A puncture targeting, targeting puncture positioning device and method

Abstract

The present application relates to the field of medical equipment, and particularly relates to a puncture targeting, a targeted puncture positioning device and a method. The method comprises: establishing a spatial position relationship between an ultrasound probe and a puncture targeting; establishing a spatial mapping relationship between a virtual targeting and a puncture targeting target point; fusing real-time ultrasound images and virtual targeting images to give puncture hole position information; and moving the puncture targeting target point to a specified position according to the spatial mapping relationship between the virtual targeting and the puncture targeting target point. The targeted puncture positioning method of the present application fuses real-time ultrasound images and virtual targeting images to give puncture hole position information, and moves the puncture targeting target point to a specified position according to the spatial mapping relationship between the virtual targeting and the puncture targeting target point, thereby realizing automatic positioning of the puncture hole and avoiding problems such as incorrect hole selection and complicated procedures when using a matrix targeting.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical equipment, in particular to a puncture targeting, a targeted puncture positioning device and method. BACKGROUND

[0002] In recent years, with the development of imaging technology, especially the wide application of MRI examination technology, the detection rate of prostate cancer lesions is also increasing, but prostate biopsy is still the "gold standard" for diagnosing prostate cancer.

[0003] Early symptoms of prostate cancer are not obvious and are easily ignored. Since it is a relatively low-grade tumor, if it can be detected and treated in the early stage, it can be effectively controlled and even clinically cured. Prostate biopsy is the most reliable examination for diagnosing prostate cancer. Among them, transperineal puncture is more sufficient, and the positive rate is significantly higher than that of transrectal approach. Because the puncture needle is longitudinal parallel to the rectum through the apex of the prostate, more peripheral zone tissue specimens can be obtained.

[0004] In clinical use, a matrix targeting block is often used for puncture. The matrix targeting block has 625 puncture guide holes. Medical personnel find the corresponding puncture guide hole for puncture through the ultrasound image prompt, which is very time-consuming and easy to select the wrong hole position, causing unnecessary puncture and missed puncture of suspected lesions. Therefore, an automatic puncture guide hole positioning device is urgently needed to reduce the operation time of medical personnel and ensure the accuracy of the puncture guide hole position. SUMMARY

[0005] In view of the above defects of the prior art, one of the purposes of the present application is to provide a puncture targeting to replace the existing matrix targeting to achieve convenient and fast puncture positioning. The second purpose of the present application is to provide a targeted puncture positioning device, so that medical personnel can accurately perform puncture positioning through the device, avoiding the problems of selecting the wrong hole position and complicated procedures when using the matrix targeting. The third purpose of the present application is to provide a targeted puncture positioning method, which uses the targeted puncture positioning device of the second purpose to accurately perform puncture positioning and optimizes the puncture positioning process.

[0006] To achieve the first purpose of the present application, the present application provides a puncture targeting, comprising:

[0007] a first frame for fixing the puncture targeting;

[0008] a puncture positioning block, provided with a puncture guide hole or a puncture guide groove, the position of the puncture guide hole or the puncture guide groove being set as a target point of the puncture targeting;

[0009] And a motor-driven two-dimensional moving mechanism, the fixed end of which is arranged on the first frame, and the movable end of which is provided with the puncture positioning block, for controlling the movement of the puncture positioning block in the plane inside the first frame.

[0010] Further, the first frame comprises: a U-shaped structural member; and a pair of parallel legs, which are arranged at two ends of the U-shaped structural member.

[0011] Further, the two-dimensional moving mechanism comprises: a second frame, which is fixedly connected with the first frame and has a U-shaped structure, and the opening direction of the second frame is consistent with that of the first frame; and a first moving assembly and a second moving assembly arranged in the second frame; the first moving assembly and the second moving assembly are both screw transmission mechanisms, and realize horizontal and vertical movement respectively; the fixed end of the first moving assembly is arranged on the second frame, the fixed end of the second moving assembly is fixedly connected with the movable end of the first moving assembly, and the movable end of the second moving assembly is provided with the puncture positioning block.

[0012] Further, the puncture positioning block comprises: a first component, which is fixed to the movable end of the two-dimensional moving mechanism; and a second component, which is fixedly connected with the first component and is used for providing puncture assistance.

[0013] Further, for convenient connection, the second component and the first component are connected through a quick release structure.

[0014] Further, for convenient connection and ensuring positioning accuracy, the quick release mechanism comprises: a sliding rail and a positioning bead arranged on the first component; and a sliding groove and a positioning hole arranged on the second component; the sliding rail and the sliding groove are adapted to constitute sliding connection along the puncture direction; the positioning bead and the positioning hole are arranged on the sliding rail and the sliding groove respectively, and the positioning bead and the positioning hole are matched to connect and position the first component and the second component.

[0015] The second aspect of the application provides a target puncture positioning device, which comprises a puncture aiming target, a display device, an operation input device, an ultrasonic probe, and a console, the console comprises a base, an ultrasonic probe advance and retreat rotary motion control mechanism, an ultrasonic probe translation control mechanism, and a controller, the base of the ultrasonic probe advance and retreat rotary motion control mechanism is fixed on the moving block of the ultrasonic probe translation control mechanism, and the base of the ultrasonic probe translation control mechanism is fixed on the base.

[0016] The ultrasonic probe is used for collecting ultrasonic images of a section perpendicular to the advance and retreat movement direction of the ultrasonic probe.

[0017] The puncture targeting device is fixedly arranged on the base of the ultrasonic probe advancing and retreating rotation motion control mechanism; the puncture targeting device is the puncture targeting device as described in the first aspect of the application, and the movement plane of the two-dimensional movement mechanism of the puncture targeting device is perpendicular to the advancing and retreating direction of the ultrasonic probe.

[0018] The controller is electrically connected with the puncture targeting device, the display device, the operation input device, the ultrasonic probe, the ultrasonic probe advancing and retreating rotation motion control mechanism and the ultrasonic probe translation control mechanism.

[0019] Further, the display device and the operation input device are combined into a touch screen.

[0020] The third aspect of the application provides a target puncture positioning method, comprising:

[0021] establishing the spatial position relationship between the ultrasonic probe and the puncture targeting device;

[0022] establishing the spatial mapping relationship between the virtual targeting device and the target point of the puncture targeting device;

[0023] fusing the real-time ultrasonic image and the virtual targeting device image to give the puncture hole position information;

[0024] According to the spatial mapping relationship between the virtual targeting device and the target point of the puncture targeting device, the target point of the puncture targeting device is moved to a specified position.

[0025] Further, the virtual targeting device image is displayed as a point matrix.

[0026] Further, the target puncture positioning method comprises a continuous target puncture positioning method, and the continuous target puncture positioning method comprises:

[0027] (1) fusing the real-time ultrasonic image and the virtual targeting device image to continuously select the puncture hole position;

[0028] (2) sorting the selected puncture hole position information;

[0029] (3) according to the spatial mapping relationship between the virtual targeting device and the target point of the puncture targeting device and the sorted puncture hole position information, the target point of the puncture targeting device is sequentially moved to a specified position.

[0030] The application achieves the following technical effects:

[0031] The puncture targeting device of the application is provided with a target point and is moved and positioned by using a two-dimensional movement mechanism controlled by electricity, so that the spatial mapping relationship between the virtual targeting device and the target point of the puncture targeting device can be established, the existing matrix targeting device is replaced, and the automatic positioning of the puncture hole is realized.

[0032] The targeting puncture positioning device of the present application adopts a puncture aiming target with a two-dimensional moving mechanism to replace the existing matrix aiming target, and realizes automatic positioning of the puncture hole through the spatial mapping relationship between the virtual aiming target and the target point of the puncture aiming target.

[0033] The targeting puncture positioning method of the present application combines real-time ultrasound images and virtual aiming target images to give puncture hole position information, and according to the spatial mapping relationship between the virtual aiming target and the target point of the puncture aiming target, moves the target point of the puncture aiming target to a specified position, thereby realizing automatic positioning of the puncture hole and avoiding problems such as misselecting hole positions and complicated procedures when using a matrix aiming target. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a structural schematic diagram of a targeting puncture positioning device of a preferred embodiment of the present application;

[0035] Figure 2 is a front view of a puncture aiming target of the present application;

[0036] Figure 3 is a perspective view of a puncture aiming target of the present application;

[0037] Figure 4 is a structural schematic diagram of a puncture positioning block of the present application;

[0038] Figure 5 is a flowchart of a targeting puncture positioning method of the present application.

[0039] Among them:

[0040] 1 - console; 3 - ultrasound probe; 4 - puncture aiming target; 5 - touch screen; 11 - base; 12 - ultrasound probe advance and retreat rotation motion control mechanism; 13 - ultrasound probe translation control mechanism, 41 - first frame; 411 - U-shaped structural member; 412 - leg; 42 - two-dimensional moving mechanism; 421 - second frame; 422 - x-axis moving assembly; 423 - z-axis moving assembly; 4232 - movable end; 43 - puncture positioning block; 431 - first assembly; 4311 - slide rail; 4312 - positioning bead; 432 - second assembly; 4321 - puncture guide slot; 4322 - slide groove; 4323 - positioning hole. DETAILED DESCRIPTION

[0041] To further illustrate the embodiments, the present application provides accompanying drawings. These drawings are part of the disclosure of the present application, and mainly serve to illustrate the embodiments, and can be used to explain the operating principles of the embodiments in conjunction with the related descriptions in the specification. Those of ordinary skill in the art should be able to understand other possible implementations and advantages of the present application in conjunction with these. The components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0042] The application will be further described in conjunction with the drawings and specific embodiments.

[0043] As Figure 1 shown, the application discloses an embodiment of a targeted puncture positioning device, specifically a prostate targeted puncture positioning device, which is composed of a control console 1, an ultrasonic probe 3, a puncture aiming target 4, a touch screen 5 and other structures.

[0044] The control console 1 includes a base 11, an ultrasonic probe advance and retreat rotary motion control mechanism 12, an ultrasonic probe translation control mechanism 13 and other components. The base of the ultrasonic probe advance and retreat rotary motion control mechanism 12 is fixed on the moving block of the ultrasonic probe translation control mechanism 13, and the base of the ultrasonic probe translation control mechanism 13 is fixed on the base 11. In combination with the lifting function of the base 11 itself, the control console 1 realizes five-dimensional motion control of the ultrasonic probe 3, including advance and retreat, rotation, lateral, longitudinal and pitch.

[0045] The puncture aiming target 4 is fixedly installed on the base of the ultrasonic probe advance and retreat rotary motion control mechanism 12 and is perpendicular to the advance and retreat direction of the ultrasonic probe 3, so that the position of the puncture aiming target 4 and the axis of the ultrasonic probe 3 are relatively fixed. In this way, a virtual aiming target can be displayed on the touch display screen 5. The position information of the virtual aiming target and the positioning information of the puncture aiming target form a mapping relationship. The puncture aiming target 4 is provided with a target point and a two-dimensional moving mechanism driven by a motor. The target point is automatically positioned by the two-dimensional moving mechanism, so as to realize the positioning of the virtual aiming target and the spatial mapping of the target point of the puncture aiming target 4.

[0046] In this embodiment, the touch screen 5 is used as a display and operation input device to realize integrated display and operation. The ultrasonic image of the prostate tissue collected by the ultrasonic probe 3 and the built-in virtual aiming target image are displayed on the touch screen 5. Medical personnel can directly analyze the ultrasonic image of the prostate tissue through the touch screen 5 to see whether biopsy is needed. When it is determined that biopsy is needed, the point to be punctured, i.e. the puncture hole position, is selected according to the ultrasonic image and the built-in virtual aiming target image.

[0047] As Figure 2 shown, the application provides a specific embodiment of the puncture aiming target 4, which includes a first frame 41, a puncture positioning block 43 and a two-dimensional moving mechanism 42. The first frame 41 is used to fix the puncture aiming target 4 on the puncture positioning device. The puncture positioning block 43 is used to provide puncture positioning and puncture guidance for the puncture needle. The two-dimensional moving mechanism 42 is arranged in the plane inside the first frame 41 to move and position the puncture positioning block 43 inside the plane of the first frame 41.

[0048] In the embodiment, the first frame 41 comprises a U-shaped structure 411 and a pair of legs 412 arranged at both ends of the U-shaped structure 411. In the embodiment, the pair of legs 412 are arranged in parallel, and the plane of the U-shaped structure 411 and the plane of the pair of parallel legs 412 are arranged in parallel, and the gap of the U-shaped structure 411 faces the ultrasonic probe 3. The frame structure makes the first frame 41 vertically arranged and perpendicular to the axis of the ultrasonic probe 3, while avoiding the positional interference between the puncture targeting 4 and the ultrasonic probe 3. The functions of the first frame include: (1) fixing the puncture targeting; (2) controlling the contact between the targeting puncture positioning device and the human body, thereby effectively controlling and controlling the depth of the ultrasonic probe 3 into the rectum. Therefore, in order to ensure the structural strength, positioning accuracy and suitability for human body contact of the targeting 4, the U-shaped structure 411 is an integral structure and has a smooth surface.

[0049] In the embodiment, the two-dimensional movement mechanism 42 comprises a second frame 421 and an X-axis movement assembly 422 and a Z-axis movement assembly 423 arranged in the second frame 421. The second frame 421 is fixedly connected with the first frame 41; the X-axis movement assembly 422 and the Z-axis movement assembly 423 both adopt a lead screw transmission mechanism to provide high-precision two-dimensional movement positioning. In the embodiment, the fixed end of the X-axis movement assembly 422 is fixedly connected with the second frame, the fixed end of the Z-axis movement assembly 423 is fixedly connected with the movable end (the sliding block connected with the lead screw thread) of the X-axis movement assembly 422, and the movable end 4232 of the Z-axis movement assembly 423 is fixedly connected with the puncture positioning block 43. In other embodiments, the following connection mode can also be adopted: the fixed end of the Z-axis movement assembly is fixedly connected with the second frame, the fixed end of the X-axis movement assembly is fixedly connected with the movable end of the Z-axis movement assembly, and the movable end of the X-axis movement assembly is fixedly connected with the puncture positioning block.

[0050] In the embodiment, the puncture positioning block 43 comprises a first assembly 431 and a second assembly 432, and the second assembly 432 is fixedly connected with the first assembly 431. The first assembly 431 is used to fix the puncture positioning block 43 to the movable end of the two-dimensional movement mechanism 42; the second assembly 432 is provided with a puncture guide slot 4321 or a puncture guide hole, and the linear slot / hole structure provides puncture orientation.

[0051] In order to adapt to different puncture needles, the second assembly 432 needs to be quickly replaced. For example, the second assembly 432 is provided with a plurality of puncture guide slots 4321 corresponding to different puncture needles, and the puncture guide slot 4321 corresponding to the puncture needle to be used is selected and used. Figure 3As shown, in the embodiment, the first assembly 431 and the second assembly 432 are quickly connected and fixed in the following manner: the slide rail 4311 and the positioning bead 4312 are arranged on the first assembly 431; the slide groove 4322 and the positioning hole 4323 are arranged on the second assembly 432; the slide rail 4311 and the slide groove 4322 are adapted to constitute a sliding connection along the puncture direction; and the positioning bead 4312 and the positioning hole 4323 are separately arranged on the slide rail 4311 and the slide groove 4322 to position the sliding connection. During the installation of the second assembly 432, when the positioning hole 4323 moves to the position of the positioning bead 4312, the positioning bead 4312 is bounced up and semi-embedded in the positioning hole 4323, so as to achieve the fixed connection of the second assembly 432 and the first assembly 431. Those skilled in the art should understand that the slide rail and the slide groove constitute a sliding connection relationship, and the structure of the slide rail and the slide groove is not limited by the embodiment; the positioning bead is used, a larger force is applied, the positioning bead 4312 and the positioning hole 4323 are separated from each other, and thus the disassembly of the second assembly 432 is completed.

[0052] The targeting puncture positioning device provided by the application adopts a puncture targeting device with a two-dimensional moving mechanism to replace the existing matrix targeting device, and realizes automatic positioning of a puncture hole through a space mapping relationship between a virtual targeting device and a target point of the puncture targeting device. The targeting puncture positioning device avoids problems such as wrong hole selection and complicated procedures that occur when the matrix targeting device is used.

[0053] Based on the same inventive concept, in the embodiment, a targeting puncture positioning method is also provided, which includes: establishing a space position relationship between an ultrasonic probe and a puncture targeting device; establishing a space mapping relationship between a virtual targeting device and a target point of the puncture targeting device; fusing a real-time ultrasonic image and a virtual targeting device image to give puncture hole position information; and moving the target point of the puncture targeting device to a specified position according to the space mapping relationship between the virtual targeting device and the target point of the puncture targeting device.

[0054] When the prostate targeting puncture positioning device is used for puncture positioning, the following processes are included:

[0055] (1) A medical staff member extends an ultrasonic probe into the rectum of a prostate patient through a control console to obtain a real-time ultrasonic image of the prostate of the patient, and the real-time ultrasonic image is displayed on a touch display screen.

[0056] (2) The real-time ultrasonic image of the prostate of the patient is displayed on the touch display screen, and a virtual targeting device image is superimposed and displayed on the real-time ultrasonic image to fuse the ultrasonic image and the virtual targeting device image. In the embodiment, the virtual targeting device is displayed in a point matrix manner to array the puncture hole positions.

[0057] (3) The medical staff finds the lesion through real-time ultrasound image and virtual targeting, and selects the position information of the puncture hole, usually, multiple puncture holes will be selected, and the selected puncture hole positions will be positioned through the puncture targeting, and then the puncture sampling is performed.

[0058] (4) The prostate puncture biopsy needs to be punctured at multiple positions, therefore, the medical staff can directly select multiple puncture hole positions through the fusion picture, the controller will automatically sort the selected puncture hole positions through programming optimization, and the puncture hole positions are positioned through the puncture targeting in sequence, so that the continuous puncture sampling at multiple positions is realized.

[0059] The targeting puncture positioning method of the application fuses real-time ultrasound image and virtual targeting image to give the puncture hole position information, and according to the spatial mapping relationship between the virtual targeting and the target point of the puncture targeting, the target point of the puncture targeting is moved to the specified position, so that the automatic positioning of the puncture hole is realized, and the problems of wrong hole selection and complicated process when the matrix targeting is used are avoided, the application is not limited to be applied to prostate puncture, but can also be applied to other organs such as liver, kidney, etc.

[0060] Although the application is specifically shown and introduced in combination with the preferred embodiments, it should be understood by those skilled in the art that various changes can be made in form and details without departing from the spirit and scope of the application defined in the appended claims, and all such changes are within the protection scope of the application.

Claims

1. A puncture targeting device, characterized by, The application relates to a continuous targeting puncture positioning device, which comprises the following parts: a first frame for fixing and controlling the targeting puncture positioning device and the contact between the human body and the targeting puncture positioning device; a puncture positioning block, which is provided with a puncture guide hole or a puncture guide groove, and the position of the puncture guide hole or the puncture guide groove is a target point of the targeting puncture positioning device; the target point is dynamically positioned through the fusion of virtual images and real-time ultrasound images; and a two-dimensional moving mechanism driven by a motor, the fixed end of the two-dimensional moving mechanism is arranged on the first frame, and the movable end of the two-dimensional moving mechanism is provided with the puncture positioning block, which is used for controlling the movement of the puncture positioning block in the plane of the first frame; the first frame comprises: a U-shaped structural member which is integrally formed and has a smooth surface; and a pair of parallel supporting legs which are arranged at two ends of the U-shaped structural member; the two-dimensional moving mechanism comprises: a second frame which is fixedly connected with the first frame; and a first moving assembly and a second moving assembly which are arranged in the second frame; the first moving assembly and the second moving assembly are both screw rod transmission mechanisms, and the first moving assembly and the second moving assembly comprise guide rails and movable ends and are used for realizing horizontal and vertical movements respectively; the guide rail of the first moving assembly is arranged on the second frame; the guide rail of the second moving assembly is fixedly connected with the movable end of the first moving assembly; and the movable end of the second moving assembly is provided with the puncture positioning block; the puncture positioning block comprises: a first assembly which is fixed to the movable end of the two-dimensional moving mechanism; and a second assembly which is fixedly connected with the first assembly and is provided with the puncture guide hole or the puncture guide groove.

2. The puncture targeting device of claim 1, wherein The second assembly and the first assembly are connected through a quick release structure.

3. A target puncture positioning device, characterized by, The application relates to a continuous targeting puncture positioning device, which comprises the following parts: a targeting puncture device, a display device, an operation input device, an ultrasound probe and a control console, the control console comprises a base, an ultrasound probe advancing and retreating rotary motion control mechanism, an ultrasound probe translation control mechanism and a controller, the base of the ultrasound probe advancing and retreating rotary motion control mechanism is fixed on the movable block of the ultrasound probe translation control mechanism, and the base of the ultrasound probe translation control mechanism is fixed on the base; the targeting puncture device is fixedly arranged on the base of the ultrasound probe advancing and retreating rotary motion control mechanism; the targeting puncture device is the targeting puncture device according to any one of claims 1-2, and the movable plane of the two-dimensional moving mechanism of the targeting puncture device is perpendicular to the advancing and retreating direction of the ultrasound probe; 4. The target puncture positioning device of claim 3, wherein, the controller is in communication connection with the targeting puncture device, the display device, the operation input device, the ultrasound probe, the ultrasound probe advancing and retreating rotary motion control mechanism and the ultrasound probe translation control mechanism.

5. A method of targeted puncture positioning, using a targeted puncture positioning device as claimed in claim 3 or 4, characterized in that, The display device and the operation input device are combined into a touch screen. The application relates to a continuous targeting puncture positioning device, which comprises the following parts: establishing the spatial position relationship between the ultrasound probe and the targeting puncture device; establishing the spatial mapping relationship between the virtual targeting device and the target point of the targeting puncture device; fusing real-time ultrasound images and virtual targeting device images to give puncture hole position information; 6. The targeted puncture localization method of claim 5, wherein, moving the target point of the targeting puncture device to a specified position according to the spatial mapping relationship between the virtual targeting device and the target point of the targeting puncture device.

7. The targeted puncture localization method of claim 5, wherein, The virtual targeting device image is displayed as a point matrix. The application relates to a continuous targeting puncture positioning method, which comprises the following steps: (1) fuse real-time ultrasound image and virtual targeting image, continuously select puncture hole position; (2) sort the selected puncture hole position information; (3) according to the spatial mapping relationship between the virtual targeting and the puncture targeting target point, and the sorted puncture hole position information, move the target point of the puncture targeting to the designated position in turn.

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