Guiding device, method for adjusting puncture needle, storage medium and electronic equipment
A guiding device and guiding needle technology, which is applied in the field of surgical robots, can solve the problems of inability to accurately locate the puncture robot, low puncture accuracy, and poor puncture effect, achieve good puncture effect, improve puncture accuracy, and avoid multiple puncture effects
Active Publication Date: 2022-05-06
BOE TECH GRP CO LTD
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[0005] The purpose of the embodiments of the present disclosure is to provide a guiding device, a method for adjusting a puncture needle based on a mechanical arm, a storage medium, and an electronic device, so as to solve the problem that the puncture robot cannot be accurately positioned and the puncture accuracy is low due to the breathing of the patient in the prior art , The problem of poor puncture effect
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[0023] Various aspects and features of the present disclosure are described herein with reference to the accompanying drawings.
[0024] It should be understood that various modifications may be made to the embodiments applied for herein. Accordingly, the above description should not be viewed as limiting, but only as exemplifications of embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the disclosure.
[0025] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with the general description of the disclosure given above and the detailed description of the embodiments given below, serve to explain the embodiments of the disclosure. principle.
[0026] These and other characteristics of the present disclosure will become apparent from the following description of preferred forms of embodiment given as non-limiting examples wi...
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The disclosure provides a guiding device, a mechanical arm-based puncture needle adjustment method, a storage medium, and an electronic device. The disclosure combines the improved guiding device to characterize the patient's respiratory response to the guide needle through the attitude change information of the guide needle during the puncture process. As long as the position of the puncture needle clamped by the mechanical arm is adjusted accordingly, the coordinates of the puncture needle and the guide needle in the image equipment coordinate system always conform to the first preset transformation matrix, which can offset the impact of the patient's breathing on the puncture needle. The adverse effects generated during the positioning and navigation process avoid multiple punctures caused by the failure of the puncture position to meet expectations, improve the puncture accuracy of the puncture robot, achieve good puncture results, improve surgical efficiency, and reduce patient pain and radiation harm.
Description
technical field [0001] The present disclosure relates to the field of surgical robots, and in particular to a guiding device, a method for adjusting a puncture needle based on a mechanical arm, a storage medium, and electronic equipment. Background technique [0002] Percutaneous puncture surgery refers to the minimally invasive surgery in which medical devices such as puncture needles are inserted into the lesion target position in the patient's body under the guidance of medical images, and operations such as biopsy, ablation, and radioactive particle implantation are performed to achieve therapeutic purposes. It has the advantages of less surgical trauma, less pain for patients, shorter recovery time, and lower operating costs. The traditional puncture surgery process requires doctors to scan the patient multiple times with medical imaging equipment, and adjust the position of the puncture needle multiple times to reach the lesion. Radiation frequency is many, and operat...
Claims
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IPC IPC(8): A61B34/20A61B34/30A61B17/34
CPCA61B34/20A61B34/30A61B34/77A61B17/3403A61B2034/2068
Inventor 廖平平
Owner BOE TECH GRP CO LTD