Automatic tracking device and method for flexible puncture needle tip

Abstract

The invention relates to the field of medical auxiliary equipment, in particular to an automatic tracking device and method for a flexible puncture needle tip. The device comprises a positioning mechanical arm, an ultrasonic probe, data processing equipment, an optical measuring instrument and positioning marks; the positioning marks are fixedly installed on a punctured object and the ultrasonic probe respectively; the optical measuring instrument measures the positioning marks to obtain optical measuring data; the data processing equipment obtains needle tip location coordinates of the needle tip in a base coordinate system by combining the optical measuring data with ultrasonic image data; all the needle tip location coordinates are recorded to obtain needle tip movement locus data at the current moment. According to the device and method, positioning and tracking are conducted through the method of combining ultrasonic imaging with optical positioning, the advantage of being high in positioning precision is achieved, automatic real-time monitoring and tracking on the needle tip location are achieved, and convenience is brought to clinical operation.

Description

technical field [0001] The invention relates to the field of medical auxiliary equipment, in particular to a flexible puncture needle tip automatic tracking device and method. Background technique [0002] In the existing minimally invasive surgery, the application potential of flexible needle puncture is increasing. Doctors have very high requirements on the positioning accuracy of the needle tip in flexible needle puncture surgery, and need to track the position of the needle tip in real time. Fast tracking of the position of the needle tip requires that the positioning tracking device can be positioned quickly and accurately independently, and has a good tracking adaptability to puncture objects with complex shapes, which requires higher requirements for the movement flexibility and position tracking accuracy of the automatic tracking device. [0003] At present, the flexible needle puncture tracking equipment used in clinical minimally invasive surgery is mainly obtained...

AI Technical Summary

Problems solved by technology

Chinese invention patent number: 201510173724.0 discloses an interventional treatment needle positioning method for positioning the interventional treatment needle relative to the device coordinate system during the interventional operation. In this technical solution, the sensor is fixed on the needle rod, The position of the needle tip is calculated and determined by tracking the position of the sensor. However, this method brings great difficulty in fixing the sensor. Fixing the sensor on the needle bar will have a certain impact on the stiffness of the needle, which may easily cause the needle tip to break or the sensor to fall off. It brings another difficulty to the operation; the position of the sensor and the position of the needle tip are calculated through the coordinate system, the interventional needle will bend during the puncture process, and there will be errors in the calculation of the coordinate system, resulting in inaccurate positioning and bringing difficulties to the treatment

It can be seen that the lack of needle point positioning and tracking design is an important factor that brings difficulties to clinical use and limits the development of interventional needle therapy.

If the combination of radiographic imaging and tracking of the needle tip position is adopted, it is not easy to use frequently due to radiation hazards and long imaging time, and the real-time tracking of the needle tip position cannot be performed.

Images