CN112006774A - Operation positioning device - Google Patents
Operation positioning device Download PDFInfo
- Publication number
- CN112006774A CN112006774A CN202010737289.0A CN202010737289A CN112006774A CN 112006774 A CN112006774 A CN 112006774A CN 202010737289 A CN202010737289 A CN 202010737289A CN 112006774 A CN112006774 A CN 112006774A
- Authority
- CN
- China
- Prior art keywords
- tracker
- puncture drainage
- holder
- drainage needle
- support arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The invention provides a surgical positioning device, comprising: the support arm fixer comprises a support arm mounting and fixing hole and a puncture drainage needle sleeve, wherein the support arm mounting and fixing hole is used for mounting and fixing the support arm fixer on a support arm of the operation positioning frame, and the puncture drainage needle sleeve is used for enabling the puncture drainage needle to penetrate through and restraining the puncture drainage needle to move along the length direction so as to implement puncture drainage; the tracker mounting table is arranged on the support arm fixer and is adjustable in direction; the tracker is arranged on the tracker mounting table, and the angle of the tracker changes along with the change of the direction of the tracker mounting table; the orientation sensor is arranged on the tracker mounting table and used for acquiring angle information of the tracker; and the displacement sensor is arranged on the bracket arm fixer corresponding to the puncture drainage needle and is used for acquiring displacement information of the puncture drainage needle.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a surgical positioning device.
Background
In medical practice, it is often necessary to perform puncture drainage on lesions in parenchymal organs or tissues, such as hematomas or abscesses, because tissues are not transparent, and some auxiliary means are generally used clinically to improve puncture accuracy. Common auxiliary means are: 1. the puncture direction and depth are estimated according to the imaging data and the body surface marks, the advantages are convenience and simplicity, and the defect is that the puncture point drifts frequently due to the base line difference before and during the operation. 2. The B-ultrasonic positioning in the operation has the advantages of real-time guiding and reliable precision, and has the defects of needing a sterile sleeve, complex operation, easy pollution, larger volume of a B-ultrasonic probe and limited operation space under a skull drilling hole or a laparoscope. 3. The three-dimensional navigation system is accurate and reliable, and has the defects of needing to wear a frame before an operation, CT or MR scanning and planning, high requirements on equipment and personnel and high cost.
The current three-dimensional navigation system also has a navigation auxiliary device for shielding an operation scene, and a positioning frame of the navigation auxiliary device comprises two trackers: the first tracker positions the channel direction, and the second tracker is used for tracking depth information in real time, however, the relation between first tracker and the channel position is fixed, can't adjust the angle of first tracker in the art, must make special transformation to current puncture drainage apparatus can obtain defect such as depth information, influences the smooth implementation of operation, increases extra work and cost, and the universality is not high.
Disclosure of Invention
The invention aims to solve the technical problems and provides a surgical positioning device which can realize accurate puncture drainage positioning and effectively avoid the shielding of a tracker on a surgical scene, so that the intellectualization and convenience of a surgery can be greatly improved, the cost is low, and the applicability is wide.
The technical scheme adopted by the invention is as follows: a surgical positioning device comprises a support arm fixer, wherein the support arm fixer comprises support arm mounting and fixing holes and a puncture drainage needle sleeve which are positioned at different positions, the support arm mounting and fixing holes are used for mounting and fixing the support arm fixer on a support arm of a surgical positioning frame, and the puncture drainage needle sleeve is used for enabling a puncture drainage needle to penetrate through and restricting the puncture drainage needle to move along the length direction so as to implement puncture drainage; the tracker mounting table is arranged on the support arm fixer, and the direction of the tracker mounting table is adjustable; a tracker mounted on the tracker mounting stage, an angle of the tracker varying with a change in a direction of the tracker mounting stage; the orientation sensor is arranged on the tracker mounting table and is used for acquiring angle information of the tracker; the displacement sensor is arranged on the bracket arm fixer corresponding to the puncture drainage needle and is used for acquiring displacement information of the puncture drainage needle.
The surgical positioning apparatus further comprises: the wireless transmission module is used for carrying out wireless communication with external positioning equipment; the processor is respectively connected with the wireless transmission module, the azimuth sensor and the displacement sensor, and the processor is used for controlling the wireless transmission module to send the angle information of the tracker and the displacement information of the puncture drainage needle to the external positioning equipment.
The support arm fixing device is in a cake shape, the support arm mounting fixing hole is formed in the center of the cake shape, the puncture drainage needle sleeve is arranged on one surface of the support arm fixing device, one end of the puncture drainage needle sleeve penetrates through the support arm fixing device to serve as an outlet of the puncture drainage needle, and the outlet is located between the support arm mounting fixing hole and the edge of the support arm fixing device.
The bracket arm fixer comprises a first part and a second part, wherein the puncture drainage needle sleeve is positioned on the first part, and the bracket arm mounting fixing hole is positioned on the second part.
The tracker mounting table is mounted to a side wall of the support arm holder.
The tracker mounting stage is mounted to the second portion.
The orientation sensor is a three-dimensional angle sensor.
The angular information includes three-dimensional angular coordinates of the tracker to tracker mount connection point.
The displacement sensor is a photoelectric displacement sensor arranged on the other surface of the bracket arm fixer.
The displacement information comprises the length of the puncture drainage needle extending out of the other surface of the bracket arm fixer.
The invention has the beneficial effects that:
(1) according to the invention, the angle of the tracker is obtained by introducing the position sensor, the displacement of the puncture drainage needle is obtained by the displacement sensor, accurate puncture drainage positioning can be realized, the angle of the tracker can be adjusted by arranging the tracker mounting table with adjustable direction, the shielding of the tracker on an operation scene can be effectively avoided, the intellectualization and convenience of an operation can be greatly improved, the cost is lower, the existing instruments do not need to be specially designed and modified, the position of an instrument head does not need to be secondarily registered in the operation, and the puncture drainage device has the advantages of wide applicability and simplicity and convenience in operation.
(2) The upper part and the lower part of the bracket arm fixer are separated, so that the disinfection is convenient, and the separation of a sterile area and a polluted area is realized.
Drawings
FIG. 1 is a schematic view of a surgical positioning apparatus in accordance with one embodiment of the present invention;
FIG. 2 is a schematic view of another perspective of a surgical positioning apparatus in accordance with one embodiment of the present invention;
FIG. 3 is a block diagram of a surgical positioning apparatus in accordance with one embodiment of the present invention;
FIG. 4 is a schematic view of a coordinate system provided in a surgical positioning apparatus in accordance with one embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a puncture drainage positioning device according to an embodiment of the present invention;
FIG. 6 is a schematic view of an application scenario of a surgical positioning apparatus according to an embodiment of the present invention;
fig. 7 is a schematic view of a positioning device of a conventional positioning device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, the surgical positioning apparatus according to the embodiment of the present invention includes a holder arm fixture 1, a tracker mounting table 2, a tracker 3, a position sensor 4, and a displacement sensor 5. The support arm fixator 1 comprises support arm mounting and fixing holes 6 and a puncture drainage needle sleeve 7 which are positioned at different positions, wherein the support arm mounting and fixing holes 6 are used for mounting and fixing the support arm fixator 1 on a support arm 8 of an operation positioning frame, and the puncture drainage needle sleeve 7 is used for enabling a puncture drainage needle 9 to penetrate through and restraining the puncture drainage needle 9 to move along the length direction so as to implement puncture drainage; the tracker mounting table 2 is arranged on the support arm fixer 1, and the direction of the tracker mounting table 2 is adjustable; the tracker 3 is arranged on the tracker mounting table 2, and the angle of the tracker 3 changes along with the change of the direction of the tracker mounting table 2; the azimuth sensor 4 is arranged on the tracker mounting table 2, and the azimuth sensor 4 is used for acquiring angle information of the tracker 3; the displacement sensor 5 is arranged on the bracket arm fixer 1 corresponding to the puncture drainage needle 9, and the displacement sensor 5 is used for acquiring displacement information of the puncture drainage needle 9.
Further, as shown in fig. 3, the surgical positioning apparatus may further include a wireless transmission module 10 and a processor 11, the wireless transmission module 10 is configured to perform wireless communication with an external positioning device, the processor 11 is respectively connected to the wireless transmission module 10, the position sensor 4 and the displacement sensor 5, and the processor 11 is configured to control the wireless transmission module 10 to send the angle information of the tracker 3 and the displacement information of the puncture drainage needle 9 to the external positioning device. The position information sent by the tracker orientation sensor 4 and the photoelectric displacement sensor 5 is matrix information.
In an embodiment of the present invention, as shown in fig. 1 and 2, the holder arm holder 1 is pie-shaped, the holder arm mounting hole 6 may be opened at a center position of the pie-shaped, the puncture drainage needle cannula 7 may be disposed at one side of the holder arm holder 1, and one end of the puncture drainage needle cannula 7 penetrates the holder arm holder 1 as an outlet of the puncture drainage needle 9, wherein the outlet is located between the holder arm mounting hole 6 and an edge of the holder arm holder 1.
In one embodiment of the present invention, as shown in fig. 2, the holder arm holder 1 may comprise a first portion a where the puncture drainage needle cannula 7 is located and a second portion b where the holder arm mounting fixing hole 6 is located. Two parts are arranged through the puncture drainage needle sleeve 7 and the support arm mounting fixing hole 6, the upper part and the lower part are separated, the part where the puncture drainage needle sleeve 7 is located is convenient to sterilize, the part where the support arm mounting fixing hole 6 is located is not in contact with an affected part, and the separation of a sterile area and a pollution area is realized.
As shown in fig. 2, the tracker mounting table 2 may be mounted to a side wall of the holder arm fixture 1. Further, the tracker mounting stage 2 is mounted to the second part b, i.e. the tracker mounting stage 2 may be arranged in a contaminated area, isolated from the sterile area where the puncture drainage needle cannula 7 is located.
In one embodiment of the invention, the position sensor 4 may be a three-dimensional angle sensor, as shown in fig. 4, and the angle information may include a three-dimensional angle coordinate (r) of the connection point of the tracker 3 and the tracker mounting stage 2x，ry，rz) The origin of coordinates of the angular coordinate system may be selected from the center point of the tracker mounting table 2, and may be selected from other fixed reference points near the tracker mounting table 2.
In one embodiment of the present invention, the displacement sensor 5 may be a photoelectric displacement sensor disposed on the other surface of the holder arm holder 1, and as shown in fig. 4, the displacement information may include the length D of the puncture drainage needle 9 extending out of the other surface of the holder arm holder 1.
The above-described operation positioning device is provided on the movable operation positioning frame 12 with wheels shown in fig. 5, and constitutes a puncture drainage positioning apparatus for performing puncture drainage shown in fig. 5.
The puncture drainage positioning device of the embodiment of the invention can form an operation positioning system with external positioning devices, and the application scenes of an operation lamp, an operation table and the like are assisted as shown in fig. 6.
The puncture drainage positioning device provided by the embodiment of the invention comprises the following use steps:
and S1, mounting the bracket arm fixer 6 on the operation positioning frame through the bracket arm mounting and fixing hole 6.
S2, the tracker 3 is mounted on the tracker mounting stage 2 with adjustable direction.
And S3, adjusting the tracker mounting table 2 to a proper angle, and sending the acquired angle information to an external positioning device by the position sensor 4 so as to track the direction of the puncture drainage needle 9. Wherein, the external positioning device can be pre-stored with world three-dimensional coordinate system information and uses itself as the origin of coordinates (x shown in fig. 4)w，yw，zw) The current three-dimensional angular coordinate and the initial three-dimensional angular coordinate of the tracker 3 are combined to perform coordinate transformation calculation, so that the three-dimensional coordinate of the tracker 3 (x shown in fig. 4) can be obtainedm，ym，zm) Thereby obtaining the puncture direction of the puncture drainage needle 9. In other embodiments of the present invention, the coordinate transformation calculation may be performed in a processor and sent to an external positioning device after the calculation is completed.
S4, the puncture drainage needle performs puncture drainage through the puncture drainage sleeve, and the displacement sensor feeds the displacement information of the puncture drainage needle back to the external positioning equipment in real time so as to obtain the punctured position by combining the direction of the puncture drainage needle. Through the coordinate transformation calculation, the displacement D of the puncture drainage needle is combined, namely z shown in figure 4pThe current coordinate (x shown in fig. 4) of the needle of the puncture drainage needle can be obtained according to the variation of (2)p，yp，zp)。
According to the operation positioning device provided by the embodiment of the invention, the angle of the tracker is obtained through the position sensor, the displacement of the puncture drainage needle is obtained through the displacement sensor, accurate puncture drainage positioning can be realized, the angle of the tracker can be adjusted through the arrangement of the tracker mounting table with adjustable direction, the shielding of the tracker on an operation scene can be effectively avoided, the intelligence and convenience of an operation can be greatly improved, the cost is lower, and the applicability is wider.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A surgical positioning apparatus, comprising:
the support arm fixer comprises a support arm mounting and fixing hole and a puncture drainage needle sleeve, wherein the support arm mounting and fixing hole is used for mounting and fixing the support arm fixer on a support arm of an operation positioning frame, and the puncture drainage needle sleeve is used for enabling a puncture drainage needle to penetrate through and restraining the puncture drainage needle to move along the length direction so as to implement puncture drainage;
the tracker mounting table is mounted on the support arm fixing device through a fixing rod, and the direction of the tracker mounting table is adjustable;
a tracker mounted on the tracker mounting stage, an angle of the tracker varying with a change in a direction of the tracker mounting stage;
the orientation sensor is arranged on the tracker mounting table and is used for acquiring angle information of the tracker;
the displacement sensor is arranged on the bracket arm fixer corresponding to the position of the puncture drainage needle and is used for acquiring displacement information of the puncture drainage needle.
2. The surgical positioning apparatus of claim 1, further comprising:
the wireless transmission module is used for carrying out wireless communication with external positioning equipment;
the processor is respectively connected with the wireless transmission module, the azimuth sensor and the displacement sensor, and the processor is used for controlling the wireless transmission module to send the angle information of the tracker and the displacement information of the puncture drainage needle to the external positioning equipment.
3. The surgical positioning device according to claim 1 or 2, wherein the holder arm holder is shaped like a circular cake, the holder arm mounting hole is opened at a central position of the circular cake, the puncture drainage needle cannula is arranged on one side of the holder arm holder, and one end of the puncture drainage needle cannula penetrates through the holder arm holder as an outlet of the puncture drainage needle, wherein the outlet is located between the holder arm mounting hole and an edge of the holder arm holder.
4. The surgical positioning device of claim 3, wherein the holder arm holder includes a first portion and a second portion, wherein the puncture drainage needle cannula is in the first portion and the holder arm mounting securing hole is in the second portion.
5. The surgical positioning apparatus of claim 4, wherein the tracker mounting stage is mounted to a side wall of the holder arm holder.
6. The surgical positioning apparatus of claim 5, wherein the tracker mounting stage is mounted to the second portion.
7. The surgical positioning apparatus of claim 6, wherein the orientation sensor is a three-dimensional angle sensor.
8. The surgical positioning apparatus of claim 7, wherein the angular information includes three-dimensional angular coordinates of the tracker to tracker mount connection point.
9. A surgical positioning device as set forth in claim 6 wherein the displacement sensor is a photoelectric displacement sensor disposed on the other face of the support arm holder.
10. The surgical positioning apparatus of claim 9, wherein the displacement information includes a length of the puncture drainage needle extending beyond the other face of the holder arm holder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010737289.0A CN112006774A (en) | 2020-07-28 | 2020-07-28 | Operation positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010737289.0A CN112006774A (en) | 2020-07-28 | 2020-07-28 | Operation positioning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112006774A true CN112006774A (en) | 2020-12-01 |
Family
ID=73499615
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010737289.0A Pending CN112006774A (en) | 2020-07-28 | 2020-07-28 | Operation positioning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112006774A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113633398A (en) * | 2021-06-30 | 2021-11-12 | 北京东软医疗设备有限公司 | A frame arm and treatment equipment for operation position quick locking |
| WO2022116059A1 (en) * | 2020-12-02 | 2022-06-09 | 苏州市立普医疗科技有限公司 | Support body and puncture support |
-
2020
- 2020-07-28 CN CN202010737289.0A patent/CN112006774A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022116059A1 (en) * | 2020-12-02 | 2022-06-09 | 苏州市立普医疗科技有限公司 | Support body and puncture support |
| CN113633398A (en) * | 2021-06-30 | 2021-11-12 | 北京东软医疗设备有限公司 | A frame arm and treatment equipment for operation position quick locking |
| CN113633398B (en) * | 2021-06-30 | 2022-10-14 | 北京东软医疗设备有限公司 | A frame arm and treatment equipment for operation position quick locking |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5904691A (en) | Trackable guide block | |
| US7776056B2 (en) | Instrument guide system | |
| EP0922438B1 (en) | Image guided interventional procedures | |
| KR102403124B1 (en) | Stereotactic access devices and methods | |
| US7671887B2 (en) | System and method of navigating a medical instrument | |
| JP4822634B2 (en) | A method for obtaining coordinate transformation for guidance of an object | |
| CA2483718C (en) | Hybrid imaging method to monitor medical device delivery and patient support for use in the method | |
| US6052611A (en) | Frameless stereotactic tomographic scanner for image guided interventional procedures | |
| US5984930A (en) | Biopsy guide | |
| CN209285666U (en) | Needle localization structure and puncturing operation system | |
| US8265731B2 (en) | Apparatus and method for aligning a light pointer with a medical interventional device trajectory | |
| WO2002085232A1 (en) | Simplified stereotactic apparatus and methods | |
| CN112006774A (en) | Operation positioning device | |
| JP2018051306A (en) | Robotic fluoroscopic navigation | |
| CN109498106A (en) | A kind of positioning and air navigation aid of the intramedullary needle nail hole based on 3-D image | |
| CN116269755A (en) | Registration fixture | |
| CN108784833A (en) | A kind of probe registration apparatus and method | |
| CN109091234A (en) | Minimally Invasive Surgery puncture needle robot system | |
| CN213430521U (en) | Operation positioning device | |
| US20120069965A1 (en) | Method for positioning an instrument | |
| JP2002537002A (en) | Method and apparatus for determining access to a subepidermal target | |
| JP2020182842A (en) | Systems for robotic trajectory guidance for navigated biopsy needle, and related methods and devices | |
| CN209301315U (en) | Minimally Invasive Surgery puncture needle robot system | |
| Goldsmith et al. | Clinical applications of frameless stereotactic devices in neurotology: preliminary report | |
| CN112107366B (en) | Mixed reality ultrasonic navigation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |