Guiding device for angle sensing and virtual sounding for surgical navigation

Abstract

The invention relates to a guide device for angle sensing and virtual sounding for surgical navigation, which comprises a shell for placing an angle sensor and a shell for placing a circuit board which are connected with each other, the shell for placing the angle sensor is provided with the angle sensor and a puncture needle groove, and the shell for placing the circuit board is provided with the circuit board and a key; the angle sensor is used for obtaining a relative angle between the puncture equipment and the ultrasonic probe, and the circuit board can obtain angle data and key information of the angle sensor and send data to the upper computer; the puncture needle groove is used for placing puncture equipment; a cavity formed by the shell for placing the angle sensor and the shell for placing the circuit board is used for placing an ultrasonic probe; and the key is used for completing a virtual sounding function. Compared with the prior art, doctors can be assisted in accurately and efficiently completing the ultrasonic puncture process, and the problems that the puncture direction is wrong and the puncture depth is inconvenient to control are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a guiding device for angle sensing and virtual depth measurement for surgical navigation. Background Art

[0002] Breast lumps are divided into benign and malignant. Malignant breast lumps are breast cancer. Since 2020, breast cancer has become the most common cancer in women in my country. Thyroid cancer is a common malignant tumor, and the incidence of thyroid cancer has increased year by year. Biopsy and diagnosis of breast and thyroid lumps and symptomatic treatment are of great significance to improve the survival rate of patients. Studies have shown that ultrasound-guided technology can assist in improving the success rate of surgery, reducing the operation time, shortening the postoperative recovery process, and improving the accuracy of surgical target positioning in a variety of minimally invasive surgeries such as minimally invasive breast excision, percutaneous puncture and fluid extraction, and minimally invasive venous puncture and catheterization. Among them, ultrasound-guided minimally invasive excision is used to treat patients with benign breast tumors, with less trauma, fewer complications, and mild pain, shorter operation time, and faster postoperative recovery. Ultrasound-guided fine needle biopsy and vacuum minimally invasive excision are widely used for biopsy of suspected malignant lesions of the breast and thyroid and the removal of some benign masses due to their low cost, less damage, and no need for radiation protection. They have both diagnostic and therapeutic functions.

[0003] For breast and thyroid nodule puncture biopsy and vacuum minimally invasive excision, real-time and accurate ultrasound guidance is the key to successful surgery. However, due to the small size of the lesion and the small amount of tissue sample required for biopsy, the wrong puncture direction or poor depth control during the puncture process can easily lead to sampling in non-lesion areas. There are also problems such as incomplete removal of pathological tissue and excessive removal of non-pathological tissue during excision.

[0004] Existing ultrasonic intelligent guidance systems all need to obtain the spatial position of surgical instruments to provide navigation information for doctors. Generally, optical or magnetic positioning technology is used to obtain the spatial position of surgical instruments. After obtaining the spatial position, the doctor can perform surgery based on the navigation information or the algorithm can make autonomous decisions to control the robotic arm to complete the surgery. However, both optical and magnetic positioning technologies require auxiliary positioning devices to be fixed on the surgical instruments, and one or more spatial positioning devices need to be fixed in the operating room. This increases the difficulty for doctors to operate surgical instruments and occupies space in the operating room, causing inconvenience to the surgery.

[0005] Therefore, developing a set of auxiliary surgical instruments that does not take up space in the operating room, has little impact on the doctor's hand operations, and can provide doctors with real-time surgical navigation information is a technical problem that needs to be solved urgently. Summary of the invention

[0006] The purpose of the present invention is to overcome the defects of the above-mentioned prior art that the ultrasonic intelligent guidance system occupies the operating room space and has a great impact on the doctor's hand operation, and to provide a system that can assist the doctor to accurately and efficiently complete the ultrasonic puncture process and eliminate the problems of incorrect puncture direction and inconvenient control of puncture depth.

[0007] The present invention uses an angle sensor to detect the relative angle between the puncture device and the ultrasonic probe, and independently designs a mechanical structure capable of installing and fixing the angle sensor and the circuit board. The device is compact and comfortable to hold. In this way, it can provide surgical guidance information to doctors while reducing the space occupied by the operating room without affecting the doctor's hand operation.

[0008] The present invention provides a guidance device for angle sensing and virtual depth measurement for surgical navigation, comprising a housing for accommodating an angle sensor and a housing for accommodating a circuit board, the housing for accommodating the angle sensor being provided with an angle sensor and a puncture needle slot, and the housing for accommodating the circuit board being provided with a circuit board and buttons;

[0009] The angle sensor is used to obtain the relative angle between the puncture device and the ultrasonic probe. The circuit board is connected to the angle sensor and the button for communication. The circuit board can obtain the angle data and button information of the angle sensor and send the data to the host computer; the puncture needle slot is used to place the puncture device; the cavity formed by the shell for accommodating the angle sensor and the shell for accommodating the circuit board is used to place the ultrasonic probe; the shell for accommodating the angle sensor and the shell for accommodating the circuit board are provided with a slot for fastening the ultrasonic probe and a space for fixing screws thereof.

[0010] The button is used to complete the virtual depth measurement function. By pressing the button, the length of the virtual depth measurement line in the real-time screen of the host computer is adjusted, and the real puncture depth estimation is completed through the specific correspondence between the virtual depth measurement module length and the real puncture depth.

[0011] The host computer is used for ultrasound image acquisition, real-time lesion segmentation and real-time navigation algorithm integration.

[0012] Furthermore, the shell for accommodating the angle sensor is provided with an angle sensor slot, and the angle sensor is arranged in the angle sensor slot.

[0013] Furthermore, the shell on which the angle sensor is placed is also provided with an angle detection opening for realizing the angle detection function of the angle sensor.

[0014] Furthermore, a puncture needle slot fixing slot is inserted in the angle detection opening, and the puncture needle slot is arranged in the puncture needle slot fixing slot. A puncture needle of a suitable size can be placed in the puncture needle slot, and the puncture needle can be fixed by inserting the puncture needle slot with the puncture needle placed into the puncture needle slot fixing slot and rotating it. The puncture needle can be fixed and rotated by inserting the puncture needle slot fixing slot into the angle detection opening.

[0015] Furthermore, a circuit board slot is provided on the housing for accommodating the circuit board, and the circuit board is arranged in the circuit board slot.

[0016] Furthermore, a wire groove is provided on the housing for accommodating the circuit board, and the wire groove is used for accommodating the driving wire.

[0017] Furthermore, the wire trough is provided with a wire trough closing plate.

[0018] Furthermore, a button bayonet is provided on the shell on which the circuit board is placed, and the button is arranged in the button bayonet.

[0019] Furthermore, a shell fixing hole is provided on the shell for housing the angle sensor, and the shell for housing the angle sensor and the shell for housing the circuit board are connected through the shell fixing hole and bolts and nuts provided in the shell fixing hole to form an auxiliary device that contains the ultrasonic probe inside.

[0020] Furthermore, a U-shaped groove is provided on the shell for accommodating the circuit board, and the U-shaped groove is used to place the driving line, and the circuit board uploads data to the host computer through the driving line in the U-shaped groove.

[0021] After the device is installed, when an ultrasonic probe is used to find a lesion, the angle sensor slot is rotated to drive the puncture needle to rotate. The angle sensor in the angle sensor slot can collect the real-time angle between the puncture needle and the ultrasonic probe and transmit its angle data to the circuit board in the circuit board slot through the driving line in the wire slot. The circuit board then uploads the data to the host computer through the driving line in the U-shaped slot.

[0022] After the host computer collects the ultrasound image, the angle data uploaded through the circuit board can segment the real-time lesion image on the screen, and the pre-puncture path of the puncture needle can be displayed on the screen in real time. The pre-puncture path can be adjusted by adjusting the angle of the angle sensor slot, which can predict the puncture path at the current angle for the doctor.

[0023] After obtaining the correct puncture angle of the puncture needle, the length of the virtual depth line can be adjusted in real time on the real-time screen of the host computer by pressing the button in the button bayonet. After controlling the depth line to the puncture target, the doctor will be provided with specific depth data of the surgical target, which is convenient for the doctor to plan subsequent operations. To achieve this function, a user status value is set in the host computer algorithm. This status value switches cyclically between idle, forward and backward. When the button is pressed, the user status will switch sequentially, that is, the forward and backward of the virtual depth line can be adjusted by pressing the button. The modulus length of the virtual depth line can be obtained through the initial and final states of the virtual depth line, and then the real puncture depth estimation can be completed by the specific correspondence between the virtual modulus length and the real puncture depth.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] The present invention can display the pre-puncture path of the puncture needle and estimate the puncture depth for the doctor during the ultrasonic puncture process, making the puncture process more accurate and efficient, and eliminating the problems of wrong puncture direction and poor depth control. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the structure of a guidance device for angle sensing and virtual depth measurement for surgical navigation;

[0027] Figure 2 It is a schematic diagram of the overall structure of the guidance device used for angle sensing and virtual depth measurement for surgical navigation;

[0028] Figure 3 A schematic diagram of the housing structure for accommodating the angle sensor;

[0029] Figure 4 A schematic diagram of the housing structure for accommodating a circuit board;

[0030] Figure 5 For circuit design diagram.

[0031] Figure markings: 1-housing for accommodating the angle sensor, 2-housing for accommodating the circuit board, 3-angle sensor slot, 4-circuit board slot, 5-puncture needle slot, 6-puncture needle slot fixing slot, 7-wire slot closing plate, 8-housing fixing hole, 10-wire slot, 11-angle detection opening, 12-U-shaped slot, 13-button socket. DETAILED DESCRIPTION

[0032] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. Component models, material names, connection structures, control methods, algorithms and other features not clearly described in this technical solution are all considered to be common technical features disclosed in the prior art.

[0033] Example 1

[0034] This embodiment provides a guidance device for angle sensing and virtual depth measurement for surgical navigation. Figure 1 , 2 , 3, and 4, comprising a housing 1 for accommodating an angle sensor and a housing 2 for accommodating a circuit board, which are connected to each other, the housing 1 for accommodating the angle sensor is provided with an angle sensor and a puncture needle slot 5, and the housing 2 for accommodating the circuit board is provided with a circuit board and buttons;

[0035] The angle sensor is used to obtain the relative angle between the puncture device and the ultrasonic probe. The circuit board is connected to the angle sensor and the button for communication. The circuit board can obtain the angle data and button information of the angle sensor and send the data to the host computer. The puncture needle slot 5 is used to place the puncture device. The cavity formed by the shell 1 for accommodating the angle sensor and the shell 2 for accommodating the circuit board is used to place the ultrasonic probe. The shell 1 for accommodating the angle sensor and the shell 2 for accommodating the circuit board are provided with a slot for fixing the ultrasonic probe and a space for fixing screws.

[0036] The button is used to complete the virtual depth measurement function. By pressing the button, the length of the virtual depth measurement line in the real-time screen of the host computer is adjusted, and the real puncture depth estimation is completed through the specific correspondence between the virtual depth measurement module length and the real puncture depth.

[0037] The host computer is used for ultrasound image acquisition, real-time lesion segmentation and real-time navigation algorithm integration.

[0038] In a specific implementation, the housing 1 for accommodating the angle sensor is provided with an angle sensor slot 3 , and the angle sensor is arranged in the angle sensor slot 3 .

[0039] In a specific implementation, the housing 1 on which the angle sensor is mounted is further provided with an angle detection opening 11 for realizing the angle detection function of the angle sensor.

[0040] In a specific embodiment, a puncture needle slot fixing groove 6 is inserted into the angle detection opening 11, and the puncture needle slot 5 is arranged in the puncture needle slot fixing groove 6. A puncture needle of a suitable size can be placed in the puncture needle slot 5, and the puncture needle can be fixed by inserting the puncture needle slot 5 with the puncture needle placed into the puncture needle slot fixing groove 6 and rotating it. The puncture needle can be fixed and rotated by inserting the puncture needle slot fixing groove 6 into the angle detection opening 11.

[0041] In a specific implementation, a circuit board slot 4 is provided on the housing 2 for accommodating the circuit board, and the circuit board is arranged in the circuit board slot 4 .

[0042] In a specific implementation, a wire groove 10 is provided on the housing 2 for accommodating the circuit board, and the wire groove 10 is used for accommodating the driving wire.

[0043] In a specific embodiment, the wire duct 10 is provided with a wire duct closing plate 7 .

[0044] In a specific implementation, a button bayonet 13 is provided on the housing 2 for accommodating the circuit board, and the button is arranged in the button bayonet 13 .

[0045] In a specific embodiment, a shell fixing hole 8 is provided on the shell 1 for housing the angle sensor. The shell 1 for housing the angle sensor and the shell 2 for housing the circuit board are connected through the shell fixing hole 8 and bolts and nuts provided in the shell fixing hole 8 to form an auxiliary device that contains the ultrasonic probe inside.

[0046] In a specific implementation, a U-shaped groove 12 is provided on the housing 2 for accommodating the circuit board. The U-shaped groove 12 is used to place the driving line. The circuit board uploads data to the host computer through the driving line in the U-shaped groove 12 .

[0047] like Figure 5 As shown, the angle sensor drive module circuit board uses the STM32F103C8T6 chip as the main control, and uses the 16-bit high-precision ADC analog-to-digital conversion chip ADS1110 to collect angle data from the angle sensor. The present invention uses a single-ended acquisition mode, grounds VIN-, and connects the input signal to VIN+. The single-ended signal range is 0V to 2.048V. The ADS1110 chip communicates with the STM32F103 main control via the I2C bus. A filter capacitor is connected across the sampling input pin of the ADC and GND to filter out high-frequency noise. On the circuit board of the present invention, the GPIO pin of the main control chip is connected to a button, and the virtual depth measurement function is realized by collecting the button status.

[0048] In the present invention, the angle sensor driving module circuit board is responsible for obtaining angle data and button status. Angle data refers to the real-time angle data from the angle sensor collected and converted by the ADS1110 chip analog-to-digital conversion chip, which is the relative angle between the puncture device and the ultrasonic probe. The button status is in two states: pressed and not pressed. The angle sensor driving module circuit board deploys a program to cyclically detect the angle data and button status, and sends both to the host computer in real time.

[0049] like Figure 1 As shown, after the device is installed, when an ultrasonic probe is used to find a lesion, the angle sensor slot 3 is rotated to drive the puncture needle to rotate. The angle sensor in the angle sensor slot 3 can collect the real-time angle between the puncture needle and the ultrasonic probe and transmit its angle data to the circuit board in the circuit board slot 4 through the driving line in the wire slot 10. The circuit board then uploads the data to the host computer through the driving line in the U-shaped slot 12.

[0050] After the host computer collects the ultrasound image, the angle data uploaded through the circuit board can be used to segment the real-time lesion image on the screen, and the pre-puncture path of the puncture needle can be displayed on the screen in real time. The pre-puncture path can be adjusted by adjusting the angle of the angle sensor slot 3, which can predict the puncture path at the current angle for the doctor.

[0051] After obtaining the correct puncture angle of the puncture needle, by pressing the button in the button bayonet 13, the length of the virtual depth line can be adjusted in real time in the real-time screen of the host computer. After controlling the depth line to the puncture target, the doctor will be provided with specific depth data of the surgical target, which is convenient for the doctor to plan subsequent operations. To achieve this function, a user state value is set in the host computer algorithm. This state value switches cyclically between idle, forward and backward. When the button is pressed, the user state will switch sequentially, that is, the forward and backward of the virtual depth line can be adjusted by pressing the button. The modulus length of the virtual depth line can be obtained by the initial and final states of the virtual depth line, and then the real puncture depth estimation can be completed by the specific correspondence between the virtual modulus length and the real puncture depth.

[0052] In the virtual test algorithm of the present invention, a fitting algorithm is used to obtain a specific correspondence between the virtual model length and the actual puncture depth. The needle tip position in the image is measured using a data acquisition algorithm, and the physical puncture depth of each point is measured using tools such as a ruler and a vernier caliper. Then 110 data point pairs are obtained, and data fitting is performed to obtain a fitting formula for the virtual model length and the actual puncture depth. The formula is:

[0053] y=16.32*x-1.074;

[0054] Where x is the modulus of the virtual sounding line, and y is the actual penetration depth.

[0055] Components not described in detail in this embodiment are all existing components that can be purchased through public channels.

[0056] The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. A guidance device for angle sensing and virtual depth measurement for surgical navigation, characterized in that: It comprises a housing (1) for accommodating an angle sensor and a housing (2) for accommodating a circuit board, which are connected to each other; the housing (1) for accommodating the angle sensor is provided with an angle sensor and a puncture needle slot (5); and the housing (2) for accommodating the circuit board is provided with a circuit board and a key; The angle sensor is used to obtain the relative angle between the puncture device and the ultrasonic probe. The circuit board is connected to the angle sensor and the button for communication. The circuit board can obtain the angle data and button information of the angle sensor and send the data to the upper computer. The puncture needle slot (5) is used to place the puncture device. The cavity formed by the housing (1) for accommodating the angle sensor and the housing (2) for accommodating the circuit board is used to place the ultrasonic probe. The button is used to complete the virtual depth measurement function. By pressing the button, the length of the virtual depth measurement line in the real-time screen of the host computer is adjusted, and the real puncture depth estimation is completed through the specific correspondence between the virtual depth measurement module length and the real puncture depth.

2. A guidance device for angle sensing and virtual depth measurement for surgical navigation according to claim 1, characterized in that: An angle sensor slot (3) is provided on the housing (1) for accommodating the angle sensor, and the angle sensor is arranged in the angle sensor slot (3).

3. The guiding device for angle sensing and virtual depth measurement for surgical navigation according to claim 1, characterized in that: The housing (1) on which the angle sensor is placed is also provided with an angle detection opening (11) for realizing the angle detection function of the angle sensor.

4. The guiding device for angle sensing and virtual depth measurement for surgical navigation according to claim 1, characterized in that: A puncture needle slot fixing slot (6) is inserted into the angle detection opening (11), and the puncture needle slot (5) is arranged in the puncture needle slot fixing slot (6).

5. The guiding device for angle sensing and virtual depth measurement for surgical navigation according to claim 1, characterized in that: The housing (2) for accommodating the circuit board is provided with a circuit board slot (4), and the circuit board is arranged in the circuit board slot (4).

6. The guiding device for angle sensing and virtual depth measurement for surgical navigation according to claim 1, characterized in that: A wire groove (10) is provided on the housing (2) for accommodating the circuit board, and the wire groove (10) is used for accommodating the driving wire.

7. The guiding device for angle sensing and virtual depth measurement for surgical navigation according to claim 6, characterized in that: The wire duct (10) is provided with a wire duct closing plate (7).

8. The guiding device for angle sensing and virtual depth measurement for surgical navigation according to claim 1, characterized in that: A button bayonet (13) is provided on the housing (2) for accommodating the circuit board, and the button is arranged in the button bayonet (13).

9. The guiding device for angle sensing and virtual depth measurement for surgical navigation according to claim 1, characterized in that: The housing (1) for accommodating the angle sensor is provided with a housing fixing hole (8); the housing (1) for accommodating the angle sensor and the housing (2) for accommodating the circuit board are connected via the housing fixing hole (8) and bolts and nuts arranged in the housing fixing hole (8), thereby forming an auxiliary device that contains an ultrasonic probe inside.

10. The guiding device for angle sensing and virtual depth measurement for surgical navigation according to claim 1, characterized in that: A U-shaped groove (12) is provided on the housing (2) for accommodating the circuit board. The U-shaped groove (12) is used to place a driving line. The circuit board uploads data to a host computer via the driving line in the U-shaped groove (12).

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