CN105193478A - Puncture device with RCM (remote center of motion) based on wire driving - Google Patents
Puncture device with RCM (remote center of motion) based on wire driving Download PDFInfo
- Publication number
- CN105193478A CN105193478A CN201510684881.8A CN201510684881A CN105193478A CN 105193478 A CN105193478 A CN 105193478A CN 201510684881 A CN201510684881 A CN 201510684881A CN 105193478 A CN105193478 A CN 105193478A
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- puncture
- arc
- puncture needle
- silk
- slide block
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3407—Needle locating or guiding means using mechanical guide means including a base for support on the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a puncture device with a RCM (remote center of motion) based on wire driving. The puncture device comprises a base plate, a gesture adjustment module and a puncture needle insertion module, wherein a circular mounting through hole is formed in the base plate; the gesture adjustment module comprises a rotating table rotationally connected with the circular mounting through hole; a circular-arc-shaped guide rail is fixedly mounted on the rotating table; the central axis of the circular-arc-shaped guide rail and the central axis of the rotating table are perpendicular and intersect at one point which is the RCM of the puncture device; an oblique sliding block is assembled on the circular-arc-shaped guide rail; oblique driving wires are fixedly connected onto the oblique sliding block; inclined driving wires are wound on the rotating table. The puncture device can replace manual puncture of doctors, the defects that during the traditional operation process, the insertion speed is low and the insertion position is inaccurate are overcome, the speed and accuracy of puncture needle insertion can be greatly improved, the success rate of an operation is improved, and a novel approach is developed for novel robot auxiliary minimally invasive surgery.
Description
Technical field
The present invention relates to medical instruments field, belong to medical science, front subject that machinery, automatization intersect, particularly based on the closely elongated needle piercing mechanism of the image-guidances such as ultrasonic, CT and nuclear magnetic resonance, NMR.
Background technology
Sting device has a wide range of applications at surgery medical field, and especially in recent years, along with the development of Minimally Invasive Surgery technology, elongated needle puncture is widely applied in the Minimally Invasive Surgery such as radioactive prospecting instrument, biopsy.Such as in diagnosing tumor and treatment, elongated needle puncture has become a kind of important method.It is little that the method has wound, treats the advantages such as accurate; Simultaneously combining image airmanship, under the guide of the images such as CT, ultrasonic and nuclear-magnetism, puncture needle can be implanted to more accurately position, small target area, realize disease detection and treatment accurately, the method becomes the study hotspot of recent domestic.Image-guidance puncturing operation is generally divided into framing and puncture needle to implant two processes crossed one another.The puncture of the implant needle outside Present Domestic mostly is behind image instrument location, and doctor manually implants puncture needle in person, and this process depends on the operating experience of doctor, and length consuming time of performing the operation, treatment cost is high, and danger coefficient is high.
Summary of the invention
The present invention provides a kind of sting device with distal movement center (RCM) based on silk transmission for solving in known technology the technical problem that exists, and this device can realize the accurate puncture of elongated needle automatically.
The technical scheme that the present invention takes for the technical problem existed in solution known technology is: a kind of sting device with distal movement center based on silk transmission, comprises base plate, pose adjustment module and puncture needle implant module; Described base plate is provided with circular mounting through hole; Described pose adjustment module comprises the turntable be rotationally connected with described circular mounting through hole, described turntable is fixed with arc-shaped rail, the central axis of described arc-shaped rail and the central axis upright of described turntable intersect at a point, and this point is this sting device distal movement center; Described arc-shaped rail is equipped with tiltedly inclined slide block, described tiltedly inclined slide block is connected with and tiltedly partially drives silk; Described turntable is wound with tendency and drives silk; Described puncture needle implant module comprises and the described tiltedly supporting base that slide block is affixed partially and gripper shoe, described supporting base is connected by rolling bearing with driving wheel, described driving wheel is wound with puncture and drives silk, described driving wheel is connected with perpendicular drive rod, described drive rod is provided with the puncture slide block be slidably connected with it, described puncture slide block is provided with the pin folder be rotationally connected with it, in described pin, be provided with pluggable dumbbell shaped sleeve, described sleeve is affixed with the puncture needle passing through this sting device distal movement center all the time; Above described pin presss from both sides, be provided with guide forceps, the jaw of described guide forceps is looped around around puncture needle.
Described guide forceps is provided with and described gripper shoe shape all-in-one-piece fixed arm and lever arm, described lever arm is rotationally connected by bearing pin and described gripper shoe, described bearing pin is wound with tong arm and drives silk, the jaw of described guide forceps is formed in the front portion of described fixed arm and described lever arm.
Respectively be provided with a guide wheel at the two ends of described arc-shaped rail, the upper surface of described arc-shaped rail is provided with guide groove, the described filament winding that tiltedly partially drives crosses described guide groove and described guide wheel.
The advantage that the present invention has and good effect are:
One) this device adopts silk transmission to realize attitude and the position adjustment of puncture needle, makes overall structure compacter, and has better compatibility, under can being applied to nuclear-magnetism and CT environment, for the puncture realized under image-guidance provides possibility.
Two) this device has fixing distal movement central point, and puncture needle passes through this fixing point all the time, improves stability and the safety of whole device.
Three) whole process can realize automatically, can realize the puncture of puncture needle, decrease treatment time, reduce treatment cost, improve the comfort level of patient, reduce the labor intensity of doctor in CT or NMR (Nuclear Magnetic Resonance) imaging lumen pore.
Four) this device can as the end effector of operating robot, also can be used alone, doctor is replaced manually to puncture, overcome implantation speed in traditional surgical procedures slow, the inaccurate drawback of implantation position, greatly can improve speed and precision that puncture needle implants, improve the success rate of operation, thus open up a new way for novel robot assisted minimally invasive surgical operation.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is pose adjustment modular structure schematic diagram of the present invention;
Fig. 3 is puncture needle implant module structural representation of the present invention;
Fig. 4 is the structural representation of guide forceps of the present invention.
In figure: 1, base plate; 2, sleeve; 3, turntable; 4, fixing head; 5, puncture needle; 6, driving wheel; 7, drive rod; 8, pin folder; 9, puncture slide block; 10, guide forceps; 10-1, fixed arm; 10-2, lever arm; 11, tong arm drives silk; 12, gripper shoe; 13, puncture drives silk; 14, supporting base; 15, oblique slide block partially; 16, arc-shaped rail; 17, tiltedly partially silk is driven; 18, guide wheel; 19, tendency drives silk.
Detailed description of the invention
For summary of the invention of the present invention, Characteristic can be understood further, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
Refer to Fig. 1 ~ Fig. 4, a kind of sting device with distal movement center based on silk transmission, comprises base plate 1, pose adjustment module and puncture needle implant module.
Described base plate is provided with circular mounting through hole.
Described pose adjustment module comprises the turntable 3 be rotationally connected with described circular mounting through hole, described turntable 3 is fixed with fixing head 4, fixing head 4 is fixed with arc-shaped rail 16, the central axis of described arc-shaped rail 16 and the central axis upright of described turntable 3 intersect at a point, and this point is this sting device distal movement center; Described arc-shaped rail 16 is equipped with tiltedly inclined slide block 15, described tiltedly inclined slide block 15 is connected with tiltedly driving silk 17 partially; Described turntable 3 is wound with tendency and drives silk 19.
Described puncture needle implant module comprises and the described tiltedly supporting base 14 that slide block 15 is affixed partially and gripper shoe 12, described supporting base 14 is connected by rolling bearing with driving wheel 6, described driving wheel 6 is wound with puncture and drives silk 13, described driving wheel 6 is connected with perpendicular drive rod 7, described drive rod 7 is provided with the puncture slide block 9 be slidably connected with it, described puncture slide block 9 is provided with the pin folder 8 be rotationally connected with it, pluggable dumbbell shaped sleeve 2 is provided with in described pin folder 8, described sleeve 2 is affixed with the puncture needle 5 passing through this sting device distal movement center all the time, above described pin folder 8, be provided with guide forceps 11, the jaw of described guide forceps 11 is looped around puncture needle 5 around, plays to puncture needle 5 effect that circumference is spacing and lead.
In this example, described guide forceps 10 is provided with and described gripper shoe 12 shape all-in-one-piece fixed arm 10-1 and lever arm 10-2, described lever arm 10-2 is rotationally connected by bearing pin and described gripper shoe 12, described bearing pin is wound with tong arm and drives silk 11, the jaw of described guide forceps 10 is formed in the front portion of described fixed arm 10-1 and described lever arm 10-2.Make tong arm drive silk 11 to drive lever arm 10-2 to open, decontrol the constraint to puncture needle 5; Drive and tiltedly partially drive silk 17, drive tiltedly slide block 15 partially to turn clockwise, make pin press from both sides 8 and be separated with sleeve 2, decontrol the constraint to puncture needle 5 further.Above two steps are used for realizing after puncture completes, and puncture needle can be moved along with patient tissue motion, improves safety further.Respectively be provided with a guide wheel 18 at the two ends of described arc-shaped rail 16, the upper surface of described arc-shaped rail 16 is provided with guide groove, the described silk 17 that tiltedly partially drives walks around described guide groove and described guide wheel 18.
Operation principle of the present invention:
Base plate 1 be fixed on other medical mechanism arms or be directly fixed on it patient.First the attitude of medical imaging device and corresponding navigation system determination puncture needle is passed through: make tiltedly partially to drive silk 17 to drive tiltedly inclined slide block 15 to move along arc-shaped rail 16, and then make puncture needle 5 tilt to default oblique inclination angle; Make tendency drive silk 19 driven rotary platform 3 to rotate, and then the incline direction of puncture needle 5 is circumferentially changed, until reach the preset posture of puncture needle.
After puncture needle reaches preset posture, make puncture drive silk 13 to drive driving wheel 6 to rotate, driving wheel 6 drives drive rod 7 to swing, and then puncture slide block 9 is slided on drive rod 7.Under the synergism of slide block 9 and guide forceps 10 that punctures, puncture needle 5 moves vertically, implements puncture action.
Although be described the preferred embodiments of the present invention by reference to the accompanying drawings above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; do not departing under the ambit that present inventive concept and claim protects, can also make a lot of form, these all belong within protection scope of the present invention.
Claims (3)
1. based on a sting device with distal movement center for silk transmission, it is characterized in that, comprise base plate, pose adjustment module and puncture needle implant module;
Described base plate is provided with circular mounting through hole;
Described pose adjustment module comprises the turntable be rotationally connected with described circular mounting through hole, described turntable is fixed with arc-shaped rail, the central axis of described arc-shaped rail and the central axis upright of described turntable intersect at a point, and this point is this sting device distal movement center; Described arc-shaped rail is equipped with tiltedly inclined slide block, described tiltedly inclined slide block is connected with and tiltedly partially drives silk; Described turntable is wound with tendency and drives silk;
Described puncture needle implant module comprises and the described tiltedly supporting base that slide block is affixed partially and gripper shoe, described supporting base is connected by rolling bearing with driving wheel, described driving wheel is wound with puncture and drives silk, described driving wheel is connected with perpendicular drive rod, described drive rod is provided with the puncture slide block be slidably connected with it, described puncture slide block is provided with the pin folder be rotationally connected with it, in described pin, be provided with pluggable dumbbell shaped sleeve, described sleeve is affixed with the puncture needle passing through this sting device distal movement center all the time;
Above described pin presss from both sides, be provided with guide forceps, the jaw of described guide forceps is looped around around puncture needle.
2. the sting device with distal movement center based on silk transmission according to claim 1, it is characterized in that, described guide forceps is provided with and described gripper shoe shape all-in-one-piece fixed arm and lever arm, described lever arm is rotationally connected by bearing pin and described gripper shoe, described bearing pin is wound with tong arm and drives silk, the jaw of described guide forceps is formed in the front portion of described fixed arm and described lever arm.
3. the sting device with distal movement center based on silk transmission according to claim 1, it is characterized in that, at the two ends of described arc-shaped rail, one guide wheel is respectively installed, the upper surface of described arc-shaped rail is provided with guide groove, and the described filament winding that tiltedly partially drives crosses described guide groove and described guide wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510684881.8A CN105193478B (en) | 2015-10-20 | 2015-10-20 | The sting device with distal movement center based on silk transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510684881.8A CN105193478B (en) | 2015-10-20 | 2015-10-20 | The sting device with distal movement center based on silk transmission |
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| Publication Number | Publication Date |
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| CN105193478A true CN105193478A (en) | 2015-12-30 |
| CN105193478B CN105193478B (en) | 2017-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510684881.8A Expired - Fee Related CN105193478B (en) | 2015-10-20 | 2015-10-20 | The sting device with distal movement center based on silk transmission |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105496470A (en) * | 2016-01-24 | 2016-04-20 | 哈尔滨理工大学 | Mammary gland intervention mechanism for nuclear magnetic surgery |
| CN106422043A (en) * | 2016-10-30 | 2017-02-22 | 天津大学 | Auxiliary automatic positioning mechanism for tumor radiotherapy seed implantation |
| CN106667574A (en) * | 2016-12-05 | 2017-05-17 | 温州市人民医院 | Microwave ablation needle with breathing and fixing device |
| CN108784928A (en) * | 2018-07-06 | 2018-11-13 | 北京航空航天大学 | A kind of Novel ophthalmic microsurgical knife remote centre of motion mechanism |
| WO2019144904A1 (en) * | 2018-01-29 | 2019-08-01 | The University Of Hong Kong | Robotic stereotactic system for mri-guided neurosurgery |
| CN110652322A (en) * | 2018-06-29 | 2020-01-07 | 新加坡国立大学 | Guiding and positioning robot |
| CN110811779A (en) * | 2019-11-12 | 2020-02-21 | 西安交通大学医学院第一附属医院 | Medical puncture needle fixing device for tumor intervention |
| CN114191054A (en) * | 2022-02-16 | 2022-03-18 | 真健康（北京）医疗科技有限公司 | Puncture needle clamp and puncture robot |
| CN114404017A (en) * | 2022-03-29 | 2022-04-29 | 中国医学科学院北京协和医院 | Device convenient for positioning pedicle screws |
| CN114469286A (en) * | 2022-04-02 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Miniaturized puncture robot |
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| JP2010068923A (en) * | 2008-09-17 | 2010-04-02 | Fujifilm Corp | Ultrasonic diagnostic apparatus |
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| CN102860874A (en) * | 2012-09-13 | 2013-01-09 | 深圳安科高技术股份有限公司 | Stereotactic puncture guide device for breasts |
| CN102908175A (en) * | 2012-10-17 | 2013-02-06 | 天津大学 | Minimally invasive surgery prickling mechanism based on cable driving |
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| CN105496470B (en) * | 2016-01-24 | 2018-03-30 | 哈尔滨理工大学 | A kind of mammary gland pushing device in nuclear-magnetism environment menisectomy |
| CN105496470A (en) * | 2016-01-24 | 2016-04-20 | 哈尔滨理工大学 | Mammary gland intervention mechanism for nuclear magnetic surgery |
| CN106422043A (en) * | 2016-10-30 | 2017-02-22 | 天津大学 | Auxiliary automatic positioning mechanism for tumor radiotherapy seed implantation |
| CN106667574B (en) * | 2016-12-05 | 2020-01-03 | 温州市人民医院 | Microwave ablation needle with breathing fixing device |
| CN106667574A (en) * | 2016-12-05 | 2017-05-17 | 温州市人民医院 | Microwave ablation needle with breathing and fixing device |
| WO2019144904A1 (en) * | 2018-01-29 | 2019-08-01 | The University Of Hong Kong | Robotic stereotactic system for mri-guided neurosurgery |
| CN111712211B (en) * | 2018-01-29 | 2023-05-30 | 香港大学 | Robotic stereotactic system for MRI-guided neurosurgery |
| CN111712211A (en) * | 2018-01-29 | 2020-09-25 | 香港大学 | Robotic stereotactic system for MRI guided neurosurgery |
| EP3745983A4 (en) * | 2018-01-29 | 2021-11-03 | The University of Hong Kong | Robotic stereotactic system for mri-guided neurosurgery |
| US11779398B2 (en) | 2018-01-29 | 2023-10-10 | The University Of Hong Kong | Robotic stereotactic system for MRI-guided neurosurgery |
| CN110652322A (en) * | 2018-06-29 | 2020-01-07 | 新加坡国立大学 | Guiding and positioning robot |
| CN108784928A (en) * | 2018-07-06 | 2018-11-13 | 北京航空航天大学 | A kind of Novel ophthalmic microsurgical knife remote centre of motion mechanism |
| CN108784928B (en) * | 2018-07-06 | 2020-12-29 | 北京航空航天大学 | Novel remote motion center mechanism for ophthalmic microsurgery |
| CN110811779A (en) * | 2019-11-12 | 2020-02-21 | 西安交通大学医学院第一附属医院 | Medical puncture needle fixing device for tumor intervention |
| CN114191054B (en) * | 2022-02-16 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Puncture needle clamp and puncture robot |
| CN114191054A (en) * | 2022-02-16 | 2022-03-18 | 真健康（北京）医疗科技有限公司 | Puncture needle clamp and puncture robot |
| CN114404017A (en) * | 2022-03-29 | 2022-04-29 | 中国医学科学院北京协和医院 | Device convenient for positioning pedicle screws |
| CN114469286A (en) * | 2022-04-02 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Miniaturized puncture robot |
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