CN115068124A - Medical marking device and taking and placing method thereof - Google Patents

Abstract

The present application relates to the field of medical equipment, and provides a medical marker device and a pick-and-place method thereof, wherein the medical marker device includes: a distal positioning mark and a proximal positioning mark, each positioning mark can be tracked by an external tracking device; a string , the two ends of the string are respectively connected to the distal positioning mark and the proximal positioning mark. The medical marker device used in this application is implanted through the natural orifice, which is not only suitable for excision treatment methods, but also non-resection treatment methods such as Cyber Knife; it can not only avoid the risks of pneumothorax caused by percutaneous puncture, It is also convenient to take out after the treatment is completed, which can avoid various complications that may be caused by long-term retention in the body. The present application improves the safety and controllability of medical marking devices.

Description

Medical marking device and method of picking and placing the same

technical field

The present application relates to the field of medical equipment, and in particular, to a medical marking device and a pick-and-place method thereof.

Background technique

Current treatments for cancer include surgery and radiation therapy. In order to ensure the effectiveness of treatment, surgical treatment usually requires a larger area of resection, which may affect the patient's postoperative recovery. Compared with surgery, radiation therapy has a wider range of applications and can be applied to some patients who cannot undergo surgery.

Due to the limited field of vision of visual aids, how to accurately identify the location of the lesion in real time is a major difficulty in radiotherapy, and the location of the lesion in some cancer patients will also change with the movement of the human body, which further increases the difficulty of accurately identifying the location of the lesion. Difficulty, such as the location of lesions in lung cancer patients changes with breathing movements.

For the change of the lesion position caused by the breathing movement, in the prior art, the Cyberknife synchronous breathing tracking system is usually used to track the lesion position. Cyberknife is one of the whole-body tumor stereotactic radiosurgery devices. It adopts computer stereotaxic guidance to automatically track the target area, so that the beam is completely irradiated on the tumor, eliminating the focal tissue and minimizing the damage to the surrounding healthy tissue. damage, so as to achieve the purpose of precise treatment.

Current Cyberknife therapy uses a metal marker device (gold marker) to track the target area. Specifically, the gold standard is implanted percutaneously under CT or implanted around the lesion through the human airway. Due to its special structure, it can be anchored in a certain position, thereby enabling real-time tracking of the lesion location. At the same time, the breathing tracking system can simulate the movement law of the lesion with the breathing movement according to the breathing movement. Therefore, the Cyber Knife can synchronously adjust the beam irradiation position according to the breathing movement curve and the position of the gold standard during treatment.

However, the gold standard used by the tracking technology may remain in the patient's body permanently after radiotherapy is completed, which is not conducive to the prognosis of the treatment.

SUMMARY OF THE INVENTION

In order to solve the above problems or at least partially solve the above technical problems, in one embodiment of the present application, a medical marking device is provided, including:

Distal locating markers and proximal locating markers, each of which can be tracked by an external tracking device;

The two ends of the string are respectively connected with the distal positioning mark and the proximal positioning mark.

Optionally, also include:

Several intermediate locating markers are attached to the string between the distal locating markers and the proximal locating markers.

Optionally, the locating marks are attached to knots on the string.

Optionally, the rope knot is a double bar tack.

Another embodiment of the present application provides a method for picking and placing a medical marking device, comprising the following steps:

Preparation steps: connect the distal positioning mark and the proximal positioning mark with a string;

Placement step: the distal positioning mark and the proximal positioning mark are respectively passed through the cavity and placed into the animal or human body, and the distal positioning mark is placed at the first target position, and the proximal positioning mark is placed at the second target position;

Wherein, the second target position is closer to the exit of the cavity than the first target position;

Removal steps: Clamp and pull out the proximal locating marker, and remove the distal locating marker together with a string.

Optionally, the preparation step includes: connecting the distal positioning marks, several intermediate positioning marks and the proximal positioning marks with a string in sequence.

Further, the preparation step includes: planning the placement position of each marker according to the position of the lesion, setting the length of the string between two adjacent markers according to the planned placement position, and then placing the distal positioning mark, several intermediate positioning marks and the near The end locating marks are attached according to the planned length of the string.

Optionally, the placing step includes:

Straightening and placing each positioning mark in the catheter in turn, so that each positioning mark is arranged end to end in the catheter, wherein the distal positioning mark is located at the distal end of the catheter, and the proximal positioning mark is located at the proximal end of the catheter;

Insert the catheter into the animal or human body, and reach the first target position, and push the distal positioning mark out of the catheter; the distal positioning mark resumes curling and is placed at the first target position;

Move to different target positions in turn, and push out each intermediate positioning mark, so that each intermediate positioning mark is restored to curl and placed on different target positions;

The catheter is retracted to the second target position, and the proximal positioning mark is ejected from the catheter; the proximal positioning mark is restored to crimp and placed at the second target position;

Withdraw the catheter.

Optionally, the placing step includes:

Straightening and placing each positioning mark in the catheter in turn, so that each positioning mark is arranged end to end in the catheter, wherein the distal positioning mark is located at the distal end of the catheter, and the proximal positioning mark is located at the proximal end of the catheter;

Insert the catheter into the animal or human body, and reach the first target position, and push the distal positioning mark out of the catheter; the distal positioning mark resumes curling and is placed at the first target position;

The catheter is retracted to the second target position, and the proximal positioning mark is ejected from the catheter; the proximal positioning mark is restored to crimp and placed at the second target position;

Withdraw the catheter.

Optionally, the removing step includes using a biopsy forceps to pick up and pull out the proximal locating marker.

Compared with the prior art, the present application uses at least two positioning marks connected by a string, so that the surgical robotic arm with endoscope, especially the surgical robotic arm loaded with biopsy forceps, can be easily The proximal end of the second target position locates the marker to take out the entire medical marker device from the human body, and the entire surgical process is reversible.

The medical marker device used in this application is implanted through the natural orifice, which is not only suitable for excision treatment methods, but also for non-resection treatment methods such as Cyber Knife; it can not only avoid the risks of pneumothorax caused by percutaneous puncture, It is also convenient to take out after the treatment is completed, which can avoid various complications that may be caused by long-term retention in the body.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that are required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only used to illustrate some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort. Unmentioned technical features, connection relationships and even method steps.

FIG. 1 is a schematic diagram of a medical marker device according to an embodiment of the present application;

2 is a schematic diagram of the medical marking device according to the embodiment of the present application when it is taken out from a living body;

3 is a schematic diagram of the medical marking device according to an embodiment of the present application when placed in a catheter;

4 is a schematic diagram of the medical marker device according to the embodiment of the present application when it is released from the catheter;

FIG. 5 is a schematic view of the medical marker device according to the embodiment of the present application when it is placed in a living body.

Description of reference numerals

1. Distal positioning marker; 1a, elastic part; 2. Proximal positioning marker; 3. String; 4. Lesion; 5. Bronchoscope; 6. Catheter.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the scope of protection of the present application.

The applicant found that, in the prior art, markers for locating lesions are roughly divided into two types: percutaneous puncture and implantation through natural orifices. During treatment, the marker is removed along with the lesion, which can improve the success rate of the operation. If the marker is not removed, the marker may remain in the patient permanently after the treatment.

The operation of percutaneous puncture to place the marker is easy to bring in the entry of external air, and there is a risk of causing pneumothorax. For non-resection treatment options, such as Cyberknife treatment, if the positioning markers implanted through the natural orifice can be used and can be easily removed, the best of both worlds can be achieved.

However, in the prior art, a positioning marker that is easy to implant and easy to remove has not yet been found. For example, in the Chinese invention patent with the application number of 201510220080.6 and titled "A Medical Marking Device for Positioning", and the application number of 201510220081.0 with the title of "A Device and Method for Placing Medical Devices" In the Chinese invention patent, the prior art positioning marks and positioning marks placement methods are mentioned, but these placement methods do not mention how to take out the positioning marks.

The applicant has carefully analyzed the reasons for not taking out the localization marks in the prior art, and found that because the lesions are often located deep into the human body, the endoscopes that can be used to remove the localization marks usually cannot reach these positions. Taking the bronchus as an example, the endoscope cannot enter the narrow airway due to its large outer diameter. When positioning markers are implanted, navigation technology can be used to implant markers through the sheath, but when removing the markers, the markers cannot be clipped and removed by navigation technology, and can only be accurately grasped under the premise of bronchoscope and visible to the naked eye. Mark and remove. Therefore, the existing technology is limited by the outer diameter of the bronchoscope, and the positioning marks cannot be removed.

In view of this, the present application provides a novel medical marking device and a pick-and-place method thereof.

Embodiment 1

The first embodiment of the present application provides a medical marking device and a pick-and-place method thereof.

Among them, as shown in Figure 1, the medical marking device includes:

Distal positioning mark 1 and proximal positioning mark 2, each positioning mark can be tracked by an external tracking device;

A string 3, two ends of the string 3 are respectively connected to the distal positioning mark 1 and the proximal positioning mark 2.

Wherein, the distal positioning mark 1 and the proximal positioning mark 2 may use the same type of positioning mark, or may use different types of positioning marks. Typically, both can use the gold standard widely used in the prior art as a marker. At the same time, the string 3 needs to have a certain degree of softness and toughness. The string 3 that is soft enough is not likely to cause harm to the human body, and the string 3 that is sufficiently flexible can prevent the gold mark from remaining due to the breakage of the string 3 .

Based on the above structure, the embodiments of the present application further provide a method for picking and placing a medical marking device, including the following steps:

Preparation steps: Connect the distal positioning marker 1 and the proximal positioning marker 2 with a string 3. Wherein, the connection between the positioning mark and the string 3 can be established in various ways, for example, the string 3 can be passed through the preset loop on the distal positioning mark 1 and knotted.

Placement steps: Put the distal positioning mark 1 and the proximal positioning mark 2 through the cavity respectively, put them into the animal or human body, and place the distal positioning mark 1 at the first target position and the proximal positioning mark 2 at the second target position. target location. Typically, this lumen may be the bronchus of the organism. Wherein, the second target position is closer to the outlet of the cavity than the first target position. The placing process can follow a traditional positioning marker placing operation, for example, the remote positioning marker 1 can be placed at a first target position that is difficult to reach by other devices by means of a magnetic navigation device.

Removal steps: Clamp and pull out the proximal positioning marker 2, and take out the distal positioning marker 1 together with the string 3. When taking out, the proximal positioning marker 2 can be grasped from a relatively easy-to-reach second target position by means of an endoscope, a biopsy forceps or other forceps tools attached to the endoscope. Since the string 3 connects the distal and proximal positioning markers, a pulling force can be transmitted to pull out the distal positioning markers 1 .

Wherein, the proximal positioning marker 2 can be clamped in various ways. Optionally, the removing step may further include: using a biopsy forceps to pick up and pull out the proximal positioning marker 2 .

Optionally, the positioning marks may be attached to knots on the string 3 during the preparation step. Due to the diversity of the location of the lesion 4 and the orientation of the lumen around it, strings 3 of different lengths and specifications can be used for different surgical targets. For this purpose, the specification of the string 3 can be selected in a targeted manner in each operation, and a suitable medical marking device can be re-prepared.

Specifically, the knot can be a double tack. Double tack, commonly known as pig's trotter buckle, is a kind of knot widely used to tie ropes to objects. In the present application, both ends of the string 3 are subjected to force when the distal positioning marker 1 is pulled, and in this case, the double bar tack can exert a greater effect.

In order to explain the working principle of the medical marking device of the present application in more detail, in the embodiments of the present application, the picking and placing and working steps of a typical medical marking device are also given as follows:

1. Referring to Figure 1, connect the distal positioning marker 1 and the proximal positioning marker 2 with a string 3. Different connection methods can be used according to the shape and structure of the mark;

2. Using magnetic navigation technology or other similar technology, place the distal positioning marker 1 at the first target position deep into the human body. In FIGS. 2 and 5 , the bronchus, an organ with many branches and a relatively high complexity, is used as an example for description. Wherein, the first target position is close to the lesion 4, so that the function of marking the lesion 4 can be realized. The first target position is located in a higher-order bronchus, which is difficult to reach with an ordinary bronchoscope 5 .

3. On the path on which the navigation device exits, select the bronchus at a lower level that is relatively more accessible as the second target position, and place the proximal positioning marker 2 there.

4. According to the location of the distal positioning marker 1, use the cyber knife to treat the lesion 4.

5. Referring to Figure 2, the position of the proximal positioning mark 2 is reached through the bronchoscope 5, and a biopsy tool, such as a biopsy forceps, is used to grasp the proximal positioning mark 2 under the bronchoscope 5, and the proximal positioning mark 2 and the proximal positioning mark 2 are used. The connection relationship between the distal positioning markers 1 is to take out the medical marker device as a whole.

Compared with the prior art, the present application uses at least two positioning marks connected by the string 3, so that the endoscope can conveniently use the proximal positioning mark 2 set at the second target position to place the entire medical marking device from the entire medical marking device. Taken out of the human body, the entire surgical process is reversible.

The medical marker device used in this application is implanted through the natural orifice, which is not only suitable for excision treatment methods, but also for non-resection treatment methods such as Cyber Knife; it can not only avoid the risks of pneumothorax caused by percutaneous puncture, It is also convenient to take out after the treatment is completed, which can avoid various complications that may be caused by long-term retention in the body.

Embodiment 2

The second embodiment of the present application also provides a pick and place method for a medical marking device. The method is improved based on the method of the first embodiment. The specific improvement is that, referring to Fig. 3 and Fig. 4 , the placing step includes:

Straighten and place each positioning mark in the catheter 6 in turn, so that the positioning marks are arranged in the catheter 6 end to end, wherein the distal positioning mark 1 is located at the distal end of the catheter 6, and the proximal positioning mark 2 is located in the catheter 6. The proximal end of 6;

Referring to Figures 4 and 5, insert the catheter 6 into the animal or human body, and reach the first target position, and push the distal positioning mark 1 out of the catheter 6; ;

The catheter 6 is withdrawn to the second target position, and the proximal positioning mark 2 is pushed out of the catheter 6; the proximal positioning mark 2 is restored to crimp and placed at the second target position;

Withdraw catheter 6.

That is, this embodiment focuses on the placement method of the medical marking device provided in the present application. In this embodiment, with the help of the catheter 6, each positioning mark can be placed on different parts of the lumen as required.

Preferably, the positioning mark provided by the present application may include an elastic portion 1a, and the elastic portion 1a curls due to its own elasticity when no external force is applied. When the positioning mark is placed in the catheter 6, the elastic portion 1a will be straightened by the restriction of the catheter 6. This design makes the medical marker deform and crimp quickly after being pushed out of the catheter 6, so that it can be fixed in the lumen. And the string 3 can be connected to this elastic part 1a so as to obtain a more stable fixation by the deformation of the elastic part 1a.

Based on the above improvements, in this embodiment, the picking and placing and working steps of a typical medical marking device are also given as follows:

1. Referring to Figure 1, connect the distal positioning marker 1 and the proximal positioning marker 2 with a string 3. Different connection methods can be used according to the shape and structure of the mark;

2. Referring to Figure 3, straighten the distal positioning mark 1 and the proximal positioning mark 2 and place them in the catheter 6, so that the positioning marks are arranged end to end in the catheter 6, wherein the distal positioning mark 1 is located at the distal end of the catheter 6, and the proximal positioning mark 2 is located at the proximal end of the catheter 6;

3. Referring to FIG. 5 , by means of magnetic navigation technology or other similar technology, the catheter 6 is sent into the human body, so that the distal end of the catheter 6 is close to the lesion 4 . Then, referring to FIG. 4 , the distal positioning marker 1 can be pushed out through a push rod (not shown) arranged in the catheter 6, so as to place the distal positioning marker 1 at the first target position deep into the human body, so as to be able to The function of marking the lesion 4 is realized. The first target position is located in a higher-order bronchus, which is difficult to reach with an ordinary bronchoscope 5 .

4. After placing the remote positioning marker 1, the navigation device exits backward. On the exit path, the bronchus at the lower level, which is relatively more accessible, is selected as the second target position, where the proximal positioning marker 2 is placed in the same manner.

5. According to the location of the distal positioning marker 1, use the Cyber Knife to treat the lesion 4.

6. Referring to Figure 2, the position of the proximal positioning mark 2 is reached through the bronchoscope 5, and a biopsy tool, such as a biopsy forceps, is used to grasp the proximal positioning mark 2 under the bronchoscope 5, and the proximal positioning mark 2 and The connection relationship between the distal positioning markers 1 is to take out the medical marker device as a whole.

It can be seen from the above steps that the medical marker device provided by the present application can be placed very conveniently by means of the catheter 6, and the operation is simple and the implementability is good.

Embodiment 3

The third embodiment of the present application also provides a medical marking device and a pick-and-place method thereof. The device and method are improvements based on the devices and methods provided in the first and second embodiments, and the specific improvement lies in that the medical marking device further includes:

Several intermediate positioning marks are connected to the string 3 between the distal positioning mark 1 and the proximal positioning mark 2 .

The preparation step includes: connecting the distal positioning mark 1 , several intermediate positioning marks and the proximal positioning mark 2 with a string 3 in sequence.

Considering the actual situation, there may be more than one lesion 4 in the patient, or it may diffuse into a larger area, so a plurality of intermediate positioning marks may be set accordingly. These intermediate positioning marks are located between the distal positioning mark 1 and the proximal positioning mark 2 , which can achieve a better marking effect than only one distal positioning mark 1 is provided. However, by connecting a plurality of positioning markers in series, the entire medical marker device can be taken out as long as any one of the markers can be clamped, which improves convenience and safety.

In addition, optionally, the length of the string 3 between each positioning mark is set according to the position of the lesion 4 of the patient. This is due to the diversity of the location of the lesion 4 and its surrounding bronchial orientation. In order to make the implanted marker meet the requirements of the positioning of the CyberKnife treatment, the placement position of the marker can be determined according to the specific lesion 4 . That is to say, the distances between two or more markers are not necessarily equidistant, as long as the string 3 can satisfy various positional distributions of the implanted markers. Specifically, the preparation step may include: planning the placement position of each marker according to the location of the lesion, setting the length of the string 3 between two adjacent markers according to the planned placement position, and then positioning the distal end marker 1, several intermediate markers The positioning mark and the proximal positioning mark 2 are connected according to the planned length of the string 3 . Under this premise, multiple markers can be placed around the same lesion with better directivity.

It should be understood that the terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. As used in the examples of this application and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise, "a plurality" Generally, at least two kinds are included, but the case of including at least one kind is not excluded.

It should be understood that the term "and/or" used herein is only an association relationship for describing associated objects, indicating that there may be three kinds of relationships, for example, the first component and/or the second component may indicate: the existence of the first component alone There are three cases in which the first part and the second part exist at the same time, and the second part exists alone. In addition, the character "/" in this document generally indicates that the related objects are an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used to describe certain components in the embodiments of the present application, these components should not be limited only by these terms. These terms are only used to distinguish components from each other. For example, without departing from the scope of the embodiments of the present application, the first XX component may also be referred to as the second XX component, and similarly, the second XX component may also be referred to as the first XX component.

Depending on the context, the words "if", "if" as used herein may be interpreted as "at" or "when" or "in response to determining" or "in response to monitoring". Similarly, depending on the context, the phrases "if determined" or "if monitored (the stated condition or event)" could be interpreted as "when determined" or "in response to determining" or "when monitored (the stated condition or event)" )” or “in response to monitoring (statement or event)”.

In the embodiments of the present application, "substantially equal to", "substantially perpendicular to", "substantially symmetrical", etc. means that the macroscopic size or relative positional relationship between the two features referred to is very close to the stated relationship. However, it is clear to those skilled in the art that due to the existence of objective factors such as errors and tolerances, it is difficult for the positional relationship of objects to be properly constrained on a small scale or even a microscopic angle. Therefore, even if there is a slight error in the size and positional relationship between the two, it will not have a great impact on the realization of the technical effect of the present application.

It should also be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a commodity or system comprising a list of elements includes not only those elements, but also includes not explicitly listed other elements, or elements inherent to the commodity or system. Without further limitation, an element defined by the phrase "comprising a..." does not preclude the presence of additional identical elements in the article or system that includes the element.

In the above-described embodiments, although the above-described methods are illustrated and described as a series of actions for simplicity of explanation, those of ordinary skill in the art will understand and appreciate that these methods are not limited by the order of the actions, because according to In one or more embodiments, some acts may occur in a different order and/or concurrently with other acts from or not illustrated and described herein but which may be understood by those skilled in the art.

Those of skill in the art would understand that information, signals and data may be represented using any of a variety of different technologies and techniques. For example, the data, instructions, commands, information, signals, bits, symbols, and chips recited throughout the above description may be composed of voltages, currents, electromagnetic waves, magnetic fields or magnetic particles, light fields or optical particles, or any combination to represent.

Those skilled in the art will further appreciate that the various illustrative logical blocks, modules, units, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both . To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, units, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of this application.

Finally, it should be noted that those skilled in the art can understand that, in order to make the reader better understand the present application, the embodiments of the present application provide many technical details. However, even without these technical details and various changes and modifications based on the above-mentioned embodiments, the technical solutions claimed in the claims of the present application can be basically realized. Therefore, in practical application, various changes in form and details of the above-described embodiments may be made without departing from the spirit and scope of the present application.

Claims (10)

1. A medical marking device, comprising:

a distal positioning marker and a proximal positioning marker, each of which is capable of being tracked by an external tracking device;

and two ends of the thin rope are respectively connected with the far-end positioning mark and the near-end positioning mark.

2. The medical marking device of claim 1, further comprising:

a plurality of intermediate positioning markers connected to the string between the distal and proximal positioning markers.

3. The medical marking device of claim 1, wherein said positioning marker is attached to a knot on said string.

4. The medical marking device of claim 3, wherein the knot is a double hitch knot.

5. A method for taking and placing a medical marking device is characterized by comprising the following steps:

the preparation method comprises the following steps: connecting the far-end positioning mark and the near-end positioning mark by a string;

a placing step: respectively putting the distal positioning mark and the proximal positioning mark into an animal or human body through the cavity, and arranging the distal positioning mark at a first target position and the proximal positioning mark at a second target position;

wherein the second target location is closer to the exit of the lumen relative to the first target location;

taking out: the proximal positioning mark is clamped and pulled out, and the distal positioning mark is taken out together by the string.

6. The method of claim 5, wherein the preparing step comprises: the far-end positioning mark, the plurality of middle positioning marks and the near-end positioning mark are sequentially connected by a string.

7. The medical marking device of claim 6, wherein said preparing step comprises: planning the placement position of each mark according to the lesion position, setting the length of the string between two adjacent marks according to the planned placement position, and then connecting the far-end positioning mark, the plurality of middle positioning marks and the near-end positioning mark according to the planned length of the string.

8. The method of claim 6, wherein the placing step comprises:

sequentially straightening each positioning mark and placing the positioning mark into a placing catheter, so that the positioning marks are arranged in the catheter end to end, wherein the far-end positioning mark is positioned at the far end of the catheter, and the near-end positioning mark is positioned at the near end of the catheter;

inserting a catheter into an animal or human body to a first target location, and ejecting a distal positioning marker from the catheter; the distal positioning marker is rewound and positioned at the first target location;

sequentially moving to different target positions, and ejecting each middle positioning mark to enable each middle positioning mark to recover the curling and be respectively arranged on different target positions;

withdrawing the catheter to a second target position, and ejecting the proximal end positioning mark out of the catheter; the proximal positioning marker is rewound and positioned at the second target location;

the catheter is withdrawn.

9. The method of claim 6, wherein the placing step comprises:

sequentially straightening each positioning mark and placing the positioning mark into a placing catheter, so that the positioning marks are arranged in the catheter end to end, wherein the far-end positioning mark is positioned at the far end of the catheter, and the near-end positioning mark is positioned at the near end of the catheter;

inserting a catheter into an animal or human body to a first target location, and ejecting a distal positioning marker from the catheter; the distal positioning marker is rewound and positioned at the first target location;

withdrawing the catheter to a second target position, and ejecting the proximal end positioning mark out of the catheter; the proximal positioning marker is rewound and positioned at the second target location;

the catheter is withdrawn.

10. The method of claim 7, wherein the removing step comprises: the proximal positioning marker is grasped and pulled out using the biopsy forceps.

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