A visual puncture system under frameless navigation

Abstract

The present invention discloses a visual puncture system under frameless navigation, comprising a handle and a puncture needle; the puncture needle is provided with a drainage channel and a visual channel which are independent of each other along the axial direction; a visual optical fiber is installed in the visual channel, and a drainage tube is installed in the drainage channel; the outer wall of the visual channel is a transparent structure, and the visible end of the visible optical fiber faces the bottom of the visual channel or the transparent outer wall; a navigation structure is arranged on the upper part of the handle, and the navigation structure comprises a first navigation rod, a second navigation rod and a third navigation rod, the roots of the first navigation rod, the second navigation rod and the third navigation rod are crossed together, and a fixing seat is arranged at the intersection, the fixing seat is fixed to the tail end of the handle, and the ends of the three navigation rods are all provided with identification heads; the present invention makes the entire puncture operation visible, can effectively avoid blood vessels, greatly improves the success rate of the puncture operation, and is a major innovation in puncture equipment.

Description

Technical Field

[0001] The invention belongs to the technical field of medical puncture equipment, and in particular relates to a visual puncture system under frameless navigation. Background Art

[0002] For ultrasound-guided puncture (biopsy) treatment, there is less information available during the operation, and doctors can usually only make judgments based on intraoperative images and clinical experience, which requires doctors to have solid anatomical knowledge, rich clinical experience, and a high level of operation. Even so, it is still difficult to ensure the accuracy of the puncture (biopsy).

[0003] In order to achieve the accuracy of puncture (biopsy), we use various navigations during the puncture (biopsy) treatment. For existing navigation surgery, the three-dimensional environment of the operating space is obtained through preoperative MRI, CT and other imaging equipment. Although the specific position of the head of the puncture (biopsy) equipment can be known, the existing three-dimensional environment is to locate the head of the puncture needle. When the puncture needle penetrates into the human body, the three-dimensional environment cannot accurately locate the position of the puncture needle. At the same time, there is no real-time imaging function at the end of the puncture needle. Therefore, during the puncture process, blood vessels may be involved and bleeding may occur, or when the size of the lesion changes due to the puncture (biopsy), the puncture (biopsy) site may drift, resulting in the puncture (biopsy) failing to reach the lesion site. Therefore, it is necessary to study a visual puncture system under frameless navigation. Summary of the invention

[0004] In view of the defects and problems existing in the existing equipment, the present invention provides a visual puncture system under frameless navigation, which effectively solves the problems of difficulty in positioning the puncture needle in the existing equipment and difficulty in obtaining the end image of the puncture needle when the puncture needle penetrates into the target model.

[0005] The solution adopted by the present invention to solve its technical problems is: a visual puncture system under frameless navigation, comprising a handle and a puncture needle; the puncture needle is fixed to the fixed bottom of the handle, and the puncture needle has independent drainage channels and visual channels axially opened therein; a visual optical fiber is installed in the visual channel, and a drainage tube is installed in the drainage channel; the outer wall of the visual channel is a transparent structure, and the visible end of the visible optical fiber faces the bottom of the visual channel or the transparent outer wall; a navigation structure is arranged on the upper part of the handle, and the navigation structure comprises a first navigation rod, a second navigation rod and a third navigation rod, the roots of the first navigation rod, the second navigation rod and the third navigation rod are crossed together, and a fixing seat is arranged at the intersection, the fixing seat is fixed to the tail end of the handle, and the ends of the three navigation rods are all provided with identification heads.

[0006] Furthermore, the front end fixing sleeve of the visible optical fiber is provided with a transparent limit block, which extends to the outside of the visible optical fiber, and the end of the visible channel is provided with a limit groove, and the limit block is adapted to the limit groove; the rear end of the visible optical fiber is provided with a fastener, and the fastener includes a fixing sleeve and a fastening nut, the fixing sleeve is fixed to the rear end of the visible optical fiber, and the fastening nut is threadedly connected to the fixing sleeve and is seated on the end of the puncture needle.

[0007] Furthermore, the first navigation rod, the second navigation rod and the third navigation rod are correspondingly distributed on the X-axis, the Y-axis and the Z-axis of the rectangular coordinate system.

[0008] Furthermore, it also includes a three-dimensional model and a target model. The three-dimensional model is obtained by scanning with multiple cameras in the space, and the target model is obtained by scanning. The puncture needle and the target model are located in the three-dimensional model. The position of the identification head on the outside of the puncture needle and the target model in the space is collected in real time by the camera, and uploaded to the display for presentation. The puncture needle is moved so that the puncture needle is facing the predetermined puncture point of the target model. When the puncture needle tip penetrates into the target model, the real-time internal puncture situation of the puncture position is presented through the visible optical fiber at the puncture needle tip and uploaded to the display.

[0009] Beneficial effects of the present invention: The present invention sets a visual channel and a drainage channel on the existing puncture needle; the normal puncture needle is improved into a double-lumen visual puncture structure, which is divided into a metal puncture sheath and an optical observation sheath. The metal puncture sheath is a metal structure with a sharp appearance to facilitate tissue puncture. The optical observation sheath is a rigid transparent structure, which can be placed in an optical observation structure (such as an optical fiber, an electronic observation mirror). The visual channel is used to install a visual optical fiber. In the present invention, the visual optical fiber is inserted from the tail end of the visual channel during installation, and the visual end of the end is located at the tail end of the visual channel, and the image information of the end of the puncture head is obtained through the transparent side wall or directly, and uploaded to the display for presentation, wherein the image information of the end includes the image information of the front end and the side; In the present invention, a drainage tube is installed in the drainage channel to drain the puncture site.

[0010] When the visible optical fiber is installed in the present invention, there is a certain distance between the optical observation structure and the front end of the puncture needle to facilitate observation of the front end of the puncture needle. A transparent limit block is provided at the front end of the visible optical fiber. The limit block is matched and fitted in the limit groove. A fastener is provided at the rear end. The visible optical fiber can be tightened by the fastener so that the limit block is tightly nested in the limit groove.

[0011] In addition, the present invention is also provided with a navigation structure, which includes three navigation rods. The three navigation rods constitute a rectangular coordinate system and are fixed at the end of the handle, that is, the indicating head at the end of the navigation rod is fixed relative to the end position of the puncture needle. Therefore, by determining the coordinate positions of the three identification heads in the three-dimensional model, the specific position of the puncture needle in the three-dimensional model can be obtained, and the image of the puncture site can be presented in real time in combination with the visible optical fiber.

[0012] Therefore, the present invention arranges a visible optical fiber, a drainage tube and a navigation structure on the puncture needle; and places the puncture needle in a three-dimensional model, and determines the puncture plan according to the relative position of the puncture needle and the target model in the three-dimensional model. When the puncture needle penetrates into the target model, the front, side and end of the drainage tube of the puncture needle can be displayed in real time through the visible optical fiber; the entire puncture operation is visualized, and blood vessels can be effectively avoided, which greatly improves the success rate of the puncture operation, and is a major innovation in puncture equipment.

[0013] By using the navigation guidance system in a three-dimensional virtual environment, the relative relationship between the puncture (biopsy) needle tip and the target point in three-dimensional space during surgery can be observed. At the same time, through the observation module of the puncture (biopsy) needle tip, the real-time situation of the puncture (biopsy) needle tip can be observed in real time. The operating doctor can see at a glance the relationship between the puncture (biopsy) needle and the target position, which improves the efficiency of the operation, reduces the difficulty of the operation, further improves the accuracy and safety of the surgical operation, and reduces potential complications. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the present invention.

[0015] Figure 2 Schematic diagram of the internal structure of the puncture needle.

[0016] Figure 3 A schematic diagram of the navigation structure.

[0017] Figure 4 It is a schematic structural diagram of another embodiment of the puncture needle.

[0018] Figure 5 for Figure 4 Enlarged view of point A in the middle.

[0019] The numbers in the figure are: 1 is the handle, 2 is the puncture needle, 3 is the navigation structure; 4 is the visual channel, 5 is the drainage channel, 6 is the first navigation rod, 7 is the second navigation rod, 8 is the third navigation rod, 9 is the identification head, 10 is the limit block, 11 is the fixing sleeve, 12 is the fastening nut, and 13 is the visible optical fiber. DETAILED DESCRIPTION

[0020] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0021] Embodiment 1: This embodiment aims to provide a visual puncture system under frameless navigation, which is mainly used in puncture surgery. In view of the structural defects of the existing puncture needle, it does not have a visual function when in use, and it is difficult to locate the specific position of the puncture needle, especially after the needle tip penetrates into the target model, it is difficult to obtain a visual image. Therefore, this embodiment provides a visual puncture system under frameless navigation.

[0022] like Figure 1 As shown, the system includes a handle 1 and a puncture needle 2; the puncture needle 2 is fixed to the fixed bottom of the handle 1, and the puncture needle 2 has independent drainage channels 5 and visual channels 4 axially opened therein; the visual channel 4 is provided with an optical observation structure, such as a visual optical fiber, an electronic observation mirror, etc., and the drainage channel 5 is provided with a drainage tube, which is connected to an external suction device.

[0023] The outer wall of the visual channel 4 is a transparent structure for easy observation. The visible end of the visible optical fiber 13 faces the bottom of the visual channel 4 or the transparent outer wall. Specifically, the visible optical fiber 13 can be provided with multiple visible heads, which are respectively facing the side, front and end of the drainage tube of the puncture head, and are respectively presented on the display.

[0024] A navigation structure 3 is arranged on the upper part of the handle 1, and the navigation structure 3 includes a first navigation rod 6, a second navigation rod 7 and a third navigation rod 8. The roots of the first navigation rod 6, the second navigation rod 7 and the third navigation rod 8 are crossed together, and a fixing seat is arranged at the intersection, and the fixing seat is fixed to the tail end of the handle 1. The specific fixing method of the fixing seat can be bolt fixing or bonding, welding and other processes; and the ends of the three navigation rods are all provided with identification heads; specifically, the first navigation rod 6, the second navigation rod 7 and the third navigation rod 8 are correspondingly distributed on the X-axis, Y-axis and Z-axis of the rectangular coordinate system, that is, the three navigation rods are perpendicular to each other to form a coordinate system.

[0025] Therefore, in this embodiment, the normal puncture needle is improved into a double-lumen visual puncture structure, which is divided into a metal puncture sheath and an optical observation sheath. The metal puncture sheath is a metal structure with a sharp end for tissue puncture. The optical observation sheath is a rigid transparent structure, in which an optical observation structure (such as an optical fiber, an electronic observation mirror) can be placed. The optical observation structure is at a certain distance from the front end of the puncture needle to facilitate observation of the front end of the puncture needle. Since the position of the puncture needle head relative to the three marking heads is fixed, the position of the marking heads can be inferred by knowing the positions of the three marking heads, and since the marking heads are located on the outside, they are easy to detect, thereby reducing the difficulty of positioning the end of the puncture needle head. At the same time, when the puncture needle head penetrates into the puncture site, the image of the puncture site can be presented in real time through the visible optical fiber. When the two are used in combination, the position and image of the puncture needle head can be displayed in real time on the display, which can assist doctors in performing puncture surgery, effectively avoid blood vessels, and improve the success rate of puncture surgery.

[0026] Embodiment 2: This embodiment is basically the same as Embodiment 1, except that: this embodiment further limits the installation method of the visible optical fiber.

[0027] The front end fixing sleeve of the visible optical fiber 13 is provided with a transparent limit block 10, the limit block 10 extends to the outside of the visible optical fiber 13, the end of the visible channel 4 is provided with a limit groove, and the limit block 10 is adapted to the limit groove; the rear end of the visible optical fiber 13 is provided with a fastener, the fastener includes a fixing sleeve 11 and a fastening nut 12, the fixing sleeve 11 is fixed to the rear end of the visible optical fiber 13, the fastening nut 12 is threadedly connected to the fixing sleeve 11, and is located at the end of the puncture needle.

[0028] In this embodiment, the visible optical fiber is now inserted into the visible channel from the bottom of the visible channel, and then the fixing sleeve 11 is fixed on the visible optical fiber. A threaded section is provided at the bottom of the fixing sleeve, and the fastening nut is threadedly connected to the fixing sleeve and is seated on the end of the puncture needle. With the fastening nut, the visible optical fiber can be straightened in the visible channel, and the limiting block at its front end can be pulled so that the limiting block is matched and nested in the limiting groove to close the visible channel. It has a certain sealing effect, and the limiting block is made of transparent material and does not affect the image acquisition of the visible optical fiber.

[0029] Embodiment 3: This embodiment is basically the same as Embodiment 1, except that this embodiment also includes a three-dimensional model and a target model.

[0030] The three-dimensional model is obtained by scanning with multiple cameras in the space, the target model is obtained by scanning, the puncture needle and the target model are located in the three-dimensional model, and the position of the identification head on the outside of the puncture needle and the target model in the space is collected in real time by the camera, and uploaded to the display for presentation, and the puncture needle is moved so that the puncture needle is aligned with the predetermined puncture point of the target model. When the puncture needle tip penetrates into the target model, the real-time internal puncture situation of the puncture position is presented through the visible optical fiber at the puncture needle tip and uploaded to the display.

[0031] The coordinates of the three identification points in the three-dimensional model are A (x1, y1, z1), B (x2, y2, z2), and C (x3, y3, z3). Combined with the positions of the puncture needle and points ABC, the position of the identification point M (x, y, z) in the three-dimensional coordinates can be inferred and compared with the position of the standard puncture point to provide reference suggestions to doctors and assist them in completing the puncture operation.

[0032] In this embodiment, the original data of the patient is obtained through preoperative MRI, CT and other imaging equipment to generate a target model, and the original MRI and CT data are imported into the navigation system to construct a three-dimensional model. During the puncture (biopsy) process, the navigation guidance system in the three-dimensional virtual environment is used to guide the puncture (biopsy) needle to puncture the target point. During the puncture, the observation module at the end of the puncture (biopsy) needle is used to observe the surrounding tissue structure and blood vessels, while avoiding damage to important blood vessels and tissues. When the navigation system prompts that the puncture (biopsy) needle has reached the predetermined position, the observation module at the end of the puncture (biopsy) needle can be used to confirm again whether the puncture (biopsy) needle has accurately reached the target point, so that the operating doctor can see at a glance the relationship between the puncture (biopsy) needle and the target position, thereby improving the efficiency of the operation, reducing the difficulty of the operation, further improving the accuracy and safety of the surgical operation, and reducing potential complications.

[0033] Embodiment 4: This embodiment is basically the same as Embodiment 3, except that a MEMS chip is disposed in the marking head in this embodiment.

[0034] In this embodiment, a MEMS chip that can identify its identity and coordinate information is set in each identification head. The MEMS chip can automatically sense its position changes (coordinate changes) as it moves, and upload these changes to the three-dimensional model, so as to more accurately judge the position changes of the puncture needle, improve the detection accuracy, and improve the detection sensitivity.

Claims

1. A visual puncture system under frameless navigation, comprising a handle and a puncture needle; the puncture needle is fixed to the bottom of the handle, characterized in that: The puncture needle is provided with a drainage channel and a visual channel which are independent of each other along the axial direction; a visual optical fiber is installed in the visual channel, and a drainage tube is installed in the drainage channel; the outer wall of the visual channel is a transparent structure, and the visible end of the visual optical fiber faces the bottom of the visual channel or the transparent outer wall; a navigation structure is arranged on the upper part of the handle, and the navigation structure comprises a first navigation rod, a second navigation rod and a third navigation rod, the roots of the first navigation rod, the second navigation rod and the third navigation rod are crossed together, and a fixing seat is arranged at the intersection, the fixing seat is fixed at the tail end of the handle, and the ends of the three navigation rods are all provided with identification heads; a transparent limit block is fixedly installed on the front end of the visual optical fiber, and the limit block It extends to the outside of the visible optical fiber, and a limit groove is set at the end of the visible channel, and the limit block is adapted to the limit groove; a fastener is set at the rear end of the visible optical fiber, and the fastener includes a fixing sleeve and a fastening nut, the fixing sleeve is fixed to the rear end of the visible optical fiber, and the fastening nut is threadedly connected to the fixing sleeve and is located at the end of the puncture needle; the first navigation rod, the second navigation rod and the third navigation rod are correspondingly distributed on the X-axis, Y-axis and Z-axis of the rectangular coordinate system; a MEMS chip is set in the identification head, and a MEMS chip that can identify its identity and coordinate information is set in each identification head, and the MEMS chip can automatically sense the changes in its position coordinates as it moves, and upload these changes to the three-dimensional model.

2. The visual puncture system under frameless navigation according to claim 1, characterized in that: It also includes a three-dimensional model and a target model. The three-dimensional model is obtained by scanning with multiple cameras in the space, and the target model is obtained by scanning. The puncture needle and the target model are located in the three-dimensional model. The camera collects the position of the identification head on the outside of the puncture needle and the target model in the space in real time, and uploads them to the display for presentation. The puncture needle is moved so that the puncture needle is facing the predetermined puncture point of the target model. When the puncture needle tip penetrates into the target model, the real-time internal puncture situation of the puncture position is presented through the visible optical fiber at the puncture needle tip and uploaded to the display.

Images