A visual anesthesia puncture device based on magnetic induction positioning

Abstract

The present invention discloses a visualized anesthesia puncture device based on magnetic induction positioning, comprising a main control device, a magnetic positioning device and a needle insertion device, wherein the main control device comprises a display, the magnetic positioning device comprises a magnetic field generator, a puncture needle registration module and an image registration module, the needle insertion device comprises a puncture needle, and the magnetic field generator, the puncture needle registration module and the image registration module are respectively connected to the main control device. The present invention uses a needle insertion device based on image registration, which can make the puncture position more accurate and safe, and through the puncture needle registration module and the image registration module, the puncture needle registration based on the magnetic induction positioning system and the image registration technology, the puncture needle can be positioned in real time during the puncture process of the simulated practice, and the doctor can observe in real time during the simulated practice through the display of the main control device, thereby realizing visualized navigation of the simulated operation.

Description

Technical Field

[0001] The invention belongs to the field of medical devices and relates to a visualized anesthesia puncture device based on magnetic induction positioning. Background Art

[0002] Epidural anesthesia puncture equipment is widely used clinically as a medical device for surgical anesthesia. Currently, epidural anesthesia punctures in hospitals are performed by experienced anesthesiologists. During simulation exercises, the physician uses finger pressure based on the anatomy of a human model to locate the appropriate insertion point. Then, holding the anesthesia puncture needle, the physician inserts it into the epidural space—the space between the ligamentum flavum and the dura mater—along the gap between the two spinous processes.

[0003] During the insertion of the puncture needle, the doctor judges whether the needle tip has broken through the yellow ligament and reached the epidural space based on the disappearance of resistance felt when the needle tip breaks through the yellow ligament and the negative pressure in the epidural space.

[0004] Due to the existence of individual yellow ligament lesions and the lack of negative pressure in the epidural space, the judgment of the doctor in the simulation exercise will be affected, which will eventually lead to the failure of the epidural anesthesia simulation operation. Summary of the Invention

[0005] In order to overcome the deficiencies of the prior art, the present invention provides a visualized anesthesia puncture device based on magnetic induction positioning.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: a visual anesthesia puncture device based on magnetic induction positioning, including a main control device, a magnetic positioning device and a needle insertion device, the main control device includes a display, the magnetic positioning device includes a magnetic field generator, a puncture needle registration module and an image registration module, the needle insertion device includes a puncture needle, and the magnetic field generator, the puncture needle registration module and the image registration module are respectively connected to the main control device.

[0007] Furthermore, the main control device also includes a host, a computer is set in the host, and the computer has built-in control programs and calculation programs.

[0008] Furthermore, the needle insertion device also includes a power component, a clamp component and a control component. The clamp component is arranged on the power component, the puncture needle is arranged on the clamp component, the control component is connected to the power component, and the control component controls the operating state of the power component.

[0009] Furthermore, the needle insertion device includes a transmission assembly and a clamp assembly, the clamp assembly is arranged on the transmission assembly, the puncture needle is arranged on the clamp assembly, the transmission assembly includes a rotating wheel, and the movement state of the rotating wheel controls the advancement or withdrawal of the puncture needle.

[0010] Furthermore, it also includes a detection component, which includes a torque sensor, an encoder and an alarm. The transmission component also includes a worm, a gear and a screw. The worm is rotatably connected to the housing of the needle insertion device. The torque sensor is located between the rotary wheel and the worm. The rotary wheel and the worm are respectively fixed on both sides of the sensor. The encoder is set on the worm, the screw is rotatably connected to the housing, the gear is set on the screw, and the gear is meshingly connected to the worm.

[0011] Furthermore, the needle insertion device also includes a shell, and the shell is provided with a support surface structure, and the support surface structure is used to fit with the tissue at the puncture site.

[0012] Furthermore, the puncture needle registration module and the image registration module are located in the electromagnetic field area generated by the magnetic field generator, and the magnetic field generator, the puncture needle registration module and the image registration module are respectively connected to the host.

[0013] Furthermore, the puncture needle alignment module includes a positioning structure, which includes a base, a pressing plate and a bottom plate. The base is arranged on the bottom plate, the pressing plate is arranged on the base, and the base is provided with a positioning groove, which partially or completely inserts the puncture needle.

[0014] Furthermore, the bottom plate is also provided with a second sensor and a needle tip positioning hole, and the needle tip positioning hole is located between the second sensor and the base.

[0015] Furthermore, the image registration module includes a positioning plate, a peer plate, a fastener and a positioning ball, the positioning ball is arranged on the positioning plate and the peer plate, and the positioning plate and the peer plate are provided with positioning sensors.

[0016] In summary, the present invention is beneficial in that:

[0017] 1) The present invention uses a needle insertion device based on image registration, which can make the puncture position more accurate and safe. Through the puncture needle registration module and the image registration module, the needle tip coordinates of the puncture needle can be mapped to the X-ray image of the puncture area of ​​the human model through image registration, realizing real-time navigation and reducing the burden on doctors during simulation practice. The puncture needle registration and image registration technology based on the magnetic induction positioning system can realize real-time positioning of the puncture needle during the simulation practice, and the display of the main control device allows the doctor to observe in real time during the simulation practice, realizing intraoperative visual navigation.

[0018] 2) The needle insertion device of the present invention combines a motor, a sensor, and a control component to transmit power to the clamp assembly, so that the clamp assembly drives the puncture needle to move along the puncture direction, realizes automatic needle insertion and automatic needle stopping after the needle tip breaks through the yellow ligament, and assists doctors to accurately complete anesthesia puncture during simulation practice.

[0019] 3) The needle insertion device of the present invention is provided with a support surface structure on the shell. During puncture, the support surface structure is in close contact with the tissue at the location where puncture is required, and is used to support the tightening force of the device, while offsetting the forward momentum of the device when the puncture needle breaks through the yellow ligament, thereby improving the stability and safety of needle insertion.

[0020] 4) The needle insertion device of the present invention uses a fastener to quickly lock the needle holder and the clamp assembly during puncture. After the puncture is completed, the fastener is loosened to quickly separate the needle holder and the clamp assembly, thereby achieving quick installation and quick separation of the clamp assembly. A first plane feature is set in the inner cavity of the needle holder, and a second plane feature is set in the clamp assembly. The second plane feature is fitted with the first plane feature, thereby preventing the needle holder and the clamp assembly from rotating with each other after assembly, thereby improving the stability of the assembly of the two.

[0021] 5) The clamp assembly of the needle insertion device of the present invention is provided with multiple sets of mounting positions for positioning the puncture needle, thereby ensuring the precision of the puncture needle assembly. At the same time, the puncture needle and the clamp assembly are fixedly connected by a fixator during puncture, which can effectively reduce the shaking problem of the puncture needle during the puncture process. When the simulated puncture practice is completed, the puncture needle and the clamp assembly can be quickly separated to achieve rapid installation and rapid separation of the puncture needle.

[0022] 6) The needle insertion device of the present invention uses the combined sensing of the force sensor and the air pressure sensor to accurately identify the signal of the puncture needle breaking through the ligamentum flavum during the simulation exercise.

[0023] 7) The puncture needle registration module of the present invention calibrates the position of the puncture needle in a pre-set magnetic field coordinate system, thereby achieving position tracking of the puncture needle during the puncture simulation exercise.

[0024] 8) The puncture needle registration module of the present invention is designed to cooperate with the positioning groove and the pressing piece, so that the positioning groove of the puncture needle can be adjusted. It has high accuracy, fast speed and good adaptability when calibrating the puncture needle and can match puncture needles of different diameters.

[0025] 9) The puncture needle registration module of the present invention adopts an easy-to-operate structure to fix and position the puncture needle, which simplifies the positioning process of the anesthesia puncture mechanism during puncture needle calibration, greatly shortens its calibration time, and has a simple structure and is easy to use.

[0026] 10) The image registration module of the present invention is provided with a positioning plate and a co-positioning plate. The positioning shaft plate of the positioning plate is provided with a first conical surface, and the locking sleeve is provided with a second conical surface. Under the action of the first conical surface and the notch, the second conical surface of the locking sleeve is gradually tightened, and the locking sleeve locks the shaft, so that the locking sleeve and the shaft cannot move relative to each other. At this time, the second conical surface is completely in contact with the first conical surface. Under the action of the friction force of the conical surface, the positioning shaft plate cannot move relative to the locking sleeve, thereby achieving the locking purpose, and positioning balls with different distributions are provided on the first positioning plate and the second positioning plate. The characteristic points of the positioning balls will be imaged on the X-ray film. The coordinate information of the pixel points in the X-ray film is calculated through the imaged characteristic points. Finally, the system coordinate system is unified through the transformation relationship between the positioning sensor and the magnetic field generator and the transformation relationship between the magnetic field generator and the C-arm X-ray machine coordinate system, thereby realizing precise positioning of the simulated surgery.

[0027] 11) The image registration module of the present invention can be adapted to human models of different body shapes and positions by adjusting the angles of the positioning plate and the isotope plate, and is universal. A first positioning plate and a second positioning plate are provided, and the first positioning plate and the second positioning plate are simultaneously projected onto the puncture area, with high positioning accuracy, simple structure, small size, and relatively simple operation.

[0028] 12) The positioning plate of the image registration module of the present invention is provided with a positioning sensor, which can be used for positioning the reference point by hand-eye calibration. By calibrating the approximate position by hand-eye, the accuracy of the subsequent establishment of the coordinate system is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of anesthesia puncture of the present invention.

[0030] Figure 2 Schematic diagram of the main control device of the present invention.

[0031] Figure 3 It is a schematic diagram of the needle insertion device of the present invention.

[0032] Figure 4 for Figure 3 Half-section diagram of .

[0033] Figure 5 The figure is an axonometric view of the power assembly, the clamp assembly and the puncture needle assembly of the present invention.

[0034] Figure 6 This is a front view of the power component, clamp component and puncture needle assembly of the present invention.

[0035] Figure 7 This is a schematic diagram of the assembly of the sensor fixing seat, needle holder fixing seat, slide rail and connecting slider of the present invention.

[0036] Figure 8 For the present invention Figure 7 Schematic diagram of half section.

[0037] Figure 9 Schematic diagram of the clamp assembly and puncture needle of the present invention.

[0038] Figure 10 Schematic diagram of the puncture needle registration module of the present invention.

[0039] Figure 11 Schematic diagram of the alignment of the puncture needle alignment module, the puncture needle, and the magnetic field generator of the present invention.

[0040] Figure 12 Schematic diagram of the alignment of the puncture needle alignment module, the puncture needle, and the magnetic field generator of the present invention.

[0041] Figure 13 Schematic diagram of the image registration module of the present invention.

[0042] Figure 14 Schematic cross-sectional view of the image registration module of the present invention.

[0043] Figure 15 Schematic diagram of the locking sleeve of the present invention.

[0044] Figure 16 Schematic diagram of the locking sleeve of the present invention.

[0045] Symbols in the figure: main control device 1, magnetic field generator 2, puncture needle registration module 3, image registration module 4, needle insertion device 5, display 10, storage rack 11, host 12, chassis bracket 13, shell 51, power component 52, clamp component 54, puncture needle 9, control component 55, installation part 510, gripping part 511, support surface structure 513, motor 520, slider 521, sensor fixing seat 522, needle holder fixing seat 523, needle holder 524, slide rail 525, connecting slider 526, force sensor 527, through hole 5131, inner cavity 5240, first plane feature 5242, second plane feature 541, fastener 5241, upper pressure block 542, lower pressure block Block 543, base 30, positioning groove 301, pressing plate 31, rotating shaft 32, pressing block 311, first positioning block 33, second positioning block 34, magnetic field generator 2, first sensor 91, second sensor 36, needle tip positioning hole 37, bottom plate 35, image registration module 4, positioning plate 41, parity plate 42, fastener 44, rotating shaft 43, positioning ball 45, calibration ball 46, positioning sensor 47, positioning rotation shaft plate 411, first conical surface 412, first positioning plate 413, second positioning plate 414, fixing seat 415, fixing hole 4151, opening 416, parity rotation shaft plate 421, locking sleeve 441, locking nut 442, second conical surface 443, notch 444. DETAILED DESCRIPTION

[0046] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0047] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0048] All directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, horizontal, vertical...) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0049] Due to installation errors and other reasons, the parallel relationship referred to in the embodiments of the present invention may actually be an approximately parallel relationship, and the perpendicular relationship may actually be an approximately perpendicular relationship.

[0050] Example 1:

[0051] like Figure 1-16 As shown, a visualization anesthesia puncture device based on magnetic induction positioning includes a main control device 1, a magnetic positioning device and a needle insertion device 5. The magnetic positioning device includes a magnetic field generator, a puncture needle registration module and an image registration module. The puncture needle registration module and the image registration module are located in the electromagnetic field area generated by the magnetic field generator. The puncture needle registration module and the image registration module are respectively connected to the main control device.

[0052] The main control device 1 includes a display 10, a shelf 11, a host 12 and a chassis bracket 13. The chassis bracket 13 serves as a carrier. The display 10, the shelf 11 and the host 12 are respectively arranged on the chassis bracket 13. The chassis bracket 13 is provided with a plurality of rotating wheels 131, which facilitate the doctor to move the main control device 1 in the puncture room; the display 10 is connected to the host 12, the display 10 displays and transmits visual information, and the shelf 11 is used to temporarily place the keyboard, mouse and needle insertion device 5; the host 12 is equipped with a power converter, a router and a computer. The power converter can deliver DC power to power the needle insertion device 5. The router is used for local area network communication. The computer has built-in control program and calculation program. The control program can guide the doctor to use the equipment, and the calculation program realizes image registration calculation to complete the puncture operation.

[0053] The needle insertion device 5 includes a shell 51, a power component 52, a clamp component 54, a puncture needle 9 and a control component 55. The power component 52 is arranged in the shell 51, the clamp component 54 is arranged in the power component 52, and the puncture needle 9 is arranged in the clamp component 54. The power component 52 includes a motor 520, and the control component 55 is connected to the motor 520. The control component 55 controls the opening and closing of the motor 520.

[0054] like Figure 2 As shown, the housing 51 includes a mounting portion 510 and a grip portion 511. The grip portion 511 is disposed on the mounting portion 510, and the two constitute a T-shaped structure. A mounting cavity is disposed inside the mounting portion 510, and the power assembly 52 is disposed in the mounting cavity. The mounting portion 510 serves as a carrier for the power assembly 52, and the grip portion 511 serves as a gripping component, so that the doctor can hold the device by hand for puncture, which is convenient to use and highly maneuverable. A support surface structure 513 is disposed on the end face of the mounting portion 510. The support surface structure is provided with a through hole 5131, through which the puncture needle 9 passes. The diameter of the through hole 5131 is larger than the outer diameter of the puncture needle 9. Preferably, the diameter of the through hole 5131 is not less than 30 mm, so that the puncture needle 9 and the clamp assembly 54 can freely pass through the through hole 5131. During puncture, the support surface structure 513 is in close contact with the tissue at the site to be punctured, and is used to support the tightening force of the device, while offsetting the forward momentum of the device when the puncture needle 9 breaks through the ligamentum flavum.

[0055] The power assembly 52 also includes a sensor fixing seat 522, a needle holder fixing seat 523, a slide rail 525 and a needle holder 524. The motor 520 and the slide rail 525 are arranged in the mounting cavity of the mounting portion 510. The length direction of the slide rail 525 is parallel to the puncture direction of the puncture needle 9. The sensor fixing seat 522 and the needle holder fixing seat 523 are respectively provided with a connecting slider 526. The connecting slider 526 is slidably connected to the slide rail 525, so that the sensor fixing seat 522 and the needle holder fixing seat 523 can slide along the slide rail 525. A slider 521 is provided on the output shaft of the motor 520, and the slider 521 is fixedly connected to the sensor fixing seat 522. The axial direction of the output shaft is parallel to the puncture direction. When the motor 520 is started, the slider 521 moves along the axial direction of the output shaft, thereby driving the sensor fixing seat 522 to slide along the slide rail 525. The power component 52 converts the rotational torsion of the motor 520 into the forward thrust of the puncture needle 9. The axial length of the output shaft is not less than 60 mm, so that the movement stroke of the clamp component 54 is not less than 60 mm.

[0056] The power assembly 52 also includes a force sensor 527, which detects the axial force applied to the puncture needle 9 during puncture in real time and is used to detect a sudden drop in resistance when the puncture needle 9 penetrates the ligamentum flavum. The force sensor 527 is located between the sensor fixing seat 522 and the needle holder fixing seat 523. One end of the force sensor 527 is fixedly connected to the sensor fixing seat 522, and the other end is fixedly connected to the needle holder fixing seat 523. The needle holder 524 is arranged on the needle holder fixing seat 523, and the clamp assembly 54 is arranged on the needle holder 524, so that the puncture needle 9 transmits the resistance it receives to the force sensor 527 through the needle holder 524. When the force sensor 527 recognizes the sudden change in force when the puncture needle 9 breaks through the yellow ligament, the force sensor 527 transmits a signal to the control component 55. The control component 55 controls the motor 520 to turn off, stop the needle insertion, and complete the puncture. The force sensor 527 identifies the resistance and force changes and collects force data. The control component 55 is connected to the host device 1. The control component 55 transmits the force data detected by the force sensor 527 to the host device 1 for processing and displays it on the display 10. The force sensor 527 assists the doctor in accurately completing anesthesia puncture and reducing puncture injuries caused by subjective judgment errors.

[0057] The power component 52 also includes a prompt component, which is connected to the force sensor 527. When the force sensor 527 recognizes the sudden change in force when the puncture needle 9 breaks through the yellow ligament, the force sensor 527 transmits a signal to the prompt component, and the prompt component sends a prompt signal to indicate that the puncture is successful.

[0058] The needle holder 524 is provided with an inner cavity 5240, the axis of the inner cavity 5240 is parallel to the puncture direction, the clamp assembly 54 is provided in the inner cavity 5240, the inner cavity 5240 is provided with a first plane feature 5242, the clamp assembly 54 is provided with a second plane feature 541, and the second plane feature 541 is fitted with the first plane feature 5242, thereby preventing the needle holder 524 and the clamp assembly 54 from rotating relative to each other after assembly, thereby improving the stability of the assembly of the two.

[0059] The needle holder 524 is provided with a fastener 5241. During puncture, the fastener 5241 quickly locks the needle holder 524 and the clamp assembly 54. After the puncture is completed, the fastener 5241 is loosened to quickly separate the needle holder 524 and the clamp assembly 54. The fastener 5241 is preferably a locking nut.

[0060] The clamp assembly 54 includes an upper pressing block 542, a lower pressing block 543 and a fixer. The upper pressing block 542 and the lower pressing block 543 are hinged to achieve opening and closing. The upper pressing block 542 and the lower pressing block 543 are set to the installation position that cooperates with the puncture needle 9, so that the puncture needle 9 can be precisely assembled to the clamp assembly 54. After the puncture needle 9 is installed, the upper pressing block 542 and the lower pressing block 543 are closed, and the fixer locks the upper pressing block 542 and the lower pressing block 543, which can effectively reduce the shaking problem of the puncture needle 9 during the puncture process. When the puncture is completed, the fixer is removed to open the upper pressing block 542 and the lower pressing block 543, so that the puncture needle 9 can be quickly separated from the clamp assembly 54. The fixer is preferably a screw.

[0061] The needle insertion device 5 also includes an air pressure sensor, which detects the air pressure data during the puncture process in real time and detects the air pressure changes after the puncture needle 9 penetrates the yellow ligament. If the puncture needle 9 penetrates the epidural space, the air pressure sensor detects negative pressure. The air pressure sensor is connected to the control component 55. The air pressure sensor transmits the air pressure data to the control component 55 for processing. The control component 55 is connected to the host device 1 and displays the air pressure data on the display 10. The control component 55 analyzes the collected force and air pressure data and controls the movement of the power component. When it is detected that the puncture needle penetrates the yellow ligament, the power component stops moving. The doctor further determines the current position of the anesthesia puncture needle based on the air pressure data, so that the doctor can accurately identify that the puncture needle 9 has penetrated the yellow ligament.

[0062] The needle insertion device 5 in this embodiment can also adopt a manual needle insertion device. The manual needle insertion device includes a transmission component, a clamp component and a puncture needle. The clamp component is arranged on the transmission component, and the puncture needle is arranged on the clamp component. The transmission component includes a rotating wheel. The movement state of the rotating wheel controls the advancement or withdrawal of the puncture needle. The manual needle insertion device also includes a detection component. The detection component includes a torque sensor, an encoder and an alarm. The transmission component also includes a worm, a gear and a screw. The worm is rotatably connected to the shell of the needle insertion device. The torque sensor is located between the rotating wheel and the worm. The rotating wheel and the worm are respectively fixed on both sides of the sensor. The encoder is arranged on the worm, the screw is rotatably connected to the shell, the gear is arranged on the screw, and the gear is meshed with the worm. The manual needle insertion device can monitor the changes in the resistance of the needle insertion in real time through the torque sensor, encoder and alarm, so as to quickly and accurately prompt the doctor that the puncture needle has broken through the yellow ligament. No further details will be given here.

[0063] The magnetic positioning device includes a magnetic field generator 2, a puncture needle registration module 3 and an image registration module 4. The magnetic field generator 2, the puncture needle registration module 3 and the image registration module 4 are respectively connected to the host 12 to realize signal transmission and calculation of positional relationships. The magnetic field generator 2 can send an alternating electromagnetic field. When there is a paired magnetic sensor in the magnetic field, the device can calculate the coordinate value of the sensor in the spatial Cartesian coordinate system with the magnetic field generator 2 as the coordinate origin; the puncture needle registration module 3 and the image registration module 4 use the known positional relationship between the feature points set by themselves and the built-in magnetic sensors to assign the spatial coordinate value of the feature point to the contact object or the element with the known positional relationship.

[0064] The puncture needle registration module 3 includes a positioning structure, which includes a base 30, a pressing plate 31 and a bottom plate 35. The base 30 is provided with a positioning groove 301, and the positioning groove 301 partially or completely places the puncture needle 9. The positioning groove 301 has a certain length and width, which can allow the puncture needle 9 to be placed flatly therein. The positioning groove is preferably a V-shaped groove, and the bottom of the V-shaped groove has a smaller flat surface, the size of which matches the diameter of the puncture needle, so that the puncture needle can be fixed at the bottom of the V-shaped groove.

[0065] The base 30 includes a first positioning block 33 and a second positioning block 34. The first positioning block 33 and the second positioning block 34 can be assembled together to form the base 30 as a whole, and the first positioning block 33 and the second positioning block 34 each have an inclined surface. After they are assembled together, a V-shaped groove for inserting a puncture needle can be formed in the middle.

[0066] The pressing piece 31 is arranged on the base 30, and the pressing piece 31 and the base 30 are rotatably connected by a rotating shaft 32 (or a hinge). The pressing piece 31 is provided with a pressing block 311 that matches the shape of the positioning groove 301. The pressing block 311 can be made integrally with the positioning groove 301. The shape of the pressing block 311 is slightly smaller than the internal space of the positioning groove 301. Therefore, when the pressing piece 31 covers the positioning groove 301 and squeezes and fixes the puncture needle 9 placed therein, the pressing block 311 presses the puncture needle placed in the positioning groove. Under the action of the pressing piece 31 and the pressing block 311, the puncture needle can be stably fixed in the positioning groove 301 without shaking left and right or front and back, and will not swing. Preferably, the free end of the pressing piece 31 has an upwardly tilted toggle portion to facilitate the opening of the pressing piece.

[0067] The base 30 is arranged on one side of the bottom plate 35, and the bottom plate 35 is also provided with a second sensor 36 and a needle tip positioning hole 37. The second sensor 36 is preferably a magnetic sensor. The needle tip positioning hole 37 is located between the second sensor 36 and the base 30. The needle tip positioning hole 37 is preferably set as a conical hole for locating the position of the needle tip of the puncture needle 9.

[0068] During the implementation of the puncture needle registration module 3, the magnetic field generator 2 generates an alternating electromagnetic field. The puncture needle 9 is provided with an alignment sensor 91, preferably a magnetic sensor. The alignment sensor 91 and the second sensor 36 of the puncture needle registration module 3 constitute a positioning and registration sensor. The positioning and registration sensor is located in the electromagnetic field generated by the magnetic field generator 2, and the positioning structure is placed within the effective range of the magnetic field generator 2. During use, the needle tip of the puncture needle 9 is brought into contact with the needle tip positioning hole 37, and data is recorded. The puncture needle 9 is then placed in the positioning slot 301, and the data is recorded. Based on the set needle tip positioning hole 37 and the position of the alignment sensor 91, the needle tip origin position of the puncture needle 9 and the movement path of the puncture needle 9 are calibrated. The position of the puncture needle 9 is aligned with the needle tip by the puncture needle registration module 3 and the magnetic field generator 2.

[0069] The image registration module 4 includes a positioning plate 41, a peer plate 42, a fastener 44 and a positioning ball 45. The positioning plate 41 and the peer plate 42 are rotatably connected by a rotating shaft 43. The fastener 44 locks or loosens the positioning plate 41 and the peer plate 42. The positioning plate 41 and / or the peer plate 42 are set as a double-layer structure, and the positioning ball 45 is set on the positioning plate 41 and the peer plate 42.

[0070] The positioning plate 41 is provided with a positioning shaft plate 411, which is rotatably connected to the shaft 43. The same position plate 42 is provided with a same position shaft plate 421, which is rotatably connected to the shaft 43. Figure 13 From a visual perspective, the portion where the positioning rotating shaft plate 411 is rotatably connected to the rotating shaft 43 is located between the portion where the co-positioning rotating shaft plate 421 is rotatably connected to the rotating shaft 43.

[0071] The fastener 44 includes a locking sleeve 441 and a locking nut 442. The locking sleeve 441 is sleeved on the outer surface of the rotating shaft 43. The locking sleeve 441 is located between the co-positioned rotating shaft plate 421 and the rotating shaft 43, and the locking sleeve 441 extends to the positioning rotating shaft plate 411. The locking nut 442 is threadedly connected to the rotating shaft 43. When the locking nut 442 is tightened, it pushes the locking sleeve 441 to move along the rotating shaft 43 toward the positioning rotating shaft plate 411 until the positioning rotating shaft plate 411 and the co-positioned rotating shaft plate 421 are locked, so that the two cannot move relative to each other.

[0072] In this embodiment, a first conical surface 412 is provided in the positioning shaft plate 411 , and the first conical surface 412 forms a first locking space.

[0073] The locking sleeve 441 is provided with a second conical surface 443 at one end facing the positioning shaft plate 411, and a notch 444 is provided on the second conical surface 443. The tapers of the first conical surface 412 and the second conical surface 443 match. When the locking nut 442 is tightened, the locking sleeve 441 enters the first locking space. Under the action of the first conical surface 412 and the notch 444, the second conical surface 443 of the locking sleeve 441 is gradually tightened, and the locking sleeve 441 locks the shaft 43, so that the locking sleeve 44 and the shaft 43 cannot move relative to each other. At this time, the second conical surface 443 is completely in contact with the first conical surface 412. Under the action of the friction force of the conical surface, the positioning shaft plate 411 cannot move relative to the locking sleeve 441, thereby achieving the locking purpose.

[0074] The positioning plate 41 and the isotope plate 42 are adjusted in angle by the cooperation of the isotope pivot plate 421, the positioning pivot plate 411 and the fastener 44, so that the image registration module 4 is suitable for patients of different body shapes and different body positions, thereby increasing the adaptability of the image registration module 4.

[0075] At least one of the positioning plate 41 and the same position plate 42 is set to a double-layer structure. In this embodiment, the positioning plate 41 and the same position plate 42 have the same structure and are both set to a double-layer structure. The positioning plate 41 is taken as an example for description below. The positioning plate 41 includes a double-layer plate and a fixing seat assembly. The double-layer plate includes a first positioning plate 413 and a second positioning plate 414. The fixing seat assembly includes two sets of fixing seats 415. Figure 13 From a visual angle, the first positioning plate 413 and the second positioning plate 414 are arranged in parallel in the horizontal direction, and the two groups of fixing seats 415 are arranged in parallel in the vertical direction. The first positioning plate 413 and the second positioning plate 414 are respectively connected to the two groups of fixing seats 415 to form a frame structure. One group of fixing seats 415 is connected to the positioning shaft plate 411, and the other group of fixing seats 415 is provided with perforations.

[0076] The first positioning plate 413 or the second positioning plate 414 is provided with an opening 416, and the opening 416 is provided on the first positioning plate 413 or the second positioning plate 414 away from the positioning shaft plate 411. A positioning sensor 47 is provided in the opening 416, and the positioning sensor 47 is a magnetic sensor, which is used to perform hand-eye calibration to locate the reference point.

[0077] In this embodiment, the second positioning plate 414 is disposed on the inner side of the image registration module 4 , where the inner side refers to the side close to the puncture site.

[0078] The distance between the first positioning plate 413 and the second positioning plate 414 is 30-60 mm.

[0079] The fixing seat 415 is set as a rectangular structure. The fixing seat 415 is provided with a fixing hole 4151. The fixing hole 4151 is used to fix the image registration module 4 to the bed. The image registration module 4 can be fixed to the bed by passing a strap through the fixing hole 4151.

[0080] The positioning balls 45 are respectively arranged on the first positioning plate 413 and the second positioning plate 414. Preferably, the positioning balls 45 are arranged in a triangle, and the number of positioning balls 45 is preferably 3. The positioning balls 45 are ceramic balls or light beads. The ceramic balls or light beads have roundness and better perspective depth, and can be projected more clearly into the puncture area.

[0081] The diameter of the positioning ball 45 set on the second positioning plate 414 is larger than the diameter of the positioning ball 45 set on the first positioning plate 413. Preferably, the diameter range of the positioning ball 45 set on the first positioning plate 413 is 2-4 mm, and the diameter range of the positioning ball 45 set on the second positioning plate 414 is 4-8 mm.

[0082] The positioning balls 45 disposed on the first positioning plate 413 and the positioning balls 45 disposed on the second positioning plate 414 are arranged at different positions, so as to facilitate extraction of different features.

[0083] The first positioning plate 413 and the second positioning plate 414 are both provided with a calibration ball 46 . The size of the calibration ball 46 is consistent with the size of the positioning ball 45 on the same plane. The calibration ball 46 is used to verify whether the plane where the double-layer plate is located can be projected onto the puncture area.

[0084] The calibration ball 46 can be arbitrarily set on the first positioning plate 413 and the second positioning plate 414. Arbitrary setting can better verify the results and make the projected data more accurate.

[0085] The calibration ball 46 is a ceramic ball or a light bead ball. The ceramic ball or the light bead ball has roundness and better perspective depth, and can be projected more clearly into the puncture area.

[0086] During the implementation of the image registration module 4, when the locking nut 442 is tightened, the locking sleeve 441 enters the first locking space. Under the action of the first conical surface 412 and the notch 444, the second conical surface 443 of the locking sleeve 441 is gradually tightened, and the locking sleeve 441 locks the rotating shaft 43, so that the locking sleeve 44 and the rotating shaft 43 cannot move relative to each other. At this time, the second conical surface 443 is completely in contact with the first conical surface 412. Under the action of the friction force of the conical surface, the positioning shaft plate 411 cannot move relative to the locking sleeve 441, thereby achieving the locking purpose. Then, a strap is passed through the fixing hole 121 on the fixing seat 12 and fixed to the bed to prevent the image registration module 4 from moving. Then, the feature points of the positioning ball will be imaged on the X-ray film. The coordinate information of the pixel points in the X-ray film is calculated based on the imaged feature points. Finally, the system coordinate system is unified through the transformation relationship between the positioning sensor and the magnetic field generator, and the transformation relationship between the magnetic field generator and the C-arm X-ray machine coordinate system, thereby achieving precise positioning of the simulated surgery.

[0087] The visual anesthesia puncture equipment is used in conjunction with the C-arm X-ray machine in the hospital auxiliary equipment. The C-arm X-ray machine includes a receiver. The C-arm X-ray machine is aligned with the image registration module 4 and the puncture area of ​​the human body model to take an X-ray. The receiver of the C-arm X-ray machine transmits the X-ray film to the main control device 1. The feature points of the positioning ball 45 of the image registration module 4 will be imaged on the X-ray film. The coordinate information of the pixel points in the X-ray film is calculated through the imaged feature points. When the aligned puncture needle enters the magnetic field, the puncture image is mapped to the X-ray film according to the position relationship to realize puncture navigation.

[0088] The visualized anesthesia puncture equipment is also used in conjunction with a CT machine in a hospital auxiliary equipment. The host device 1 reconstructs the data obtained by the CT machine scan into a 3D image model, and performs post-processing calculations to obtain the position coordinates of the positioning ball 45 in the 3D image model of the puncture area. The host device 1 performs image registration through the 3D image model of the puncture area and the 2D X-ray image.

[0089] The implementation process of the visual anesthesia puncture device is as follows:

[0090] Before puncture, the human model is placed in the area to be simulated and practiced. The visual anesthesia puncture device is moved to the set position and turned on. The image registration module 4 is placed at the set position of the human model puncture area, and the magnetic field generator 2 is fixed so that the puncture area is within the magnetic field range. The C-arm X-ray machine is moved so that the light source is aligned with the image registration module 4 and the photographed part of the puncture area. After the filming is completed, the image is transmitted to the main control device 1. After receiving the image, the main control device 1 removes the C-arm X-ray machine. The control program in the main control device 1 converts the image into an image with coordinate values ​​through the feature points of the image registration module 4 in the image. Then, the puncture needle 9 is placed in the magnetic field area. The needle tip is aligned by the puncture needle registration module 3 and the magnetic field generator 2. The needle tip origin position and the insertion direction of the puncture needle 9 are calibrated. The front end of the needle insertion device 5 is positioned at the part of the puncture area where the needle needs to be inserted. The switch is pressed to start the power supply. The doctor monitors the needle insertion process based on the real-time needle insertion image displayed on the display 10, the force sensor, and the air pressure sensor data. When the puncture needle breaks through the ligamentum flavum, the force sensor measures a sudden drop in force, the control component 55 in the needle insertion device 5 controls the needle insertion to stop, and the display 10 displays the current position of the puncture needle 9 and whether negative pressure is detected.

[0091] The present application also provides a method for using a visual anesthesia puncture device based on magnetic induction positioning, based on the above-mentioned anesthesia puncture device, comprising the following steps:

[0092] Step 1: Move the anesthesia puncture device to the set position and turn it on, fix the magnetic field generator 2 so that the puncture area is within the magnetic field range;

[0093] Step 2: The main control device 1 receives the X-ray film; the light source of the C-arm X-ray machine is aligned with the image registration module 4 and the puncture area and takes a picture. After the filming is completed, the X-ray film is transmitted to the main control device 1;

[0094] Step 3: The main control device 1 performs image registration calculation and displays the registration result;

[0095] Step 4: The puncture needle registration module 3 calibrates the needle tip coordinates and needle axis direction of the puncture needle 9;

[0096] Step 5: The puncture needle 9 navigates the puncture according to the image displayed by the main control device 1. The force sensor detects whether the force drops suddenly and whether the air pressure sensor detects negative pressure. If so, the needle insertion device 5 stops inserting the needle and ends the step. If not, the needle insertion device 5 continues inserting the needle.

[0097] In step 3, the positioning ball 45 of the image registration module 4 is used as a feature point. The spatial coordinate value of the feature point is assigned to the contact object or the element with the known position relationship by using the known position relationship between the feature point and the positioning sensor 47. The positioning ball 45 is a known point. The position of the positioning ball 45 and the positioning sensor 47 is known. Therefore, the spatial point position of the positioning ball 45 in the coordinate system of the positioning sensor 47 is known. The position coordinate is set as P D-ball Through the magnetic navigation system, the transformation relationship between the magnetic field coordinate system with the magnetic field generator 2 as the coordinate origin and the coordinate system with the positioning sensor 47 in the image registration module 4 as the coordinate origin is calculated. The transformation relationship is recorded as T1. According to the projection transformation principle, the transformation relationship between the magnetic field coordinate system with the magnetic field generator 2 as the coordinate origin and the C-arm X-ray machine coordinate system is calculated. The transformation relationship is recorded as T2. The host device 1 processes and calculates the X-ray image and calculates the position coordinate P of the positioning ball 45 in the X-ray image in the magnetic field. 2D-ball ,

[0098] P 2D-ball =A x T2 x T1 xP D-ball ;

[0099] P D-ball The anesthesia puncture equipment is calibrated as known data, A is the internal parameter matrix of the C-arm X-ray machine light source, which is known data, and T1 is set as the transformation relationship between the magnetic field coordinate system with the magnetic field generator 2 as the coordinate origin and the coordinate system with the positioning sensor 47 in the image registration module 4 as the coordinate origin. It is obtained as known data through the magnetic navigation system. The magnetic navigation system obtains T1 by conventional methods, which will not be described in detail here. T2 is the optimal solution solved by conventional formulas based on the projection transformation principle, which will not be described in detail here.

[0100] The host device 1 reconstructs the data obtained by the CT scan into a 3D image model and performs post-processing calculations. The position coordinates of the positioning ball 45 in the 3D image model of the puncture area are set as P 3D-ball ,

[0101] P 3D-ball =A xT3x T2 x T1 xP D-ball ;

[0102] T3 is the transformation relationship between the C-arm X-ray machine coordinate system and the CT coordinate system. T3 is the optimal solution obtained by conventional iterative similarity calculation based on the DRR principle, which will not be described in detail here.

[0103] Through T2 and T3, the system coordinate system can be unified, and the transformation relationship T4 between the magnetic field coordinate system with the magnetic field generator 2 as the coordinate origin and the CT coordinate system can be calculated, T4 = T3x T2. Through T4, the position coordinate information of the puncture needle 9 in the magnetic field space is unified to the CT coordinate system in real time and integrated with the puncture area information, so that the doctor can understand the relationship between the puncture needle 9 and the puncture area in real time, so that the doctor can mark the needle insertion point and needle insertion channel on the 3D model or 2D picture of the puncture area before inserting the needle, realize the positioning of the needle insertion point and the confirmation of the needle insertion plan, realize the visualization of the movement of the needle tip, and enable the doctor to observe the position of the needle tip and the direction of the needle insertion in real time.

[0104] In step 4, when the puncture needle registration module 3 calibrates the insertion direction of the puncture needle 9, the positioning structure is placed within the effective range of the magnetic field generator 2. The puncture needle 9 is placed in the positioning groove 301 of the positioning structure and is squeezed and fixed by the pressing piece 31. The puncture needle 9 is provided with a registration sensor 91. The registration sensor 91 confirms the marking point relative to the second sensor 36 of the positioning structure. MT P v1 ,Will MT P v1 Then convert the axial position of the puncture needle 9 and fix it in the same way, confirm the marking point 2 MT P v2 ,Will MT P v2 Marked as the needle tail of the puncture needle 9, marking point 1 MT P v1 and marker 2 MT P v2 An axis is identified, which is the needle axis direction of the puncture needle 9 .

[0105] In step 4, when the puncture needle registration module 3 calibrates the needle tip position of the puncture needle 9, the positioning structure is placed within the effective range of the magnetic field generator 2. The spatial position of the needle tip positioning hole 37 in the coordinate system with the second sensor 36 as the coordinate origin is known, and is set to MT P 孔 When performing needle tip calibration, calibrate the needle tip of the puncture needle 9 to align with the needle tip positioning hole 37, and read the transformation relationship between the magnetic field coordinate system with the magnetic field generator 2 as the coordinate origin and the coordinate system with the second sensor 36 of the positioning structure as the coordinate origin, as well as the transformation relationship between the magnetic field coordinate system with the magnetic field generator 2 as the coordinate origin and the coordinate system with the registration sensor 91 of the puncture needle 9 as the coordinate origin, which are recorded as T4 and T5 respectively;

[0106] Get the current spatial position of the needle tip positioning hole 37 in the magnetic field coordinate system with the magnetic field generator 2 as the coordinate origin M P 孔 ,

[0107] M P孔 =T4 x MT P 孔 ;

[0108] According to the formula M P 孔 Get the spatial position of the current needle tip positioning hole 37 in the coordinate system with the registration sensor 91 as the coordinate origin T P 孔 ,

[0109] T P 孔 =T5 x M P 孔 =T5 xT4 x MT P 孔 ;

[0110] Similarly, the spatial position of the marker point 1 in the coordinate system with the registration sensor 91 as the coordinate origin is obtained. T P v1 ,

[0111] T P v1 =T5x T4 x MT P v1 ;

[0112] Similarly, the spatial position of the second marker point in the coordinate system with the registration sensor 91 as the coordinate origin is obtained. T P v2 ,

[0113] T P v2 =T5x T4 x MT P v2 ;

[0114] According to the above, the vector values ​​of the marking point 1 and the marking point 2 in the coordinate system with the registration sensor 91 as the coordinate origin are known, thereby completing the calibration of the origin of the needle tip and the calibration of the needle axis direction.

[0115] Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

Claims

1. A visual anesthesia puncture device based on magnetic induction positioning, characterized by: The device includes a main control device, a magnetic positioning device and a needle insertion device. The main control device includes a display. The magnetic positioning device includes a magnetic field generator, a puncture needle registration module and an image registration module. The needle insertion device includes a puncture needle. The magnetic field generator, the puncture needle registration module and the image registration module are respectively connected to the main control device. The puncture needle registration module calibrates the needle tip coordinates and needle axis direction of the puncture needle. The puncture needle registration module includes a positioning structure. When the puncture needle alignment module calibrates the insertion direction of the puncture needle, the positioning structure is placed within the effective range of the magnetic field generator. The puncture needle is provided with an alignment sensor, and the alignment sensor confirms the marking point relative to the second sensor of the positioning structure. MT P v1 ,Will MT P v1 Mark the needle tip as the puncture needle; then convert the puncture needle to the axial position and fix it in the same way, confirm the marking point 2 MT P v2 ,Will MT P v2 Marked as the needle tail of the puncture needle, mark point 1 MT P v1 and marker 2 MT P v2 Identify an axis, which is the needle axis direction of the puncture needle; The image registration module includes a positioning plate, a peer plate, a fastener and a positioning ball. The positioning ball is set on the positioning plate and the peer plate. The positioning plate and the peer plate are provided with positioning sensors. The positioning plate and the peer plate are rotatably connected through a rotating shaft. The fastener locks or loosens the positioning plate and the peer plate. The positioning plate and / or the peer plate are set as a double-layer structure.

2. The visual anesthesia puncture device based on magnetic induction positioning according to claim 1, characterized in that: The main control device also includes a host computer, which is provided with a computer having built-in control programs and calculation programs.

3. The visual anesthesia puncture device based on magnetic induction positioning according to claim 1, characterized in that: The needle insertion device also includes a power component, a clamp component and a control component. The clamp component is arranged on the power component, the puncture needle is arranged on the clamp component, and the control component is connected to the power component. The control component controls the operating state of the power component.

4. The visual anesthesia puncture device based on magnetic induction positioning according to claim 1, characterized in that: The needle insertion device includes a transmission assembly and a clamp assembly. The clamp assembly is arranged on the transmission assembly, and the puncture needle is arranged on the clamp assembly. The transmission assembly includes a rotating wheel, and the movement state of the rotating wheel controls the advancement or withdrawal of the puncture needle.

5. The visual anesthesia puncture device based on magnetic induction positioning according to claim 4, characterized in that: It also includes a detection component, which includes a torque sensor, an encoder and an alarm. The transmission component also includes a worm, a gear and a screw. The worm is rotatably connected to the housing of the needle insertion device. The torque sensor is located between the turntable and the worm. The turntable and the worm are respectively fixed on both sides of the sensor. The encoder is set on the worm, the screw is rotatably connected to the housing, the gear is set on the screw, and the gear is meshingly connected to the worm.

6. The visualized anesthesia puncture device based on magnetic induction positioning according to claim 3 or 4, characterized in that: The needle insertion device further comprises a housing, which is provided with a support surface structure, and the support surface structure is used to fit with the tissue at the puncture site.

7. The visualized anesthesia puncture device based on magnetic induction positioning according to claim 1, characterized in that: The puncture needle registration module and the image registration module are located in the electromagnetic field area generated by the magnetic field generator, and the magnetic field generator, the puncture needle registration module and the image registration module are connected to the host respectively.

8. The visual anesthesia puncture device based on magnetic induction positioning according to claim 1, characterized in that: The positioning structure includes a base, a pressing sheet and a bottom plate. The base is arranged on the bottom plate, the pressing sheet is arranged on the base, and the base is provided with a positioning groove, and the puncture needle is partially or completely placed in the positioning groove.

9. The visual anesthesia puncture device based on magnetic induction positioning according to claim 8, characterized in that: The bottom plate is further provided with a second sensor and a needle tip positioning hole, and the needle tip positioning hole is located between the second sensor and the base.

Images