CN103393468B - PCN puncture positioning device assisted by a kind of Long-distance Control mechanical hand - Google Patents
PCN puncture positioning device assisted by a kind of Long-distance Control mechanical hand Download PDFInfo
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- CN103393468B CN103393468B CN201310180917.XA CN201310180917A CN103393468B CN 103393468 B CN103393468 B CN 103393468B CN 201310180917 A CN201310180917 A CN 201310180917A CN 103393468 B CN103393468 B CN 103393468B
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Abstract
The invention discloses a kind of Long-distance Control mechanical hand and assist PCN puncture positioning device, comprising: photographic head, infusion pump, three axle robert, C-arm X-ray machine, monitor, computer; Described photographic head is arranged on above described C-arm X-ray machine, and described infusion pump connects and promotes empty needle, and the linking arm of described and computer three axle robert connection locator, described C-arm X-ray machine is arranged on the below of kidneys of patients, and described monitor connects described computer.The present invention controls puncture needle by operated from a distance mechanical hand, under avoiding medical personnel to be directly exposed to x-ray radiation, ensure that personal safety, adopt hydraulic drive puncture needle, control amount of liquid and control puncture needle forward travel distance, eliminate the uncertainty of anthropic factor, add the stability of operation.The method of conputer controlled mechanical hand of the present invention is simple to operate, and safety accurately, will become future developing trend, obtain huge application in operation.
Description
Technical field
The invention belongs to technical field of medical instruments, particularly relate to a kind of Long-distance Control mechanical hand and assist PCN puncture positioning device.
Background technology
The most important means of current treatment renal calculus are percutaneous nephroscope lithotripsy technology, it is crucial that percutaneous renal puncture technology in this technology, understand the anatomical position of kidney, between vascularity in kidney, distribution and renal calices, relation successfully implements the prerequisite of percutaneous renal puncture technology each other, the accurate localised puncture position of such ability, puncture to excess of the kidney matter or punctured by excess of the kidney matter and enter the renal calices drafted in aggregation system, accurately location needs to carry out under various positioning equipment (B ultrasonic or x-ray) is auxiliary, and wherein x-ray auxiliary positioning has critical role.
C arm X-ray machine it form a rectangle (or other shape) framework by the material of X-ray opaque line, its framework is embedded with a transverse axis, framework and transverse axis all there is corresponding scale, when percutaneous renal puncture, localizer is affixed on the side waist (kidney district) of patient's work done in the manner of a certain author puncture, according to abdomen plain film; Distance according to kidney shadow and localizer both sides in length and breadth selects point of puncture, and at patient's kidney district labelling point of puncture, drives infusion pump, utilizes hydraulic principle to promote puncture needle and to go directly target small cup, then remove localizer and carry out subsequent operation.
At present, operate under x-ray location needs doctor to be exposed to x-ray radiation mostly, if things go on like this, comparatively macrolesion is had to the health of medical personnel, after ionization radiation irradiation human body, living tissue cells and body fluid generation obstacle can be made, even cell is destroyed, and injured degree be directly proportional to the amount of ionizing radiation, effect of low dose radiation affects the change that important cell response causes gene expression, bring out canceration, after long-term low dose is irradiated, it is leukopenia in various degree that peripheral blood cell the most significantly changes, and manually there is certain error and uncertain factor in puncture.
Summary of the invention
A kind of Long-distance Control mechanical hand is the object of the present invention is to provide to assist PCN puncture positioning device, be intended to solve under existing x-ray location needs doctor to be exposed to x-ray radiation mostly and operate, if things go on like this, the problem compared with macrolesion is had to the health of medical personnel.
The present invention realizes like this, PCN puncture positioning device assisted by a kind of Long-distance Control mechanical hand, and described Long-distance Control mechanical hand assists PCN puncture positioning device to comprise: photographic head, infusion pump, three axle robert, C-arm X-ray machine, monitor, computer;
Described photographic head is arranged on above described C-arm X-ray machine, and described infusion pump connects kidneys of patients, and the linking arm of described and computer three axle robert connection locator, described C-arm X-ray machine is arranged on the below of kidneys of patients, and described monitor connects described computer.
Further, described computer to be connected with positioner linking arm with monitor obtaining information by photographic head.
Further, described infusion pump also comprises: connecting line, liquid storage empty needle, connection tube, promotion empty needle, puncture needle;
Described infusion pump connects computer by connecting line, and described liquid storage empty needle is arranged on the inside of described infusion pump, and described liquid storage empty needle connects described promotion empty needle, and described puncture needle is arranged on the top of described promotion empty needle.
Further, described liquid storage empty needle connects promotion empty needle by connection tube.
PCN puncture positioning device assisted by Long-distance Control mechanical hand of the present invention, puncture needle is controlled by operated from a distance mechanical hand, under avoiding medical personnel to be directly exposed to x-ray radiation, ensure that personal safety, adopt hydraulic drive puncture needle, control amount of liquid and control puncture needle forward travel distance, eliminate the uncertainty of anthropic factor, add the stability of operation.The method of conputer controlled mechanical hand of the present invention is simple to operate, and safety accurately, will become future developing trend, obtain huge application in operation.
Accompanying drawing explanation
Fig. 1 is that PCN puncture positioning device assisted by the Long-distance Control mechanical hand that the embodiment of the present invention provides;
Fig. 2 is the schematic diagram of the hydraulic puncture that the embodiment of the present invention provides.
In figure: 1, photographic head; 2, infusion pump; 3, three axle robert; 4, C-arm X-ray machine; 5, monitor; 6, computer; 7, kidneys of patients; 8, connecting line; 9, night sky pin is stored up; 10, liquid; 11, connection tube; 12, empty needle is promoted; 13, puncture needle.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that only week, to explain the present invention, is not intended to limit the present invention specific embodiment described herein.
Fig. 1 shows Long-distance Control mechanical hand provided by the invention and assists PCN puncture positioning device.For convenience of explanation, illustrate only part related to the present invention.
PCN puncture positioning device assisted by Long-distance Control mechanical hand of the present invention, and this Long-distance Control mechanical hand assists PCN puncture positioning device to comprise: photographic head, infusion pump, three axle robert, C-arm X-ray machine, monitor, computer;
Photographic head is arranged on above C-arm X-ray machine, and infusion pump connects kidneys of patients, and the linking arm of computer three axle robert connection locator, and C-arm X-ray machine is arranged on the below of kidneys of patients, and monitor connects computer.
As a prioritization scheme of the embodiment of the present invention, computer is connected with positioner linking arm with monitor obtaining information by photographic head.
As a prioritization scheme of the embodiment of the present invention, infusion pump also comprises: connecting line, liquid storage empty needle, connection tube, promotion empty needle, puncture needle;
Infusion pump connects computer by connecting line, and liquid storage empty needle is arranged on the inside of infusion pump, and liquid storage empty needle connects promotion empty needle, and puncture needle is arranged on the top promoting empty needle.
As a prioritization scheme of the embodiment of the present invention, liquid storage empty needle connects promotion empty needle by connection tube.
Below in conjunction with drawings and the specific embodiments, application principle of the present invention is further described.
As depicted in figs. 1 and 2, the Long-distance Control mechanical hand of the embodiment of the present invention assists PCN puncture positioning device to form primarily of photographic head 1, infusion pump 2, three axle robert 3, C-arm X-ray machine 4, monitor 5, computer 6, kidneys of patients 7, connecting line 8, storage night sky pin 9, liquid 10, connection tube 11, promotion empty needle 12, puncture needle 13; Computer 6 is connected with linking arm with monitor 5 obtaining information by photographic head 1, and linking arm is that three axle robert 3 is connected; Three axle robert 3 other end is connected with puncture needle 13, coordinates locate with C-arm X-ray machine 4; Infusion pump 2 one end is connected with computer 1, and the other end controls puncture needle 13.
The present invention comprises a hydraulic puncture system, Qi Zhongyou: infusion pump 2 one end connects liquid storage empty needle 9, and liquid 10 is housed in liquid storage empty needle 9, and is connected with promotion empty needle 12 by connection tube 11, finally promotes empty needle 12 and is connected with puncture needle 13.
Principle of the present invention is:
Under the location of C arm X-ray machine 4, by telemonitoring, by computer 6 by can x-ray (avoiding affect x-ray location) linking arm thoroughly, the point of puncture that control linear XYZ three axle robert 3 makes puncture needle accurately arrive x-ray to locate.Starting infusion pump 2, by hydraulic drive puncture needle 13, under x line monitors, allow puncture needle 13 penetrate predetermined renal calices, injecting amount of liquid control puncture needle 13 forward travel distance by controlling infusion pump 2.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (1)
1. a PCN puncture positioning device assisted by Long-distance Control mechanical hand, it is characterized in that, described Long-distance Control mechanical hand assists PCN puncture positioning device to comprise: photographic head, infusion pump, three axle robert, C-arm X-ray machine, monitor, computer;
Described photographic head is arranged on above described C-arm X-ray machine, and described infusion pump connects promotion empty needle, the linking arm of described computer and three axle robert connection locator, and described C-arm X-ray machine is arranged on the below of kidneys of patients, and described monitor connects described computer;
Described computer to be connected with positioner linking arm with monitor obtaining information by photographic head;
Described infusion pump also comprises: connecting line, liquid storage empty needle, connection tube, promotion empty needle, puncture needle;
Described infusion pump connects computer by connecting line, and described liquid storage empty needle is arranged on the inside of described infusion pump, and described liquid storage empty needle connects described promotion empty needle, and described puncture needle is arranged on the top of described promotion empty needle;
Described liquid storage empty needle connects promotion empty needle by connection tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310180917.XA CN103393468B (en) | 2013-05-13 | 2013-05-13 | PCN puncture positioning device assisted by a kind of Long-distance Control mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310180917.XA CN103393468B (en) | 2013-05-13 | 2013-05-13 | PCN puncture positioning device assisted by a kind of Long-distance Control mechanical hand |
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| Publication Number | Publication Date |
|---|---|
| CN103393468A CN103393468A (en) | 2013-11-20 |
| CN103393468B true CN103393468B (en) | 2016-02-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310180917.XA Active CN103393468B (en) | 2013-05-13 | 2013-05-13 | PCN puncture positioning device assisted by a kind of Long-distance Control mechanical hand |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106388910B (en) * | 2016-08-31 | 2018-02-16 | 北京数字精准医疗科技有限公司 | Spy fluorescence imaging aids in lancing system |
| CN106725815B (en) * | 2016-12-08 | 2018-08-17 | 曲扬 | A kind of bone cement remote control injection device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2283918A (en) * | 1993-11-18 | 1995-05-24 | Wais Med Ltd | Gas-propelled trocar needle |
| CN2448303Y (en) * | 2000-09-28 | 2001-09-19 | 邸若谷 | CT led automatic positioning puncture outfit |
| CN1522671A (en) * | 2003-09-04 | 2004-08-25 | 高春平 | Mechanical arm type automatic tridimensional positioning system |
| CN2788748Y (en) * | 2005-05-03 | 2006-06-21 | 于晓 | Long-distance injector for pyramid plastic operation |
| AU2004232858B2 (en) * | 2003-04-23 | 2009-07-09 | Mannkind Corporation | Hydraulically actuated pump for long duration medicament administration |
| CN203483509U (en) * | 2013-05-13 | 2014-03-19 | 李钢 | Remote control manipulator auxiliary positioner for percutaneous nephrostomy |
-
2013
- 2013-05-13 CN CN201310180917.XA patent/CN103393468B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2283918A (en) * | 1993-11-18 | 1995-05-24 | Wais Med Ltd | Gas-propelled trocar needle |
| CN2448303Y (en) * | 2000-09-28 | 2001-09-19 | 邸若谷 | CT led automatic positioning puncture outfit |
| AU2004232858B2 (en) * | 2003-04-23 | 2009-07-09 | Mannkind Corporation | Hydraulically actuated pump for long duration medicament administration |
| CN1522671A (en) * | 2003-09-04 | 2004-08-25 | 高春平 | Mechanical arm type automatic tridimensional positioning system |
| CN2788748Y (en) * | 2005-05-03 | 2006-06-21 | 于晓 | Long-distance injector for pyramid plastic operation |
| CN203483509U (en) * | 2013-05-13 | 2014-03-19 | 李钢 | Remote control manipulator auxiliary positioner for percutaneous nephrostomy |
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| Publication number | Publication date |
|---|---|
| CN103393468A (en) | 2013-11-20 |
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Effective date of registration: 20181219 Address after: 515300 First Floor, No. 2 Liushi Road West, Dananshan Street, Puning City, Jieyang City, Guangdong Province Patentee after: Puning Hantai Technology Co., Ltd. Address before: 618200 Nanjing Avenue 268, Mianzhu City, Sichuan Province Patentee before: Li Gang |
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Effective date of registration: 20191008 Address after: 618200 Deyang city of Sichuan province Mianzhu Jiannan Town Road No. 351 building 4, unit 1, building 24, 6 Patentee after: Li Gang Address before: 515300 First Floor, No. 2 Liushi Road West, Dananshan Street, Puning City, Jieyang City, Guangdong Province Patentee before: Puning Hantai Technology Co., Ltd. |