Tilt sensor-based method for planning manipulating path of microneedle for located thrombus removal
An inclination sensor and path planning technology, which is applied in surgical robots, computer-aided planning/modeling, medical science, etc., can solve the problems of finding the location of thrombus, inaccuracy, increasing the physiological pressure and psychological burden of patients, etc.
Inactive Publication Date: 2020-11-06
南京吉枢康智能科技有限公司
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Problems solved by technology
When taking thrombus, the current commonly used method is to face the patient through the doctor, and directly use the microneedle to pierce the human body with the thrombus in the image, pointing at the thrombus location. This method is very dependent on the doctor's personal experience, and It is also inaccurate, and often requires multiple punctures to find the exact location, or even the location of the thrombus cannot be found at all, which greatly increases the physical pressure and psychological burden of the patient
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[0026] Below in conjunction with specific embodiment, further illustrate the present invention, should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention, after having read the present invention, those skilled in the art will understand various equivalent forms of the present invention All modifications fall within the scope defined by the appended claims of the present application.
[0027] A microneedle positioning and thrombus needle path planning method based on an inclination sensor. The patient wears a rigid ring with 3 reference points on his forehead. The plane of the rigid ring is parallel to the ground plane, and the line connecting the 3 reference points is a right angle. Triangle, the reference point at the right angle is used as the origin of the reference coordinate system, the reference coordinates are established by the geographic coordinate system, the position ...
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The invention discloses a tilt sensor-based method for planning a manipulating path of a microneedle for located thrombus removal. According to the method, datum coordinates are established by takingthe wearing datum bench-mark and a geographic coordinate system as orientation, the position coordinates of a thrombus locus are determined through the space geometric relationship, the precise distance between a thrombus removal microneedle tip and a datum mark is determined by laser ranging, the position coordinates of the thrombus removal microneedle tip are calculated, the thrombus locus position oriented by the thrombus removal microneedle during manipulating is restrained by utilizing the output value of a triaxial tilt sensor, and the precision of microneedle manipulation can be guaranteed.
Description
technical field [0001] The invention relates to an inclination sensor-based microneedle positioning and thrombus path planning method, which is used for precise positioning of the microneedle for removing obstructed thrombus in blood vessels. Background technique [0002] Microneedle positioning for thrombus extraction requires first identifying the location of the thrombus. At present, through the application of high-tech far-infrared thermal imaging cameras, CT or MRI, the position of thrombus and the degree of stasis can be detected quickly and accurately. When taking thrombus, the current commonly used method is to face the patient through the doctor, and directly use the microneedle to pierce the human body with the thrombus in the image, pointing at the thrombus location. This method is very dependent on the doctor's personal experience, and It is also inaccurate, and often requires multiple punctures to find the exact location, or even the location of the thrombus ca...
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Login to View More IPC IPC(8): A61B17/22A61B34/10A61B34/20A61B34/30
CPCA61B17/22A61B2017/22094A61B34/10A61B34/20A61B34/30A61B34/70A61B2034/107A61B2034/108A61B2034/2055A61B2034/2072A61B2034/303
Inventor 李鹏飞薛华
Owner 南京吉枢康智能科技有限公司