CN108784839A - A kind of auxiliary robot device of peripheral blockade and intraspinal tube nerve block - Google Patents
A kind of auxiliary robot device of peripheral blockade and intraspinal tube nerve block Download PDFInfo
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- CN108784839A CN108784839A CN201810637355.XA CN201810637355A CN108784839A CN 108784839 A CN108784839 A CN 108784839A CN 201810637355 A CN201810637355 A CN 201810637355A CN 108784839 A CN108784839 A CN 108784839A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/32—Surgical robots operating autonomously
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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
- A61B17/3401—Puncturing needles for the peridural or subarachnoid space or the plexus, e.g. for anaesthesia
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
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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
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
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Abstract
The invention discloses the auxiliary robot device of a kind of peripheral blockade and intraspinal tube nerve block, described device includes：Patient's site of block fixed system, mechanical arm, ultrasonic probe, disinfecting device, sterile coupling agent device, computer control system, automatically into needle device.Based on the auxiliary robot device of peripheral blockade and intraspinal tube nerve block provided by the invention is using artificial intelligence and the technologies such as computer picture recognition and automation control, visualization is precisely punctured to nerve cord (clump) periphery, canalis spinalis epidural space or cavum subarachnoidale, has the function that precisely to anaesthetize.
Description
Technical field
The present invention relates to medical domain anesthesiology technical fields, and in particular to a kind of peripheral blockade and intraspinal tube nerve
The auxiliary robot device of retardance.
Background technology
Nerve block refer to nerve cord, clump, section surrounding injection local anaesthetics, block its impulse conduction, make to be dominated
Region generates anesthetic effect.Nerve block need to only be injected at one, you can obtain larger anesthetized area.But has and cause Complicated with Severe
The possibility of disease, thus while operating must be familiar with topography, understand tissue that puncture needle to be passed through and neighbouring blood vessel, dirty
Device and body cavity etc..
Notification number is that the Chinese patent literature of CN205359637U discloses a kind of nerve block puncture packet, including punctures
Needle, it further includes protective case that a kind of nerve block, which punctures packet, and inside is surrounded by the biogum packet of biogum, and inlying catheter is described
The outer diameter of inlying catheter is less than or equal to the internal diameter of puncture needle.The utility model has the advantages that：Increase biogum packet, protective case and
Inlying catheter wraps up ultrasonic probe with protective case and ensures that puncture needle is accurately positioned, inlying catheter is placed at positioning later, then
It is fixed with the biogum in biogum packet, a kind of function that nerve block punctures packet is made to be extended to nerve block by caudal anaesthesia
And inlying catheter, while also retaining the function of caudal anaesthesia.A kind of nerve block, which punctures packet, makes function increase, and has indwelling work(
Can, the anesthesia and indwelling being applicable under field condition.
The Chinese patent literature of Publication No. CN104625049A discloses a kind of based on three-dimensional printing technology preparation nerve
The method and product of blockage puncture needle are scanned the institutional framework in patient affected part by scanner, obtain affected part nerve and
The Three-dimension Reconstruction Model of its adjacent structure calculates point of puncture to the approach of target nerve, and passes through three-dimensional printing technology personalization
Printing speed punctures required puncture needle.The present invention is by the nerve and its adjacent structure in scanner scanning affected part, to puncture
The personalized customization of needle provides data and supports, by three-dimensional printing speed technology can prepare different shapes and sizes, thickness and
Material and production cost have been saved in the puncture needle of opening, one-pass molding；It is not required to polishing grinding, cost that time and manpower is saved；
The precision of nerve block is improved, patient's pain is reduced；Personalization meets the special requirement of different parts anatomical structure puncture, reduces
Patient anatomical makes a variation to the clinical blindness for puncturing and bringing, and avoids the generation of medical tangle.
All it is artificially to utilize body surface mark in patient body-surface at present when carrying out peripheral blockade and intraspinal tube nerve block
The blind spy of will is punctured or is punctured under ultrasound guidance, and puncture accuracy is poor, and needle point is not easily accessible to the nerve cord to be blocked (clump)
Periphery, therefore anaesthetize and analgesic effect is imprecise, moreover, because of manual operation, often inefficiency.
Invention content
The purpose of the present invention is to provide the auxiliary robot device of a kind of peripheral blockade and intraspinal tube nerve block,
The auxiliary robot device of peripheral blockade and intraspinal tube nerve block provided by the invention utilizes artificial intelligence and computer
Based on the technologies such as image recognition and automation control, visualizes and precisely puncture to nerve cord (clump) periphery, canalis spinalis Epidural cavity
Chamber or cavum subarachnoidale have the function that precisely to anaesthetize.
To achieve the above object, the present invention provides a kind of auxiliary robot of peripheral blockade and intraspinal tube nerve block
Device, which is characterized in that described device includes：
Patient's site of block fixed system is used for immobilized patients nerve block position；
Mechanical arm, removable and locking；
Sterile coupling agent device is fixed on the mechanical arm, and sterile coupling is smeared for being carried out to nerve block position
Agent；
Ultrasonic probe is fixed on the mechanical arm, for obtaining the nerve resistance for being fixed on patient on the fixed system
The ultrasonoscopy at stagnant position waits for inserting needle position to find；
Disinfecting device is fixed on the mechanical arm, and the inserting needle position for the treatment of found for ultrasonic probe carries out
Sterilizing；
Automatically it into needle device, is fixed on the mechanical arm, is carried out automatically into pin puncture for treating inserting needle position；
Computer control system, for acquired in ultrasonic probe wait for inserting needle position ultrasonoscopy control automatically into
Needle device carries out inserting needle and controls direction and the depth of inserting needle.
Optionally, patient's site of block fixed system includes that dress is fixed on bed body and the head being set in the bed body
It sets, trunk fixing device and limbs fixing device；It is provided with below the bed body for making fixed trouble in bed body and bed body
The pedestal of person's rollover, the opening for exposing patients' neural's site of block is provided in the middle part of the bed body.
Optionally, the mechanical arm includes vertical arm, the universal horizontal arm for being connected to vertical arm top in one end, universal connection
In the moving arm of the horizontal arm other end, the sterile coupling agent device, ultrasonic probe, disinfecting device and automatic inserting needle
Device is fixed on the moving arm, and the mechanical arm further includes the lock for moving arm described in locking and horizontal arm.
Optionally, the sterile coupling agent device is to squeeze formula device, and the disinfecting device is spraying formula device.
Optionally, it is cased with aseptic plastic cover on the ultrasonic probe.
Optionally, it is described automatically into needle device include syringe, the aseptic syringe needle that is set to syringe outlet end, be set to it is described
The core bar of syringe liquid feeding end and control core bar movement into needle control mechanism.
Optionally, the computer control system includes：
Ultrasound image acquisition unit, for obtaining the ultrasonoscopy for waiting for inserting needle position；
Ultrasonographic Analysis unit is determined direction and the depth of inserting needle for analyzing acquired ultrasonoscopy；
Inserting needle control unit, for deep-controlled described carrying out automatically according to the direction of identified inserting needle and into needle device
Inserting needle.
Optionally, the computer control system includes：
Inserting needle stop unit is filled for measuring inserting needle resistance and controlling the automatic inserting needle when inserting needle resistance is more than threshold value
Set stopping inserting needle.
The invention has the advantages that：
It is a kind of blind spy formula behaviour after all though traditional nerve block procedure has many advantages, such as technically simple, easy to operate
Make, can only carry out puncture using the anatomic landmark of human body and paresthesia that while often touching nerve using puncture needle causes is Success Flag,
Therefore success rate is relatively low, and injured nerve, blood vessel and cause the possibility of severe complication larger.The peripheral blockade of the present invention
With the auxiliary robot device of intraspinal tube nerve block essence can be carried out using computer control system under the premise of visual
Standard punctures, and not only success rate is high, and anaesthetic effect is definite, moreover, will not injured nerve blood vessel cause unnecessary complication.
Description of the drawings
Fig. 1 is that the auxiliary robot device of peripheral blockade and intraspinal tube nerve block provided by the invention is a kind of specific
The structural schematic diagram of embodiment.
Specific implementation mode
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
As shown in Figure 1, the present invention provides a kind of auxiliary robot device of peripheral blockade and intraspinal tube nerve block,
Described device includes：Patient's site of block fixed system 100 is used for immobilized patients nerve block position；Mechanical arm 200, it is removable
Dynamic and locking；Sterile coupling agent device 300 is fixed on the mechanical arm 200, for carrying out smearing nothing to nerve block position
Bacterium couplant；Ultrasonic probe 400 is fixed on the mechanical arm 200, is fixed on patient on the fixed system for obtaining
The ultrasonoscopy at nerve block position waits for inserting needle position to find；Disinfecting device 500 is fixed on the mechanical arm 200,
The inserting needle position for the treatment of found for ultrasonic probe carries out sterilizing；Automatically into needle device 600, it is fixed on the mechanical arm
On 200, carried out automatically into pin puncture for treating inserting needle position；Computer control system 700, for according to ultrasonic probe 400
The acquired ultrasonoscopy control for waiting for inserting needle position carries out inserting needle into needle device 600 automatically and controls direction and the depth of inserting needle
Degree.The peripheral blockade of the present invention and the auxiliary robot device of intraspinal tube nerve block can be sharp under the premise of visual
System of computerizeing control precisely is punctured, and not only success rate is high, and anaesthetic effect is definite, moreover, will not injured nerve blood vessel
Cause unnecessary complication.
In the present invention, the nerve block of different parts requires patient to have different positions, meanwhile, ultrasonic probe is wanted when placing
Avoid patient's body dynamic, in case there is pseudomorphism and distortion in ultrasonoscopy.Therefore, this patient's site of block fixed system can fix trouble
The position that person need to block prevents body dynamic.As shown in Figure 1, patient's site of block fixed system 100 may include 11 He of bed body
Head fixing device 12, trunk fixing device 13 and the limbs fixing device 14 being set in the bed body 11；The bed body 11
Lower section can be provided with the pedestal 15 for making fixed patient rollover in bed body 11 and bed body 11, the middle part of the bed body 11
The opening 111 for exposing patients' neural's site of block can be provided with.The system can use the four limbs of suitable strength immobilized patients,
Trunk and neck etc. can show intraspinal tube by head left avertence or right avertence and trunk into horizontal deflection with immobilized patients trunk
Hunchbacked position etc. of bowing of going down on one's knees needed for anesthesia.
In the present invention, mechanical arm is lower by sterile coupling agent device, ultrasonic probe, disinfection for being driven manually in doctor
It device and is moved to automatically into needle device and waits for that inserting needle position plays respective effect, as shown in Figure 1, the mechanical arm 200 can be with
Including vertical arm 21, the universal horizontal arm 22 for being connected to 21 top of vertical arm in one end, universal to be connected to the horizontal arm 22 another
The moving arm 23 at end, the sterile coupling agent device, ultrasonic probe, disinfecting device and can be fixed on into needle device automatically
On the moving arm 23, the mechanical arm can also include the lock 24 for moving arm described in locking and horizontal arm.Universal company
It refers to that connected vertical arm can be rotated in all directions with horizontal arm and the horizontal arm being connected and moving arm to connect, example
It can be such as connected by universal joint, lock is pressed after searching out suitable position can fix moving end-wall and corresponding dress
It sets.
In the present invention, the sterile coupling agent device 300 can be squash type device, for squeezing sterile couplant, coupling
Mixture is a kind of curable product being made of aqueous high molecular gel of new generation.Its pH value is neutrality, non-toxic to humans,
It is not easy drying, is not easy rancid, ultrasonoscopy is clear, and toughness is suitable, and without greasy, probe is easy to slide, and wettable skin disappears
Except skin superficial air, greasy property is good, easily spreads out；It is corrosion-free to ultrasonic probe, not damaged.The disinfecting device is
Spraying formula device, sprays for example, by using medical disinfecting.Ultrasonic probe Carried bacteria causes inserting needle wound infection in order to prevent, described
Aseptic plastic cover can be cased on ultrasonic probe 400, aseptic plastic cover uses need to change every time.
In the present invention, it is used under the control of computer control system according to ultrasonoscopy into traveling into needle device automatically
Needle, it is described to may include syringe, be set to the sterile needle of syringe outlet end into needle device 600 automatically to carry out nerve block
Head, the core bar for being set to the syringe liquid feeding end and control core bar movement into needle control mechanism, by into needle control mechanism, example
Such as minitype cylinder and telescope motor give motive force to core bar, and core bar gives the anaesthetic in syringe with motive force to make
Anaesthetic is injected by aseptic syringe needle in human body, and aseptic syringe needle can be arranged as required to different size.
In the present invention, the computer control system 700 may include：Ultrasound image acquisition unit, for obtain wait for into
The ultrasonoscopy at needle position；Ultrasonographic Analysis unit is determined the direction of inserting needle for analyzing acquired ultrasonoscopy
And depth；Inserting needle control unit, for deep-controlled described carrying out automatically according to the direction of identified inserting needle and into needle device
Inserting needle, the computer control system 700 can also include：Inserting needle stop unit, for measuring inserting needle resistance and being hindered in inserting needle
Power controls described automatically into needle device stopping inserting needle when being more than threshold value.Computer control system can be by different parts nerve cord
The ultrasonic image of (clump) inputs computer, and the position for having marked needle point that should reach on computer screen is calculated, really by computer
Determine direction and the depth of inserting needle.Then mechanical arm can control direction and the depth of inserting needle by automated computer control system
Degree, makes the position of needle point reach nerve cord (clump) periphery, pumpback is without local anaesthetics is injected after blood, as encountered apparent resistance when inserting needle
Power can be automatically stopped inserting needle.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention belong to the scope of protection of present invention.
Claims (8)
1. the auxiliary robot device of a kind of peripheral blockade and intraspinal tube nerve block, which is characterized in that described device packet
It includes：
Patient's site of block fixed system (100) is used for immobilized patients nerve block position；
Mechanical arm (200), removable and locking；
Sterile coupling agent device (300), is fixed on the mechanical arm (200), for carrying out smearing nothing to nerve block position
Bacterium couplant；
Ultrasonic probe (400) is fixed on the mechanical arm (200), is fixed on patient on the fixed system for obtaining
The ultrasonoscopy at nerve block position waits for inserting needle position to find；
Disinfecting device (500) is fixed on the mechanical arm (200), and inserting needle portion is treated for what ultrasonic probe was found
Position carries out sterilizing；
Automatically it into needle device (600), is fixed on the mechanical arm (200), is worn for treating the inserting needle position automatic inserting needle of progress
Thorn；
Computer control system (700), for the ultrasonoscopy control for waiting for inserting needle position acquired in ultrasonic probe (400)
Automatically it carries out inserting needle into needle device (600) and controls direction and the depth of inserting needle.
2. auxiliary robot device according to claim 1, which is characterized in that patient's site of block fixed system
(100) include bed body (11) and the head fixing device (12) being set in the bed body (11), trunk fixing device (13) and
Limbs fixing device (14)；It is provided with below the bed body (11) for making fixed patient in bed body (11) and bed body (11)
The pedestal (15) of rollover is provided with the opening (111) for exposing patients' neural's site of block in the middle part of the bed body (11).
3. auxiliary robot device according to claim 1, which is characterized in that the mechanical arm (200) includes vertical arm
(21), the universal horizontal arm (22) for being connected to vertical arm (21) top in one end, universal be connected to the horizontal arm (22) other end
Moving arm (23), the sterile coupling agent device, ultrasonic probe, disinfecting device and be fixed on automatically into needle device described
On moving arm (23), the mechanical arm further includes the lock (24) for moving arm described in locking and horizontal arm.
4. auxiliary robot device according to claim 1, which is characterized in that the sterile coupling agent device (300) is
Formula device is squeezed, the disinfecting device is spraying formula device.
5. auxiliary robot device according to claim 1, which is characterized in that on the ultrasonic probe (400) set whether there is or not
Bacterium plastic jacket.
6. auxiliary robot device according to claim 1, which is characterized in that described to include into needle device (600) automatically
Syringe, the aseptic syringe needle for being set to syringe outlet end, the core bar for being set to the syringe liquid feeding end and control core bar movement into
Needle control mechanism.
7. auxiliary robot device according to claim 1, which is characterized in that computer control system (700) packet
It includes：
Ultrasound image acquisition unit, for obtaining the ultrasonoscopy for waiting for inserting needle position；
Ultrasonographic Analysis unit is determined direction and the depth of inserting needle for analyzing acquired ultrasonoscopy；
Inserting needle control unit, for according to the direction of identified inserting needle and it is deep-controlled it is described automatically into needle device carry out into
Needle.
8. auxiliary robot device according to claim 7, which is characterized in that computer control system (700) packet
It includes：
Inserting needle stop unit described stops into needle device automatically for measuring inserting needle resistance and being controlled when inserting needle resistance is more than threshold value
Only inserting needle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810637355.XA CN108784839A (en) | 2018-06-20 | 2018-06-20 | A kind of auxiliary robot device of peripheral blockade and intraspinal tube nerve block |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810637355.XA CN108784839A (en) | 2018-06-20 | 2018-06-20 | A kind of auxiliary robot device of peripheral blockade and intraspinal tube nerve block |
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| Publication Number | Publication Date |
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| CN108784839A true CN108784839A (en) | 2018-11-13 |
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| CN201810637355.XA Pending CN108784839A (en) | 2018-06-20 | 2018-06-20 | A kind of auxiliary robot device of peripheral blockade and intraspinal tube nerve block |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109620290A (en) * | 2019-01-24 | 2019-04-16 | 四川大学华西医院 | It is a kind of for checking the B ultrasound detector of cholangiocarcinoma |
| CN110236681A (en) * | 2019-07-18 | 2019-09-17 | 上海钛米机器人科技有限公司 | A kind of Needle-driven Robot and its mechanical arm inserting needle system |
| CN111166437A (en) * | 2020-02-17 | 2020-05-19 | 杭州三坛医疗科技有限公司 | Auxiliary method for epidural anesthesia needle placement |
| CN117745989A (en) * | 2024-02-21 | 2024-03-22 | 首都医科大学附属北京积水潭医院 | Nerve root blocking target injection path planning method and system based on vertebral canal structure |
| CN110236681B (en) * | 2019-07-18 | 2024-05-31 | 上海钛米机器人科技有限公司 | Puncture robot and needle insertion system for mechanical arm of puncture robot |
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| CN109620290A (en) * | 2019-01-24 | 2019-04-16 | 四川大学华西医院 | It is a kind of for checking the B ultrasound detector of cholangiocarcinoma |
| CN110236681A (en) * | 2019-07-18 | 2019-09-17 | 上海钛米机器人科技有限公司 | A kind of Needle-driven Robot and its mechanical arm inserting needle system |
| CN110236681B (en) * | 2019-07-18 | 2024-05-31 | 上海钛米机器人科技有限公司 | Puncture robot and needle insertion system for mechanical arm of puncture robot |
| CN111166437A (en) * | 2020-02-17 | 2020-05-19 | 杭州三坛医疗科技有限公司 | Auxiliary method for epidural anesthesia needle placement |
| CN111166437B (en) * | 2020-02-17 | 2021-11-16 | 杭州三坛医疗科技有限公司 | Auxiliary method for epidural anesthesia needle placement |
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