Laser navigation device for guiding puncture path

Abstract

According to the laser navigation device for guiding the puncture path, the horizontal sliding mechanism in the laser navigation device achieves horizontal and vertical position adjustment of the position indicator through the sliding seat and the linear driver, and the angle adjustment flexibility of the position indicator is guaranteed through spherical hinge connection. A vertical line laser head and an angle line laser head in the positioning instrument are used for indicating the transverse position of a needle inserting point and a puncture path respectively, the angle line laser head is accurately driven by a first driving motor to rotate to a required angle, and under special conditions such as the laser is shielded, after the angle of the positioning instrument is adjusted, a three-axis sensor can sense the inclination angle of the positioning instrument, and the puncture path is adjusted. And the angle laser rays are automatically corrected, so that the puncture accuracy is ensured. The whole system effectively improves the accuracy, convenience and intelligent degree of CT-guided needle biopsy operation through close cooperation of all parts, reduces personal errors, and improves the medical operation efficiency and quality.

Description

Technical Field

[0001] This utility model relates to the field of medical auxiliary equipment technology, and in particular to a laser navigation device for puncture path guidance. Background Technology

[0002] In modern medicine, biopsy is an important diagnostic technique, crucial for obtaining tissue samples from diseased areas and making definitive diagnoses. However, traditional CT-guided biopsy procedures face numerous challenges.

[0003] While CT scans provide detailed information about the body's internal structures, translating this two-dimensional image information into precise positioning during actual puncture procedures relies heavily on the doctor's experience and manual operation, resulting in significant human error. Doctors need to mentally construct a three-dimensional spatial concept and determine the puncture path, needle angle, and depth based on the CT images—a process that is not only complex but also difficult to guarantee in terms of accuracy. Furthermore, changes in patient position and respiratory movements during the puncture process can affect accuracy. Traditional methods lack effective real-time monitoring and correction mechanisms; any deviation can lead to puncture failure, requiring repeated procedures, causing unnecessary pain for the patient, increasing medical risks, and wasting medical resources.

[0004] Furthermore, with the development of medical technology and the increase in clinical needs, higher requirements are being placed on the accuracy, convenience, and intelligence of puncture biopsy. Existing procedures are insufficient to meet the growing medical demands, and there is an urgent need for a technology that can improve puncture accuracy, reduce human error, and enhance operational efficiency. Utility Model Content

[0005] The purpose of this invention is to provide a laser navigation device for puncture path guidance, which uses laser line indication to provide needle insertion angle guidance for CT-guided percutaneous biopsy.

[0006] This utility model provides a laser navigation device for puncture path guidance, including a microcontroller, a locator, and a horizontal sliding mechanism. The locator is equipped with a triaxial sensor. A linear actuator is fixedly mounted vertically on the sliding seat of the horizontal sliding mechanism. The bottom end of the locator is ball-jointed to the top end of the linear actuator. The locator is equipped with a vertical laser head and an angle laser head. The vertical laser head is fixedly installed inside the locator, and the angle laser head is rotatably installed inside the locator. The locator is equipped with a first drive motor for driving the angle laser head to rotate. The triaxial sensor, the first drive motor, and the horizontal sliding mechanism are all electrically connected to the microcontroller.

[0007] Furthermore, the positioning device includes a base and a housing, the vertical line laser head is fixedly mounted on the base, the angle line laser head is rotatably mounted on the base via bearings, and the microcontroller and the triaxial sensor are both mounted on the base.

[0008] Furthermore, the angle line laser head has two conductive slip rings spaced apart along its axial direction on the outer side of one end of the base, and two conductive copper sheets are fixedly installed on the base, which respectively abut against the two conductive slip rings.

[0009] Furthermore, an insulating ring is installed between the two conductive slip rings on the angle line laser head, and two conductive copper sheets are arranged side by side with an insulating pad between them.

[0010] Furthermore, the outer ring of the bearing is fixedly mounted on the base by a snap ring, the snap ring comprising two identical snap-fit ​​pieces, the outer ring of the bearing having a snap-fit ​​groove that mates with the snap-fit ​​pieces, and the snap-fit ​​pieces being fixedly mounted on the base by screws.

[0011] Furthermore, a battery box is fixedly installed on the base, and the vertical laser head and the two conductive copper plates are connected to the battery box through wires; the battery box is provided with a self-locking switch, which protrudes from the outside of the outer shell.

[0012] Furthermore, the angle line laser head is connected to the first drive motor via gear transmission.

[0013] Furthermore, the horizontal sliding mechanism includes a sliding platform, a screw is rotatably mounted inside the sliding platform, a second drive motor for driving the screw to rotate is fixedly mounted at the end of the sliding platform, a sliding seat that cooperates with the screw is slidably mounted on the sliding platform, and the second drive motor is electrically connected to the microcontroller.

[0014] Furthermore, a ball joint is fixedly installed at the top of the linear actuator, and a ball head that mates with the ball joint is threadedly installed at the bottom of the positioning instrument.

[0015] Furthermore, a level bubble is fixedly installed at the top of the positioning device.

[0016] The beneficial effects of this technical solution are as follows: The horizontal sliding mechanism in this laser navigation device achieves horizontal and vertical position adjustment of the positioning instrument through a sliding seat and a linear driver. The positioning instrument is connected by a ball joint to ensure the flexibility of angle adjustment. The vertical laser head and the angle laser head inside the positioning instrument are used to indicate the lateral position of the needle insertion point and the puncture path, respectively. The angle laser head is precisely driven to rotate to the required angle by a first drive motor. Furthermore, in special circumstances, such as when the laser is blocked, after adjusting the positioning instrument angle, the triaxial sensor can detect the tilt angle of the positioning instrument and feed it back to the microcontroller to automatically correct the angle laser line, ensuring puncture accuracy. Through the close cooperation of all components, the overall system effectively improves the accuracy, convenience, and intelligence of CT-guided puncture biopsy operations, reduces human error, and improves the efficiency and quality of medical operations. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the hardware execution module in this utility model.

[0019] Figure 2 This is another overall structural diagram of the hardware execution module in this utility model.

[0020] Figure 3 for Figure 2 Enlarged view of the structure at point A in the middle.

[0021] Figure 4 for Figure 2 Enlarged view of the structure at point B.

[0022] Figure 5 This is a schematic diagram of the disassembled structure of the positioning device in this utility model.

[0023] Figure 6 This is a schematic diagram of another disassembled structure of the positioning device in this utility model.

[0024] Figure 7 for Figure 6 A schematic diagram of the structure at point C.

[0025] Figure 8 A flowchart illustrating how the system works.

[0026] Explanation of reference numerals in the attached drawings: 1-Positioning device, 101-Outer shell, 102-Base, 2-Horizontal sliding mechanism, 201-Sliding platform, 202-Screw, 203-Second drive motor, 204-Sliding seat, 205-Flange, 206-Guide wheel, 3-Linear driver, 4-Vertical laser head, 5-Angle laser head, 6-Ball socket, 7-Ball head, 8-First drive motor, 9-Snap-fit ​​piece, 10-Battery box, 11-Self-locking switch, 12-Level bulb, 13-Conductive slip ring, 14-Insulating ring, 15-Conductive copper sheet, 16-Insulating pad. Detailed Implementation

[0027] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0028] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0030] like Figures 1-8As shown, this utility model provides a laser navigation device for puncture path guidance, including a microcontroller, a positioning device 1, and a horizontal sliding mechanism 2. A linear actuator 3 is vertically fixedly installed on the sliding seat 204 of the horizontal sliding mechanism 2 for adjusting the height of the positioning device 1. The linear actuator 3 is an electric telescopic rod or a cylinder. The bottom end of the positioning device 1 is connected to the top end of the linear actuator 3 by a ball joint. Specifically, a ball socket 6 is fixedly installed at the top end of the linear actuator 3, and a ball head 7 that mates with the ball socket 6 is threaded onto the bottom end of the positioning device 1. To provide a certain damping when the entire ball joint structure rotates, a damping pad can be provided inside the ball socket 6 to prevent the positioning device 1 from rotating on its own due to gravity, facilitating the fixing of the positioning device 1 after angle adjustment. A locking bolt can also be provided on the outside of the ball socket 6 to tighten the ball head 7. When the positioning device 1 is obstructed by the bed, the angle of the positioning device 1 can be adjusted using the ball joint structure.

[0031] The positioning device 1 is equipped with a vertical line laser head 4 and an angle line laser head 5. The vertical line laser head 4 is fixedly installed inside the positioning device 1, and the angle line laser head 5 is rotatably installed inside the positioning device 1. Specifically, the positioning device 1 includes a base 102 and a housing 101. The vertical line laser head 4 is fixedly installed on the base 102, and the angle line laser head 5 is rotatably installed on the base 102 via a bearing. The outer ring of the bearing is fixedly installed on the base 102 via a snap-fit ​​ring, which includes two identical snap-fit ​​pieces 9. The outer ring of the bearing has a snap-fit ​​groove that mates with the snap-fit ​​pieces 9. The snap-fit ​​pieces 9 are fixedly installed on the base 102 with screws, thus securing the bearing. The base 102 is equipped with a first drive motor 8 for driving the angle line laser head 5 to rotate. The angle line laser head 5 and the first drive motor 8 are connected via gear transmission. The first drive motor 8 can precisely rotate, driving the angle line laser head 5 to the required angle. The angle line laser head 5 can rotate from -90° to 90°.

[0032] A circuit board compartment is also installed on the base 102, containing a microcontroller and a triaxial sensor. Both the first drive motor 8 and the triaxial sensor are electrically connected to the microcontroller. The triaxial sensor is used to calculate the placement of the positioning device 1 in real time, ensuring that the positioning device 1 is horizontally aligned with the CT gantry and guaranteeing accurate positioning. Furthermore, when the positioning device 1 tilts towards the bed surface at a certain angle, it can sense the tilt angle, and the microcontroller can automatically correct the angle laser line based on the measured puncture angle.

[0033] An angle line laser head 5 has two conductive slip rings 13 spaced axially along the outer side of one end of the base 102. An insulating ring 14 is installed on the angle line laser head 5 between the two conductive slip rings 13. Two conductive copper plates 15 are fixedly installed on the base 102, each abutting against the two conductive slip rings 13. The two conductive copper plates 15 are arranged side by side, and an insulating pad 16 is provided between the two conductive copper plates 15. A battery box 10 is fixedly installed on the base 102. The vertical line laser head 4 and the two conductive copper plates 15 are connected to the battery box 10 through wires. A self-locking switch 11 is provided on the battery box 10, and the self-locking switch 11 protrudes from the outer side of the outer shell 101.

[0034] The horizontal sliding mechanism 2 includes a sliding platform 201. A screw 202 is rotatably mounted inside the sliding platform 201. A second drive motor 203 for driving the screw 202 to rotate is fixedly mounted at the end of the sliding platform 201. The second drive motor 203 is electrically connected to a microcontroller and is controlled by the microcontroller. A sliding seat 204 that cooperates with the screw 202 is slidably mounted on the sliding platform 201. In order to reduce the travel resistance of the sliding seat 204 and the stability during sliding, guide wheels 206 are symmetrically rotatably mounted at the bottom end of the sliding seat 204. Correspondingly, flanges 205 that cooperate with the guide wheels 206 are symmetrically provided on both sides of the sliding platform 201.

[0035] A level bubble 12 is fixedly installed at the top of the positioning device 1 to observe the tilt of the positioning device 1.

[0036] A numeric keypad is also installed on the outer casing 101 of the positioning device 1. The numeric keypad is electrically connected to the microcontroller and can manually set the rotation angle of the angle line laser head 5, so that the laser navigation device can be used independently without the use of software control.

[0037] This laser navigation device can be controlled by computer software to perform corresponding operations. This computer software is existing technology and will not be described in detail here. The computer software can receive CT images and automatically mark the puncture path, providing the puncture angle and depth based on the puncture point and puncture target. Simultaneously, it can automatically calculate the position (coordinate value) of the puncture point on the X-axis based on the characteristics of the CT image and transmit the data to the microcontroller within the positioning device. The microcontroller uses the puncture angle provided by the computer software to drive the rotation of the angle line laser head 5. The laser line emitted by the angle line laser head 5 indicates the puncture path, while the vertical line laser head 4 displays a vertical line indicating the lateral position of the puncture point in the X-plane. The position value on the X-axis is used to drive the sliding seat 204 to move and adjust, so that the vertical laser line emitted by the vertical line laser head 4 coincides with the puncture point.

[0038] In CT-guided biopsy, lesions typically require a diameter of around 10mm; those smaller than 10mm are primarily monitored with follow-up. Before the biopsy, the target lesion is located by reviewing the images, and adjacent structures are observed. Using a 1mm slice thickness as an example, multiple layers of the lesion can be visualized. The optimal lesion layer is selected based on adjacent blood vessels, bronchi, ribs, etc., as the puncture layer. A suitable point on the skin is chosen as the needle insertion point. A straight line drawn between the needle insertion point and the appropriate location of the lesion within this layer represents the ideal puncture path. The distance from the needle insertion point to the lesion is the puncture depth. The path usually forms an angle with the vertical direction, known as the puncture angle. Both the needle insertion angle and puncture depth can be measured using CT images. The optimal layer can be determined using CT bed readings.

[0039] The system receives and reviews CT images via computer software. After locating the ideal layer, the user clicks on the target puncture point and needle insertion point. The system automatically marks the needle path and calculates the insertion depth and angle. This depth and angle information is transmitted directly to the microcontroller within the positioning device 1 via Wi-Fi and displayed on the screen of the positioning device 1. Simultaneously, based on the angle information, the first drive motor 8 drives the angle laser line to rotate to the specified angle and then stops rotating.

[0040] CT images are digital images, and each pixel in the image is coded. It can be understood as a collection of pixels centered on the X and Y axes of a CT reconstructed image. Therefore, by measuring the distance from the needle insertion point to the center of the image, the distance of that needle insertion point from the center of the bed can be measured. Thus, when the positioning device 1 is placed at the foot of the bed, the sliding platform 201 is horizontally positioned, its side parallel to the CT gantry, and its center on the bed's centerline, the second drive motor 203 drives the sliding seat 204 to move left and right until the needle insertion point offset distance measured in the image is reached. At this point, the vertical laser will coincide with the puncture needle insertion point.

[0041] Therefore, when the positioning device 1 is placed precisely at the end of the CT bed according to the design and is properly matched with the equipment, the puncture angle and needle entry point offset distance measured by the image can be automatically positioned by the first drive motor 8. The needle entry point can be directly confirmed and marked using the CT bed information. At this point, the puncture needle is inserted from the needle entry point and punctures to the depth measured on the CT image according to the path indicated by the angle laser to hit the target.

[0042] In some special cases, such as during a lung biopsy, if the abdomen is large or covered by a thick blanket, the laser may be partially blocked. In such cases, the positioning device 1 can be tilted slightly towards the bed and raised. In this situation, the laser can reach the puncture point, and the microcontroller will automatically sense the tilt angle based on the angle information fed back by the triaxial sensor and automatically correct the angle.

[0043] Working principle

[0044] Position the positioning device 1 as required, complete the patient's positioning and CT data input for a flat scan, and receive CT images through computer software to calculate the puncture depth, puncture angle, and distance of the needle insertion point offset on the X-axis, and wirelessly transmit the data to the microcontroller in the positioning device 1. The positioning device can also be adjusted manually via keyboard input. The corresponding microcontroller controls the horizontal sliding mechanism 2 and the angle line laser head 5 for adjustment, that is, the first drive motor 8 drives the angle line laser head 5 to rotate, and the second drive motor 203 drives the sliding seat 204 to move, so that the vertical laser line coincides with the needle insertion point, and the bed position indicator laser (CT provided by the CT) on the CT is lit. The intersection with the vertical laser is the puncture needle insertion point on the human body, and this point is marked as the needle insertion point on the body surface. Finally, the needle is inserted from the needle insertion point on the body surface, and the needle is advanced to the measured depth position according to the guidance of the angle laser line. When the positioning device 1 is blocked by the bed, the positioning device 1 can be tilted to the side of the bed through the ball joint structure to ensure that the laser is not blocked. After the angle of the positioning device 1 is adjusted, the triaxial sensor obtains the tilt angle information, the micro-controller automatically calculates and corrects the angle, and the first drive motor 8 drives the angle line laser head 5 for adjustment.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A laser navigation device for puncture path guidance, characterized in that, The application relates to a positioning instrument, which comprises a microcontroller, a positioning instrument and a horizontal sliding mechanism, the positioning instrument is internally provided with a three-axis sensor, a linear driver is vertically fixedly installed on a sliding seat of the horizontal sliding mechanism, and the bottom end of the positioning instrument is ball-hinged with the top end of the linear driver; a vertical linear laser head and an angle linear laser head are arranged on the positioning instrument, the vertical linear laser head is fixedly installed in the positioning instrument, the angle linear laser head is rotatably installed in the positioning instrument, and a first driving motor is arranged in the positioning instrument and used for driving the angle linear laser head to rotate; the three-axis sensor, the first driving motor and the horizontal sliding mechanism are electrically connected with the microcontroller.

2. The laser navigation device for puncture path guidance according to claim 1, wherein, The positioning instrument comprises a base and an outer shell, the vertical linear laser head is fixedly installed on the base, the angle linear laser head is rotatably installed on the base through a bearing, and the microcontroller and the three-axis sensor are installed on the base.

3. The laser navigation device for puncture path guidance according to claim 2, wherein, Two conductive slip rings are arranged on the outer side of one end of the base along the axial direction of the angle linear laser head, two conductive copper sheets are fixedly installed on the base and abut against the two conductive slip rings respectively.

4. The laser navigation device for puncture path guidance according to claim 3, wherein, An insulating ring is installed between the two conductive slip rings on the angle linear laser head, the two conductive copper sheets are arranged side by side, and an insulating pad is arranged between the two conductive copper sheets.

5. The laser navigation device for puncture path guidance according to claim 2, wherein, The outer ring of the bearing is fixedly installed on the base through a split clasp, the split clasp comprises two identical clamping pieces, the outer ring of the bearing is provided with a clamping groove matched with the clamping pieces, and the clamping pieces are fixedly installed on the base through screws.

6. The laser navigation device for puncture path guidance according to claim 3, wherein, A battery box is fixedly installed on the base, the vertical linear laser head and the two conductive copper sheets are connected with the battery box through wires, and a self-locking switch is arranged on the battery box and protrudes from the outer side of the outer shell.

7. The laser navigation device for puncture path guidance according to claim 2, wherein, The angle linear laser head is connected with the first driving motor through gear transmission.

8. The laser navigation device for puncture path guidance of claim 1, wherein, The horizontal sliding mechanism comprises a sliding platform, a screw rod is rotatably installed in the sliding platform, a second driving motor for driving the screw rod to rotate is fixedly installed on the end of the sliding platform, a sliding seat matched with the screw rod is slidingly installed on the sliding platform, and the second driving motor is electrically connected with the microcontroller.

9. The laser navigation device for puncture path guidance of claim 1, wherein, A ball socket is fixedly installed on the top end of the linear driver, and a ball head matched with the ball socket is threadedly installed on the bottom end of the positioning instrument.

10. The laser navigation device for puncture path guidance according to claim 1, wherein, A horizontal bubble is fixedly installed on the top end of the positioning instrument.

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