Magnetic navigation puncture positioning system based on three-dimensional image

Abstract

The utility model relates to a magnetic navigation puncture positioning system based on a three-dimensional image, comprising a control terminal which comprises a terminal host electrically connected with a display screen; the C-shaped arm scanner is electrically connected with the terminal host and transmits the repeatedly scanned data to the terminal host, so that the terminal host processes the data and generates a three-dimensional image; the bronchoscope is electrically connected with the terminal host and comprises an operation part and a probe part, the probe part is provided with an image sensor, and the image sensor converts a detected optical image into an electronic signal and transmits the electronic signal to the terminal host; the magnetic navigation positioning device comprises a navigation probe and an electromagnetic positioning plate, the navigation probe is arranged at the probe part, and the electromagnetic positioning plate positions the position of the probe part by tracking the navigation probe; and the puncture robot is electrically connected with the terminal host. According to the magnetic navigation puncture positioning system based on the three-dimensional image, real-time image positioning and real-time position positioning are achieved, and safety guarantee can be provided for completion of a puncture operation.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a magnetic navigation puncture positioning system based on three-dimensional images. Background Art

[0002] In some puncture surgeries, such as tumor ablation and activity-guided biopsy, accurate positioning and guidance are very important for the success of the operation and patient safety. With the continuous development and advancement of medical imaging technology, doctors can obtain more detailed and clear information about the patient's anatomical structure. These images provide accurate navigation targets and provide a reliable foundation for the puncture surgery navigation and positioning system.

[0003] In the prior art puncture surgery, doctors mainly use CT or X-ray scanning devices for auxiliary positioning. The purpose of scanning and positioning is to generate a three-dimensional image of the relevant part of the patient (chest). During the operation, the path formed by the three-dimensional image is used to plan the best needle insertion point, angle and depth for puncture. However, since the internal organs of the human body will move to a certain extent during breathing, for safety reasons, the needle insertion is usually divided into multiple steps. After each needle insertion, the patient needs to undergo CT or X-ray scanning again to ensure the accuracy of the puncture needle insertion direction. In this way, the operation time is relatively long. As time goes by, the doctor's energy will decline and the operation is prone to failure. For this reason, a magnetic navigation puncture positioning system based on three-dimensional images is proposed. Utility Model Content

[0004] Based on the above description, the utility model provides a magnetic navigation puncture positioning system based on three-dimensional images, which solves the technical problem that puncture positioning is difficult in chest puncture surgery, resulting in easy failure of puncture surgery.

[0005] The utility model solves the above technical problems with the following technical solutions: A magnetic navigation puncture positioning system based on three-dimensional images, used for positioning puncture surgery on a patient on an operating table, comprising:

[0006] A control terminal includes a terminal host, and the terminal host is electrically connected to a display screen;

[0007] A C-arm scanner is electrically connected to the terminal host and transmits multiple scan data to the terminal host so that the terminal host processes and generates a three-dimensional image;

[0008] A bronchoscope, which is electrically connected to the terminal host and comprises an operating part and a probe part, wherein the probe part is equipped with an image sensor, and the image sensor converts the detected optical image into an electronic signal and transmits it to the terminal host;

[0009] A magnetic navigation positioning device, comprising a navigation probe and an electromagnetic positioning plate, wherein the navigation probe is arranged at the probe part, and the electromagnetic positioning plate tracks and locates the position of the probe part by the navigation probe;

[0010] The puncture robot is electrically connected to the terminal host and is used to perform puncture surgery after positioning.

[0011] On the basis of the above technical solution, the present invention can also be improved as follows.

[0012] Furthermore, it also includes a displacement device, which includes a base and a displacement component, and the operating table is movably connected to the base through the displacement component.

[0013] Furthermore, the displacement component is an electric push rod, which is electrically connected to the terminal host.

[0014] Furthermore, the magnetic navigation positioning device also includes a bracket, which is arranged on the base, and the electromagnetic positioning plate is supported by the bracket and placed on the operating table.

[0015] Furthermore, the probe part has a light-guiding window. When the light-guiding window guides light, the image sensor converts the detected optical image into an electronic signal and transmits it to the terminal host.

[0016] Furthermore, the puncture robot includes a mechanical arm and a needle holder. The needle holder is arranged at the working end of the mechanical arm and is used to clamp the puncture needle.

[0017] Furthermore, the robotic arm is a five-degree-of-freedom or six-degree-of-freedom robotic arm.

[0018] Furthermore, the C-arm scanner and the puncture robot can be movably arranged next to the operating table.

[0019] Compared with the prior art, the technical solution of this application has the following beneficial technical effects:

[0020] The magnetic navigation puncture positioning system based on three-dimensional images uses a terminal host to process multiple scan data from a C-arm scanner and generate a three-dimensional image, providing a reference plan for the route of insertion of the bronchoscope. After the probe is inserted into the body, the image sensor converts the detected real-time optical image into an electronic signal and transmits it to the terminal host. The display screen provides a reference for real-time image positioning, and the electromagnetic positioning board tracks and locates the position of the navigation probe in real time. The real-time image positioning and real-time position positioning can provide safety guarantees for the completion of the puncture surgery. There is basically no need to use a C-arm scanner to scan again during the operation, ensuring that the puncture surgery can be performed faster and safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1A schematic diagram of the structure of a magnetic navigation puncture positioning system based on three-dimensional images provided in an embodiment of the utility model;

[0022] Figure 2 for Figure 1 A structural diagram from another perspective;

[0023] Figure 3 It is a structural schematic diagram of the probe part and its connection structure in an embodiment of the utility model.

[0024] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0025] 1. Operating table; 2. Control terminal; 21. Terminal host; 22. Display screen; 3. C-arm scanner; 4. Bronchoscope; 41. Operating unit; 42. Probe unit; 43. Image sensor; 44. Light guide window; 5. Magnetic navigation positioning device; 51. Navigation probe; 52. Electromagnetic positioning plate; 53. Bracket; 6. Puncture robot; 61. Mechanical arm; 62. Needle holder; 7. Displacement device; 71. Base; 72. Electric push rod. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0027] like Figure 1 and Figure 2 As shown, a three-dimensional image-based magnetic navigation puncture positioning system in this embodiment is used to position a patient on an operating bed 1 for puncture surgery, and includes a control terminal 2, a C-arm scanner 3, a bronchoscope 4, a magnetic navigation positioning device 5 and a puncture robot 6, wherein the C-arm scanner 3, the bronchoscope 4, the magnetic navigation positioning device 5 and the puncture robot 6 are all electrically connected to the control terminal 2.

[0028] It should be noted that both the C-arm scanner 3 and the puncture robot 6 can be movably arranged next to the operating table 1, that is, both the C-arm scanner 3 and the puncture robot 6 have universal wheels, thereby facilitating the turnover of the C-arm scanner 3 and the puncture robot 6.

[0029] And as Figure 2 As shown, a mobile frame is movably arranged next to the operating bed 1, and the control terminal 2 is placed on the mobile frame. The bottom of the mobile frame is also provided with universal wheels to facilitate the transfer and turnover of the control terminal 2. As for the control terminal 2, it includes a terminal host 21, and the terminal host 21 is electrically connected to a display screen 22, and the display screen 22 is used to display data screens. The control terminal 2 is, for example, a Lenovo brand Thi nk Book 14 model notebook.

[0030] In order to accurately locate the surgical site, the entire surgical positioning is divided into three times. The first is preliminary positioning, which uses the C-arm scanner 3 to scan multiple times, allowing the terminal host 21 to process and generate a three-dimensional image, so that the doctor can know the relevant situation of the patient's surgical site. The second time is to insert the bronchoscope 4 into the body and use the bronchoscope 4 to display the specific situation of the real-time picture of the surgical site. The third time is to use the magnetic navigation positioning device 5 to locate the real-time position of the bronchoscope 4 or the surgical site.

[0031] The puncture robot 6 is electrically connected to the terminal host 21 and is used to perform the puncture surgery after the above three surgical positioning.

[0032] To further explain, the puncture robot 6 includes a robotic arm 61 and a needle holder 62. The needle holder 62 is arranged at the working end of the robotic arm 61 and is used to clamp the puncture needle. In addition, the robotic arm 61 is a five-degree-of-freedom or six-degree-of-freedom manipulator. Of course, it can be understood that the robotic arm 61 can also be a seven-degree-of-freedom or eight-degree-of-freedom manipulator, as long as it meets the surgical requirements.

[0033] First, the description of the first preliminary positioning, such as Figure 1 As shown, the C-arm scanner 3 actually refers to a C-arm X-ray machine, which is arranged next to the operating bed 1 and is electrically connected to the terminal host 21. The model is, for example, DG3310C. It is equipped with an X-ray generator and a detector, which are not shown in the figure. When the patient lies on the operating bed 1, the X-ray generator is used to emit an X-ray beam, which enters and passes through one side of the patient, and is received by the detector to form a projected image. In this way, multiple scan data are transmitted to the terminal host 21 for processing by the terminal host 21. The processing process is to superimpose two-dimensional plane images to form a real three-dimensional image, and retain a large amount of image detail information, providing a very realistic depiction of the anatomical structure, and can three-dimensionally display the lesions and the relationship between the lesions and surrounding organs through different directions and spaces, and generate a three-dimensional image. This three-dimensional image can provide a reference plan for the route of the bronchoscope 4 to be inserted, and can allow the doctor to understand the relevant conditions and location of the surgical site.

[0034] For the second real-time image positioning, Figure 2 and 3 As shown, the bronchoscope 4 is electrically connected to the terminal host 21 and includes an operating part 41 and a probe part 42, wherein the operating part 41 is for the doctor to hold, and the probe part 42 is used to be inserted into the body from the patient's mouth.

[0035] It should be noted that the probe part 42 is equipped with an image sensor 43, and the probe part 42 has a light guide window 44. In this way, a light source can be provided through the light guide window 44 to provide a good optical environment support for the image sensor 43 to obtain a clearer picture. In this way, when the light guide window 44 guides light, the image sensor 43 converts the detected optical image into an electronic signal and transmits it to the terminal host 21. The terminal host 21 converts the electronic signal into a picture and displays it on the display screen 22, so that the doctor can understand the insertion situation and the real-time picture situation of the surgical site after insertion in real time.

[0036] As for the third time, the magnetic navigation positioning device 5 is used to locate the real-time position of the bronchoscope 4 or the surgical site. Figure 2 and 3 As shown, the magnetic navigation positioning device 5 includes a navigation probe 51 and an electromagnetic positioning plate 52 , wherein the navigation probe 51 is detachably arranged at the probe part 42 , and the electromagnetic positioning plate 52 tracks the position of the probe part 42 by the navigation probe 51 .

[0037] It should be noted that the electromagnetic positioning plate 52 is an Aurora model flat magnetic field generator, which is used to generate an electromagnetic field, thereby accurately positioning the navigation probe 51 within the electromagnetic field range, and performing real-time navigation for the navigation probe 51 inside the patient's body, such as the complex bronchial bundles in the lungs.

[0038] In one embodiment, if Figure 1 and 2 As shown, the three-dimensional image-based magnetic navigation puncture positioning system also includes a displacement device 7, which includes a base 71 and a displacement component. The operating table 1 is movably connected to the base 71 via the displacement component.

[0039] As a preferred solution for the displacement component, the displacement component is an electric push rod 72, which is electrically connected to the terminal host 21 and has a model of DT1600. It is used to move the operating table 1 and the patient to the side of the puncture robot 6 behind the C-arm scanner 3, so that the transfer is simple.

[0040] In addition, the magnetic navigation positioning device 5 also includes a bracket 53. The bracket 53 is, for example, of the Aigleson brand, and its model is LX45-490-216, that is, the bracket 53 has multiple active points to provide support for the position adjustment of the electromagnetic positioning plate 52. The bracket 53 is set on the base 71, and the electromagnetic positioning plate 52 is supported by the bracket 53 and placed on the operating bed 1.

[0041] The surgical procedure is:

[0042] In the first step, the C-arm scanner 3 transmits multiple scan data to the terminal host 21, so that the terminal host 21 processes and generates a three-dimensional image to provide a reference plan for the route of the bronchoscope 4;

[0043] In the second step, the positions of the operating table 1 and the patient are changed by the electric push rod 72 until they are moved to the side of the puncture robot 6 .

[0044] In the third step, after the probe 42 is inserted into the body, the image sensor 43 converts the detected real-time optical image into an electronic signal and transmits it to the terminal host 21, and the display screen 22 provides a reference for real-time image positioning;

[0045] The fourth step is to start the electromagnetic positioning board 52, which can provide safety guarantee for the completion of the puncture operation by real-time tracking and positioning the position of the probe part 42 of the navigation probe 51. Real-time image positioning and real-time position positioning can ensure the completion of the puncture operation without the need to use the C-arm scanner 3 to scan again during the operation, ensuring that the puncture operation can be performed faster and safer.

[0046] The fifth step is to use the puncture robot 6 to perform the puncture operation.

[0047] The above are only preferred specific implementation methods of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the utility model, who makes equivalent replacements or changes based on the technical scheme and utility model concept of the utility model, should be covered by the protection scope of the utility model.

Claims

1. A magnetic navigation puncture positioning system based on three-dimensional images, used for positioning puncture surgery on patients on an operating table, characterized in that: include: A control terminal includes a terminal host, and the terminal host is electrically connected to a display screen; A C-arm scanner is electrically connected to the terminal host and transmits multiple scan data to the terminal host so that the terminal host processes and generates a three-dimensional image; A bronchoscope, which is electrically connected to the terminal host and comprises an operating part and a probe part, wherein the probe part is equipped with an image sensor, and the image sensor converts the detected optical image into an electronic signal and transmits it to the terminal host; A magnetic navigation positioning device, comprising a navigation probe and an electromagnetic positioning plate, wherein the navigation probe is arranged at the probe part, and the electromagnetic positioning plate tracks and locates the position of the probe part by the navigation probe; The puncture robot is electrically connected to the terminal host and is used to perform puncture surgery after positioning.

2. The magnetic navigation puncture positioning system based on three-dimensional images according to claim 1, characterized in that: It also includes a displacement device, which includes a base and a displacement component, and the operating table is movably connected to the base through the displacement component.

3. The three-dimensional image-based magnetic navigation puncture positioning system according to claim 2, characterized in that: The displacement component is an electric push rod, which is electrically connected to the terminal host.

4. The magnetic navigation puncture positioning system based on three-dimensional images according to claim 2, characterized in that: The magnetic navigation positioning device also includes a bracket, which is arranged on the base. The electromagnetic positioning plate is supported by the bracket and placed on the operating table.

5. The magnetic navigation puncture positioning system based on three-dimensional images according to claim 1, characterized in that: The probe part has a light guide window. When the light guide window guides light, the image sensor converts the detected optical image into an electronic signal and transmits it to the terminal host.

6. The magnetic navigation puncture positioning system based on three-dimensional images according to claim 1, characterized in that: The puncture robot comprises a mechanical arm and a needle holder. The needle holder is arranged at the working end of the mechanical arm and is used for clamping the puncture needle.

7. The three-dimensional image-based magnetic navigation puncture positioning system according to claim 6, characterized in that: The robotic arm is a five-degree-of-freedom or six-degree-of-freedom robotic arm.

8. The magnetic navigation puncture positioning system based on three-dimensional images according to claim 1, characterized in that: The C-arm scanner and the puncture robot can be movably arranged beside the operating table.

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