Robot puncture positioning method and device for biliary tract puncture

A positioning method and technology of positioning device, which are applied to puncture needles, computer-aided surgery, computer-aided planning/modeling, etc., can solve the problems of low puncture positioning accuracy, and achieve the effect of reducing the number of needle penetrations and improving the accuracy.
CN113558735APending Publication Date: 2021-10-29SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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Patent Information

Authority / Receiving Office
CN ยท China
Current Assignee / Owner
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
Publication Date
2021-10-29

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Abstract

The invention relates to the field of intelligent medical equipment, in particular to a robot puncture positioning method and device for biliary tract puncture, and the method comprises the steps: receiving a scanning request, and scanning a scanning target; collecting ultrasonic images during scanning, and establishing a one-to-one correspondence relation between the ultrasonic images and the spatial positions when the ultrasonic images are collected; defining the ultrasonic image which is most matched with a planning image layer in the ultrasonic images as a puncture layer; if no barrier exists on the puncture layer, taking the point, closest to the puncture target point, of the scanning target as a needle entering point, and taking the connecting line between the needle entering point and the puncture target point as a planned needle entering track; and then, when a caculated needle entering positioning channel and the planned needle entering track are not collinear, adjusting the needle entering positioning channel to be collinear with the planned needle entering track, and completing positioning of the needle entering positioning channel. The robot puncture positioning method and device are used for positioning a puncture channel, the puncture positioning precision is improved, and the needle puncture frequency is reduced.
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Description

technical field

[0001] The invention relates to the field of intelligent medical equipment, in particular to a robot puncture positioning method and device for biliary tract puncture. Background technique

[0002] Biliary interventional surgery is an important procedure in the treatment of biliary-related diseases such as cholangiography, internal and external biliary drainage, and malignant biliary obstruction. Whether the puncture operation can successfully penetrate into a specific part of the biliary tract is crucial to the entire treatment. Accurately hitting the planning target in the biliary tract means the smooth establishment of the interventional channel, and subsequent treatment methods including balloon dilatation catheters, dilatable stents, and radioactive particle stents can be carried out smoothly. Before the puncture operation, the doctor will plan the level of the puncture needle based on the patient's CT or MRI images. During puncture surgery, doctors nee...

Claims

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