CN106510845A - Medical treatment path navigation method and system - Google Patents
Medical treatment path navigation method and system Download PDFInfo
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- CN106510845A CN106510845A CN201611042472.9A CN201611042472A CN106510845A CN 106510845 A CN106510845 A CN 106510845A CN 201611042472 A CN201611042472 A CN 201611042472A CN 106510845 A CN106510845 A CN 106510845A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B2010/009—Various features of diagnostic instruments
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Abstract
The embodiment of the invention provides a medical treatment path navigation method and a medical treatment path navigation system. The medical treatment path navigation method comprises the following steps: at the path planning stage, determining a puncture initial point and a puncture target point leading to a lesion area path, and at the path navigation stage, by combining electromagnetic navigation, puncture and balloon dilatation, breaking through a passage leading to the lesion area via pulmonary parenchyma, thus navigating a guide catheter to the lesion area, therefore, the problem that the lesion position having no communicating obvious natural air passage can not be reached is solved, and the guide catheter can be navigated to any lesion area in the lung.
Description
Technical field
The application is related to field of medical technology, more particularly to a kind of medical path air navigation aid and system.
Background technology
The diagnosis and treatment of pulmonary nodule has had more and more important meaning for the early discovery and treatment of pulmonary carcinoma.
Conventional pulmonary nodule biopsy mode is that puncture needle is inserted directly into pulmonary by the way of percutaneous puncture to obtain biopsy sample, this
Planting puncture mode has the risk for producing pneumothorax.There are some researches show, in pulmonary's percutaneous puncture, there is the pneumothorax incidence rate of 20-40%, and
Pneumothorax is a kind of serious untoward reaction, it is possible to fatal.Safer mode is to lung using bronchoscope Jing nature air flues
Portion's tuberosity carries out biopsy, can reduce the risk of untoward reaction generation.
But, some lesion locations are more special, such as sensible without significantly nature air flue, cause the bronchoscope cannot
Reach lesion locations, it is impossible to implement biopsy or treatment.
The content of the invention
The many aspects of the application provide a kind of medical path air navigation aid and system, positioning conduit or treatment to be led
Pipe is navigated to does not have the substantially sensible lesion locations of nature air flue.
The embodiment of the present application provides a kind of medical path air navigation aid, including：
According to the threedimensional model of the threedimensional model and intrapulmonary blood vessel of the bronchial tree gone out by CT data reconstructions, it is determined that leading to disease
Become the puncture starting point on zone routing and puncture impact point, and plan by main knuckle Jing nature air flue to the puncture starting point
Leading bit path and from it is described puncture starting point to it is described puncture impact point puncture path；
Under the guiding of the leading bit path, guiding catheter is sent into based on the positioning conduit with alignment sensor logical
Toward the natural air flue for puncturing starting point；
During the guiding catheter is mobile in the natural air flue, passed based on the supravasal positioning of the positioning
Sensor positions position and direction of the guiding catheter in the natural air flue, and according to the guiding catheter in the nature
Position and direction in air flue and the offset relation of the leading bit path of the planning, adjust the guiding catheter in the nature
Position and direction in air flue, until navigating to the puncture starting point by the guiding catheter；
Puncture conduit with alignment sensor is sent into into the guiding catheter to reach the puncture starting point, based on institute
State and puncture the supravasal alignment sensor positioning direction for puncturing conduit, the direction for puncturing conduit is adjusted until described
Puncture conduit towards it is described puncture impact point till, and control it is described puncture conduit stab the puncture along the puncture path
Impact point, to obtain puncture；
After taking out the puncture conduit, foley's tube is sent into into the guiding catheter to reach the puncture, and is controlled
Make puncture described in the inferior vena cava balloon dilation；
After taking out the foley's tube, the subsequent treatment with alignment sensor is sent into into the guiding catheter, base with instrument
Alignment sensor on the subsequent treatment instrument positions the guiding catheter in the puncture after the expansion
Position and direction, adjust the guiding catheter position and direction in the puncture after the expansion, until by the finger
Guiding tube navigates to the lesion region.
The embodiment of the present application also provides a kind of medical path navigation system, including：Path planning apparatus, path navigation dress
Put, guiding catheter, the positioning conduit with alignment sensor, the puncture conduit with alignment sensor and foley's tube；
The path planning apparatus, the threedimensional model and intrapulmonary blood vessel of the bronchial tree gone out by CT data reconstructions for basis
Threedimensional model, it is determined that towards the puncture starting point on lesion region path and puncture impact point, and plan by main knuckle Jing from
So air flue is to the leading bit path for puncturing starting point and from the starting point that punctures to the puncture road for puncturing impact point
Footpath；
The guiding catheter, in towards the air flue of the lesion region, carrying the positioning conduit, the puncture
Conduit or the foley's tube；
The route guiding device, including：Path navigation module, puncture control module and sprawl and control module；
The path navigation module, for, during the guiding catheter is mobile in the natural air flue, being based on
The supravasal alignment sensor of the positioning being arranged in the guiding catheter positions the guiding catheter in the natural gas
Position and direction in road, and the position and direction and the leading air route according to the guiding catheter in the natural air flue
The offset relation in footpath, adjusts the guiding catheter position and direction in the natural air flue, until by the guiding catheter
Navigate to the puncture starting point；
The puncture control module, for being passed based on the supravasal positioning of the puncture being arranged in the guiding catheter
The sensor positioning direction for puncturing conduit, adjusts the direction for puncturing conduit until the puncture conduit is towards the puncture
Till impact point, and control it is described puncture conduit stab the puncture impact point along the puncture path, with obtain puncture wound
Mouthful；
The sprawl and control module, for controlling to wear described in the inferior vena cava balloon dilation being arranged in the guiding catheter
Stab mouth；
The path navigation module, is additionally operable to based on determining on the subsequent treatment instrument being arranged in the guiding catheter
Level sensor positions position and direction of the guiding catheter in the puncture after the expansion, adjusts the guiding catheter
Position and direction in the puncture after the expansion, until navigating to the lesion region by the guiding catheter.
In the embodiment of the present application, in the path planning stage, it is determined that by the puncture starting point on lesion region path and
Puncture impact point；In navigation procedure, electromagnetic navigation is combined with puncture, balloon expandable, got through towards the logical of lesion region
Road, so as to guiding catheter is navigated to lesion region, solving to arrive does not have obvious sensible lesion locations of nature air flue
Problem, guiding catheter can be navigated to any lesion region of pulmonary.
Description of the drawings
Accompanying drawing described herein is used for providing further understanding of the present application, constitutes the part of the application, this Shen
Schematic description and description please does not constitute the improper restriction to the application for explaining the application.In the accompanying drawings：
The schematic flow sheet of the medical path air navigation aid that Fig. 1 a are provided for one embodiment of the application；
The schematic diagram of the medical path navigation procedure that Fig. 1 b- Fig. 1 i are provided for one embodiment of the application；
The schematic flow sheet of the medical path air navigation aid that Fig. 2 a are provided for another embodiment of the application；
Auxiliary magnet and the schematic diagram in assisting navigation path that Fig. 2 b are provided for another embodiment of the application；
The schematic diagram for carrying out ablation to puncturing impact point that Fig. 3 is provided for the another embodiment of the application；
The structural representation of the medical path navigation system that Fig. 4 is provided for the another embodiment of the application；
The structural representation of the medical path navigation system that Fig. 5 is provided for the another embodiment of the application.
Specific embodiment
For making purpose, technical scheme and the advantage of the application clearer, below in conjunction with the application specific embodiment and
Corresponding accompanying drawing is clearly and completely described to technical scheme.Obviously, described embodiment is only the application one
Section Example, rather than the embodiment of whole.Based on the embodiment in the application, those of ordinary skill in the art are not doing
The every other embodiment obtained under the premise of going out creative work, belongs to the scope of the application protection.
The embodiment of the present application provides a kind of medical path air navigation aid, in the three-dimensional of the bronchial tree gone out by CT data reconstructions
On the basis of the threedimensional model of model and intrapulmonary blood vessel, by the path navigation based on alignment sensor and puncture, balloon expandable phase
With reference to, it is some special lesion locations, for example, does not have the substantially sensible lesion locations of nature air flue, there is provided a reachable passage,
Guiding catheter is allowd to reach these lesion locations, the treatment for these lesion locations provides condition.
In the following embodiment of the application, alignment sensor can be related to, for example, be arranged at the supravasal positioning of positioning and pass
Sensor, it is arranged at supravasal alignment sensor of puncture etc..First, the alignment sensor that each embodiment of the application is related to is carried out
Introduce explanation：
These alignment sensors adopt electromagnetic navigation (Electromagnetic Navigation) principle, different from common
Magnetic navigation (Magnetic Navigation) principle.Magnetic navigation principle is mainly：Attract by external magnetic field or repel ablation
Permanent magnet in conduit is affecting the moving direction of ablation catheter.The operation principle master of the alignment sensor in the embodiment of the present application
If：In response to its place space magnetic field and to external control system output current, so that control system positions corresponding pipe
Position.For in detail, alignment sensor is electrically connected by wire with control system.The control system includes magnetic field
Generator, to produce magnetic field in a range of located space；Alignment sensor does not have magnetic in itself, in alignment sensor
Coil be used for experiencing magnetic field produced by magnetic field generator.Wherein, magnetic field generator is produced in a range of located space
The magnetic field of changing, and ensure that the magnetic signature of every bit in located space is unique.Coil in alignment sensor is becoming
Electric current is produced in magnetizing field, is conducted to control system, control system conversion and analyzing and positioning sensing by the wire of alignment sensor
The electric current that device transmission comes is to determine the exact position and direction of corresponding pipe.
The schematic flow sheet of the medical path air navigation aid that Fig. 1 a are provided for one embodiment of the application.As shown in Figure 1a, should
Method includes：
101st, the threedimensional model and the threedimensional model of intrapulmonary blood vessel according to the bronchial tree gone out by CT data reconstructions, it is determined that logical
Toward the puncture starting point on lesion region path and puncture impact point, and plan by main knuckle Jing nature air flue puncture to described
The leading bit path of initial point and from it is described puncture starting point to it is described puncture impact point puncture path.
102nd, under the guiding of leading bit path, guiding catheter is sent into based on the positioning conduit with alignment sensor logical
Toward the natural air flue for puncturing starting point.
103rd, during guiding catheter is mobile in the natural air flue, based on the supravasal alignment sensor of positioning
Position and direction of the positioning guiding catheter in the natural air flue, and the position according to guiding catheter in the natural air flue
With direction and the offset relation of leading bit path, position and direction of the adjustment guiding catheter in the natural air flue, until inciting somebody to action
Guiding catheter navigates to the puncture starting point.
104th, the puncture conduit with alignment sensor is sent into into guiding catheter to reach puncture starting point, is led based on puncture
The direction of the alignment sensor localised puncture conduit on pipe, adjustment puncture the direction of conduit until puncturing conduit towards puncture target
Point till, and control puncture conduit stab puncture impact point along puncture path, to obtain puncture.
105th, take out after puncturing conduit, foley's tube is sent into into guiding catheter to reach puncture, and controls sacculus and led
Enlargement of pipe puncture.
106th, after taking out foley's tube, the subsequent treatment with alignment sensor is sent into into guiding catheter with instrument, is based on
The position in alignment sensor positioning guiding catheter puncture after expansion and direction on subsequent treatment instrument, adjustment
Position and direction in guiding catheter puncture after expansion, until navigating to lesion region by guiding catheter.
Before treating diseased organ, need guiding catheter is navigated to the lesion region of diseased organ, it is follow-up to locate
Reason instrument can reach lesion region by guiding catheter.The diseased organ can be pulmonary, or the similar pulmonary of structure
Other organs etc..For some special lesion regions, such as lesion region for not having obvious natural cavity sensible, sometimes referred to as guide
Pipe cannot directly reach lesion region.
For the special lesion region that those guiding catheters directly cannot be reached, the present embodiment provides a kind of by guiding catheter
The method for navigating to lesion region, the method include following several stages：Path planning stage, first path navigation stage, road
Stage and the second path navigation stage are got through in footpath.
The path planning stage：
First, the CT data of diseased organ are imported, and the threedimensional model of bronchial tree are built by CT data, as shown in Figure 1 b；
Based on the threedimensional model of bronchial tree, the lesion region on diseased organ is determined.In Figure 1b, gray area represents diseased region
Domain.In the present embodiment, lesion region can be defined as the simply connected closing 3D region of arbitrary shape, for example, can be rule
The simply connected closing 3D region of shape, such as elliposoidal；Or, it is also possible to it is defined as any erose simply connected envelope
Close 3D region.
In the present embodiment, guiding catheter directly cannot reach determined by lesion region, such as usual lesion region
Some stops on path, or it is sensible without substantially nature air flue.For this, the threedimensional model and pulmonary's blood based on bronchial tree
The threedimensional model of pipe, it is determined that towards the puncture starting point on lesion region path and puncture impact point, the puncture starting point and
Puncture the barrier zone that target point identification leads on lesion region path.For barrier zone can directly be passed through or difficult
With the region for passing through, such as pulmonary parenchyma, need to puncture starting point using certain way and puncture impact point to get through.In this enforcement
In example, by the way of puncture and balloon expandable.
In order to guiding catheter is navigated to lesion region, planning is needed towards the path of lesion region.In this enforcement
In example, path of the planning towards lesion region, it is main lead to including Jing nature air flues the leading bit path that punctures starting point and
From puncture starting point to the puncture path for puncturing impact point, but it is not limited to this.In an optional embodiment, can be using such as
Under type punctures starting point and puncture impact point to determine：
According to the threedimensional model of bronchial tree, lesion region is planned；From in lesion region, select a little as puncture target
Point；According to the threedimensional model of intrapulmonary blood vessel, select in the bronchus for avoid blood vessel a bit, as puncture starting point.Such as Fig. 1 c
It is shown, it is to determine a kind of exemplary plot for puncturing starting point and puncturing impact point using the embodiment.In figure 1 c, positioned at Lycoperdon polymorphum Vitt
"+" in lesion region represents puncture impact point, represents puncture starting point positioned at the intrabronchial "+" near lesion region.
In above-mentioned optional embodiment, in can selecting in lesion region, the point of most convenient subsequent operation is used as puncture mesh
Punctuate.For example, biopsy is done if desired, then least easily get the point outside lesion region scope when can select biopsy.Again
For example, if necessary to treat, can select to be easiest to cover the point of whole lesion region during treatment, usually in lesion region
Heart point.
In above-mentioned optional embodiment, can select to puncture starting point in bronchus near lesion region.For example, may be used
So that, in towards higher level's bronchus in lesion region direction, these higher level's bronchus are relatively thick, it is easy to guiding catheter, positioning to lead
The front ends such as pipe, puncture conduit are easily directed at puncture impact point.In view of the particularity for puncturing, in order to prevent in piercing process
Injured blood vessel causes to bleed profusely, and can select to puncture starting point with reference to the threedimensional model of intrapulmonary blood vessel.For example, puncturing
Initial point facilitates conduit to reach and as far as possible away from the blood vessel that can be told for selecting mesh to the line (straightway) for puncturing impact point
Mark, selects to puncture starting point.In specific implementation process, the threedimensional model of intrapulmonary blood vessel with reference to CT data, can be built, it is main
Tremulous pulse to be included and vein threedimensional model；In the bronchus near lesion region, select follow-up piercing step avoid blood
The bronchus of pipe；In the selected bronchus for avoiding blood vessel, selection be easy to that follow-up piercing step implemented a bit, such as with wear
The line of dazzling punctuate away from blood vessel can be recognized and is more easily aligned the point (such as bronchial crotch) of impact point, as wearing
Thorn starting point.It is described recognize blood vessel can be can be by people's naked eyes in blood vessel CT images and the threedimensional model based on CT image reconstructions
The blood vessel for identifying, is primarily referred to as arteries and vein blood vessel, but is not limited to this.
Preferably, the threedimensional model of the threedimensional model of bronchial tree and intrapulmonary blood vessel can be superimposed upon same threedimensional model
In, and by different property values (such as color or transparency) distinguishing bronchus and blood vessel, so it is easy to observation.
It is determined that puncturing starting point, puncturing impact point and plan good to the leading bit path for puncturing starting point and from puncture
Starting point can enter first path navigation stage to after the puncture path for puncturing impact point.
First path navigation stage：
After the leading bit path for puncturing starting point is cooked up, can pass through under the guiding of the leading bit path
Positioning conduit with alignment sensor sends into guiding catheter towards in the natural air flue for puncturing starting point, and guiding catheter can be
Move in air flue.Wherein, position conduit to be arranged in inside guiding catheter.
It is above-mentioned to include main trachea-bronchial epithelial cell and subordinate's bronchus etc. towards the natural air flue for puncturing starting point.
Starting point is punctured in order to reach exactly along the leading bit path cooked up, on the basis of leading bit path
On, the alignment sensor carried with reference to positioning conduit navigates to guiding catheter.Specifically, move in air flue in guiding catheter
In dynamic process, the supravasal alignment sensor of positioning is in running order, can position guiding catheter based on alignment sensor
Position and direction in air flue；Position and direction according to guiding catheter in air flue and the threedimensional model based on bronchial tree
The offset relation of the leading bit path cooked up, position and direction of the adjustment guiding catheter in air flue, until guide is led
Pipe navigates to puncture starting point, as shown in Figure 1 d.Fig. 1 d show and guiding catheter are navigated to the result shape punctured after starting point
State.In Fig. 1 d, is guiding catheter in bronchus, and the round and smooth head that guiding catheter exposes is the head for positioning conduit.
What deserves to be explained is, in positioning magnetic field of the diseased organ in magnetic field generator transmitting, the magnetic field has oneself
Coordinate system, referred to as magnetic system of coordinates.Position and direction of the guiding catheter in air flue can be by guiding catheter heads in magnetic field
Position coordinateses in coordinate system are representing.Correspondingly, the threedimensional model of the bronchial tree for being gone out by CT data reconstructions also has oneself
Coordinate system, referred to as CT/ coordinate systems in image.The various paths planned based on the threedimensional model of bronchial tree are (including leading boat
Path, puncture path) etc. can be represented by position coordinateses of these paths in CT/ coordinate systems in image.
Based on described above, position of the guiding catheter in air flue and direction are advised with the threedimensional model based on bronchial tree
The offset relation of the leading bit path for marking, can pass through position coordinateses of the guiding catheter head in magnetic system of coordinates and dominate
Position coordinateses of the bit path in CT/ coordinate systems in image are embodying.
Magnetic system of coordinates is different coordinate systems from CT/ coordinate systems in image, then first can carry out registration to two coordinate systems,
To set up the mapping relations between two coordinate systems, both position coordinateses are mapped to into the same coordinate system based on the mapping relations
In, then it is compared in the coordinate system be mappeding to, so that it is determined that above-mentioned offset relation.
As can be seen here, based on above-mentioned registration process, the guidance path that can be planned is corresponding with bronchus, according to navigation
Path can adjust position and direction of the guiding catheter in air flue, until guiding catheter is navigated to puncture starting point.Work as finger
Guiding tube is reached after puncturing starting point, and positioning conduit is withdrawn from from guiding catheter, and puncture conduit is sent into guiding catheter, it
Access path gets through the stage afterwards.
The stage is got through in path：
After puncture conduit is admitted to guiding catheter, can be reached by guiding catheter and puncture starting point, and be ready to carry out puncturing
Operation.In the present embodiment, puncturing conduit needs to stab puncture impact point along puncture path, so it should be understood that puncturing conduit
Direction.The puncture conduit of the present embodiment also carries alignment sensor, can be with localised puncture conduit based on the alignment sensor
Position and direction, and the direction for puncturing conduit can be adjusted till puncturing conduit direction puncture impact point, and then control
Puncture conduit and puncture impact point is stabbed along puncture path, to obtain puncture, as shown in fig. le.In Fig. 1 e, guide is led
The puncture needle for puncturing conduit that pipe exposes, the puncture needle are just stabbing puncture impact point.Optionally, (multi-cavity) conduit can be passed through
The means of interior steel wire manipulation are controlling to puncture the bending of catheter head, it is easier to which alignment punctures impact point.
What deserves to be explained is, puncturing conduit can stop when thorn is to puncture impact point, or can not reach puncture
Stop during impact point, or can stop after through puncture impact point, can be according to application demand adaptive control.Puncture
Wound is relatively small, and guiding catheter typically cannot still pass through.
After puncture is obtained, conduit will be punctured and withdrawn from from guiding catheter, and foley's tube is sent into into guiding catheter,
To expand to the puncture, as shown in Figure 1 f.In Fig. 1 f, the head for foley's tube that guiding catheter exposes.
By guiding catheter, foley's tube can be reached at puncture, and control foley's tube can be with dilated penetration wound.For example, may be used
Inflated to foley's tube with dilating sacculus, and then the purpose of dilated penetration wound is reached, as shown in Figure 1 g.In Fig. 1 g, ball
The head of ductus bursae is expanded.Optionally, according to application demand, can be a certain hour expansion, or
Expanded by different pressures by several times, be stepped up the expansion that pressure makes sacculus gradually expand stage by stage, led so as to obtain to guide enough
The wound that Gutron is crossed.Puncture after expansion is relatively large, so that guiding catheter passes through.
Second path navigation stage：
In the navigation stage, need to take out foley's tube, as shown in figure 1h, be the state after taking out foley's tube.By band
The subsequent treatment of alignment sensor instrument sends into guiding catheter, moves in guiding catheter needs puncture after expansion.
In guiding catheter puncture after expansion during movement, can be based on the alignment sensor on subsequent treatment instrument
Position and direction in positioning guiding catheter puncture after expansion, in adjustment guiding catheter puncture after expansion
Position and direction, until guiding catheter is navigated to lesion region.
Wherein, subsequent treatment instrument refers to the conduit for subsequently needing to be diagnosed to lesion region or treated, for example
Can be but not limited to：Ablation catheter, delivery catheter or biopsy tool etc..
In an optional embodiment, if the puncture after balloon expandable is deep enough, guiding catheter can reach pathological changes
Region, then after balloon expandable, can directly by the subsequent treatment instrument with alignment sensor, such as ablation catheter, administration is led
Pipe or biopsy tool are sent in guiding catheter, and the wound after guiding guiding catheter to enter expansion, until reaching lesion region, and
Subsequent treatment is carried out to lesion region by subsequent treatment with instrument, such as ablation, administration or biopsy sampling.What deserves to be explained is,
Biopsy tool can carry alignment sensor, it is also possible to without alignment sensor.For the biopsy without alignment sensor
Instrument, can first pass through the positioning conduit with alignment sensor and guiding catheter is navigated to lesion region, take out positioning conduit
Afterwards, then by biopsy tool guiding catheter is sent into, performs biopsy sampling.
In an optional embodiment, may be needed according to the characteristic of subsequent treatment instrument more deeper than puncturing impact point
Enter, if for example follow-up need to be melted, need to allow ablating electrode center to reach puncture impact point, now before ablation catheter
End can exceed puncture impact point, deeper into, so can just make ablation catheter produce ablation areas effective over whole pathological changes
Region.Based on this, if the puncture after balloon expandable is not deep enough, does not reach puncture impact point or fail deeper into then taking
After going out foley's tube, and before subsequent treatment is sent into guiding catheter with instrument, can will puncture conduit and be fed again into referring to
Guiding tube, based on the direction for puncturing supravasal alignment sensor localised puncture conduit, adjustment punctures the direction of conduit until wearing
Thorn conduit towards puncture impact point till, and control puncture conduit stab puncture impact point along puncture path is secondary, to insert
Enter depths to reach puncture impact point or exceed puncture impact point, be that subsequent treatment is diagnosed or treated offer condition with instrument.
As shown in figure 1i, view when being secondary puncture.
Optionally, puncture impact point can be in lesion region a bit, then guiding catheter is navigated to into lesion region,
Can be understood as by guiding catheter navigate to puncture impact point or its near.
Optionally, puncture impact point to be located at outside lesion region, and be located in front of lesion region, then guiding catheter navigates
To lesion region, it can be understood as guiding catheter is needed through puncturing impact point, continues to move to lesion region.
From above-mentioned, in the present embodiment, it is for there is obstruction on some paths or sensible without substantially nature air flue
Lesion region, in the path planning stage, it is determined that by the puncture starting point on lesion region path and puncture impact point；Leading
During boat, electromagnetic navigation is combined with puncture, balloon expandable, the passage towards lesion region is got through, so as to guide is led
Pipe navigates to lesion region, solves and cannot reach without the sensible lesion locations of obvious (or thick enough) nature air flue
Guiding catheter can be navigated to any lesion region by problem.
The schematic flow sheet of the medical path air navigation aid that Fig. 2 a are provided for another embodiment of the application.As shown in Figure 2 a,
The method includes：
201st, the threedimensional model and the threedimensional model of intrapulmonary blood vessel according to the bronchial tree gone out by CT data reconstructions, it is determined that logical
Toward the puncture starting point on lesion region path and puncture impact point, and plan by main knuckle Jing nature air flue to puncture starting point
Leading bit path and from puncture starting point to puncture impact point puncture path.
202nd, the threedimensional model according to bronchial tree, selects auxiliary magnet, and plans in the bronchus from around lesion region
From puncture starting point to the assisting navigation path of auxiliary magnet.
203rd, under the guiding of leading bit path, guiding catheter is sent into based on the positioning conduit with alignment sensor logical
Toward the natural air flue for puncturing starting point.
204th, during guiding catheter is mobile in the natural air flue, based on the supravasal alignment sensor of positioning
Position and direction of the positioning guiding catheter in the natural air flue, and the position according to guiding catheter in the natural air flue
With direction and the offset relation of leading bit path, position and direction of the adjustment guiding catheter in the natural air flue, until inciting somebody to action
Guiding catheter navigates to puncture starting point.
205th, guiding catheter is navigated to from starting point is punctured by auxiliary magnet based on the supravasal alignment sensor of positioning, to obtain
The natural air flue actual bronchial path corresponding with assisting navigation path is obtained, and according to actual bronchial path and planning
The contrast in assisting navigation path, amendment puncture starting point and puncture the position of impact point.
206th, the puncture conduit with alignment sensor is sent into into guiding catheter to reach puncture starting point, is led based on puncture
The direction of the alignment sensor localised puncture conduit on pipe, adjustment puncture the direction of conduit until puncturing conduit towards puncture target
Point till, and control puncture conduit stab puncture impact point along puncture path, to obtain puncture.
207th, take out after puncturing conduit, foley's tube is sent into into guiding catheter to reach puncture, and controls sacculus and led
Puncture described in enlargement of pipe.
208th, after taking out foley's tube, the subsequent treatment with alignment sensor is sent into into guiding catheter with instrument, after being based on
The position in alignment sensor positioning guiding catheter puncture after expansion and direction on continuous process instrument, adjustment refer to
Position and direction in guiding tube puncture after expansion, until navigating to lesion region by guiding catheter.
What deserves to be explained is, the position in air flue, or actual bronchial path etc. is all in air flue place magnetic
Position coordinateses in the coordinate system of field.Correspondingly, dominate bit path, assisting navigation path to generally refer in CT/ coordinate systems in image
Position coordinateses.
Before treating diseased organ, need guiding catheter is navigated to the lesion region of diseased organ, it is follow-up to locate
Reason instrument can reach lesion region by guiding catheter.The diseased organ can be pulmonary, or the similar pulmonary of structure
Other organs etc..For some special lesion regions, for example, there is no the substantially sensible lesion region of nature air flue, sometimes referred to as guide
Pipe cannot directly reach lesion region.
For the special lesion region that those guiding catheters directly cannot be reached, the present embodiment provides a kind of by guiding catheter
The method for navigating to lesion region, the method include following several stages：Path planning stage, first path navigation stage, road
Stage and the second path navigation stage are got through in footpath.
The path planning stage in path planning stage in the present embodiment, with Fig. 1 a illustrated embodiments is essentially identical, area
It is not：Also include the threedimensional model based on bronchial tree, determine the bronchus around lesion region, and from the lesion region
Auxiliary magnet is selected in the bronchus of surrounding, is planned from the operation for puncturing starting point to the assisting navigation path of auxiliary magnet.
In above-mentioned program operation, can select near lesion locations but initial with puncturing according to application demand
Point compares the more deep bronchus in direction with impact point is punctured, and selects auxiliary magnet in the bronchus determined by, and plan from
Starting point is punctured to the path of this auxiliary magnet, referred to as assisting navigation path.Wherein, selected auxiliary magnet will be tried one's best from difference
Direction surrounds lesion region, and such assisting navigation path can just surround lesion region, needs what is reached in order to assist in
Puncture the coordinate range of impact point.As shown in Figure 2 b, in addition to puncturing impact point and puncturing starting point, in Lycoperdon polymorphum Vitt lesion region week
Enclose than puncture starting point and puncture impact point deeper into direction also have two auxiliary magnets, such as Fig. 2 b mesobronchuss end
Shown in "+"；In addition, in Fig. 2 b, representing assisting navigation path from starting point is punctured to the dotted line two auxiliary magnets.
With regard to other descriptions in path planning stage, Fig. 1 a illustrated embodiments are can be found in, be will not be described here.
First path navigation stage：
The basic phase of first path navigation stage in path planning stage in the present embodiment, with Fig. 1 a illustrated embodiments
Together, difference is：After guiding catheter to be navigated to puncture starting point, also starting point is punctured including amendment and puncture impact point
Position operation.
After guiding catheter to be navigated to puncture starting point, before it will puncture conduit feeding guiding catheter, can be with root
Guiding catheter is navigated to into auxiliary magnet from starting point is punctured according to supravasal alignment sensor is positioned, to obtain from puncture starting point
To the actual bronchial path of auxiliary magnet, the actual bronchial path corresponds to assisting navigation path.Actual bronchial path with
The difference in assisting navigation path is：Actual bronchial path is out and out paths in air flue, and the path can pass through
In the magnetic system of coordinates of air flue place, position coordinateses are representing；And assisting navigation path is advised based on the threedimensional model of bronchial tree
The path marked, the path can be represented by the position coordinateses in the CT/ coordinate systems in image of threedimensional model place.To puncturing starting
Point and for puncturing impact point, the threedimensional model for being also based on bronchial tree is planned out, so needing to be propped up according to actual
Trachea path, amendment puncture starting point and puncture the position of impact point.Thus it is possible to be led according to actual bronchial path and auxiliary
The contrast of bit path, adjusts the mapping relations of magnetic system of coordinates and CT/ coordinate systems in image, and then corrects puncture starting point and puncture
The position of impact point, provides foundation for subsequently puncturing conduit execution puncture.
Stage, the second path navigation stage are got through in other descriptions and path with regard to first path navigation stage, can join
See Fig. 1 a illustrated embodiments, will not be described here.
In the present embodiment, in the path planning stage, except determining by the puncture starting point on lesion region path and
Puncture outside impact point, also determine that；In path
Navigation stage, except electromagnetic navigation is combined with puncture, balloon expandable, gets through towards outside the passage of lesion region, goes back base
Contrast between assisting navigation path and actual bronchial path, amendment puncture starting point and puncture the position of impact point, no
Address only the problem for not having the substantially sensible lesion locations of nature air flue that cannot reach, and advantageously reduce position error and
The error of piercing step, improves the accuracy of whole navigation procedure afterwards.
On the basis of the various embodiments described above, guiding catheter is navigated to after lesion region, in addition it is also necessary to use subsequent treatment
Subsequent treatment is carried out to lesion region with instrument, such as ablation, administration or biopsy sampling.Based on this, guiding catheter is being navigated
To lesion region, also include：The position of subsequent treatment instrument is adjusted based on the alignment sensor on subsequent treatment instrument
And direction, impact point is punctured until subsequent treatment is reached with instrument, after control subsequent treatment is carried out to puncture impact point with instrument
It is continuous to process, such as ablation, administration or biopsy sampling.If carrying out biopsy sampling, cytology brush, cell clamp, biopsy can be used
Pin etc..If therapeutic conduit is ablation catheter, ablation catheter can be controlled and melted to puncturing impact point, such as Fig. 3 institutes
Show.After treatment end, therapeutic conduit and guiding catheter can be withdrawn from successively.
The structural representation of the medical path navigation system that Fig. 4 is provided for the another embodiment of the application.As shown in figure 4, should
System includes：Path planning apparatus 41, route guiding device 42, guiding catheter 43, the positioning conduit 44, band with alignment sensor
The puncture conduit 45 and foley's tube 46 of alignment sensor.
Path planning apparatus 41, the threedimensional model and intrapulmonary blood vessel of the bronchial tree gone out by CT data reconstructions for basis
Threedimensional model, it is determined that towards the puncture starting point on lesion region path and puncturing impact point, and plans by main knuckle Jing nature
Air flue is to the leading bit path for puncturing starting point and from puncture starting point to the puncture path for puncturing impact point.
Guiding catheter 43, in towards the air flue of lesion region, carrying positioning conduit 44, puncturing conduit 45 or sacculus
Conduit 46.
Route guiding device 42, including：Path navigation module 421, puncture control module 422 and sprawl and control module
423。
Wherein, path navigation module 421, for during guiding catheter 43 is mobile in air flue, based on being arranged in
Position and direction of the alignment sensor positioning guiding catheter 43 in air flue on positioning conduit 44 in guiding catheter 43, and root
The offset relation of the position and direction according to guiding catheter 43 in air flue and leading bit path, adjustment guiding catheter 43 is in air flue
Position and direction, until guiding catheter 43 is navigated to puncture starting point.
Control module 422 is punctured, for based on the alignment sensor punctured on conduit 45 being arranged in guiding catheter 43
The direction of localised puncture conduit 45, adjustment puncture conduit 45 direction until puncture conduit 45 towards puncture impact point till, and
Control punctures conduit 45 and stabs puncture impact point along puncture path, to obtain puncture.
Sprawl and control module 423, the 46 dilated penetration wound of foley's tube being arranged in for control in guiding catheter 43.
Path navigation module 421, is additionally operable to based on the positioning on the subsequent treatment instrument being arranged in guiding catheter 43
Position and direction in sensor positioning guiding catheter 43 puncture after expansion, adjusts guiding catheter 43 after expansion
Position and direction in puncture, until navigating to lesion region by guiding catheter 43.
In an optional embodiment, path planning apparatus 41 it is determined that puncture starting point and puncture impact point when, specifically
For：According to the threedimensional model of bronchial tree, lesion region is planned；From in lesion region, select a little as puncture impact point；
According to the threedimensional model of intrapulmonary blood vessel, select in the bronchus for avoid blood vessel a bit, as puncture starting point.
Further, path planning apparatus 41 select puncture starting point when, specifically for：Near the lesion region
In bronchus, select follow-up piercing step avoid the bronchus of blood vessel；From in the bronchus for avoiding blood vessel, select just
In a bit (such as bronchial crotch) that follow-up piercing step is implemented, as the puncture starting point.
In an optional embodiment, path planning apparatus 41 are additionally operable to：According to the threedimensional model of bronchial tree, from pathological changes
Auxiliary magnet is selected in bronchus around region, and is planned from the assisting navigation path for puncturing starting point to auxiliary magnet.
Correspondingly, path navigation module 421 is additionally operable to：During guiding catheter 43 is moved in air flue, it is based on
Guiding catheter 43 is navigated to auxiliary magnet from starting point is punctured by the alignment sensor on positioning conduit 44, with acquisition and assisting navigation
The corresponding actual bronchial path in path, and according to actual bronchial path and the mapping relations in assisting navigation path, amendment is worn
The position of thorn starting point and puncture impact point.
In an optional embodiment, puncture control module 422 and be additionally operable to：Based on the puncture being arranged in guiding catheter 43
The direction of the alignment sensor localised puncture conduit 45 on conduit 45, adjustment puncture the direction of conduit 45 until puncturing 45 court of conduit
To puncture impact point till, and control puncture conduit 45 stab puncture impact point along puncture path is secondary.
In an optional embodiment, as shown in figure 5, route guiding device 42 also includes：Treatment control module 425.
Treatment control module 425, for based on the alignment sensor adjustment subsequent treatment recruitment on subsequent treatment instrument
The position and direction of tool punctures impact point until subsequent treatment is reached with instrument, and controls subsequent treatment instrument for puncturing mesh
Punctuate carries out subsequent treatment.
Optionally, subsequent treatment instrument is ablation catheter, delivery catheter or biopsy tool, and correspondingly, subsequent treatment can
Be melt, be administered or biopsy sampling.
The medical path navigation system that the present embodiment is provided, can be used to perform the medical path that said method embodiment is provided
The flow process of air navigation aid.
The medical path navigation system that the present embodiment is provided, in the path planning stage, it is determined that by lesion region path
Puncture starting point and puncture impact point；In navigation procedure, electromagnetic navigation is combined with puncture, balloon expandable, gets through logical
Toward the passage of lesion region, so as to guiding catheter is navigated to lesion region, solve and cannot reach without substantially nature air flue
The problem of sensible lesion locations, guiding catheter can be navigated to any lesion region of pulmonary.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can adopt complete hardware embodiment, complete software embodiment or with reference to the reality in terms of software and hardware
Apply the form of example.And, the present invention can be using the computer for wherein including computer usable program code at one or more
The computer program implemented in usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) is produced
The form of product.
The present invention be with reference to method according to embodiments of the present invention, equipment (system), and computer program flow process
Figure and/or block diagram are describing.It should be understood that can be by computer program instructions flowchart and/or each stream in block diagram
The combination of journey and/or square frame and flow chart and/or the flow process in block diagram and/or square frame.These computer programs can be provided
The processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The device of the function of specifying in present one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in and can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory is produced to be included referring to
Make the manufacture of device, the command device realize in one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or
The function of specifying in multiple square frames.
These computer program instructions can be also loaded in computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented process, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow process of flow chart or multiple flow processs and/or block diagram one
The step of function of specifying in individual square frame or multiple square frames.
In a typical configuration, computing device includes one or more processors (CPU), input/output interface, net
Network interface and internal memory.
Internal memory potentially includes the volatile memory in computer-readable medium, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read only memory (ROM) or flash memory (flash RAM).Internal memory is computer-readable medium
Example.
Computer-readable medium includes that permanent and non-permanent, removable and non-removable media can be by any method
Or technology is realizing information Store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read only memory (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read only memory (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, the storage of tape magnetic rigid disk or other magnetic storage apparatus
Or any other non-transmission medium, can be used to store the information that can be accessed by a computing device.Define according to herein, calculate
Machine computer-readable recording medium does not include temporary computer readable media (transitory media), the such as data signal of modulation and carrier wave.
Also, it should be noted that term " including ", "comprising" or its any other variant are intended to nonexcludability
Comprising so that a series of process, method, commodity or equipment including key elements not only includes those key elements, but also wrapping
Other key elements being not expressly set out are included, or also includes intrinsic for this process, method, commodity or equipment wanting
Element.In the absence of more restrictions, the key element for being limited by sentence "including a ...", it is not excluded that wanting including described
Also there is other identical element in the process of element, method, commodity or equipment.
It will be understood by those skilled in the art that embodiments herein can be provided as method, system or computer program.
Therefore, the application can adopt complete hardware embodiment, complete software embodiment or with reference to the embodiment in terms of software and hardware
Form.And, the application can be deposited using the computer for wherein including computer usable program code at one or more is available
The shape of the computer program implemented on storage media (including but not limited to disk memory, CD-ROM, optical memory etc.)
Formula.
Embodiments herein is the foregoing is only, the application is not limited to.For those skilled in the art
For, the application can have various modifications and variations.All any modifications made within spirit herein and principle, equivalent
Replace, improve etc., within the scope of should be included in claims hereof.
Claims (13)
1. a kind of medical path air navigation aid, it is characterised in that include：
According to the threedimensional model of the threedimensional model and intrapulmonary blood vessel of the bronchial tree gone out by CT data reconstructions, it is determined that leading to diseased region
Puncture starting point and puncture impact point on the path of domain, and plan by main knuckle Jing nature air flue to the master for puncturing starting point
Guidance path and from it is described puncture starting point to it is described puncture impact point puncture path；
Under the guiding of the leading bit path, guiding catheter is sent into towards institute based on the positioning conduit with alignment sensor
State in the natural air flue for puncturing starting point；
During the guiding catheter is mobile in the natural air flue, based on the supravasal alignment sensor of the positioning
Position and direction of the guiding catheter in the natural air flue is positioned, and according to the guiding catheter in the natural air flue
In position and direction and the leading bit path offset relation, adjust position of the guiding catheter in the natural air flue
Put and direction, until the guiding catheter is navigated to the puncture starting point；
Puncture conduit with alignment sensor is sent into into the guiding catheter to reach the puncture starting point, is worn based on described
The supravasal alignment sensor positioning direction for puncturing conduit is pierced, and the direction for puncturing conduit is adjusted until the puncture
Conduit towards it is described puncture impact point till, and control it is described puncture conduit stab the puncture target along the puncture path
Point, to obtain puncture；
After taking out the puncture conduit, foley's tube is sent into into the guiding catheter to reach the puncture, and controls institute
State puncture described in inferior vena cava balloon dilation；
After taking out the foley's tube, the subsequent treatment with alignment sensor is sent into into the guiding catheter with instrument, based on institute
State the alignment sensor on subsequent treatment instrument and position position of the guiding catheter in the puncture after the expansion
And direction, position and direction of the guiding catheter in the puncture after the expansion is adjusted, until described guide is led
Pipe navigates to the lesion region.
2. method according to claim 1, it is characterised in that the threedimensional model and intrapulmonary blood vessel according to bronchial tree
Threedimensional model, it is determined that towards the puncture starting point on lesion region path and puncture impact point, including：
According to the threedimensional model of the bronchial tree, lesion region is planned；
From in the lesion region, select a little as the puncture impact point；
According to the threedimensional model of the intrapulmonary blood vessel, select a bit, to puncture starting as described in the bronchus for avoid blood vessel
Point.
3. method according to claim 2, it is characterised in that described to select a bit, to make in the bronchus for avoid blood vessel
For the puncture starting point, including：
In the bronchus near the lesion region, the bronchus of blood vessel are avoided in selection；
In the bronchus for avoiding blood vessel, select crotch a bit, as the puncture starting point.
4. method according to claim 1, it is characterised in that also include：
According to the threedimensional model of the bronchial tree, auxiliary magnet is selected in the bronchus from around the lesion region, and is planned
From the starting point that punctures to the assisting navigation path of the auxiliary magnet；And
During the guiding catheter is moved in the natural air flue, based on the supravasal orientation sensing of the positioning
The guiding catheter is navigated to the auxiliary magnet from the puncture starting point by device, corresponding with the assisting navigation path to obtain
Actual bronchial path, and according to the contrast in the actual bronchial path and the assisting navigation path, wear described in amendment
The position of thorn starting point and the puncture impact point.
5. the method according to any one of claim 1-4, it is characterised in that by the subsequent treatment with alignment sensor
Before the guiding catheter is sent into instrument, methods described also includes：
The puncture conduit is sent into into the guiding catheter, the puncture of supravasal alignment sensor positioning is punctured based on described
The direction of conduit, adjusts the direction for puncturing conduit until the puncture conduit is towards till the puncture impact point, and controls
The system puncture conduit stabs the puncture impact point along the puncture path is secondary.
6. the method according to any one of claim 1-4, it is characterised in that the guiding catheter is being navigated to into the disease
After becoming region, methods described also includes：
The position and direction that the subsequent treatment instrument is adjusted based on the alignment sensor on the subsequent treatment instrument is straight
The puncture impact point is reached to the subsequent treatment with instrument, control subsequent treatment instrument and be directed to the puncture target
Point carries out subsequent treatment.
7. the method according to any one of claim 1-4, it is characterised in that the subsequent treatment instrument is that ablation is led
Pipe, biopsy tool or delivery catheter.
8. a kind of medical path navigation system, it is characterised in that include：Path planning apparatus, route guiding device, guide are led
Pipe, the positioning conduit with alignment sensor, the puncture conduit with alignment sensor and foley's tube；
The path planning apparatus, the three of the threedimensional model and intrapulmonary blood vessel of the bronchial tree gone out by CT data reconstructions for basis
Dimension module, it is determined that towards the puncture starting point on lesion region path and puncturing impact point, and plans by main knuckle Jing nature gas
Road is to the leading bit path for puncturing starting point and from the starting point that punctures to the puncture path for puncturing impact point；
The guiding catheter, in towards the air flue of the lesion region, carrying the positioning conduit, the puncture conduit
Or the foley's tube；
The route guiding device, including：Path navigation module, puncture control module and sprawl and control module；
The path navigation module, for during the guiding catheter is mobile in the natural air flue, based on wearing
In the positioning supravasal alignment sensor positioning guiding catheter in the guiding catheter in the natural air flue
Position and direction, and the position and direction in the natural air flue and the leading bit path according to the guiding catheter
Offset relation, adjusts position and direction of the guiding catheter in the natural air flue, until the guiding catheter is navigated
To the puncture starting point；
The puncture control module, for based on the supravasal alignment sensor of the puncture being arranged in the guiding catheter
The positioning direction for puncturing conduit, adjusts the direction for puncturing conduit until the puncture conduit is towards the puncture target
Point till, and control it is described puncture conduit stab the puncture impact point along the puncture path, to obtain puncture；
The sprawl and control module, for controlling to puncture wound described in the inferior vena cava balloon dilation being arranged in the guiding catheter
Mouthful；
The path navigation module, is additionally operable to pass based on the positioning on the subsequent treatment instrument being arranged in the guiding catheter
Sensor positions position and direction of the guiding catheter in the puncture after the expansion, adjusts the guiding catheter in institute
The position and direction in the puncture after expansion is stated, until the guiding catheter is navigated to the lesion region.
9. system according to claim 8, it is characterised in that the path planning apparatus specifically for：
According to the threedimensional model of the bronchial tree, lesion region is planned；
From in the lesion region, select a little as the puncture impact point；
According to the threedimensional model of the intrapulmonary blood vessel, select a bit, to puncture starting as described in the bronchus for avoid blood vessel
Point.
10. system according to claim 9, it is characterised in that the path planning apparatus specifically for：
In the bronchus near the lesion region, the bronchus of blood vessel are avoided in selection；From the bronchus for avoiding blood vessel
It is interior, select crotch a bit, as the puncture starting point.
11. systems according to claim 8, it is characterised in that the path planning apparatus are additionally operable to：According to described gas
The threedimensional model of Guan Shu, from the lesion region around bronchus in select auxiliary magnet, and plan from described and puncture starting
Assisting navigation path of the point to the auxiliary magnet；
The path navigation module is additionally operable to：During the guiding catheter is moved in the natural air flue, it is based on
The guiding catheter is navigated to the auxiliary magnet from the puncture starting point by the supravasal alignment sensor of the positioning, to obtain
The natural air flue actual bronchial path corresponding with the assisting navigation path is obtained, and according to the actual bronchial path
With the contrast in the assisting navigation path, the puncture starting point and the puncture impact point is corrected in the position of the natural air flue
Put.
12. systems according to any one of claim 8-11, it is characterised in that the puncture control module is additionally operable to：Base
In the supravasal alignment sensor positioning of the puncture direction for puncturing conduit being arranged in the guiding catheter, adjustment
The direction for puncturing conduit is until the puncture conduit is towards till the puncture impact point, and controls the puncture conduit edge
That the puncture path is secondary to stab the puncture impact point.
13. systems according to any one of claim 8-11, it is characterised in that
The route guiding device also includes：Treatment control module；
The treatment control module, leads for adjusting the therapeutic based on the alignment sensor on the subsequent treatment instrument
The position and direction of pipe reaches the puncture impact point until the subsequent treatment with instrument, controls the subsequent treatment instrument
Subsequent treatment is carried out for the puncture impact point.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611042472.9A CN106510845B (en) | 2016-11-23 | 2016-11-23 | Medical path navigation methods and systems |
| PCT/CN2016/113922 WO2018094849A1 (en) | 2016-11-23 | 2016-12-30 | Medical path navigation method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611042472.9A CN106510845B (en) | 2016-11-23 | 2016-11-23 | Medical path navigation methods and systems |
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| CN108013934A (en) * | 2018-01-19 | 2018-05-11 | 上海联影医疗科技有限公司 | For intervening the intracavitary interventional systems of object |
| CN109620302A (en) * | 2018-11-26 | 2019-04-16 | 苏州朗开医疗技术有限公司 | A kind of lung biopsy apparatus and system |
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| CN114027984A (en) * | 2022-01-06 | 2022-02-11 | 极限人工智能有限公司 | Tortuous blood vessel crossing control device and vascular robot system |
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| CN108013934A (en) * | 2018-01-19 | 2018-05-11 | 上海联影医疗科技有限公司 | For intervening the intracavitary interventional systems of object |
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| Publication number | Publication date |
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| CN106510845B (en) | 2019-09-10 |
| WO2018094849A1 (en) | 2018-05-31 |
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