Magnetic micro-robot positioning device for head interventional operation

Abstract

The utility model discloses a magnetic micro-robot positioning device for head interventional operation, which belongs to the technical field of micro-robot positioning and comprises a positioning cap framework structure, the positioning cap framework structure is a partially spherical structure, and a positioning bulge is arranged in the middle of the upper part of the positioning cap framework structure. Connecting protrusions are arranged on the lower portions of the two sides of the positioning cap framework structure, the two connecting protrusions are connected with one end of a beam respectively, the other end of the beam is connected with a support, the support is installed on a fixing column, and magnetic sensors are symmetrically arranged on the two sides of the positioning cap framework structure and electrically connected with an expander and a processor in sequence. And the processor is connected with the upper computer. The positioning device is suitable for terminal insertion, can solve the problem of small high-precision positioning range, and is convenient to wear, simple to operate, large in positioning range, relatively simple to operate and convenient to use in an operation.

Description

Technical Field

[0001] The utility model relates to a magnetic micro-robot positioning device for head intervention surgery, belonging to the technical field of micro-robot positioning. Background Art

[0002] Interventional surgery in the head typically involves introducing precision instruments such as specialized catheters or guidewires into the body's internal vascular system. Combining the doctor's knowledge of human vascular anatomy with modern angiography techniques, the procedure reaches the lesion through the head's blood vessels and treats the lesion. During this process, navigating the catheter or guidewire is a challenging task, typically performed by skilled and experienced medical professionals. By accurately positioning the catheter or guidewire, the surgical difficulty can be greatly reduced while minimizing damage to the body, enabling even relatively inexperienced surgeons to quickly master the procedure.

[0003] Among the many positioning technologies, magnetic positioning technology has attracted widespread attention in recent years due to its convenient setup, fast positioning speed, and high positioning accuracy. Compared with traditional mechanical optical tracking and ultrasonic tracking technologies, magnetic positioning technology has advantages in minimally invasive surgical environments where there is no direct line of sight to the positioning target due to its unobstructed characteristics. Magnetic positioning technology uses one or more magnets as an excitation source to generate a magnetic field that can be detected and measured by a magnetic sensor. Using the data measured by the sensor and the sensor's position information, the position and direction of the magnet can be estimated through a magnetic dipole model and a least squares optimization algorithm, thereby achieving the positioning of the interventional device. Existing magnetic positioning devices have problems such as a small high-precision positioning range, difficulty in wearing, and complex operation, making them difficult to apply in surgery. Utility Model Content

[0004] The technical problem to be solved by the present invention is to overcome the defects of the existing technology and provide a magnetic microrobot positioning device for head interventional surgery, which can solve the problem of small high-precision positioning range, is easy to wear, simple to operate, has a large positioning range, is relatively simple to operate, and is convenient to use during surgery.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A magnetic microrobot positioning device for head interventional surgery includes a positioning cap skeleton structure, which is a partially spherical structure. A positioning protrusion is provided in the middle position of the upper part of the positioning cap skeleton structure, and connecting protrusions are provided at the lower parts of both sides of the positioning cap skeleton structure. The two connecting protrusions are respectively connected to one end of a beam, and the other end of the beam is connected to a bracket. The bracket is installed on a fixed column. Magnetic sensors are symmetrically provided on both sides of the positioning cap skeleton structure. The magnetic sensors are electrically connected to an expander and a processor in sequence, and the processor is connected to a host computer.

[0007] The connecting protrusion is connected to the crossbeam via a first latch, and the crossbeam is connected to the bracket via a second latch.

[0008] The magnetic sensor is mounted on the positioning cap frame structure through screws and nuts.

[0009] The model of the magnetic sensors is LISMDL, and there are eight of them in total. A hollow groove is provided between two adjacent magnetic sensors on the positioning cap skeleton structure.

[0010] The positioning cap skeleton structure is a sphere with a 1 / 3 outer radius of 7.5 mm and a spherical shell thickness of 0.3 mm.

[0011] The positioning protrusion is in the shape of a triangle, and the connecting protrusion is in the shape of a rectangle.

[0012] The bracket includes a connecting portion and a C-shaped portion connected upper and lower. The connecting portion is connected to the crossbeam. A threaded hole is opened in the middle of the lower bottom surface of the C-shaped portion. The thread on the column body of the fixing column is screwed into the threaded hole.

[0013] The upper end of the column is provided with a fixing plate, and the lower end is provided with a handle.

[0014] The thread on the fixing column is screwed into the threaded hole.

[0015] The upper end of the fixing column is provided with a fixing plate, and the lower end is provided with a handle.

[0016] The beneficial effects of the utility model are as follows: the utility model provides a magnetic microrobot positioning device for head interventional surgery, and magnetic sensors are symmetrically arranged on both sides of the positioning cap frame structure, and the magnetic sensors are electrically connected to the I2C cascade expander and the single-chip microcomputer in sequence, and the single-chip microcomputer is connected to the host computer via USB. By integrating the magnetic sensor on the positioning cap frame, it can be combined with the magnetic positioning technology to achieve high positioning accuracy in a small range, and is used by wearing it on the head, which is easy to wear and simple to operate, and is convenient for use in surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1This is a structural schematic diagram of a magnetic microrobot positioning device for head interventional surgery in the present invention;

[0018] Figure 2 This is a schematic structural diagram of the positioning cap skeleton structure in the present utility model;

[0019] Figure 3 This is a schematic diagram of the electrical connections inside the magnetic sensor of the present invention.

[0020] The reference numerals in the figure are as follows: 1-positioning cap frame structure; 2-magnetic sensor; 3-first pin; 4-crossbeam; 5-second pin; 6-bracket; 7-fixing column; 11-positioning protrusion; 12-hollow groove; 13-connecting protrusion; 61-connecting part; 62-C-shaped part; 621-threaded hole; 71-fixing plate; 72-column; 73-handle. DETAILED DESCRIPTION

[0021] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and are not intended to limit the scope of protection of the present invention.

[0022] Example 1

[0023] like Figure 1 and Figure 2 As shown, the utility model discloses a magnetic microrobot positioning device for head interventional surgery, including a positioning cap skeleton structure 1, which is a partially spherical structure. A positioning protrusion 11 is provided at the middle position of the upper part of the positioning cap skeleton structure 1, and connecting protrusions 13 are provided at the lower parts of both sides of the positioning cap skeleton structure 1. The two connecting protrusions 13 are respectively connected to one end of the beam 4, and the other end of the beam 4 is connected to the bracket 6. The bracket 6 is installed on the fixed column 7. Magnetic sensors 2 are symmetrically provided on both sides of the positioning cap skeleton structure 1. The magnetic sensors 2 are electrically connected to the I2C cascade expander and the single-chip microcomputer in sequence, and the single-chip microcomputer is connected to the host computer via USB.

[0024] The working principle of the utility model is as follows: the magnetic sensor of the positioning cap skeleton structure receives the magnetic field strength and uploads it to the host computer through the I2C cascade expander and the single-chip microcomputer in sequence, and combines the Kalman filter, magnetic dipole model and other methods in the existing technology to realize the positioning of the interventional magnetic microrobot.

[0025] The utility model provides a method of integrating a magnetic sensor on a positioning cap frame, which can combine the magnetic positioning technology to achieve high positioning accuracy in a small range. It is worn on the head, is easy to wear and simple to operate, and is convenient for use in surgery.

[0026] Example 2

[0027] like Figure 1 and Figure 2 As shown, the utility model discloses a magnetic microrobot positioning device for head interventional surgery, including a positioning cap skeleton structure 1, which is a sphere with a 1 / 3 outer radius of 7.5 mm and a shell thickness of 0.3 mm. A positioning protrusion 11 is provided in the middle position of the upper part of the positioning cap skeleton structure 1, and the positioning protrusion 11 is in the shape of a triangle. Before positioning, the positioning protrusion 11 is placed directly above the patient's nose to reset the positioning coordinates to zero. Connecting protrusions 13 are provided on the lower part of both sides of the positioning cap skeleton structure 1, and the connecting protrusion 13 is in the shape of a rectangle and is located on the axis of the sphere. The two connecting protrusions 13 are respectively connected to one end of the beam 4, and the connecting protrusion 13 and the beam 4 are connected by a first pin 3. The connecting protrusion 13 has a circular hole of φ4 dug out inside to facilitate connection with the first pin 3.

[0028] The other end of the crossbeam 4 is connected to the bracket 6, and the crossbeam 4 and the bracket 6 are connected by a second pin 5. The crossbeams 4 of different lengths can be made to accommodate patients with different head sizes. The bracket 6 is installed on the fixed column 7. The bracket 6 includes a connecting portion 61 and a C-shaped portion 62 connected upper and lower. The connecting portion 61 is connected to the crossbeam 4. A threaded hole 621 is opened in the middle of the lower bottom surface of the C-shaped portion 62. The thread on the column 72 of the fixed column 7 is screwed into the threaded hole 621. A fixing plate 71 is provided at the upper end of the column 72, and a handle 73 is provided at the lower end. The depth of the thread of the fixed column 7 is adjusted by rotating the handle 73 at the lower end of the fixed column 7, so that the upper bottom surface of the C-shaped area and the circular plane at the upper end of the fixed column are respectively close to the upper and lower sides of the operating table to achieve a fixing effect.

[0029] Magnetic sensors 2 are symmetrically arranged on both sides of the positioning cap frame structure 1. The magnetic sensors 2 are installed on the positioning cap frame structure 1 via screws 8 and nuts 9. The magnetic sensors 2 are electrically connected to the I2C cascade expander and the microcontroller in turn. The microcontroller is connected to the host computer via USB. The model of the magnetic sensor 2 is LIS3MDL, and there are eight of them in total. LIS3MDL is a high-performance and ultra-low-power three-axis magnetometer that can output the measured magnetic field strength in the x, y, and z directions via the I2C communication protocol. The internal electrical connection diagram of the LIS3MDL magnetic sensor 2 is shown in the figure below. Figure 3As shown. The data measured by each magnetic sensor 2 is transmitted to the Arduino UNO microcontroller via the I2C cascade expander. Each magnetic sensor 2 is numbered from 0 to 7. The VCC pin, GND pin, SCL pin, and SDA pin on the magnetic sensor 2 are connected to the corresponding numbered VCC pin, GND pin, SCL pin, and SDA pin on the I2C cascade expander through DuPont wires. The VCC pin, GND pin, SCL pin, and SDA pin on the I2C cascade expander are connected to the VCC pin, GND pin, SCL pin, and SDA pin on the Arduino UNO microcontroller. In the host computer, the LabVIEW control program is used to connect to the Arduino UNO via VISA serial port communication to obtain the data measured by the sensor. In addition, a hollow groove 12 is provided between two adjacent magnetic sensors 2 on the positioning cap frame structure 1 to facilitate doctors to monitor the patient's condition.

[0030] Before using the positioning device of the present invention each time, it is necessary to select a suitable crossbeam 4 according to the size of the patient's head, connect the positioning cap frame structure 1 and the crossbeam 4 through the first pin 3, and connect the crossbeam 4 and the bracket 6 through the second pin 5, and then tighten the fixing column 7 to complete the installation of the positioning system.

[0031] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A magnetic microrobot positioning device for head interventional surgery, characterized by: The invention comprises a positioning cap frame structure (1), wherein the positioning cap frame structure (1) is a partially spherical structure, a positioning protrusion (11) is provided at the middle position of the upper portion of the positioning cap frame structure (1), and connecting protrusions (13) are provided at the lower portions of both sides of the positioning cap frame structure (1), the two connecting protrusions (13) are respectively connected to one end of a crossbeam (4), the other end of the crossbeam (4) is connected to a bracket (6), and the bracket (6) is mounted on a fixed column (7), and magnetic sensors (2) are symmetrically provided on both sides of the positioning cap frame structure (1), the magnetic sensors (2) are electrically connected to an expander and a processor in sequence, and the processor is connected to a host computer.

2. The magnetic microrobot positioning device for head interventional surgery according to claim 1, characterized in that: The connecting protrusion (13) and the crossbeam (4) are connected via a first latch (3), and the crossbeam (4) and the bracket (6) are connected via a second latch (5).

3. The magnetic microrobot positioning device for head interventional surgery according to claim 1, characterized in that: The magnetic sensor (2) is mounted on the positioning cap skeleton structure (1) via screws (8) and nuts (9).

4. The magnetic microrobot positioning device for head interventional surgery according to claim 1, characterized in that: The model of the magnetic sensors (2) is LIS3MDL, and there are eight of them in total. A hollow groove (12) is provided between two adjacent magnetic sensors (2) on the positioning cap skeleton structure (1).

5. The magnetic microrobot positioning device for head interventional surgery according to claim 1, characterized in that: The positioning cap skeleton structure (1) is a sphere with a 1 / 3 outer radius of 7.5 mm and a spherical shell thickness of 0.3 mm.

6. The magnetic microrobot positioning device for head interventional surgery according to claim 1, characterized in that: The positioning protrusion (11) is triangular in shape, and the connecting protrusion (13) is rectangular in shape.

7. The magnetic microrobot positioning device for head interventional surgery according to claim 1, characterized in that: The bracket (6) comprises a connecting portion (61) and a C-shaped portion (62) connected to each other. The connecting portion (61) is connected to the crossbeam (4). A threaded hole (621) is provided in the middle of the lower bottom surface of the C-shaped portion (62). The thread on the column (72) of the fixing column (7) is screwed into the threaded hole (621).

8. The magnetic microrobot positioning device for head interventional surgery according to claim 7, characterized in that: The upper end of the column (72) is provided with a fixing plate (71), and the lower end is provided with a handle (73).

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