CN100386060C - Extraneous directional guiding device for internal target and positioning method - Google Patents
Extraneous directional guiding device for internal target and positioning method Download PDFInfo
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- CN100386060C CN100386060C CNB2004101015142A CN200410101514A CN100386060C CN 100386060 C CN100386060 C CN 100386060C CN B2004101015142 A CNB2004101015142 A CN B2004101015142A CN 200410101514 A CN200410101514 A CN 200410101514A CN 100386060 C CN100386060 C CN 100386060C
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Abstract
The present invention belongs to the field of medical appliances. A directional guiding device of the present invention is composed of a guiding tripod head with a datum line mark, an inclination angle regulating mechanism, a linearity mobile mechanism, a coordinate rotating mechanism, a plane regulator, a bracket, a housing and a control system. The present invention has the principle of the positioning method that treating targets in human bodies and a minimally invasive puncture path thereof are obtained by means of the space coordinate system and the treatment plan on which medical image appliances, such as CT, MPL and ultrasonography B, and the technique of the treatment plan are founded. The space coordinate is precisely repeated by the directional guiding device, the datum line mark is regulated by the inclination angle regulating mechanism in the unified space coordinate to reach a space inclination angle which the minimally invasive puncture path has, and the datum line mark is butted with the minimally invasive puncture path in the body surface of a human body. Now the datum line mark becomes an extension line of the minimally invasive puncture path in vitro, and realizes the directional guidance.
Description
Technical field
The invention belongs to a kind of medical apparatus and instruments.
Background technology
Along with the development Wicresoft targeted therapy method of Medical Technology is progressively expanded, can substitute many grooves and detect and treat operation, saved operating time and expense, also reduced patient suffering and spending.But how under the external noinvasive situation of patient, realize target position in patient's body determine and guiding puncture is the key of above-mentioned operation success or not.
Present domestic minority hospital adopts image documentation equipments such as the electronic laser navigation frame of import and CT machine to be used, and can realize body internal target point location and guiding.The service condition harshness is difficult to promote but import equipment costs an arm and a leg.The brain positioner of domestic present exploitation carries out space orientation with mechanical means, is difficult to adapt to the body location.
So body Wicresoft targeted therapy generally still relies on experienced operative doctor at present, the target position of describing with reference to medical image carries out blind wearing.Its accuracy and reliability all is difficult to guarantee.Often need to puncture with correction of deviation repeatedly if error occurs.
And in fact along with the popularizing of computer technology, data description can be carried out by image processing techniques in the position of patient's internal lesions.Present sophisticated image processing techniques not only can obtain whole spatial position data of patient's internal lesions target spot, but also can pass through treatment plan, determines the puncture path and the related data thereof of target spot quantity and each target spot.
Summary of the invention
The purpose of this invention is to provide a kind of convenient, fast, accurate external location aid device.Can make the doctor under the equipment guiding, carry out external location fast, solve problems such as external setting accuracy is poor, required time is long.
A kind of extraneous directional guiding device for internal target of the present invention, it comprises: the guiding The Cloud Terrace that is provided with datum line; The guiding The Cloud Terrace is carried out the incidence regulating mechanism that the inclination angle is adjusted; The rotation of coordinate device of control guiding The Cloud Terrace analog image device coordinate system; Be installed on the plane regulating device and the auxiliary body of base, auxiliary body comprises linear moving mechanism, control system, support and housing.
The guiding The Cloud Terrace is provided with the datum mark that promising puncture needle provides directional guide, and this sign is made of ruby laser bundle or line slideway, and it axially must be vertical with guiding The Cloud Terrace datum plane.
The guiding The Cloud Terrace is provided with the gradient of sensing directional The Cloud Terrace datum plane, guarantees the accurate obliquity sensor in inclination angle, datum plane space.
Incidence regulating mechanism connects also vertically disposed mutually two motors up and down and forms by realizing what two-dimentional inclination angle was adjusted, and the bottom of lower motor connects the guiding The Cloud Terrace.
Rotation of coordinate device and plane actuator be arranged at respectively can make on the integrally rotated axle center of incidence regulating mechanism and the base of whole equipment on; The rotation of coordinate device constitutes perpendicular to incidence regulating mechanism and by motor-driven rotating shaft by one; The plane regulating device is made of three pillars that can stretch and a flat surface sensor of being arranged on the base.
Of the present inventionly a kind of target spot in the body is used the localization method of in-vitro directed guiding device, its step comprises:
1., by the medical image tomoscan, know patient's internal lesions information, and carry out the focus three-dimensional reconstruction, by introducing coordinate systems in image and scale, know the data description of focus;
2., determine patient's intralesional treatment target spot quantity, position and access path, and make corresponding body surface labelling according to linked groups in the result in last step and drug action mechanism, treatment skill, the body;
3., will make a virtual straight line between each treatment target spot and corresponding body surface labelling thereof, this straight line i.e. the treatment path baseline of target spot for this reason, according to coordinate systems in image and scale, records the inclination angle, space and the length of base of baseline;
4., be this guiding device of inclination angle, image documentation equipment datum plane space value input that benchmark will predict with the geodetic coordinates, the plane regulating device action of accurate this guiding device of control makes the basic plane of this guiding device parallel with the image documentation equipment datum plane; Regulate and control this guiding device rotation of coordinate device again, allow the corresponding two-dimensional coordinate axle of other two-dimensional coordinate axle and image documentation equipment parallel, make the adjustment directional guiding device frame of reference consistent with coordinate systems in image; Again the inclination angle, The Cloud Terrace datum line space of this directional guiding device is adjusted to consistent with inclination angle, the space height for the treatment of the path baseline, pass through the linear locomotive function of directional guiding device then, the guiding The Cloud Terrace datum line of directional guiding device is aimed at patient's body surface labelling; Then the guiding The Cloud Terrace datum line of directional guiding device is exactly the external extended line of specific target treatment path baseline in patient's body.As the leading beacon directrix of mis instruments axis, determine the foundation of length as treatment path baseline with the datum line of guiding The Cloud Terrace, can realize the localised puncture of specific target spot with the scale on the mis instruments.
The present invention has following advantage and good effect:
1, realize the external pinpoint function of target spot in the body, promptly specific to inside of human body point of care (target spot) is not dissected just at the external measurement and positioning that carries out by human body, and by the indication of equipment travel direction, the guiding mis instruments;
2, accurately determine operation pathway;
3, use cost is low, and method is simple and practical;
4, improved the medical resource utilization rate.
Description of drawings
Fig. 1 is an extraneous directional guiding device for internal target structure principle chart of the present invention.
Fig. 2 is a treatment of the present invention path sketch map.
Fig. 3 is an incidence regulating mechanism structure chart of the present invention.
Fig. 4 is a plane regulating device structure chart of the present invention.
The specific embodiment
Because the inside of human body focus is under the situation of not dissecting, can't observe directly external, therefore external also just can't transdermal and the obstruct of muscle, accurately find its position in vivo.The operation of blindly puncturing, being difficult to guarantees to puncture puts in place, and risk is very big.Must avoid passing the skeleton and the vitals that maybe must not pass still more when puncture, its difficulty is just bigger.
Utilize the medical image technology to carry out the internal lesions three-dimensional reconstruction at present, utilize the treatment plan technology to treat the target spot setting, the treatment path determines and spatial position measuring and data output that the data that can obtain each target treatment information are guided.
Therefore, at first obtain the corresponding data of patient's body internal target space of points position, and according to the corresponding relation of these data at external reproduction and target spot, and, just can realize accurately arriving the purpose of target spot in these data of the external realization of patient.
The present invention is according to medical science fault image and image processing techniques, the treatment plan technology.At first determine the quantity of patient's interior therapeutic target spot and the treatment plan path of locus and each target spot.This technology is relatively ripe.
On above-mentioned processing basis, can mark the correspondence markings of each target spot at patient's body surface.At this moment, the line between each target spot body surface labelling corresponding with it is exactly the treatment plan path, in fact is exactly the puncture path of each target spot.
The acquisition of the external extended line of above-mentioned puncture path, then need one can the accurate orienting device that reappears puncture path orientation and inclination angle, space.As long as will import orienting device from the straight line spatial position data that medical image obtains, then orienting device just can search out the external extended line of puncture path according to these data.
Searching out on the external extended line basis of puncture path, be benchmark with this extended line, cooperate to indicate graduated puncture needle, the depth value puncture that provides by image puts in place, can accurately arrive target spot.(see figure 2)
Localization method of the present invention is made up of following steps:
The three-dimensional reconstruction of A, focus---by the medical image tomoscan, know patient's internal lesions (target area) information, and carry out the focus three-dimensional reconstruction.By introducing coordinate systems in image and scale, obtain the data description of focus.
B, formulate treatment plan---determine patient's focus (target area) internal therapy point (target spot) quantity, position and access path according to linked groups's (organ) in the result of three-dimensional reconstruction and drug action mechanism, treatment skill, the body, finally determine medicament categories and patient's body surface the pin mark of going into, and make the body surface labelling with respect to each target spot;
C, determine treatment path baseline---on the basis of above-mentioned treatment plan, will each treatment target spot and corresponding body surface labelling between make a virtual straight line.This straight line i.e. the treatment path baseline of target spot for this reason.According to coordinate systems in image and scale, record the inclination angle, space and the length of base of baseline.
D, in-vitro directed---adopt directional guiding device of the present invention, with the earth level is this guiding device of inclination angle, image documentation equipment datum plane space value input that benchmark will predict, the plane regulating device action of accurate this guiding device of control makes the basic plane of this guiding device parallel with the image documentation equipment datum plane; Regulate and control this guiding device rotation of coordinate device again, allow the corresponding two-dimensional coordinate axle of other two-dimensional coordinate axle and image documentation equipment parallel; It is consistent with coordinate systems in image to reach the adjustment directional guiding device frame of reference.Accurately control guiding The Cloud Terrace inclination angle is adjusted to the inclination angle, space of The Cloud Terrace datum line and the consistent purpose of inclination angle, space height for the treatment of the path baseline, pass through the linear locomotive function of directional guiding device again, make guiding The Cloud Terrace datum mark aim at patient's body surface labelling, the The Cloud Terrace datum line that then leads is exactly the external extended line of specific target treatment path baseline in patient's body, has finished the purpose of external target spot orientation.
E, guided puncture---on in-vitro directed basis, with mis instruments (as puncture needle) end alignment patient body surface labelling, its axis is along guiding The Cloud Terrace datum line, in patient's body, implement puncture, the length that its treatment path baseline is determined is measured by the scale on the mis instruments, insert this degree of depth then needle tip promptly accurately arrive specific treatment target spot in patient's body, can getting this moment lives tests and Minimally Invasive Surgery such as medicine implantation.
Because guiding device has the space coordinates repeat function, with the earth level is benchmark, measure the inclination angle of medical image coordinate, and accurately simulation repeats this coordinate system, and the inclination angle, datum line space that is provided with on the guiding The Cloud Terrace that it is exclusive of this guiding device on the basis of space coordinates height unanimity is accurately adjusted.Accomplish consistent coincidence of space gradient height of datum line with the described treatment path baseline of directional guiding device.The auxiliary again linearity of carrying out is mobile, makes datum line aim at patient's body surface labelling, has just realized that the actual therapeutic path is consistent with the height in theoretical treatment path, has guaranteed accurate positioning technically.
The concrete structure of directional guiding device is referring to Fig. 1: carry out the incidence regulating mechanism of adjusting at the inclination angle, space 2, rotation of coordinate device 3, plane regulating device 4 and linear moving mechanism, control system, support and the housing etc. of analog image device coordinate system by the guiding The Cloud Terrace 1 that is provided with datum line and to the guiding The Cloud Terrace.
Guiding The Cloud Terrace 1 is provided with datum mark 1a, and this sign can be represented with ruby laser bundle or line slideway, and it axially must be vertical with guiding The Cloud Terrace datum plane, and its effect is to provide directional guide for puncture needle.
Guiding also is provided with obliquity sensor 1b on the The Cloud Terrace, its effect be can the perception datum level gradient, with the controlled adjustment that guarantees inclination angle, datum level space and accurately.
Incidence regulating mechanism 2 is made up of mutual vertically disposed motor 2a and 2b, and its underpart connects guiding The Cloud Terrace 1, and the controlled rotation of motor 2a and 2b can make guiding The Cloud Terrace 1 realize two-dimentional inclination angle adjustment (see figure 3).Its top connects rotation of coordinate device 3 or linear moving mechanism.
Rotation of coordinate device 3 and plane actuator 4 are arranged at incidence regulating mechanism top respectively and maybe can drive on other axle center of incidence regulating mechanism rotation and on the end coordinate of whole equipment.
Rotation of coordinate device 3 is made of the axle of a motor-driven rotation.Its effect is: when directional guiding device coordinate system and image documentation equipment coordinate system on same plane, but when two-dimensional coordinate has not overlapped angle in addition, its rotation adjustment is overlapped.
Plane regulating device 4 constitutes (see figure 4) by three that are arranged on the plant bottom case pillar 4a that can stretch and a flat surface sensor 4b.Its effect is that adjustable fixing makes the plane parallel of the coordinate plane and the image documentation equipment of directional guiding device when the plane of the coordinate plane of directional guiding device support and medical imaging device support is not parallel.
By the adjustment of rotation of coordinate device 3 and plane actuator 4, can make the consistent equivalence of coordinate system of directional guiding device with the image documentation equipment coordinate system.
This guiding device can be applied to living tissue in Wicresoft's targeted therapy and the body and extract the external accurate location of operation (precision test that comprises the in-vitro directed bootstrap technique of target spot in the teaching, training that is applied to the medical worker and other body).
Claims (5)
1. an extraneous directional guiding device for internal target is characterized in that it comprises: the guiding The Cloud Terrace (1) that is provided with datum line; The guiding The Cloud Terrace is carried out the incidence regulating mechanism (2) that the inclination angle is adjusted; The rotation of coordinate device (3) of control guiding The Cloud Terrace analog image device coordinate system; Be installed on the plane regulating device (4) and the auxiliary body of base, auxiliary body comprises linear moving mechanism, control system, support and housing.
2. a kind of extraneous directional guiding device for internal target as claimed in claim 1, it is characterized in that: guiding The Cloud Terrace (1) is provided with promising puncture needle provides the datum mark of directional guide (1a), this sign is made of ruby laser bundle or line slideway, and it axially must be vertical with guiding The Cloud Terrace datum plane.
3. a kind of extraneous directional guiding device for internal target as claimed in claim 1 is characterized in that: guiding The Cloud Terrace (1) is provided with the gradient of sensing directional The Cloud Terrace datum plane, guarantees the accurate obliquity sensor in inclination angle, datum plane space (1b).
4. a kind of extraneous directional guiding device for internal target as claimed in claim 1, it is characterized in that: incidence regulating mechanism (2) is by realizing what two-dimentional inclination angle was adjusted, connect up and down and mutual vertically disposed motor (2a) and motor (2b) composition, motor (2b) bottom connects guiding The Cloud Terrace (1).
5. a kind of extraneous directional guiding device for internal target as claimed in claim 1 is characterized in that: rotation of coordinate device (3) and plane actuator (4) be arranged at respectively can make on the integrally rotated axle center of incidence regulating mechanism and the base of whole equipment on; Rotation of coordinate device (3) constitutes perpendicular to incidence regulating mechanism and by motor-driven rotating shaft by one; Plane regulating device (4) is made of three pillars that can stretch and a flat surface sensor of being arranged on the base.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004101015142A CN100386060C (en) | 2004-12-22 | 2004-12-22 | Extraneous directional guiding device for internal target and positioning method |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004101015142A CN100386060C (en) | 2004-12-22 | 2004-12-22 | Extraneous directional guiding device for internal target and positioning method |
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| CN1795836A CN1795836A (en) | 2006-07-05 |
| CN100386060C true CN100386060C (en) | 2008-05-07 |
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| CN100574720C (en) * | 2006-07-25 | 2009-12-30 | 倪湘申 | Minimally Invasive Surgery B ultrasonic puncture positioning device |
| US8798339B2 (en) * | 2007-05-10 | 2014-08-05 | Koninklijke Philips N.V. | Targeting method, targeting device, computer readable medium and program element |
| CN102706289A (en) * | 2012-06-08 | 2012-10-03 | 胡贵权 | Three-dimensional surface shape reconstruction system and reconstruction method |
| CN102896906B (en) * | 2012-09-29 | 2015-11-25 | 武汉市金麦克工业技术有限公司 | A kind of pneumatic industrial marking machine |
| CN104382649A (en) * | 2014-03-11 | 2015-03-04 | 襄阳市中心医院 | CT real-time guide puncture positioning device |
| CN103976793B (en) * | 2014-06-09 | 2017-02-15 | 何玉成 | Laser positioning device for CT (computed tomography) guided puncture |
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| CN106491194B (en) * | 2017-01-11 | 2019-02-22 | 南京市第一医院 | A kind of spinal puncture positioning device |
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| CN107913106B (en) * | 2017-12-19 | 2023-06-30 | 杭州三坛医疗科技有限公司 | Positioning method and equipment for guide channel |
| CN109345912A (en) * | 2018-11-21 | 2019-02-15 | 宁波聚创工业设计有限公司 | A kind of wristband type universal serial milk cow rectum localization examination intelligent tutoring device and teaching method |
| CN110680481B (en) * | 2019-11-15 | 2021-01-05 | 元亨同基医疗器械(北京)有限公司 | Method for adjusting launching position of guide holder of puncture positioning instrument |
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