CN109893174A - A method of single needle or spininess aspiration biopsy are carried out by laser aiming - Google Patents
A method of single needle or spininess aspiration biopsy are carried out by laser aiming Download PDFInfo
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- CN109893174A CN109893174A CN201910152967.4A CN201910152967A CN109893174A CN 109893174 A CN109893174 A CN 109893174A CN 201910152967 A CN201910152967 A CN 201910152967A CN 109893174 A CN109893174 A CN 109893174A
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Abstract
The invention belongs to biopsy technique fields, and in particular to a method of carry out single needle or spininess aspiration biopsy by laser aiming, steps are as follows: S1. obtains the image of patient's pathological tissue by scanning；S2. the information of pathological tissue is determined according to the image information of scanning, and determines that target samples region；S3. the target sampling area image that will confirm that, which imports, to be modeled to obtain the target area model with three-dimensional system of coordinate in processing system；S4. target area model is imported and carries out dimension exploitation in Computerized three-dimensional treatment planning systems, determine aspiration biopsy route and paracentesis depth, S5. three-dimensional data exploitation obtained imports laser transmitting set, and adjustment laser transmitting set emits laser beam along aspiration biopsy route；S6. the puncture biopsy needle in aspiration biopsy equipment is adjusted, is inserted into patient body-surface mark along laser beam, and take out pathological tissue.The present invention is by laser aiming, and accuracy is high, and the whole process period is shorter, strong flexibility.
Description
Technical field
The invention belongs to biopsy technique fields, and in particular to a kind of to carry out single needle or spininess puncture by laser aiming
The method of biopsy.
Background technique
The research of tumour personalized medicines enters bottleneck stage, needs to combine new Research Thinking and direction.Currently, molecule is cured
It learns and individualized treatment scheme mainly passes through genomics (Genomics) and protein science (Proteomics) is swollen to detect
Tumor individuation characteristic.The major limitation of such methods is: needing through aspiration biopsy mode extraction section tumor tissues conduct
Pathological examination sample, referred to as " biopsy ", also known as surgical pathology inspection referred to as " is examined " outside for biopsy (biopsy)；It is
Refer to the needs that should be diagnosed, treat, is cut from patient's body, clamps to take or puncture etc. and take out pathological tissues, carry out pathological examination
Technology.It is most important part in Diagnosis pathology, can make specific histopathology to most inspection cases
Diagnosis, by as clinical final diagnosis.
Conventional aspiration biopsy operation, is to be taken by speculum forceps according to different physiological tissue's lesion situations, perform the operation and cut
It removes or the method for puncture needle absorption takes out a fritter tissues from the diseased region of patient, after doing certain pathology slicing treatment,
By the Morphology of micro- sem observation lesion cell and tissue, pathological diagnosis is made.It but is usually by doctor's
Experience is punctured, or is assisted by some simple imaging devices, but can not accurate guiding puncture biopsy device
Traveling, this is not only high to the skill requirement of attending physician, but also there is large errors, can not be accurately by aspiration biopsy
Pin puncture samples region to target, improves financial burden and the Operative risk of patient.
Summary of the invention
In order to solve the above problems existing in the present technology, it is carried out it is an object of that present invention to provide a kind of by laser aiming
Single needle or the method for spininess aspiration biopsy.
The technical scheme adopted by the invention is as follows: a kind of side carrying out single needle or spininess aspiration biopsy by laser aiming
Method, the specific steps are as follows:
S1. patient is subjected to Postural immobilization, the image of patient's pathological tissue is obtained by scanning；
S2. the information of pathological tissue is determined according to the image information of scanning, and determines that target samples region；
S3. the target sampling area image that will confirm that, which imports, to be modeled to obtain with three-dimensional system of coordinate in processing system
Target area model；
S4. target area model is imported and carries out dimension exploitation in Computerized three-dimensional treatment planning systems, determined to puncture and live
Route and paracentesis depth are examined, and the three-dimensional data after exploitation is exported；
S5. three-dimensional data exploitation obtained imports laser transmitting set, adjusts laser transmitting set along aspiration biopsy
Route emits laser beam；
S6. the puncture biopsy needle in aspiration biopsy equipment is adjusted, is inserted into patient body-surface mark along laser beam, and take
Pathological tissue out.
Further, the specific steps of the step S2 are as follows:
S201. the volume, shape and position of pathological tissue are confirmed according to the image of patient's pathological tissue obtained by scanning first
Set information data；
S202. then confirm important organ, bone, neural blood vessel and the adhesion feelings with surrounding tissue around pathological tissue
Condition, and determine that target samples region according to the specifying information of above- mentioned information and pathological tissue；
S203. it then determines the model data in target sampling region, and data is exported and wait subsequent processing.
By scanning obtained image, determine the essential information of pathological tissue, volume, shape including pathological tissue and
Location information data, and since vitals are great on the influence of the vital sign of human body, and vascular distribution is intensive in human body, it is important
Blood vessel such as neural blood vessel, artery, vein etc. must be protected, it is therefore desirable to determine important organ around pathological tissue,
Bone, neural blood vessel and the adhesion situation with surrounding tissue, then avoid above-mentioned vitals and tissue, on pathological tissue
It determines that target samples region, and the data in target sampling region is extracted, be convenient for subsequent modeling.
Further, in the step S3, the step of modeling is,
Step S301. is a skin-marker A0 on patients target region；
Step S302. establishes three-dimensional system of coordinate to regional model, and the three-dimensional system of coordinate is using skin-marker A0 as seat
Origin is marked, to determine x-axis and y-axis as z-axis, and according to coordinate origin and z-axis by the vertical line of skin-marker A0；
Step S303. is in three-dimensional system of coordinate to body surface profile, intracorporeal organ profile and the disease in patients target region
It manages tissue and carries out three-dimensional coordinate editor；
Since puncture biopsy needle needs to enter in vivo by body surface, it is therefore desirable to determine a positioning in patient body-surface
Put the puncture starting point to determine puncture biopsy needle, it is preferred that do one in the place that target sampling region is corresponded on patient body-surface
Skin-marker A0, and coordinate system is established using the point as origin, for the ease of determining the coordinate in target sampling region, to pass through body
The vertical line of list notation point A0 is z-axis, and determines that x-axis and y-axis, x-axis and y-axis are respectively perpendicular to z-axis according to coordinate origin and z-axis
And origin A0 is both passed through, three then are carried out to body surface profile, intracorporeal organ profile and the pathological tissue in patients target region
Coordinate editor is tieed up, in order to the specific aspiration biopsy route of subsequent determination.
Further, in the step S4, the aspiration biopsy route are as follows: single needle route or with numbered spininess road
Line, every aspiration biopsy route include puncturing starting point coordinate and puncture terminal point coordinate.Aspiration biopsy route is that puncture biopsy needle arrives
Region paths traversed is sampled up to target, can determine one or more of aspiration biopsy roads as needed in specific operation
Line need to be numbered every aspiration biopsy route if any a plurality of aspiration biopsy route, live to be accurately determined every puncture
Examine route, it is thus necessary to determine that the puncture starting point coordinate and puncture terminal point coordinate of every aspiration biopsy route.
Further, in the step S5, adjustment laser transmitting set is along aspiration biopsy route transmitting laser beam
Method is,
The emitting head of step S501. adjustment laser emitter is overlapped with the origin of three-dimensional system of coordinate；
Step S502. adjusts the position of laser transmitter projects head according to the information of aspiration biopsy route in three-dimensional data
And direction, make the Laser emission direction of laser transmitter projects head and puncture starting point coordinate, puncture terminal point coordinate is constituted three
Coordinate vector is tieed up to be overlapped；
The emitting head of laser emitter is overlapped with the origin of three-dimensional system of coordinate, guarantees that the laser launched can be along coordinate
The aspiration biopsy route determined in system is advanced, as long as and determining straight line by two o'clock and puncturing starting point coordinate it is found that determining and wear
Thorn terminal point coordinate can determine aspiration biopsy route, need to only adjust the angle of laser transmitter projects head, and make to launch swashs
For light simultaneously by puncturing starting point coordinate and puncturing terminal point coordinate, the route where laser at this time is aspiration biopsy route, edge
Route where laser carry out aspiration biopsy.
Further, in the step S6, the insertion of the puncture biopsy needle and taking-up pathological tissue step include:
The syringe needle alignment laser of puncture biopsy needle is penetrated the luminous point on body surface by step S601., adjusts aspiration biopsy equipment
On puncture biopsy needle position, penetrate the luminous point of laser beam on the laser sensor of puncture biopsy needle tail end, according to
The route of laser beam is inserted into puncture biopsy needle；
Step S602. carries out the depth that puncture biopsy needle is inserted by laser ranging while being inserted into puncture biopsy needle
Measurement and display, prompt insertion depth；
Step S603. when puncture biopsy needle reach target position after, with puncture biopsy needle take out pathological tissue, then according to
Former route extracts puncture biopsy needle.
Laser sensor is to guarantee to puncture to more accurately detect the tail portion whether laser is located at puncture biopsy needle
Biopsy needle is located in a straight line with laser, and certain laser sensor need to be located at the centerline of puncture biopsy needle, can also be with
Concave point directly is set in aspiration biopsy Aculeata, by the position of naked-eye observation laser, but accuracy in this way is lower.
Further, the measurement of the depth of the puncture biopsy needle insertion and display device include laser range finder and display
Device, laser range finder are electrically connected with display.Laser range finder is used to measure the paracentesis depth of puncture biopsy needle, and display is used for
It shows specific depth, is operated convenient for doctor.
Further, the prompt insertion depth is voice broadcast prompt: when puncture biopsy needle reaches corresponding implantation depth
Confirmation voice prompting is issued afterwards；It is issued when puncture biopsy needle does not reach corresponding implantation depth and does not reach voice prompting.
Further, in the step S3, the processing system uses Arigin3D or Mimics.
Operating procedure explanation is carried out by taking Mimics as an example below:
The image check data in target sampling region imported into Mimics, are observed and adjusted by Mimics by the first step
The threshold value of whole original image check data；
Second step chooses required picture material after obtaining the clear 3-D image of angiography, really according to the adjustment of threshold value
Surely need to carry out whole radiography images of subsequent modeling；
Third step, by cavity present in all radiography images chosen or missing place completely fill out, avoid because
Lead to model existing defects for threshold value step-up error；
4th step, establishes threedimensional model, it is generally the case that runs Calculate order in Mimics and produces three
The bitmap for tieing up figure, decides whether to handle picture according to the clear situation of picture and actual demand；
5th step exports ansys file and according to ansys area files model split grid, is carried out by Mimics
Assignment sets and automatically generates threedimensional model, i.e. sick body model after (MPa) after unit intensity (HU) and e modulus.
It is worth noting that above-mentioned, to be by taking Mimics as an example include but not to the explanation for establishing the progress of medical data model
It is limited to using the software realization other than Mimics.
Further, in the step S1 image of pathological tissue be by ultrasound, CT or nuclear magnetic resonance separately or cooperatively
Scan obtained result.
Sweep time can be saved and be not present because setting by being scanned using one of ultrasound, CT or nuclear magnetic resonance method
For excessive the case where occupied space, scanning mode is the more planted using two of them and cooperate can be further improved scanning
Accuracy rate, and the image check of the ultrasound at this place, CT or MRI is all made of contrast enhancement technology, and clinical test is sufficiently demonstrate,proved
It is bright, contrast enhancement technology compared to the common unenhanced influence that can improve organ and tumour significantly resolution ratio and
Diagnosis accuracy, by taking centrum CT examination as an example, the accuracy rate of plain CT is 91%, and the accuracy rate of radiography Enhanced CT can reach
To 94-98%.
The invention has the benefit that
(1) present invention is by carrying out accurately data modeling at the pathological tissue to patient, then using laser technology into
Row guidance, guarantees the accuracy of aspiration biopsy, when patient's body pathological tissue position changes, can rescan then
Data modeling is carried out, redefines aspiration biopsy scheme, strong flexibility, the whole process period is shorter and very convenient, is suitable for pushing away
Extensively.
(2) three-dimensional system of coordinate of the invention by establishing pathological tissue, is accurately determined the three-dimensional coordinate of destination organization, swashs
Light can be guided in strict accordance with coordinate, ensure that the accuracy of aspiration biopsy route, avoid manual guidance and doctor sees
Brought error is examined, operation precision is higher.
(3) difficulty that doctor's operation is reduced by laser aiming reduces the risk of operation, while improving entire operation
Efficiency, aid prompting device is set during laser aiming, puncture biopsy needle is prevented in surgical procedure to deviate projected route,
Ensure to perform the operation accurate.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of aspiration biopsy equipment in embodiment 5；
Fig. 2 is the structural schematic diagram of puncture biopsy needle in embodiment 5；
Fig. 3 is the schematic diagram of Puncture needle sleeve in embodiment 5；
Fig. 4 is the schematic diagram of sampler in embodiment 5；
Fig. 5 is the right view of Fig. 2；
Fig. 6 is Fig. 2 bottom view；
In figure: 1- mounting shell；2- drive rod；3- fixed plate；4- driving motor；5- driving gear；6- driven gear；7- axis
Set；9- limited block；10- puncture biopsy needle；11- Puncture needle sleeve；12- sampler；13- positioning disk；14- positioning sleeve；15- laser
Sensor；16- prompting device；17- sample holes；18- sampling hole；19- cutting sheet.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is further elaborated.
Embodiment 1:
A method of single needle or spininess aspiration biopsy are carried out by laser aiming, the specific steps are as follows:
S1. patient is subjected to Postural immobilization, the image of patient's pathological tissue is obtained by scanning；
S2. the information of pathological tissue is determined according to the image information of scanning, and determines that target samples region；
S3. the target sampling area image that will confirm that, which imports, to be modeled to obtain with three-dimensional system of coordinate in processing system
Target area model；
S4. target area model is imported and carries out dimension exploitation in Computerized three-dimensional treatment planning systems, determined to puncture and live
Route and paracentesis depth are examined, and the three-dimensional data after exploitation is exported；
S5. three-dimensional data exploitation obtained imports laser transmitting set, adjusts laser transmitting set along aspiration biopsy
Route emits laser beam；
S6. the puncture biopsy needle in aspiration biopsy equipment is adjusted, is inserted into patient body-surface mark along laser beam, and take
Pathological tissue out.
Then the present invention is drawn by carrying out accurately data modeling at the pathological tissue to patient using laser technology
It leads, guarantees the accuracy of aspiration biopsy, when patient's body pathological tissue position changes, can rescan and then carry out
Data modeling, redefines aspiration biopsy scheme, strong flexibility, and the whole process period is shorter and very convenient；The present invention passes through
The three-dimensional system of coordinate for establishing pathological tissue, is accurately determined the three-dimensional coordinate of destination organization, and laser can be carried out in strict accordance with coordinate
Guidance, ensure that the accuracy of aspiration biopsy route, avoids manual guidance and doctor observes brought error, operation essence
Accuracy is higher；The difficulty that doctor's operation is reduced by laser aiming, reduces the risk of operation, while improving and entirely to perform the operation
Aid prompting device is arranged in efficiency during laser aiming, prevents puncture biopsy needle in surgical procedure from deviateing projected route, really
It is accurate to protect operation.
Embodiment 2:
As the preferred technical solution of the present invention, on the basis of embodiment 1, the specific steps of the step S2 are as follows:
S201. the volume, shape and position of pathological tissue are confirmed according to the image of patient's pathological tissue obtained by scanning first
Set information data；
S202. then confirm important organ, bone, neural blood vessel and the adhesion feelings with surrounding tissue around pathological tissue
Condition, and determine that target samples region according to the specifying information of above- mentioned information and pathological tissue；
S203. it then determines the model data in target sampling region, and data is exported and wait subsequent processing.
By scanning obtained image, determine the essential information of pathological tissue, volume, shape including pathological tissue and
Location information data, and since vitals are great on the influence of the vital sign of human body, and vascular distribution is intensive in human body, it is important
Blood vessel such as neural blood vessel, artery, vein etc. must be protected, it is therefore desirable to determine important organ around pathological tissue,
Bone, neural blood vessel and the adhesion situation with surrounding tissue, then avoid above-mentioned vitals and tissue, on pathological tissue
It determines that target samples region, and the data in target sampling region is extracted, be convenient for subsequent modeling.
Embodiment 3:
As the preferred technical solution of the present invention, on the basis of embodiment 2, in the step S3, the step of the modeling
Suddenly it is,
Step S301. is a skin-marker A0 on patients target region；
Step S302. establishes three-dimensional system of coordinate to regional model, and the three-dimensional system of coordinate is using skin-marker A0 as seat
Origin is marked, to determine x-axis and y-axis as z-axis, and according to coordinate origin and z-axis by the vertical line of skin-marker A0；
Step S303. is in three-dimensional system of coordinate to body surface profile, intracorporeal organ profile and the disease in patients target region
It manages tissue and carries out three-dimensional coordinate editor；
Since puncture biopsy needle needs to enter in vivo by body surface, it is therefore desirable to determine a positioning in patient body-surface
Put the puncture starting point to determine puncture biopsy needle, it is preferred that do one in the place that target sampling region is corresponded on patient body-surface
Skin-marker A0, and coordinate system is established using the point as origin, for the ease of determining the coordinate in target sampling region, to pass through body
The vertical line of list notation point A0 is z-axis, and determines that x-axis and y-axis, x-axis and y-axis are respectively perpendicular to z-axis according to coordinate origin and z-axis
And origin A0 is both passed through, three then are carried out to body surface profile, intracorporeal organ profile and the pathological tissue in patients target region
Coordinate editor is tieed up, in order to the specific aspiration biopsy route of subsequent determination.
In the step S3, the processing system uses Arigin3D or Mimics.
Operating procedure explanation is carried out by taking Mimics as an example below:
The image check data in target sampling region imported into Mimics, are observed and adjusted by Mimics by the first step
The threshold value of whole original image check data；
Second step chooses required picture material after obtaining the clear 3-D image of angiography, really according to the adjustment of threshold value
Surely need to carry out whole radiography images of subsequent modeling；
Third step, by cavity present in all radiography images chosen or missing place completely fill out, avoid because
Lead to model existing defects for threshold value step-up error；
4th step, establishes threedimensional model, it is generally the case that runs Calculate order in Mimics and produces three
The bitmap for tieing up figure, decides whether to handle picture according to the clear situation of picture and actual demand；
5th step exports ansys file and according to ansys area files model split grid, is carried out by Mimics
Assignment sets and automatically generates threedimensional model, i.e. sick body model after (MPa) after unit intensity (HU) and e modulus.
It is worth noting that above-mentioned, to be by taking Mimics as an example include but not to the explanation for establishing the progress of medical data model
It is limited to using the software realization other than Mimics.
Embodiment 4:
As the preferred technical solution of the present invention, on the basis of embodiment 3, in the step S5, Laser emission is adjusted
Equipment along aspiration biopsy route transmitting laser beam method be,
The emitting head of step S501. adjustment laser emitter is overlapped with the origin of three-dimensional system of coordinate；
Step S502. adjusts the position of laser transmitter projects head according to the information of aspiration biopsy route in three-dimensional data
And direction, make the Laser emission direction of laser transmitter projects head and puncture starting point coordinate, puncture terminal point coordinate is constituted three
Coordinate vector is tieed up to be overlapped；
The emitting head of laser emitter is overlapped with the origin of three-dimensional system of coordinate, guarantees that the laser launched can be along coordinate
The aspiration biopsy route determined in system is advanced, as long as and determining straight line by two o'clock and puncturing starting point coordinate it is found that determining and wear
Thorn terminal point coordinate can determine aspiration biopsy route, need to only adjust the angle of laser transmitter projects head, and make to launch swashs
For light simultaneously by puncturing starting point coordinate and puncturing terminal point coordinate, the route where laser at this time is aspiration biopsy route, edge
Route where laser carry out aspiration biopsy.
In the step S6, the insertion of the puncture biopsy needle and taking-up pathological tissue step include:
The syringe needle alignment laser of puncture biopsy needle is penetrated the luminous point on body surface by step S601., adjusts aspiration biopsy equipment
On puncture biopsy needle position, penetrate the luminous point of laser beam on the laser sensor of puncture biopsy needle tail end, according to
The route of laser beam is inserted into puncture biopsy needle；
Step S602. carries out the depth that puncture biopsy needle is inserted by laser ranging while being inserted into puncture biopsy needle
Measurement and display, prompt insertion depth；
Step S603. when puncture biopsy needle reach target position after, with puncture biopsy needle take out pathological tissue, then according to
Former route extracts puncture biopsy needle.
Laser sensor is to guarantee to puncture to more accurately detect the tail portion whether laser is located at puncture biopsy needle
Biopsy needle is located in a straight line with laser, and certain laser sensor need to be located at the centerline of puncture biopsy needle, can also be with
Concave point directly is set in aspiration biopsy Aculeata, by the position of naked-eye observation laser, but accuracy in this way is lower.
Embodiment 5:
As shown in figures 1 to 6: on the basis of the above embodiments, aspiration biopsy equipment includes as a preferred technical solution,
Propulsion device and puncture biopsy needle 10, the puncture biopsy needle 10 are fixedly connected in propulsion device；
The propulsion device includes driving motor 4, drive rod 2 and fixed plate 3, and the drive rod 2 is driven with driving motor 4
Connection, the fixed plate 3 are threaded on drive rod 2；
The puncture biopsy needle 10 includes Puncture needle sleeve 11 and sampler 12, and the Puncture needle sleeve 11 is fixed on fixed plate 3
On, the sampler 12 is slidably connected in Puncture needle sleeve 11, and the front end of the Puncture needle sleeve 11 is cone cell syringe needle, the cone cell
The side of syringe needle offers sample holes 17, and the front end of the sampler 12 is conical head, and the front end of the sampler 12 is provided with
Sampling hole 18 is provided with cutting sheet 19 at the aperture of the sampling hole 18, and the rear end of the sampler 12 is provided with laser sensing
Device 15, the laser sensor 15 are electrically connected with prompting device 16, the center line of the laser sensor 15 and the axis of cone cell syringe needle
Line is conllinear.
The taper of the conical head is consistent with the taper of cone cell syringe needle, and the aperture of the sampling hole 18 is equal to or more than sample introduction
The blade in the aperture in hole 17, the cutting sheet 19 is overlapped with the bus of the cone cell syringe needle conical surface.By the taper of conical head be set as with
The taper of cone cell syringe needle is consistent, guarantees the cooperation compactness of sampler 12 and Puncture needle sleeve 11, convenient for cutting down pathological tissue
Come, since pathological tissue first enters from sample holes 17, is entering in sampling hole 18, to prevent the too small influence in 18 aperture of sampling hole
Pathological tissue enter, by the import aperture of sampling hole 18 be equal to or greater than sample holes 17 aperture, by cutting sheet 19
Blade is overlapped with the bus of the cone cell syringe needle conical surface, when cutting sheet 19 is when cutting pathological tissue, makes the knife of cutting sheet 19
Wall at 17 aperture of sample holes of sword and Puncture needle sleeve 11 forms " chopper " effect, convenient for cutting.
The edge length of the cutting sheet 19 is greater than the aperture of sample holes 17.In order to guarantee that the disease in sample holes 17 will be entered
Reason tissue is cut down, and needs to guarantee that the edge length of cutting sheet 19 is greater than the aperture of sample holes 17, otherwise cutting sheet 19 can not
The pathological tissue entered in sample holes 17 is cut away completely, the rotation of sampler 12 will will drive the segment pathology in sample holes 17
Tissue rotation, to pull entirely organizing the formation of, this is very dangerous.
The rear end of the Puncture needle sleeve 11 is provided with positioning disk 13, and the rear end of the sampler 12 is provided with positioning sleeve 14,
Transition fit between the positioning sleeve 14 and positioning disk 13.In order to guarantee accuracy when sampling, need to puncture biopsy needle 10
It is positioned, since the Puncture needle sleeve 11 of puncture biopsy needle 10 is fixed in fixed plate 3, and sampler 12 is slidably connected at puncture
In needle guard 11, it is therefore desirable to positioned to sampler 12 to guarantee that cutting is accurate.By being arranged in the rear end of Puncture needle sleeve 11
There is positioning disk 13, and the rear end of sampler 12 is provided with positioning sleeve 14, positioning sleeve 14 is set on positioning disk 13, and makes to determine
It is in transition fit relationship between position set 14 and positioning disk 13, stable pass is kept between such sampler 12 and Puncture needle sleeve 11
System will not generate shaking, guarantee the accuracy in sampling process.
It is provided with external screw thread on the outer wall of the positioning disk 13, is provided on the inner wall of the positioning sleeve 14 and external screw thread phase
Matched internal screw thread.In order to prevent in cutting process due to reason for manual operation generate error, as hand shaking make sampler 12 with
Biggish opposite sliding is generated between Puncture needle sleeve 11, external screw thread is provided on the outer wall of positioning disk 13, in positioning sleeve 14
It is provided with the internal screw thread to match with external screw thread on inner wall, is realized by screw thread and is turned between sampler 12 and Puncture needle sleeve 11
It is dynamic, can prevent sampler 12 and Puncture needle sleeve 11 generate it is biggish slide axially, since screw thread can generate axial direction when rotating
On power, slide axially so that sampler 12 and Puncture needle sleeve 11 be made to generate, but since the process rotation amplitude of cutting is smaller, and
The gradient of screw thread can be turned down, therefore sampler 12 slides axially as caused by screw thread with Puncture needle sleeve 11 and can neglect in rotation
Slightly disregard.
The rear end setting of the sampler 12 is fluted, and the prompting device 16 is fixed in groove, and the groove top is set
It is equipped with fixed lid, the laser sensor 15 is fixed on fixation and covers.For the ease of arranging prompting device 16, after sampler 12
End setting is fluted, will be prompted to device 16 and is placed in groove；Groove top is provided with fixed lid, laser sensor 15 is fixed
It is covered in fixation, receives positioning laser convenient for it.
The propulsion device further includes mounting shell 1, and the driving motor 4 is fixedly connected on mounting shell 1, the drive rod
2 are rotatably connected on mounting shell 1.In order to facilitate cloth centrally-mounted driving 4 and support drive rod 2, it is provided with mounting shell 1, will be driven
Dynamic motor 4 is fixedly connected on mounting shell 1, and drive rod 2 is rotatably connected on mounting shell 1, and mounting shell 1 is also convenient for will be entire
Device is mounted on angle demodulator.
Pass through gear drive between the driving motor 4 and drive rod 2, is provided with driving gear on the driving motor 4
5, driven gear 6 is provided on the drive rod 2, is engaged between the driving gear 5 and driven gear 6.Driving motor 4 and drive
Transmission between lever 2 can be accomplished in several ways, and such as use V belt translation or chain conveyer, be laid out in the present apparatus tight
It gathers, is easy for installation, using gear-driven form, driving gear 5 being fixed in the shaft of driving motor 4, by driven gear 6
It is fixed on drive rod 2, and driving gear 5 is engaged with driven gear 6, when starting driving motor 4, then can drive drive rod
2 rotations to drive the movement of fixed plate 3, and then control the paracentesis depth of puncture biopsy needle 10.
Axle sleeve 7 is provided between 1 bottom plate of the driven gear 6 and mounting shell, the drive rod 2 is rotatably connected on axle sleeve 7
Interior, the upper wall of the mounting shell 1 is provided with bearing, and the drive rod 2 is mounted in bearing.In order to by 2 fix stably of drive rod,
And guarantee that it is rotatably connected in mounting shell 1, bearing is installed in the upper wall of mounting shell 1, and drive rod 2 is mounted on bearing
Interior, bearing advantageously ensures that the rotation of drive rod 2, and one end of drive rod 2 is fixed, in driven gear 6 and installation
Axle sleeve 7 is provided between 1 bottom plate of shell, axle sleeve 7 is fixed on 1 bottom plate of mounting shell, and drive rod 2 is rotatably connected in axle sleeve 7,
Axle sleeve 7 further fixes drive rod 2, prevents drive rod 2 axially movable, while guaranteeing the rotation of drive rod 2.
There are two limited block 9, a limited block 9 is located at drive rod 2 and 1 bottom plate of mounting shell for setting on the drive rod 2
Intersection, another limited block 9 are located at the end of drive rod 2.Limited block 9 is set on drive rod 2 primarily to limitation is solid
The movement of fixed board 3 prevents fixed plate 3 to be detached from drive rod 2, while preventing fixed plate 3 from pushing against mounting shell 1, therefore one is limited
The end of drive rod 2 is arranged in block 9, another limited block 9 is arranged in the intersection of drive rod 2 Yu 1 bottom plate of mounting shell.
The present invention is not limited to above-mentioned optional embodiment, anyone can show that other are various under the inspiration of the present invention
The product of form, however, make any variation in its shape or structure, it is all to fall into the claims in the present invention confining spectrum
Technical solution, be within the scope of the present invention.
Claims (10)
1. a kind of method for carrying out single needle or spininess aspiration biopsy by laser aiming, it is characterised in that: specific step is as follows:
S1. patient is subjected to Postural immobilization, the image of patient's pathological tissue is obtained by scanning；
S2. the information of pathological tissue is determined according to the image information of scanning, and determines that target samples region；
S3. the target sampling area image that will confirm that, which imports, to be modeled to obtain the target with three-dimensional system of coordinate in processing system
Regional model；
S4. target area model is imported and carries out dimension exploitation in Computerized three-dimensional treatment planning systems, determine aspiration biopsy road
Line and paracentesis depth, and the three-dimensional data after exploitation is exported；
S5. three-dimensional data exploitation obtained imports laser transmitting set, adjusts laser transmitting set along aspiration biopsy route
Emit laser beam；
S6. the puncture biopsy needle in aspiration biopsy equipment is adjusted, is inserted into patient body-surface mark along laser beam, and take out disease
Manage tissue.
2. a kind of method for carrying out single needle or spininess aspiration biopsy by laser aiming according to claim 1, feature
It is: the specific steps of the step S2 are as follows:
S201. volume, shape and the position letter of pathological tissue are confirmed according to the image of patient's pathological tissue obtained by scanning first
Cease data；
S202. then confirm important organ, bone, neural blood vessel and the adhesion situation with surrounding tissue around pathological tissue,
And determine that target samples region according to the specifying information of above- mentioned information and pathological tissue；
S203. it then determines the model data in target sampling region, and data is exported and wait subsequent processing.
3. a kind of method for carrying out single needle or spininess aspiration biopsy by laser aiming according to claim 2, feature
Be: in the step S3, the step of modeling is,
Step S301. is a skin-marker A0 on patients target region；
Step S302. establishes three-dimensional system of coordinate to regional model, and the three-dimensional system of coordinate is former using skin-marker A0 as coordinate
Point, to determine x-axis and y-axis as z-axis, and according to coordinate origin and z-axis by the vertical line of skin-marker A0；
Step S303. is in three-dimensional system of coordinate to body surface profile, intracorporeal organ profile and the pathologic group in patients target region
It knits and carries out three-dimensional coordinate editor.
4. a kind of method for carrying out single needle or spininess aspiration biopsy by laser aiming according to claim 3, feature
It is: in the step S4, the aspiration biopsy route are as follows: single needle route or with numbered spininess route, every puncture
Biopsy route includes puncturing starting point coordinate and puncture terminal point coordinate.
5. a kind of method for carrying out single needle or spininess aspiration biopsy by laser aiming according to claim 3 or 4, special
Sign is: in the step S5, adjusting laser transmitting set along the method for aspiration biopsy route transmitting laser beam is,
The emitting head of step S501. adjustment laser emitter is overlapped with the origin of three-dimensional system of coordinate；
Step S502. adjusts the position and side of laser transmitter projects head according to the information of aspiration biopsy route in three-dimensional data
To the three-dimensional seat for constituting the Laser emission direction of laser transmitter projects head and puncture starting point coordinate, puncture terminal point coordinate
Vector is marked to be overlapped.
6. a kind of method for carrying out single needle or spininess aspiration biopsy by laser aiming according to claim 5, feature
Be: in the step S6, the insertion of the puncture biopsy needle and taking-up pathological tissue step include:
The syringe needle alignment laser of puncture biopsy needle is penetrated the luminous point on body surface by step S601., is adjusted in aspiration biopsy equipment
The position of puncture biopsy needle penetrates the luminous point of laser beam on the laser sensor of puncture biopsy needle tail end, according to laser
The route of ray is inserted into puncture biopsy needle；
Step S602. is measured while being inserted into puncture biopsy needle by the depth that puncture biopsy needle is inserted into laser ranging
And display, prompt insertion depth；
Step S603. takes out pathological tissue after puncture biopsy needle reaches target position, with puncture biopsy needle, then according to former road
Line extracts puncture biopsy needle.
7. a kind of method for carrying out single needle or spininess aspiration biopsy by laser aiming according to claim 6, feature
Be: the measurement of the depth of puncture biopsy needle insertion and display device include laser range finder and display, laser ranging
Instrument is electrically connected with display.
8. a kind of method for carrying out single needle or spininess aspiration biopsy by laser aiming according to claim 6, feature
Be: the prompt insertion depth is voice broadcast prompt: confirmation language is issued after puncture biopsy needle reaches corresponding implantation depth
Sound prompt；It is issued when puncture biopsy needle does not reach corresponding implantation depth and does not reach voice prompting.
9. a kind of method for carrying out single needle or spininess aspiration biopsy by laser aiming according to claim 3, feature
Be: in the step S3, the processing system uses Arigin3D or Mimics.
10. a kind of method for carrying out single needle or spininess aspiration biopsy by laser aiming according to claim 1, feature
Be: in the step S1 image of pathological tissue be separately or cooperatively scanned by ultrasound, CT or nuclear magnetic resonance it is obtained
As a result.
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