting button 523 is installed on the lock body, the through hole is provided corresponding to the adjusting hole. The adjusting button 523 is fixed in the lock body 522 by a spring. The structure is simple and easy to operate.

Further, as shown in FIG. 17 , a hanging ring 511 is provided on one side of the silicone fixing plate 51 , a fixed hook 524 is provided on the fixed end of the adjustment rope 521 , and the fixed hook 524 is hooked in the hanging ring 511 .

In the present invention, a smart puncture needle 4 is used. Since the smart puncture needle is integrated with a smart chip, the weight of the needle sleeve handle 4122 becomes larger. When distributing the needle, if the puncture needle is not fixed, gravity will affect the puncture direction. has a greater impact, so a puncture needle fixing device 5 is provided to fix the smart puncture needle 4. Moreover, since the real-time angle information of the puncture needle can be obtained in real time, it can be known whether the puncture angle has shifted during the step-by-step needle scanning process, which can ensure the accuracy of subsequent punctures.

In addition, a special robotic arm can also be configured, such as a six-axis robotic arm to fix the smart puncture needle 4, which is more flexible and convenient to adjust. The robotic arm can be made of carbon steel to avoid interfering with the normal work of medical imaging equipment. Unlike the robotic arms used in optical navigation and magnetic navigation systems, the robotic arm used in the intelligent puncture navigation system does not require angle display or guided puncture. It only plays a supporting and fixing role.

In order to simplify calculations and improve coordination between components, the present invention uses trinity coordinates, that is, the positioning device 3, the smart puncture needle 4 and the medical imaging device 1 share a coordinate system, and all use the coordinate system of the medical imaging device 1. When medical imaging equipment is installed, the installation environment will be adjusted, such as the horizontal plane (ground), installation orientation, etc., so it is most reasonable to match the coordinate system of the positioning device 3 and the smart puncture needle 4 with the coordinate system of the medical imaging equipment. After registration, the physical entity is accurately mapped to the virtual entity, and then the free observation characteristics of the virtual space are used to guide the puncture service of the entity.

The specific implementation principle is described using CT as an example, which involves the relationship and mutual conversion of multiple coordinate systems. Among them, the OC coordinate system is shown in Figure 19; the OU coordinate system is shown in Figure 20. Specific steps are as follows:

①The Cartesian coordinate system of CT: C (x, y, z), OC (xC, yC, zC), the coordinate origin is located at a point in the air where the CT cross laser is directly irradiated when the CT bed is reset;

②The Cartesian coordinate system of positioning device 3: L(x,z), OL(xL,zL), the coordinate origin is located at the center of positioning device 3;

③The left-handed three-dimensional Cartesian coordinate system of the virtual space: U(x,y,z), OU(xU,yU,zU), the coordinate origin is located at the spatial position of the needle tip in the virtual space;

④The right-hand three-dimensional Cartesian coordinate system of the body: P(x,y,z), OP(xP,yP,zP), the origin of the coordinates is located at the spatial location of the skin needle entry point;

⑤The one-dimensional coordinate axis of the smart puncture needle 4: N (s), ON (sN), and the coordinate origin is located at the needle tip.

The steps for converting between coordinates are as follows:

The first step: establish the CT coordinate system OC, as shown in Figure 19.

Step 2: Establish the OL coordinate system, in which the xL axis is parallel to the xC axis and has the same direction; the zL axis is parallel to the zC axis and has the same direction.

Step 3: Establish the mapping from OL to OC.

After the positioning device 3 is installed, use the host computer 2 to control the positioning device 3 to return to the coordinate origin position, turn on the laser transmitter 33, place the debugging board on the CT bed, make the laser coincide with the metal cross, and then keep the position of the debugging board unchanged. Perform a CT scan on the debugging board, and read the coordinates OC (x0, y0, z0) of the metal cross center point of the debugging board on the CT software, thereby establishing a mapping relationship from OC to OL - OL (0,0,0) in The coordinates in OC are OC(x0,y0+h,z0), where h is a constant and does not need to be measured.

When the CT bed moves a distance s1 in the negative direction of the z-axis, the coordinates of OL(0,0,0) in the CT remain unchanged and are still OC(x0, y0+h, z0).

Step 4: Establish the OP coordinate system and establish the mapping from OP to OC.

After the CT scan is completed, the CT bed returns to the initial position. At this time, the OP coordinate system and the OC coordinate system completely coincide. The coordinates of OP (xP, yP, zP) in the CT are OC (xC, yC, zC). When the CT bed moves a distance s1 in the negative direction of the z-axis, the coordinates of OP(xP,yP,zP) in CT are OC(xC,yC,zC-s1);

After the CT scan, the optimal puncture path, skin puncture point and puncture angle are planned according to the location of the lesion and avoiding important tissues and organs around the lesion. Find the coordinates (xC1, yC1, zC1) of the point to be punctured P1 on the CT image, and the corresponding coordinates (xC2, yC2, zC2) of the skin needle entry point P2, and measure the side inclination angle θ and when puncturing from P2 to P1 The pitch angle α is defined as the angle between the central axis of the needle body and the negative direction of the yC axis. Its value is always non-negative and ranges from [0,180] degrees. where θ is measured in CT cross-sectional images and α is measured in CT sagittal images.

When the CT bed moves a distance s1 in the negative direction of the z-axis, the coordinates of P1 in the OC coordinate system are (xC1, yC1, zC1-s1), and the coordinates of P2 in the OC coordinate system are (xC2, yC2, zC2-s1). The roll angle θ and pitch angle α remain unchanged.

Step 5: Establish the mapping from OP to OL.

When the CT bed moves a distance s1 in the negative direction of the z-axis, the coordinates of the skin needle entry point P2 in the OC coordinate system are (xC2, yC2, zC2-s1), which corresponds to the coordinates in the OL coordinate system as OL (xC2-x0 , zC2-s1-z0). The significance of these coordinates is to operate the center of the laser emitter 33 of the positioning device 3 to move to the planned skin needle entry point.

Step 6: Establish the OU coordinate system and establish the mapping from OC to OU.

The OU coordinate system is established when Unity3D is started. The origin of the OU coordinate system is at the skin needle entry point. The xU axis and the xC axis are parallel and in the same direction. The yU axis is parallel but opposite to the yC axis. The zU axis is parallel but opposite to the zC axis. When the roll angle θ and pitch angle α are calculated in the OU coordinate system, the angle between the central axis of the needle body and the positive direction of the yU axis is used. Its value is always non-negative and ranges from [0,180] degrees. In the OU coordinate system, the origin of the OU coordinate system always coincides with the skin needle entry point. Since the x-axis direction of the OU coordinate system is the same as that of the OC coordinate system, and the y- and z-axis directions are opposite, in the OU coordinate system, the position deviation between the puncture point P1 and the skin needle entry point P2 is Δx, -Δy, -Δz, then The position of P1 in the OU coordinate system is OU (xC1-xC2, yC2-yC1, zC2-zC1).

Step 7: Establish the ON coordinate axis and establish the mapping from ON to OU.

The ON coordinate axis is directly photoengraved on the needle body, with the needle tip as the coordinate origin, the needle body central axis as the s-axis, the needle tail direction as positive, and any point is located at the coordinate ON (sN). The function of this axis is to guide the depth of needle insertion, and the depth value is measured directly from the CT image. During the puncture process, there are two CT scans to verify the direction. Before scanning, the needle body scale value sN can be read and input into the host computer software to obtain the relative position of the current puncture needle and the point to be punctured. However, since the puncture needle may tip over and the spatial position of the needle insertion point will change, the spatial position of the puncture needle displayed in the host computer software will have a certain deviation. It is for reference only. The specific position is based on the CT scan image (the error here is does not affect the accuracy of the final puncture). When the position of the skin needle entry point P2 does not change ideally, the coordinates of the puncture needle tip in OU are OU(±tanθ*sN/sqrt(1+tan2α+tan2θ), -sN/sqrt(1+tan2α+tan2θ), ±tanα*sN/sqrt(1+tan2α+tan2θ)), and the central axis of the needle body passes through OU(0,0,0).

Values that need to be entered into the host computer software:

System debugging stage: enter three values x0, y0, z0 (record the relative position relationship between CT and positioning device);

Use stage: z1 value, xC1, yC1, zC1 value, xC2, yC2, zC2 value, needle insertion depth sN.

The calculation of the needle's spatial attitude is based on the quaternion data generated by the six-axis attitude sensor, which is transmitted to the host computer via Bluetooth. The host computer software is based on the Unity3D engine to calculate and display the spatial posture of the needle. When the Unity3D engine is initialized, the central axis of the needle body is parallel to the z-axis, and the needle tip faces the negative direction of the z-axis. Since the negative y-axis direction of the six-axis attitude sensor chip faces the direction of the needle tip, the negative z-axis direction faces the center of the earth, and it belongs to the right-handed coordinate system. Therefore, the quaternion output by the chip should be converted from (w,x,y,z) to (x,z,y,-w) when input to the Unity3D left-hand coordinate system.

The display of the needle posture is based on the Quaternion.RotateTowards function of Unity3D. This function can realize the rotation of the object from the initial position to the given quaternion position. In this software, it is the quaternion (0,0,0,0) to Rotation of (x,z,y,-w).

The calculation of the needle body roll angle θ and pitch angle α is also based on quaternions. The specific method is to left-multiply the initial unit vector v1 (0, 0, 1) of the needle body central axis in the OU coordinate system by the above (0, 0, 0,0) to (x, z, y, -w), the vector v2 (x2, y2, z2) after the rotation of the central axis of the needle body is obtained. Then the roll angle θ=90-arcsin(y2/sqrt(y2*y2+x2*x2))/π*180, the pitch angle α=90-arcsin(y2/sqrt(y2*y2+z2*z2))/π *180.

According to the above, the position of the point to be punctured P1 in the OU coordinate system is OU (xC1-xC2, yC2-yC1, zC2-zC1), and the position of the needle tip in the OU coordinate system is OU (±tanθ*sN/sqrt(1+tan2α +tan2θ),-sN/sqrt(1+tan2α+tan2θ),±tanα*sN/sqrt(1+tan2α+tan2θ)), the needle body always rotates around the OU coordinate system coordinates OU(0, 0,0) for rotation.

It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the protection scope of the appended claims of the present invention.

Claims (10)

1. An intelligent puncture navigation system is characterized by comprising medical imaging equipment, an upper computer, a positioning device and an intelligent puncture needle; wherein:

the medical imaging device is used for acquiring a three-dimensional scanning image of the tissue to be penetrated;

the upper computer is used for determining puncture information according to the three-dimensional scanning image;

the positioning device is used for forming marks on the skin surface of the part to be punctured according to the puncture information;

the intelligent puncture needle is used for puncturing according to the mark and the puncture information and acquiring real-time angle information of the intelligent puncture needle;

The upper computer is also used for monitoring the intelligent puncture needle according to the real-time angle information.

2. The intelligent penetration navigation system of claim 1, wherein the host computer is further configured to form a simulated animation on the three-dimensional scanned image based on the real-time angle information.

3. The intelligent puncture navigation system of claim 2, wherein monitoring the intelligent puncture needle based on the real-time angle information comprises: and when the angle difference value between the real-time angle information and the puncture information is larger than a first set angle value, sending out alarm information.

4. The intelligent penetration navigation system of claim 3, wherein the penetration information includes a penetration point location, a penetration angle, and a penetration depth.

5. The intelligent puncture navigation system according to claim 4, wherein the puncture angle is a, the real-time angle information is b, the first set angle value is c, and when b∈(a-c, a+c) displaying the alarm information as a first set color for the puncture needle in the simulation animation; when b∉(a-c, a+c) displaying the puncture needle as a second set color.

6. The intelligent puncture navigation system according to claim 5, wherein the intelligent puncture needle comprises a puncture needle, a gyroscope, a Bluetooth module and a power module are arranged on the puncture needle, and the gyroscope and the Bluetooth module are respectively and electrically connected with the power module.

7. The intelligent penetration navigation system of claim 6, wherein the positioning device comprises a first rail and a second rail, the first rail and the second rail are arranged right above a scanning bed of the medical imaging device, wherein the first rail is arranged parallel to the length direction of the scanning bed, and the second rail is arranged perpendicular to the first rail and arranged on the first rail and can slide along the first rail under the drive of the first rail; the lower side of the second track is provided with a laser emitter opposite to the scanning bed, and the laser emitter can move along the second track under the drive of the second track;

the positioning device further comprises a microcontroller and a wireless communication module, wherein the wireless communication module and the laser transmitter are respectively and electrically connected with the microcontroller, and the microcontroller is further used for controlling the first track and the second track to move.

8. The intelligent penetration navigation system of claim 7, further comprising a penetration needle fixture comprising a silica gel fixture plate, an adjustment device, and a hook; the adjusting device comprises an adjusting rope and an adjusting buckle, the adjusting buckle comprises a lock catch body, one end of the adjusting rope is fixedly connected with the lock catch body and penetrates through the lock catch body to be connected with the silica gel fixing plate, the other end of the adjusting rope penetrates through the lock catch body and is connected with the lock catch body in an adjustable mode, and one end of the hook is connected with a bent portion of the adjusting rope in a sliding mode.

9. The intelligent penetration navigation system of claim 8, wherein the medical imaging device is a CT or a magnetic resonance imaging device.

10. The intelligent penetration navigation system of claim 9, wherein the positioning device, the intelligent penetration needle and the medical imaging device share a coordinate system.