10 results about "Lung punctures" patented technology

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 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 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 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 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.

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.