CN106175893B - A kind of device of arching trajectory implantation intracranial electrode - Google Patents

Abstract

The present invention proposes a method and device for implanting an intracranial electrode with an arc trajectory, which is used to realize the puncture trajectory of a single electrode passing through multiple intracranial target points in the skull. The method of implanting the intracranial electrode uses a fixed arc The arc-shaped puncture sleeve introduces the electrode into the cranium, and the arc-shaped puncture sleeve is guided by the arc-shaped guide sleeve with a fixed radian to achieve puncture positioning. The arc-shaped guide sleeve is fixed on the positioning tool, and the positioning tool There is a positioning frame and an adjustable positioning point on the top, and a fixing part is provided on the positioning point. When the arc-shaped guiding sleeve passes through the positioning point and is fixed by the fixing part, the positioning of the arc-shaped guiding sleeve is completed; when the When the arc-shaped guiding sleeve is positioned, the circumference of the arc-shaped circle of the arc-shaped guiding sleeve passes through multiple intracranial target points; the invention provides an implantation method and an orientation device for stimulating multiple target points with a single electrode .

Description

A Device for Implanting Intracranial Electrodes in an Arc Trajectory

technical field

The invention relates to the field of medical devices, in particular to a method and a device for implanting intracranial electrodes with an arc trajectory.

Background technique

Deep brain stimulation refers to functional neurosurgery for the treatment of central nervous system disorders by placing microelectrodes into specific intracranial targets guided by imaging (CT, MRI) positioning and stereotaxic devices. Stereotaxic instruments at home and abroad are all bow-shaped locators at present, and the principle is the spherical center method. The steps of use are as follows: First, use the stereotaxic head frame as a reference mark for image positioning, place the brain in a three-dimensional space, and measure the Cartesian coordinates (X, Y, Z) of the target point. Secondly, by adjusting the X, Y, and Z arms on the stereotaxic instrument, the center of the arc bow on the stereotaxic instrument coincides with the target point. Finally, the bow-shaped directional instrument is installed on the frame, and electrodes are inserted from any point on the arc-shaped bow in a direction perpendicular to the tangent of the arc, and the electrode embedding of the target point can be completed through the predetermined center of the sphere. The positioning system has the advantages of accuracy and simplicity, and plays an important role in stereotaxic neurosurgery.

However, the current stereotaxic instrument can only place electrodes into a single target point, which gradually fails to meet clinical needs. Based on a large number of current clinical studies, the effect of dual-target deep brain stimulation tends to be better than that of single-target stimulation. For example, the midline symptoms of Parkinson's disease in the subthalamic nucleus and medial globus pallidus are not effective. For patients with predominant midline symptoms, combined electrical stimulation of the pontine nucleus and subthalamic nucleus can achieve better results. For such cases, using the current positioning system, it is only possible to place multiple electrodes on multiple nuclei during the operation. However, considering the high price of intracranial electrodes and the fact that multiple intracranial electrode placements will cause certain damage to brain tissue, how to allow a single electrode to pass through multiple intracranial targets has important clinical value. Methods and stereotaxic devices for stimulating multiple targets with a single electrode are not currently available.

Contents of the invention

The invention proposes a method and device for implanting an intracranial electrode with an arc trajectory, and provides a puncture method and an orientation device for stimulating multiple target points with a single electrode.

The present invention adopts the following technical solutions.

A method and device for implanting an intracranial electrode with an arc-shaped trajectory, which is used to realize the puncture trajectory of a single electrode passing through multiple intracranial target points in the brain, characterized in that: the method of implanting the intracranial electrode uses a fixed arc The arc-shaped puncture sleeve introduces the electrode into the cranium, and the arc-shaped puncture sleeve is guided by the arc-shaped guide sleeve with a fixed radian to achieve puncture positioning. The arc-shaped guide sleeve is fixed on the positioning tool, and the positioning The tool is provided with a positioning frame and an adjustable positioning point, and the positioning point is provided with a fixing piece. When the arc-shaped guiding sleeve passes through the positioning point and is fixed by the fixing piece, the positioning of the arc-shaped guiding sleeve is completed; when When the arc-shaped guide sleeve is positioned, the circumference of the circle where the arc of the arc-shaped guide sleeve passes through multiple intracranial target points.

The locator includes a positioning frame, a vertical plate slider, a vertical plate, an adapter horizontal plate, a positioning column, a deflection angle measuring disc and several positioning rods, the vertical plates are arranged in pairs, and the vertical plates are slid by the vertical plate slider Slide back and forth at the chute on both sides of the positioning frame, the vertical plate is inserted into the vertical chute of the vertical plate slider and slides up and down; the transfer horizontal plate is placed on the vertical plate with the chute of the horizontal plate slider The bottom of the positioning column is provided with a positioning column slider placed on the transfer level plate, and the positioning column slider is provided with a positioning pin for fixing the deflection angle measuring disc, and the deflection angle measuring disc is inserted into the On the positioning column and fixed by the positioning pin; the positioning column is evenly arranged with a number of positioning through holes on the same vertical plane, the positioning rods are placed in the positioning through holes, and the end of the positioning rod is provided with a positioning point , the positioning point is provided with a positioning ring for fixing the arc-shaped guide sleeve, and the vertical plate slider, the horizontal plate slider, and the positioning column slider are all equipped with a sliding locking device.

The arc-shaped circle of the arc-shaped guide sleeve is located in the vertical direction.

When establishing the Cartesian coordinate system relying on the positioning tool, the X-axis of the Cartesian coordinate system is established on the transfer horizontal plate, and there is an X-axis scale on the transfer horizontal plate, and the X-axis positioning mark is set on the slider of the positioning column for X Axis reading; the positioning rod is provided with a deflection angle mark for the deflection angle reading of the positioning rod; the Y-axis is established on the side of the positioning frame, and there is a Y-axis scale on the side of the positioning frame, and there is a Y-axis positioning mark on the inside of the vertical plate slider Take readings on the Y-axis; the Z-axis is established on the vertical plate, with the zero scale in the center of the vertical plate as the origin of the Z-axis, and the scales are arranged at the upper and lower ends, and the downward scale is the Z-axis scale, and the outside of the vertical plate slider There is a Z-axis positioning mark for Z-axis reading.

The number of positioning points of the positioning tool is two, and the coordinate positioning of the positioning points of the positioning tool is divided into the following steps in turn.

A1. Install a positioning frame horizontally around the cranium, conduct cranial CT and MRI examinations to determine two target points located on the same vertical plane in the cranium, establish a Cartesian coordinate system based on the positioning tool, and measure the depth of the intracranial The coordinates of the first target point at the superficial intracranial position and the second target point at the superficial intracranial position, the coordinates of the first target point in the Cartesian coordinate system are (X1, Y1, Z1) and the coordinates of the second target point are (X2, Y2, Z2); the vertical plane where the first target point and the second target point are located is the guide plane, and the guide plane and Cartesian coordinates are calculated based on the coordinates of the first target point and the second target point in the XY plane of the Cartesian coordinate system The deflection angle value S between the YZ planes of the system; a two-dimensional guide coordinate system is established with the first target point as the origin on the guide plane, and the Y axis of the guide coordinate system is parallel to the Z axis of the Cartesian coordinate system. Calculate the coordinates (X3, Y3) of the second target point on the guide coordinate system.

A2. Select an arc-shaped guide sleeve and an arc-shaped puncture sleeve with a suitable radius. If the radius of the arc-shaped guide sleeve and the arc-shaped puncture sleeve is r, then in the guiding coordinate system, take r as the radius and pass through the first The circle between the target point and the second target point is the electrode puncture trajectory, and the center (X4, Y4) of the electrode puncture trajectory is calculated to obtain the expression equation of the electrode puncture trajectory.

A3. Select two positioning rods on the positioning column for fixing the arc-shaped guiding sleeve, and substitute the two Y-axis coordinates Ya and Yb of the positioning rods in the guiding coordinate system into the equation of the electrode puncture track to solve the positioning coordinates, and obtain The X-axis coordinates Xa, Xb corresponding to Ya, Yb are located on the electrode puncture track in the guiding coordinate system.

A4. Adjust the positions of the two positioning points on the positioning rod so that the two positioning points reach the positioning coordinates. The coordinates of the positioning coordinates on the guiding coordinate system are (Xa, Ya) and (Xb, Yb).

When calculating the deflection angle value S between the guide plane and the YZ plane of the Cartesian coordinate system through the excel form formula, the excel form formula is S=IF(X2>X1,1,-1)*ACOS(ABS(Y1-Y2 )/SQRT((X1-X2)^2+(X1-X2)^2))/PI()*180;

When the coordinates of the second target point on the guide coordinate system are calculated by the excel form formula, the excel form formula is X3=IF(Y2<Y1,1,-1)*SQRT((X1-X2)^2+(Y1- Y2)^2) Y3=Z1-Z2;

When calculating the coordinates of the center of the electrode puncture trajectory on the guiding coordinate system through the excel form formula, the excel form formula is X4=Y3^2/(2*X3)+O3/2-Y3*Y4/X3 Y4=((X3 ^2*Y3+Y3^3)/X3^2+SQRT(((X3^2*Y3+Y3^3)/X3^2)^2-4*((Y3/X3)^2+1)* S3))/(2*((Y3/X3)^2+1));

The expression equation of the electrode puncture trajectory is (X-X4)^2+(Y-Y4)^2=r^2;

Substituting Ya and Yb into the expression equation to calculate Xa and Xb through the excel table formula is Xa=X4+SQRT(r^2-(Y4-Ya)^2) Xb=X4+SQRT(r^2-( Y4-Yb)^2).

The arc-shaped guide sleeve is divided into multiple specifications according to the size. The arc-shaped guide sleeves of each specification have different arc radii, and the inner diameter, outer diameter and length of the arc-shaped guide sleeve of each specification are the same. The tube lengths of the arc-shaped guiding sleeves of different specifications are all shorter than the arc-shaped puncture sleeves; the outer diameter of the arc-shaped guiding sleeves of various specifications matches the inner diameter of the positioning ring of the positioning point.

The arc-shaped puncture sleeves are divided into multiple specifications according to the size. The arc-shaped puncture sleeves of each specification have different arc radii, and the tube inner diameter, tube outer diameter and tube length of the arc-shaped puncture sleeves of each specification are the same. The tube outer diameter of the arc-shaped puncture sleeve of the specification matches the tube inner diameter of the arc-shaped positioning sleeve; a puncture sleeve core is built in the arc-shaped puncture sleeve, and one end of the puncture sleeve core is provided with a hand guard and a handle. The other end of the puncture sleeve core is placed at the end nozzle of the arc-shaped puncture sleeve. The end nozzle of the arc-shaped puncture sleeve is the first stimulation position corresponding to the first target point. The side of the arc-shaped puncture sleeve The wall is provided with a side wall opening, and the side wall opening is the second stimulation position corresponding to the second target point; the outer wall surface of the arc-shaped puncture cannula is marked with a scale for observing the insertion length.

The implantation of electrodes into the cranium is divided into the following steps in order.

B1. First insert the positioning column into the deflection angle measuring disc, install the two positioning rods on the positioning column, rotate the positioning rod so that the deflection angle mark on the positioning rod reaches the deflection angle value S on the deflection angle measuring disc; adjust the positioning column slide Make the X-axis positioning mark reach the X1 value of the X-axis scale, adjust the vertical plate slider to make the Y-axis positioning mark reach the Y1 value of the Y-axis scale, adjust the horizontal plate slider to make the Z-axis positioning mark reach the Z-axis scale At the Z1 value of the ruler, lock the vertical plate slider, the horizontal plate slider and the positioning column slider, complete the positioning of the positioning column and make the positioning bar in the guiding plane, adjust the positions of the two positioning bars on the positioning column, so that the two The positioning point at the end of the positioning rod reaches the positioning coordinates;

B2. Select an arc-shaped guide sleeve that can pass through two positioning points when the arc is extended, fix the arc-shaped guide sleeve on the positioning ring, and use the arc-shaped guide sleeve as a guide track without entering the intracranial;

B3. Set the distance between the first stimulation position and the second stimulation position on the arc-shaped puncture sleeve as L1, set the distance between the first intracranial target point and the second target point as L2, and select the arc to match the arc-shaped guide sleeve. And the arc-shaped puncture cannula of L1=L2, insert the arc-shaped puncture cannula into the arc-shaped guide cannula, the arc-shaped puncture cannula is inserted into the cranium under the guidance of the arc-shaped guide cannula, and continue to Go deep until the end of the arc-shaped puncture cannula reaches the first target point, at this time, the first stimulation position is located at the first target point, and the second stimulation position is located at the second target point;

B4, take out the puncture sleeve core, make the inner chamber of the arc-shaped puncture sleeve empty;

B5. Implant the electrode in the vacant arc-shaped puncture cannula lumen, and the electrode enters the brain under the constraint of the arc-shaped puncture cannula until the end of the electrode reaches the exit of the arc-shaped puncture cannula. At this time, the electrode body is in the Under the restraint and protection of the lumen of the arc-shaped puncture sleeve, the electrode body contacts the first target point and the second target point respectively through the end opening and the side wall opening of the arc-shaped puncture sleeve.

According to the characteristic that the circle where the arc-shaped puncture track is located passes through the intracranial and extracranial at the same time, the present invention establishes an arc-shaped positioning point outside the skull, and at the same time uses an arc-shaped puncture cannula to limit the puncture arc, thereby establishing the positioning point and the positioning arc. The matching arc-shaped puncture positioning method is accurate in positioning. It is only necessary to measure the coordinates of the two target points where the intracranial electrodes need to be embedded on the imaging image, and select the appropriate puncture cannula according to the judgment of the operator. The formula calculates the "electrode track" required to pass through the two targets, and the adjustment value of the stereotaxic device required to establish the "electrode track", and achieves single-electrode double-target intracranial electrode embedding with the assistance of the stereotaxic device. Compared with the prior art, the present invention fills in the gap that single electrode cannot be used to realize multi-target stimulation, and the process is simple and accurate.

When the present invention establishes the Cartesian coordinate system, the Z-axis is established on the vertical plate, and the zero-point scale in the center of the vertical plate is used as the origin of the Z-axis, and the scales are arranged at the upper and lower ends, and the downward scale is the Z-axis scale. There is a Z-axis positioning mark on the outside of the vertical plate slider for Z-axis reading; in this way, during operation, the coordinate positioning of the first and second target points in the Z-axis direction is actually the opposite of the symmetrical plane where the origin of the Z-axis is located. For example, the positioning operation of increasing the depth value of the coordinate Z axis is to raise the vertical plate upwards. This design provides the structure of the extracranial mirror image of the intracranial target point, that is, the intracranial target point is symmetrical to the plane where the origin of the Z axis is located. The symmetry point can be located outside the cranium. In the extracranium, the symmetry point of the first target point is at a low position and the symmetry point of the second target point is at a high position. Since the puncture trajectory circle is symmetrical to the plane where the origin of the Z axis is located, the first target point, The symmetry point of the first target point, the second target point, and the symmetry point of the second target point are all located on the puncture trajectory, so the calculation can be performed directly with the symmetry point, which simplifies the calculation workload and improves work efficiency.

In the present invention, the vertical plate is inserted into the vertical chute of the vertical plate slider and slides up and down; the transfer horizontal plate is lifted and lowered by placing the chute of the horizontal plate slider at the vertical plate; the design is set vertically Two sets of sliding modes are provided, so that it can cooperate with the two-coordinate positioning method described in the present invention, and is easy to understand and operate.

The present invention adopts the combination of a positioning fixed structure with variable positioning points and an arc-shaped guiding sleeve with constant radians to realize positioning, thereby simplifying the calculation workload, and its modeling calculation method is closer to clinical practice and is convenient for implementation.

Description of drawings

Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

Accompanying drawing 1 is the overall structural representation of positioner of the present invention;

Accompanying drawing 2 is the schematic diagram of the assembly of the positioning column, the positioning rod, and the deflection angle measuring disc of the present invention;

Accompanying drawing 3 is the sectional view of the assembly of the positioning column, the positioning rod, and the deflection angle measuring disc of the present invention;

Accompanying drawing 4 is the schematic diagram of arc guide sleeve of the present invention;

Accompanying drawing 5 is the schematic diagram of arc-shaped puncture sleeve of the present invention;

Accompanying drawing 6 is the schematic diagram of the puncture sleeve core of the present invention;

Accompanying drawing 7 is the assembly diagram of arc-shaped guide sleeve, arc-shaped puncture sleeve and puncture sleeve core of the present invention;

Accompanying drawing 8 is the schematic diagram of positioning column of the present invention;

In the figure: 1-positioning frame; 2-vertical plate slider; 3-vertical plate; 4-transfer horizontal plate; 5-positioning column; 6-positioning rod; 25-arc guide sleeve; 26-arc puncture sleeve; 27-puncture sleeve core; 28-hand guard; 29-handle; 101-positioning point; 102-positioning column slider; ; 104-locating pin.

Detailed ways

As shown in Figures 1, 2, 3, 4, 5, 6, and 7, a method and device for implanting an intracranial electrode with an arc-shaped trajectory are used to realize the intracranial single electrode passing through multiple intracranial target points The puncture track, the method of implanting intracranial electrodes uses an arc-shaped puncture sleeve with a fixed radian to introduce electrodes into the cranium, and the arc-shaped puncture sleeve is guided by an arc-shaped guiding sleeve with a fixed radian to achieve puncture positioning. The arc-shaped guide sleeve is fixed on the locator, and the locator is provided with a positioning frame 1 and an adjustable positioning point 101. The positioning point 101 is provided with a fixing piece. When the arc-shaped guide sleeve 25 passes through When the positioning point 101 is fixed by the fixture, the arc-shaped guide sleeve 25 completes the positioning; target target.

The locator includes a positioning frame 1, a vertical plate slider 2, a vertical plate 3, a horizontal plate 4, a positioning column 5, a deflection angle measuring disc 18 and several positioning rods 6, and the vertical plates 3 are arranged in pairs, vertically The board 3 slides forward and backward with the vertical board slider 2 placed in the chute on both sides of the positioning frame 1, and the vertical board 3 is inserted in the vertical chute of the vertical board slider 2 to slide up and down; the transfer level The plate 4 is placed on the vertical plate 3 with the chute of the horizontal plate slider 103 for lifting. The bottom of the positioning column 5 is provided with a positioning column slider 102 placed on the transfer horizontal plate 4. There are positioning pins 104 for fixing the deflection angle measuring disc 18, the deflection angle measuring disc 18 is placed on the positioning column 5 and fixed by the positioning pin 104; the positioning column 5 is evenly arranged on the same vertical plane Several positioning through holes 20, the plurality of positioning rods 6 are placed in the positioning through holes 20, the ends of the positioning rods 6 are provided with a positioning point 101, and the positioning point 101 is provided with a positioning ring for fixing the arc-shaped guide sleeve, so The vertical plate slider 2, the horizontal plate slider 103, and the positioning column slider 102 are all provided with sliding locking devices.

The arc-shaped circle of the arc-shaped guide sleeve 25 is located in the vertical direction.

When establishing the Cartesian coordinate system relying on the positioning tool, the X-axis of the Cartesian coordinate system is established on the transfer horizontal plate 4, and there is an X-axis scale on the transfer horizontal plate 4, and an X-axis positioning mark is provided at the slider 102 of the positioning column Used for X-axis reading; the positioning rod 6 is provided with a deflection angle mark for the deflection angle reading of the positioning rod 6; the Y-axis is established on the side of the positioning frame 1, and there is a Y-axis scale on the side of the positioning frame 1, and a vertical plate slider 2 There are Y-axis positioning marks on the inside for Y-axis reading; Z-axis is established on the vertical plate 3, with the zero scale in the center of the vertical plate 3 as the origin of the Z-axis, and the scales are arranged at the upper and lower ends, and the downward scale is Z-axis scale, Z-axis positioning marks are set on the outside of the vertical plate slider for Z-axis reading.

The number of positioning points of the positioning tool is two, and the coordinate positioning of the positioning points of the positioning tool is divided into the following steps in turn.

A1. Install a positioning frame horizontally around the cranium, conduct cranial CT and MRI examinations to determine two target points located on the same vertical plane in the cranium, establish a Cartesian coordinate system based on the positioning tool, and measure the depth of the intracranial The coordinates of the first target point at the superficial intracranial position and the second target point at the superficial intracranial position, the coordinates of the first target point in the Cartesian coordinate system are (X1, Y1, Z1) and the coordinates of the second target point are (X2, Y2, Z2); the vertical plane where the first target point and the second target point are located is the guide plane, and the guide plane and Cartesian coordinates are calculated based on the coordinates of the first target point and the second target point in the XY plane of the Cartesian coordinate system The deflection angle value S between the YZ planes of the system; a two-dimensional guide coordinate system is established with the first target point as the origin on the guide plane, and the Y axis of the guide coordinate system is parallel to the Z axis of the Cartesian coordinate system. Calculate the coordinates (X3, Y3) of the second target point on the guide coordinate system.

A2. Select an arc-shaped guide sleeve and an arc-shaped puncture sleeve with a suitable radius. If the radius of the arc-shaped guide sleeve and the arc-shaped puncture sleeve is r, then in the guiding coordinate system, take r as the radius and pass through the first The circle between the target point and the second target point is the electrode puncture trajectory, and the center (X4, Y4) of the electrode puncture trajectory is calculated to obtain the expression equation of the electrode puncture trajectory.

A3. Select two positioning rods on the positioning column for fixing the arc-shaped guiding sleeve, and substitute the two Y-axis coordinates Ya and Yb of the positioning rods in the guiding coordinate system into the equation of the electrode puncture track to solve the positioning coordinates, and obtain The X-axis coordinates Xa, Xb corresponding to Ya, Yb are located on the electrode puncture track in the guiding coordinate system.

A4. Adjust the positions of the two positioning points on the positioning rod so that the two positioning points reach the positioning coordinates. The coordinates of the positioning coordinates on the guiding coordinate system are (Xa, Ya) and (Xb, Yb).

When calculating the deflection angle value S between the guide plane and the YZ plane of the Cartesian coordinate system through the excel form formula, the excel form formula is S=IF(X2>X1,1,-1)*ACOS(ABS(Y1-Y2 )/SQRT((X1-X2)^2+(X1-X2)^2))/PI()*180;

When the coordinates of the second target point on the guide coordinate system are calculated by the excel form formula, the excel form formula is X3=IF(Y2<Y1,1,-1)*SQRT((X1-X2)^2+(Y1- Y2)^2) Y3=Z1-Z2;

When calculating the coordinates of the center of the electrode puncture trajectory on the guiding coordinate system through the excel form formula, the excel form formula is X4=Y3^2/(2*X3)+O3/2-Y3*Y4/X3 Y4=((X3 ^2*Y3+Y3^3)/X3^2+SQRT(((X3^2*Y3+Y3^3)/X3^2)^2-4*((Y3/X3)^2+1)* S3))/(2*((Y3/X3)^2+1));

The expression equation of the electrode puncture trajectory is (X-X4)^2+(Y-Y4)^2=r^2;

Substituting Ya and Yb into the expression equation to calculate Xa and Xb through the excel table formula is Xa=X4+SQRT(r^2-(Y4-Ya)^2) Xb=X4+SQRT(r^2-( Y4-Yb)^2).

The arc-shaped guide sleeve 25 is divided into multiple specifications according to the size, and the arc-shaped guide sleeve 25 of each specification has different arc radii, and the tube inner diameter, tube outer diameter and tube length of the arc-shaped guide sleeve of each specification are the same , the tube length of the arc-shaped guide sleeve of each specification is shorter than that of the arc-shaped puncture sleeve; the outer diameter of the arc-shaped guide sleeve of each specification matches the inner diameter of the positioning ring of the positioning point.

The arc-shaped puncture sleeve 26 is divided into multiple specifications according to size, and the arc-shaped puncture sleeve 26 of each specification has different arc radii, and the inner diameter, outer diameter and length of the arc-shaped puncture sleeve 26 of each specification are the same. Same, the outer diameter of the tube of the arc-shaped puncture sleeve 26 of each specification matches the tube inner diameter of the arc-shaped positioning sleeve 25; the arc-shaped puncture sleeve 26 has a built-in puncture sleeve core 27, and the One end is provided with a guard 28 and a handle 29, and the other end of the puncture sleeve core 27 is placed at the end nozzle of the arc-shaped puncture sleeve 26, and the end nozzle of the arc-shaped puncture sleeve 26 corresponds to the first target point. The side wall of the arc-shaped puncture sleeve is provided with a side wall opening, which is the second stimulation position corresponding to the second target point; the outer wall surface of the arc-shaped puncture sleeve is marked with a scale Used to observe the insertion length.

The implantation of electrodes into the cranium is divided into the following steps in order.

B1. First insert the positioning column into the deflection angle measuring disc, install the two positioning rods on the positioning column, rotate the positioning rod so that the deflection angle mark on the positioning rod reaches the deflection angle value S on the deflection angle measuring disc; adjust the positioning column slide Make the X-axis positioning mark reach the X1 value of the X-axis scale, adjust the vertical plate slider to make the Y-axis positioning mark reach the Y1 value of the Y-axis scale, adjust the horizontal plate slider to make the Z-axis positioning mark reach the Z-axis scale At the Z1 value of the ruler, lock the vertical plate slider, the horizontal plate slider and the positioning column slider, complete the positioning of the positioning column and make the positioning bar in the guiding plane, adjust the positions of the two positioning bars on the positioning column, so that the two The positioning point at the end of the positioning rod reaches the positioning coordinates;

B2. Select an arc-shaped guide sleeve that can pass through two positioning points when the arc is extended, fix the arc-shaped guide sleeve on the positioning ring, and use the arc-shaped guide sleeve as a guide track without entering the intracranial;

B3. Set the distance between the first stimulation position and the second stimulation position on the arc-shaped puncture sleeve as L1, set the distance between the first intracranial target point and the second target point as L2, and select the arc to match the arc-shaped guide sleeve. And the arc-shaped puncture cannula of L1=L2, insert the arc-shaped puncture cannula into the arc-shaped guide cannula, the arc-shaped puncture cannula is inserted into the cranium under the guidance of the arc-shaped guide cannula, and continue to Go deep until the end of the arc-shaped puncture cannula reaches the first target point, at this time, the first stimulation position is located at the first target point, and the second stimulation position is located at the second target point;

B4, take out the puncture sleeve core, make the inner chamber of the arc-shaped puncture sleeve empty;

B5. Implant the electrode in the vacant arc-shaped puncture cannula lumen, and the electrode enters the brain under the constraint of the arc-shaped puncture cannula until the end of the electrode reaches the exit of the arc-shaped puncture cannula. At this time, the electrode body is in the Under the restraint and protection of the lumen of the arc-shaped puncture sleeve, the electrode body contacts the first target point and the second target point respectively through the end opening and the side wall opening of the arc-shaped puncture sleeve.

Claims (9)

1. a kind of device of arching trajectory implantation intracranial electrode, for realizing single intracranial electrode by multiple encephalics in encephalic The electrode of target punctures track, it is characterised in that：It is introduced to encephalic using the fixed Arcuate puncture casing of radian when implantation Intracranial electrode, the Arcuate puncture casing realize that Needle localization, the arc draw through the fixed arc guiding sleeve guiding of radian Guide thimble is fixed on positioning tool, and the positioning tool is equipped with the adjustable anchor point of positioning framework and position, the anchor point It is equipped with fixing piece, when arc guiding sleeve passes through anchor point and fixture is fixed, arc guiding sleeve completes positioning；When When the arc guiding sleeve positioning, the circumference of circle passes through multiple targets of encephalic where the arc of arc guiding sleeve.

2. a kind of device of arching trajectory implantation intracranial electrode according to claim 1, it is characterised in that：The positioning tool Including positioning framework, vertical panel sliding block, vertical panel, switching level board, positioning column, deflection angle Measuring plate and several locating rods, The vertical panel is arranged in pairs, and vertical panel slides before and after being placed at the sliding slot of positioning framework two sides with vertical panel sliding block cunning, vertically Plate is inserted in the vertical chute of vertical panel sliding block sliding up and down；The switching level board is placed in vertical with the sliding slot of level board sliding block It is lifted at straight panel, the positioning column bottom is equipped with the positioning column sliding block being placed on switching level board, is set on the positioning column sliding block It is useful for the positioning pin of fixed deflection angle measurement disk, the deflection angle Measuring plate is placed through on positioning column and is consolidated by positioning pin It is fixed；Evenly distributed setting is located at several positioning through hole on same vertical plane on the positioning column, and several locating rods place In in positioning through hole, the end of locating rod is equipped with anchor point, and anchor point is equipped with the locating ring for fixing arc guiding sleeve, The locating ring is the fixing piece, and the vertical panel sliding block, level board sliding block are equipped with sliding locking dress on positioning column sliding block It sets.

3. a kind of device of arching trajectory implantation intracranial electrode according to claim 2, it is characterised in that：The arc draws Circle is located in vertical direction where the arc of guide thimble.

4. a kind of device of arching trajectory implantation intracranial electrode according to claim 3, it is characterised in that：Rely on positioning tool When establishing cartesian coordinate system, the X-axis of cartesian coordinate system is established on switching level board, has X-axis scale on level board of transferring Ruler is equipped with X-axis telltale mark at positioning column sliding block for X-axis reading；Locating rod is equipped with deflection corner mark for the inclined of locating rod Gyration is read；Y-axis is established in positioning framework side edge, and there is Y-axis graduated scale in positioning framework side, has Y on the inside of vertical panel sliding block Axis telltale mark is read for Y-axis；Z axis is established on vertical panel, using the zeromark in vertical panel center as Z axis origin, upwards Lower both ends arrange graduated scale, wherein downward graduated scale is Z axis graduated scale, Z axis telltale mark are equipped on the outside of vertical panel sliding block and is used It is read in Z axis.

5. a kind of device of arching trajectory implantation intracranial electrode according to claim 4, it is characterised in that：The positioning tool Anchor point quantity be two, it is described positioning tool anchor point coordinate setting be divided into following steps；

A1, in cranium week along positioning framework is horizontally mounted, carry out cranium CT, MRI and check to determine that two are located at that encephalic is same to hang down The target of straight plane relies on positioning tool to establish cartesian coordinate system, measures the first target spot positioned at encephalic depth position respectively With the coordinate of the second target spot of the shallow position of encephalic, if the coordinate of the first target spot is in cartesian coordinate system（X1, Y1, Z1）And the second target Point coordinate be（X2, Y2, Z2）；Vertical plane where first target spot and the second target spot is guide plane, with the first target spot, the Coordinate of two target spots in the X/Y plane of cartesian coordinate system calculates between guide plane and the YZ planes of cartesian coordinate system Deflection angle angle value S；In guide plane two-dimensional guiding coordinate system, the Y of the guiding coordinate system are established by origin of the first target spot Axis is parallel with the Z axis of cartesian coordinate system, and coordinate of second target spot on guiding coordinate system is calculated with this（X3, Y3）；

A2, the suitable arc guiding sleeve of selection radius and Arcuate puncture casing, if arc guiding sleeve and Arcuate puncture casing Radius be r, then in guiding coordinate system, be radius using r and be electrode puncture by the circle of the first target spot and the second target spot Track calculates the center of circle that electrode punctures track（X4, Y4）, show that electrode punctures the expression equation of track；

A3, two locating rods for fixing arc guiding sleeve on positioning column are chosen, locating rod in guiding coordinate system Two Y axis coordinates Ya and Yb substitute into electrode and puncture the expression equation of track to solve the elements of a fix, obtain in guiding coordinate system X axis coordinate Xa, Xb corresponding with Ya, Yb on track is punctured positioned at electrode；

Two locating point positions on A4, adjustment locating rod, make two anchor points reach the elements of a fix, and the elements of a fix are sat in guiding Marking the coordinate fastened is（Xa, Ya）With（Xb, Yb）.

6. a kind of device of arching trajectory implantation intracranial electrode according to claim 5, it is characterised in that：When passing through When excel spreadsheet formulas calculates the deflection angle angle value S between guide plane and the YZ planes of cartesian coordinate system, excel tables Formula is S=IF (X2>X1,1,-1)*ACOS(ABS(Y1-Y2)/SQRT((X1-X2)^2+(X1-X2)^2))/PI()*180；

When by excel spreadsheet formulas calculate the second target spot guide coordinate system on coordinate when, excel spreadsheet formulas be X3= IF(Y2<Y1,1,-1)*SQRT((X1-X2)^2+(Y1-Y2)^2) Y3=Z1-Z2；

When calculating coordinate of the center of circle of electrode puncture track on guiding coordinate system by excel spreadsheet formulas, excel tables Formula is X4=Y3^2/ (2*X3)+O3/2-Y3*Y4/X3；

Y4=((X3^2*Y3+Y3^3)/X3^2+SQRT(((X3^2*Y3+Y3^3)/X3^2)^2-4*((Y3/X3)^2+1)* S3))/(2*((Y3/X3)^2+1))；

Electrode puncture track expression equation be（X-X4)^2+（Y-Y4)^2=r^2；

It is Xa=X4+ to substitute into Ya, Yb to calculate the excel spreadsheet formulas of Xa, Xb into expression equation by excel spreadsheet formulas SQRT(r^2-(Y4-Ya)^2) Xb=X4+SQRT(r^2-(Y4-Yb)^2)。

7. a kind of device of arching trajectory implantation intracranial electrode according to claim 5, it is characterised in that：The arc draws Guide thimble is divided into multiple specifications by size, and the radius of the radian of the arc guiding sleeve of each specification is different, the arc guiding of each specification Bore, pipe outside diameter and the pipe range all same of casing, the pipe range of the arc guiding sleeve of each specification are respectively less than Arcuate puncture casing； The pipe outside diameter of the arc guiding sleeve of each specification is matched with the locating ring internal diameter of anchor point.

8. a kind of device of arching trajectory implantation intracranial electrode according to claim 7, it is characterised in that：The arc is worn Thorn casing is divided into multiple specifications by size, and the radius of the radian of the Arcuate puncture casing of each specification is different, the Arcuate puncture of each specification Bore, pipe outside diameter and the pipe range all same of casing, pipe outside diameter and the arc guiding sleeve of the Arcuate puncture casing of each specification Bore matches；One end of a puncture cannula core built in Arcuate puncture casing, the puncture cannula core is equipped with handguard and hand The other end of handle, puncture cannula core is set at the end nozzle of Arcuate puncture casing, and the end nozzle of Arcuate puncture casing is The side wall of the first stimulation corresponding with the first target spot position, Arcuate puncture casing is equipped with one side wall mouth, which is and the second target Point corresponding second stimulation position；Label observes merging length in the outer wall surface of Arcuate puncture casing.

9. a kind of device of arching trajectory implantation intracranial electrode according to claim 8, it is characterised in that：It is implanted into encephalic Following steps are divided into when intracranial electrode；

B1, positioning column is first inserted into deflection angle Measuring plate, two locating rods loaded on positioning column, rotational positioning bar makes positioning Deflection angle label on bar reaches the deflection angle angle value S in deflection angle Measuring plate；Adjustment positioning column sliding block makes X-axis telltale mark At the X1 values for reaching X-axis graduated scale, adjustment vertical panel sliding block makes Y-axis telltale mark reach at the Y1 values of Y-axis graduated scale, adjusts water Tablet sliding block makes Z axis telltale mark reach at the Z1 values of Z axis graduated scale, locking vertical panel sliding block, level board sliding block and positioning column Sliding block completes the positioning of positioning column and locating rod is made to be located in guide plane, position of two locating rods of adjustment on positioning column, Two locating rod end anchor points are made to reach the elements of a fix；

B2, the arc guiding sleeve that can penetrate through two anchor points when arc extends is chosen, arc guide sleeves is fixed on locating ring Pipe, arc guiding sleeve is used as guide rail need not enter encephalic；

B3, the spacing of the first stimulation position, the second stimulation position is set on Arcuate puncture casing as L1, if the first target spot of encephalic, the second target The spacing of point is L2, chooses radian and is matched with arc guiding sleeve, and the Arcuate puncture casing of L1=L2, in arc guiding sleeve Interior insertion Arcuate puncture casing, Arcuate puncture casing are inserted into encephalic under the guiding of arc guiding sleeve, after passing through the second target spot It continues deeper into, until the end of Arcuate puncture casing reaches the first target spot, the first stimulation position is located at the first target spot at this time, second Stimulation position is located at the second target spot；

B4, puncture cannula core is taken out, keeps Arcuate puncture cannula cavity vacant；

B5, intracranial electrode, pact of the intracranial electrode in Arcuate puncture casing tube chamber are implanted into vacant Arcuate puncture cannula cavity Enter encephalic under beam, until electrode end reaches the exit of Arcuate puncture casing, electrode body is in Arcuate puncture set at this time Under the constraint and protection of pipe tube chamber, distal opening and side wall mouth of the electrode body through Arcuate puncture casing respectively with the first target spot and Second target spot contacts.