CN106137342B - A kind of ultrasonic vibration puncture soft tissue device - Google Patents
A kind of ultrasonic vibration puncture soft tissue device Download PDFInfo
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- CN106137342B CN106137342B CN201610641727.7A CN201610641727A CN106137342B CN 106137342 B CN106137342 B CN 106137342B CN 201610641727 A CN201610641727 A CN 201610641727A CN 106137342 B CN106137342 B CN 106137342B
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- ultrasonic vibration
- puncture
- needle
- puncture needle
- soft tissue
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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
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
-
- 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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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
- Surgical Instruments (AREA)
Abstract
The present invention and medical instruments field, belong to medicine, machinery, acoustics cross discipline, and in particular to a kind of ultrasonic vibration puncture soft tissue device and method.The present invention uses piezoelectric-type ultrasonic vibrating mechanism, and the puncture of soft tissue high frequency may be implemented, and reduces influence of the noise to medical environment；Simultaneously using high-frequency vibration, rotate inserting needle piercing method can effective smaller puncture force, the deformation of soft tissue and the deflection of needle are reduced, to improve the positioning accuracy of puncture needle.
Description
Technical field
The present invention and medical instruments field, belong to medicine, machinery, acoustics cross discipline, and in particular to a kind of ultrasonic vibration
Puncture soft tissue device.
Background technique
It will receive the interaction force of tissue and it when puncture needle enters tissue, this reciprocal force can cause two aspects to be worn
The positioning accuracy error of pricker: (1) deformation of soft tissue can cause tumor targets that can drift about；(2) puncture process Zhong Zhen Bing
By the asymmetry that tissue is applied to, non-uniform load causes the rich song of needle, and the rich joint performance of quyi of needle makes needle point miss target spot position
It sets.Many scholars have studied different sting device and method to reduce metaplasia and needle deflection, to improve needle point in group
Knit interior positioning accuracy.
The Minhas etc. of Carnegie Mellon University of the U.S. has studied needle body rotation inserting needle control device and method, this method energy
Enough offsets for reducing puncture path to a certain extent, but be not apparent to puncture force reduction.The U.S.-Boston University
Mahvash proposes that quick needle insertion can reduce crack propagation and the deformation of needle point tearing soft tissue, reduces needle body offset and improves
Precision is punctured, the disadvantage is that there are safety issues for quick puncture.The Kong Xiangzhan of Beijing Institute of Technology has studied a kind of electromagnetism low frequency
Sting device and method are vibrated, the device vibration frequency is lower, and vibration noise is larger when puncture, and the reduction of puncture force is unobvious.
Summary of the invention
The present invention provides one kind to overcome the technological deficiency of existing soft tissue high-precision sting device and method
Ultrasonic vibration punctures soft tissue device and method.
The technical solution taken by the invention to solve the above technical problem is:
A kind of ultrasonic vibration of the invention punctures soft tissue device, and composition includes: inserting needle driving mechanism, rotation driving
Mechanism, ultrasonic vibration mechanism and piercing mechanism, the inserting needle driving mechanism are equipped with slide unit, and the slide unit is equipped with L-type machine
Frame,
The affixed rotary drive mechanism of L-type rack, the rotary drive mechanism include rotating electric machine, rotating electric machine it is defeated
For shaft by the affixed ultrasonic vibration mechanism of shaft coupling, the ultrasonic vibration mechanism is equipped with energy converter, affixed puncture on energy converter
Mechanism, the inserting needle driving mechanism, rotary drive mechanism, ultrasonic vibration mechanism and piercing mechanism are applied in combination, may be implemented
Ultrasonic vibration, the piercing method for rotating inserting needle.
Further, the inserting needle driving mechanism includes inserting needle motor, the affixed lead screw of output shaft of the inserting needle motor, described
Lead screw is connected with slide unit by screw pair, and slide unit can move linearly on screw rod.
Further, the inserting needle driving mechanism includes L-type rack, also loads sextuple torque sensor in the rack, and six
Dimension torque sensor is connected with controller.
Further, the rotary drive mechanism includes flange, affixed rotating electric machine on the flange, the output of rotating electric machine
The shaft end that axis passes through the inversion Y type rod piece of the affixed ultrasonic vibration mechanism of shaft coupling.
Further, the ultrasonic vibration mechanism includes ultrasonic-frequency power supply, and the ultrasonic-frequency power supply is connected with electrode slice, electrode slice peace
In piezoelectric pile, ultrasonic-frequency power supply provides positive and negative alternate alternating voltage to piezoelectric pile.
Further, the ultrasonic vibration mechanism further includes rear end cap, and rear end cap is equipped with piezoelectric pile, before piezoelectric pile is equipped with
End cap, drive end bearing bracket are equipped with pre-loading screw, can pre-tighten rear end cap, piezoelectric pile and drive end bearing bracket by pre-loading screw, and can apply
It pressurizes axial compressive force needed for pile, the front end on the rear end cap, which is connected with, is inverted Y type rod piece, and the rear end on rear end cap is also solid
Energy converter is connect, energy converter converts electrical energy into mechanical energy.
Further, the piercing mechanism includes puncture needle retaining device, and the puncture needle retaining device is fixed on the transducer, is worn
Pricker clamper is equipped with aperture, is equipped with puncture needle on aperture, is additionally provided with spring button on the puncture needle retaining device, passes through
The loading, unloading puncture needle that spring button can be convenient, the front end of the puncture needle are additionally provided with support frame, and support frame is equipped with guiding
Set, the puncture needle and guide sleeve foundation are slidably connected, and guide sleeve it can play support to puncture needle.
Further, the inserting needle motor, rotating electric machine and ultrasonic-frequency power supply are all connected with controller.
Compared with prior art, the present invention has following technical effect and advantage:
The present invention uses piezoelectric-type ultrasonic vibrating mechanism, and the puncture of soft tissue high frequency may be implemented, and reduces noise to medical ring
The influence in border；Simultaneously using high-frequency vibration, rotate inserting needle piercing method can effective smaller puncture force, reduce soft tissue
Deformation and needle deflection, to improve the positioning accuracy of puncture needle.
Detailed description of the invention
Fig. 1 overall structure diagram.
Fig. 2 partial structure diagram.
Fig. 3 ultrasonic vibration mechanism partial structural diagram.
1. inserting needle driving mechanism in figure, 2. sextuple torque sensors, 3. rotary drive mechanisms, 4. ultrasonic vibration mechanisms, 5.
Piercing mechanism, 1-1. inserting needle motor, 1-2. lead screw, 1-3. slide unit, 1-4. L-type rack, 3-1. flange, 3-2. rotating electric machine, 3-
3. shaft coupling, 4-1. ultrasonic-frequency power supply, 4-2. rear end cap, 4-3. energy converter, the shaft end 4-4., 4-5. is inverted Y type rod piece, before 4-6.
End cap, 4-7. pre-loading screw, 4-8. electrode slice, 4-9. piezoelectric pile, 5-1. support frame, 5-2. guide sleeve, 5-3. aperture, 5-4.
Puncture needle retaining device, 5-5. spring button, 5-6. puncture needle.
Specific embodiment
Soft tissue device is punctured to a kind of ultrasonic vibration of the invention with specific implementation example with reference to the accompanying drawing to carry out in detail
It describes in detail bright.
Referring to attached drawing 1, attached drawing 2, a kind of ultrasonic vibration of the present invention punctures soft tissue device, comprising: inserting needle driving mechanism 1,
Rotary drive mechanism 3, ultrasonic vibration mechanism 4 and piercing mechanism 5, the inserting needle driving mechanism 1 is equipped with slide unit 1- 3, described
Slide unit 1-3 is equipped with L-type rack 1-4, the affixed rotary drive mechanism 3 of L-type rack 1-4, and the rotary drive mechanism 3 wraps
Rotating electric machine 3-2 is included, the output shaft of rotating electric machine 3-2 passes through the affixed ultrasonic vibration mechanism 4 of shaft coupling, the ultrasonic vibration machine
Structure 4 is equipped with energy converter 4-3, affixed piercing mechanism 5 on energy converter 4-3, the inserting needle driving mechanism 1, rotary drive mechanism 3,
Ultrasonic vibration mechanism 4 and piercing mechanism 5 are applied in combination, and ultrasonic vibration, the piercing method for rotating inserting needle may be implemented.
Referring to attached drawing 1, referring to attached drawing 3, the inserting needle driving mechanism 1 includes inserting needle motor 1-1, the inserting needle motor 1-1
Output shaft affixed lead screw 1-2, the lead screw 1-2 slide unit 1-3 is connected with by screw pair, when inserting needle motor 1-1 is rotated
When, drive lead screw 1-2 to make rotary motion, rotary motion is converted to the linear motion of slide unit 1-4 by lead screw 1-2, passes through inserting needle electricity
The control for puncturing speed is realized in the adjustment of machine 1-1 revolving speed, to realize the puncture process of puncture needle 5-6 different rates, it is described into
Needle drive mechanism 1 further includes L-type rack 1-4, and sextuple torque sensor 2 is also loaded on the L-type rack 1-4, and sextuple torque passes
Sensor 2 is connected with controller, and when puncture needle 5-6 is when puncturing soft tissue, the sextuple torque installed on L-type rack 1-4 at this time is passed
Sensor 2 can acquire puncture force data in real time, and transfer data to controller and record.
Referring to attached drawing 1, attached drawing 2, attached drawing 3, the rotary drive mechanism 3 includes flange 3-1, affixed on the flange 3-1
The output shaft of rotating electric machine 3-2, rotating electric machine 3-2 pass through the affixed inversion Y type rod piece of ultrasonic vibration mechanism 4 of shaft coupling 3-3
The shaft end 4-6 of 4-5 drives the shaft end of the inversion Y type rod piece 4-5 of ultrasonic vibration mechanism 4 when rotating electric machine 3-2 is rotated
4-6 makees rotary motion, to realize puncture needle 5-6 rotary motion, realizes puncture needle 5- by the adjustment of rotating electric machine 3-2 revolving speed
The puncture process of 6 different rotary rates.
Referring to attached drawing 1, attached drawing 2, attached drawing 3, the ultrasonic vibration mechanism 4 includes ultrasonic-frequency power supply 4-1, the ultrasonic-frequency power supply 4-
1 is connected with electrode slice 4-8, and electrode slice 4-8 is mounted on piezoelectric pile 4-9, and ultrasonic-frequency power supply 4-1 provides positive and negative friendship to piezoelectric pile 4-9
The alternating voltage replaced, the ultrasonic vibration mechanism 4 further include rear end cap 4-2, and rear end cap 4-2 is equipped with piezoelectric pile 4-9, piezoelectric pile
4-9 is equipped with drive end bearing bracket 4-6, and drive end bearing bracket 4-6 is equipped with pre-loading screw 4-7, can pre-tighten rear end cap 4- by pre-loading screw 4-7
2, piezoelectric pile 4-9 and drive end bearing bracket 4-6, and axial compressive force needed for piezoelectric pile 4-9 can be applied, on the rear end cap 4-6 before
End, which is connected with, is inverted Y type rod piece 4-5, and the also affixed energy converter 4-3 in rear end on rear end cap 4-6, energy converter 4-3 are converted electrical energy into
Mechanical energy.
Referring to attached drawing 1, attached drawing 2, the piercing mechanism 5 includes puncture needle retaining device 5-4, the puncture needle retaining device 5-4
It is fixed on energy converter 4-3, puncture needle retaining device 5-4 is equipped with aperture 5-3, is equipped with puncture needle 5-6 on aperture 5-3, described
It is additionally provided with spring button 5-5 on puncture needle retaining device 5-4, the loading, unloading puncture needle 5-6 that can be convenient by spring button 5-5, institute
The front end for stating puncture needle 5-6 is additionally provided with support frame 5-1, and support frame 5-1 is equipped with guide sleeve 5-2, the puncture needle 5-6 and guiding
Set 5-2 foundation is slidably connected, and guide sleeve 5-2 it can play support to puncture needle 5-6.
2 kinds of working methods of soft tissue device are punctured to a kind of ultrasonic vibration of the present invention with reference to the accompanying drawing to be described below:
Be rotated into pin puncture method: inserting needle driving mechanism 1, rotary drive mechanism 3 and piercing mechanism 5 are applied in combination, and realize
It is rotated into pin puncture process, inserting needle motor 1-1 and rotating electric machine 3-2 are moved simultaneously, and ultrasonic vibration mechanism 4 stops working, and passes through
Inserting needle motor 1-1 and rotating electric machine 3-2 revolving speed are adjusted, the combination of puncture needle 5-6 inserting needle speed and rotation speed is realized, using L
The sextuple torque sensor 2 installed on type rack 1-4 acquires the group of puncture needle 5-6 various inserting needle speed and rotation speed in real time
Lower puncture force data is closed, the combination of the inserting needle speed and rotation speed of smaller puncture force is obtained finally by multiple measurement.
Ultrasonic vibration is rotated into pin puncture method: inserting needle driving mechanism 1, rotary drive mechanism 3, ultrasonic vibration mechanism 4 with
Piercing mechanism 5 is applied in combination, and realizes ultrasonic vibration, is rotated into pin puncture process, inserting needle motor 1-1 and rotating electric machine 3-2 are simultaneously
Movement, ultrasonic vibration mechanism 4 starts to work, by adjusting inserting needle motor 1-1 and rotating electric machine 3-2 revolving speed and ultrasonic-frequency power supply 4-
1 voltage change period realizes the combination of puncture needle 5-6 inserting needle speed, rotation speed and vibration frequency, using L-type rack 1-4
The sextuple torque sensor 2 of upper installation acquires the combination of puncture needle 5-6 various inserting needle speed, rotation speed and vibration frequency in real time
Lower puncture force data obtains inserting needle speed, the group of rotation speed and vibration frequency of smaller puncture force finally by multiple measurement
It closes.
This embodiment is just an exemplary description of this patent, does not limit its protection scope, those skilled in the art
Member can also be changed its part, as long as it does not exceed the essence of this patent, within the protection scope of the present patent.
Claims (5)
1. a kind of ultrasonic vibration punctures soft tissue device, comprising: inserting needle driving mechanism (1), rotary drive mechanism (3), ultrasound vibration
Motivation structure (4) and piercing mechanism (5), the inserting needle driving mechanism (1) are equipped with slide unit (1-3), slide unit (1- 3) peace
Load sextuple torque sensor (2) equipped with L-type rack (1-4), on the L-type rack (1-4), sextuple torque sensor (2) with
Controller is connected, when puncture needle (5-6) is when puncturing soft tissue, the sextuple torque sensor installed in L-type rack (1-4) at this time
(2) puncture force data can be acquired in real time, and transfers data to controller and records, and the L-type rack (1-4) passes through six
Torque sensor (2) affixed rotary drive mechanism (3) is tieed up, the rotary drive mechanism (3) includes rotating electric machine (3-2), rotation
The output shaft of motor (3-2) is equipped with transducing by the affixed ultrasonic vibration mechanism (4) of shaft coupling, the ultrasonic vibration mechanism (4)
Device (4-3), affixed piercing mechanism (5) on energy converter (4-3), the inserting needle driving mechanism (1), rotary drive mechanism (3), ultrasound
Vibrating mechanism (4) and piercing mechanism (5) are applied in combination, and ultrasonic vibration, rotation inserting needle may be implemented.
2. a kind of ultrasonic vibration according to claim 1 punctures soft tissue device, it is characterised in that: the inserting needle driving machine
Structure (1) includes inserting needle motor (1-1), the affixed lead screw of output shaft (1-2) of the inserting needle motor (1-1), the lead screw (1- 2)
It is connected with slide unit (1-3) by screw pair, when inserting needle motor (1-1) is rotated, lead screw (1-2) is driven to make rotary motion,
Rotary motion is converted to the linear motion of slide unit (1-4) by lead screw (1-2), is realized by the adjustment of inserting needle motor (1-1) revolving speed
The control for puncturing speed, to realize the puncture process of puncture needle (5-6) different rates.
3. a kind of ultrasonic vibration according to claim 1 punctures soft tissue device, it is characterised in that: the rotation driving
Mechanism (3) includes flange (3-1), affixed rotating electric machine (3-2), the output shaft of rotating electric machine (3-2) on the flange (3-1)
By the shaft end (4-6) of the inversion Y type rod piece (4-5) of shaft coupling (3-3) affixed ultrasonic vibration mechanism (4), work as rotating electric machine
When (3-2) is rotated, the shaft end (4-6) of the inversion Y type rod piece (4-5) of ultrasonic vibration mechanism (4) is driven to make rotary motion, from
And realize puncture needle (5-6) rotary motion, puncture needle (5-6) different rotary is realized by the adjustment of rotating electric machine (3-2) revolving speed
The puncture process of rate.
4. a kind of ultrasonic vibration according to claim 1 punctures soft tissue device, it is characterised in that: the ultrasonic vibration
Mechanism (4) includes ultrasonic-frequency power supply (4-1), and the ultrasonic-frequency power supply (4-1) is connected with electrode slice (4-8), electrode slice (4-8) installation
On piezoelectric pile (4-9), ultrasonic-frequency power supply (4-1) provides positive and negative alternate alternating voltage, the ultrasonic vibration to piezoelectric pile (4-9)
Mechanism (4) further includes rear end cap (4-2), and rear end cap (4-2) is equipped with piezoelectric pile (4-9), and piezoelectric pile (4-9) is equipped with drive end bearing bracket
(4-6), drive end bearing bracket (4-6) are equipped with pre-loading screw (4-7), can pre-tighten rear end cap (4-2), pressure by pre-loading screw (4-7)
Pile (4-9) and drive end bearing bracket (4-6), and axial compressive force needed for piezoelectric pile (4-9) can be applied, on the rear end cap (4-6)
Front end be connected with and be inverted Y type rod piece (4-5), the also affixed energy converter (4-3) in rear end on rear end cap (4-6), energy converter (4-3)
Convert electrical energy into mechanical energy.
5. a kind of ultrasonic vibration according to claim 1 punctures soft tissue device, it is characterised in that: the piercing mechanism
It (5) include puncture needle retaining device (5-4), the puncture needle retaining device (5-4) is fixed on energy converter (4-3), puncture needle retaining
Device (5-4) is equipped with aperture (5-3), is equipped with puncture needle (5-6) on aperture (5-3), on the puncture needle retaining device (5-4)
It is additionally provided with spring button (5-5), the loading, unloading puncture needle (5-6) that can be convenient by spring button (5-5), the puncture needle (5-
6) front end is additionally provided with support frame (5-1), and support frame (5-1) is equipped with guide sleeve (5-2), the puncture needle (5-6) and guiding
Set (5-2) foundation is slidably connected, and guide sleeve (5-2) can play a supportive role to puncture needle (5-6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610641727.7A CN106137342B (en) | 2016-08-08 | 2016-08-08 | A kind of ultrasonic vibration puncture soft tissue device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610641727.7A CN106137342B (en) | 2016-08-08 | 2016-08-08 | A kind of ultrasonic vibration puncture soft tissue device |
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| CN106137342A CN106137342A (en) | 2016-11-23 |
| CN106137342B true CN106137342B (en) | 2019-02-01 |
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| CN201610641727.7A Expired - Fee Related CN106137342B (en) | 2016-08-08 | 2016-08-08 | A kind of ultrasonic vibration puncture soft tissue device |
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| CN106943180B (en) * | 2017-03-31 | 2020-05-08 | 王刚 | Ultrasonic and sound wave guided automatic power-assisted epidural puncture auxiliary system |
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| CN108433791A (en) * | 2018-04-26 | 2018-08-24 | 王燕青 | Adjustable needle angle sting device and its system and control method |
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| CN108992143A (en) * | 2018-08-22 | 2018-12-14 | 中国人民解放军陆军军医大学第二附属医院 | A kind of vein puncture device and venipuncture control method |
| CN109394316A (en) * | 2018-12-10 | 2019-03-01 | 济南大学 | A kind of percutaneous automatic vibration sting device |
| CN109846533B (en) * | 2019-02-12 | 2021-01-08 | 北京理工大学 | Device for fixing puncture needle |
| CN110236647A (en) * | 2019-06-06 | 2019-09-17 | 南京航空航天大学 | A kind of prostate acupuncture mechanism and working method for inside magnetic resonance imager |
| WO2021189220A1 (en) * | 2020-03-24 | 2021-09-30 | 中国科学院深圳先进技术研究院 | Ultrasonic puncture needle |
| CN111437011B (en) * | 2020-03-30 | 2021-04-13 | 中国科学院深圳先进技术研究院 | Puncture surgery robot system |
| CN111588447B (en) * | 2020-05-20 | 2021-07-23 | 青岛大学附属医院 | Epidural puncture needle inserting device for anesthesia department |
| CN112057141B (en) * | 2020-08-19 | 2021-08-10 | 华南理工大学 | Intelligent feedback puncture needle holder |
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