Cervical cancer preoperative ultrasonic navigation auxiliary device and auxiliary method thereof

Abstract

The invention discloses a cervical cancer preoperative ultrasonic navigation auxiliary device and an auxiliary method thereof.The cervical cancer preoperative ultrasonic navigation auxiliary device comprises a base and a plurality of units arranged on the base, the units comprise a positioning table, a navigation support, an image guiding module, a reference module and a guide needle module, and the positioning table comprises a positioning table body and a positioning table base; the positioning table body is arranged on the upper surface of the positioning table base, one end of the navigation support is connected with the top of the positioning table body, the image guiding module is arranged above the navigation support, the reference module is connected with one end of the navigation support through a fixing device, and a plurality of through holes are formed in the reference module from top to bottom in sequence; the base of the guide needle module is arranged at one end of the cylindrical body and is detachably connected with one through hole in the reference module through the positioning device, the elliptical mushroom head is fixedly mounted at the other end of the cylindrical body, and by means of the device, auxiliary puncture in an operation can be achieved, and insertion needles are evenly distributed in a tumor target area.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic navigation, and in particular to a preoperative ultrasonic navigation auxiliary device for cervical cancer surgery and an auxiliary method thereof. Background Art

[0002] Cervical cancer is the most common gynecological malignancy in my country. Its morbidity and mortality rate rank first among malignant tumors of the female reproductive system in China. It is one of the major public health problems facing my country. Remote afterloading brachytherapy is an irreplaceable and important treatment for advanced cervical cancer. Unlike the use of linear accelerators for external irradiation, afterloading brachytherapy uses a computer-controlled stepper motor to directly deliver a micro-radiation source (such as iridium-192) into the patient's tumor through a pre-implanted applicator or source delivery catheter for irradiation. It has the advantages of high dose near the source and rapid dose drop around the source. While ensuring that the tumor target area receives high-dose irradiation, it can effectively reduce radiation damage to surrounding normal tissues and organs. It is particularly suitable for the treatment of local tumor lesions such as paracervical invasion. Studies have shown that the three-year local control rate of tumors can be increased by nearly ten percentage points by performing paracervical implantation afterloading brachytherapy for patients with advanced cervical cancer with paracervical invasion.

[0003] However, the existing after-loading image guidance technology can only provide intraoperative lesion localization, lack of preoperative planning of the implantation path, and cannot customize individualized radiotherapy plans according to the size, shape and invasion depth of the tumor before surgery, and determine the number and layout of implantation needles required during surgery based on dose distribution. During surgery, the doctor performs manual puncture through the vagina, and must ensure that each implantation needle is parallel, equidistant and evenly distributed within the tumor target area. The operation is difficult and technically demanding, and it is very easy to fail to obtain a satisfactory radiation dose distribution due to unsatisfactory distribution of implantation needles. Summary of the invention

[0004] In order to solve the above technical problems, the embodiment of the present invention provides a preoperative ultrasound navigation assistance device for cervical cancer and an assistance method thereof, which can realize intraoperative auxiliary puncture and make the insertion needles evenly distributed in the tumor target area.

[0005] A first aspect of an embodiment of the present invention provides a preoperative ultrasound navigation assistance device for cervical cancer, the device comprising:

[0006] Pedestal;

[0007] A plurality of units are arranged on the base, wherein the plurality of units include a positioning platform, a navigation bracket, an image guidance module, a reference module and a guide needle module, wherein:

[0008] The positioning platform comprises a positioning platform body and a positioning platform base, wherein the positioning platform base is arranged on an upper surface of the base along a first direction, the first direction is perpendicular to a second direction parallel to the base, the positioning platform body is arranged on an upper surface of the positioning platform base, and the positioning platform is configured to be capable of six-degree-of-freedom posture adjustment;

[0009] One end of the navigation bracket is connected to the top of the positioning platform body, and the navigation bracket is arranged on one side of the top of the positioning platform along the first direction;

[0010] The image guidance module is arranged above the navigation bracket along the first direction;

[0011] The image guidance module includes a probe support and a probe, one end of the probe is connected to one end of the probe support, the navigation support is configured to rotate the probe in a preset direction, or push the image guidance module forward or backward along a first direction, and the image guidance module is configured to collect a three-dimensional image of the target area through the probe;

[0012] The reference module is connected to one end of the navigation bracket through a fixing device. The reference module is provided with a plurality of through holes in a sequence from top to bottom, and is configured to fix the guide needle module and the probe, and calibrate the position and posture of the probe;

[0013] The guide needle module includes a base, a cylindrical body and an elliptical mushroom head. The base is at one end of the cylindrical body and is detachably connected to a through hole in the reference module through a positioning device. The elliptical mushroom head is fixedly installed at the other end of the cylindrical body. The guide needle module is used to puncture the target area according to a preset needle path planning strategy.

[0014] In a possible implementation manner of the first aspect, the navigation bracket includes at least a motor unit and a lead screw, wherein:

[0015] The motor unit includes a pulley and a motor group, the motor unit is connected to the image guidance module, and is configured to push the probe forward or backward;

[0016] The lead screw is arranged at one side of the navigation bracket, and a scale line is arranged on the surface of the lead screw along a second direction parallel to the substrate. The lead screw is configured to record the forward or backward distance of the probe.

[0017] In a possible implementation of the first aspect, the motor group is connected to the probe bracket through a fixing device, and one end of the motor group along the first direction of the base is a rotating device, and the other end is provided with a driving motor;

[0018] One end of the pulley is connected to the rotating device, the other end of the pulley is connected to the probe, and the pulley is configured to drive the probe to rotate in a preset direction.

[0019] In a possible implementation of the first aspect, the shapes of the multiple through holes are respectively a first circular shape, an elliptical shape and / or a second circular shape, wherein the radius of the first circular shape is smaller than that of the second circular shape, and a protrusion groove is respectively provided on the upper side, the lower side, the left side and the right side of the elliptical shape, the length of the protrusion groove on the upper side is smaller than the length of the protrusion groove on the lower side, and the length of the protrusion groove on the left side is equal to the length of the protrusion groove on the right side.

[0020] In a possible implementation of the first aspect, a needle holder is further included, the surface of the needle holder is provided with a scale, and is configured to insert the implant needle into the target area through the needle guide module, and obtain the insertion depth and insertion position of the implant needle.

[0021] In a possible implementation of the first aspect, the reference module includes a first panel, a reference surface interlayer and a second panel, the first panel and the second panel form an interlayer space through a connecting piece, the reference surface interlayer is fixed in the interlayer space, and the reference surface interlayer includes a plurality of ultrasonic imaging target lines.

[0022] In a possible implementation of the first aspect, a uterine cavity tube is disposed at the axis of the cylindrical body, and a plurality of needle channels are disposed around the uterine cavity tube.

[0023] In a possible implementation of the first aspect, a plurality of needle channels are arranged around the uterine cavity tube, including:

[0024] Multiple parallel needle tracks are arranged in a dial-like pattern within a preset radius of the uterine cavity tube;

[0025] A plurality of parallel needle channels and / or oblique needle channels are arranged at the two side portions outside the preset radius of the uterine cavity tube.

[0026] A second aspect of an embodiment of the present invention provides a preoperative ultrasound navigation assistance method for cervical cancer, which is implemented by the above-mentioned preoperative ultrasound navigation assistance device for cervical cancer, and includes:

[0027] Pushing the image guidance module in a preset direction and a preset distance, so that when the guide needle module reaches the target area, the image guidance module is stopped from being pushed and the stepping distance and the initial position of the image guidance module are recorded;

[0028] The probe in the image guidance module performs a transverse scan and / or a longitudinal scan in the target area to obtain a plurality of two-dimensional images of the target area, obtain a two-dimensional coordinate of each two-dimensional image based on the stepping distance and the initial position, and convert each two-dimensional image according to each two-dimensional coordinate to obtain a three-dimensional image of the target area;

[0029] Based on three-dimensional images, personnel can insert the implant needle into the target area through the needle guide module according to the needle track planning strategy.

[0030] In a possible implementation of the second aspect, based on the three-dimensional image, when a person inserts an implant needle into a target area through a needle guide module according to a needle track layout strategy, the method further includes:

[0031] According to the preset time, the reference surface of the reference module is used to calibrate the error of the position of the three-dimensional image and the position of the image guidance module. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 : A schematic diagram of an auxiliary device of an embodiment of a preoperative ultrasound navigation auxiliary device for cervical cancer provided by the present invention;

[0033] Figure 2 : A rendering of an auxiliary device of an embodiment of a preoperative ultrasound navigation auxiliary device for cervical cancer provided by the present invention;

[0034] Figure 3 : A schematic diagram of a reference module structure of an embodiment of a preoperative ultrasound navigation auxiliary device for cervical cancer provided by the present invention;

[0035] Figure 4 : A flow chart of the auxiliary method of another embodiment of the preoperative ultrasound navigation auxiliary device for cervical cancer provided by the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] The reference to "embodiment" in this article means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The "embodiment" mentioned in this article is intended to explain the core structure and general implementation method of a preoperative ultrasound navigation auxiliary device for cervical cancer proposed in this article.

[0038] Please refer to Figure 1 , is a schematic diagram of the structural connection of an embodiment of a preoperative ultrasound navigation assistance device for cervical cancer provided by an embodiment of the present invention. The embodiment of the present invention provides a preoperative ultrasound navigation assistance device for cervical cancer, including:

[0039] Pedestal;

[0040] A plurality of units are arranged on the base, wherein the plurality of units include a positioning platform, a navigation bracket, an image guidance module, a reference module and a guide needle module, wherein:

[0041] The positioning platform comprises a positioning platform body and a positioning platform base, wherein the positioning platform base is arranged on an upper surface of the base along a first direction, the first direction is perpendicular to a second direction parallel to the base, the positioning platform body is arranged on an upper surface of the positioning platform base, and the positioning platform is configured to be capable of six-degree-of-freedom posture adjustment;

[0042] One end of the navigation bracket is connected to the top of the positioning platform, and the navigation bracket is arranged on one side of the top of the positioning platform along the first direction;

[0043] The image guidance module is arranged above the navigation bracket along the first direction;

[0044] The image guidance module includes a probe support and a probe, one end of the probe is connected to one end of the probe support, the navigation support is configured to rotate the probe in a preset direction, or push the image guidance module forward or backward along a first direction, and the image guidance module is configured to collect a three-dimensional image of the target area through the probe;

[0045] The reference module is connected to one end of the navigation bracket through a fixing device. The reference module is provided with a plurality of through holes in a sequence from top to bottom, and is configured to fix the guide needle module and the probe, and calibrate the position and posture of the probe;

[0046] The guide needle module includes a base, a cylindrical body and an elliptical mushroom head. The base is at one end of the cylindrical body and is detachably connected to a through hole in the reference module through a positioning device. The elliptical mushroom head is fixedly installed at the other end of the cylindrical body. The guide needle module is used to puncture the target area according to a preset needle path planning strategy.

[0047] In this embodiment, the cervical cancer navigation assistance device includes a base, that is, a chassis, and a positioning platform that can be adjusted in six degrees of freedom is arranged on the chassis. The positioning platform includes a positioning platform body and a positioning platform base. The positioning platform base is arranged on the upper surface of the base along a first direction, and the first direction is perpendicular to a second direction parallel to the base. The positioning platform body is arranged on the upper surface of the positioning platform base, and the positioning platform is configured to be able to perform six degrees of freedom posture adjustment. In addition, the cervical cancer navigation assistance device also integrates a navigation bracket, an image guidance module, a reference module, and a guide needle module, and the rendering is shown in Figure 2. Among them, the front end of the navigation bracket is connected to the top of the positioning platform body by screws, and the navigation bracket is parallel to the first direction and is arranged on one side of the top of the positioning platform.

[0048] The image guidance module is adapted to the intestinal ultrasound probe, and can drive the 2D probe to step forward / step backward / spin scan through a stepper motor to reconstruct 3D ultrasound images; the vaginal guide needle module, that is, the guide needle module, is adapted to the uterine cavity canal in the center, and has parallel and oblique needle insertion channels preset around it for assisting puncture during surgery.

[0049] The reference template is connected to one end of the navigation bracket through a fixing device. The reference module is provided with multiple through holes from top to bottom for fixing the image guidance module and the vaginal guide needle module. At the same time, as a reference surface for navigation mechanical positioning and image positioning, an ultrasound imaging target line is embedded to regularly calibrate the ultrasound navigation mechanical positioning and image positioning errors.

[0050] The image guidance module is arranged above the navigation support along the first direction and is designed to be vertically parallel to the navigation support. The image guidance module includes a probe support and a probe, one end of the probe is connected to one end of the probe support, and the navigation support is configured to rotate the probe in a preset direction, or push the image guidance module forward or backward along the first direction.

[0051] The reference module is fixedly mounted on the top of the navigation bracket by screws. The reference module is provided with a plurality of through holes in a sequence from top to bottom, and is configured to fix the guide needle module and the probe, and calibrate the position and posture of the probe;

[0052] The guide needle module includes a base, a cylindrical body and an elliptical mushroom head. The base is at one end of the cylindrical body and cooperates with the positioning holes on the guide needle module through four spring positioning pins. It is removably connected to the through holes in the reference module. The elliptical mushroom head is fixedly installed at the other end of the cylindrical body. The guide needle module is used to puncture the target area according to the preset needle path planning strategy.

[0053] In some embodiments, the navigation support comprises at least a motor unit and a lead screw, wherein:

[0054] The motor unit includes a pulley and a motor group, the motor unit is connected to the image guidance module, and is configured to push the probe forward or backward;

[0055] The lead screw is arranged at one side of the navigation bracket, and a scale line is arranged on the surface of the lead screw along a second direction parallel to the substrate. The lead screw is configured to record the forward or backward distance of the probe.

[0056] In this embodiment, the navigation bracket is provided with a precision linear rail, a precision lead screw and a motor unit for realizing electric propulsion of the ultrasound probe. The motor unit includes a pulley and a motor group, and the motor unit is connected to the image guidance module and is configured to push the probe forward or backward.

[0057] The lead screw is set on one side of the navigation bracket, and the lead screw surface is provided with scale lines, which can be used to record the forward or backward distance of the probe, so as to determine the position of the two-dimensional image scanned by the probe. The length of the ultrasound probe is fixed, and there is a physical scale on the navigation bracket. After determining the reference plane (0 degree position), the distance (position information) of the scanning plane in the world space can be used to reconstruct the 3D ultrasound image, such as scanning with a step of 3mm, and then sending it to the reconstruction software 1, where is the starting position, how much is the step distance, that is, the starting coordinate, the step distance (3mm).

[0058] The motor in the motor group is preferably a NEMA 11 stepper motor. In the motion control system of the stepper motor, it is planned to use Arm Cortex-M4 STM32F405VGT6 as a microcontroller, TMC2208 as a stepper motor driver chip, and communicate with the control host computer software using the RS232 protocol. Without using stepper motor subdivision technology, an intestinal ultrasonic propulsion absolute positioning accuracy of at least 0.04 mm and an ultrasonic rotation absolute positioning accuracy of 0.0126 radians are achieved.

[0059] It should be noted that the motor unit and the lead screw refer to a precision lead screw and a NEMA 11 stepper motor, respectively. The lead of the precision lead screw is preferably 8 mm, and the step angle of the NEMA 11 stepper motor is preferably 1.8°. The calculation method for the absolute positioning accuracy of intestinal ultrasound advancement is: The calculation method of ultrasonic rotation absolute positioning accuracy is:

[0060] In addition, a set of synchronous pulleys and a NEMA 11 stepper motor are used to achieve automatic rotation of the ultrasound probe.

[0061] It should be noted that the reduction ratio of the synchronous pulley is preferably 2.5:1.

[0062] In some embodiments, the motor group is connected to the probe bracket through a fixing device, and one end of the motor group along the first direction of the base is a rotating device, and the other end is provided with a driving motor;

[0063] One end of the pulley is connected to the rotating device, the other end of the pulley is connected to the probe, and the pulley is configured to drive the probe to rotate in a preset direction.

[0064] In this embodiment, the motor group is connected to the probe bracket through the upper part of the fixing device, and the lower part is located below the navigation bracket. The lower part of the motor group is a NEMA 11 stepper motor. A rotating device is arranged in front of the NEMA 11 stepper motor. The rotating device is connected to a synchronous pulley, and the other end of the pulley is connected to the probe, and the pulley can drive the probe to rotate in a preset direction.

[0065] In some embodiments, the shapes of the multiple through holes are respectively a first circular shape, an elliptical shape and / or a second circular shape, wherein the radius of the first circular shape is smaller than that of the second circular shape, and a protrusion groove is respectively provided on the upper side, the lower side, the left side and the right side of the elliptical shape, the length of the protrusion groove on the upper side is smaller than the length of the protrusion groove on the lower side, and the length of the protrusion groove on the left side is equal to the length of the protrusion groove on the right side.

[0066] In this embodiment, the main structure of the reference template is also provided with three through holes, which are, from top to bottom, the urinary catheter through hole, the vaginal guide needle template through hole, and the ultrasound probe through hole. The reference template, i.e., the four spring positioning pins built into the reference module cooperate with the positioning holes on the vaginal guide needle mold to realize the quick-disassembly structure of the vaginal guide needle mold, thereby improving the convenience of mold installation.

[0067] The main body of the through hole of the vaginal guide needle template on the reference template is oval, with a protruding groove on each of the four sides, and a built-in spring positioning pin that corresponds to the corresponding tail wing on the vaginal mold to increase the fixation reliability and prevent horizontal and rotational displacement.

[0068] In some embodiments, there is also a needle holder, the surface of which is provided with a scale, and is configured to insert the implant needle into the target area through the needle guide module, and to obtain the insertion depth and insertion position of the implant needle.

[0069] In this embodiment, the needle holder is engraved with precise scales, and the forward movement of the push rod can achieve a large displacement of the implant needle of 0 to 110 mm. After the large-stroke rough positioning, the needle tip depth can be finely adjusted by 0.4 mm / turn within a range of 10 mm by rotating the push rod, and finally the implant needle depth can be precisely controlled.

[0070] In some embodiments, the reference module includes a first panel, a reference surface sandwich and a second panel, the first panel and the second panel form a sandwich space through a connector, the reference surface sandwich is fixed in the sandwich space, and the reference surface sandwich includes a plurality of ultrasonic imaging target lines.

[0071] In this embodiment, if Figure 3 As shown, the reference template consists of a three-layer aluminum alloy structure: a front panel, a reference plane interlayer, and a rear panel, with a total thickness of 12 mm. The reference template mainly serves the purpose of fixation and ultrasound calibration. In order to fit the patient's perineum as closely as possible to achieve a better fixation effect, the front panel is designed as a semi-arc structure. The reference plane interlayer is a 3mm thick aluminum alloy sheet with four polytetrafluoroethylene square strips embedded in it as an ultrasound imaging target line, which can be used to calibrate the position and posture of the ultrasound probe. The rear panel is a flat structure with pinhole positioning numbers engraved on it to facilitate quick positioning of the pinhole in actual operation.

[0072] The ultrasonic imaging target line refers to four polytetrafluoroethylene square strips (lines) embedded in 3mm thick aluminum foil. As shown in Figure 5, the black line in the reference plane interlayer represents the polytetrafluoroethylene square strip. The ultrasonic impedance difference between polytetrafluoroethylene and Lu Bu is large, so it can be better displayed in the ultrasonic image.

[0073] It is worth noting that the first panel refers to the front panel, and the second panel refers to the rear panel.

[0074] In some embodiments, a uterine cavity tube is disposed at the axis of the cylindrical body, and a plurality of needle channels are disposed around the uterine cavity tube.

[0075] In this embodiment, the vaginal guide needle mold, that is, the guide needle module, includes a base, a cylindrical body and an elliptical mushroom head. The base is at one end of the cylindrical body and is detachably connected to a through hole in the reference module through a positioning device. The elliptical mushroom head is fixedly installed at the other end of the cylindrical body.

[0076] The vaginal guide needle mold is made of high molecular polyester material and medical silicone material. The mold body is a mushroom-shaped column with 38 optional holes. The column is 102mm long and the insertable part is 90mm long. The long diameter of the mushroom head is 40mm and the short diameter is 20mm. After deducting the edge of the template, the effective radius is about 17.5mm.

[0077] In some embodiments, multiple needle tracks are arranged around the uterine cavity tube, including:

[0078] Multiple parallel needle tracks are arranged in a dial-like pattern within a preset radius of the uterine cavity tube;

[0079] A plurality of parallel needle channels and / or oblique needle channels are arranged at the two side portions outside the preset radius of the uterine cavity tube.

[0080] In this embodiment, the mushroom head has a long diameter of 40 mm and a short diameter of 20 mm. The center is adapted to the uterine cavity tube, and there are 12 parallel needle channels C1-C arranged in a dial-like manner around the uterine cavity tube. 12 The expansion parts on both sides are equipped with parallel needle channels A1-A that are symmetrical on both sides. 17 and oblique needle channels B1-B8, totaling 38 needle channels.

[0081] In some embodiments, Figure 4 , which shows a flow chart of a preoperative ultrasound navigation assistance method for cervical cancer provided by an embodiment of the present application, including:

[0082] Pushing the image guidance module in a preset direction and a preset distance, so that when the guide needle module reaches the target area, the image guidance module is stopped from being pushed and the stepping distance and the initial position of the image guidance module are recorded;

[0083] The probe in the image guidance module performs a transverse scan and / or a longitudinal scan in the target area to obtain a plurality of two-dimensional images of the target area, obtain a two-dimensional coordinate of each two-dimensional image based on the stepping distance and the initial position, and convert each two-dimensional image according to each two-dimensional coordinate to obtain a three-dimensional image of the target area;

[0084] Based on three-dimensional images, personnel can insert the implant needle into the target area through the needle guide module according to the needle track planning strategy.

[0085] In this embodiment, when performing surgery, the image guidance module is pushed in a preset direction and a preset distance, and when the guide needle module reaches the target surgical area, the image guidance module is stopped from being pushed and the step distance and initial position of the image guidance module are recorded. The probe in the image guidance module performs a horizontal scan and / or a vertical scan in the target surgical area to obtain multiple two-dimensional images of the target area, and based on the step distance and the initial position, the two-dimensional coordinates of each two-dimensional image are obtained. According to each two-dimensional coordinate, each two-dimensional image is converted to obtain a three-dimensional image of the target area. Then, according to the three-dimensional image, the medical staff inserts the implant needle into the target area according to the needle path planning strategy through the guide needle module.

[0086] It should be noted that the target area refers to the patient's tumor lesion.

[0087] The 3D acquisition card software that comes with the intestinal ultrasound probe will convert the collected 2D ultrasound into a 3D ultrasound image. During this conversion process, the position coordinates of each frame of the 2D image can be determined by the scale on the navigation bracket.

[0088] In some embodiments, when a person inserts an implant needle into a target area through a needle guide module according to a needle track layout strategy based on a three-dimensional image, the method further includes:

[0089] According to the preset time, the reference surface of the reference module is used to calibrate the error of the position of the three-dimensional image and the position of the image guidance module.

[0090] In this embodiment, the reference template is used as a reference surface for navigation mechanical positioning and image positioning, and an ultrasound imaging target line is embedded in the reference surface interlayer, which can be used to regularly calibrate the ultrasound navigation mechanical positioning and image positioning errors.

[0091] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A preoperative ultrasound navigation aid for cervical cancer, characterized in that: include: Pedestal; A plurality of units are arranged on the base, wherein the plurality of units include a positioning platform, a navigation bracket, an image guidance module, a reference module and a guide needle module, wherein: The positioning platform comprises a positioning platform body and a positioning platform base, wherein the positioning platform base is arranged on the upper surface of the base along a first direction, the first direction is perpendicular to a second direction parallel to the base, the positioning platform body is arranged on the upper surface of the positioning platform base, and the positioning platform is configured to be capable of six-degree-of-freedom posture adjustment; One end of the navigation bracket is connected to the top of the positioning platform body, and the navigation bracket is arranged on one side of the top of the positioning platform along the first direction; The image guidance module is arranged above the navigation bracket along the first direction; The image guidance module includes a probe support and a probe, one end of the probe is connected to one end of the probe support, the navigation support is configured to rotate the probe in a preset direction, or push the image guidance module forward or backward along the first direction, and the image guidance module is configured to collect a three-dimensional image of the target area through the probe; The reference module is connected to one end of the navigation bracket through a fixing device, and the reference module is provided with a plurality of through holes in a sequence from top to bottom, and is configured to fix the guide needle module and the probe, and calibrate the position and posture of the probe; The guide needle module includes a base, a cylindrical body and an elliptical mushroom head. The base is at one end of the cylindrical body and is detachably connected to one of the through holes in the reference module through a positioning device. The elliptical mushroom head is fixedly mounted at the other end of the cylindrical body. The guide needle module is used to puncture the target area according to a preset needle track planning strategy.

2. The preoperative ultrasound navigation aid device for cervical cancer according to claim 1, characterized in that: The navigation bracket at least includes a motor unit and a screw rod, wherein: The motor unit includes a pulley and a motor group, and the motor unit is connected to the image guidance module and is configured to push the probe forward or backward; The screw rod is arranged on one side of the navigation bracket, and a scale line is arranged on the surface of the screw rod along a second direction parallel to the substrate. The screw rod is configured to record the forward or backward distance of the probe.

3. The preoperative ultrasound navigation aid device for cervical cancer according to claim 2, characterized in that: The motor group is connected to the probe bracket through a fixing device, and one end of the motor group along the first direction of the base is a rotating device, and the other end is provided with a driving motor; One end of the pulley is connected to the rotating device, the other end of the pulley is connected to the probe, and the pulley is configured to drive the probe to rotate in a preset direction.

4. The preoperative ultrasound navigation aid device for cervical cancer according to claim 1, characterized in that: The shapes of the multiple through holes are respectively a first circular shape, an elliptical shape and / or a second circular shape, wherein the radius of the first circular shape is smaller than that of the second circular shape, and a protruding groove is respectively arranged on the upper side, the lower side, the left side and the right side of the elliptical shape, the length of the protruding groove on the upper side is smaller than that of the protruding groove on the lower side, and the length of the protruding groove on the left side is equal to the length of the protruding groove on the right side.

5. The preoperative ultrasound navigation aid device for cervical cancer according to claim 1, characterized in that: It also includes a needle holder, the surface of which is provided with scales and is configured to insert the implant needle into the target area through the needle guide module and obtain the insertion depth and insertion position of the implant needle.

6. The preoperative ultrasound navigation auxiliary device for cervical cancer according to claim 1, characterized in that: The reference module includes a first panel, a reference plane sandwich and a second panel. The first panel and the second panel form a sandwich space through a connecting piece. The reference plane sandwich is fixed in the sandwich space. The reference plane sandwich includes a plurality of ultrasonic imaging target lines.

7. The preoperative ultrasound navigation aid device for cervical cancer according to claim 1, characterized in that: A uterine cavity tube is arranged at the axis of the cylindrical body, and a plurality of needle channels are arranged around the uterine cavity tube.

8. The preoperative ultrasound navigation aid device for cervical cancer according to claim 7, characterized in that: A plurality of needle channels are arranged around the uterine cavity tube, including: A plurality of parallel needle channels are arranged in a dial-like manner within a preset radius of the uterine cavity tube; A plurality of parallel needle channels and / or oblique needle channels are arranged at the two side portions outside the preset radius of the uterine cavity tube.

9. A preoperative ultrasound navigation-assisted method for cervical cancer, characterized in that: The method is realized by the preoperative ultrasound navigation auxiliary device for cervical cancer as described in claims 1 to 8, comprising: Pushing the image guidance module in a preset direction and by a preset distance, so that when the guide needle module reaches the target area, stopping pushing the image guidance module and recording the stepping distance and initial position of the image guidance module; The probe in the image guidance module is made to perform a transverse scan and / or a longitudinal scan in the target area to obtain a plurality of two-dimensional images of the target area, and based on the stepping distance and the initial position, a two-dimensional coordinate of each of the two-dimensional images is obtained, and each of the two-dimensional images is converted according to each of the two-dimensional coordinates to obtain a three-dimensional image of the target area; Based on the three-dimensional image, personnel insert an implant needle into the target area through the needle guide module according to the needle track planning strategy.

10. The preoperative ultrasound navigation-assisted method for cervical cancer according to claim 9, characterized in that: When the three-dimensional image is used to enable a person to insert an implant needle into the target area through the needle guide module according to the needle track layout strategy, the method further includes: According to a preset time, the error between the position of the three-dimensional image and the position of the image guiding module is calibrated using a reference surface of a reference module.

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