Interventional operation positioning and guiding device

Abstract

The utility model relates to the technical field of medical instruments, and discloses an interventional operation positioning and guiding device which comprises a main body, a positioning assembly, a guiding assembly and an observation assembly, and the positioning assembly, the guiding assembly and the observation assembly are all arranged on the main body. The positioning assembly comprises a passive identification point and a support and can be recognized by a surgical navigation system to determine the position of the positioning guide device so as to guide the mechanical arm to drive the positioning guide device to move to the corresponding body surface position of the patient. The guide assembly comprises an electric clamping jaw used for fixing puncture equipment. The observation assembly comprises a B ultrasonic probe and a touch display screen and is used for observing the focus and the condition of the puncture instrument in the body of the patient, the puncture process is known in real time, blind puncture is avoided, and the puncture safety and the puncture quality are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, in particular to an interventional surgery positioning guide device. Background Art

[0002] The surgical navigation system can make the relative position of surgical instruments in the patient's body clear at a glance, making surgical operations faster, more accurate and safer, and has become a development trend in the medical industry. The positioning guide device is the core functional component of the surgical navigation system. Its principle is: the surgical navigation system continuously identifies and determines the position of the positioning guide device to guide the positioning robot arm to drive the interventional surgery positioning guide device to move to the position planned during the operation.

[0003] The existing guidance and positioning devices cannot determine the position of the puncture instrument after it enters the patient's body and the position relative to the lesion. The doctor can only rely on his experience to perform blind puncture, which cannot guarantee the accuracy and quality of the puncture. After the guidance and positioning device is in place, it is difficult for the doctor to make minor adjustments to the guidance device, and the navigation and positioning function is not flexible. After the doctor completes the puncture, he cannot determine whether the lesion position planned before the operation has been accurately punctured, and can only take CT scans for calibration repeatedly, which increases the operation time and surgical risks. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes an interventional surgery positioning guide device to assist doctors in dynamically navigating and positioning the puncture process in the patient's body, thereby improving the accuracy, quality and efficiency of the surgery and ensuring the safety of the surgery.

[0005] According to an embodiment, an interventional surgery positioning and guiding device includes: a main body, one end of which is provided with a mechanical arm docking seat; a positioning component, the positioning component includes four passive identification points, and the four passive identification points are all arranged on the main body; a guiding component, the guiding component includes an electric clamp, the electric clamp is arranged on the main body, and the electric clamp is used to fix the puncture equipment; an observation component, the observation component includes a B-ultrasound probe and an input / output module, the B-ultrasound probe and the input / output module are both arranged on the main body, the B-ultrasound probe is used to detect lesions and the situation of the puncture equipment in the patient's body, and the input / output module is used to display the lesions detected by the B-ultrasound probe and the images of the puncture equipment in real time.

[0006] It has at least the following beneficial effects: the situation around the target lesion can be known through B-ultrasound images, the puncture progress can be understood in real time, the relative position of the puncture equipment and the lesion in the body can be grasped, the accuracy of navigation positioning can be verified, blind puncture can be avoided, the difficulty of doctor's operation can be reduced, and the safety and quality of puncture can be improved.

[0007] According to some embodiments of the present utility model, the positioning assembly further includes a bracket, and the four passive identification points are all connected to the main body via the bracket.

[0008] According to some embodiments of the present invention, the bracket is connected to the main body via a fixing member.

[0009] According to some embodiments of the present invention, the fixing member is a fixing ring sleeved on the main body.

[0010] According to some embodiments of the utility model, the left driving jaw and the right driving jaw of the electric clamp are respectively connected to a left guide jaw and a right guide jaw, a guide axis is formed between the left guide jaw and the right guide jaw, and the guide axis is coaxial with the puncture device.

[0011] According to some embodiments of the present invention, the angle between the B-ultrasound probe and the guide axis is α, and α satisfies: 20°<α<45°.

[0012] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention is further described below with reference to the accompanying drawings and embodiments, wherein:

[0014] Figure 1 This is a schematic diagram of the structure of the positioning guide device for interventional surgery according to an embodiment of the utility model;

[0015] Figure 2 This is a schematic diagram of the functional areas on the touch screen of the interventional surgery positioning guide device according to an embodiment of the utility model;

[0016] Figure Number:

[0017] Main body 100; robot arm docking seat 110; fixing member 111;

[0018] Positioning assembly 200; passive identification point 210; bracket 220;

[0019] Guide assembly 300; electric clamp 310; left guide clamp 311; right guide clamp 312; guide axis 313;

[0020] Observation component 400; B-ultrasound probe 410; input / output module 420; B-ultrasound image display area 421; puncture depth prompt area 422; status indication area 423; flexible control fine-tuning area 424. DETAILED DESCRIPTION

[0021] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0022] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0023] In the description of the present utility model, "a plurality" means more than two. If there is a description of "first" or "second", it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0024] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0025] Reference Figure 1 The utility model discloses an interventional surgery positioning guide device, comprising a main body 100, a positioning component 200, a guiding component 300 and an observation component 400, wherein:

[0026] The positioning component 200, the guide component 300 and the observation component 400 are all arranged on the main body 100. The surgical navigation system identifies and locates the positioning guide device by identifying the positioning component 200, and then guides the robotic arm to drive the positioning guide device to move to the corresponding body surface position of the patient to complete the guidance positioning. The doctor can review the accuracy of the guidance positioning according to the image on the observation component 400. The guide component 300 can fix the puncture equipment to form a puncture path. The puncture equipment performs puncture along the path formed by the guide component 300, and the dynamic process of the puncture can be observed through the observation component 400.

[0027] A robot arm docking seat 110 is provided at the upper end of the main body 100. The robot arm docking seat 110 is detachably connected to the robot arm. The robot arm docking seat 110 is used to achieve docking between the positioning guide device and the robot arm, so that the robot arm can drive the movement of the positioning guide device.

[0028] The positioning component 200 is composed of a bracket 220 and four passive identification points 210. The four passive identification points 210 are all arranged on the bracket 220. The bracket 220 is fixed to the side of the main body 100 by a fixing part 111 mounted on the main body 100. When the surgical navigation system recognizes the positioning component 200, the position of the positioning guide device can be determined, and then the position of the puncture equipment can be determined, and then the robotic arm is guided to drive the positioning guide device to move to the corresponding body surface position of the patient, and then puncture is performed.

[0029] The guide assembly 300 includes an electric clamp 310, a left guide clamp 311 and a right guide clamp 312, wherein the left guide clamp 311 and the right guide clamp 312 are respectively fixed to the left driving jaw and the right driving jaw of the electric clamp 310 by screws. The left guide clamp 311 and the right guide clamp 312 can be closed under the drive of the electric clamp 310, thereby fixing the puncture equipment. After closing, a guide axis 313 will be formed between the left guide clamp 311 and the right guide clamp 312, and the guide axis 313 is the puncture path of the puncture equipment.

[0030] The observation component 400 includes an ultrasound probe 410 and an input / output module 420, wherein the ultrasound probe 410 displays the signal through the input / output module 420, and the ultrasound probe 410 is arranged at the lower end of the main body 100, forming a specific angle of 20° to 45° with the guide axis 313, so that the ultrasound probe can better detect the position of the puncture equipment passing through the guide clamp for puncture in the patient's body and the position of the lesion.

[0031] like Figure 2 As shown, the input / output module 420 is a touch display screen.

[0032] The input / output module 420 includes a B-ultrasound image display area 421, a puncture depth prompt area 422, a status indication area 423 and a flexible control fine-tuning area 424, wherein: the B-ultrasound image display area 421, the puncture depth prompt area 422 and the status indication area 423 are all used to output display information, and the flexible control fine-tuning area 424 is used to input control signals.

[0033] Specifically, the touch display screen 420 is electrically connected to the B-ultrasound probe 410. During the puncture process, the B-ultrasound probe 410 can detect the position of the puncture needle in the patient's body and the relative position relationship between the puncture needle tip and the lesion in real time, and display them in real time through the B-ultrasound image display area 421. The doctor can judge whether the positioning guidance is accurate through the image. If the path of the puncture equipment coincides with the preset path, it can be determined that the positioning guidance is accurate, and the puncture can continue, ensuring that the puncture equipment punctures the target position efficiently and with high quality.

[0034] Furthermore, when the puncture site is complicated, in order to avoid mistakenly puncturing a position that cannot be punctured, the doctor can zoom in on the B-ultrasound local image through the touch display screen 420 to obtain detailed puncture location information to ensure the accuracy and safety of the puncture.

[0035] The puncture depth prompt area 422 shows the puncture depth required for the puncture equipment to puncture the target lesion during the puncture operation. Through this prompt, the doctor can understand the puncture depth in real time and master the process of the operation, thereby helping to improve the efficiency and quality of the puncture.

[0036] The status indicator area 423 is used to indicate the operating status of the equipment during the current operation and whether puncture can be performed. Different colors can be used for judgment: red means the equipment is abnormal; yellow means the equipment is in preparation; green means the equipment is running normally and the operation can be performed.

[0037] The touch screen 420 is also connected to the surgical navigation system, and the control signal is input into the surgical navigation system through the flexible control fine-tuning area 424. The flexible control fine-tuning area 424 is provided with arrows in different directions, and different arrows represent signals in different directions. By touching the arrows in different directions, fine-tuning control signals for movement in different directions are input into the surgical navigation system. After the surgical navigation system receives the signal, the surgical navigation system will control the robotic arm to drive the positioning guide device to perform fine-tuning of displacement in different directions to adjust to the most suitable position for puncture, thereby ensuring the accuracy, quality and safety of puncture.

[0038] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0039] Of course, the present invention is not limited to the above-mentioned embodiments, and technicians familiar with the field may make equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. An interventional surgery positioning guide device, characterized in that: include: A main body, one end of which is provided with a mechanical arm docking seat; A positioning component, the positioning component comprising four passive identification points, and the four passive identification points are all arranged on the main body; A guide assembly, the guide assembly comprising an electric clamp, the electric clamp is arranged on the main body, and the electric clamp is used to fix the puncture equipment; An observation component, the observation component includes a B-ultrasound probe and an input / output module, the B-ultrasound probe and the input / output module are both arranged on the main body, the B-ultrasound probe is used to detect the lesion and the situation of the puncture equipment in the patient's body, and the input / output module is used to display the lesion detected by the B-ultrasound probe and the image of the puncture equipment in real time; The input / output module is a touch screen, which includes a B-ultrasound image display area, a puncture depth prompt area, a status indication area, and a flexible control fine-tuning area. The B-ultrasound probe can detect the position of the puncture needle in the patient's body and the relative position relationship between the puncture needle tip and the lesion in real time, and display it in real time through the B-ultrasound image display area. The puncture depth prompt area shows the puncture depth required for the puncture equipment to puncture the target lesion during this puncture operation, which can be judged according to different colors: red represents equipment abnormality; Yellow means the equipment is being prepared; green means the equipment is operating normally and surgery can be performed. The control signal is input into the surgical navigation system through the flexible control fine-tuning area. The flexible control fine-tuning area is provided with arrows in different directions. Different arrows represent signals in different directions. By touching the arrows in different directions, the fine-tuning control signal for movement in different directions is input into the surgical navigation system.

2. The interventional surgery positioning guide device according to claim 1, characterized in that: The positioning assembly also includes a bracket, and the four passive identification points are connected to the main body through the bracket.

3. The interventional surgery positioning guide device according to claim 2, characterized in that: The bracket is connected to the main body through a fixing piece.

4. The interventional surgery positioning guide device according to claim 3, characterized in that: The fixing member is a fixing ring sleeved on the main body.

5. The interventional surgery positioning guide device according to claim 1, characterized in that: The left driving jaw and the right driving jaw of the electric clamp are respectively connected with a left guiding jaw and a right guiding jaw, a guiding axis is formed between the left guiding jaw and the right guiding jaw, and the guiding axis is coaxial with the puncture device.

6. The interventional surgery positioning guide device according to claim 5, characterized in that: The angle between the B-ultrasound probe and the guide axis is α, and α satisfies: 20°<α<45°.

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