Calibratable puncture device

Abstract

The utility model belongs to the field of puncture instruments, and particularly relates to a calibratable puncture device. Comprising a puncture probe and a reference support, the puncture probe is used for puncturing a puncture model along a puncture path, and the reference support is used for being held during handle puncture; a plurality of light reflecting balls are arranged on the reference bracket, are spaced by a certain distance and are used for being overlapped with the virtual balls in position; a sensor is arranged in the puncture device and used for mixing feedback data of the reality glasses. The reference support is Y-shaped, and the reflective balls are distributed at the two ends and the longitudinal lower side of the Y-shaped head respectively. And the reference bracket and the plurality of reflective balls are integrally formed. The device can assist in obtaining coordinates of a virtual ball and a real reflective ball, and completes conversion from a virtual model coordinate system to an optical tracker coordinate system.

Description

Technical Field

[0001] The utility model belongs to the field of puncture instruments, in particular to a calibrable puncture device. Background Art

[0002] Puncture is a crucial invasive clinical procedure, widely used in fluid extraction, tissue sampling, and catheter insertion. It is a crucial component of skills training. Traditionally, medical students learned this skill primarily by reading manuals, watching videos, and then simulating the procedure on a rubber model. In recent years, mixed reality technology has been adopted for puncture training due to its realistic, immersive experience and risk-free nature.

[0003] The main steps for using mixed reality technology for puncture positioning in human teaching aids are as follows: Initialization: Wear the glasses to start the system, and follow the prompts to move your head and body to calibrate your spatial positioning and establish a coordinate system. Model Loading: Select or search for a virtual model of the puncture course. The system downloads and renders it to the glasses screen, allowing users to control the model. Puncture Planning: Select the puncture point on the virtual model. The system generates a path indicated by laser lines, which can be adjusted in real time. Practical Operation: Aim the handheld puncture device at the starting point and push it into the model. The device returns data, and the glasses screen displays parameters. The system evaluates the operation and provides corrective actions. Data Analysis and Feedback: The system analyzes the puncture data and generates a feedback report for the user, including relevant information. The user can save the report. During the puncture, virtual-real calibration is required. This involves calculating the conversion matrix from the optical tracker coordinate system to the MR glasses coordinate system using the coordinates of corresponding real and virtual points. This allows for real-time dynamic feedback of the puncture device's movement path and three-dimensional coordinate data to the mixed reality glasses, helping the user accurately locate the puncture point. Existing puncture tools that can perform calibration using mixed reality technology do not exist. Therefore, it is necessary to design a puncture device that can assist with calibration. Utility Model Content

[0004] To address the aforementioned technical issues, this utility model proposes a calibration-assisted puncture device. The device includes a sensor and several reflective balls. The reflective balls are used as real markers, and virtual balls of the same size are designed as virtual markers. The coordinates of the virtual balls and the real reflective balls are obtained to convert the virtual model coordinate system to the optical tracker coordinate system.

[0005] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical means:

[0006] A calibratable puncture device comprises a puncture probe for puncturing a puncture model along a puncture path and a reference support for holding when puncturing a handle, wherein the reference support is provided with a plurality of reflective balls spaced apart from each other and used for coinciding with virtual ball positions, and the puncture device contains a sensor for feeding back data of a mixed reality glasses.

[0007] Further, the reference support is in a "Y" shape, and the reflective balls are respectively distributed at two ends of a head of the "Y" shape and a longitudinal lower side.

[0008] Further, the reference support is integrally formed with the plurality of reflective balls.

[0009] Further, the number of the reflective balls on the reference support is four.

[0010] Preferably, the puncture probe is made of stainless steel.

[0011] Preferably, the puncture device has a length of 33 cm and a width of 11.2 cm.

[0012] The present scheme has the following beneficial technical effects:

[0013] The reference support is provided with a plurality of reflective balls, which can be designed to coincide with virtual ball positions, so as to complete conversion from a virtual model coordinate system to an optical tracker coordinate system, thereby helping to realize accurate positioning in a mixed reality environment and providing accurate position reference for puncture operation.

[0014] The puncture device contains a sensor, which can feed back positioning tracking data and three-coordinate data of a moving path of the puncture device to a mixed reality glasses in real time and dynamically, thereby further improving accuracy of a puncture position.

[0015] The reference support is used for holding when puncturing a handle, and is designed in a shape and structure in accordance with an ergonomic principle, so as to facilitate user operation and improve comfort and stability of operation. The puncture probe is made of stainless steel, has good strength and corrosion resistance, is smooth on the surface and easy to disinfect, reduces infection risk, and ensures safety and reliability of puncture operation. DETAILED DESCRIPTION

[0016] Fig. 1 is a structure schematic view of a specific embodiment of the present utility model;

[0017] Fig. 2 is a bottom view of a specific embodiment of the present utility model;

[0018] Fig. 3 is a bottom view of a specific embodiment of the present utility model.

[0019] Numbers in the figure: 1, puncture probe; 2, reference support; 3, reflective ball. DETAILED DESCRIPTION

[0020] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. The following embodiments and the features in the embodiments can be combined with each other without conflict.

[0021] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, certain parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, the omission of certain well-known structures and their descriptions in the accompanying drawings is understandable.

[0022] The utility model provides a calibratable puncture device, which solves the problem of inability to accurately position and provide real-time feedback using ordinary models by cooperating with the laser cross-positioning function of mixed reality glasses, while reducing the high teaching costs brought by special teaching aids.

[0023] The human body puncture teaching aids completed through mixed reality mainly include the following devices: mixed reality glasses, laser puncture positioning device, battery module, puncture device with calibration and positioning function, and puncture model.

[0024] The mixed reality glasses use a lightweight, high-strength composite material as the shell material to ensure comfort and durability. It is equipped with an integrated high-definition front camera that supports high frame rate shooting and can capture images of the puncture area in real time to ensure that the image is clear and coherent. The glasses are equipped with a high-resolution display screen using transparent display technology, which can display information such as puncture position, angle and depth in real time, allowing users to see all necessary information without shifting their sight during operation. At the same time, the glasses have a built-in data processing module that supports real-time data exchange with the user interface, interacts with the user through mixed reality technology, and provides intuitive visual and audio feedback. For example, when the puncture needle approaches the target position, the system can issue a sound prompt or display a guide arrow in the field of view. In addition, the glasses are also designed with an adjustable headband and nose pads to ensure a secure fit on the faces of different users.

[0025] The laser emission module of the laser puncture positioning device is located at the front end of the glasses, using a stable light source to ensure the uniform brightness and good directivity of the emitted laser beam. The receiving module is located at a proper position in front of the glasses, equipped with a high-sensitivity receiver for capturing the reflected laser signal. The device calculates the position of the puncture needle in three-dimensional space by measuring the time it takes for the laser to travel from emission to reflection back to the receiver, thus achieving precise positioning. The built-in high-performance processor of the data processing module can quickly process the laser signal and calculate the angle and depth of the puncture needle. The processor uses high-performance chips to ensure the real-time and accuracy of data processing. The data transmission module supports multiple wireless or wired transmission protocols to send the calculation results to the mixed reality glasses for user interface display, ensuring the security and stability of data transmission.

[0026] The tracking positioning tool for surgical navigation mainly includes positioning probes and calibration tools. The positioning probe uses an optical navigation probe: a reflective ball probe mainly based on near-infrared identification, which identifies the center of the marker ball in the binocular image through a stereo vision system, and then reconstructs the three-dimensional icon of the marker ball center based on the disparity map.

[0027] As shown in Figs. 1-3 , four reflective balls on the reference bracket are used as real marker points, and four virtual balls of the same size as the reflective marker balls are designed as virtual marker points. By obtaining the coordinates of the four virtual balls and the four real reflective balls, the conversion from the virtual model coordinate system to the optical tracker coordinate system is realized. In the specific implementation process, the coordinates of the patient's cusps and the corresponding cusps on the virtual model can also be collected to complete the conversion from the optical tracker coordinate system to the MR glasses coordinate system.

[0028] The virtual-real calibration method is used to determine the conversion relationship between the optical tracker coordinate system and the MR glasses coordinate system. Specifically, based on the four reflective balls on the reference bracket, virtual balls of the same size are presented in the virtual coordinate system of the glasses, and then the virtual balls are moved in turn to completely coincide with the small balls on the reference bracket. At this time, the position coordinates of the virtual ball centers in the MR glasses coordinate system and the coordinates of the reflective ball centers on the reference bracket in the optical tracker coordinate system can be obtained. Finally, the conversion matrix from the optical tracker coordinate system to the MR glasses coordinate system is calculated according to the coordinates of the corresponding points.

[0029] The display screen can display a user interface, which is designed to be simple and intuitive, with multiple functions. In terms of information display, it can present key parameters such as puncture position, angle, and depth in real time, using large fonts and eye-catching colors to distinguish different information, and the overall design allows users to understand at a glance. In terms of operation guidance, it provides graphical operation guidance, such as displaying a virtual puncture path and marking different stages of operation with different colors, to help users better understand the puncture path. The built-in data recording function can save data from each training and allow users to export it for further analysis. At the same time, the interactive design supports gesture control or voice commands, making it convenient for users to adjust or query related information during operation.

[0030] The battery module provides power support for the mixed reality glasses, laser puncture positioning device, and user interface. It uses high-performance batteries to ensure long-lasting battery life, supporting continuous operation for several hours. The battery module is portable, with a compact and lightweight design, making it easy to carry in various situations. At the same time, it has a built-in charging management system that supports fast charging and intelligent power monitoring, allowing users to check the remaining battery power at any time through the user interface and charge when necessary.

[0031] Please refer to Figures 1-3. The puncture device is ergonomically designed, with the reference bracket 2 serving as the handle portion conforming to the palm curve, making it easy to hold and not easy to slip. The reference bracket 2 is "Y" shaped, and the reflective balls 3 are integrally formed on both ends of the "Y" shaped head and the longitudinal lower side. The reflective balls 3 are spaced at a certain distance and are used to coincide with the virtual ball position. The puncture device has built-in sensors that can provide real-time dynamic feedback of the positioning tracking data and three-coordinate data of the puncture device's movement path to the mixed reality glasses. The puncture probe is made of medical-grade stainless steel, with a smooth surface that is easy to disinfect and can reduce the risk of infection. The puncture probe is used to penetrate the puncture model along the puncture path, and the reference bracket is used to hold the handle during puncture.

[0032] The puncture model is made of soft silicone material to simulate the tactile sensation of human tissue and provide a realistic puncture experience for users. In terms of structural design, it has different depth and density levels inside to simulate the anatomical structure of different parts of the human body. In addition, the model surface is provided with positioning marks that match the virtual laser line of the mixed reality glasses, which helps users accurately locate the puncture point.

[0033] The following steps are involved in using mixed reality to complete clinical puncture skill teaching:

[0034] (1) Initialization settings

[0035] Step 1.1: The user first wears the mixed reality (MR) glasses, ensuring that the glasses fit securely on the head, and adjusts the comfort and field of view of the glasses to achieve the best visual experience.

[0036] Step 1.2: Start the system application on the MR glasses and activate the spatial positioning sensor. The system will automatically perform an initialization self-check, including checking sensor status, network connection, etc.

[0037] Step 1.3: Perform spatial positioning calibration. The user needs to follow the system prompts and make head and body movements at specific positions so that the system can accurately establish a three-dimensional coordinate system and calibrate the relative position of the glasses and the surrounding environment.

[0038] (2) Model loading

[0039] Step 2.1: In the system interface, the user selects or searches for the corresponding puncture course. The course-related model can be a standard model pre-installed in the system or a specific model customized or downloaded by the user.

[0040] Step 2.2: Click to load the model, and the system will download and render the model from local storage or a remote server to the display screen of the MR glasses. The user can rotate, scale and move the model through gestures or voice control to observe from different angles.

[0041] (3) Puncture planning

[0042] Step 3.1: Select the starting point and target point of the puncture on the model. The user can select the point by clicking the virtual button on the screen or using gesture control, and view the detailed information of the selected point through the display interface of the MR glasses.

[0043] Step 3.2: The system automatically generates a virtual puncture path according to the selected starting point and target point, and projects a laser line through the MR glasses to indicate the path. The laser line will adjust the viewing angle in real time following the user's head movement, ensuring that the user can clearly see the puncture path.

[0044] Step 3.3: The user can adjust the puncture path as needed, such as changing the angle, depth or avoiding sensitive areas, etc. The adjusted path will be updated in real time on the display screen of the MR glasses.

[0045] (4) Actual operation

[0046] Step 4.1: The user takes the puncture device and aligns it with the starting point of the puncture path displayed in the MR glasses. At this time, the physical marker point or laser receiver on the puncture device should be aligned with the virtual laser line projected by the MR glasses.

[0047] Step 4.2: Along the path indicated by the virtual laser line, the user slowly and steadily pushes the puncture device into the model. During the pushing process, the downward feedback mechanism will record and transmit the downward depth, angle change and movement path of the puncture needle to the data processing module in real time.

[0048] Step 4.3: The user can view real-time feedback information through the display screen of the MR glasses, including a preview of the puncture path, a current position indication, angle and depth values, etc. At the same time, the system will evaluate the puncture operation according to the preset standards and provide error prompts and correction suggestions as necessary.

[0049] (5) Data analysis and feedback

[0050] Step 5.1: After the puncture operation is completed, the user stops pushing the puncture device and waits for the system to complete data processing. The system will comprehensively analyze various data during the puncture process, including the accuracy of the puncture path, the stability of the depth control, and whether there are error operations, etc.

[0051] Step 5.2: The system generates a feedback report and displays it to the user through the display screen of the MR glasses. The feedback report should include the evaluation of the success of the puncture, error analysis, and specific improvement suggestions, etc. The user can understand their shortcomings according to the feedback report and conduct targeted practice and improvement.

[0052] Step 5.3 (optional): The user can choose to save the feedback report for future reference or share it with teachers or classmates for discussion and exchange. At the same time, the system also supports exporting the feedback report as an electronic document or printing it out for backup.

[0053] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought disclosed by the present application should be covered by the claims of the present application.

Claims

1. A calibratable puncture device, characterized in that: The invention comprises a puncture probe (1) and a reference bracket (2), wherein the puncture probe (1) is used to puncture the puncture model along the puncture path, and the reference bracket (2) is used to hold the handle during puncture; a plurality of reflective balls (3) are provided on the reference bracket (2), and the reflective balls (3) are spaced a certain distance apart, and the reflective balls (3) are used to coincide with the position of the virtual ball; the puncture device contains a sensor for feeding back data to the mixed reality glasses.

2. The calibratable puncture device according to claim 1, characterized in that: The reference bracket (2) is in a "Y" shape, and the reflective balls (3) are respectively distributed at both ends and the longitudinal lower side of the "Y"-shaped head.

3. The calibratable puncture device according to claim 1, characterized in that: The reference bracket (2) and the plurality of reflective balls (3) are integrally formed.

4. The calibratable puncture device according to claim 2, characterized in that: The number of the reflective balls (3) on the reference bracket (2) is four.

5. The calibratable puncture device according to claim 1, characterized in that: The puncture probe (1) is made of stainless steel.

6. The calibratable puncture device according to claim 1, characterized in that: The puncture device has a length of 33 cm and a width of 11.2 cm.

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