CN109805990A - Auxiliary locator and positioning system for puncture - Google Patents
Auxiliary locator and positioning system for puncture Download PDFInfo
- Publication number
- CN109805990A CN109805990A CN201910185242.5A CN201910185242A CN109805990A CN 109805990 A CN109805990 A CN 109805990A CN 201910185242 A CN201910185242 A CN 201910185242A CN 109805990 A CN109805990 A CN 109805990A
- Authority
- CN
- China
- Prior art keywords
- puncture
- point
- auxiliary locator
- anchor
- anchor point
- 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.)
- Granted
Links
- 238000002059 diagnostic imaging Methods 0.000 claims abstract description 37
- 238000012545 processing Methods 0.000 claims abstract description 14
- 239000000463 material Substances 0.000 claims description 24
- 239000010410 layer Substances 0.000 claims description 11
- 239000004820 Pressure-sensitive adhesive Substances 0.000 claims description 10
- 239000004033 plastic Substances 0.000 claims description 6
- 229920003023 plastic Polymers 0.000 claims description 6
- VYZAMTAEIAYCRO-UHFFFAOYSA-N Chromium Chemical compound [Cr] VYZAMTAEIAYCRO-UHFFFAOYSA-N 0.000 claims description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 4
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 claims description 4
- HCHKCACWOHOZIP-UHFFFAOYSA-N Zinc Chemical compound [Zn] HCHKCACWOHOZIP-UHFFFAOYSA-N 0.000 claims description 4
- 229910052793 cadmium Inorganic materials 0.000 claims description 4
- BDOSMKKIYDKNTQ-UHFFFAOYSA-N cadmium atom Chemical compound [Cd] BDOSMKKIYDKNTQ-UHFFFAOYSA-N 0.000 claims description 4
- 229910052804 chromium Inorganic materials 0.000 claims description 4
- 239000011651 chromium Substances 0.000 claims description 4
- 229910017052 cobalt Inorganic materials 0.000 claims description 4
- 239000010941 cobalt Substances 0.000 claims description 4
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 claims description 4
- 229910052802 copper Inorganic materials 0.000 claims description 4
- 239000010949 copper Substances 0.000 claims description 4
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims description 4
- 229910052737 gold Inorganic materials 0.000 claims description 4
- 239000010931 gold Substances 0.000 claims description 4
- 239000012943 hotmelt Substances 0.000 claims description 4
- 239000011133 lead Substances 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 4
- 229910052709 silver Inorganic materials 0.000 claims description 4
- 239000004332 silver Substances 0.000 claims description 4
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052721 tungsten Inorganic materials 0.000 claims description 4
- 239000010937 tungsten Substances 0.000 claims description 4
- 229910052725 zinc Inorganic materials 0.000 claims description 4
- 239000011701 zinc Substances 0.000 claims description 4
- 239000003026 cod liver oil Substances 0.000 claims description 3
- 235000012716 cod liver oil Nutrition 0.000 claims description 3
- ARUVKPQLZAKDPS-UHFFFAOYSA-L copper(II) sulfate Chemical compound [Cu+2].[O-][S+2]([O-])([O-])[O-] ARUVKPQLZAKDPS-UHFFFAOYSA-L 0.000 claims description 3
- 239000012780 transparent material Substances 0.000 claims description 3
- 238000010790 dilution Methods 0.000 claims 1
- 239000012895 dilution Substances 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 19
- 230000008569 process Effects 0.000 abstract description 7
- 238000002595 magnetic resonance imaging Methods 0.000 description 13
- 238000005516 engineering process Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 238000009826 distribution Methods 0.000 description 6
- 230000003902 lesion Effects 0.000 description 6
- 238000001574 biopsy Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 229910052751 metal Inorganic materials 0.000 description 4
- 238000012307 MRI technique Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000013139 quantization Methods 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 238000002669 amniocentesis Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 210000000080 chela (arthropods) Anatomy 0.000 description 2
- 238000002591 computed tomography Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000006185 dispersion Substances 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 238000007731 hot pressing Methods 0.000 description 2
- 238000009593 lumbar puncture Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000012822 chemical development Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000004836 empirical method Methods 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000000059 patterning Methods 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 210000000278 spinal cord Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Landscapes
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The present invention provides a kind of auxiliary locator and positioning system for puncture, the auxiliary locator has the first surface and second surface that multiple a kind of anchor points and multiple two classes anchor points are distributed with respectively, by acquiring the image data including target point and a kind of anchor point, determine that an a kind of anchor point is point of puncture, the line of target point and point of puncture is extended into second surface and a two class anchor points are determined by intersection point, by the determining a kind of anchor point being located along the same line with target point and two class anchor points, that is, point of puncture and puncture angle is determined；The positioning system includes above-mentioned auxiliary locator, medical imaging device and data processing equipment.Auxiliary locator and positioning system provided by the present invention for puncture can be accurately positioned target point, improve the accuracy of puncture by determining point of puncture and puncture angle before puncture；And can be punctured in the state of stopping scanning, improve the safety of puncture process.
Description
Technical field
The present invention relates to medical instruments fields, are more particularly, to a kind of auxiliary locator for puncture and positioning
System.
Background technique
When lesion occurs for inside of human body histoorgan, often need by modern medicine image technology such as CT (Computed
Tomography, CT scan) technology or MRI (Magnetic Resonance Imaging, nuclear resounce at
Picture) technology accurately positions lesion, lesion is directly then reached using intervention apparatus such as puncture needle, conduit and seal wires,
It takes biopsy or is treated.The details that can determine lesion or organ using CT technology and MRI technique, is worn to be accurately determined
Point, puncture angle and paracentesis depth are pierced, blood vessel, nerve and spinal cord are avoided damage to, and safe and accurate with its, quick, operation letter
Just, the advantages that patient suffering is few, it has also become the important means of clinician's acquisition primary diagnosis.Wherein, MRI technique and CT technology
It compares, without ionising radiation, artifact will not be generated, there is higher soft tissue resolution；But its spatial resolution is poor, and price is high
It is expensive, inspection taboo can be generated to in-vivo metal foreign body.When being punctured, often according to the actual conditions of patient to both
Image technology is selected.
Puncture technique under existing Medical Imaging Technology guidance mainly includes two kinds, first is that guiding in real time punctures, second is that
Conventional guiding puncture.
It is the image data exported by CT or MRI system that guiding in real time, which punctures, the optimum puncturing point of determining puncture inserting needle,
After angle and depth, doctor puncture and by real-time CT or MRI image observe the position between puncture needle and lesion so as to
When adjustment direction.Guiding in real time punctures the accuracy rate and safety for improving puncture, reduces patient suffering.But carry out real-time CT
When guiding puncture, doctor and patient are irradiated simultaneously, so that increased risk of the doctor by ray damage, limits operation
Number.For example, a kind of regulation is, if the hand of doctor is directly exposed to the radiation agent being subject to every time under ray in puncture process every time
Amount reaches 120mSV, then same doctor punctures every year to be no more than four times.For real time MRI guiding puncture, although not by
The danger of radiation, but MRI imaging time is long, and magnetic field compliance is high, is not suitable for the realtime graphic that navigates in art, in addition, in real time
MRI guiding puncture also limits the material of intervention apparatus.
Conventional guiding puncture is the most method of current clinical application, and this method is worn using conventional CT or MRI technique
After the optimum puncturing point, puncture angle and paracentesis depth that lunge needle, doctor uses unarmed empirical method (Free
HandTechnique), inserting needle is punctured in the state of stopping scanning, position is then confirmed by CT or MRI image again, again
Adjust puncture needle direction again inserting needle until hit target spot.The technology is higher to the dependence of doctors experience, clinical manipulation technology
A possibility that difficulty is big, and the accuracy of puncture and safety are lower, causes complication by puncture increase.
Summary of the invention
In order to avoid the ray damage that may be subject to when carrying out puncture movement by medical imaging device real-time image acquisition,
The accuracy of puncture is improved simultaneously, and the present invention provides a kind of auxiliary locators for puncture.
The auxiliary locator, including main body, the main body have an opposite first surface and second surface, and described the
It is distributed in one surface using the orientable multiple a kind of anchor points of medical imaging device, is distributed in the second surface multiple
Two class anchor points, the line between one kind anchor point and the two classes anchor point is for determining puncture angle, wherein is wearing
Before thorn, the first surface of the auxiliary locator is attached at the predeterminable area of skin surface, is acquired using medical imaging device
The image data of target point and a kind of anchor point sets a kind of anchor point and wears as point of puncture, and described in acquisition
One two class anchor point of straight line and the second surface point of intersection determined by thorn point and the target point.
Optionally, the first grid lines is distributed in the first surface, with each a kind of anchor point of determination described
Position in first surface, described image data include the pattern of first grid lines；And/or divide in the second surface
It is furnished with the second grid lines, with position of each two classes anchor point of determination in the second surface.
Optionally, the shape of grid defined by first grid lines and second grid lines includes triangle, four
At least one of side shape, pentagon, hexagon, circle, ellipse.
Optionally, the distance between two neighboring grid defined by first grid lines and second grid lines is
0.05mm-2mm。
Optionally, the image documentation equipment be CT equipment, the material of first grid lines include lead, gold, tungsten, silver, copper,
At least one of zinc, cobalt, cadmium and chromium；Or
The image documentation equipment is MRI machine, and the material of first grid lines is the dilute of copper sulphate, cod-liver oil or change lard
Release liquid.
Optionally, the main body is cavity structure, and the material of the main body is hot-melt plastic.
Optionally, the cavity have near and parallel to the first surface the first inner wall and near and parallel to
Second inner wall of the second surface, between the first surface and first inner wall distance be 0.1mm-5mm, described first
The distance between inner wall and second inner wall are 5mm-50mm, and the distance between second inner wall and the second surface are
0.1-5mm。
Optionally, the material of the main body is transparent material, the multiple a kind of anchor point in the first surface from
Second surface side macroscopic.
It optionally, further include the pressure-sensitive adhesive layer for covering the first surface, the pressure-sensitive adhesive layer is far from the first surface
A side surface be covered with off-style paper layer.
The present invention still further there is provided a kind of positioning system for puncture, comprising:
The above-mentioned auxiliary locator for puncture；
Medical imaging device, for the first surface of the auxiliary locator to be attached to the predeterminable area of skin surface
Afterwards, the image data of target point and a kind of anchor point in the first surface is acquired；And
The data processing equipment being connect with the medical imaging device, for being exported according to described image data for positioning
The information of one a kind of anchor point and a two class anchor points of point of puncture and puncture angle, the data processing equipment is by setting
A fixed a kind of anchor point is point of puncture, obtains straight line determined by the point of puncture and the target point and the second surface
One two class anchor point of point of intersection, with the line of the two classes anchor point of the point of intersection and the point of puncture and described the
Angle between one surface is as puncture angle.
It is simple provided by the present invention for the auxiliary locator structure of puncture, including main body, there is phase in the main body
To the first surface and second surface that multiple a kind of anchor points and multiple two classes anchor points are distributed with respectively of setting, pass through acquisition
Image data including target point and the multiple a kind of anchor point determines that an a kind of anchor point is point of puncture, by target point
Second surface is extended to the line of point of puncture and a two class anchor points are determined by intersection point, it is same by being located at target point
A kind of anchor point determined on straight line and a two class anchor points, can position point of puncture and puncture angle.Benefit
Point of puncture and puncture angle can be determined in advance to puncture process with the auxiliary locator provided by the present invention for puncture
It guides, carries out puncture movement, wind of the doctor by ray damage relative to by medical imaging device real-time image acquisition
Danger substantially reduces, and puncture position is accurate, and it is preferable to puncture effect.The auxiliary locator structure is simple and convenient to operate, can
Suitable for different puncture occasions.
Positioning system provided by the present invention for puncture include above-mentioned auxiliary locator, medical imaging device and with
The data processing equipment of medical imaging device connection, can be according to target point that the medical imaging device acquires and described
The image data of a kind of anchor point on auxiliary locator, is obtained on the auxiliary locator using data processing equipment
Correspond to the target point and point of puncture as on one of point of puncture a kind of anchor point and the auxiliary locator
Line extends to a two class anchor points of the intersection point of second surface, fixed by one obtained a kind of anchor point and two classes
The line in site can determine puncture angle, so as to complete the positioning to point of puncture and puncture angle.It is provided by the invention fixed
Position system can determine an a kind of anchor point and a two class anchor points in auxiliary locator, to determine before puncture
Point of puncture and puncture angle, help to realize the accurate positionin to target point, improve the accuracy of puncture；And utilization is described fixed
Position system can be punctured in the state of stopping scanning, help to improve the safety of puncture process.
Detailed description of the invention
Fig. 1 is the schematic diagram in the embodiment of the present invention for the auxiliary locator of puncture.
Fig. 2 is the schematic diagram in the embodiment of the present invention for the first surface of the auxiliary locator of puncture.
Fig. 3 is the schematic diagram punctured in the embodiment of the present invention using the auxiliary locator for puncture.
Drawing reference numeral is described as follows:
1-auxiliary locator；2-puncture needles；11-first surfaces；12-second surfaces；21-the first label；22—
Second label；31-target points；32-points of puncture；33-intersection points；111-a kind of anchor points；121-two class anchor points.
Specific embodiment
A specific embodiment of the invention is described in more detail below in conjunction with schematic diagram.According to following description,
Advantages and features of the invention will become apparent from.It should be noted that attached drawing is all made of very simplified form and using non-accurate
Ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
The embodiment of the present invention provides a kind of auxiliary locator for puncture, the auxiliary locator structure is simple,
It is easy to operate, by determining point of puncture and puncture angle before puncture, target point can be accurately positioned, improve puncture
Accuracy；And doctor can puncture in the state of stopping scanning, drop doctor significantly by the risk of ray damage
It is low, help to improve the safety of puncture process.As shown in Figure 1, fixed for the auxiliary provided in an embodiment of the present invention for puncture
The schematic diagram of position device, the auxiliary locator 1 include main body, and the main body has opposite first surface 11 and the second table
Face 12.
For localised puncture point, the auxiliary locator 1 of the present embodiment is distributed with multiple one in the first surface 11
Class anchor point 111, one kind anchor point 111 can use medical imaging device such as CT or MRI positioning, namely in medicine shadow
Image data as the multiple a kind of anchor point 111 can be collected under equipment.For example, can be arranged in first surface 11
Conducive to the material of imaging, so that first surface 11 can be shown in such as CT or MRI photo, multiple one kind anchor points 111 can
To obtain the position in first surface 11 by the image forming material of patterning (such as latticed), but not limited to this, another
In embodiment, first surface 11 is located in the plane of a two-dimensional coordinate system, then multiple a kind of anchor points 111 are in first surface 11
Position can also be obtained by its coordinate in this two-dimensional coordinate system.
In the present embodiment, the first surface 11 is that the auxiliary locator 1 (is also possible to for being attached at human body
Animal) skin to be punctured on, after the auxiliary locator 1 is attached at skin surface, adopted using medical imaging device
Collect the image data of target point and the multiple a kind of anchor point 111, and determines that a kind of anchor point 111 is to puncture
Point.Wherein, the target point be puncture target spot, such as under skin at a certain distance from lesion point.Described image data
Selected from least one of two-dimensional image data, 3 d image data and three-dimensional reconstruction data.Here, two-dimensional image data example
The image data that cross-section image is shot is carried out to the arbitrary coronal, sagittal of histoorgan, horizontal axis and inclined-plane in this way；Three-dimensional figure
As data are the three-dimensional imaging function of being carried by medical imaging device, three that the two-dimensional cross-section data that shooting obtains are combined into
Tie up image, the 3 d image data usually has coordinate and directly visual in the display device of medical imaging device；And three
Dimension rebuilds data and refers to the data being collected into according to medical imaging device, soft in conjunction with other three-dimensional modelings and three-dimensional visualization
Part carries out more accurately three-dimensional reconstruction, so as to emerge more clearly the structure of histoorgan.It in the present embodiment, can basis
Actual conditions carry out flexible choice to the type of the graph data.
In the present embodiment, the first grid lines can be distributed in the first surface 11, be conducive to clearly using the first grid lines
Chu directly obtains the position of all a kind of anchor points 111 on first surface 11, for example, can use the first grid lines auxiliary
Determine an a kind of anchor point 111 as point of puncture.
Fig. 2 is the schematic diagram of the first surface 11 of auxiliary locator 1 described in the embodiment of the present invention.As shown in Fig. 2, institute
It states the first grid lines and preferably includes the lateral straight line that more are parallel to each other and longitudinal straight line that more are parallel to each other, and it is the multiple
The crosspoint that the position of a kind of anchor point 111 can be formed with described more lateral straight lines and the longitudinal direction Duo Gen straight line corresponds,
The multiple grids that can also be limited with the lateral straight line and longitudinal straight line correspond.In another embodiment, described
First grid lines also may include the parallel lines or camber line of multiple groups different angle, such as net defined by first grid lines
The shape of lattice may include at least one of triangle, quadrangle, pentagon, hexagon, circle, ellipse.
In the present embodiment, the settable scale in 11 edge of first surface is in order to leading to the position of a kind of anchor point 111
The coordinate crossed in a two-dimensional coordinate system decides (or quantization), such as can be orthogonal at two of first surface 11
Two reference axis of the two-dimensional coordinate system are arranged in edge, but not limited to this, two reference axis of the two-dimensional coordinate system
Can be at an angle with the edge of first surface 11, so as to determine the position of each a kind of anchor point 111 according to coordinate value,
Convenient for knowledge of the position in such as 3 d image data or three-dimensional reconstruction data of one as point of puncture a kind of anchor point 111
Not.Certainly, the edge of the first surface 11 can also further be arranged distinguishing mark, such as first grid lines is each
Capable and each column are corresponding with different distinguishing marks, and the distinguishing mark be also it is collectable under medical imaging device,
To which the corresponding rows and columns of a kind of anchor point 111 of point of puncture can be determined as according to two-dimensional image data, so as to
With the position of more convenient a kind of anchor point 111 of one for being also more clearly determined as point of puncture.Wherein, the distinguishing mark can
To be different pattern, such as every a line or each column are all corresponding with one and can be mutually distinguishable under two-dimensional image data
Pattern is either also possible to scale or number with a scale such as the lines of rectangle, star or different number.In addition, in addition to borrowing
The first grid lines is helped to be positioned, multiple a kind of anchor points 111 are also possible to be arranged in a manner of the development point of dispersion
On the first surface 11, according to can from medical imaging device such as 3 d image data obtained or three-dimensional reconstruction data
Go out each a kind of anchor point 111 with chemical development, so that each a kind of anchor point 111 be marked.It can according to need and set
Multiple dotted a kind of anchor points 111 are counted in the distribution mode of first surface 11, such as can be array distribution or divergent shape
Distribution etc..
In order to acquire the data of a kind of anchor point 111 on the first surface 11, for example pass through the first net in the present embodiment
Ruling auxiliary obtains, therefore described image data include the pattern of first grid lines.The image documentation equipment is, for example, CT equipment
When, the material of first grid lines may include at least one of metals such as lead, gold, tungsten, silver, copper, zinc, cobalt, cadmium and chromium,
Or it can also select including at least one of alloys of metallic elements such as lead, gold, tungsten, silver, copper, zinc, cobalt, cadmium and chromium；Institute
When stating image documentation equipment and being, for example, MRI machine, the material of first grid lines can be copper sulphate, cod-liver oil or change the dilute of lard
Liquid or their combination are released, but not limited to this, according to the image-forming principle of the medical imaging device specifically used, it is appropriate to can choose
Material form above-mentioned first grid lines.When the image documentation equipment is, for example, CT equipment, the first grid wire material is metal,
Therefore the method for constituting first grid lines, which can be, is bonded in the wire rod of the material on the first surface 11, can also
To be that the material is plated on the first surface 11, it can also be other published methods of this field.The image documentation equipment
For example, MRI machine when, the first grid wire material is liquid, thus the method for constituting first grid lines can be by
The material injects hollow thin sebific duct, and the thin sebific duct is layed in the first surface for example, by the mode of bonding
11.When one kind anchor point 111 is arranged on the first surface 11 in a manner of the development point of dispersion, it can also be used similar
Method.
Multiple two classes anchor points 121 are distributed in the second surface 12, by a determining two class anchor points 121 with
The line of the point of puncture determines puncture angle.Specifically, after obtaining target point by medical imaging device and determine point of puncture,
The line of the point of puncture and target point is extended into the intersection point that second surface 12 is uniquely determined, the intersection point is one corresponding
Two class anchor points 121.Pass through the line of determining two class anchor points 121 and a kind of anchor point 111 determined and the
The angle on one surface 11 has determined puncture angle.
In the present embodiment, the two classes anchor point 121 is determined by the second grid lines auxiliary, on the second surface 12
The second grid lines can also similar Fig. 2 be arranged, second grid lines preferably include the lateral straight line that more are parallel to each other and more
Longitudinal straight line that root is parallel to each other, and the position of the multiple two classes anchor point 121 can be vertical with more lateral straight lines and Duo Gen
The crosspoint formed to straight line corresponds, and the multiple grids one that can also be limited with lateral straight line and longitudinal straight line are a pair of
It answers.In another embodiment, the grid lines also may include the parallel lines or camber line of multiple groups different angle, second net
The shape of grid defined by ruling may include triangle, quadrangle, pentagon, hexagon, circle, ellipse at least
It is a kind of.The settable scale in edge of the second surface 12 in order to by the position of two class anchor points 121 pass through one two dimension sit
It is decided in mark system (or quantization), such as two-dimensional coordinate system can be set at two orthogonal edges of second surface 12
Two reference axis, but not limited to this, two reference axis of the two-dimensional coordinate system can also with the edge of second surface 12 at
One angle, so as to quantify the position of two class anchor points 121 according to coordinate value, being convenient for for example will be obtained by calculation described
The line of point of puncture and target point is corresponding with a two class anchor points 121 with the coordinate of the intersection point of second surface 12.
One two class anchor point 121 of the intersection point of the line and second surface 12 of the corresponding point of puncture and target point are for example
It can be calculated and be determined by the coordinate of point of puncture and target point, therefore can not when obtaining image data by medical imaging device
Acquire the information of two class anchor points 121.Therefore, second grid lines, which can be, is printed on the second surface 12 using ink
On, it is also possible to directly be formed during the second surface 12 is molding.Certainly, second grid lines is also possible to
Medical imaging device is collectable, and the material for constituting the second grid lines for example can be with the material phase of the first grid lines of composition
Together, thus the line of point of puncture and target point extend to the intersection point that second surface 12 obtains for example can be in 3 d image data or three
Dimension is rebuild in data and is directly obtained.
It, can be under the puncture angle from described after obtaining point of puncture and puncture angle using above-mentioned auxiliary locator 1
The position of point of puncture enters skin and implements to puncture.In preferred embodiment, punctured using the auxiliary locator 1 of the present embodiment
After point and puncture angle, can correspond on the auxiliary locator 1 determined by one kind anchor point 111 (as wearing
Thorn point) and two class anchor point 121 (for point of puncture determining puncture angle jointly) position be marked, and in reality
When applying puncture, the auxiliary locator 1 can be attached at previous position (i.e. skin original predeterminated position) again again,
Then two class anchor points, 121 He of the determination marked on the auxiliary locator 1 is sequentially passed through using a puncture needle
One a kind of anchor point 111 is punctured.
It (is respectively corresponded specifically, commonly puncturing gauge when this field is punctured and being 6,7,8,9,12,14, No. 16
Needle tubing outer diameter is 0.6,0.7,0.8,0.9, l.2, l.4,1.6mm), such as arteriopuncture often uses No. 12, No. 14 or No. 16 punctures
No. 8 puncture needles are often used in needle, lumbar puncture, and amniocentesis often uses the puncture needle of No. 8 or No. 12, and radion puncture must use 12
Number puncture needle.Since puncture needle needs to be located at the first grid lines crosspoint and the second grid lines across distribution in one embodiment
The determining a kind of anchor point 111 of one of crosspoint and a two determining class anchor points 121, therefore the first grid lines and second
Spacing between two neighboring grid defined by grid lines will carry out corresponding rationally setting, two adjacent grids
Spacing is preferably greater than the outer diameter of puncture needle, for example needs to carry out multiple spot puncture in this way (such as in many places region of a focal zone
Take biopsy or need the case where multiple focal zones take biopsy or treatment) or when the auxiliary locator 1 is used for multiple times,
It can be to avoid the use for interfering with other a kind of anchor points 111 and two class anchor points 121.But not limited to this, above-mentioned puncture needle is
Conventional specification, when carrying out accurate puncture or for some punctures compared with toy, the size of puncture needle can be thinner.In addition,
According to the difference for puncturing purpose, this field, which also can use other, has the intervention apparatus such as wire guide, the conduit for puncturing function
It is punctured.
Further, it is also possible to one on the factor designs auxiliary locator 1 such as object, puncture position for being punctured according to specific implementation
The distribution of class anchor point 111 and two class anchor points 121.For example, if the spacing of two adjacent grids is arranged too big, it is a kind of
The distribution of anchor point 111 and two class anchor points 121, when determining an a kind of anchor point 111, more difficult may be found than sparse
One suitable a kind of anchor point 111 is used as point of puncture；When determining a two class anchor point 121, determining coordinate may not
It is difficult to correct corresponding to a crosspoint on the second grid lines, or apart from the too far of two adjacent crosspoints, thus shadow
The positioning for ringing point of puncture and puncture angle influences to puncture precision.
The embodiment of the present invention accounts in terms of the using effect of puncture needle and positioning accuracy two, by first grid
The distance between two neighboring grid defined by line and second grid lines is preferably arranged to 0.05mm-2mm, with obtain compared with
Good using effect and positioning accuracy.
In addition, in the present embodiment, subregion, different zones can also be carried out to first surface 11 and/or second surface 12
The first grid lines or the second grid lines in adjacent two grid spacing can be set to identical or different value, same
Meet the different needs for puncturing occasion on auxiliary locator 1.In general, for the ease of obtaining point of puncture and puncture angle, it is described
The grid of first grid lines and the second grid lines is uniformly arranged, also, for the ease of the first anchor point 111 and the second anchor point
The consistency of 121 quantizations, the two neighboring grid spacing on different directions are preferably arranged to equal.
A two class anchor points of the completion as an a kind of anchor point 111 of point of puncture and for determining puncture angle
121 it is selected after, doctor can sequentially pass through the two classes anchor point 121 and one kind with puncture needle in the case where stopping scanning
Target point is reached after anchor point 111, accurately to be punctured by predetermined puncture angle from scheduled point of puncture.Wherein, in order to
Puncture needle is set accurately to reach a kind of anchor point 111, multiple a kind of anchor points 111 in the first surface 11 are preferably from described the
Two surfaces, 12 side macroscopic, such as the main body of the auxiliary locator 1 can be made of transparent material.In the present embodiment
Preferred embodiment in, in order to make puncture needle swimmingly reach a kind of anchor point 111, the main body of the auxiliary locator 1 may be used also
Think cavity structure, the cavity have near and parallel to the first surface 11 the first inner wall and near and parallel to
Second inner wall of the second surface 12.To reduce the interference for puncturing error and preventing to puncture needle, 11 He of first surface
Distance is preferably 0.1mm-5mm between first inner wall, and the distance between second inner wall and the second surface 12 are excellent
It is selected as 0.1mm-5mm；For the ease of puncture needle adjustment direction, a spacing is kept between first inner wall and second inner wall
From this distance is preferably 5mm-50mm.The feelings for implementing to puncture on skin are being attached at using the auxiliary locator 1 with cavity
Under condition, before being punctured, can first it be formed on auxiliary locator 1 across identified one 111 He of a kind of anchor point
The through-hole of one two class anchor point 121, the through-hole are preferably determining one a kind of anchor point 111 and a two classes positioning
It is just formed after point 121.The main body of auxiliary locator 1 is, for example, hot-melt plastic material in the present embodiment, then can facilitate
Ground makes the position of corresponding determining a kind of an anchor point 111 and a two class anchor points 121 on plastics using hot pressing pincers heating
It penetrates, naturally it is also possible to be to be penetrated using laser or drill bit, to reduce each friendship in the first grid lines and the second grid lines
Crunode is pre-formed hole location and the time cost that generates, and can reduce the interference of other hole locations generation, make determined by one
The position of a one kind anchor point 111 and a two class anchor points 121 becomes apparent from, thus a possibility that reducing doctor's maloperation.But
It is actually also not necessarily limited to this, those skilled in the art can be pre- in each cross-point locations on the first grid lines and the second grid lines
It is initially formed hole location, such as it is net that the first grid lines or the second grid lines on auxiliary locator 1, which can be set, to be formed by grid
Hole, puncture needle can be punctured directly through mesh.
In the present embodiment, 111 He of a kind of anchor point for localised puncture point and puncture angle is determined before puncture
After one two class anchor point 121, when being punctured, the auxiliary locator 1 can be fixed on to the same default position of skin
It sets, to be punctured using determining one a kind of anchor point 111 and a two class anchor points 121.For this purpose, excellent in the present embodiment
It is selected on the first surface 11 and covers pressure-sensitive adhesive layer, and in a side surface of the pressure-sensitive adhesive layer far from the first surface 11
Upper covering off-style paper layer is to protect the pressure-sensitive adhesive layer.By gently pressurizeing, the auxiliary locator 1 can be adhered fixed
Human skin surface, it is easy and may be reused.In addition it is also possible to using the fixed auxiliary locator 1 of other modes,
Sucker also can be set in the first surface 11 of such as medical adhesive tape etc., the auxiliary locator 1, to be steadily attached to wait wear
The predeterminable area of thorn.
1 one side of auxiliary locator provided in an embodiment of the present invention is used before puncture, by setting in conjunction with medical imaging
The image of standby shooting obtains point of puncture and puncture angle；On the other hand it is used when puncturing, the inserting needle position for navigation puncture needle
It sets and angle or even paracentesis depth, the structure of the auxiliary locator 1 is simple, and manufacturing cost is lower, it may be reused,
It can also be used as disposable medical instrument to use.Specifically, referring to FIG. 3, to utilize in the embodiment of the present invention for puncturing
The schematic diagram that is punctured of auxiliary locator 1, positioned and punctured using the above-mentioned auxiliary locator 1 for puncture
Method can comprise the following steps that
The first surface 11 of the auxiliary locator 1 is fixed on skin surface predeterminable area by step S1；
Step S2 stops scanning, the picture number after obtaining the image data around predeterminable area by medical imaging device
According to the position data of a kind of anchor point 111 in the position data and the first surface 11 for including target point 31；
Step S3 sets an a kind of anchor point 111 and is used as point of puncture 32 according to image data, and obtains the puncture
Straight line determined by point 32 and the target point 31 and a two class anchor points 121 at 12 intersection point 33 of second surface, with
Between an identified two class anchor points 121 and the line and first surface 11 of an identified a kind of anchor point 111
Angle is as puncture angle；
The auxiliary locator 1 is once again secured in skin surface original predeterminable area, makes puncture needle 2 from institute by step S4
A two class anchor points 121 for stating corresponding intersection point 33 pass through the puncture positioning device 1, and from the one of the corresponding point of puncture 32
A one kind anchor point 111 advances to target point 31.
In step sl, the first surface 11 of auxiliary locator 1 described in the present embodiment can be bonded by pressure sensitive adhesive
It is fixed on skin surface predeterminable area.Off-style paper layer is covered on the pressure sensitive adhesive when 1 use of auxiliary locator finishes
Surface, to prevent the caking property of the pressure sensitive adhesive from reducing, consequently facilitating in step s 4 gluing the auxiliary locator 1 again
It ties in former predeterminable area or the reuse for puncturing occasion at other.Predeterminable area refers to one of skin surface to be punctured
Range, such as the range for being used for 2 inserting needle of puncture needle after can judging roughly doctor is as predeterminable area.
In step s3, the mode of point of puncture 32 is obtained are as follows: doctor assesses patient according to image data, selection
One a kind of anchor point 111 is to form optimal puncture path between target point 31.Further, image data is X-Y scheme
When as data, as previously mentioned, can for example distinguish first grid lines by being further arranged around first grid lines
The distinguishing mark of every a line and each column distinguishes each a kind of anchor point 111, to correspond to one one of point of puncture 32
Class anchor point 111 can correspond to determination by the different distinguishing marks shown on two-dimensional image data；If image data
For 3 d image data or three-dimensional reconstruction data, then a suitable a kind of anchor point can be intuitively selected according to image data
111 are used as point of puncture 32.
The method for obtaining corresponding to a two class anchor points 121 of the intersection point 33 is, for example, to be obtained by calculation, setting one
Orthogonal coordinate system, first surface 11 are located in the X/Y plane of the orthogonal coordinate system, and second surface 12 is parallel to first surface 11,
To which two class anchor points 121 each of interior on anchor point 111 a kind of each of in first surface 11 and second surface 12 are corresponding
The D coordinates value determined in the orthogonal coordinate system.As an example, the position for obtaining intersection point 33 may include following procedure: with
The direction of the vertical first surface 11 is Z-direction and the face with first surface 11 for Z=0, obtains target point 31 described
Coordinate in orthogonal coordinate system is (X1, Y1, Z1), coordinate of the point of puncture 32 in the orthogonal coordinate system is (X2, Y2,0), then
The straight line in the three-dimensional space that one is formed by connecting by the target point 31 and point of puncture 32 can be uniquely determined, and meets following straight line
Formula (1):
(X-X2)/(X1-X2)=(Y-Y2)/(Y1-Y2)=Z/Z1 (1)
Wherein, X, Y, Z refer respectively to the coordinate on X-axis, Y-axis, Z axis respectively of the point on the straight line uniquely determined
Value.The Z axis coordinate Z3=H namely intersection point 33 of intersection point 33 are obtained according to the distance between first surface 11 and second surface 12 H
Coordinate is (X3, Y3, H), carries it into straight line formula (1), the X-axis and Y axis coordinate value of intersection point 33 can be obtained, thus acquisition pair
Should 33 coordinate value of intersection point a two class anchor points 121.
In another embodiment, a two class anchor points 121 of the corresponding intersection point 33 can also be obtained by modeling, example
Such as additional model can be further added on the basis of the 3 d image data of acquisition and three-dimensional reconstruction data, in the implementation
Under example, even if obtained image data does not include two class anchor points 121 on second surface 12, such as due to the factors such as material the
When the two class anchor points 121 on two surfaces 12 cannot be acquired by medical imaging device, still can in obtained 3 d image data and
The pattern of the second grid lines corresponding to second surface 12 is further modeled and added in three-dimensional reconstruction data, then in a model
Extend and link to second surface 12 between target point 31 and point of puncture 32, and it is fixed directly to read 33 corresponding two classes of intersection point
The coordinate value of site 12 1, such mode can also more intuitively simulate puncture needle 2 and pass through the road that auxiliary locator 1 punctures
Diameter.
In another embodiment, the second grid lines of the second surface 12 can also be also formed in medical imaging device
The lines that can develop down, thus the step of saving modeling, directly by data processing equipment read such as 3 d image data and
The coordinate of intersection point 33 in three-dimensional reconstruction data.
In addition, not being the feelings for being located exactly at some crosspoint of the second grid lines for the coordinate for example for intersection point 33
Condition also needs to be modified coordinate value for the ease of observing and operating, make its correspond to closest to crosspoint.Here it is possible to
By the way that the spacing setting between grid two neighboring in the second grid lines enough to small, is punctured mistake to reduce amendment bring
Difference.
In step s 4, before being punctured, a kind of anchor point of one for also being determined on the auxiliary locator 1
111 and the positions of two class anchor point 121 form through-hole, to be passed through puncture needle 2.As previously mentioned, for example, in a certain implementation
In example, the main body of auxiliary locator 1 is hot-melt plastic material, then is obtaining an a kind of anchor point as point of puncture 32
111 and a two class anchor points 121 for determining puncture angle position after, using hot pressing pincers heating make on plastic body
The position of a kind of anchor point 111 and two class anchor points 121 that obtain described in correspondence penetrates, and is also possible to wear using laser or drill bit
Thoroughly.It is of course also possible to which each cross-point locations in the waffle-like pattern of first surface 11 and second surface 12 are pre-formed hole
Position.
In step s 4, determining can use following methods when puncture needle 2 reaches target point 31:
The distance between the point of puncture 32 and target point 31 are obtained, which can be used as paracentesis depth.In addition puncture needle 2
On may be provided with multiple scales, for example, be provided with the first label 21 on puncture needle 2, first label 21 and puncture needle 2
The distance between needle point is equal to paracentesis depth, when first label 21 reaches point of puncture 32, that is, judges that puncture needle 2 reaches mesh
Punctuate 31；Or 2 the second label 22 of setting on the puncture needle, between 2 needle point of second label 22 and puncture needle away from
From the overall length angle value added equal to paracentesis depth with a distance between intersection point 33 and point of puncture 32, when second label 22 reaches intersection point
When 33, that is, judge that puncture needle 2 reaches target point 31.
Auxiliary locator 1 provided in this embodiment for puncture can be used for the case where multiple spot punctures, for example, one
It needs to take biopsy in many places region of a focal zone in secondary operation or need when multiple focal zones take biopsy or treatment, it can be with
Multiple target points 31 are successively recorded, and obtain multiple corresponding points of puncture 32 and intersection point 33, then correspond respectively to the auxiliary
A kind of anchor point 111 of multiple determinations in positioning device 1 and two class anchor points 121, and using the auxiliary locator 1 according to
It is secondary to be punctured.
Auxiliary locator structure provided in an embodiment of the present invention for puncture is simple, including main body, in the main body
With the first surface and second surface that multiple a kind of anchor points and multiple two classes anchor points are distributed with respectively being oppositely arranged, lead to
The image data that acquisition includes target point and the multiple a kind of anchor point is crossed, determines that an a kind of anchor point is point of puncture, it will
The line of target point and point of puncture extends to second surface and determines a two class anchor points by intersection point, by with target point
In a kind of anchor point determined on same straight line and a two class anchor points, point of puncture and puncture angle can be determined
Position.Using it is provided in an embodiment of the present invention for puncture auxiliary locator can determine in advance point of puncture and puncture angle with
Puncture process is guided, carries out puncture movement relative to by medical imaging device real-time image acquisition, doctor is penetrated
The risk of line loss wound substantially reduces, and puncture position is accurate, and it is preferable to puncture effect.The auxiliary locator structure is simple,
It is easy to operate, it is applicable to different puncture occasions.
The embodiment of the present invention also provides a kind of positioning system for puncture, including above-mentioned auxiliary locator 1, above-mentioned doctor
The data processing equipment learning image documentation equipment and being connect with the medical imaging device.Wherein, medical imaging device is used for institute
State auxiliary locator 1 first surface 11 be attached at the predeterminable area of skin surface after, acquire target point 31 and described first
The image data of a kind of anchor point 111 in surface 11；Data processing equipment is used for according to the output of described image data for fixed
The information of one a kind of anchor point 111 and a two class anchor points 121 of position point of puncture 32 and puncture angle, the data processing
Device is point of puncture 32 by setting one a kind of anchor point 111, obtains the point of puncture 32 and the target point 31 determines
Straight line and 12 intersection point 33 of second surface at a two class anchor points 121, it is fixed with two class at the intersection point 33
Angle between site 12 1 and the line and the first surface 11 of the point of puncture 32 is as puncture angle.
The data processing equipment for example may include computing module, for the position of intersection point 33 to be obtained by calculation；Example
It such as may also include modeling module, the modeling module can be on the basis of the 3 d image data of acquisition and three-dimensional reconstruction data
Additional model is further added, to directly read the position of intersection point 33；Such as may also include correction module, for for friendship
The case where coordinate of point 33 is not some crosspoint for being located exactly at the second grid lines, is modified coordinate value, makes its correspondence
For closest to crosspoint.
It is described for puncture positioning system can be applied to lumbar puncture, Puncture of the cervical vertebrae, amniocentesis, arteriopuncture with
And radion a variety of occasions that puncture such as punctures and is pre-positioned, and can be in the case where the medical imaging device stops scanning
It is punctured.
Positioning system provided in an embodiment of the present invention for puncture includes above-mentioned auxiliary locator, medical imaging device
And the data processing equipment being connect with the medical imaging device, the target point that can be acquired according to the medical imaging device
With the image data of a kind of anchor point on the auxiliary locator, the auxiliary positioning is obtained using data processing equipment and is filled
Corresponding to the target point and wearing on a kind of anchor point of one as point of puncture set and the auxiliary locator
The line of thorn point extends to a two class anchor points of the intersection point of second surface, passes through one obtained a kind of anchor point and one
The line of two class anchor points can determine puncture angle, so as to complete the positioning to point of puncture and puncture angle.The present invention is real
The positioning system for applying example offer can determine an a kind of anchor point and a two class anchor points in auxiliary locator, thus
Point of puncture and puncture angle have been determined before puncture, has helped to realize the accurate positionin to target point, has improved the accuracy of puncture；
And can be punctured in the state of stopping and scanning using the positioning system, help to improve the safety of puncture process.
The above is only a preferred embodiment of the present invention, not to the restriction of interest field of the present invention.Any art technology
The technical staff in field, without departing from the spirit and scope of the present invention, can to the invention discloses technical solution and skill
Art content makes the variation such as any type of equivalent replacement or modification.Therefore, anything that does not depart from the technical scheme of the invention, according to
According to technical spirit any simple modifications, equivalents, and modifications to the above embodiments of the invention, the present invention is belonged to
Protection scope within.
Claims (10)
1. a kind of auxiliary locator for puncture, including main body, the main body has opposite first surface and the second table
Face, which is characterized in that it is distributed in the first surface using the orientable multiple a kind of anchor points of medical imaging device, it is described
Multiple two classes anchor points are distributed in second surface, the line between one kind anchor point and the two classes anchor point is for true
Determine puncture angle, wherein before puncture, the first surface of the auxiliary locator is attached at the predeterminable area of skin surface,
The image data that target point and a kind of anchor point are acquired using medical imaging device, set one one kind anchor point as
Point of puncture, and obtain two classes of straight line determined by the point of puncture and the target point Yu the second surface point of intersection
Anchor point.
2. the auxiliary locator as described in claim 1 for puncture, which is characterized in that be distributed in the first surface
First grid lines, with position of each a kind of anchor point of determination in the first surface, described image data include institute
State the pattern of the first grid lines；And/or the second grid lines is distributed in the second surface, it is fixed with each two class of determination
Position of the site in the second surface.
3. the auxiliary locator for puncture as claimed in claim 2, which is characterized in that first grid lines and described
The shape of grid defined by second grid lines include triangle, quadrangle, pentagon, hexagon, circle, ellipse in extremely
Few one kind.
4. the auxiliary locator for puncture as claimed in claim 2, which is characterized in that first grid lines and described
The distance between two neighboring grid defined by second grid lines is 0.05mm-2mm.
5. the auxiliary locator as claimed in claim 2 for puncture, which is characterized in that the image documentation equipment sets for CT
Standby, the material of first grid lines includes at least one of lead, gold, tungsten, silver, copper, zinc, cobalt, cadmium and chromium；Or
The image documentation equipment is MRI machine, and the material of first grid lines is copper sulphate, cod-liver oil or the dilution for changing lard
Liquid.
6. the auxiliary locator as described in claim 1 for puncture, which is characterized in that the main body is cavity structure,
The material of the main body is hot-melt plastic.
7. the auxiliary locator as claimed in claim 6 for puncture, which is characterized in that the cavity has close and flat
First inner wall of the row in the first surface and the second inner wall near and parallel to the second surface, the first surface
Distance is 0.1mm-5mm between first inner wall, and the distance between first inner wall and second inner wall are 5mm-
50mm, the distance between second inner wall and the second surface are 0.1-5mm.
8. the auxiliary locator as described in claim 1 for puncture, which is characterized in that the material of the main body is transparent
Material, the multiple a kind of anchor point in the first surface is from second surface side macroscopic.
9. the auxiliary locator as described in claim 1 for puncture, which is characterized in that further include covering first table
The pressure-sensitive adhesive layer in face, the pressure-sensitive adhesive layer are covered with off-style paper layer far from a side surface of the first surface.
10. a kind of positioning system for puncture characterized by comprising
Auxiliary locator as described in any one of claim 1 to 9；
Medical imaging device, after the first surface of the auxiliary locator is attached at the predeterminable area of skin surface,
Acquire the image data of target point and a kind of anchor point in the first surface；And
The data processing equipment being connect with the medical imaging device, for being used for localised puncture according to the output of described image data
The information of one a kind of anchor point and a two class anchor points of point and puncture angle, the data processing equipment pass through setting one
A one kind anchor point is point of puncture, obtains straight line determined by the point of puncture and the target point and the second surface intersection point
One two class anchor point at place, with the line of the two classes anchor point of the point of intersection and the point of puncture and first table
Angle between face is as puncture angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910185242.5A CN109805990B (en) | 2019-03-12 | 2019-03-12 | Auxiliary positioning device and positioning system for puncture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910185242.5A CN109805990B (en) | 2019-03-12 | 2019-03-12 | Auxiliary positioning device and positioning system for puncture |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109805990A true CN109805990A (en) | 2019-05-28 |
| CN109805990B CN109805990B (en) | 2024-04-26 |
Family
ID=66608721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910185242.5A Active CN109805990B (en) | 2019-03-12 | 2019-03-12 | Auxiliary positioning device and positioning system for puncture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109805990B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111134798A (en) * | 2020-02-12 | 2020-05-12 | 山东航维骨科医疗器械股份有限公司 | Spine minimally invasive guider |
| CN112651963A (en) * | 2021-01-08 | 2021-04-13 | 中国大熊猫保护研究中心 | Data processing method and device for panda lumbar puncture and storage medium |
| CN113081188A (en) * | 2021-03-02 | 2021-07-09 | 四川大学华西医院 | CT and nuclear magnetic resonance auxiliary positioning identification point device and using method thereof |
| CN113662592A (en) * | 2021-08-13 | 2021-11-19 | 深圳大学 | Puncture path planning method, medical image acquisition system, device, and medium |
| CN113907879A (en) * | 2021-10-08 | 2022-01-11 | 上海市杨浦区中心医院(同济大学附属杨浦医院) | Personalized cervical endoscope positioning method and system |
| CN114305612A (en) * | 2021-12-28 | 2022-04-12 | 天津市胸科医院 | CT guided puncture positioning device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106725754A (en) * | 2016-11-24 | 2017-05-31 | 南京易弘医疗科技有限公司 | CT puncture positioning devices and localization method |
| CN206499513U (en) * | 2016-11-16 | 2017-09-19 | 冯威健 | A kind of puncture needle positioning supporting frame |
| WO2017202590A1 (en) * | 2016-05-25 | 2017-11-30 | Medical Templates Ag | Method for planning intracorporeal positioning of a medical needle unit to be introduced percutaneously into a patient |
| CN107874817A (en) * | 2016-09-30 | 2018-04-06 | 冯威健 | A kind of puncture positioning device and bootstrap technique |
| CN107928791A (en) * | 2017-12-07 | 2018-04-20 | 上海钛米机器人科技有限公司 | Robot-assisted puncture method, system and device |
| CN108042186A (en) * | 2017-12-15 | 2018-05-18 | 泗洪县正心医疗技术有限公司 | A kind of three-dimensional development positioner |
| CN108784831A (en) * | 2018-04-14 | 2018-11-13 | 深圳市图智能科技有限公司 | A kind of puncture parameter generation method based on 3-dimensional image |
| CN210811389U (en) * | 2019-03-12 | 2020-06-23 | 严光能 | Auxiliary positioning device and positioning system for puncture |
-
2019
- 2019-03-12 CN CN201910185242.5A patent/CN109805990B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017202590A1 (en) * | 2016-05-25 | 2017-11-30 | Medical Templates Ag | Method for planning intracorporeal positioning of a medical needle unit to be introduced percutaneously into a patient |
| CN107874817A (en) * | 2016-09-30 | 2018-04-06 | 冯威健 | A kind of puncture positioning device and bootstrap technique |
| CN206499513U (en) * | 2016-11-16 | 2017-09-19 | 冯威健 | A kind of puncture needle positioning supporting frame |
| CN106725754A (en) * | 2016-11-24 | 2017-05-31 | 南京易弘医疗科技有限公司 | CT puncture positioning devices and localization method |
| CN107928791A (en) * | 2017-12-07 | 2018-04-20 | 上海钛米机器人科技有限公司 | Robot-assisted puncture method, system and device |
| CN108042186A (en) * | 2017-12-15 | 2018-05-18 | 泗洪县正心医疗技术有限公司 | A kind of three-dimensional development positioner |
| CN108784831A (en) * | 2018-04-14 | 2018-11-13 | 深圳市图智能科技有限公司 | A kind of puncture parameter generation method based on 3-dimensional image |
| CN210811389U (en) * | 2019-03-12 | 2020-06-23 | 严光能 | Auxiliary positioning device and positioning system for puncture |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111134798A (en) * | 2020-02-12 | 2020-05-12 | 山东航维骨科医疗器械股份有限公司 | Spine minimally invasive guider |
| CN112651963A (en) * | 2021-01-08 | 2021-04-13 | 中国大熊猫保护研究中心 | Data processing method and device for panda lumbar puncture and storage medium |
| CN112651963B (en) * | 2021-01-08 | 2024-02-20 | 中国大熊猫保护研究中心 | Data processing method, device and storage medium for panda lumbar puncture |
| CN113081188A (en) * | 2021-03-02 | 2021-07-09 | 四川大学华西医院 | CT and nuclear magnetic resonance auxiliary positioning identification point device and using method thereof |
| CN113662592A (en) * | 2021-08-13 | 2021-11-19 | 深圳大学 | Puncture path planning method, medical image acquisition system, device, and medium |
| CN113662592B (en) * | 2021-08-13 | 2023-11-21 | 深圳大学 | Puncture path planning method, medical image acquisition system, device and medium |
| CN113907879A (en) * | 2021-10-08 | 2022-01-11 | 上海市杨浦区中心医院(同济大学附属杨浦医院) | Personalized cervical endoscope positioning method and system |
| CN114305612A (en) * | 2021-12-28 | 2022-04-12 | 天津市胸科医院 | CT guided puncture positioning device |
| CN114305612B (en) * | 2021-12-28 | 2023-12-29 | 天津市胸科医院 | CT guided puncture positioning device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109805990B (en) | 2024-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109805990A (en) | Auxiliary locator and positioning system for puncture | |
| US11754971B2 (en) | Method and system for displaying holographic images within a real object | |
| TWI615126B (en) | An image guided augmented reality method and a surgical navigation of wearable glasses using the same | |
| US10258413B2 (en) | Human organ movement monitoring method, surgical navigation system and computer readable medium | |
| CN1814323B (en) | Focusing ultrasonic therapeutical system | |
| KR20210104715A (en) | Augmented reality display using optical code | |
| CN109526206B (en) | Method for planning the in vivo positioning of a medical needle unit introduced percutaneously into a patient | |
| US8340376B2 (en) | Diffusion tensor imaging confidence analysis | |
| EP3072472A1 (en) | Stereotactic whole-body guide system for precisely positioning surgical instruments inside the body | |
| CN210811389U (en) | Auxiliary positioning device and positioning system for puncture | |
| CN105813563A (en) | Method and system for electromagnetic tracking with magnetic trackers for respiratory monitoring | |
| CN108042186A (en) | A kind of three-dimensional development positioner | |
| CN107913094A (en) | A kind of combined type localised puncture device and its localised puncture method | |
| CN103892918B (en) | positioning device, image superposition method and image projection system | |
| Pu et al. | A novel ultrasound probe calibration method for multimodal image guidance of needle placement in cervical cancer brachytherapy | |
| CN115775611B (en) | Puncture operation planning system | |
| US20200022774A1 (en) | Implantable markers to aid surgical operations | |
| CN208426185U (en) | A kind of combined type localised puncture device | |
| CN213787387U (en) | Magnetic resonance body surface positioning device | |
| CN214208453U (en) | X-ray developing scale guiding sticker | |
| Linte et al. | Image-guided procedures: tools, techniques, and clinical applications | |
| Yoshida et al. | Novel ureteroscopic navigation system with a magnetic tracking device: a preliminary ex vivo evaluation | |
| TWI501749B (en) | Instrument guiding method of surgical navigation system | |
| EP1857068A1 (en) | Device for tracking rigid, difficult or impossible to register body structures | |
| EP4218656A1 (en) | Method for positioning a medical instrument for invasive surgery |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |