CN112155731A - Portable miniature navigation puncture auxiliary robot - Google Patents
Portable miniature navigation puncture auxiliary robot Download PDFInfo
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- CN112155731A CN112155731A CN202011052094.9A CN202011052094A CN112155731A CN 112155731 A CN112155731 A CN 112155731A CN 202011052094 A CN202011052094 A CN 202011052094A CN 112155731 A CN112155731 A CN 112155731A
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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
- A61B34/30—Surgical robots
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- Life Sciences & Earth Sciences (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The invention provides a portable miniature navigation puncture auxiliary robot, which comprises an upper positioning rod, a positioning pin, an adjusting knob, a guide tube, a conical working tube, a needle seat, a puncture needle tube, a middle navigation module and a lower handle, wherein the middle navigation module is firmly fixed, the length of the puncture needle is adjustable at any time, the adjusting precision is high, the adjustment is simple and convenient, the control of the needle insertion depth of the puncture needle in the operation is convenient, the needle insertion depth is locked, the puncture deviation or slippage is effectively prevented, the precision and the safety of the puncture operation can be effectively improved, the angle data displayed by a display screen of a navigation module is known by a doctor to adjust the angle direction of a puncture outfit, the relative position of the puncture needle and the vertebra is dynamically measured and fed back, the auxiliary main doctor is facilitated to carry out accurate.
Description
Technical Field
The invention relates to the field of puncture surgical instruments, in particular to a portable miniature navigation puncture auxiliary robot.
Background
When the minimally invasive surgery of spinal percutaneous puncture is carried out, accurate puncture needs to be carried out under the assistance of X-rays. At present, most of operators adopt data obtained by MRI, CT machine, X-ray machine and other imaging devices before operation to combine with anatomy and pathology knowledge to perform operation planning, and combine with real-time images obtained by the X-ray machine to roughly determine the needle insertion point and puncture direction during operation. In the actual puncturing process, in order to ensure that important soft tissues are accurately prevented from being damaged, X-ray irradiation is generally required to be carried out on a human body for many times, so that the operation time is increased, and the radiation exposure times of doctors and patients are greatly increased.
In addition, in the process of puncture, doctors are influenced by personal experience and operation habits, and are limited by errors of human beings on three-dimensional space direction, so that the puncture accuracy is poor, even though the ideal effect can not be achieved by one-time needle insertion through practice, the angle and the depth need to be repeatedly tried and adjusted to approach a puncture target point, unnecessary tissue damage is easily caused, and even serious complications are generated to cause puncture failure.
With the development of a spine surgery mode from a traditional open surgery to an endoscopy direction step by step, equipment capable of improving puncture convenience and assisting puncture with a navigation angle to improve accuracy and reduce X-ray exposure times is urgently needed in clinic.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a portable miniature navigation puncture auxiliary robot to solve the problems.
The technical scheme of the invention is as follows: a portable micro navigation puncture auxiliary robot comprises an upper positioning rod, a positioning pin, an adjusting knob, a guide tube, a conical working tube, a needle seat and a puncture needle tube, wherein a middle navigation module and a lower handle are formed, the guide tube, the adjusting knob and the positioning pin are provided with through holes for accommodating the positioning rod to pass through, the guide tube, the adjusting knob and the positioning pin are connected to the upper portion of the puncture auxiliary robot side by side, one end of the guide tube is connected with the lower bottom surface of the conical working tube, one end of the puncture needle tube is installed on the needle seat, the other end of the puncture needle tube sequentially passes through the positioning pin, the adjusting knob and the guide tube which are arranged side by side to be connected with the conical working tube, the navigation module comprises a triaxial gyroscope and a display screen, the triaxial gyroscope is installed in the middle of the puncture auxiliary robot, the display screen is installed on a shell in the, the handle comprises a first handle and a second handle, a battery reed and a circuit board are arranged in the handle, and a battery cover is arranged on the handle shell.
Preferably, the outer circumference of the positioning rod is provided with threads, and the center of the positioning rod is provided with a through hole for accommodating the puncture needle tube in a penetrating manner.
Preferably, the through hole of the adjusting knob is a threaded through hole, and the threads are matched with the threads of the positioning rod.
Preferably, the conical working tube is internally provided with a large-diameter through hole structure and a small-diameter through hole structure, the large-diameter through hole structure comprises a small-diameter through hole with the front end accommodating the puncture needle tube to penetrate through and a large-diameter through hole with the rear end bearing the positioning rod, and the large-diameter through hole is consistent with the through holes formed in the centers of the guide tube, the adjusting knob and the positioning pin in aperture.
Preferably, the positioning pin, the guide tube and the main body of the puncture auxiliary robot are integrally arranged, and the adjusting knob and the conical working tube are of detachable structures.
Preferably, the positioning rod is transversely provided with a long-strip-shaped groove, and the opening depth of the long-strip-shaped groove does not reach the inner through hole.
Preferably, a vertical clamping block penetrates through the limiting pin, and the vertical clamping block is matched with the long-strip-shaped groove.
Preferably, the diameter of the joint of the needle seat and the puncture needle tube is larger than that of the through hole formed in the positioning rod.
Preferably, the two sides of the display screen are embedded with operation keys.
The beneficial effects provided by the invention are as follows:
the puncture needle is fixed firm, and length is adjustable at any time and the regulation precision is high, adjust simple and conveniently, is convenient for realize controlling the pjncture needle depth of penetration in the operation to lock the depth of penetration, effectively prevent puncture skew or slippage, can effectively improve the accurate nature and the security of puncture operation.
The device provided by the invention is provided with a navigation module, is matched with preoperative measurement and calculation, is controlled to obtain a precise puncture angle and a target puncture depth position under the dynamic tracking feedback of the navigation module, and obtains a precise spatial position including horizontal and vertical directions by using a three-axis gyroscope, so that the precision reaches 0.01 degree. And the device is not influenced by geomagnetism and peripheral magnetic fields, and can keep accurate measurement in a complex electromagnetic environment of an operating room. The angle data that navigation module display screen shows knows the angle direction of doctor's adjustment puncture ware, and the relative position of pjncture needle and vertebra is fed back to dynamic measurement, does benefit to supplementary main sword doctor and carries out accurate puncture, promotes operation quality.
Drawings
FIG. 1 is a schematic perspective view of a positioning rod of the present invention in an extended or retracted state;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic top view of the present invention;
FIG. 4 is a schematic view of the components and assembly of the present invention;
FIG. 5 is an enlarged cross-sectional view of the positioning rod and the whole body of the present invention in a contracted state;
FIG. 6 is an enlarged cross-sectional view of the positioning rod and the whole body of the present invention in an extended state;
FIG. 7 is a schematic view of a positioning rod of the present invention;
in the figure: 1. the device comprises a positioning rod, 2, a positioning pin, 3, a needle seat, 4, an adjusting knob, 5, a first handle, 6, a guide tube, 7, a conical working tube, 8, a puncture needle tube, 9, a screw, 10, a circuit board, 11, a triaxial gyroscope, 12, a battery, 13, a battery cover, 14, a battery reed, 15, a second handle, 16, a display screen, 17, a vertical clamping block, 18 and a strip-shaped groove.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person skilled in the art without making any inventive step are within the scope of the present invention.
Referring to the attached drawing 4 and the attached drawing 3 in combination, the invention provides a portable micro navigation puncture auxiliary robot, which comprises an upper positioning rod 1, a positioning pin 2, an adjusting knob 4, a guide tube 6, a conical working tube 7, a needle seat 4 and a puncture needle tube 8, wherein a middle navigation module and a lower handle are formed, through holes for accommodating the positioning rod 1 to pass through are formed in the centers of the guide tube 6, the adjusting knob 4 and the positioning pin 2 and are connected to the upper part of the puncture auxiliary robot side by side, the positioning pin 2, the guide tube 6 and a main body of the puncture auxiliary robot are integrally arranged, threads are arranged on the outer circumference of the positioning rod 1, and a through hole for accommodating the puncture needle tube 8 is formed in the center of the positioning. One end of the guide tube 6 is connected with the lower bottom surface of the conical working tube 7, the conical working tube 7 is internally provided with a large-diameter through hole structure and a small-diameter through hole structure, the large-diameter through hole structure comprises a small-diameter through hole, the front end of the small-diameter through hole is used for accommodating a puncture needle tube 8 to penetrate through, and a large-diameter through hole, the diameter of which is consistent with that of a through hole formed in the centers of the guide tube 6, the adjusting knob 4 and the positioning pin 2. The through hole of the adjusting knob 4 is a threaded through hole, and the thread is matched with the thread of the positioning rod 1. The adjusting knob 4 and the conical working tube 7 are detachable.
One end of a puncture needle tube 8 of the portable micro navigation puncture auxiliary robot is arranged on a needle seat 4, the other end of the puncture needle tube 8 sequentially penetrates through a positioning pin 2, an adjusting knob 4 and a guide tube 6 which are arranged side by side to be connected with a conical working tube 7, and the diameter of the joint of the needle seat 4 and the puncture needle tube 8 is larger than that of a through hole formed in a positioning rod 1.
The portable micro navigation puncture auxiliary robot is of a hollow structure in the middle, a navigation module is arranged in the portable micro navigation puncture auxiliary robot, the navigation module is composed of a three-axis gyroscope 11 and a display screen 16, the three-axis gyroscope 11 is installed in the middle of the puncture auxiliary robot, the display screen 16 is installed on a shell in the middle of the puncture auxiliary robot, and operation keys are embedded in two sides of the display screen 16 and used for operating the display screen 16.
The lower handle of the portable micro navigation puncture auxiliary robot is also of a hollow structure, the handle comprises a first handle 5 and a second handle 15, the first handle 5 and the second handle 15 are buckled to form a handle whole, and the shape of the handle is adapted to the palm of a human. The battery 12, the battery reed 14 and the circuit board 10 are arranged in the handle, the circuit board 10 is fixed on a screw hole on the second handle 15 through a screw 9, and the battery cover 13 is arranged on the shell of the handle to prevent the battery from being exposed.
Referring to fig. 7, a schematic structural diagram of the positioning rod 1 of the present invention is that a long-strip-shaped groove 18 is transversely formed on the positioning rod 1, and the depth of the long-strip-shaped groove 18 does not reach the inner through hole. A vertical clamping block 17 penetrates through the positioning pin 2, and the vertical clamping block 17 is matched with the strip-shaped groove 18 to limit the moving stroke range of the positioning rod 1.
Referring to the attached drawings 1 and 2, the implementation state and structure of the portable micro navigation puncture auxiliary robot can be seen, when the positioning rod 1 is in a complete contraction state, the needle tube 8 with the puncture needle extends out for the longest distance to reach the maximum stroke, and at the moment, the needle seat 3 is in contact with and limited by the positioning pin 2 of the guide tube 6. Referring to fig. 5, in the enlarged cross section, the depth of the long-strip-shaped groove 18 of the vertical clamping block 17 at the positioning pin 2 clamped on the positioning rod 1 is just at the deepest part of the long-strip-shaped groove 18, and when the positioning rod 1 is in the completely contracted state, the vertical clamping block 17 is clamped at the end part of the long-strip-shaped groove 18. When the positioning rod 1 is in a completely extending state, the shortest distance of the puncture needle tube 8 is also the initial extending point, and the end of the needle seat 3 is farthest away from the guide tube 6. Referring to fig. 6, in the enlarged cross section, the vertical block 18 of the positioning pin 2 is engaged with the other end of the strip-shaped groove 18 of the positioning rod 1.
In connection with the puncture location method used in the present invention, the navigator only remains to display the vertical angle and the direction angle (horizontal angle) without the need for the rotation angle, although we can also use a two-axis gyroscope that includes both the vertical angle and the direction angle (horizontal angle).
The above description is an exemplary embodiment of the present invention, but the present invention should not be limited to the disclosure of the embodiment and the accompanying drawings, and therefore, all equivalent or modifications that can be made without departing from the spirit of the present invention, such as using different structures to have the same function of the manual puncture positioning assembly, and transmitting the navigation signal to an external computer or other electronic devices with display function by wire or wirelessly, etc., fall within the protection scope of the present invention.
Claims (9)
1. A portable micro navigation puncture auxiliary robot is characterized by comprising an upper positioning rod, a positioning pin, an adjusting knob, a guide tube, a conical working tube, a needle seat and a puncture needle tube, wherein a middle navigation module and a lower handle are formed, the guide tube, the adjusting knob and the positioning pin are provided with through holes for the positioning rod to pass through, the guide tube, the adjusting knob and the positioning pin are connected with the upper part of the puncture auxiliary robot side by side, one end of the guide tube is connected with the lower bottom surface of the conical working tube, one end of the puncture needle tube is arranged on the needle seat, the other end of the puncture needle tube sequentially passes through the positioning pin, the adjusting knob and the guide tube which are arranged side by side and is connected with the conical working tube, the navigation module comprises a triaxial gyroscope and a display screen, the triaxial gyroscope is arranged in the middle part of the puncture, the display screen is installed on a shell in the middle of the puncture auxiliary robot, the handle comprises a first handle and a second handle, a battery reed and a circuit board are arranged in the handle, and a battery cover is arranged on the shell of the handle.
2. The portable micro-navigation puncture auxiliary robot according to claim 1, wherein the positioning rod is provided with threads on the outer circumference, and a through hole for accommodating the puncture needle tube is formed through the center of the positioning rod.
3. The portable micro-navigation puncture assisting robot of claim 2, wherein the through hole of the adjusting knob is a threaded through hole, and the thread is matched with the thread of the positioning rod.
4. The portable micro-navigation puncture assisting robot according to claim 1, wherein the conical working tube has a large-diameter through hole structure and a small-diameter through hole structure, the large-diameter through hole structure comprises a small-diameter through hole with a front end for accommodating the puncture needle tube to pass through and a large-diameter through hole with a rear end for supporting the positioning rod, and the large-diameter through hole has the same aperture as the through holes formed in the centers of the guide tube, the adjusting knob and the positioning pin.
5. The portable micro-navigation puncture-assisting robot according to claim 1, wherein the positioning pin and the guide tube are integrally arranged with a main body of the puncture-assisting robot, and the adjusting knob and the tapered working tube are detachable.
6. The portable micro-navigation puncture assisting robot according to claim 1, wherein an elongated groove is formed in the positioning rod in the transverse direction, and the elongated groove is formed to a depth that does not reach the inner through hole.
7. The portable micro-navigation puncture assisting robot according to claim 1, wherein a vertical block is provided in the limiting pin, and the vertical block is engaged with the elongated groove.
8. The portable micro-navigation puncture auxiliary robot according to claim 1, wherein the diameter of the joint of the needle seat and the puncture needle tube is larger than the diameter of the through hole formed in the positioning rod.
9. The portable micro-navigation puncture assisting robot according to claim 1, wherein operation keys are embedded in both sides of the display screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011052094.9A CN112155731B (en) | 2020-09-29 | 2020-09-29 | Portable miniature navigation puncture auxiliary robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011052094.9A CN112155731B (en) | 2020-09-29 | 2020-09-29 | Portable miniature navigation puncture auxiliary robot |
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| Publication Number | Publication Date |
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| CN112155731A true CN112155731A (en) | 2021-01-01 |
| CN112155731B CN112155731B (en) | 2021-09-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011052094.9A Active CN112155731B (en) | 2020-09-29 | 2020-09-29 | Portable miniature navigation puncture auxiliary robot |
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| CN (1) | CN112155731B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117481815A (en) * | 2023-12-28 | 2024-02-02 | 江苏淳朿医疗科技有限公司 | Intelligent puncture navigation system |
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| CN104623797A (en) * | 2015-02-16 | 2015-05-20 | 天津大学 | Near-distance image navigation full-automatic radioactive particle implanting device |
| CN206548581U (en) * | 2016-12-01 | 2017-10-13 | 中国人民解放军第四军医大学 | A kind of Multifunctional anesthesia puncture needle |
| CN108309409A (en) * | 2018-02-07 | 2018-07-24 | 南京大学 | A kind of CT guiding punctures handle, puncture needle external member and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117481815A (en) * | 2023-12-28 | 2024-02-02 | 江苏淳朿医疗科技有限公司 | Intelligent puncture navigation system |
| CN117481815B (en) * | 2023-12-28 | 2024-04-12 | 江苏淳朿医疗科技有限公司 | Intelligent puncture navigation system |
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| Publication number | Publication date |
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| CN112155731B (en) | 2021-09-24 |
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