Puncture auxiliary guiding device

Abstract

The invention relates to a puncture auxiliary guiding device which comprises a mark grid assembly, an angle adjusting assembly, a puncture part rotationally arranged on a second adjusting part and determining the puncture angle based on rotation of a first adjusting part and the second adjusting part, and a puncture control module comprising an image acquisition unit and an image analysis unit. The control execution unit is used for controlling the marking grid assembly, the angle adjusting assembly and the puncture part on the basis of the analysis result of the image analysis unit so that the puncture part can conduct puncture according to a preset needle inserting strategy, and the needle inserting strategy is determined on the basis of the analysis result of the image analysis unit on the spatial position of the focus. The puncture angle and path are automatically adjusted, the problem of puncture deviation caused by breathing in a traditional operation is effectively solved through the function, and higher reliability is provided for the operation process.

Description

Technical Field

[0001] The present invention relates to the technical field of medical puncture, and in particular to a puncture auxiliary guiding device. Background Art

[0002] In the medical field, precise puncture operations are of great significance for disease diagnosis and treatment, such as tumor biopsy, drug injection, and tissue sampling. However, due to the complex anatomical structure of the human body and the possibility that the target area is located in deep tissue, traditional manual puncture methods often rely on the doctor's experience, which may lead to puncture deviations, increase patient risks, and reduce the effectiveness of diagnosis and treatment. In order to improve puncture accuracy, image-guided techniques (such as CT or ultrasound guidance) are widely used. However, these techniques usually require repeated adjustments to the puncture path or angle, which increases the complexity of the operation and the time of the operation.

[0003] Chinese patent application number: CN119112320A, discloses a cardiovascular puncture auxiliary function device, which improves the puncture accuracy, stability and patient comfort while facilitating doctors to clearly observe the patient's blood vessel position to improve puncture efficiency through the coordinated work between a controller, a binding component, a guide component and a moving component. However, the puncture auxiliary device is usually simple in design and single in function, and its puncture accuracy completely depends on the operator's experience and technical level. This technical defect not only affects the success rate of puncture, but may also increase the patient's discomfort. At the same time, since the puncture site is located in the patient's lungs, the patient's breathing will also cause the lesion position to change, thereby reducing the puncture accuracy. Summary of the invention

[0004] To this end, the present invention provides a puncture auxiliary guiding device to overcome the problem in the prior art that the puncture accuracy is reduced due to the change of the lesion position when the patient breathes.

[0005] To achieve the above object, the present invention provides a puncture auxiliary guiding device, comprising:

[0006] A marking grid assembly, comprising a marking grid and a bearing portion disposed on the upper portion of the marking grid and reciprocating along the marking grid;

[0007] An angle adjustment assembly, comprising a sliding portion slidably disposed on the upper portion of the bearing portion, a first adjustment portion slidably disposed on the upper portion of the bearing portion, and a second adjustment portion rotatably connected to the first adjustment portion;

[0008] a puncture portion, which is disposed on the second adjustment portion and determines a puncture angle based on the rotation of the first adjustment portion and the second adjustment portion;

[0009] a puncture control module, comprising an image acquisition unit for acquiring a CT image, an image analysis unit connected to the image acquisition unit for analyzing the CT image, and a control execution unit for controlling the marking grid assembly, the angle adjustment assembly and the puncture part based on an analysis result of the image analysis unit, so that the puncture part performs puncture according to a preset needle insertion strategy;

[0010] The needle insertion strategy is determined based on the analysis result of the image analysis unit on the spatial position of the lesion.

[0011] Furthermore, the image analysis unit determines the needle insertion strategy based on the occlusion ratio of the bone to the lesion based on the comparison result that the distance of the lesion relative to the bone in the CT image is less than a preset distance.

[0012] Furthermore, the image analysis unit determines the needle insertion strategy based on the comparison result that the distance between the lesion and the bone in the CT image is greater than or equal to a preset distance, so that the control execution unit establishes a coordinate system with the lesion as the coordinate origin.

[0013] Furthermore, the control execution unit determines the needle insertion strategy condition based on the occlusion ratio of the bone to the lesion, establishes a coordinate system based on the lesion position point as the coordinate origin according to the comparison result that the occlusion ratio is greater than or equal to the preset occlusion ratio, and determines the puncture path and puncture angle of the puncture needle based on the coordinate data of the bone closest to the lesion.

[0014] Furthermore, the control execution unit determines the needle insertion strategy based on the occlusion ratio of the bone to the lesion, and according to the comparison result that the occlusion ratio is less than the preset occlusion ratio, determines the puncture path and puncture angle of the puncture needle based on the lesion location point to enable the puncture needle to puncture vertically.

[0015] Furthermore, the control execution unit adjusts the angle of the puncture needle during vertical puncture based on the compensation coefficient based on the comparison result that the fluctuation value of the spatial displacement of the lesion position is less than or equal to the preset fluctuation value, and the compensation coefficient is determined based on the ratio of the change rate of the longitudinal length of the lesion to the preset influencing parameter.

[0016] Furthermore, the control execution unit establishes a coordinate system with the lesion as the coordinate origin and adjusts the angle of the puncture needle based on a compensation coefficient based on a comparison result that the fluctuation value of the spatial displacement of the lesion position is greater than a preset fluctuation value, and the compensation coefficient is determined based on the ratio of the change rate of the longitudinal length of the lesion to a preset influencing parameter.

[0017] Furthermore, the marking grid also includes symmetrically arranged marking parts, connecting parts that are perpendicular to the marking parts and symmetrically arranged, the marking parts are fixedly connected to the connecting parts, and a plurality of slide rails symmetrically arranged in the marking grid on both sides of the lead screw.

[0018] Furthermore, the angle adjustment assembly also includes a second drive motor for driving the first adjustment part to slide along the bearing part, a third drive motor for driving the second adjustment part to rotate along the first adjustment part, and a fourth drive motor for driving the puncture part to rotate along the second adjustment part.

[0019] Furthermore, the puncture portion includes a coaxial sleeve disposed on the second adjustment portion, and the coaxial sleeve is used to accommodate a puncture needle.

[0020] Compared with the prior art, the beneficial effect of the present invention lies in that the present device acquires CT image data of the patient's target area in real time through the image acquisition device, and combined with the image analysis function of the puncture control module, it can establish a three-dimensional space coordinate system with the lesion position as the coordinate origin, and through the linkage design of the angle adjustment component and the puncture part, the puncture needle can be freely adjusted at multiple angles in three-dimensional space. When the lesion is completely blocked by the bone, the system can automatically calculate the optimal angle to avoid obstacles; when the blockage is small or non-existent, the puncture needle can enter the lesion vertically along a straight path to minimize damage to surrounding tissues. In response to the displacement of the lesion position during the patient's breathing, the present invention continuously acquires CT image data, calculates the vector change of the lesion position, and automatically adjusts the puncture angle and path when the displacement is greater than a preset threshold. This function effectively solves the problem of puncture deviation caused by breathing in traditional surgery, and provides higher reliability for the surgical process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a top view of the entire puncture auxiliary guide device of the present invention;

[0022] Figure 2 It is a side view of the whole puncture auxiliary guide device of the present invention;

[0023] Figure 3 It is a front view of the entire puncture auxiliary guide device of the present invention;

[0024] Figure 4 A schematic diagram of establishing a coordinate system with the lesion position as the coordinate origin in the puncture auxiliary guiding device of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure for selecting the coordinate origin in the puncture auxiliary guiding device of the present invention;

[0026] Figure 6 a is a schematic diagram of the shielding ratio in the puncture auxiliary guiding device of the present invention;

[0027] Figure 6 b is a schematic diagram of the shielding ratio in the puncture auxiliary guiding device of the present invention;

[0028] Figure 7 It is a schematic diagram of the gear and rack structure coordination in the puncture auxiliary guiding device of the present invention;

[0029] Among them: 1-marking grid, 11-bearing part, 12-screw, 13-slide rail, 14-first drive motor, 101-marking part, 102-connecting part, 2-sliding part, 21-second drive motor, 201-gear, 202-rack, 3-first adjusting part, 31-third drive motor, 4-second adjusting part, 41-fourth drive motor, 5-image acquisition unit, 6-coaxial sleeve, 61-puncture needle. DETAILED DESCRIPTION

[0030] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0031] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0032] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0033] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] See also Figure 1-Figure 3 As shown, Figure 1 FIG. 1 is a top view of the entire puncture auxiliary guide device of the present invention. Figure 2 is a side view of the entire puncture auxiliary guide device of the present invention, Figure 3It is a front view of the entire puncture auxiliary guide device of the present invention.

[0035] The puncture auxiliary guiding device according to the embodiment of the present invention comprises:

[0036] A marking grid 1 assembly, comprising a marking grid 1, the marking grid 1 being composed of a symmetrically arranged marking portion 101 and a connecting portion 102 symmetrically arranged perpendicular to the marking portion 101, the marking portion 101 being fixedly connected to the connecting portion 102, a lead screw 12 arranged in the middle of the marking grid 1, a first drive motor 14 arranged at one end of the marking grid 1 and connected to the lead screw 12, a plurality of slide rails 13 symmetrically arranged in the marking grid 1 on both sides of the lead screw, and a bearing portion 11 arranged at the upper part of the marking grid 1 and connected to the lead screw 12 via a lead screw nut and reciprocating along the slide rail 13;

[0037] An angle adjustment assembly, comprising a sliding portion 2 slidably disposed on the upper portion of the bearing portion 11, a first adjustment portion 3 disposed on the upper portion of the sliding portion 2, a second adjustment portion 4 rotatably connected to the first adjustment portion 3, a second drive motor 21 for driving the sliding portion 2 to reciprocate along the long side of the bearing portion 11, a third drive motor 31 for driving the second adjustment portion 4 to rotate in a direction perpendicular to the slide rail 13, and a fourth drive motor 41 for driving the puncture portion to rotate in a direction perpendicular to the axis of the third drive motor 31;

[0038] The puncture part is arranged on the second adjustment part 4, and includes a coaxial sleeve 6 arranged on the second adjustment part 4 to accommodate the puncture needle 61. The puncture part is based on the rotation of the first adjustment part 3 and the second adjustment part 4 to realize the confirmation of the puncture angle;

[0039] The puncture control module includes an image acquisition unit for acquiring CT images, an image analysis unit connected to the image acquisition unit for analyzing the CT images, and a control execution unit for controlling the marking grid 1 component, the angle adjustment component and the puncture part based on the analysis result of the image analysis unit, so that the puncture needle 61 performs puncture according to a preset needle insertion strategy.

[0040] In the embodiment of the present invention, the bearing part 11 and the sliding part 2 are both centrally hollowed structures, the bearing part 11 is slidably connected to the sliding part 2 and the connecting part 102 is a slider and a sliding groove structure, and the first adjustment part 3 and the second adjustment part 4 are both arranged away from the sliding part 2.

[0041] In this embodiment, those skilled in the art will appreciate that the specific distance between the first adjusting portion 3 and the second adjusting portion 4 and the sliding portion 2 is not limited, as long as the normal rotation of the second adjusting portion 4 can be ensured.

[0042] The image acquisition device 5 is disposed on the sliding part 2, is connected to the puncture control module signal, and is located at the central hollow structure of the sliding part 2, and is used to obtain the initial position of the puncture needle 61;

[0043] Specifically, before puncturing the patient, the medical staff first makes a positioning sticker based on the patient's body shape and the distribution of bones in the body. The positioning sticker is affixed to the patient's body surface at the diseased site with removable glue. At the same time, the medical staff will set a positioning point piece corresponding to the lesion position on the positioning sticker based on the CT image. During work, the image acquisition device 5 first acquires the position of the positioning point piece in the positioning sticker and the initial position of the puncture needle 61, and transmits the image signal to the image analysis unit in the puncture control module, so that the image analysis unit determines the coordinates of the positioning point piece and the initial coordinates of the puncture needle 61, so that the puncture needle 61 can determine the needle insertion strategy based on the analysis result of the spatial position of the lesion by the image analysis unit.

[0044] Specifically, during operation, the first adjustment part 3 and the second adjustment part 4 are both semicircular structures, and angle scales are provided on the semicircular structures, and the angle scales match the puncture angles of the CT image data, which can provide a clear visual reference for the operator and reduce the technical difficulty of complex operations. At the same time, the second adjustment part 4 is directly connected to the motor shaft of the third drive motor 31, and the puncture part is also directly connected to the motor shaft of the fourth drive motor 41. On this basis, the image acquisition unit is used to obtain the initial CT image data and determine the lesion position based on this. At this time, the puncture control module controls the angle adjustment component to adjust the angle of the puncture needle 61 based on the analysis results of the image analysis unit, wherein the adjustment process is: the first drive motor 14 drives the bearing part 11 to move along the slide rail 13 to the upper side of the lesion position through the screw 12 The puncture control module controls the second drive motor 21 again to drive the sliding part 2 to move to just above the lesion position so that the center position of the hollow structure of the sliding part 2 is at the lesion position. At the same time, the puncture control module accurately adjusts the insertion angle of the puncture needle 61 based on the initial positions of the first adjustment part 3 and the second adjustment part 4. Specifically, the third drive motor 31 drives the second adjustment part 4 to rotate along the axial direction of the third drive motor 31, and the fourth drive motor 41 drives the puncture needle 61 to rotate along the axial direction of the fourth drive motor 41, changing the angle of the puncture needle 61 in three-dimensional space, so that the puncture needle 61 can puncture to the lesion position along the shortest safe distance, significantly improving the safety and accuracy of puncture in complex parts.

[0045] In another embodiment of the present invention, the first adjustment portion 3 and the second adjustment portion 4 are both semicircular structures, but in this embodiment, the first adjustment portion 3 is provided with a first arc groove provided along a direction parallel to its arc, and the second adjustment portion 4 is provided with a second arc groove provided along a direction parallel to its arc, wherein the first arc groove and the second arc groove are both provided with a rack 202, and the third drive motor 31 and the fourth drive motor 41 are both engaged with the rack 202 through a gear structure, at this time, the angle adjustment of the puncture needle 61 includes, the image acquisition unit is used to acquire the image of the area to be detected, so as to obtain the initial CT image data, and determine the lesion position based on this, at this time, the puncture control module controls the angle adjustment component to adjust the angle of the puncture needle 61 based on the analysis result of the image analysis unit, wherein the adjustment process is:

[0046] The first drive motor 14 drives the bearing part 11 to move along the slide rail 13 to the upper part of the lesion position through the screw 12 so that the center position of the hollow structure of the bearing part 11 is at the lesion position. The puncture control module controls the second drive motor 21 again to drive the sliding part 2 to move to just above the lesion position so that the center position of the hollow structure of the sliding part 2 is at the lesion position. At the same time, the puncture control module starts to accurately adjust the insertion angle of the puncture needle 61 based on the initial positions of the first adjustment part 3 and the second adjustment part 4. Specifically, the third drive motor 31 drives the second adjustment part 4 to rotate along the arc direction of the first arc groove, and the fourth drive motor 41 drives the puncture needle 61 to rotate along the arc direction of the second arc groove, changing the angle of the puncture needle 61 in three-dimensional space, so that the puncture needle 61 can puncture to the lesion position along the shortest safe distance, significantly improving the safety and accuracy of puncture in complex parts.

[0047] Among them, the image acquisition unit is used to obtain a CT image of the puncture area. In the CT image, the image analysis unit can analyze the location of the lesion and the distance between the lesion and the nearest bone based on the planar image of the CT image. On this basis, the image analysis unit compares the preset distance with the distance between the lesion location and the nearest bone, and determines the insertion strategy of the puncture needle 61 based on the comparison result.

[0048] Specifically, the image analysis unit determines the needle insertion strategy of the puncture part based on the comparison result of the distance between the lesion and the bone in the CT image and the preset distance;

[0049] If the distance is less than the preset distance, the image analysis unit determines that the needle insertion strategy determination method is the first determination method;

[0050] If the distance is greater than or equal to the preset distance, the image analysis unit determines that the needle insertion strategy determination method is the second determination method;

[0051] In an embodiment of the present invention, the first determination method is that the control execution unit determines the needle insertion strategy based on the occlusion ratio of the bone to the lesion, and the second determination method is that the control execution unit establishes a coordinate system with the lesion as the coordinate origin to determine the needle insertion strategy.

[0052] Specifically, under the second determination mode, the control execution unit establishes a coordinate system based on the lesion position in the CT image as the coordinate origin, and obtains the coordinate data of the bone closest to the lesion based on the CT image data to record it as a potential obstacle point in the lesion puncture path, including two obstacle points. The control execution unit calculates the minimum safe distance between the puncture needle 61 and the two obstacle points based on the spatial geometric relationship between the two obstacle points, and adjusts the puncture path according to the minimum safe distance, so that the puncture needle 61 avoids the obstacle points while keeping the puncture path close to the lesion position as short as possible. Through precise puncture control and minimized tissue damage, the present invention significantly reduces the surgical risk. At the same time, due to the optimization of the puncture path and the accuracy of lesion positioning, the patient's recovery time is shortened, providing a more efficient and safe solution for clinical treatment.

[0053] In the embodiment of the present invention, specific reference may be made to Figure 4 , Figure 4 This is a schematic diagram of the structure for selecting the coordinate origin in the puncture auxiliary guidance device of the present invention. Those skilled in the art can understand that, in the process of establishing a coordinate system with the lesion position as the coordinate origin, the coordinate origin is selected as the intersection of at least two longer cross lines, wherein the at least two longer cross lines are the two straight lines a1 and a2 in the figure, and the intersection of the two longer cross lines a1 and a2 is the coordinate origin, i.e., the lesion position point.

[0054] Specifically, the control execution unit determines the needle insertion strategy based on the blocking ratio of the bone to the lesion, and determines the needle insertion strategy according to the comparison result of the blocking ratio and the preset blocking ratio;

[0055] If the occlusion ratio is greater than or equal to the preset occlusion ratio, the control execution unit determines to execute the first needle insertion strategy;

[0056] If the occlusion ratio is less than the preset occlusion ratio, the control execution unit determines to execute the second needle insertion strategy;

[0057] For details, please refer to Figure 5 , Figure 5 A schematic diagram of establishing a coordinate system with the lesion position as the coordinate origin in the puncture auxiliary guiding device of the present invention;

[0058] The first needle insertion strategy is to establish a coordinate system based on the lesion location point as the coordinate origin, obtain the coordinate data of the bone closest to the lesion based on the CT image data, and record it as a potential obstacle point in the lesion puncture path, which includes at least one obstacle point, and the obstacle point corresponds to a point on the bone surface on the lesion puncture path. The puncture control module calculates the puncture path from the puncture needle 61 to the target point based on the spatial coordinate system and adjusts the puncture angle of the puncture needle 61 so that the puncture path avoids the obstacle point. Based on this, the embodiment of the present invention can automatically calculate the minimum safe distance between the puncture needle 61 and the lesion location, and adjust the puncture path according to the minimum safe distance, so that the puncture needle 61 avoids the obstacle point while keeping the puncture path close to the lesion location as short as possible, and completes the puncture process accurately and effectively.

[0059] In the embodiment of the present invention, the preset shielding ratio is set to 1.

[0060] See also Figure 6 As shown, Figure 6 a. Figure 6 b are schematic diagrams of the shielding ratio in the puncture auxiliary guiding device of the present invention;

[0061] In the embodiment of the present invention, if the occlusion ratio is greater than or equal to the preset occlusion ratio, and if the occlusion ratio is less than the preset occlusion ratio, the schematic diagram, wherein: Figure 6 a is a schematic diagram showing that the occlusion ratio is greater than or equal to the preset occlusion ratio. Figure 6 b is a schematic diagram showing that the occlusion ratio is less than the preset occlusion ratio. Based on this, the preset occlusion ratio in the present invention is 1 or 100%, wherein the occlusion ratio is the ratio of the size of the orthographic projection of the bone on the lesion to the size of the orthographic projection of the lesion. If this value is greater than 1 or 100%, the bone completely blocks or just blocks the position of the lesion. At this time, the puncture needle 61 cannot be punctured vertically, and the puncture needle 61 executes the first needle insertion strategy, angle puncture;

[0062] If this value is less than 1 or 100%, it means that the bone does not block the lesion at all. At this time, the puncture needle 61 can implement the second needle insertion strategy to perform vertical puncture.

[0063] See also Figure 7 As shown, Figure 7 Schematic diagram of establishing a coordinate system with the lesion position as the coordinate origin in the puncture auxiliary guidance device of the present invention,

[0064] In the embodiment of the present invention, the obstacle point can be recorded as obstacle point B, whose coordinates can be (X, Y, Z), and the lesion can be recorded as target point A, whose coordinates can be (0, 0, 0). Based on this, the puncture angle θ between the puncture needle 61 and the upper end of the obstacle point B is expressed by the following formula:

[0065]

[0066] in: It represents the horizontal distance between the lesion and the obstacle point on the plane XY, and Z-0 represents the height difference between the lesion and the obstacle point in the vertical direction.

[0067] See also Figure 7 As shown, Figure 7 The figure is a schematic diagram of the structural coordination of the gear 201 and the rack 202 in the puncture auxiliary guiding device of the present invention, wherein the rack 202 is installed in parallel in the bearing part 11 and is fixed to the bearing part 11 by bolts or welding to ensure that it will not loosen during operation. The gear 201 is directly meshed with the rack 202, and the linear motion of the rack 202 is realized by the rotational motion of the shaft of the second drive motor 21. When the second drive motor 21 receives the instruction of the control module, the gear 201 rotates around its axis, meshes with the rack 202 and converts the rotational motion into linear motion. In this process, the rotation direction of the gear 201 determines the moving direction of the rack 202, so that the sliding part 2 can move along the moving direction of the gear 201 and the rack 202 on the bearing part 11. In specific operation, the control module will accurately control the rotation speed of the second drive motor 21 based on the analysis results of the CT image data by calculating the lesion position and the preset needle insertion path, thereby adjusting the initial position of the puncture needle 61 to ensure that the puncture path always conforms to the plan.

[0068] Specifically, the present invention determines the needle insertion strategy based on the distance between the lesion and the bone in the CT image, so that the puncture path can be dynamically planned according to the relative position of the lesion and the bone, the occlusion ratio and the shortest safe distance, thereby significantly improving the accuracy of puncture. In addition, by real-time monitoring of changes in the lesion position due to physiological activities such as patient breathing, the device can dynamically adjust the puncture angle and path to ensure a safe and efficient puncture process.

[0069] The second needle insertion strategy in the embodiment of the present invention is that the image analysis unit moves the puncture part toward the center of the lesion with the lesion location point as the origin based on the distance between the lesion and the bone in the CT image to vertically puncture the lesion. In this embodiment, the puncture part can be operated by medical staff to perform needle insertion.

[0070] Specifically, the image analysis unit determines whether the patient's breathing has an impact on the needle insertion strategy based on the comparison result of the fluctuation value of the spatial displacement of the lesion position during the patient's breathing and the preset fluctuation value;

[0071] If the fluctuation value of the spatial displacement is greater than the preset fluctuation value, the patient's breathing has an impact on the needle insertion strategy;

[0072] If the fluctuation value of the spatial displacement is less than or equal to the preset fluctuation value, the patient's breathing has no effect on the needle insertion strategy;

[0073] The fluctuation value of the spatial displacement is the change in the spatial displacement of the lesion position during the patient's breathing within a preset time.

[0074] In the embodiment of the present invention, when the patient undergoes surgical puncture, he or she is in an anesthetized state. At this time, due to anesthesia, the patient's breathing mode is a constant stable breathing frequency, that is, theoretically, the fluctuation of the spatial displacement of the lesion should be 0, but due to individual factors of the patient and different environmental factors of the operation, there may still be a situation where the fluctuation of the spatial displacement of the lesion is not 0. In order to ensure the accuracy of the puncture angle, a preset fluctuation value of the spatial displacement of the lesion is given a range in the implementation of the present invention, such as a range error value of 0-0.2, and the present invention preferably selects 0.1 for this. However, it is necessary to explain that the above is only a preferred embodiment of the present invention and is not used to limit the present invention. If the fluctuation value of the spatial displacement in the embodiment of the present invention is greater than 0.1, the patient's breathing has an impact on the needle insertion strategy; if the vector change is less than 0.1, the patient's breathing has no impact on the needle insertion strategy.

[0075] Specifically, the control execution unit determines the adjustment method of the needle insertion strategy based on the comparison result of the influencing parameter and the preset influencing parameter under the influencing condition;

[0076] If the influencing parameter is less than or equal to the preset influencing parameter, it is determined to adjust the needle insertion strategy in a first adjustment manner;

[0077] If the influencing parameter is greater than the preset influencing parameter, it is determined to adjust the needle insertion strategy in the second adjustment manner.

[0078] Among them, the fluctuation value of the spatial displacement is based on the change in the position of the lesion in each two adjacent CT images of a number of CT images within a preset time, and the influencing parameter is the ratio of the fluctuation value of the spatial displacement of the lesion within the preset time to the preset time. The value of the preset influencing parameter is 0.5-1, and 0.5 is preferred in the present invention.

[0079] In an embodiment of the present invention, when the ratio of the fluctuation value of the spatial displacement of the lesion within the preset time to the preset time is 0.4, it is determined that the needle insertion strategy is adjusted in the first adjustment method. When the ratio of the fluctuation value of the spatial displacement of the lesion within the preset time to the preset time is 0.6, it is determined that the needle insertion strategy is adjusted in the second adjustment method.

[0080] Specifically, under the first adjustment mode, the control execution unit determines an adjustment coefficient according to the longitudinal length of the lesion to adjust the preset occlusion ratio, wherein the longitudinal length of the lesion corresponds to the thickness of the lesion in the patient's body, and the longitudinal length of the lesion will continuously change according to the patient's breathing process. For example, when the patient inhales, the lungs inflate, and the longitudinal length of the lesion will become longer at this time. The occlusion ratio is the ratio of the size of the bone's orthographic projection on the lesion to the size of the orthographic projection of the lesion, so that the change in the longitudinal length of the lesion causes the occlusion ratio to change. The embodiment of the present invention is based on the premise that the preferred lesion spatial displacement fluctuation value is 0.1, and the adjustment coefficient is set to 1.1, that is, the preset occlusion ratio is 110%.

[0081] Specifically, under the second adjustment mode, the control execution unit determines a compensation coefficient based on the influencing parameter difference to compensate for the puncture angle, and the compensation coefficient is the ratio of the difference between the change rate of the longitudinal length of the lesion and the preset influencing parameter and the preset influencing parameter value, wherein the change rate of the longitudinal length of the lesion is the ratio of the change in the longitudinal length of the lesion within the preset time to the preset time. It can be seen that the greater the change rate of the longitudinal length of the lesion, the greater the impact on the needle angle. The compensation coefficient ranges from 1.05 to 1.2, and 1.11 is preferably selected in the embodiment of the present invention. The present invention significantly improves the safety and accuracy of puncture in complex parts by setting the compensation coefficient and adjusting the angle of the puncture needle 61 in real time in the three-dimensional coordinate system based on the compensation system, and reduces the risk of tissue damage to the patient to a certain extent.

[0082] In an embodiment of the present invention, in order to facilitate the description of the longitudinal length of the lesion, the embodiment of the present invention sets the reference longitudinal length of the initial position of the lesion space to 1, and can give a range of the longitudinal length value of the lesion according to the patient's breathing process, such as a range change value of 1-1.2. The embodiment of the present invention preferably uses 1.1. At this time, if the longitudinal length value of the lesion during the patient's breathing process is 1.05, it is less than the preset occlusion ratio, indicating that the bone does not block or partially blocks the lesion. At this time, the puncture control module fine-tunes the third drive motor 31 and the fourth drive motor 41 based on the compensation coefficient 1.11, so that the puncture needle 61 is slightly inclined in the vertical direction to complete the puncture.

[0083] When the longitudinal length of the lesion is 1.15 during the patient's breathing, it can be determined that the change value of the longitudinal length of the lesion is greater than the preset occlusion ratio, that is, the influencing parameter is greater than the preset influencing parameter, and the puncture control module adjusts the needle insertion strategy in a second adjustment manner based on the compensation coefficient 1.11. Specifically, a three-dimensional coordinate system is established with the lesion position as the coordinate origin, and based on the compensation coefficient 1.11, the puncture control module drives the third drive motor 31 and the fourth drive motor 41 to change the puncture angle of the puncture needle 61 so that the puncture needle 61 can complete the puncture process of the lesion without touching the obstruction.

[0084] Below, the specific implementation mode of the present invention in use is described as a whole:

[0085] In the process of using the puncture auxiliary guidance device of the present invention, first, CT image data of the patient's target area is obtained through the image acquisition device 5, the puncture control module analyzes the CT image data, and calculates the spatial position of the lesion according to the analysis result, the image analysis unit determines the needle insertion strategy of the puncture part based on the comparison result of the distance between the lesion and the bone in the CT image and the preset distance, and establishes a three-dimensional coordinate system with the lesion as the coordinate origin, then, the first drive motor 14 drives the bearing part 11 to move along the slide rail 13 to above the approximate lesion position through the screw 12, at this time, the second drive motor 21 drives the sliding part 2 to further accurately position it to just above the lesion to ensure the positioning accuracy, then, the puncture control module starts to control the angle adjustment component to adjust the angle of the puncture needle 61 to ensure that the puncture path can avoid obstacles such as bones, in specific operation, the third drive motor 31 and the fourth drive motor 41 respectively drive the second adjustment part 4 and the puncture needle 61 to adjust the puncture angle along their rotation axis to determine the optimal puncture path in three-dimensional space.

[0086] To improve accuracy, the present invention uses the marking part 101 to provide real-time visual reference data to assist the operator in adjusting the puncture angle. In addition, based on the CT image analysis results, the device can automatically determine whether the lesion is completely blocked by the bone. When the blocking ratio is greater than the preset value, the puncture control module adopts a strategy of adjusting the puncture angle; when the blocking ratio is less than the preset value, the device will perform vertical puncture.

[0087] During the puncture process, the puncture control module monitors the changes in the lesion position in real time. If the lesion position shifts due to the patient's breathing, the control module will adjust the puncture angle based on the real-time displacement of the lesion to ensure that the path of the puncture needle 61 is always the shortest and safest. In addition, when the lesion displacement caused by breathing is less than the set threshold, the device will keep the current path unchanged; if the displacement is greater than the threshold, the device will adjust the angle and path in real time.

[0088] Finally, the puncture needle 61 is inserted into the lesion along the shortest safe distance according to the planned path to achieve precise puncture. The use of this device not only reduces the technical difficulty of complex operations, but also significantly improves the safety and accuracy of puncture.

[0089] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0090] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A puncture auxiliary guide device, characterized in that: include: A marking grid assembly, comprising a marking grid and a bearing portion disposed on the upper portion of the marking grid and reciprocating along the marking grid; An angle adjustment assembly, comprising a sliding portion slidably disposed on the upper portion of the bearing portion, a first adjustment portion slidably disposed on the upper portion of the bearing portion, and a second adjustment portion rotatably connected to the first adjustment portion; a puncture portion, which is disposed on the second adjustment portion and determines a puncture angle based on the rotation of the first adjustment portion and the second adjustment portion; a puncture control module, comprising an image acquisition unit for acquiring a CT image, an image analysis unit connected to the image acquisition unit for analyzing the CT image, and a control execution unit for controlling the marking grid assembly, the angle adjustment assembly and the puncture part based on an analysis result of the image analysis unit, so that the puncture part performs puncture according to a preset needle insertion strategy; The needle insertion strategy is determined based on the analysis result of the image analysis unit on the spatial position of the lesion.

2. The puncture auxiliary guide device according to claim 1, characterized in that: The image analysis unit determines the needle insertion strategy based on the occlusion ratio of the bone to the lesion based on the comparison result that the distance of the lesion relative to the bone in the CT image is less than a preset distance.

3. The puncture auxiliary guide device according to claim 1, characterized in that: The image analysis unit determines the needle insertion strategy based on the comparison result that the distance between the lesion and the bone in the CT image is greater than or equal to the preset distance, so that the control execution unit establishes a coordinate system with the lesion as the coordinate origin.

4. The puncture auxiliary guide device according to claim 2, characterized in that: The control execution unit determines the needle insertion strategy based on the occlusion ratio of the bone to the lesion, establishes a coordinate system based on the lesion position point as the coordinate origin according to the comparison result that the occlusion ratio is greater than or equal to the preset occlusion ratio, and determines the puncture path and puncture angle of the puncture needle based on the coordinate data of the bone closest to the lesion.

5. The puncture auxiliary guide device according to claim 1, characterized in that: The control execution unit determines the needle insertion strategy based on the occlusion ratio of the bone to the lesion, and according to the comparison result that the occlusion ratio is less than the preset occlusion ratio, determines the puncture path and puncture angle of the puncture needle based on the lesion location point to make the puncture needle puncture vertically.

6. The puncture auxiliary guide device according to claim 1, characterized in that: The control execution unit adjusts the angle of the puncture needle during vertical puncture based on the compensation coefficient based on the comparison result that the fluctuation value of the spatial displacement of the lesion position is less than or equal to the preset fluctuation value, and the compensation coefficient is determined based on the ratio of the change rate of the longitudinal length of the lesion to the preset influencing parameter.

7. The puncture auxiliary guide device according to claim 1, characterized in that: The control execution unit establishes a coordinate system with the lesion as the coordinate origin and adjusts the angle of the puncture needle based on a compensation coefficient based on a comparison result that the fluctuation value of the spatial displacement of the lesion position is greater than a preset fluctuation value. The compensation coefficient is determined based on the ratio of the change rate of the longitudinal length of the lesion to a preset influencing parameter.

8. The puncture auxiliary guide device according to claim 1, characterized in that: The marking grid also includes symmetrically arranged marking parts, connecting parts perpendicular to the marking parts and symmetrically arranged, the marking parts are fixedly connected to the connecting parts, and a plurality of slide rails symmetrically arranged in the marking grid on both sides of the lead screw.

9. The puncture auxiliary guide device according to claim 8, characterized in that: The angle adjustment assembly also includes a second drive motor for driving the first adjustment part to slide along the bearing part, a third drive motor for driving the second adjustment part to rotate along the first adjustment part, and a fourth drive motor for driving the puncture part to rotate along the second adjustment part.

10. The puncture auxiliary guide device according to claim 9, characterized in that: The puncture portion includes a coaxial sleeve arranged on the second adjustment portion, and the coaxial sleeve is used to accommodate a puncture needle.

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