Needle holder for intelligent guidance of percutaneous puncture minimally invasive surgery

Abstract

The invention relates to a needle holder for intelligent guidance of percutaneous puncture minimally invasive surgery. The tail ends of a first joint and a third joint of a positioning mechanical armare fixedly connected with a base fixing device and a puncture guiding device respectively, wherein the puncture guiding device comprises a metal puncture frame, a universal joint and a monocular camera, and the monocular camera is fixedly connected with the tail end of the third joint; an optical tracking system comprises an optical tracking device and an infrared reflective marker ball matched with the optical tracking device for use; and the monocular camera and the optical tracking device are connected with a data processing system respectively. The needle holder can accurately acquire thepose and displacement information of a puncture needle in a patient coordinate system in real time and display the pose and displacement information in real time through a display screen, great convenience is brought to a surgeon, the needle entering speed of the puncture needle and the needle entering direction control accuracy are improved to a great extent, the view is good, the surgeon can monitor the puncture surgery process in real time, and unnecessary harm to a patient is avoided.

Description

technical field [0001] The invention relates to the technical field of medical auxiliary equipment, in particular to a needle holder for intelligent guidance of percutaneous minimally invasive surgery. Background technique [0002] In the existing minimally invasive surgery, the application potential of percutaneous puncture surgery is increasing. Doctors have very high requirements on the positioning accuracy of the needle tip of the puncture needle during the 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 puts forward higher requirements for the movement flexibility and position tracking accuracy of the automatic tracking device. [0003] Compared with free-hand puncture, although X-ray, CT or stereotactic-gui...

AI Technical Summary

Problems solved by technology

This method will not only cause discomfort to the patient, but also the navigation accuracy is unstable, and there may be non-negligible errors in the accuracy of puncture surgery.

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