22 results about "Lung punctures" patented technology

The invention relates to the technical field of puncture auxiliary devices, in particular to a lung puncture laser guiding device based on a CT image and a control method. A set of complete puncture guiding and feedback mechanism is constructed through the reference positioner, the precise positioner and the visual feedback system, and the reference positioner forms a clear needle inserting mark on the body surface of a patient by emitting positioning laser. The precise positioner realizes precise projection and visual guidance of a theoretical needle inserting angle through cooperative movement of a first sliding rail, a second sliding rail and a braking sliding seat on the first sliding rail and the precise laser position indicator, and the visual feedback system captures and analyzes an actual operation image of a doctor in real time, calculates deviation between the actual needle inserting angle and a theoretical value, and displays the actual needle inserting angle and the theoretical value. Repeated puncture times are reduced, and the operation success rate and the patient safety are improved; the technical problems that in the puncture operation process, due to the fact that the angle is not easy to grasp, the puncture frequency of a patient is increased, pain of the patient is increased, and radiation risks of doctors and the patient are increased are solved.

The application discloses a percutaneous lung puncture path planning method and device based on lung segment level blood vessel structure constraint, and the method comprises the following steps: performing isotropic resampling, lung lobe segmentation and bronchial tree extraction on CT image data to generate a three-dimensional lung dissection model; inputting the three-dimensional lung dissection model into a lung segment semantic segmentation module to output a lung segment boundary; reconstructing the topological connection relationship between lung segment level blood supply arteries and drainage veins from the lung segment boundary to obtain a structured lung segment level blood vessel atlas; constructing a dynamic puncture risk field voxel map according to the structured lung segment level blood vessel atlas; sampling a plurality of candidate needle entry points in a surface feasible needle entry region to generate an initial path set in the three-dimensional lung dissection model; and weighting the path length, cumulative risk value, puncture angle penalty and high-density lung tissue volume according to a multi-objective optimization function to output a final puncture path. The application significantly improves the safety boundary and clinical applicability of percutaneous lung puncture.

The invention provides a skin expanding device and an in-vitro artificial membrane lung puncture sleeve bag, the skin expanding device comprises a plurality of skin expanding tubes which are different in tube diameter and are arranged in a nested mode, the skin expanding tubes are used for expanding, establishing and maintaining a percutaneous puncture channel in an in-vitro artificial membrane lung puncture operation, the skin expanding tubes are connected in a sliding mode, and each skin expanding tube comprises a tube body; the connecting part is fixedly connected to one end of the pipe body; the inserting part is of a through hollow circular truncated cone structure, and the end, with the large diameter, of the inserting part is fixedly connected with the end, away from the connecting part, of the pipe body and communicates with the pipe body; a bayonet is formed in the skin expanding pipe from top to bottom in a penetrating mode and used for fixing a guide wire.

The application discloses a navigation system for lung puncture in pneumology, and relates to the technical field of lung puncture navigation, comprising a data collection module, a data processing module, a calculation module and a navigation module. The application has the advantages that lung image data and respiratory motion data of a patient are collected, respiratory compensation calculation is utilized, the lesion position can be accurately positioned in real time, the need for multiple adjustments of the position of a puncture needle is avoided, the optimal puncture path can be calculated, intelligent biopsy puncture path planning can be carried out according to the specific condition of the patient, the biopsy risk is reduced, and the lesion position change caused by respiratory motion can be accurately compensated through real-time respiratory compensation application, which ensures that the navigation accuracy and biopsy effect are not affected by respiratory motion.

The utility model provides a body position bolster for lung puncture under the guidance of CT (computed tomography). The body position bolster comprises a headrest part and a trunk part which is detachably connected with the headrest part, the headrest part comprises two side pieces and a middle piece which is connected between the two side pieces and is made of a soft material, and the highest point of each side piece is higher than the middle piece. The limiting blocks are rotated in the direction away from the notches, the limiting blocks drive the rotating plates to rotate, the rotating plates drive the rotating shafts to rotate on the side pieces, and therefore the two limiting blocks are in the standing state, the two hands of a patient can hold the two limiting blocks at the moment, and therefore the patient has grippers and supporting points; the patient can be kept in the current body position state; when the patient does not need to use the limiting block, the medical staff can rotate the limiting block to the notch, so that the limiting block limits and supports the two sides of the head of the patient, and the comfort of the patient is guaranteed.

The invention discloses a lung puncture multifunctional needle inserting device capable of achieving accurate positioning, and relates to the technical field of medical instruments, the lung puncture multifunctional needle inserting device comprises a puncture mechanism, the puncture mechanism comprises a biopsy needle, the biopsy needle is sleeved with a guide needle, and a positioning mechanism is arranged outside the biopsy needle; the positioning mechanism comprises a stable supporting unit, the stable supporting unit is arranged outside the biopsy needle, and the stable supporting unit is used for supporting the biopsy needle and the holding end of the guide needle; by means of the lung puncture multifunctional needle inserting device capable of achieving accurate positioning, medical staff can be far away from CT scanning equipment, harm caused by CT scanning to the medical staff is effectively reduced, the situation that the holding end of the puncture needle inserting device shakes and deviates due to the fact that the gravity center is close to the upper portion can be prevented, after the puncture needle inserting device pierces into the body of a patient, the medical staff does not need to conduct manual righting, and the labor intensity of the medical staff is lowered. The use stability of the puncture needle inserting device is effectively guaranteed, the positioning precision and convenience of the puncture needle inserting device are improved, and CT scanning radiation injuries of medical staff are reduced.

The invention discloses a breathing motion compensation method and system based on master-slave force feedback. The breathing motion compensation method comprises the following steps that firstly, slave end acting force of breathing of a patient on a puncture needle is measured; 2, if the slave end acting force is equal to 0, directly returning to the step 1, otherwise, transmitting the slave end acting force to the master hand according to a preset proportion; 3, if the feedback force of the master hand is increased, the motion acceleration of the master hand is increased, so that the motion acceleration of the puncture needle is increased, and the step 1 continues to be executed; if the feedback force of the master hand is reduced, the motion acceleration of the master hand is reduced, so that the motion acceleration of the puncture needle is reduced, and the first step is continued; and if the feedback force of the master hand is not changed, directly returning to the step 1. According to the breathing motion compensation method, breathing motion compensation is introduced in the master-slave lung puncture operation process, so that a patient can continue to puncture under breathing, and the force of the master hand is accurately fed back to the slave end mechanical arm.

The application relates to the technical field of medical devices and computer-aided surgical navigation, and discloses a virtual positioning CT-guided lung biopsy method, which utilizes real-time acquired body surface point cloud data to drive a biomechanics model, deduces a displacement field of lung internal grid nodes, and generates a virtual lung model which changes with respiratory motion. Through a fiber grating sensing array embedded in a puncture needle, the three-dimensional shape of the needle body is solved in real time, and an axial force strain is separated. The system monitors the first derivative characteristics of the strain, and when a mechanical event representing penetration of an anatomical boundary is identified, a spatial deviation vector of the physical coordinates of the needle tip and the virtual predicted coordinates is calculated. A local space calibration field is constructed by using a radial basis function, the virtual lung model is non-rigidly corrected based on the deviation vector, and a dynamic navigation image is generated. The application improves the positioning accuracy of lung puncture navigation by combining body surface deduction and puncture mechanical feedback correction model prediction error without increasing the radiation dose.

The utility model provides a lung puncture robot and a master-slave control puncture system with force feedback, and the robot comprises an upper translation mechanism with a Corexy structure; the lower layer translation mechanism is provided with a Corexy structure; the bracket is connected with the lower surface of the upper-layer translation mechanism and the upper surface of the lower-layer translation mechanism; one end of the puncture needle inserting mechanism is rotationally connected to the upper-layer translation mechanism, and the other end of the puncture needle inserting mechanism is rotationally connected to the lower-layer translation mechanism; the upper-layer translation mechanism and the lower-layer translation mechanism drive the puncture needle inserting mechanism to move in the X direction and the Y direction; the puncture needle is connected to the puncture needle inserting mechanism and used for executing puncture operation. The robot provided by the utility model has five degrees of freedom, has the characteristics of small volume and light weight, and can enter a CT scanning hole together with a patient to effectively compensate the influence of respiratory movement on an operation; the puncture system provided by the utility model can improve the safety and efficiency of a lung puncture operation.

The invention discloses a 3d printing device for assisting lung puncture, and belongs to the technical field of medical auxiliary instruments, the 3d printing device comprises a fixed clamping and pressing assembly and an angle adjusting assembly, the fixed clamping and pressing assembly is arranged on one side of the angle adjusting assembly, the fixed clamping and pressing assembly comprises a fixed sleeve, the lower end of the fixed sleeve is fixedly connected with a fixed base, and the lower end of the fixed base is fixedly connected with an angle adjusting assembly. A stretchable sliding column is slidably connected to the end, away from the fixed base, of the fixed sleeve, a clamping and pressing plate is fixedly connected to one side of the outer ring of the sliding column, and meanwhile a clamping groove used for guiding is formed in the inner side of the clamping and pressing plate. According to the device, multi-degree-of-freedom smooth puncture angle fine adjustment is achieved, the pointer is driven by the semicircular block to slide along the semicircular plate and accurately point to the current set angle, and instant and visual angle feedback is provided; in addition, the disinfection treatment of the device and the real-time observation of a lower skin mark point and a puncture needle inserting point in the operation process are greatly facilitated, and the operation convenience and the puncture accuracy are further improved.

The utility model is suitable for the technical field of medical instruments, and provides an interventional lung puncture treatment body position pad which comprises a bottom plate. The movable supporting plate is hinged to the bottom plate; the first air bag and the second air bag are fixedly mounted on the bottom plate and the movable supporting plate respectively; the body position adjusting mechanism is installed on the bottom plate and used for adjusting the lying body position of a patient; and the inflating mechanism is mounted on the bottom plate and is used for inflating the first air bag and the second air bag. According to the interventional lung puncture treatment body position pad, the lying posture of a patient can be adjusted, time and labor are saved in the operation process, operation is convenient, and practicability is high.

The invention discloses a path planning method for a puncture robot in a lung free breathing state, which comprises the following steps: firstly, analyzing the interaction force between a flexible needle and multi-layer soft tissues of a human body in different puncture stages, and establishing a kinematics model for interaction between the flexible needle and the multi-layer soft tissues by introducing a single-wheel vehicle model; then, a needle point position prediction model is built based on the nonlinear rod model, and the actual deflection posture of the flexible needle in the body is calculated in real time through force and torque parameters obtained by a force sensor at the tail end of the puncture mechanical arm. According to the method, a curve path generated by a flexible needle and a tissue interaction model is used for replacing a linear path in a traditional rapid search tree algorithm, and meanwhile, dynamic position changes of a target spot and an obstacle in a free breathing state are considered, so that dynamic obstacle avoidance is realized, and the puncture precision of a robot is improved. And finally, a lung puncture robot experiment platform in a free breathing state is constructed, and high-precision and high-efficiency puncture robot path planning can be realized in a free breathing environment.

The invention relates to the technical field of medical apparatuses and instruments, and discloses a pulmonary nodule puncture positioning device based on lung treatment, which comprises a workbench, a puncture mechanism for treating the lung of a patient is arranged at the top of the workbench, and the puncture mechanism comprises a moving assembly, according to the moving assembly, electric guide rails are arranged on the left side and the right side of the top of the workbench correspondingly, sliding blocks are slidably connected to the exteriors of the two electric guide rails correspondingly, and supporting columns are fixedly connected to the tops of the two sliding blocks correspondingly. According to the device, the electric guide rail drives the sliding block to slide, then the supporting column and the containing shell are driven to move, and the beneficial effect of preliminarily aligning the to-be-punctured area of the lung of the patient is achieved. According to the structure, the left-right position of the puncture mechanism can be flexibly adjusted, an approximate area is rapidly positioned, a foundation is laid for follow-up accurate puncture, and the initial positioning efficiency of puncture is improved.

The utility model discloses a disposable lung puncture positioning bag which comprises a bottom box, a plurality of containing grooves with upward openings are formed in the bottom box, an edge tool box is arranged on the bottom box, the edge tool box is arranged to be of a long-cylinder-shaped structure matched with puncture positioning needles, the openings of the edge tool box face outwards in the horizontal direction, the edge tool box is arranged in an inclined mode, and the edge tool box is arranged in the containing grooves. And the opening at the front end of the sharp tool box is higher than the rear end of the sharp tool box along the vertical direction. The utility model provides a disposable lung puncture positioning bag which can collect various surgical articles used in lung puncture surgery into a sterile positioning bag, and a special edge tool box matched with a puncture positioning needle is arranged in the positioning bag, so that the puncture positioning needle can be conveniently recycled in time.

The invention relates to an injectable spherical instrument for percutaneous lung puncture of pulmonary nodules. The injectable spherical instrument comprises a forceps body, a fixed handle, a movable handle, a fixed tube, a movable tube, a spiral spring, resection forceps, an injection tube, a connecting tube and an injector. A fixed handle is fixedly connected to the side face of the clamp body, and a movable handle is rotatably arranged on the side face of the clamp body. A linkage rod is arranged at the end, located on the forceps body, of the movable handle, a fixed pipe is fixedly connected to one end of the forceps body, a movable pipe is inserted into the fixed pipe, one end of the movable pipe is connected with cutting forceps, and the other end of the movable pipe is connected to the linkage rod. The injection tube is located in the movable tube, one end of the injection tube penetrates out of the excision forceps in the lateral direction, the other end of the injection tube penetrates out of the tail of the forceps body and is connected with the connecting tube, and the other end of the connecting tube is connected with the injector. One end of the spiral spring is fixed on the clamp body, and the other end of the spiral spring is fixed on the movable handle. The device has the advantages that filling and hemostasis are further carried out on an operation cavity while nodules are cut off, and postoperative recovery is accelerated.

The utility model relates to medical instrument technical field, and disclose a kind of percutaneous lung puncture chest fixed and positioning device, the both ends of plastic plate are fixedly installed with elastic band, the one end of elastic band is detachably installed away from plastic plate by magic tape, the inner surface of plastic plate and located the outside fixed mounting of through-hole have adhesive plaster, the inner wall fixed mounting of through-hole has fixed component, the inside of fixed component is inserted and installed with puncture needle. The through-hole of plastic plate is placed in the puncture of patient chest, the elastic band is arranged on the body of patient, and is fixed using magic tape, then the puncture needle is inserted into fixed component in advance, then the puncture needle is slowly pushed into thoracic cavity, wherein the elastic plate controls multiple arc blocks to close to each other and form a positioning ring, then the positioning of puncture needle, the elastic protrusion on arc block also can suppress the outer wall of puncture needle, then the clamping and fixing of puncture needle, to realize the quick fixing and positioning of puncture needle.

The utility model relates to the field of medical instruments, and discloses a percutaneous lung puncture angle auxiliary device which comprises a fixing mechanism, the fixing mechanism comprises two baffles and two sleeves, the inner walls of the two sleeves are in threaded connection with a first screw, the ends, closest to each other, of the outer walls of the two sleeves are fixedly connected with clamps, and the clamps are fixedly connected with a second screw. First grooves are formed in the lower portions of the ends, closest to each other, of the two sleeves, two second screws are in threaded connection with the inner walls, away from the first screws, of the tops of the two clamps, adjusting mechanisms are fixedly arranged at the tops of the two baffles, and each adjusting mechanism comprises an angle plate, a fixing plate and a second plate; the tops of the two baffles are fixedly connected with an angle plate, and a second groove is formed in the lower wall, close to the rear end, of the interior of the angle plate. According to the device, the flexibility of the whole device can be enhanced through the arrangement of the fixing mechanism, and the puncture needle can conduct puncture at different angles conveniently through the arrangement of the adjusting mechanism.

The invention relates to the technical field of medical auxiliary equipment, in particular to a pulmonary puncture needle fixing device which comprises a mounting seat and a puncture needle. One side of the upper end of the mounting seat is fixedly connected with a cross beam, the outer side of the cross beam is slidably connected with a sliding block, one side of the sliding block is provided with a dial, the upper end of the sliding block is fixedly connected with an indicating block, the indicating block corresponds to initial scales of the dial, the other side of the sliding block is provided with a rotating block, the dial is fixedly connected with the rotating block through a rotating rod, and the rotating rod is rotatably connected with the sliding block; a through hole is formed in the rotating block, a containing assembly is arranged in the through hole, the pricking needles are arranged in the containing assembly, and the side, away from the sliding block, of the rotating block is fixedly connected with a fluted disc through a connecting column. The puncture needle has the advantages that by arranging the dial, the rotating block and the matched positioning assembly, the insertion angle and position of the puncture needle can be accurately adjusted and fixed, the situation that the puncture needle cannot reach the focus due to angle deviation is avoided, the puncture success rate is greatly increased, and pain brought to a patient due to repeated puncture is reduced.

The invention discloses a lung puncture angle positioning method under auxiliary CT (Computed Tomography) guidance and a related product, and relates to a lung puncture angle positioning device under CT guidance, the lung puncture angle positioning method under auxiliary CT guidance and a puncture program based on a radiography image, so that quick and accurate positioning of a puncture point is realized; therefore, the number of CT scanning times and the radiation dose accepted by the patient are reduced, the workload of medical staff is relieved, the operation efficiency and safety are improved, and the treatment effect and satisfaction degree of the patient are improved by improving the positioning accuracy, shortening the operation time, reducing the operation risk and the occurrence rate of complications.

This invention discloses a surface locator for lung puncture, comprising a locator body, a locating seat, a fixed angle plate, a rotating shaft, and an angle positioning component. The upper surface of the locator body has multiple positioning meridians and multiple positioning parallels, arranged at equal intervals in a staggered pattern. A locating seat is connected to at least one side of the locator body, and a U-shaped mounting groove is formed on the outer side of the locating seat. A rotating shaft is connected to the end of the fixed angle plate, and the rotating shaft is located within the U-shaped mounting groove. Both ends of the rotating shaft are movably positioned within a rotating groove located on the inner wall of the U-shaped mounting groove. The rotating groove has a circular cross-section. An angle positioning component is provided between the end of the rotating shaft and the interior of the rotating groove, limiting and fixing the rotation angle of the rotating shaft within the rotating groove. This device helps physicians correctly determine the positional relationship between the lesion and the body surface, find the accurate puncture angle and location, and improve the success rate of puncture.

1. Name of the product in this design: Lung puncture bronchoscopy surgical robot. 2. Purpose of this design: For use in bronchoscopic lung puncture surgery. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The invention discloses a lung puncture robot digital twinning system facing a free breathing state. The system belongs to the technical field of digital twinning and is composed of a physical space, a digital space and a virtual-real synchronization module. The physical space is composed of a cooperative mechanical arm, a six-dimensional force sensor, a flexible puncture needle, a human lung respiration model and a vision measurement module; the vision measurement module is composed of a body surface marker, a vision camera and a vision algorithm. The digital space is a mapping model of the physical platform in the virtual environment. And the virtual-real synchronization module is used for realizing data interaction and state synchronization between the physical space and the digital space. According to the method, virtual and real synchronization of the robot puncture process can be achieved in the free breathing state of the human body, real-time monitoring, prediction and online compensation control are conducted on the dynamic positions of the lung target spot and the puncture needle, and therefore the puncture positioning error is controlled within the range of + / -2 mm, and the precision and safety of lung puncture under the free breathing condition are remarkably improved.