CN106667582A - Multifunctional remote-control X-ray-permeable puncture operation system - Google Patents
Multifunctional remote-control X-ray-permeable puncture operation system Download PDFInfo
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- CN106667582A CN106667582A CN201710069656.2A CN201710069656A CN106667582A CN 106667582 A CN106667582 A CN 106667582A CN 201710069656 A CN201710069656 A CN 201710069656A CN 106667582 A CN106667582 A CN 106667582A
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- puncture
- seal wire
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- 230000033001 locomotion Effects 0.000 claims abstract description 84
- 238000002347 injection Methods 0.000 claims abstract description 43
- 239000007924 injection Substances 0.000 claims abstract description 43
- 239000000463 material Substances 0.000 claims abstract description 10
- 239000012530 fluid Substances 0.000 claims description 49
- 230000009471 action Effects 0.000 claims description 30
- 238000000034 method Methods 0.000 claims description 26
- 238000009434 installation Methods 0.000 claims description 22
- 238000005086 pumping Methods 0.000 claims description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 5
- 239000007788 liquid Substances 0.000 abstract description 19
- 230000036541 health Effects 0.000 abstract description 3
- 230000007774 longterm Effects 0.000 abstract description 2
- 230000037431 insertion Effects 0.000 abstract 1
- 238000003780 insertion Methods 0.000 abstract 1
- 238000001574 biopsy Methods 0.000 description 11
- 238000010146 3D printing Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 239000002872 contrast media Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000004743 Polypropylene Substances 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000002861 polymer material Substances 0.000 description 2
- 229920001155 polypropylene Polymers 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 238000004886 process control Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000001124 body fluid Anatomy 0.000 description 1
- 239000010839 body fluid Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 210000004072 lung Anatomy 0.000 description 1
- 230000007170 pathology Effects 0.000 description 1
- -1 polypropylene Polymers 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
Classifications
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
-
- 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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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The invention discloses a multifunctional remote-control X-ray-permeable puncture operation system for use with a C-arm X-ray machine; the system comprises an acting arm, a mechanical arm, an acting arm controller, a base, a connection line, and a remote-control handle; the mechanical arm is mounted on the base, the acting arm is connected to the free end of the mechanical arm, the acting arm is provided with a puncture needle releasably connected, and the acting arm is made of X-ray-permeable material; the acting arm controller is electrically connected to the acting arm through the connection line, and the remote-control handle is electrically connected respectively to the mechanical arm and the acting arm controller. The remote-control handle is used to control the movement of the acting arm, the extension or retraction of the puncture needle, the suction or injection of liquid and the insertion of a guide wire, medical staff have no need to perform treatment with long-term exposure to X-ray, and the health of medical staff and benefit of a patient are guaranteed.
Description
Technical field
The present invention relates to technical field of medical equipment, specifically, refers to that a kind of multifunctional remote control X-ray can wear thoroughly
Thorn operating system.
Background technology
In medical clinical practice, usually can carry out venipuncture under X-ray, such as Percutaneous lung puncture, percutaneous transhepatic puncture,
Percutaneous renal puncture, abdominocentesis etc., wherein some punctures are to set up passage for further operation treatment, some punctures are then
It is to obtain the related pathologies such as biological tissue and body fluid data for checking, chemically examining.
Medical science puncture procedure process is in most cases that requirement doctor and patient are carried out under x-ray bombardment simultaneously
, only primary emission treatment for patients, typically not over safe dose, and for live medical worker
Speech, not exclusively in the face of a patient, more not just once-through operation, therefore live medical worker penetrates for patient in X
Irradiation time under line is more long.Prior art provides medical worker's protective articles of some protective garments etc, but even
Under the protective effect for having protective garment, medical worker will also face the danger of long-term X-ray accumulation, in this case, medical matters
Or personnel emit life danger adheres to treatment operation, or the irradiation in order to reduce X-ray, take and replace X using ultrasonic wave
The short-cut method of ray localization, although and this method can avoid the accuracy of the irradiation of X-ray, treatment operation from beating greatly
Discount, causes puncture procedure coarse, makes patient be difficult to reach using the due therapeutic effect of roentgenotherapia.
Therefore in order to ensure the health of medical worker and the interests of patient, design one kind can make medical worker under X-ray
The remotely control puncture procedure system of puncture procedure is completed, is those skilled in the art's technical problem to be solved.
The content of the invention
It is an object of the invention to provide a kind of control of multifunctional remote can X-ray puncture procedure system thoroughly, to solve to show
There is medical worker in technology to have to carry out the problem for treating operation under x-ray bombardment for a long time, the present invention is by following skills
Art scheme is realized：
A kind of control of multifunctional remote can X-ray puncture procedure system thoroughly, use cooperatively with C-arm X-ray machine, including action
Arm, mechanical arm, action arm controller, pedestal, connecting pipeline and remotely control handle, the mechanical arm is arranged on base
On seat, the movement arm is connected with the free end of mechanical arm, and the puncture needle being detachably connected is provided with movement arm, and dynamic
Make arm by X-ray material being made thoroughly；The action arm controller is electrically connected by connecting pipeline with movement arm, described remote
Process control handle is electrically connected respectively with mechanical arm, action arm controller.
The mechanical arm is capable of the rotation of six degree of freedom, flexible, mobile, treatment required for drive movement arm arrival
Each position of patient body, the puncture needle on movement arm is detachably connected with movement arm, can be in treatment operation for not
Need to change puncture needle with the different state of an illness of patient, and be able to ensure that the clean hygiene of puncture needle.The movement arm is by can X thoroughly
Ray material is made, and can avoid medical worker in treatment operating process because movement arm shelters from C-arm X-ray machine
X-ray and produce the problem of irradiation blind area, and can X-ray material can be thoroughly plastics, polypropylene Polymer material, it is also possible to
It is with can material that thoroughly X-ray 3D printing material is made by 3D printing method.
Medical worker by the predetermined point of puncture of imaging data, and can will connect puncture needle before treatment operation is carried out
Movement arm be moved to region near predetermined point of puncture, afterwards medical worker leaves C-arm X-ray machine, and enters remote monitoring
Operation is indoor, and under the monitoring of X-ray, medical worker controls remotely control handle to realize the movement of movement arm.Due to long-range
Joystick is electrically connected respectively with mechanical arm, action arm controller, and action arm controller is by connecting pipeline and movement arm
Electrically connect, therefore one side remotely control handle can transmit the operational order of medical worker to mechanical arm, with driving machine
Tool arm drives movement arm to be allowed to be coincided with predetermined puncture path, and another aspect medical worker can also control remotely control hand
Handle drive actions arm controller makes puncture needle penetrate accurate predetermined point.
Further, the movement arm includes the fluid reservoir and piston rod, puncture needle installation portion of piston connection, in piston rod
Bottom be provided with a connecting interfaces, be provided with b connecting interfaces at the top of puncture needle installation portion, and a connecting interfaces and b connecting interfaces
It is detachably connected.Action arm controller by fluid reservoir injection or pumping liquid to advance or reclaim piston rod, so as to realize
Puncture needle penetrates or reclaims function, and puncture needle installation portion is detachably connected with piston rod, is easy to medical worker to puncturing
The replacing of pin and the maintenance of related components.
Further, the syringe with puncture needle, fixing apparatus for puncture needle are provided with the puncture needle installation portion, on syringe
Arm is provided with, and syringe is arranged in puncture needle installation portion by fixing apparatus for puncture needle.Fixing apparatus for puncture needle can be further
Facilitate replacing of the medical worker to puncture needle.
Further, the action arm controller includes puncture needle power unit, seal wire operating unit, suction fluid injection list
Unit, is respectively equipped with the puncture needle power influidic pipe and seal wire operating unit being connected with puncture needle power unit in connecting pipeline
The seal wire access tube of connection and the suction fluid injection influidic pipe of suction fluid injection unit connection, and puncture needle power influidic pipe and liquid storage
Room is connected, and seal wire access tube is connected with syringe, and suction fluid injection influidic pipe is connected with arm.
The action arm controller of the present invention can not only realize the propulsion of puncture needle or reclaim function, moreover it is possible to realize that recovery is worn
Liquid or the function of particular liquid is injected in puncture needle that pricker is extracted out, and specific guiding wire is imported in puncture needle
Function.Biopsy is carried out if desired, can be started with setting up biopsy type puncture needle trigger on action arm controller
Biopsy type puncture needle trigger is capable of achieving biopsy function.
Further, movement arm connecting pipeline interface is additionally provided with the outer wall of the movement arm, and the puncture needle power
Influidic pipe, seal wire access tube, suction fluid injection influidic pipe are accessed in movement arm by movement arm connecting pipeline interface.Movement arm connects
Adapter line interface facilitate puncture needle power influidic pipe, seal wire access tube, suction fluid injection influidic pipe respectively with the connection of movement arm, and
And movement arm connecting pipeline interface can also play fixation to puncture needle power influidic pipe, seal wire access tube, suction fluid injection influidic pipe
Effect, so as to avoid confusion of the various pipelines in movement arm.
Further, the puncture needle power unit is piston type driving means with suction fluid injection unit, and is puncturing
Pressure device for measuring force is provided with pin power unit.If desired liquid or pumping liquid are injected, then start suction fluid injection unit,
For example by suction fluid injection unit to bolus administration of contrast agent in puncture needle operator can be helped to judge puncture needle whether in place；If
Need to advance puncture needle, then start puncture needle power unit with output hydraulic pressure power, for example can be in puncture needle power unit
The quantitative liquid of addition, with the paracentesis depth of predetermined puncture needle, it is to avoid operational error and cause the paracentesis depth of puncture needle too deep,
Simultaneously pressure device for measuring force is provided with puncture needle power unit can also determine hydraulic pressure, and medical worker can be become by hydraulic pressure
The level for changing to analyze puncture needle place tissue density Yu punctured, and simulate what patient in impression puncture cavity usually experienced
Fall through sense.
Further, at least one pair of guide wire motion wheel is provided with the seal wire operating unit, and in seal wire operating unit
Seal wire delivery outlet is provided with seal wire sheath.Guide wire motion wheel is mutually extruded to fix the direction of motion of seal wire, and seal wire is transported with seal wire
The rotation of driving wheel and move, seal wire is passed or is withdrawn from puncture needle, seal wire sheath can further determine that the motion of seal wire
Direction.Medical worker can be to guiding guide wires therein in puncture needle, accurately to complete inserting for seal wire, can be with the importing in puncture needle
Fibrescope, observes the situation of institute site of puncture.
Further, the movement arm top is provided with joint, and joint is connected with connecting rod, connecting rod and the manipulator
Arm is connected.When needing to overhaul movement arm, connecting rod can be pulled down from mechanical arm, in order to movement arm
Maintenance, while also allowing for the installation of movement arm.
Further, the remotely control handle base is provided with handle chassis, and universal drive shaft and machine are provided with handle chassis
Tool arm control button, remotely control handle is connected on universal drive shaft, and remotely control handle is provided with seal wire hand wheel and dials rotation
Button, puncture needle pumping button, puncture needle fluid injection button, puncture needle stretch out button, puncture needle and reclaim button.The great majority of the present invention
Function facilitates medical worker's remotely control movement arm by the integrated operation of each button on remotely control handle.
Further, the seal wire hand wheel is dialled knob and is electrically connected with seal wire operating unit, the puncture needle pumping button,
Puncture needle fluid injection button is electrically connected with suction fluid injection unit, and the puncture needle stretches out button, puncture needle and reclaims button and puncture needle
Power unit is electrically connected, and the mechanical arm control button is electrically connected with mechanical arm.Each control button can be realized respectively wearing
The propulsion of pricker is reclaimed the extraction of liquid in function, puncture needle or injection functions, seal wire and inserts function.
The present invention compared with prior art, with advantages below and beneficial effect：
(1) present invention by remotely control handle come the movement of control action arm, the propulsion of puncture needle or recovery, liquid
Suction or inject, seal wire is inserted, and medical worker can be avoided to carry out treatment operation under x-ray bombardment for a long time, so as to protect
The health of medical worker and the interests of patient are demonstrate,proved；
(2) movement arm of the invention can avoid medical worker in treatment operation using X-ray material being made thoroughly
During because movement arm shelter from C-arm X-ray machine X-ray and produce irradiation blind area problem, consequently facilitating medical worker
Positioning to predetermined point of puncture；
(3) action arm controller of the invention can not only make movement arm realize the propulsion of puncture needle or reclaim function, also
The function of reclaiming the puncture needle liquid extracted out or particular liquid is injected in puncture needle can be realized, and is imported in puncture needle
The function of specific guiding wire；Biopsy is carried out if desired, can be worn with setting up biopsy type on action arm controller
Pricker trigger, starts biopsy type puncture needle trigger and is capable of achieving biopsy function；
(4) present invention is provided with pressure device for measuring force in puncture needle power unit can also determine hydraulic pressure, medical worker
Puncture needle place tissue density and the level for being punctured can be analyzed by hydraulic pressure change, and simulates impression and puncture art in cavity
Sense that what person usually experienced fall through；
(5) present invention can import fibrescope in puncture needle, the situation of site of puncture to observe；Can be to wearing
In place whether bolus administration of contrast agent in pricker, help operator to judge puncture needle；
(6) most of functions of the invention facilitate medical worker by the integrated operation of each button on remotely control handle
Remotely control movement arm；
(7) puncture needle installation portion of the present invention is detachably connected with piston rod, be easy to medical worker to the replacing of puncture needle with
The maintenance of related components；Syringe is detachably connected with puncture needle installation portion, the steps of Jing mono- facilitate medical worker to puncture needle more
Change；Movement arm is detachably connected by connecting rod with mechanical arm, when being easy to overhaul movement arm, while also allowing for action
The installation of arm.
Description of the drawings
The detailed description by reading non-limiting example made with reference to the following drawings, other features of the present invention,
Objects and advantages will become apparent：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the attachment structure schematic diagram of piston rod and puncture needle installation portion；
Fig. 3 is the attachment structure schematic diagram of movement arm and action arm controller；
Fig. 4 is movement arm inside and the electric connection structure schematic diagram inside action arm controller；
Fig. 5 is the right view of remotely control handle；
Fig. 6 is the top view of remotely control handle；
Wherein：1-C-arm X-ray machine, 2-movement arm, 21-fluid reservoir, 22-piston rod, 23-a connecting interfaces, 24-
B connecting interfaces, 25-fixing apparatus for puncture needle, 26-puncture needle, 27-syringe, 28-arm, 29-puncture needle installation portion,
3-mechanical arm, 31-joint, 32-connecting rod, 4-action arm controller, 41-puncture needle power influidic pipe, 42-seal wire
Access tube, 43-suction fluid injection influidic pipe, 44-puncture needle power unit, 45-seal wire operating unit, 46-suction fluid injection list
Unit, 47-guide wire motion wheel, 48-seal wire sheath, 49-seal wire, 5-pedestal, 6-connecting pipeline, 7-patient, 8-movement arm connects
Adapter line interface, 9-remotely control handle, 91-handle chassis, 92-universal drive shaft, 93-seal wire hand wheel group knob, 94-
Puncture needle pumping button, 95-puncture needle fluid injection button, 96-puncture needle stretches out button, and 97-puncture needle reclaims button, 98-
Mechanical arm control button.
Specific embodiment
The present invention is described in further detail with reference to embodiment, but embodiments of the present invention not limited to this.
Embodiment 1：
A kind of control of multifunctional remote can X-ray puncture procedure system thoroughly, as shown in Figures 1 to 6, including movement arm 2, machine
Tool arm 3, action arm controller 4, pedestal 5, connecting pipeline 6 and remotely control handle 9, the mechanical arm 3 is arranged on base
On seat 5, pedestal 5 is arranged on the base with braked wheel, in order to the movement of the present invention.The top of the movement arm 2 is provided with and connects
31, and joint 31 is connected with connecting rod 32, connecting rod 32 is detachably connected with the free end of the mechanical arm 3, in order to
Installation of the movement arm 2 on mechanical arm 3 and dismounting, meanwhile, the puncture needle 26 being detachably connected is provided with movement arm 2, with
It is easy to replacing and maintenance of the medical worker to puncture needle 26.
As shown in Figures 1 to 6, the remotely control handle 9 is electrically connected respectively with mechanical arm 3, action arm controller 4,
And action arm controller 4 is electrically connected by connecting pipeline 6 with movement arm 2, medical worker can control remotely control handle 9, will
Operational order is transferred to respectively mechanical arm 3 and action arm controller 4, and mechanical arm 3 is capable of the drive movement arm 2 of six degree of freedom
Rotation, flexible, movement, make puncture needle 26 reach predetermined point of puncture, and operational order is transferred to movement arm by action arm controller 4 again
2, make movement arm 2 complete corresponding puncture procedure.
The present invention is used cooperatively with C-arm X-ray machine 1, x-ray bombardment is projected in the bulb of C-arm X-ray machine 1 and is being suffered from
On the body of person 7, medical worker is by imaging data predetermined point of puncture on the body of patient 7, then will connect the dynamic of puncture needle 26
Make the region that arm 2 is moved near predetermined point of puncture, leave C-arm X-ray machine 1, and in remote monitoring activities room, penetrate in X
Under the monitoring of line, medical worker controls remotely control handle 9 to realize the movement of movement arm 2.The movement arm 2 is by plastics, poly-
Propylene Polymer material, or with X-ray 3D printing material being made by the material that 3D printing method makes thoroughly,
Medical worker can be avoided to produce irradiation because movement arm 2 shelters from the X-ray of C-arm X-ray machine 1 in treatment operating process
The problem of blind area.
Embodiment 2：
The present embodiment does further optimization on the basis of above-described embodiment, and as shown in Figures 1 to 6, the movement arm 2 is wrapped
Fluid reservoir 21, piston rod 22, puncture needle installation portion 29 are included, fluid reservoir 21 is connected with the piston of piston rod 22, and in fluid reservoir 21
Liquid is injected with, enables piston rod 22 to do piston movement in fluid reservoir 21.The bottom of the piston rod 22 is provided with a and connects
Mouth 23, at the top of puncture needle installation portion 29 b connecting interfaces 24 are provided with, and a connecting interfaces 23 detachably connect with b connecting interfaces 24
Connect, and the syringe 27 with puncture needle 26 and fixing apparatus for puncture needle 25 are provided with puncture needle installation portion 29, set on syringe 27
There is arm 28, and syringe 27 is arranged in puncture needle installation portion 29 by fixing apparatus for puncture needle 25.When piston rod 22 is in liquid storage
When doing piston movement in room 21, piston rod 22 can drive the piston movement of puncture needle installation portion 29, so as to realize puncture needle 26
Penetrate or reclaim function.
Embodiment 3：
The present embodiment does further optimization, as shown in Figures 1 to 6, the movement arm control on the basis of above-described embodiment
Puncture needle power unit 44, seal wire operating unit 45, suction fluid injection unit 46, biopsy type puncture needle trigger are provided with device processed 4, and
It is connected with puncture needle power influidic pipe 41 on puncture needle power unit 44 respectively, on seal wire operating unit 45 seal wire is connected with
Access tube 42, is connected with suction fluid injection influidic pipe 43, the puncture needle power influidic pipe 41 and storage on suction fluid injection unit 46
Liquid room 21 is connected, and seal wire access tube 42 is connected with syringe 27, and suction fluid injection influidic pipe 43 is connected with arm 28, biopsy type
Puncture needle trigger is connected by electric wire, holding wire with movement arm 2.The puncture needle power influidic pipe 41, seal wire access tube 42,
Suction fluid injection influidic pipe 43, electric wire, signal are wrapped in connecting pipeline 6.
As shown in Figures 1 to 6, movement arm connecting pipeline interface 8, the puncture are provided with the outer wall of the movement arm 2
Pin power influidic pipe 41, seal wire access tube 42, suction fluid injection influidic pipe 43 pass through the access action of movement arm connecting pipeline interface 8
In arm 2, in order to play fixation to puncture needle power influidic pipe 41, seal wire access tube 42, suction fluid injection influidic pipe 43, from
And avoid confusion of the various pipelines in movement arm.
The action arm controller 4 transmits operational order to biopsy type puncture needle trigger, and the present invention can be realized to work
The function that tissue is checked.
Embodiment 4：
The present embodiment does further optimization on the basis of above-described embodiment, and as shown in Figures 1 to 6, the puncture needle is moved
Power unit 44 is hydraulic piston type driving means, and pressure device for measuring force is provided with puncture needle power unit 44.To determine liquid
Pressure pressure, medical worker can analyze the place tissue density of puncture needle 26 and the level for being punctured, and mould by hydraulic pressure change
Intend impression and puncture the sense that falls through that patient usually experiences in cavity.When the transmission operational order of action arm controller 4 is moved to puncture needle
During power unit 44, puncture needle power unit 44 transmits hydraulic pressure to fluid reservoir 21 by puncture needle power influidic pipe 41, makes piston
Bar 22 promotes puncture needle installation portion 29 to move, and so as to realize puncture needle 26 function is penetrated or reclaim.The puncture needle power list
Unit 44 in can also add quantitative liquid, with the paracentesis depth of predetermined puncture needle 26, it is to avoid operational error and cause puncture needle
26 paracentesis depth is too deep.
As shown in Figures 1 to 6, the suction fluid injection unit 46 is piston type driving means, can in suction fluid injection unit 46
Liquid medicine required for inject treatment operation, such as to bolus administration of contrast agent in suction fluid injection unit 46, and then contrast preparation is passed
In transporting to puncture needle 26, to help operator to judge puncture needle 26 whether in place.
As shown in Figures 1 to 6, multipair guide wire motion wheel 47, the phase of guide wire motion wheel 47 are provided with seal wire operating unit 45
Mutually extrude to fix the direction of motion of seal wire 49, and seal wire 49 advances with the rotation of guide wire motion wheel 47, in seal wire operation
The seal wire delivery outlet of unit 45 is provided with seal wire sheath 48, and seal wire sheath 48 can determine that the direction of motion of seal wire 49.Medical worker can be with
Seal wire 49 is replaced with into fibrescope, such that it is able to import fibrescope in puncture needle 26, the site of puncture to observe
Situation.
Embodiment 5：
The present embodiment does further optimization, as shown in Figures 1 to 6, the remotely control on the basis of above-described embodiment
Handle 9 is arranged on handle chassis 91, and universal drive shaft 92 is provided between remotely control handle 9 and handle chassis 91, so that far
Process control handle 9 can be rotated freely, facilitate the operation of medical worker.Mechanical arm control button is provided with handle chassis 91
98, be provided with remotely control handle 9 seal wire hand wheel dial knob 93, puncture needle pumping button 94, puncture needle fluid injection button 95,
Puncture needle stretches out button 96, puncture needle and reclaims button 97.
As shown in Figures 1 to 6, the seal wire hand wheel is dialled knob 93 and is electrically connected with seal wire operating unit 45, medical worker
The propulsion or withdrawal of seal wire 49 can be controlled by rotating seal wire hand wheel group knob 93；The puncture needle pumping button 94,
Puncture needle fluid injection button 95 is electrically connected with suction fluid injection unit 46, and medical worker can be by puncture needle pumping button 94, puncture
Pin fluid injection button 95 controls respectively the suction and injection of the liquid medical medicines such as contrast preparation；The puncture needle stretches out button 96, wears
Pricker reclaims button 97 and electrically connects with puncture needle power unit 44, and medical worker can be stretched out button 96, be punctured by puncture needle
Pin reclaims button 97 and controls the propulsion of puncture needle 26 respectively and reclaim；The mechanical arm control button 98 is electric with mechanical arm 3
Connection, medical worker can be capable of the drive action of six degree of freedom by mechanical arm control button 98 come control machinery arm 3
Arm 2 is rotated, stretched, movement.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that being：
It is of the invention without departing from these embodiments can be carried out with various changes, modification, replacement and modification under the principle and objective of the present invention
Scope limited by claim and its equivalent.
Claims (10)
1. a kind of control of multifunctional remote can X-ray puncture procedure system thoroughly, use cooperatively with C-arm X-ray machine (1), its feature
It is：Including movement arm (2), mechanical arm (3), action arm controller (4), pedestal (5), connecting pipeline (6) and long-range control
Handle (9) processed, the mechanical arm (3) on pedestal (5), the free end phase of the movement arm (2) and mechanical arm (3)
Connection, is provided with the puncture needle (26) being detachably connected on movement arm (2), and movement arm (2) by can thoroughly X-ray material making and
Into；The action arm controller (4) is electrically connected by connecting pipeline (6) with movement arm (2), the remotely control handle (9) point
Do not electrically connect with mechanical arm (3), action arm controller (4).
2. a kind of multifunctional remote control according to claim 1 can X-ray puncture procedure system thoroughly, it is characterised in that：
Fluid reservoir (21) and piston rod (22), puncture needle installation portion (29) that the movement arm (2) connects including piston, in piston rod
(22) bottom is provided with a connecting interfaces (23), and b connecting interfaces (24) are provided with the top of puncture needle installation portion (29), and a connects
Interface (23) is detachably connected with b connecting interfaces (24).
3. a kind of multifunctional remote control according to claim 2 can X-ray puncture procedure system thoroughly, it is characterised in that：
The syringe with puncture needle (26) (27), fixing apparatus for puncture needle (25) are provided with the puncture needle installation portion (29), in syringe
(27) arm (28) is provided with, and syringe (27) is interior installed in puncture needle installation portion (29) by fixing apparatus for puncture needle (25).
4. a kind of multifunctional remote control according to claim 3 can X-ray puncture procedure system thoroughly, it is characterised in that：
The action arm controller (4) includes puncture needle power unit (44), seal wire operating unit (45), suction fluid injection unit (46),
Puncture needle power influidic pipe (41) and seal wire being connected with puncture needle power unit (44) is respectively equipped with connecting pipeline (6)
The seal wire access tube (42) of operating unit (45) connection and suction fluid injection influidic pipe (43) of suction fluid injection unit (46) connection,
And puncture needle power influidic pipe (41) is connected with fluid reservoir (21), seal wire access tube (42) is connected with syringe (27), suction
Fluid injection influidic pipe (43) is connected with arm (28).
5. a kind of multifunctional remote control according to claim 4 can X-ray puncture procedure system thoroughly, it is characterised in that：
It is additionally provided with movement arm connecting pipeline interface (8) on the outer wall of the movement arm (2), and the puncture needle power influidic pipe (41),
Seal wire access tube (42), suction fluid injection influidic pipe (43) are accessed in movement arm (2) by movement arm connecting pipeline interface (8).
6. a kind of multifunctional remote control according to claim 4 can X-ray puncture procedure system thoroughly, it is characterised in that：
The puncture needle power unit (44) is piston type driving means with suction fluid injection unit (46), and in puncture needle power unit
(44) pressure device for measuring force is provided with.
7. a kind of multifunctional remote control according to claim 4 can X-ray puncture procedure system thoroughly, it is characterised in that：
At least one pair of guide wire motion wheel (47) is provided with the seal wire operating unit (45), and it is defeated in the seal wire of seal wire operating unit (45)
Outlet is provided with seal wire sheath (48).
8. a kind of multifunctional remote control according to any one of claim 1 to 7 can X-ray puncture procedure system thoroughly, its
It is characterised by：Movement arm (2) top is provided with joint (31), and joint (31) is connected with connecting rod (32), connecting rod (32)
It is connected with the mechanical arm (3).
9. a kind of multifunctional remote control according to any one of claim 4 to 7 can X-ray puncture procedure system thoroughly, its
It is characterised by：Remotely control handle (9) bottom is provided with handle chassis (91), and on handle chassis (91) universal drive shaft is provided with
(92) with mechanical arm control button (98), remotely control handle (9) is connected on universal drive shaft (92), and remotely control handle
(9) it is provided with seal wire hand wheel group knob (93), puncture needle pumping button (94), puncture needle fluid injection button (95), puncture needle to stretch
Go out button (96), puncture needle and reclaim button (97).
10. a kind of multifunctional remote control according to claim 9 can X-ray puncture procedure system thoroughly, it is characterised in that：
The seal wire hand wheel is dialled knob (93) and is electrically connected with seal wire operating unit (45), the puncture needle pumping button (94), puncture
Pin fluid injection button (95) is electrically connected with suction fluid injection unit (46), and the puncture needle stretches out button (96), puncture needle and reclaims button
(97) electrically connect with puncture needle power unit (44), the mechanical arm control button (98) electrically connects with mechanical arm (3).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710069656.2A CN106667582A (en) | 2017-02-08 | 2017-02-08 | Multifunctional remote-control X-ray-permeable puncture operation system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710069656.2A CN106667582A (en) | 2017-02-08 | 2017-02-08 | Multifunctional remote-control X-ray-permeable puncture operation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106667582A true CN106667582A (en) | 2017-05-17 |
Family
ID=58860468
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|---|---|---|---|
| CN201710069656.2A Pending CN106667582A (en) | 2017-02-08 | 2017-02-08 | Multifunctional remote-control X-ray-permeable puncture operation system |
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| Country | Link |
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| CN (1) | CN106667582A (en) |
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| CN107811683A (en) * | 2017-10-20 | 2018-03-20 | 张还添 | A kind of Bones and joints ultrasound minimally-invasive treatment instrument |
| CN107854164A (en) * | 2017-11-28 | 2018-03-30 | 刘玲 | A kind of new chest tumor puncture device |
| CN109497944A (en) * | 2017-09-14 | 2019-03-22 | 张鸿 | Remote medical detection system Internet-based |
| CN110468508A (en) * | 2019-09-17 | 2019-11-19 | 湖北三江航天红阳机电有限公司 | A kind of revolving body aeroge robotic suturing device |
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