A method and device for verifying the precision of surgical needle insertion

Abstract

The invention provides a method and device for verifying needle applying precision of a surgical needle. The method comprises the following steps of applying the surgical needle to a first laminate provided with a first hole, determining the position accuracy of the surgical needle according to the state of the surgical needle penetrating through the first hole, determining that the position accuracy of the surgical needle is less than the preset position accuracy of the first laminate if the surgical needle penetrates through the first hole, and otherwise determining that the position accuracy of the surgical needle is greater than the preset position accuracy of the first laminate; after the surgical needle penetrates through the first hole, continuing to apply the surgical needle to anith laminate having an ith hole layer by layer, determining the posture accuracy of the surgical needle according to the state of the surgical needle penetrating through the ith hole for the nth time,determining that the posture accuracy of the surgical needle is less than the preset posture accuracy of the ith laminate if the surgical needle penetrates through the ith hole all the time during ntimes of needle applying, and determining that the posture accuracy of the surgical needle is greater than the preset posture accuracy of the ith laminate if the surgical needle dose not penetrate through the ith hole all the time during n times of needle applying. The method and device for verifying needle precision of the surgical needle can avoid the radiation caused by the medical imaging system and existing systematic errors, reduce the workload and improve the verification accuracy.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a method and a device for verifying the accuracy of operating needles. Background technique [0002] In order to reduce the morbidity and mortality of major diseases, early diagnosis and treatment of diseases are crucial. In order to check and treat major diseases, needle biopsy and treatment are usually performed on the diseased part. [0003] In the current medical field, robotic arm-assisted needle insertion technology is usually used to improve the success rate of biopsy needle insertion, and robotic arm-assisted needle insertion is widely used in percutaneous puncture operations. When performing these operations, the surgical needle needs to pierce the skin directly to the lesion area. For the accuracy of the operation, the key is to place the surgical needle at the target position with an ideal position and posture, so that the surgical needle can pierce through wi...

AI Technical Summary

Problems solved by technology

In the prior art, medical imaging equipment is usually used for measurement, such as CT, MR, ultrasound, etc., to verify the accuracy of the position and posture of the surgical needle, but there are the following disadvantages when using medical imaging equipment: first 1. The accuracy value measured by the medical imaging equipment will not exceed the resolution of its own image, so the accuracy of the verification surgical needle is affected by the accuracy value of the medical imaging equipment and is limited to a certain measurement range; second, the medical imaging system The introduction will bring a certain amount of radiation, which will cause certain damage to the experimenters who verify the accuracy of surgical needles; third, there will be a lot of workload around each operation of medical imaging

Images