Orientable sting deviceTechnical field
The invention relates to technical field of medical instruments, more particularly to a kind of orientable sting device.
Background technology
Puncture technique is that puncture is needled into body cavity extraction secretion to chemically examine, and injects gas to body cavity or contrast agent is madeShadow check, or into body cavity injection of medicine a kind of Clinics.Purpose includes blood test, transfuses blood, infuses and insert conduitDo angiogram etc..It is characterized in that method is easy, can carries out under local anesthesia, the damage to tissue is small, and bleeding is few, thus compared withFew for safety, infection chance, the influence to patient is very small.Puncture technique can system be divided into bone marrow puncture, lymph nodeCentesis, arthrocentesis, the big technical field of vessel puncture four, application field is widely.
In effective minimal invasive techniques for the treatment of malignant tumour now, puncturing operation is using ultrasound or X ray computerTomography (Computed Tomography, i.e. CT) guiding positioning, tumour is inserted directly into by puncture cannula by skin penetratingInside, is extracted after nook closing member, and biopsy forceps progress biopsy, implantation grain are melted or inserted by inserting puncture needle in puncture cannulaSon, cystosclerosis and optical dynamic therapy.
In current puncturing operation, puncture cannula serves the effect of positioning and guiding, and the positioning effects of puncture cannulaThe success or failure of operation, but there is the inaccurate localised puncture repeatedly caused of positioning in current puncture cannula；Puncture cannula is with surpassingWhen sound wave exposure pathways angle is less than 40 degree, the ultrasonography of puncture cannula is unintelligible；Paracentesis depth shows unclear, operationIt is complicated, the problems such as easily malfunction.
Therefore, the puncture position in puncturing operation how is accurately positioned, the technology as urgent need to resolve in the prior art is askedTopic.
Utility model content
In view of this, one of technical problem that the embodiment of the present application is solved is that providing a kind of orientable puncture fillsPut, it can improve accuracy of the sting device in Needle localization.
The embodiment of the present application provides a kind of orientable sting device, including：Sleeve pipe, it is arranged at the anti-of described sleeve pipe one endPenetrate groove, be arranged at the locating module of the described sleeve pipe other end；The locating module is used to send positioning signal, with according to by receivingThe positioning signal that module is received determines the position at described sleeve pipe tip；The reflection groove is made up of multiple reflectings surface, is usedIn reflecting the positioning signal that the locating module is sent, make the internal organs shot according to the positioning signal of reflection in medical scienceIt is visible on image.
Alternatively, in the specific embodiment of the application one, the locating module uses electromagnetic location mode, the positioning letterNumber be electromagnetic wave.
Alternatively, in the specific embodiment of the application one, the locating module uses optical alignment mode, the positioning letterNumber be light wave.
Alternatively, in the specific embodiment of the application one, the locating module uses localization by ultrasonic mode, the positioning letterNumber be ultrasonic wave.
Alternatively, in the specific embodiment of the application one, actuation means are provided with outside the locating module, for operatingThe sting device is controlled to puncture into lesions position.
Alternatively, in the specific embodiment of the application one, the locating module and the actuation means be formed in one orPerson's split is formed.
Alternatively, in the specific embodiment of the application one, the outer surface of described sleeve pipe indicates graduation mark, to determine described wearThe depth of thorn.
Alternatively, in the specific embodiment of the application one, the outer surface of described sleeve pipe is provided with adjustable locating ring, is used forAfter the paracentesis depth reaches default threshold value, the fixed sting device, prevent the sting device deflect orPerson's displacement.
Alternatively, in the specific embodiment of the application one, described device also includes：Nook closing member, the nook closing member is set before puncturePut in the inner chamber of described sleeve pipe, secure the above after sting device, the nook closing member is exited from described sleeve pipe, so that puncture outfitTool is extend into the inner chamber of described sleeve pipe.
From above technical scheme, the embodiment of the present application is providing a kind of orientable sting device, including sleeve pipe, setsIt is placed in the reflection groove of described sleeve pipe one end, is arranged at the locating module of the described sleeve pipe other end；The locating module is used to sendPositioning signal, to determine the position at described sleeve pipe tip according to the positioning signal received by receiving module；The reflectionGroove is made up of multiple reflectings surface, for reflecting the positioning signal that the locating module is sent, is made according to the described fixed of reflectionThe internal organs that position signal is shot are visible on the medical image, and it is accurate in Needle localization that the embodiment of the present application improves sting deviceProperty.
Brief description of the drawings
, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior artThere is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only thisApply for some embodiments described in embodiment, for those of ordinary skill in the art, can also be obtained according to these accompanying drawingsObtain other accompanying drawings.
Fig. 1 is a kind of structure chart of an embodiment of orientable sting device.
Fig. 2 is a kind of structure chart of another embodiment of orientable sting device.
Fig. 3 is a kind of outside drawing of another embodiment of orientable sting device.
Fig. 4 is a kind of structure chart of another embodiment of orientable sting device.
Embodiment
The embodiment of the present application is providing a kind of orientable sting device, including sleeve pipe, is arranged at described sleeve pipe one endReflection groove, the locating module for being arranged at the described sleeve pipe other end；The locating module is used to send positioning signal, with according to by connecingThe positioning signal that receipts module is received determines the position at described sleeve pipe tip；The reflection groove is made up of multiple reflectings surface,For reflecting the positioning signal that the locating module is sent, make the internal organs shot according to the positioning signal of reflection in doctorLearn visible on image, the application improves accuracy of the sting device in Needle localization, allows doctor to surgical procedureMonitoring in real time, has ensured the safe and reliable of operation.
Certainly, implementing any technical scheme of the embodiment of the present application does not need necessarily while reaching all excellent of the abovePoint.
In order that those skilled in the art more fully understand the technical scheme in the embodiment of the present application, below in conjunction with the applicationAccompanying drawing in embodiment, the technical scheme in the embodiment of the present application is clearly and completely described, it is clear that described realityIt is only a part of embodiment of the embodiment of the present application to apply example, rather than whole embodiments.Based on the implementation in the embodiment of the present applicationExample, the every other embodiment that those of ordinary skill in the art are obtained should all belong to the scope of the embodiment of the present application protection.
Further illustrate that the embodiment of the present application is implemented with reference to the embodiment of the present application accompanying drawing.
The embodiment of the present application provides a kind of orientable sting device.
Embodiment one
Referring to Fig. 1, the sting device includes：Sleeve pipe 101, the reflection groove 102 for being arranged at described sleeve pipe one end, it is arranged atThe locating module 103 of the described sleeve pipe other end.The locating module 103 is used to send positioning signal, with according to by receiving moduleThe positioning signal received determines the position at described sleeve pipe tip；The reflection groove 102 is made up of multiple reflectings surface, is used forThe positioning signal that the locating module is sent is reflected, makes the internal organs shot according to the positioning signal of reflection in medical science figureAs upper visible.
Alternately, in the embodiment of the application one, the locating module 103 uses electromagnetic location mode, the positioningSignal is electromagnetic wave.Electromagnetic wave, is the concussion particle by deriving transmitting in space with phase and mutually perpendicular electric field and magnetic fieldRipple, is the electromagnetic field propagated in the form of fluctuation, with duality principle.Electromagnetic wave is by in-phase oscillation and mutually perpendicular electricityField is moved in the form of ripple in space with magnetic field, the plane that its direction of propagation is constituted perpendicular to electric field and magnetic field, effective biographyEnergy and momentum are passed, in a vacuum, speed is the light velocity.Electromagnetic wave, which is penetrated, to be wrapped according to frequency categorization, from low frequency to high-frequencyRadio wave, microwave, infrared ray, visible ray, ultraviolet light, X-ray and gamma ray etc. are included.The electromagnetism that human eye can be receivedRadiation, wavelength is about between 380 to 780 nanometers, referred to as visible ray.As long as self-temperature is more than the object of absolute zero,Electromagnetic wave can be launched.Ultra-low frequency electromagnetic wave has good penetrability to media such as metal, soil layer, human bodies due to it, canTo be widely used in alignment system.Ultra-low frequency electromagnetic wave refers to frequency between 3~30 kilo hertzs (KHz), wavelength 100~Electromagnetic wave between 10km.
According to foregoing description, electromagnetic wave is straightline propagation in uniform dielectric (such as air).Locating module 103 launches electricityMagnetic wave, the reflection that electromagnetic wave passes through reflection groove 102.Reflection groove 102 is made up of multiple reflectings surface, constitutes special between multiple reflectings surfaceDifferent angle, is returned to electromagnetic wave by original route with realizing, internal organs is imaged on the medical image.
Alternately, in the embodiment of the application one, electromagnetic location is to use Biot-Savart law (Biot-SavartLaw), the magnetic field that description current elements are excited at the arbitrfary point of space.Biot-Savart law is applied to calculate a stable electricityMagnetic field produced by stream.This electric current is the electric charge for continuing to flow through a wire, and the magnitude of current is not changed over time, and electric charge will not beOptional position is accumulated or disappeared.Using the International System of Units, represented with equation：
Wherein, I is ource electric current, and L is path of integration, and dl is the small line element of ource electric current,Pointed to for current elements and wait to askThe unit vector of site, μ0For space permeability, its value is 4 π × 10-7Tm/A。
DB direction perpendicular to Idl andIdentified plane, when right hand bending, four refer to from direction along less than 180 degree angleWhen turning to r, the direction for the thumb meaning stretched is dB direction, i.e. the direction of tri- vectors of dB, dl, r meets the right-hand rule.
The right-hand rule is produced during wire cutting magnetic induction line to determine for the direction of right-handed palm and fingerSense of current, i.e.,：The right hand is stretched out, makes thumb and remaining four finger vertical, and all with palm in the same plane；Allow magneticFeel line from the palm of the hand to enter, and thumb is pointed to guidewire movement direction, at this moment four directions for referring to meaning are exactly faradic direction.
Find out from aforesaid way, Biot-Savart law is used as positioning mesh using AC coil as emission source using receiving coilMark, according to the law of electromagnetic induction, receiving coil can produce corresponding induced electromotive force, by calculating the spatial distribution in magnetic field,And then the equation group comprising target location and directional information is derived, solved equation using the nonlinear algorithm of optimization, so thatObtain a stable, real-time localization method.
Alternately, in another embodiment of the application, the locating module 103 uses optical alignment mode, described fixedPosition signal is light wave.Optical alignment principle includes the modeling of video camera, and calibration under this model, calculates video cameraThe three-dimensional reconstruction of projection matrix and target, the position of puncture cannula can be shown in real time in surgical navigational simulation.Location technologyField generally comprises visible ray and infrared two electromagnetic wave band.Visible light wave range imaging system is most widely used imaging system.The accuracy degree of visible light wave range optical alignment mode is higher, and precision can reach 0.20mm, but visible light wave range optics is fixedPosition tracking system is easily by ambient light interference, it is more difficult to ensure the uniformity of measurement accuracy under different operating environment.Infrared band is penetratedProperty it is strong, the precision of measurement can be ensured under complex work environment.In specific implementation, it can select different according to concrete application scenePositioning method.
According to foregoing description, equipped with the mark point that can be captured by a camera on sleeve pipe 101, specifically, the mark point isInfrared markers point, the advantage is that, the infrared ray of infrared markers point transmitting is sightless for human eye.The camera is infrared photographyMachine, the image information of the infrared markers point of thermal camera capture, and the image information is transmitted to display system.Display systemAccording to the image information of infrared markers point, the positional information for obtaining sting device is calculated, is existed according to the positional information of sting deviceImage is rendered on display device.Sleeve pipe 101 set infrared markers point position be it is fixed, can be according to the quarter on sleeve pipe 101Degree 202, the relative position of the reflection groove 102 of acquisition.Locating module 103 launches electromagnetic light wave, and electromagnetic light wave passes through reflection groove102 reflection.Reflection groove 102 is made up of multiple reflectings surface, and special angle is constituted between multiple reflectings surface, to realize electromagnetismRipple is returned by original route so that internal organs can be imaged on the medical image.
By finding out with upper type, mark point is set on sting device, and positioning signal is received according to receiving module, is obtainedThe positional information of sting device, it is final to calculate the physical location for obtaining puncture cannula, finally realize Real time dynamic display punctureSleeve pipe route and the purpose of position.
Alternately, in another embodiment of the application, the locating module 103 uses localization by ultrasonic mode, described fixedPosition signal is ultrasonic wave.Ultrasonic wave is the sound wave that a kind of frequency is higher than 20000 hertz, belongs to mechanical wave, the directionality of ultrasonic waveGood, penetration capacity is strong, it is easy to obtain the acoustic energy relatively concentrated.Ultrasonic imaging technique obtains commonly used in terms of medical examination,The operation principle of medical ultrasound inspection has certain similitude with sonar, that is, emits ultrasonic acoustic waves into human body, when it is in bodyIt can reflect and reflect when inside running into interface, and be likely to be absorbed and decay in tissue.Because various groups of human bodyThe form knitted is differed with structure, therefore its reflection is also just different from the degree for reflecting and absorbing ultrasonic wave, passes through instrumentThe feature of wave mode, curve or image that device is reflected is positioned.In the embodiment of the present application, by launching ultrasonic wave,To affected area formation image, to determine the puncture position of sting device.
According to foregoing description, ultrasonic wave is straightline propagation in uniform dielectric (such as air).Locating module 103 launches excess of exportSound wave, the reflection that ultrasonic wave passes through reflection groove 102.Reflection groove 102 is made up of multiple reflectings surface, constitutes special between multiple reflectings surfaceDifferent angle, to realize multiple reflections so as to which ultrasonic wave be returned by original route, can form ultrasonoscopy.
Embodiment two
Referring to Fig. 2, the embodiment of the present application provides a kind of orientable sting device, in addition to, in the locating module 103Outside is provided with actuation means 201.
Specifically, the actuation means 201 are operation handle, and focus portion is punctured into for sting device described in operational controlPosition.
Specifically, the locating module 103 is formed in one with the actuation means 201 or split is formed.Described oneBody formed to refer to that locating module 103 and actuation means 201 are that an operation is overall, the split, which is formed, refers to locating module 103It is two independent devices with actuation means 201, locating module 103 is installed on the inside of actuation means 201, or actuation meansThe outside of the position device 103 of 201 buckles.
Specifically, the outer surface of sleeve pipe 101 indicates graduation mark 202, to determine the depth of the puncture, the depth of the punctureDegree is a certain threshold value determined according to operation preplanning.Adjustable locating ring 203 is moved to respective depth graduation mark 202, matched somebody with somebodyClose locating module 103 and carry out Needle localization together, puncture behind in-position, adjustable locating piece 203 can pass through viscous with skinPatch is fixed, and is prevented in puncture process, puncture cannula deflects or displacement, extracts nook closing member 204, and puncture cannula 101 can be withInsert puncture instrument.
In the present embodiment, the sting device also includes nook closing member, and the nook closing member is arranged on described sleeve pipe before punctureIn inner chamber, secure the above after sting device, the nook closing member is exited from described sleeve pipe, so that puncture instrument extend into the setIn the inner chamber of pipe.Specifically, the puncture instrument includes puncture needle or biopsy forceps.
It is the outside drawing of orientable sting device referring to Fig. 3.
Embodiment three
The embodiment of the present application provides the operation principle that a kind of concrete application scene is used to describe reflection groove.
Referring to Fig. 4, multiple reflection grooves 102 are provided with one end of puncture cannula 101, reflection groove 102 is by multiple reflectings surfaceConstitute, reflecting surface 401 forms a special angle between reflecting surface 402.When locating module 103 launches positioning signalWhen 301, positioning signal 301 is by the reflection of reflecting surface 401, and into reflecting surface 402, reflecting surface 402 again presses positioning signal 301Former transmission path is reflected back, so that internal organs can be visible on the ultrasound image.According to the reflection received by receiving moduleThe positioning signal determine described sleeve pipe tip position, substantially increase accuracy of the sting device in Needle localization,Allow real-time monitoring of the doctor to surgical procedure, ensure the safe and reliable of operation.
It should be noted that in the above-described embodiments, receiving module can be a part for sting device structure, can alsoBe physics independently of the sting device, be not punctured included by device, but certain connection is there are between them with completeInto sending and receiving for positioning signal.Receiving module can be selected according to locating module, if locating module is based on ultrasonic wave,Receiving module can also be based on ultrasonic wave；If locating module is based on electromagnetic wave, receiving module can also be based on electromagnetic wave,Other situations by that analogy, are repeated no more in detail.
Although having been described for the preferred embodiment of the embodiment of the present application, those skilled in the art once know baseThis creative concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed toIncluding preferred embodiment and fall into having altered and changing for the embodiment of the present application scope.Obviously, those skilled in the artThe spirit and scope of various changes and modification without departing from the embodiment of the present application can be carried out to the embodiment of the present application.So, ifIf these modifications and variations of the embodiment of the present application belong within the scope of the embodiment of the present application claim and its equivalent technologies,Then the embodiment of the present application is also intended to comprising including these changes and modification.