An ultrasound navigation device based on beam aiming
The ultrasonic navigation device, which uses a laser and adjustment mechanism to project a beam and marker lines onto the light-receiving surface, combined with a display to show the ultrasonic image, solves the problems of inaccurate positioning and inconvenient needle insertion posture in the prior art, and achieves higher positioning accuracy and operational flexibility.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HEALINNO (BEIJING) MEDICAL TECH CO LTD
- Filing Date
- 2025-04-27
- Publication Date
- 2026-08-04
AI Technical Summary
In existing technologies, transrectal ultrasound-guided puncture surgery is difficult to achieve precise positioning, and the needle insertion posture is inconvenient when using a mesh target plate, which increases the operation time and complexity.
An ultrasonic navigation device based on beam aiming, including a light-receiving surface, a laser, and an adjustment mechanism, is used to achieve precise navigation without the need for a physical mechanical target by emitting a diffused beam and marker lines, combined with displaying ultrasonic images on a monitor.
It provides greater operating space, increases the flexibility of needle insertion angle, improves positioning accuracy and ease of operation, and reduces surgical time and complexity.
Smart Images
Figure CN224584825U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of medical device technology, and in particular to an ultrasound navigation device based on beam aiming. Background Technology
[0002] Transrectal ultrasound-guided puncture procedures are widely used in modern medicine, especially in areas such as prostate biopsy and focal ablation of prostate cancer. However, this surgical method has some significant drawbacks, primarily the inability to directly visualize the surgical area, and its heavy reliance on the surgeon's knowledge of anatomical structures and years of experience. This poses challenges to the precision and safety of the procedure.
[0003] In transrectal ultrasound-guided prostate biopsy, an ultrasound probe is placed in the patient's rectum to provide single-plane or biplane imaging of the prostate. The ultrasound images are typically displayed in real-time on the ultrasound machine screen. The common practice in current technology is for the surgeon to observe the medical images and reconstructed 2D or 3D model on the screen to plan surgical procedures, such as needle insertion direction and / or entry point and target location. The drawback of this approach is that the surgeon can only observe and adjust the medical model on the screen and cannot confirm its position on the patient. The surgeon must rely solely on their experience to manually control the angle and position of the puncture or ablation needle.
[0004] Another existing technology involves displaying a positioning matrix grid or single array on ultrasound or third-party equipment, using a physical channel mounted on the ultrasound probe holder that matches the matrix grid or single array target plate to guide needle placement. The drawback of this method is that the needle can only be inserted through the physical channel, which is horizontal to the ground, limiting the single and restricted needle insertion angle. The surgeon cannot perform needle insertion at other angles. In cases requiring puncture into the anterior lobe of the prostate ventral side or where the pubic bone obstructs the needle insertion path, this grid or single array target plate method becomes ineffective, forcing the surgeon to remove the target plate and place the needle manually, thus negating its guiding purpose. Furthermore, the target plate requires sterilization before each procedure and assembly during surgery, increasing surgical time and causing inconvenience. Utility Model Content
[0005] This application proposes an ultrasound navigation device based on beam aiming, which solves the problems of inaccurate positioning based on medical images and inconvenience in adjusting the needle insertion posture when using a grid target plate.
[0006] An embodiment of this application proposes an ultrasonic navigation device based on beam aiming, including a light-receiving surface, a laser, and an adjustment mechanism;
[0007] The light-receiving surface is provided with marking lines;
[0008] The light-emitting device is used to emit a diffused light beam onto the light-receiving surface, and the size of the graphic displayed by the beam cross-section is consistent with the range of the preset marker lines;
[0009] The adjustment mechanism is used to adjust the distance between the light-emitting device and the light-receiving surface.
[0010] In some embodiments of this application, the light-emitting device is a laser, and the laser is also used to project point laser, cross-shaped graduated laser, or grid-shaped laser.
[0011] In some embodiments of this application, the laser beam cross-section is circular or rectangular; the marking lines include circular lines or grid lines.
[0012] In embodiments of this application, the device further includes a display. The display is used to display images; preferably, the display is also used to display images acquired by an ultrasound probe. The light-emitting device is a projector, which also emits projection light containing the image onto the light-receiving surface.
[0013] In one embodiment of this application, the projector is used to transmit cross-sectional images acquired by an ultrasonic probe.
[0014] In one embodiment of this application, the light-receiving surface is arranged perpendicular to the direction of light beam propagation.
[0015] In one embodiment of this application, the adjustment mechanism is further used to adjust the angle or position of the light-emitting device.
[0016] In one embodiment of this application, the ultrasonic navigation device based on beam aiming further includes an ultrasonic probe driven by a stepper motor. The stepping direction of the ultrasonic probe is arranged parallel to the beam propagation direction.
[0017] The above-mentioned at least one technical solution adopted in the embodiments of this application can achieve the following beneficial effects: it can provide a larger operating space for surgical operations without the need for a physical mechanical target plate, provide a larger needle insertion angle in puncture navigation scenarios, and can conveniently guide the operator to carry out surgical operations, thereby improving positioning accuracy and operational flexibility. Attached Figure Description
[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:
[0019] Figure 1 This is a schematic diagram of an embodiment of the device of this application;
[0020] Figure 2 A schematic diagram illustrating the laser projection range calibration for this application;
[0021] Figure 3 A diagram illustrating the adjustment of the laser position;
[0022] Figure 4 For navigation scenarios in a laser book that includes a display;
[0023] Figure 5 This is a schematic diagram of an embodiment in which the present application further includes an ultrasonic probe. Detailed Implementation
[0024] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0025] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.
[0026] Figure 1 The diagram below shows an embodiment of the device described in this application. An ultrasonic navigation device based on beam aiming includes a light-receiving surface 21, a light-emitting device 22, and an adjustment mechanism 23.
[0027] The light-receiving surface 21 can be any projection surface facing the collimated beam of the light-emitting device. It can be a planar surface of a grid plate with a certain rigidity, or a plastic film attached to the planar surface of the grid plate. Preferably, one side of the plastic film is the light-receiving surface, and the other side of the plastic film is adhesive and can be pasted onto the patient's skin surface (e.g., near the patient's perineum in a transrectal ultrasound navigation scenario).
[0028] The light-receiving surface is provided with marking lines, which include circular lines or grid lines. In some embodiments of this application, the light-receiving surface with grid lines is referred to as a grid plate.
[0029] The light-emitting device is used to emit a diffused light beam onto a light-receiving surface, and the size of the graphic displayed by the beam cross-section is consistent with the range of preset marking lines on the light-receiving surface. In some embodiments of this application, the light-emitting device is a laser, and the laser beam cross-section is circular or rectangular. In some embodiments of this application, the laser is also used to project point laser, cross-shaped graduated laser, or grid-shaped laser onto the light-receiving surface.
[0030] The adjustment mechanism is used to adjust the distance between the light-emitting device and the light-receiving surface. To ensure the light-receiving surface correctly displays the pattern emitted by the light-emitting device and facilitates adjustment of the graphic display size of the beam cross-section, the plane of the light-receiving surface is positioned perpendicular to the beam propagation direction.
[0031] Figure 2 This is a schematic diagram illustrating the calibration of the projection range of the light-emitting device for this application. In one embodiment of this application, the adjustment mechanism is further used to adjust the angle or position of the light-emitting device. For example, adjusting the relative height between the light-emitting device and the parallel line of the ultrasonic probe; adjusting the lateral and vertical deviations between the light-emitting device and the light-receiving surface; adjusting the movement of the light-emitting device along the irradiation direction; and automatically deforming the projected image to adapt to the shape of the marker line on the light-receiving surface when there is a deviation angle between the beam direction and the normal of the light-receiving surface plane or a deviation angle between the beam direction and the axis of the ultrasonic probe. During calibration, the position and / or angle of the light-emitting device are adjusted so that the graphic size displayed on the beam cross-section on the light-receiving surface is consistent with the range of the preset marker line.
[0032] Taking ultrasound navigation during prostate biopsy as an example, when calibrating the luminescent device, the pattern emitted by the device is projected onto the patient's perineum. Because the perineum is nearly flat, it can directly serve as the receiving surface for the emitted pattern. After inserting the transrectal ultrasound probe, the content projected by the luminescent device must first be calibrated to ensure that the size of the image projected onto the perineal plane matches the size of the image content. This calibration process can be accomplished using the aforementioned grid plate. The grid plate has graduations consistent with its actual length, with the unit of length being the International System of Units (SI). The user attaches the grid plate (e.g., made of transparent plastic film) to the patient's perineum and activates the grid projection of the luminescent device. The luminescent device is fixed to the support structure where the ultrasound probe is located. Moving the luminescent device back and forth allows the grid projection emitted by the device to coincide with the grid plate, thus achieving scale-free pattern projection and calibrating the luminescent device.
[0033] The light-emitting device equipped with a projector can also project images or video streams onto the patient's perineum. Because the patient's perineum is almost perpendicular to the ground, a small light-receiving surface can be attached as a screen to receive the projected information.
[0034] The light-receiving surface can also be set at any predetermined position in the direction of movement of the medical device (e.g., a puncture needle). For example, a circular target of fixed diameter is set at a fixed position in front of the ultrasound probe, and a circle is projected by a projector. The projector is moved back and forth so that the circle coincides with the target.
[0035] Since the light beam is a diffused beam originating from the light-emitting device's light source, adjusting the distance between the light-emitting device and the light-receiving surface can change the size of the displayed graphic. In some embodiments, this method can also be used to calibrate a laser that can only project crosshairs, allowing the laser to be moved back and forth manually or automatically by the device to align the laser crosshairs with the center crosshairs of the grid plate. Figure 3 The diagram shows the adjustment of the laser position. The formula for calculating the moving distance is: d2-d1=a*cot(α). Where d1 is the initial distance between the laser and the projection surface, d2 is the adjusted distance between the laser and the projection surface, a is the length of the initial projection deviating from the marked line on the projection surface, and α is the projection angle (a known fixed amount).
[0036] Figure 4 This describes a navigation scenario for an ultrasound navigation device based on beam aiming, including a display. After the position calibration of the luminescent device is completed, the size of the projected graphic of the luminescent device matches the actual size range 41. Once the surgery begins, the physical device that sets the light-receiving surface can be removed (if the patient's skin surface is used directly as the light-receiving surface during calibration, removal is not necessary). The luminescent device can guide the doctor to place the needle by projecting a grid pattern or image onto the patient's skin surface (e.g., the outer surface of the perineum). In embodiments of this application, the device also includes a display. For example, a gridded ultrasound image 44 of the prostate is displayed on the display. By observing the ultrasound image on the display, the doctor can determine the location to be punctured or ablated at a certain coordinate 43 on the grid, and use the projection of the luminescent device onto the perineum to find the same coordinate 42 in the projected image of the luminescent device, enabling convenient and precise needle placement.
[0037] In one embodiment of this application, the light-emitting device is a projector, which also emits projection light containing the image displayed on the display onto the light-receiving surface or the surface of human skin. Preferably, the projector can also be used to emit cross-sectional images acquired by an ultrasound probe. The light-emitting device can also project grid patterns, coordinate line patterns, or the aforementioned images onto the surface of human skin.
[0038] In one embodiment of this application, the device for ultrasound navigation using a collimated beam projection from a light-emitting device further includes an ultrasound probe driven by a stepper motor. The stepping direction of the ultrasound probe is parallel to the beam propagation direction. The light-emitting device and the handle end of the ultrasound probe are connected by a support structure. Before the surgery begins, the position of the light-emitting device is quickly adjusted using a removable light-receiving surface (e.g., a grid plate) to calibrate the beam. The beam aiming device projects an auxiliary aiming pattern, such as a dot laser, a cross-shaped laser with graduations, or a grid-like laser, the projected content of which is consistent with that displayed on the device screen.
[0039] Before surgery, a stepper motor with an encoder can be used to move the ultrasound probe within the patient's rectum in the direction of withdrawal, acquiring a complete sequence of transverse images of the prostate. Alternatively, during surgery, a stepper motor with an encoder can be used to move the ultrasound probe within the patient's rectum in a direction parallel to the instrument's forward direction, acquiring transverse images in real time. Preferably, the display is also used to display the images acquired by the ultrasound probe.
[0040] Figure 5 This is a schematic diagram of an embodiment of a device that further includes an ultrasonic probe. In one embodiment of this application, the device includes a stepper motor 71, an ultrasonic probe 72, a display 73, a projector 74, a removable grid plate 75, and a processing module 76.
[0041] A stepper motor is used to drive the transrectal ultrasound probe to move within the patient's body; the ultrasound probe is used to acquire intraoperative images; the display is used to display images, including the acquired images and / or images and models to be projected, and as a GUI to display user operation commands.
[0042] The projector projects the image to be projected onto the target object through a configured laser; the grid panel is used to help establish an accurate correspondence between the projected image and video and the patient.
[0043] The processing module is used to read the images transmitted from the intraoperative ultrasound probe and establish the matching relationship between the ultrasound sagittal and transverse planes, perform image processing and reconstruction, register with other modal images, project a pattern consistent with the grid plate, help the projected image or 3D model to be unified with the patient in the same coordinate system, and send the image to be projected to the projector so that it can be projected onto the target object.
[0044] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0045] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the word “comprising” as used in this specification means the presence of the stated features and / or components, but does not exclude the presence or addition of one or more other features and / or components. It should be understood that when a component is “connected” to another component, it may be directly connected to the other component, or there may be intermediate components. The word “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.
[0046] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical, technical, and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.
[0047] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.
Claims
1. An ultrasound navigation device based on light beam aiming, characterized in that, Includes the light-receiving surface, the light-emitting device, and the adjustment mechanism; The light-receiving surface is provided with marking lines; The light-emitting device is used to emit a diffused light beam onto the light-receiving surface, and the size of the graphic displayed by the beam cross-section is consistent with the range of the preset marker lines; The adjustment mechanism is used to adjust the distance between the light-emitting device and the light-receiving surface.
2. The ultrasound navigation device of claim 1, wherein, The light-emitting device is a laser, which can also be used to project point lasers, cross-shaped graduated lasers, or grid-shaped lasers.
3. The ultrasound navigation device of claim 1, wherein, The light-emitting device is a laser, and the cross-section of the beam emitted by the laser is circular or rectangular; the marking lines include circular lines or grid lines.
4. The ultrasound navigation device of claim 1, wherein, It also includes a display; The display is used to display ultrasound images with a grid. The light-emitting device emits a grid pattern onto the light-receiving surface.
5. The ultrasound navigation device of claim 1, wherein, The light-emitting device is a projector.
6. The ultrasound navigation device of claim 1, wherein, The adjustment mechanism is also used to adjust the angle or position of the light-emitting device.
7. The ultrasound navigation device of claim 1, wherein, It also includes an ultrasonic probe driven by a stepper motor; the stepping direction of the ultrasonic probe is set parallel to the beam propagation direction.
8. The ultrasound navigation device of claim 1, wherein, The light-receiving surface is set perpendicular to the direction of light beam propagation.
9. The ultrasound navigation device of claim 7, wherein, The light-emitting device is a projector, which is also used to emit cross-sectional images acquired by the ultrasonic probe.
10. The ultrasound navigation device of claim 7, wherein, It also includes a display for showing images acquired by the ultrasound probe.