• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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    • 专利摘要:
    Stereotactic body guide to accurately position surgical instruments inside the human or animal body in order to perform minimally invasive procedures with great precision: extract a sample of tissue, deposit a product, extract a liquid, perform an ablation, etc. The system comprises a base (1), where the patient is located. On the base there is placed a bridge (4) with a frame (5) and two carriages (8) that allow two mobile guides (9) to move freely in two parallel planes. Two spheres (10) are attached to the ends of said guides so that they can rotate freely. The spheres can thread a needle or a needle extension (11). The arrangement of the spheres allows the needle to be precisely aimed at any point in the body. The adherence of the spheres can be varied to facilitate the automatic disengagement of the needle in case of involuntary movement of the patient. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2554562A1
    申请号:ES201500219
    申请日:2015-03-25
    公开日:2015-12-21
    发明作者:Germán Carlos REY PORTOLÉS；Celia Yarima CABRERA CARMENATE
    申请人:Germán Carlos REY PORTOLÉS；Celia Yarima CABRERA CARMENATE；
    IPC主号:
    专利说明:

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    DESCRIPTION
    Stereotactic body glutton to position surgical instruments with precision inside the body.
    Technology Sector
    This invention is part of the technical sector of sanitary devices, more specifically in minimally invasive interventional medicine. In the devices that direct a minimally invasive surgical instrument (tip of a rigid needle or a drill bit) inside a human or animal trunk with the purpose of carrying out precisely located actions in a well-defined area of the organism as they can Be biopsies.
    Background of the invention
    The object of the present invention is a medical device intended to be used in a living being (human / animal) in order to reach structures located within its body. This is done with a rectilinear and minimally invasive instrument so that, once the target has been reached, a tissue sample can be removed, a product can be deposited, a liquid can be removed, an ablation can be performed, etc.
    Any procedure that achieves an objective that is generally not visible through a navigation system that uses a reference system referred to the subject on which the surgery is performed is described as stereotaxic in surgery. What is intended is to place a physical element on the objective such as the tip of a needle or accumulate ionizing or sonic radiation at that point.
    Intracranial stereotactic neurosurgery is a well established technique that allows internal brain structures to be reached using precision instruments with different purposes, among which are:
    - Extract samples from a mass that has a pathological appearance (biopsy).
    - Place electrodes in order to analyze the electrical signals of the brain and / or produce a temporary functional stimulation or alteration.
    - Place electrodes to produce a definitive lesion (ablation) usually with radiofrequency that raises the temperature locally.
    - Extract fluid from a cyst that presses the cerebral parenchyma.
    - Introduce a chemical substance (medication) that can improve the situation of a patient.
    - Perform very precise perforations in bone with a drill.
    There are multiple devices to perform this task in the head. The first that were used on the head of humans were developed between 1947 and 1949 by the neurologist Emest A. Spiegel and the neurosurgeons Henry T. Wycis, and Lars Leksell.
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    These procedures are still valid today, supported by the continuous development of medical imaging and computer science. They are based on two characteristics that significantly simplify the procedure allowing a stereotactic navigation to any point of the brain: first, the existence of a rigid cranial vault in which a reference frame that does not move and can be screwed on assemble a mechanical device that supports a medical instrument and secondly that the structures of the brain contained by the skull practically do not move.
    Different inventors have been patenting since 1950 a proliferation of devices of different Indole. However, today almost 80% of the market is dominated by the device developed by Leksell and marketed by the Swedish firm Elekta AB (Leksell Stereotactic System®). The images that allow to visualize the objective are made with the frame set and must necessarily display fiducial marks that allow defining the situation of the said objective in coordinates related to the frame.
    In the last years of the twentieth century teams appeared that do not need to anchor a stereotactic frame in the head. In any case, the head must be held in the operating room with screws and then correlated (corrected) previously obtained images of the patient with different points of the bone structure located with pointers. They are the procedures called "frameless".
    The problem arises when you want to reach a goal outside the head. We lack the possibility, simple as in the head, to firmly hold the human body and we also know that the inside of it can move with respect to any rigid structure (bone) that pretends to be the reference to locate the target.
    The simplest solution has been to make some images and then without altering the position of the patient direct the instruments towards the point of the organism using the base where the patient rests. There is no doubt that achieving the accuracy achieved inside the skull is much more complicated, but the greatest margin of error that can be tolerated outside the brain fits into its discharge.
    The procedure used in general is purely manual and consists of making measurements on the monitor (console) of the image equipment of the position and angle of entry in the plane of the image on the screen and gradually inserting the needle checking in different exposures of the patient that the path is correct. If it's not like that! The needle must be removed and a new trajectory attempted. It can be intuited that this procedure has many inconveniences and inaccuracies and is generally not used when the objectives are small and deep. Another major drawback of this manual system is that it takes a long time and greatly increases the effective dose the patient receives as well! such as exposure to radiation by the healthcare professional (if the imaging modality uses ionizing radiation).
    There are patents that have been developed to alleviate these inconveniences and reach specific parts of the body with certain precision. The main objective is to reach a mass within the female breast in order to extract a sample of the tissue and analyze it (biopsy) using magnetic resonance imaging. There are also quite a few devices intended to reach the prostate for the same or even therapeutic purpose. In this task the image mode used is usually the ultrasound. Finally a goal
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    singular of many procedures has been the spine, having developed devices that, generally because they are linked to a bone structure, are not transportable to other parts of the body.
    The devices designed to reach any part of the body, especially the trunk, as the object of the present invention, are very few. We can classify them into two types:
    - In the first type there is a manipulator governed by a computer that holds the needle and places it so that the healthcare professional exerts the pressure to introduce it as far as the manipulator indicates. Examples of these are the following patents and patent applications: US 9546279 B1 which has the peculiarity of being able to move the patient and then be able to reposition it with the help of fiduciary marks, WO 97/42898, KR 10-2011-0069206, US 5078140 also oriented to the brain, US 6245028 B1, US 2014/0316259 A1.
    - In the second type, a mechanical device that easily allows the needle to be manually aligned with the help of a computer program.
    The device, object of the present patent application, corresponds to the second type. This group also fits devices that are placed on the patient's skin and are guided by arcs such as: WO 2008/047379 A2, WO 2008/062474 A2, US 6689142 B1, US 2014/0336670 A1.
    The following patents are aimed at needle holders that are placed in a structure in relation to the patient and are therefore more stable than those mentioned above: JP 390041542 whose design is more adapted to the skull but substantially different from the object of the present application , US 5308352 and US 5665095 that to orient the needle use graduated half circles to obtain the corresponding angles of entry and CN 203252733 U which is very similar to the previous ones but with different fiducials to relate the structure to the patient's body.
    Currently, the only alternatives to the object of the invention raised in this application are manuals and manipulators with robotics elements (without haptic security perception systems and therefore capable of injuring the patient when he moves inadvertently) as an example we provide a recent publication "Design and Kinematic Analysis of 3PSS-1S Wrist for Needle lnsertion Guidance" Lisandro J. Puglisi, Roque Saltaren, German Rey Portoles, Hector A. Moreno, Pedro F. Cardenas, Cecilia Garcia. Robotics and Autonomous Systems.Volume 61, lssue 5, May 2013, Pages 417-427.
    The present invention not only provides a haptic perception that limits the attachment of the needle to the device but can also be used manually with the consequent cost and calibration time savings required by any electromechanical device prior to its practical use. Obviously, the present invention may incorporate elements for measuring the positioning of its mobile elements, such as incorporating servomechanisms that can easily place its mobile elements in the connected position in order to introduce the needle. These elements will be subject to future patents when the manual device presented demonstrates its effectiveness and safety in clinical practice.
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    Explanation of the invention
    The stereotactic body glutton for positioning precision instruments inside the body, object of the present invention, is a device that has a base containing reference markers (hereinafter fiducial). This base is fixed to the imaging table of the imaging system (for example, a TAC stretcher (computerized axial tomography). The patient is immobilized on that base by any standard procedure (a mattress adjustable to his anatomy, straps, runes etc. ) whose degree of immobilization will depend on the degree of precision desired Once the imaging test is maintained, the position of the patient is maintained on the base, either on the same TAC couch, or on a stretcher capable of supporting the base without the patient Move or lift.
    On that base and around the patient a rigid structure called a bridge is placed. The fastening must guarantee immobility and reproducibility of the position of the bridge in front of the base.
    On the bridge board, if you want to insert the needle from above, or attached to its lateral supports, if you want to introduce the needle on the side of the patient, a structure called a frame is placed, which is composed of two glues parallel to each other. On each glutton is a carriage that slides over the glutton perpendicular to the main axis of the base. The car has, in turn, a second inverted carriage through which a second mobile glider perpendicular to the previous one can slide and, consequently, is parallel to the major axis of the base.
    A fastening device for a sphere is placed on each of the ends of the movable glues. The position in the space of the two spheres will be determined by the position of the carriages on the glues perpendicular to the major axis of the base and the position of the movable glues parallel to said axis.
    The fastening system will consist of a nozzle located at one end of the glues to which the spheres adhere. This can be achieved by magnetic forces or by suction. The idea is that the spheres can rotate freely so that a hypothetical line that passes through their centers defines any trajectory of a needle. The spheres have a straight perforation that passes through its center.
    It will be enough to thread a needle or a rectilinear device of similar diameter to the perforation and bring the set of balls and needle closer to the nozzles so that the needle is automatically aligned to the line defined by the position of the carriages and the movable glues.
    On the other hand, when the images inside the patient's body are visualized, these images, in DICOM standard format, are sent to an "ad hoc" program developed by us that allows us to simulate needle paths and determine the needle entry position in the skin and cough angles of entry to reach the target at a certain depth. This program locates the fiducials. These fiducials define a reference system attached to the base and therefore to the structure formed by the glues. The program is capable of defining any trajectory in parameters linked to the position of the device glues (easily determined by means of attached rules). It will be enough to attach the spheres that have previously been strung on the needle or in an alignment system thereof, so that it automatically
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    the needle is arranged in the direction of entry into the body. The program provides the number of millimeters that the needle must be inserted. In order not to exceed that depth, a mark or a mechanical stop is incorporated into the needle or needle aligner, respectively.
    If the patient continues thereafter and until the end of the insertion in the same stretcher of the imaging system, the positioning of the needle once inserted can be verified by image. This is not possible if the patient is placed in a transfer car that allows transportation along with the base outside the room.
    The object of the invention is part of minimally invasive interventional medicine. It is visualized in a medical image of a patient such as a CT (computed axial tomography) or an MRI (Magnetic Resonance), a certain objective (or target) within a body and a safe path is determined that allows to achieve that objective from the outside and indicates how to orient the medical instrument such as a rigid needle, a drill, etc. for an operator to enter it in the body and achieve the planned objective.
    It is a medical technique intended to be used in a living being in order to reach structures located within its body with a rectilinear and minimally invasive instrument so that, once the objective has been reached, a tissue sample can be extracted, deposit a product, extract a liquid, perform an ablation etc.
    For the use of the device object of the invention, it will be necessary:
    a) A medical imaging device such as an axial tomograph or an MRI; not excluding other imaging modalities.
    b) The guidance system that is able to place a needle in the right direction on the skin, object of the invention.
    c) An algorithm, generally supported by a computer program, that determines the positioning of the guidance system and the depth to be achieved. For this, it is necessary to locate the fiducials and define a coordinate system linked to them.
    d) The operator who inserts the needle to a target indicated in the imaging system and carries out the planned actions.
    One of the main advantages of this procedure is to guarantee the immobility of the patient throughout the procedure. To this end, a complement based on a laser light emitter (diode) that is placed on the patient has been developed. This laser projects its beam on a radiolucent screen attached to the base by a radiolucent support. The laser transmitter has a video camera attached that observes the position of the beam on the screen. The screen, which can have a certain curvature to be able to be introduced in the tunnel of the TAC or RM, has multiple perforations so it is easy to place a mark (a small plastic bar) from the outside (opposite side of the laser spot) that Indicates where the beam impacts before the procedure. The conservation of the brand against the impact of the laser will allow to continue with the procedure until its conclusion. The problem is complicated when the target moves due to the patient's breathing. Then you should put at least
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    two marks that indicate the position of the beam in inspiration and expiration. These marks will also help to control the patient's collaboration when we need to adopt a certain position when the CT scan is performed or when the needle is inserted.
    The advantages of the device object of the invention are:
    1. The spheres move in two parallel planes thanks to a device object of the invention. This system simplifies the guiding mechanism minimizing mechanical positioning errors.
    2. The position of the spheres is determined by analyzing the images of the patient that incorporates fiducials that allow to know the situation of the device with respect to the patient and therefore position the spheres in the appropriate position.
    3. The device allows you to adjust the clamping force of the spheres so that, once the needle is inserted, the risks that a sudden movement of the patient can cause are reduced.
    4. Significantly reduces the time it takes to manually perform an insertion procedure in interventional radiology. This translates into better use of imaging devices, reduction in the effective dose the patient receives (when ionizing radiation is used) and greater patient comfort by reducing the punctures necessary to achieve a goal.
    5. It allows continuous monitoring of the patient's position during imaging in the CT scan and during the puncture, ensuring that there have been no undesirable movements as well as controlling the reproduction of respiratory phases when necessary.
    6. It allows easy, safe and quick access to small internal injuries in places that by traditional procedures are not accessed for fear of failing the objective or causing any damage to a critical organ close to the injury.
    Brief description of the drawings
    Figure 1.- It is a perspective view of the stereotactic body glutton to position surgical instruments precisely inside the body. The frame is arranged on the bridge board.
    Figure 2.- It is a view of a preferred embodiment of the invention with a needle that is pushed by an extender.
    Figure 3.- It is a detailed view of the nozzle of the tubes to which the spheres are coupled by means of a magnet.
    Figure 4.- It is a schematic view of an auxiliary or extensor device that aligns the needle when it is very flexible or long.
    Figure 5.- It is the detail of the two cars joined together that allow moving the end of the mobile glutton in different points of the plane defined by the fixed glues.
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    Figure 6.- Disposition of the laser diode on the patient for monitoring on a screen of the beam situation, during the procedure.
    Preferred realization of the invention
    Figure 1 is a perspective view of the stereotactic body glutton for accurately positioning surgical instruments inside the body. Figure 2 shows an example of preferred embodiment of the invention of the stereotactic body glutton. It is based on a base (1) of plastic and radiolucent material 6 mm thick, 600 mm wide and 1000 mm long. This base will be placed between the patient and the couch of a CT or similar imaging system.
    The position of the patient with respect to the base (1) should not be altered during the entire procedure.
    The base is characterized by having in its back a slot for fiducial flush-shaped square 200 mm side with one of its two diagonals (2). In that square a 1 mm diameter copper wire (TAC) or a tube with a copper sulphate solution (5 per 1000) (RM) is embedded. In this way, when the patient's tomography is performed, a cut of that square and the diagonal can be distinguished along with the cut of the patient's internal structures, which allows the position of the base (1) to be related to any internal structure of the patient. In this way any point of the organism will have Cartesian coordinates referred to a coordinate system defined from the square (2) embedded in the base (1) called stereotactic coordinates. This base (1) has four pivots (3). Once the scanner is made and without moving the patient, a structure called a bridge (4), made of steel, with dimensions of 530 mm wide and 400 mm high, is placed on it using the pivots (3). It must be built thinking of a very large stiffness. The upper part of the bridge (4) must be strictly parallel to the base (1) (angulation less than 1 mm / meter).
    On the bridge (4) of iron or on either side of it, depending on the area of the body through which we intend to introduce the surgical instruments (upper, left side or right side), the frame (5) is placed with the two fixed glues (6) and (7), which in the figure has been placed at the top of the bridge (4). The two glues are 600 mm long and are joined by an 80 mm high profile of rectangular section and 80 mm deep. Fixed glues (6) and (7) have a millimeter scale engraved. The glues define the planes on which the spheres will move (10). On each of the glues and the frame it can slide and place with precision by means of the millimeter scale of the glues (6) and (7), an L-shaped iron profile that we will call carriage (8) that is fixed to the glide by pressing a screw or brake (34). There is a car for each gluttony. Each car has in its upper part an inverted car through which a mobile glide (9) built with an iron tube slides. The mobile glutton moves perpendicularly to the fixed gluttony and its position with respect to this glutton can be determined by a millimeter scale. This mobile glider is fixed to the carriage (8) by pressing the screw or brake (32).
    Figure 5 shows in greater detail the carriage (8) which is composed of an iron paralleleplipe (29) that rests on the fixed glutton (6) or (7), an iron plate (30) that align the carriage (8) to the fixed glutton (6) or (7), a plastic sheet (31) to comfortably read the position of the carriage (8) on each fixed glider by the rules
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    and a screw (34) as a brake. On the other hand in the upper part of the car is the inverted car (33) through which the mobile guides (9) slide. The mobile guides are two steel tubes 12.5 mm in diameter and 600 mm in length.
    The position of the mobile guide (9) on your inverted car is measured with an outer ruler or a millimeter scale engraved on the same guide. The fixing screw (32) helps to brake this mobile guide in a certain position.
    Figure 3 shows a magnet (13) that is used as a fastener for the spheres (10). One of the ends of the mobile guide (9) is truncated conical (17) that reduces the inner diameter of the tube to 7 mm. A detail of this end of the tube is shown in Figure 3. It houses inside the aforementioned magnet (13) which is cylindrical of neodymium (NdFeB) and of dimensions 5mm in diameter and 15mm in length, which in turn is inserted into a hollow iron cylinder (14) of internal diameter of 5 mm and exterior of 7 mm and 20 mm in length having a through hole for a screw (15). The cylinder-magnet assembly is inserted through the tip into the guide (9) and through an opening in the tube (16) and with the through screw (15) it is possible to move the magnet away or close to the end of each guide, varying the attraction power to the metal sphere (10) that is placed at the end of each guide until practically void.
    In the two planes defined by the two fixed guides (6) and (7) of the frame {5) in a position given by the situation of each car (8) and of each mobile guide (9) with respect to the inverted car, the two spheres (10) of 12.5 mm in diameter, which have a hole that crosses through the center of a diameter between 1 and 2 mm to adjust either to the gauge of the needles (11) or to the extension rods ( 27) as required by the patient's anatomy or the length of the needles.
    Flush spheres (10) on the needle (11) or on its extension (27) (depending on the size of the needle) and manually place both spheres at the mouths of the two guides (9). This automatically aligns the needle (11) with the planned path. A commercial needle (11) and an extension (27) have been drawn which is where the spheres (10) (with a 2 mm through hole) and the coupler (28) connecting the extension with the head are inserted of the needle that is designed according to the type of needle.
    In order to indicate the length of the needle that must be introduced into the patient's body to reach the target point, a stop (12) will be placed in the protractor (27). In very long needles you can remove the extension and put the stop on the same needle. This stop is shown in Figure 4.
    Being the needles used in these very thin tasks, generally less than 1 mm in diameter and long, it is normal that they can flex easily. To ensure that the tip of the flexible needle is aligned with the protractor, a needle aligner is used, which is detailed in Figure 4, which is formed by three discs (18), (19) and (20) of 30 mm. diameter and 5 mm thick made of a lightweight material, such as teflon. The discs (18) and (19) are aligned with each other by two rigid rods (21) of carbon fiber 2 mm in diameter 60 mm in length. The third disc (20) of similar characteristics has two thin rods of carbon fiber (22) 2 mm in diameter and 300 mm in length that can slide through the holes of the other teflon discs (18) and (19) such as shown in figure 4.
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    The two discs (18) and (19) have a hole (24) with a diameter of 2 mm in their center and the third disc (20) has a hole of 1 mm.
    The needle (11) or its extension (27) is threaded not only in the two metal spheres (10) but also in the three discs (18), (19) and (20). The relative position of the spheres and discs (18) and (19) will depend on the length of the needle and the distance the patient is from the spheres. The third disc (20) which, as described, is mobile against the other two (18) and (19) is held parallel to them thanks to the thin rods (22). The third disc (20) is placed near the tip of the needle and will be located as close to the skin as possible without coming into contact with it to avoid a change of direction of the device, to keep it in that position the two long rods have two adjustable seals (23). When the needle swells in the skin, it can be put in contact with it, but the needle can no longer deviate, being able to stop using a sphere (leaving it free by removing the magnet) if any of the discs (18) or ( 19) interferes with her.
    The patient's breathing control system is achieved with a screen of radiolucent material (35) such as thermoplastic masks used in immobilization of the patient's head in radiotherapy, shown in Figure 6. Its dimensions are 300x230 mm and It can adopt a position adapted to the anatomy of the patient and the commitment to pass through the TAC tunnel, deforming it by means of a bath in hot water. The screen is attached to the base (1) by a carbon fiber angle. Its position is adapted by interlocking holes in the base, to the best position with respect to the puncture point. It has the additional advantage of being perforated with 1.5 mm holes. Suitable for placing from the other side of the beam a pushpin or similar of copper or material that does not produce artifacts in the CT scan but is visible when the laser light strikes it. A box with a laser light emitter of dimensions 50x50x30 mm (36), is placed with the help of a velcro (38) that adheres to another velcro strap that surrounds the patient. When you turn on the laser you can directly see the spot of the beam on the screen and place a mark (37), in this case, with the help of the perforation matrix.
    The laser light emitting device must not be in the area where the CT scan is to be performed but, in the case that treatment is to be performed on an area affected by respiratory movement, it must be placed at a point in the skin of the patient affected by breathing and therefore it can be seen that the spot of the beam moves on the screen. In this case at least two marks will be placed on the beam path coinciding with the extreme points (inspiration and expiration).
    To be able to monitor the process even when the patient is inside the CT scan it is convenient to have a small USB camera (39) on the laser connected by a cable with a computer. In this way it can be guaranteed that the patient prior to exposure to ionizing radiation is in the position desired by the doctor and that he maintains that position when required.
    权利要求:
    Claims (5)
    [1]
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    1. Stereotactic body glide to position surgical instruments with precision inside the body characterized by comprising:
    - a base (1) containing the fiducials (2)
    - a rigid structure (4) called a bridge
    - a fastener (3) that must guarantee immobility and reproducibility of the position of the bridge (4) in front of the base (1)
    - a structure (5) that is placed on the bridge or its sides called a frame that is composed of two fixed glues (6) and (7) parallel to each other and to the base (1)
    - a carriage (8) located on each fixed glutton (6) and (7) that slides on the glutton perpendicular to the main axis of the base. The carriage (8) has an inverted carriage attached by which a second movable glide (9) can be slid perpendicular to the previous one and, consequently, is parallel to the major axis of the base.
    [2]
    2. Stereotactic body gula to position surgical instruments precisely inside the body according to claim 1, characterized in that a fastening device that is a sphere (9) is placed on each of the ends of the movable glues (9). 10). The position in space of the two spheres (10) will be determined by the position of the carriages (8) on the glues (6) and (7) perpendicular to the major axis of the base (1) and the position of the movable glues (9) parallel to the aforementioned axis.
    [3]
    3. Stereotactic body gula to position surgical instruments precisely inside the body according to previous claims, characterized by having a system for fastening the spheres by means of magnetic forces or by suction to the mobile gulas and allowing to hold with different strengths of spheres to these glues. The spheres can rotate freely so that a hypothetical line that passes through their centers defines any path of a needle (11). The spheres have a straight perforation that passes through its center.
    [4]
    4. Stereotactic body guiding to position precision surgical instruments inside the body according to claim 1 characterized by having a fiducial system (2) for the corresponding correlation between the scanner coordinate system and the glutton system. stereotactic, composed of a geometric figure made of visible material in the scanner embedded in a base integral to the gluttony and which is placed on the table that supports the patient.
    [5]
    5. Stereotactic body guide for positioning precision instruments inside the body according to claim 1, characterized by having a flexible needle alignment system consisting of three discs of light material (18), (19) and (20), the first two (18) and (19) joined together by rigid rods that keep them parallel. The third (20) has two long rods (21) that pass through two through holes located on the other two discs. The function of these rods is to maintain the parallelism between the third disc and the other two at any distance. The three discs have a hole (24) in its center that allows the passage of the needle (11) and an extension rod (27). The needle or its extension struts the three discs and the two
    spheres. The spheres keep the two discs linked together in the correct orientation while the third one is located close to the patient's skin, orienting the needle tip properly.
    5 6. Stereotactic body glide to position surgical instruments with precision in
    the interior of the body according to claim 1, characterized by having a patient mobility control system during the procedure consisting of a laser light emitter (36) that directs the beam to a radiolucent screen (35) integral with the base of the glutton on which the position of the light beam 10 (37) can be marked. In order to remotely track the incidence of the laser beam on the
    brand uses a USB camera (39) attached to the laser light emitter.
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    同族专利:
    公开号 | 公开日
    EP3072472B1|2017-08-16|
    ES2554562B1|2016-09-30|
    EP3072472A1|2016-09-28|
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    ES201500219A|ES2554562B1|2015-03-25|2015-03-25|Sterotactic body guide to position surgical instruments precisely inside the body|ES201500219A| ES2554562B1|2015-03-25|2015-03-25|Sterotactic body guide to position surgical instruments precisely inside the body|
    EP16380011.3A| EP3072472B1|2015-03-25|2016-03-18|Stereotactic whole-body guide system for precisely positioning surgical instruments inside the body|
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