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Navigation puncture system and control method

A technology of puncture needles and control equipment, which is applied in the field of surgical navigation, can solve problems such as patient injuries, and achieve the effects of reducing injuries, light weight, and improving accuracy and stability

Inactive Publication Date: 2019-04-16
上海精劢医疗科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is the harm caused by adjusting the puncture path to the patient during manual puncture.

Method used

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  • Navigation puncture system and control method

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] Embodiment 1; A kind of navigation puncture system, such as figure 1 and figure 2 As shown, it includes a workbench 1, a host 11, and a control device and a space positioning device controlled by the host 11; the control device includes a base 2, a control module 21 arranged in the base, a mechanical arm 22 fixed on the base 2, a set The puncture guide module 3 on the end of the manipulator 22 away from the base 2 and the puncture movement module 4 on the end of the puncture guide module 3 away from the manipulator 22; the manipulator 22 is controlled by the control module 21; the space positioning device includes a magnetic field generator 121. The magnetic field receiver 122, the positioning sheet and the positioning probe arranged on the positioning sheet; the spatial positioning device is arranged on the side of the workbench 1 away from the control equipment.

[0035] In the above embodiment, if figure 1 As shown, the workbench 1 is used for the object, that is,...

Embodiment 2

[0048] Embodiment 2: The present invention also provides a navigation puncture control method, which is applied to any one of the above-mentioned navigation puncture systems, including the following steps:

[0049] S1: loading the image scanned by the patient into the host computer 11;

[0050] S2: Paste the positioning sheet on the object on the workbench 1 to obtain an image space, obtain the physical space through the positioning probe, and realize the fusion of the physical space and the image space through automatic recognition by an algorithm;

[0051] S3: the control module 21 fuses and calibrates the coordinates of the robotic arm 22 and the coordinates of the sensor 7 to obtain a robotic arm space;

[0052] S4: Merge the space of the robot arm with the space of the physical space above through an algorithm;

[0053] S5: Presetting the motion trajectory of the robotic arm 22 in the host and calibrating the robotic arm space, physical space and image space;

[0054] S...

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Abstract

The invention provides a navigation puncture system and control method, and relates to the field of surgical navigation. The navigation puncture system comprises a workbench, a host, control equipmentand a spatial positioning device, wherein the control equipment and the spatial positioning device are controlled by the host; the control equipment comprises a base, a control module arranged in thebase, a mechanical arm fixed on the base, a puncture guide module arranged at the end, away from the base, of the mechanical arm and a puncture movement module arranged at the end, away from the mechanical arm, of the puncture guide module; the mechanical arm is controlled by the control module; the spatial positioning device comprises a magnetic field generator, a magnetic field receiver, a positioning piece and a positioning probe arranged on the positioning piece; the spatial positioning device is arranged at the side, away from the control equipment, of the workbench; the puncture movement module is provided with a sensor. The navigation puncture system and control method have the advantages that the damage to patients caused by the fact that a puncture path is manually changed in themanual puncture process is reduced, and the accuracy of the puncture process is improved.

Description

technical field [0001] The invention relates to the field of surgical navigation, in particular to a navigation puncture system and a control method. Background technique [0002] Lung cancer is the most common primary lung tumor, the fastest growing morbidity and mortality worldwide, and the highest threat to human health and life. Percutaneous lung biopsy can be used to diagnose lung cancer and other lung diseases. Due to the limitations of soft tissue drift caused by lung breathing, traditional lung biopsy requires repeated X-ray imaging to accurately locate the lesion for puncture. Large, complex and time-consuming surgery, and due to inaccurate positioning, serious postoperative complications and other shortcomings. [0003] In order to solve the above problems, a technology for real-time positioning of surgical instruments by means of magnetic navigation is disclosed, and interventional operations are performed in a virtual reality environment to ensure that surgical ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B17/34A61B34/10A61B34/20
CPCA61B17/3403A61B2017/3409A61B34/10A61B34/20A61B34/70A61B2034/107A61B2034/207
Inventor 姜顺华王涛
Owner 上海精劢医疗科技有限公司
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