A radiotherapy positioning gold label recovery device and its use method

Abstract

The present invention discloses a radiotherapy positioning gold mark recovery device and a method of using the same, including a positioning gold mark and a recovery claw clamp, characterized in that: the positioning gold mark includes a gold mark body and an elastic fixing structure; the elastic fixing structure includes a fixed section, an extension section, and a spiral section connected in sequence; the fixed section is embedded in the gold mark body, so that the fixed section and the gold mark body are tightly connected to avoid relative sliding or displacement between the two; a magnetic ball is provided at one end of the gold mark body away from the extension section; the recovery claw clamp includes an operating handle; the tail of the operating handle is connected to an outer sheath tube with a hollow structure; and a zipper for driving the claw clamp to open and close is movably connected in the outer sheath tube. The present invention realizes effective fixation in the trachea of ​​the lungs through a gold mark structure with a spiral section, effectively avoiding the displacement of the gold mark caused by breathing; the gold mark can be conveniently recovered by cooperating with the claw clamp and the magnetic ball in the recovery claw clamp.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a radiotherapy positioning gold mark recovery device and a use method thereof. Background Art

[0002] With the development of radiotherapy technology, the development of precision radiotherapy technology has improved the efficacy of radiotherapy and reduced side effects. Before CyberKnife treatment, it is often necessary to implant a gold label near the tumor (i.e., the target area) under image guidance, so that the position of the tumor can be tracked during CyberKnife treatment and precise treatment can be achieved. The gold label usually uses pure gold particles with a length of 3-5 mm and a diameter of 0.70-0.80 mm. The tumor position is obtained in real time through digital images, and the treatment rays are guided for automatic correction. The existing gold label designs are all designed based on the shape of a cylinder. When the gold label of this design is implanted in the human body, the gold label may be lost or displaced due to the patient's breathing and coughing. It is easy to have a large position deviation during the entire treatment process of the patient, resulting in deviations in tumor treatment and affecting the treatment effect. When the tumor is located in the lungs, this situation is particularly obvious. The trachea and bronchial structures of the lungs are not conducive to the positioning of the gold label of the conventional structure, and the gold label is most likely to shift. At the same time, the gold label in the existing radiotherapy is not removed after the treatment is completed. In the lungs, where breathing movements are frequent, the continuous movement of the gold label will have a certain impact on the human body.

[0003] Radiotherapy is one of the important treatments for lung cancer, especially for patients with lung cancer who cannot undergo surgery. Radiotherapy can relieve symptoms, prolong patient survival and improve quality of life. With the continuous development of radiotherapy technology with image guidance and respiratory gating, CyberKnife stereotactic radiotherapy technology has become increasingly important in the treatment of early lung cancer. The principle of radiotherapy is to accurately give a certain volume of tumor an accurate and uniform dose; to maximize the dose in the treatment area and reduce the dose range of normal tissue in the irradiated area; to protect important organs around the tumor and minimize exposure. To ensure that the radiotherapy beam acts accurately on the target area, it is crucial to accurately locate the lung nodules or lung tumors before radiotherapy and to track the lesions in real time during radiotherapy.

[0004] At present, the gold label tracking and positioning technology before lung cancer radiotherapy is mainly CT-guided percutaneous puncture gold label implantation auxiliary positioning. CT-guided percutaneous Hook-wire positioning is currently the most commonly used preoperative positioning method for small lung nodules, with a puncture success rate of 58%-100%. Application of guided hook wire positioning in thoracoscopic resection of small lung nodules, Chinese Clinical Oncology, 2015; when the patient's pathology confirms a malignant tumor, 4-5 metal markers with high atomic numbers are placed around the lung lesion site through the puncture needle under CT guidance as a visual target for tumor radiotherapy; after waiting for 5-7 days for the gold label position to stabilize, CT simulation positioning scan can be performed. Since percutaneous puncture is prone to complications such as pneumothorax, bleeding, and pleural effusion, the patient's condition needs to be closely observed.

[0005] The gold marker implanted by percutaneous puncture under CT guidance is prone to displacement or discharge from the body through the bronchi. 2.1%-22.4% of patients suffer from complications such as hemothorax and even air embolism. Clinical application of hook-wire puncture positioning under CT guidance before thoracoscopic surgery for small lung nodules, Zhejiang Medical Journal, 2017. In addition, the gold marker is easily displaced by breathing, body position, etc. The gold marker is far away from the tumor target area, with a 4%-20% chance of positioning failure. After the completion of radiotherapy, the puncture gold marker remains in the patient's body for a long time and cannot be removed and recovered. At present, the gold marker has not obtained the CFDA Class III registration certificate, making it impossible to carry out clinical work. This is the bottleneck of the development of CyberKnife gold marker tracking technology. Summary of the invention

[0006] The purpose of the present invention is to overcome the deficiencies in the above-mentioned prior art and to provide a radiotherapy positioning gold mark recovery device with good positioning effect, no damage and recoverable, and a method of using the same.

[0007] The present invention is achieved by the following methods:

[0008] A radiotherapy positioning gold mark recovery device comprises a positioning gold mark and a recovery claw forceps, wherein the positioning gold mark comprises a gold mark body and an elastic fixing structure; the elastic fixing structure comprises a fixing section, an extension section, and a spiral section connected in sequence; the fixing section is embedded in the gold mark body so that the fixing section and the gold mark body are tightly connected to avoid relative sliding or displacement between the two; a magnetic ball is provided at one end of the gold mark body away from the extension section; the recovery claw forceps comprises an operating handle; the tail of the operating handle is connected to an outer sheath tube with a hollow structure; a zipper for driving the claw forceps to open and close is movably connected in the outer sheath tube.

[0009] Furthermore, the fixing section is embedded in the magnetic ball, so that the fixing section and the magnetic ball are tightly connected to avoid relative sliding or displacement between the two.

[0010] Furthermore, the gold label body is made of a material that does not project X-rays.

[0011] Furthermore, the elastic fixing structure is made of superelastic material.

[0012] Furthermore, when a force is applied to the terminal end of the spiral segment of the elastic fixing structure, the elastic fixing structure is straightened or compressed, and when the force disappears, the elastic fixing structure returns to its original shape.

[0013] Furthermore, the claw forceps include a support tube; the distal end of the support tube is connected to a claw forceps head; the zipper passes through the proximal end of the support tube and is connected to the claw forceps head, and the claw forceps head can be opened and closed by pushing and pulling the zipper.

[0014] Furthermore, the claw forceps head includes a first half claw and a second half claw; the first half claw is hinged to the support tube and the zipper respectively; the second half claw is fixedly arranged on the support tube.

[0015] Furthermore, the first half claw is hinged to the support tube and the zipper through a connecting part; a permanent magnet is embedded in the connecting part.

[0016] Furthermore, the first half claw and the second half claw are hemispherical.

[0017] A method for using a radiotherapy positioning gold label recovery device comprises the following steps:

[0018] S1: Build a 3D model of the patient's lungs through 3D reconstruction of CT 2D images to determine the lesion area;

[0019] S2: Confirm several implantation points of the positioning gold marker in the three-dimensional space outside the lesion area according to the lesion area; the number of implantation points is 3-6, and the minimum distance between two implantation points shall not be less than 20mm; the minimum angle of the triangle formed by any three implantation points in the three-dimensional space shall be greater than 15°; the distance between the implantation point and the lesion area is 10-40mm; the implantation points can be visualized in a 45° oblique view without overlap.

[0020] S3: Based on the determined implantation points, the implantation path is planned using the 3D model of the patient's lungs;

[0021] S4: using an electromagnetic navigation bronchoscope to reach the implantation point according to the planned implantation path, using the medical channel formed by the electromagnetic navigation bronchoscope after reaching the implantation point, and using a pushing device to implant the positioning gold mark along the medical channel to the implantation point in sequence; when the positioning gold mark is implanted, the gold mark body is located at the rear of the implantation direction; in the above manner, the positioning gold mark is implanted to each implantation point in sequence;

[0022] S5: After the treatment is completed, the latest position information of the positioning gold marker is determined through CT, and the removal path of the positioning gold marker is planned in combination with the 3D model of the patient's lungs;

[0023] S6: Use the electromagnetic navigation bronchoscope to reach the target area according to the planned removal path, and use the medical pipeline formed by the electromagnetic navigation bronchoscope after reaching the target area to pass the claw head of the recovery claw in an open state through the medical pipeline to the target area where the positioning gold mark is located, and complete the grasping through the adsorption of the permanent magnet and the closing action of the claw head to complete the recovery of the positioning gold mark 5; each positioning gold mark will be taken out in turn in the above manner.

[0024] Furthermore, the distance between the implantation point in step S2 and the lesion area is 20-30 mm.

[0025] The beneficial effects of the present invention are: the gold label structure with a spiral segment is effectively fixed in the lung trachea, which effectively avoids the displacement of the gold label caused by breathing and improves the accuracy of radiotherapy. By using an electromagnetic navigation bronchoscope and a constructed 3D model of the patient's lungs, the path can be quickly planned to achieve rapid and accurate implantation of the gold label. The gold label can be easily recovered by cooperating with the claws in the recovery claws and the magnetic balls. The whole process is non-invasive, which reduces the patient's pain and the various risks that may be caused by the presence of the gold label in the trachea. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A schematic diagram of the positioning gold mark structure of the present invention;

[0028] Figure 2 A schematic diagram of the structure of the recovery claw pliers of the present invention;

[0029] Figure 3 An enlarged view of part A of the present invention;

[0030] Figure 4 A schematic diagram of the state of the positioning gold mark of the present invention when in use; DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] Embodiment 1:

[0035] like Figure 1-3As shown, a radiotherapy positioning gold mark recovery device includes a positioning gold mark 5 and a recovery claw clamp 6, characterized in that: the positioning gold mark 5 includes a gold mark body 51 and an elastic fixing structure; the elastic fixing structure includes a fixing section 52, an extension section 53, and a spiral section 54 connected in sequence; the fixing section 52 is embedded in the gold mark body 51, so that the fixing section 52 and the gold mark body 51 are tightly connected to avoid relative sliding or displacement between the two; a magnetic ball 55 is provided at one end of the gold mark body 51 away from the extension section 53; the recovery claw clamp 6 includes an operating handle 1; the tail of the operating handle 1 is connected to an outer sheath tube 2 with a hollow structure; a zipper 3 for driving the claw clamp 4 to open and close is movably connected in the outer sheath tube 2.

[0036] Furthermore, the fixing section 52 is embedded in the magnetic ball 55 so that the fixing section 52 and the magnetic ball 55 are tightly connected to avoid relative sliding or displacement between the two.

[0037] Furthermore, the gold label body 51 is made of a material that does not project X-rays.

[0038] Furthermore, the elastic fixing structure is made of a superelastic material, such as a memory alloy, which may be but is not limited to a nickel-titanium alloy.

[0039] Furthermore, when a force is applied to the terminal end of the spiral segment 54 of the elastic fixing structure, the elastic fixing structure is straightened or compressed, and when the force disappears, the elastic fixing structure returns to its original shape.

[0040] Furthermore, the claw forceps 4 include a support tube 41; the distal end of the support tube 41 is connected to a claw forceps head 42; the zipper 3 passes through the proximal end of the support tube 41 and is connected to the claw forceps head 42, and the claw forceps head 42 can open and close by pushing and pulling the zipper 3.

[0041] Furthermore, the claw forceps head 42 includes a first half claw 43 and a second half claw 44 ; the first half claw 43 is hinged to the support tube 41 and the zipper 3 respectively; the second half claw 44 is fixedly disposed on the support tube 41 .

[0042] Furthermore, the first half claw 43 is hinged to the support tube 41 and the zipper 3 respectively through a connecting portion 45 ; a permanent magnet 46 is embedded in the connecting portion 45 .

[0043] Furthermore, the first half claw 43 and the second half claw 44 are hemispherical.

[0044] After the positioning gold mark 5 of the present invention is implanted into the lesion, the spiral section 54 returns to its original shape, so that it is fixed in the trachea at the lesion, and the positioning gold mark 5 is implanted into the lesion multiple times. After the treatment is completed, the recovery claw 6 reaches the location of the positioning gold mark through the channel formed by the medical catheter in the electromagnetic navigation bronchoscope to realize the recovery of the gold mark; the specific operation process of grabbing the positioning gold mark 5 of the present invention is as follows:

[0045] The claw head 42 approaches the positioning gold mark 5 in an open state, and the permanent magnet 46 attracts the magnetic ball 55 to make it enter the first half claw 43, which can greatly reduce the difficulty of grasping. By pulling the zipper 3, the first half claw 43 and the second half claw 44 are closed, which improves the stability during grasping; the magnetic ball 55 is provided on the fixed section 52 of the positioning gold mark 5 to improve the accuracy of grasping.

[0046] Embodiment 2:

[0047] like Figure 1-3 As shown, a radiotherapy positioning gold mark recovery device includes a positioning gold mark 5 and a recovery claw clamp 6, characterized in that: the positioning gold mark 5 includes a gold mark body 51 and an elastic fixing structure; the elastic fixing structure includes a fixing section 52, an extension section 53, and a spiral section 54 connected in sequence; the fixing section 52 is embedded in the gold mark body 51, so that the fixing section 52 and the gold mark body 51 are tightly connected to avoid relative sliding or displacement between the two; a magnetic ball 55 is provided at one end of the gold mark body 51 away from the extension section 53; the recovery claw clamp 6 includes an operating handle 1; the tail of the operating handle 1 is connected to an outer sheath tube 2 with a hollow structure; a zipper 3 for driving the claw clamp 4 to open and close is movably connected in the outer sheath tube 2.

[0048] Furthermore, the fixing section 52 is embedded in the magnetic ball 55, so that the fixing section 52 and the magnetic ball 55 are tightly connected to avoid relative sliding or displacement between the two. The contact part of the magnetic ball 55 with the gold label body 51 is flat, which can increase the contact area to avoid sliding, and the other end is spherical; the diameter of the magnetic ball 55 is larger than the diameter of the gold label body 51, which is convenient for the later recovery claw 6 to grasp more stably.

[0049] Furthermore, the gold label body 51 is made of a material that does not project X-rays.

[0050] Furthermore, the elastic fixing structure is made of a superelastic material, such as a memory alloy, which may be but is not limited to a nickel-titanium alloy.

[0051] The fixing section 52 penetrates the gold label body 51 and the magnetic ball 55. By squeezing the gold label body 51 and the magnetic ball 55, the connection stability of the fixing section 52 and the gold label body 51 and the magnetic ball 55 can be increased to avoid relative sliding or displacement. Another way is to fold the fixing section 52 after penetrating the magnetic ball 55 in the reverse direction into the through hole of the magnetic ball 55 to achieve fixed connection.

[0052] like Figure 4 As shown, three positioning gold labels 5 are implanted at the periphery of the middle lesion. The positioning gold labels 5 are implanted in conjunction with the medical catheter. During implantation, the spiral section 54 faces downward and the gold label body 51 faces upward. The spiral section 54 first enters the lesion. Due to the limitation of the tube wall of the medical catheter, it is stretched into a nearly straight line. After being implanted into the lesion, the spiral section 54 returns to its original shape, so that it is fixed in the trachea at the lesion. The gold label body 51 is located at the rear, which is also suitable for later recovery by the recovery claw pliers 6. After entering, the recovery claw pliers 6 are opposite to the position of the gold label body 51, and the position of the permanent magnet 46 is closest to the position of the magnetic ball 55, which can be easily grasped.

[0053] The present invention provides a method for using a radiotherapy positioning gold label recovery device, comprising the following steps:

[0054] S1: Build a 3D model of the patient's lungs through 3D reconstruction of CT 2D images to determine the lesion area;

[0055] S2: Confirm several implantation points of the positioning gold marker 5 in the three-dimensional space outside the lesion area according to the lesion area; the number of the implantation points is 3-6, and the minimum spacing between two implantation points shall not be less than 20mm; the minimum angle of the triangle formed by any three implantation points in the three-dimensional space shall be greater than 15°; the distance between the implantation point and the lesion area is 10-40mm; the implantation points can be visualized in a 45° oblique view without overlap.

[0056] S3: Based on the determined implantation points, the implantation path is planned using the 3D model of the patient's lungs;

[0057] S4: using the electromagnetic navigation bronchoscope to reach the implantation point according to the planned implantation path, and using the medical pipeline formed by the electromagnetic navigation bronchoscope after reaching the implantation point, the positioning gold mark 5 is implanted into the implantation point in sequence along the medical pipeline by the pushing device; when the positioning gold mark 5 is implanted, the gold mark body 51 is located at the rear of the implantation direction; in the above manner, the positioning gold mark 5 is implanted into each implantation point in sequence;

[0058] S5: After the treatment is completed, the latest position information of the positioning gold marker 5 is determined by CT, and the removal path of the positioning gold marker 5 is planned in combination with the 3D model of the patient's lungs;

[0059] S6: Use the electromagnetic navigation bronchoscope to reach the target area according to the planned removal path, and use the medical pipeline formed by the electromagnetic navigation bronchoscope after reaching the target area to pass the claw head 42 of the recovery claw 6 through the medical pipeline in an open state to the target area where the positioning gold mark 5 is located, and complete the grasping through the adsorption of the permanent magnet 46 and the closing action of the claw head 42, thereby completing the recovery of the positioning gold mark 5; each positioning gold mark 5 will be taken out in turn in the above manner.

[0060] Furthermore, the distance between the implantation point in step S2 and the lesion area is preferably 20-30 mm.

[0061] The implantation method and removal method of the present invention utilize the natural channels of the human bronchus for positioning, which can ignore the risk of pneumothorax and can remove and recover the gold label. Through precise control of the implantation points in the three-dimensional space outside the lesion area, precise control of the dose of subsequent radiotherapy can be achieved, the dose of the treatment area can be increased, and the range of normal tissues in the irradiated area can be reduced; important organs around the tumor are protected to minimize irradiation. The establishment of the spacing between implantation points can be quickly calculated through the coordinate points on the constructed 3D model of the patient's lungs, and the relationship between the spatial coordinate points can also quickly confirm that the minimum angle of the triangle formed by any three reference points in the three-dimensional space is greater than 15°.

[0062] When the lesions in the periphery of the lungs are small and light in density, and the amplitude of respiratory movement is large, a gold marker must be implanted during radiotherapy to carry out the advanced CyberKnife gold marker tracking treatment technology and truly achieve the purpose of target area tracking treatment. Through the implantation method of the present invention, damage to lung tissue during the puncture process and various complications caused by the gold marker being unable to be removed and left in the trachea can be effectively avoided, greatly improving the accuracy of positioning before radiotherapy and the success rate of positioning.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A radiotherapy positioning gold label recovery device, comprising a positioning gold label (5) and a recovery claw (6), characterized in that: The positioning gold mark (5) comprises a gold mark body (51) and an elastic fixing structure; the elastic fixing structure comprises a fixing section (52), an extension section (53) and a spiral section (54) connected in sequence; the fixing section (52) is embedded in the gold mark body (51) so that the fixing section (52) and the gold mark body (51) are tightly connected to avoid relative sliding or displacement between the two; a magnetic ball (55) is provided at one end of the gold mark body (51) away from the extension section (53); the recovery claw (6) comprises an operating handle (1); the tail of the operating handle (1) is connected to an outer sheath tube (2) with a hollow structure; a zipper (3) is movably connected inside the outer sheath tube (2) for driving the claw (4) to open and close.

2. A radiotherapy positioning gold label recovery device according to claim 1, characterized in that: The fixing section (52) is embedded in the magnetic ball (55) so that the fixing section (52) and the magnetic ball (55) are tightly connected to avoid relative sliding or displacement between the two.

3. The radiotherapy positioning gold label recovery device according to claim 1, characterized in that: The gold label body (51) is made of a material that does not project X-rays.

4. The device for recovering radiotherapy positioning gold markers according to claim 1, characterized in that: The elastic fixing structure is made of superelastic material.

5. A radiotherapy positioning gold label recovery device according to claim 4, characterized in that: When a force is applied to the terminal end of the spiral segment (54) of the elastic fixing structure, the elastic fixing structure is straightened or compressed, and when the force disappears, the elastic fixing structure returns to its original shape.

6. The radiotherapy positioning gold label recovery device according to claim 1, characterized in that: The claw forceps (4) comprises a support tube (41); the distal end of the support tube (41) is connected to a claw forceps head (42); the zipper (3) passes through the proximal end of the support tube (41) and is connected to the claw forceps head (42); the claw forceps head (42) can be opened and closed by pushing and pulling the zipper (3).

7. A radiotherapy positioning gold label recovery device according to claim 6, characterized in that: The claw forceps head (42) comprises a first half claw (43) and a second half claw (44); the first half claw (43) is hinged to the support tube (41) and the zipper (3) respectively; the second half claw (44) is fixedly arranged on the support tube (41).

8. The device for recovering a radiotherapy positioning gold marker according to claim 7, characterized in that: The first half claw (43) is respectively hinged to the support tube (41) and the zipper (3) through a connecting portion (45); a permanent magnet (46) is embedded in the connecting portion (45).

9. The radiotherapy positioning gold label recovery device according to claim 7, characterized in that: The first half claw (43) and the second half claw (44) are hemispherical.

10. A method for using a radiotherapy positioning gold label recovery device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: Build a 3D model of the patient's lungs through 3D reconstruction of CT 2D images to determine the lesion area; S2: Confirm several implantation points of the positioning gold marker (5) in the three-dimensional space outside the lesion area according to the lesion area; the number of the implantation points is 3-6, and the minimum distance between two implantation points shall not be less than 20mm; the minimum angle of the triangle formed by any three implantation points in the three-dimensional space shall be greater than 15°; the distance between the implantation point and the lesion area is 10-40mm; the implantation points can be visualized in a 45° oblique view without overlap; S3: Based on the determined implantation points, the implantation path is planned using the 3D model of the patient's lungs; S4: using an electromagnetic navigation bronchoscope to reach the implantation point according to the planned implantation path, and using the medical pipeline formed by the electromagnetic navigation bronchoscope after reaching the implantation point, implant the positioning gold mark (5) into the implantation point in sequence along the medical pipeline through a pushing device; when the positioning gold mark (5) is implanted, the gold mark body (51) is located at the rear of the implantation direction; in the above manner, implant the positioning gold mark (5) into each implantation point in sequence; S5: After the treatment is completed, the latest position information of the positioning gold marker (5) is determined by CT, and the removal path of the positioning gold marker (5) is planned in combination with the 3D model of the patient's lungs; S6: Use the electromagnetic navigation bronchoscope to reach the target area according to the planned removal path, and use the medical pipeline formed by the electromagnetic navigation bronchoscope after reaching the target area to pass the recovery claw forceps (6) through the medical pipeline to the target area where the positioning gold mark (5) is located, grab the positioning gold mark (5) to complete the recovery; each positioning gold mark (5) is removed in turn in the above manner.

Images