Cerebral hematoma visual puncture navigation system and method

Abstract

The invention relates to the technical field of medical equipment, in particular to a cerebral hematoma visual puncture navigation system and method.The navigation system comprises a skull guide plate, a guide limiting assembly, a mobile phone locator, a puncture catheter, a neuroendoscope and a navigation workstation; the guiding and limiting assembly is connected to the skull guide plate through the fixing piece and used for limiting the insertion direction of the puncture catheter, and the deviation controller is arranged, so that a limiting sliding way of the puncture catheter is jointly constructed through the second centering bearing and the first centering bearing; according to the visual puncture navigation system for the encephaloma, the directional deviation of the second centering bearing relative to the first centering bearing is adjusted in time through the first driver and the second driver, so that the axial direction of the limiting slide way is adjusted, the puncture direction is limited, and the puncture direction can be adjusted in time. The operation risk and the operation requirements on doctors are reduced, and the operation efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a visual puncture navigation system and method for cerebral hematoma. Background Technology

[0002] After a brain hemorrhage, the hematoma needs to be removed and drained from the brain. Traditionally, rigid and flexible tube techniques are used to aspirate the hematoma through a single tube. This technique has advantages such as small tube diameter, minimal trauma, and simple surgical procedure. However, its drawback is that the insertion position of the tube cannot be accurately determined. Currently, cutting-edge technologies employ surgical digital navigation techniques, such as the method for establishing and navigating cranial puncture paths for brainstem hemorrhage surgery disclosed in patent number CN 112807084B, and a precise planning method for brain puncture paths and a 3D-printed puncture positioning device disclosed in patent number CN115363717 B. Based on mobile phone locators and navigation workstations, these technologies can utilize the patient's cranial CT / MRI scans to delineate hematoma boundaries and create 3D models, allowing doctors to plan the puncture depth and angle preoperatively. However, CT / MRI scans are not accurate in detecting microvessels, and microvessels can be easily compressed during puncture, leading to complications. Currently, some applicants are also using neuroendoscopic solutions, such as a visual hematoma removal device disclosed in patent number CN 112773479 B, which enables visual operation during puncture and avoids compression of microvessels.

[0003] All of the above-mentioned technical solutions can provide surgical navigation, but they all have drawbacks. None of them utilize a surgical guide as a guiding tool. Therefore, during the puncture, the procedure relies entirely on the surgeon's manual operation and the visual display on the navigation workstation for corrections. The advantage is that adjustments can be easily made when deviations occur. However, multiple directional corrections indirectly increase the diameter of the puncture channel, hindering postoperative recovery and placing extremely high demands on the surgeon's hand stability. If a surgical guide is used, its guidance is fixed, making timely correction of the puncture direction during the procedure difficult. Furthermore, 3D-printed surgical guides may deform after being installed on the head, deviating from the originally designed puncture direction. This is why surgical guides are not currently used.

[0004] To address this, the inventors proposed a visual puncture navigation system for cerebral hematoma that can both restrict the puncture direction and adjust it in a timely manner. Summary of the Invention

[0005] The purpose of this invention is to provide a visual puncture navigation system for cerebral hematoma, thereby solving the problems mentioned in the background art. The specific technical solution is as follows:

[0006] To achieve the above and other related objectives, the present invention provides a visual puncture navigation system for cerebral hematoma, comprising a skull guide plate, a guide and limiting component, a mobile phone locator, a puncture catheter, a neuroendoscope, and a navigation workstation. A fixing element is provided on the skull guide plate, and the guide and limiting component is connected to the skull guide plate via the fixing element. The guide and limiting component is used to limit the insertion direction of the puncture catheter. The puncture catheter is mounted on the mobile phone locator, which also houses the neuroendoscope. A gap channel is provided between the neuroendoscope and the puncture catheter. The navigation workstation connects the mobile phone locator and the neuroendoscope. The guide and limiting component includes a guide sheath and an offset controller. The guide sheath is connected to the fixing element, and a first central bearing is provided at the lower end of the guide sheath. The offset controller is mounted on the puncture catheter and is used to control the offset axis of the puncture catheter to change the puncture direction.

[0007] Preferably, the offset controller includes a housing, a first rotating body, a first driver, a second driver, a second rotating body, and a second central bearing. The housing is disposed at the upper end of the guide sheath. The first rotating body is rotatably disposed inside the housing. The first driver is disposed between the first rotating body and the housing. The first driver is disposed on the housing or the first rotating body. The first driver is used to drive the first rotating body to rotate inside the housing. The first rotating body is provided with an eccentric circular groove. The second rotating body is rotatably connected in the eccentric circular groove. The second driver is disposed between the second rotating body and the first rotating body. The second driver is disposed on the second rotating body or the first rotating body.

[0008] Preferably, the navigation workstation is configured to: track the spatial location of the mobile phone locator in real time and display the images captured by the neuroendoscopy in real time; draw the hematoma boundary based on the imported CT and MRI data; and allow doctors to use the navigation workstation to plan the puncture before surgery in order to avoid key areas of the brain as much as possible.

[0009] Preferably, the guide sheath and the fixing member are detachably connected.

[0010] Preferably, the upper end of the puncture catheter is provided with a suction cavity, and the suction cavity is provided with an interface for connecting a suction device and injecting thrombolytic agents. A neuroendoscope passes through the upper side of the suction cavity and is placed inside the puncture catheter.

[0011] Preferably, the first driver and the second driver are servo motors, both of which are mounted on the first rotating body. The first driver achieves the rotation of the first rotating body by meshing with the teeth on the housing through a gear. The second driver achieves the rotation of the second rotating body by driving the second rotating body through a synchronous belt. The second rotating body is provided with an eccentric through hole, and a second central bearing is provided in the eccentric through hole.

[0012] The navigation system provided by this invention, by setting an offset controller, constructs a limiting slide for the puncture catheter through a second and a first central bearing. The first and second actuators adjust the directional offset of the second central bearing relative to the first central bearing in a timely manner, thereby adjusting the axis of the limiting slide. This achieves a visual puncture navigation system for brain hematoma that can both limit the puncture direction and adjust it in a timely manner, reducing surgical risks and operational requirements for doctors, and improving surgical efficiency.

[0013] Another objective of this invention is to provide a visual puncture navigation method for cerebral hematoma, comprising the following steps:

[0014] S1. Import the patient's brain CT and MRI data into the navigation workstation to generate a three-dimensional cranial model including the hematoma boundary.

[0015] S2. Based on a three-dimensional cranial model including hematoma boundaries, and by delineating dangerous areas of the brain, the optimal cranial puncture point and puncture path are determined, and a cranial guide plate is designed and 3D printed based on the cranial puncture point and puncture path.

[0016] S3. Fix the skull guide plate to the patient's head, connect the guide sheath to the skull guide plate through the fixation device, and drill a hole at the skull puncture point under the guidance of the guide sheath. After drilling, install the offset controller on the upper end of the guide sheath. Operate the mobile phone locator and pass the puncture catheter with the built-in neuroendoscope through the second central bearing and the first central bearing in sequence, and slide it back and forth. The navigation workstation displays the puncture direction of the mobile phone locator and the puncture catheter in real time, and generates a deviation value by comparing it with the puncture path specified in step S2.

[0017] S4. The navigation workstation controls the operation of the first and second drivers based on the deviation value, adjusts the eccentricity and eccentricity direction of the puncture catheter, thereby correcting the deviation value of the puncture catheter.

[0018] S5. Use the mobile phone locator to puncture the cerebral hematoma. During the puncture, use a neuroendoscope to capture images of the puncture direction.

[0019] S6. If a blood vessel appears in the image taken by the neuroendoscopy in the puncture direction, the puncture is stopped and the location information of the blood vessel is input into the navigation workstation to replan the puncture path. The puncture path includes the retraction distance and the offset angle of the puncture catheter in order to avoid the blood vessel and eventually reach the hematoma location. The offset angle of the puncture catheter is adjusted by the cooperation of the first driver and the second driver.

[0020] S7. After the puncture catheter reaches the hematoma, turn on the aspiration device to extract the blood.

[0021] This invention provides a visual puncture navigation method for cerebral hematoma, which integrates three-dimensional navigation of a mobile phone locator and visual navigation of a neuroendoscopy. The navigation workstation is used to formulate a puncture plan before the operation to avoid key areas of the brain as much as possible. During the operation, the neuroendoscopy can be used to detect microvessels and the navigation workstation can be used to replan the puncture path. The offset angle of the puncture catheter is adjusted by the cooperation of the first driver and the second driver, so that the puncture path can be adjusted quickly and accurately. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure of the guide sheath described in this invention;

[0025] Figure 3 This is a schematic diagram of the offset controller described in this invention;

[0026] Figure 4 This is a schematic diagram of the connection between the puncture catheter and the neuroendoscope described in this invention. Detailed Implementation

[0027] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed explanation of the visual puncture navigation system for cerebral hematoma proposed in this invention. The advantages and features of this invention will become clearer from the following description. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of this invention.

[0028] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0029] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the state, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0030] A visual puncture navigation method for cerebral hematoma includes the following steps:

[0031] S1. Import the patient's brain CT and MRI data into the navigation workstation to generate a three-dimensional cranial model including the hematoma boundary.

[0032] S2. Based on a three-dimensional cranial model including hematoma boundaries, and by delineating dangerous areas of the brain, the optimal cranial puncture point and puncture path are determined, and a cranial guide plate is designed and 3D printed based on the cranial puncture point and puncture path.

[0033] S3. Fix the skull guide plate to the patient's head, connect the guide sheath to the skull guide plate through the fixation device, and drill a hole at the skull puncture point under the guidance of the guide sheath. After drilling, install the offset controller on the upper end of the guide sheath. Operate the mobile phone locator and pass the puncture catheter with the built-in neuroendoscope through the second central bearing and the first central bearing in sequence, and slide it back and forth. The navigation workstation displays the puncture direction of the mobile phone locator and the puncture catheter in real time, and generates a deviation value by comparing it with the puncture path specified in step S2.

[0034] S4. The navigation workstation controls the operation of the first and second drivers based on the deviation value, adjusts the eccentricity and eccentricity direction of the puncture catheter, thereby correcting the deviation value of the puncture catheter.

[0035] S5. Use the mobile phone locator to puncture the cerebral hematoma. During the puncture, use a neuroendoscope to capture images of the puncture direction.

[0036] S6. If a blood vessel appears in the image taken by the neuroendoscopy in the puncture direction, the puncture is stopped and the location information of the blood vessel is input into the navigation workstation to replan the puncture path. The puncture path includes the retraction distance and the offset angle of the puncture catheter in order to avoid the blood vessel and eventually reach the hematoma location. The offset angle of the puncture catheter is adjusted by the cooperation of the first driver and the second driver.

[0037] S7. After the puncture catheter reaches the hematoma, turn on the aspiration device to extract the blood.

[0038] like Figure 1-4As shown, a visual puncture navigation system for cerebral hematoma includes a skull guide plate 100, a guide and limiting component 200, a mobile phone locator 300, a puncture catheter 400, a neuroendoscope 500, and a navigation workstation. The skull guide plate 100 is 3D printed based on CT data of the patient's brain. The skull guide plate 100 is fixed to the patient's head, and a fixing component 110 is provided on the skull guide plate 100. The guide and limiting component 200 is connected to the skull guide plate 100 through the fixing component 110. On the upper part of the puncture catheter 400, the guide and limiting component 200 is used to limit the insertion direction of the puncture catheter 400. The puncture catheter 400 is mounted on the mobile phone locator 300. A suction cavity 410 is provided at the upper end of the puncture catheter 400. An interface 420 is provided on the suction cavity 410. The interface 420 is used to connect the suction device and inject thrombolytic agents. A neuroendoscope 500 is also mounted on the mobile phone locator 300. The neuroendoscope 500 penetrates the upper side of the suction cavity 410 and is positioned on the upper part of the puncture catheter 400. A gap channel is provided between the puncture catheter 400 and the neuroendoscope 500. The navigation workstation is connected to the mobile phone locator 300 and the neuroendoscope 500. The navigation workstation is used to track the spatial position of the mobile phone locator 300 in real time and display the images captured by the neuroendoscope 500 in real time. The navigation workstation draws the hematoma boundary based on the imported CT data and MRI data. The doctor uses the navigation workstation to make a puncture plan before the operation to avoid key areas of the brain as much as possible. The guide and limit component 200 includes a guide sheath 210 and an offset controller 220. The guide sheath 210 is detachably connected to the fixation component 110. The lower end of the guide sheath 210 is provided with a first central bearing 230, and the upper end of the guide sheath 210 is provided with an offset controller 220. The offset controller 220 is sleeved on the puncture catheter 400. The offset controller 220 is used to control the offset axis of the puncture catheter 400 to change the puncture direction of the puncture catheter 400.In some embodiments, the offset controller 220 includes a housing 221, a first rotating body 222, a first driver 223, a second driver 224, a second rotating body 225, and a second centering bearing 226. The housing 221 is disposed at the upper end of the guide sheath 210. The first rotating body 222 is rotatably disposed within the housing 221. The first driver 223 is disposed between the first rotating body 222 and the housing. The first driver 223 is disposed on the housing or the first rotating body 222 and is used to drive the first rotating body 222 to rotate within the housing 221. The first rotating body 222 is provided with an eccentric circular groove. The second rotating body 225 is rotatably connected within the eccentric circular groove. The second driver 224 is disposed between the second rotating body 225 and the first rotating body 222. The second driver 224 is disposed on the second rotating body 225 or the first rotating body 222. In this embodiment, the first driver 223 and the second driver 224 are servo motors, both disposed on the first rotating body 222. The first driver 223 rotates the first rotating body 222 by meshing with the teeth on the housing 221 through gears. The second driver 224 rotates the second rotating body 225 by driving it through a synchronous belt. The second rotating body 225 is provided with an eccentric through hole, and a second central bearing 226 is disposed in the eccentric through hole. The second central bearing 226 and the first central bearing 230 together form the limiting slide of the puncture catheter 400. During operation, the puncture catheter 400 slides through the second central bearing 226 and the first central bearing 230.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A visual puncture navigation system for cerebral hematoma, characterized in that, The device includes a skull guide plate, a guide and limiting assembly, a mobile phone locator, a puncture catheter, a neuroendoscope, and a navigation workstation. The skull guide plate is equipped with a fixator, and the guide and limiting assembly is connected to the skull guide plate via the fixator. The guide and limiting assembly restricts the insertion direction of the puncture catheter. The puncture catheter is mounted on the mobile phone locator, which also houses the neuroendoscope. A gap channel is provided between the neuroendoscope and the puncture catheter. The navigation workstation connects the mobile phone locator and the neuroendoscope. The guide and limiting assembly includes a guide sheath and an offset controller. The guide sheath is connected to the fixator, and a first central bearing is located at the lower end of the guide sheath. The offset controller is located at the upper end of the guide sheath and is fitted onto the puncture catheter. The offset controller controls the offset of the puncture catheter's axis to change the puncture direction.

2. The visual puncture navigation system for cerebral hematoma according to claim 1, characterized in that, The offset controller includes a housing, a first rotating body, a first driver, a second driver, a second rotating body, and a second central bearing. The housing is disposed at the upper end of the guide sheath. The first rotating body is rotatably disposed inside the housing. The first driver is disposed between the first rotating body and the housing. The first driver is disposed on the housing or the first rotating body and is used to drive the first rotating body to rotate inside the housing. The first rotating body is provided with an eccentric circular groove. The second rotating body is rotatably connected in the eccentric circular groove. The second driver is disposed between the second rotating body and the first rotating body. The second driver is disposed on the second rotating body or the first rotating body.

3. The visual puncture navigation system for cerebral hematoma according to claim 1, characterized in that, The navigation workstation is configured to: track the spatial location of the mobile phone locator in real time and display the images captured by the neuroendoscopy in real time; draw the hematoma boundary based on the imported CT and MRI data; and use the navigation workstation to plan the puncture before the operation in order to avoid key areas of the brain as much as possible.

4. The visual puncture navigation system for cerebral hematoma according to claim 1, characterized in that, The guide sheath and the fixing element are detachably connected.

5. The visual puncture navigation system for cerebral hematoma according to claim 1, characterized in that, The upper end of the puncture catheter is provided with a suction cavity, and the suction cavity is provided with an interface for connecting the suction device and injecting thrombolytic agents. The neuroendoscope passes through the upper side of the suction cavity and is placed inside the puncture catheter.

6. The visual puncture navigation system for cerebral hematoma according to claim 2, characterized in that, The first driver and the second driver are servo motors, both mounted on the first rotating body. The first driver rotates the first rotating body by meshing with the teeth on the housing through a gear. The second driver rotates the second rotating body by driving it through a synchronous belt. The second rotating body has an eccentric through hole, and a second central bearing is installed inside the eccentric through hole.

7. A visual puncture navigation method for cerebral hematoma according to any one of claims 1-6, characterized in that, Includes the following steps: S1. Import the patient's brain CT and MRI data into the navigation workstation to generate a three-dimensional cranial model including the hematoma boundary. S2. Based on a three-dimensional cranial model including hematoma boundaries, and by delineating dangerous areas of the brain, the optimal cranial puncture point and puncture path are determined, and a cranial guide plate is designed and 3D printed based on the cranial puncture point and puncture path. S3. Fix the skull guide plate to the patient's head, connect the guide sheath to the skull guide plate through the fixation device, and drill a hole at the skull puncture point under the guidance of the guide sheath. After drilling, install the offset controller on the upper end of the guide sheath. Operate the mobile phone locator and pass the puncture catheter with the built-in neuroendoscope through the second central bearing and the first central bearing in sequence, and slide it back and forth. The navigation workstation displays the puncture direction of the mobile phone locator and the puncture catheter in real time, and generates a deviation value by comparing it with the puncture path specified in step S2. S4. The navigation workstation controls the operation of the first and second drivers based on the deviation value, adjusts the eccentricity and eccentricity direction of the puncture catheter, thereby correcting the deviation value of the puncture catheter. S5. Use the mobile phone locator to puncture the cerebral hematoma. During the puncture, use a neuroendoscope to capture images of the puncture direction. S6. If a blood vessel appears in the image taken by the neuroendoscopy in the puncture direction, the puncture is stopped and the location information of the blood vessel is input into the navigation workstation to replan the puncture path. The puncture path includes the retraction distance and the offset angle of the puncture catheter in order to avoid the blood vessel and eventually reach the hematoma location. The offset angle of the puncture catheter is adjusted by the cooperation of the first driver and the second driver. S7. After the puncture catheter reaches the hematoma, turn on the aspiration device to extract the blood.

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