CN108852473A - A kind of puncturing operation system - Google Patents
A kind of puncturing operation system Download PDFInfo
- Publication number
- CN108852473A CN108852473A CN201810756325.0A CN201810756325A CN108852473A CN 108852473 A CN108852473 A CN 108852473A CN 201810756325 A CN201810756325 A CN 201810756325A CN 108852473 A CN108852473 A CN 108852473A
- Authority
- CN
- China
- Prior art keywords
- puncture
- puncture needle
- puncturing operation
- rod
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 133
- 239000000523 sample Substances 0.000 claims abstract description 44
- 238000003384 imaging method Methods 0.000 claims abstract description 15
- 238000005183 dynamical system Methods 0.000 claims description 29
- 238000002156 mixing Methods 0.000 claims description 6
- 230000003902 lesion Effects 0.000 claims description 4
- 238000002604 ultrasonography Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 210000001519 tissue Anatomy 0.000 description 8
- 210000003734 kidney Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000001574 biopsy Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 238000002591 computed tomography Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 210000002700 urine Anatomy 0.000 description 3
- 208000000913 Kidney Calculi Diseases 0.000 description 2
- 206010029148 Nephrolithiasis Diseases 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003744 kidney calice Anatomy 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000011017 operating method Methods 0.000 description 2
- 230000035479 physiological effects, processes and functions Effects 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000002421 anti-septic effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 210000000038 chest Anatomy 0.000 description 1
- 210000001072 colon Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000004185 liver Anatomy 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 210000005084 renal tissue Anatomy 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 210000000952 spleen Anatomy 0.000 description 1
- 238000003325 tomography Methods 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
- 210000000626 ureter Anatomy 0.000 description 1
- 210000003932 urinary bladder Anatomy 0.000 description 1
Classifications
-
- 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
-
- 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
- A61B17/3494—Trocars; Puncturing needles with safety means for protection against accidental cutting or pricking, e.g. limiting insertion depth, pressure sensors
-
- 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
Abstract
The invention discloses a kind of puncturing operation systems, are related to puncturing operation technical field.The puncturing operation system includes lying bed, imaging device, piercing mechanism, object, CT scanner, camera and Ultrasonic-B probe, and object is fixed on the operative site of patient；CT scanner obtains the image of the tissue of object and operative site for being scanned before puncturing to the tissue of object and operative site；Camera obtains the image of the skin of object and operative site for taking pictures before puncture to the skin of object and operative site；Puncture needle, the position of puncture needle and adjustable angle are provided on piercing mechanism；Ultrasonic-B probe be used for puncture when to around point of puncture tissue and puncture path be monitored to obtain the image around point of puncture；Imaging device is used to show the image that Ultrasonic-B probe obtains.The puncturing operation system can adjust position and the angle of puncture needle in real time, guarantee the accuracy punctured.
Description
Technical field
The present invention relates to puncturing operation technical field more particularly to a kind of puncturing operation systems.
Background technique
With the development of modern science and technology, Minimally Invasive Surgery starts to be widely used.Such as percutaneous kidney stoma drainage is exactly one
Kind can be used to the minimally invasive surgery technology outside kidney urine lead body.In percutaneous kidney stoma drainage, by perspective, ultrasound at
As or computerized tomography guide, drainage tube is inserted into kidney calices or renal plevis by doctor via skin, then by urine from drainage tube
It is discharged to external, to reach surgical effect and wound is minimum, pain is reduced, and operation risk becomes smaller, and is restored quickly.But it is minimally invasive
Operation unavoidably has that point of puncture and puncture angle determine difficulty, therefore unrestrained when determining point of puncture and puncture angle
Take more time, so as to cause operating time extension；And manual operation is punctured to the more demanding of surgical experience.
Based on artificial puncturing operation there are the problem of, develop Needle-driven Robot in the prior art, pass through Needle-driven Robot
Carry out puncturing operation.But existing Needle-driven Robot is there is also many problems, such as Needle-driven Robot system can not and patient
Physiology movement (including breathing and unintentional motion) match, be easy to cause puncture position and puncture angle to deviate, make
At malpractice.In addition, the speed of the puncture of puncturing operation robot can not also consider the body ability to bear of patient.
Based on problem above, a kind of puncturing operation system is needed, to overcome existing puncturing operation robot and puncturing operation
The problem of.
Summary of the invention
It is an object of the invention to propose a kind of puncturing operation system, to solve the problems, such as existing puncturing operation.
For this purpose, the present invention uses following technical scheme：
A kind of puncturing operation system, including：
Object, the object are fixed on the operative site of patient, for positioning to be marked to operative site；
CT scanner obtains the object for being scanned before puncturing to the tissue of object and operative site
And the image of the tissue of operative site；
Camera is used to take pictures to the skin of object and operative site before puncture, obtains the target
The image of the skin of object and operative site；
Piercing mechanism is provided with puncture needle, the position of the puncture needle and adjustable angle；
Ultrasonic-B probe, for puncture when to around point of puncture tissue and puncture path be monitored with obtain puncture
Image around point；
Imaging device, the image obtained for showing the Ultrasonic-B probe.
As a kind of preferred embodiment of above-mentioned puncturing operation system, the piercing mechanism further include moveable mechanical arm with
And the first positioning system for installing puncture needle and being positioned to puncture needle, first positioning system and the camera
It is arranged on the mechanical arm, what first positioning system can be obtained according to the image and camera that CT scanner obtains
The blending image of image adjusts position and the angle of the puncture needle, is directed at the lesion locations prestored.
As a kind of preferred embodiment of above-mentioned puncturing operation system, first positioning system include first connecting rod mechanism,
Second connecting rod mechanism and puncture needle holder hold device, and the input terminal of the first connecting rod mechanism is connected with the first dynamical system, described
The output end of first connecting rod mechanism and the puncture needle holder hold device top or lower spherical it is hinged, the second connecting rod mechanism
Input terminal is connected with the second dynamical system, the output end and the puncture needle holder of the second connecting rod mechanism hold device lower part or
Top is hinged.
As a kind of preferred embodiment of above-mentioned puncturing operation system, the first connecting rod mechanism includes the first master connecting-rod, institute
It states first master connecting-rod one end flexural pivot to hold on device in the puncture needle holder, the other end is hinged with the first strut, the first main company
The second strut is hinged in the middle part of bar；First dynamical system includes two the first driving mechanisms, two the first driving mechanisms
Hinged with the first strut and the second strut respectively, two first driving mechanisms are straight line driving mechanism.
As a kind of preferred embodiment of above-mentioned puncturing operation system, first driving mechanism includes the first motor and institute
The first sliding block stating the first threaded rod of the output axis connection of the first motor and being threadedly coupled with first threaded rod.
As a kind of preferred embodiment of above-mentioned puncturing operation system, the second connecting rod mechanism includes the second master connecting-rod, institute
It states second master connecting-rod one end and is articulated with the puncture needle holder and hold on device, the other end is hinged with third strut, the second main company
The 4th strut is hinged in the middle part of bar；Second dynamical system includes two the second driving mechanisms, two the second driving mechanisms
Hinged with third strut and the 4th strut respectively, two second driving mechanisms are straight line driving mechanism.
As a kind of preferred embodiment of above-mentioned puncturing operation system, it includes shell that the puncture needle holder, which holds device, described outer
Third driving mechanism is provided in shell, the output end of the third driving mechanism is straight line driving mechanism, and output end is connected with
The support rod of the shell is stretched out, stop block is fixed on the support rod, the puncture needle is threaded through on the stop block.
As a kind of preferred embodiment of above-mentioned puncturing operation system, the third driving mechanism includes fixing on the shell
Second motor is connected with first gear on the output shaft of second motor, and the first gear is engaged with second gear, described
Second gear is coaxially connected with the second threaded rod, the axis of the axis of second threaded rod and the output shaft of second motor
In parallel, the second sliding block is threaded on second threaded rod, second sliding block connects the support rod.
It further include the second positioning system as a kind of preferred embodiment of above-mentioned puncturing operation system, second positioning system
The Ultrasonic-B probe is connected on system, second positioning system controls the Ultrasonic-B probe to the tissue around point of puncture and wears
Thorn path is monitored.
As a kind of preferred embodiment of above-mentioned puncturing operation system, second positioning system include third connecting rod mechanism,
Fourth link mechanism and the fixed device of Ultrasonic-B probe, the input terminal of the third connecting rod mechanism is connected with third dynamical system, described
The output end flexural pivot of third connecting rod mechanism is connected to the top or lower part of the fixed device of the Ultrasonic-B probe, the fourth link mechanism
Input terminal be connected with the 4th dynamical system, the output end of the second connecting rod mechanism is articulated with the fixed device of the Ultrasonic-B probe
Lower part or top.
As a kind of preferred embodiment of above-mentioned puncturing operation system, the imaging device includes station, the mechanical arm
It is hinged on the station；
The mechanical arm include the first arm and the second arm, first arm and the station are hinged, second arm and
The first positioning system connection, is rotatably connected between first arm and the second arm.
A kind of preferred embodiment of method as above-mentioned puncturing operation can wear biopsy needle, drain in the puncture needle
Conduit or rubble scalpel.
Beneficial effects of the present invention：
Puncturing operation system proposed by the present invention, including camera, Ultrasonic-B probe, piercing mechanism and imaging device connect respectively
It connects, before puncture, the blending image for the image that piercing mechanism can be obtained according to the image and camera that CT scanner obtains, and
When adjustment puncture needle position and angle, with guarantee puncture accuracy；When puncturing, Ultrasonic-B probe obtains image and is sent into
As being shown on device, with the puncture path real-time monitoring to puncture needle, guarantee the accuracy of puncturing operation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the puncturing operation system that the specific embodiment of the invention provides；
Fig. 2 is the structural schematic diagram for the piercing mechanism that the specific embodiment of the invention provides；
Fig. 3 is the structural representation of relatively fixed connection between the first arm and the second arm of specific embodiment of the invention offer
Figure；
Fig. 4 is to be relatively rotatable to each other the structure of connection between the first arm and the second arm that the specific embodiment of the invention provides
Schematic diagram；
Fig. 5 is the structural schematic diagram of the first positioning system that the specific embodiment of the invention provides and the second positioning system；
Fig. 6 is the structural schematic diagram for first one angle of positioning system that the specific embodiment of the invention provides；
Fig. 7 is the structural schematic diagram for first positioning system another angle that the specific embodiment of the invention provides；
Fig. 8 is the structural schematic diagram for the third driving mechanism that the specific embodiment of the invention provides；
Fig. 9 is the structural schematic diagram for the second positioning system that the specific embodiment of the invention provides；
Figure 10 is the flow chart of the operating method for the puncturing operation system that the specific embodiment of the invention provides.
Wherein, 1 lying bed；11, bed body；12, support construction；13, pulley；
2, imaging device；21, station；22, display screen；23, idler wheel；
3, piercing mechanism；
31, mechanical arm；311, the first arm；312, the second arm；313, first connecting portion；314, second connecting portion；315, it revolves
Button；3141, stud；3151, hand-operated；3152, locking member；
32, puncture needle；
33, the first positioning system；
331, the first shell；332, the first driving mechanism；333, the second driving mechanism；
334, first connecting rod mechanism；3341, the first master connecting-rod；3342, the first strut；3343, the second strut；
335, second connecting rod mechanism；3351, the second master connecting-rod；3352, third strut；3353, the 4th strut；
336, puncture needle holder holds device；3361, second housing；3362, third driving mechanism；3363, support rod；3364,
Stop block；3365, hinge bar；3366, casing；
33621, the second motor；33622, first gear；33623, second gear；33624, the second threaded rod；33625,
Second sliding block；
4, object；
5, camera；
6, Ultrasonic-B probe；
7, the second positioning system；71, third shell；72, third connecting rod mechanism；73, fourth link mechanism；74,4 wheel driven
Motivation structure；75, the 5th driving mechanism；76, the fixed device of Ultrasonic-B probe.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
As shown in figs 1-9, present embodiment provides a kind of puncturing operation system, the puncturing operation system include lying bed 1, at
As device 2, piercing mechanism 3, object 4, CT scanner (not shown), camera 5, Ultrasonic-B probe 6 and controller.Its
Middle lying bed 1 lies down when performing the operation for patient, and the bottom of lying bed 1 is provided with pulley 13, lying bed 1 can be made to slide on the ground.Mesh
Mark object 4 is fixed on the operative site of patient, for positioning to be marked to operative site.Puncture needle is provided on piercing mechanism 3
32, the position of puncture needle 32 and adjustable angle.CT scanner carries out the tissue of object 4 and operative site before being used to puncture
Scanning, obtains the image of the tissue of the object 4 and operative site；Camera 5 is fixed on piercing mechanism 3, when puncture
It takes pictures to object 4 and operative site, obtains the image of the skin of the object 4 and operative site；Ultrasonic-B probe
6 for puncture when to around point of puncture tissue and puncture path be monitored, to obtain the image around point of puncture.At
As that can show CT scanner on device 2, the fusion for the image that can be obtained according to the image and camera 5 that CT scanner obtains
Image and it can show the image that Ultrasonic-B probe 6 obtains, imaging device 2 is arranged in the side of lying bed 1, and surgical staff can be with
When observation imaging device 2 on the image that presents.Object 4 is fixed on the operative site of patient, can be in CT scanner and camera shooting
First 5 are formed by when image match/merge as object of reference.
Controller is separately connected with camera 5, Ultrasonic-B probe 6, piercing mechanism 3 and imaging device 2, the controller before puncture
The blending image for the image that can be obtained according to the image and camera 5 that CT scanner obtains, the control movement of piercing mechanism 3 is to adjust
The position of whole puncture needle 32 and angle, are in real time adjusted puncture needle 32, and the physiology of patient is avoided to act to puncture needle 32
Position and angle have an impact, and guarantee the accuracy punctured；When puncturing, controller control Ultrasonic-B probe 6 obtains image and sends
It is shown on to imaging device 2, with the puncture path real-time monitoring to puncture needle 32, guarantees the accuracy of puncturing operation.
As shown in Figure 1, lying bed 1 includes bed body 11 and the support construction 12 being supported to bed body 11 in present embodiment,
The lower part of support construction 12 is connected with pulley 13, and pulley 13 is directly contacted with ground.Brake is provided on the pulley 13 of lying bed 1
Structure, when arrestment mechanism brake sheave 13, pulley 13 can not be moved, when brake release of the arrestment mechanism to pulley 13, pulley
13 can flexibly move, and above-mentioned 13 structure of pulley can facilitate the position of adjustment lying bed 1.The support construction 12 of lying bed 1 is by multiple
Telescopic bar composition, the lifting of bar adjustable bed body 11 when flexible, lying bed 1 can adapt to the doctor of different height, side
Just different doctors performs the operation.
As shown in Figure 1, imaging device 2 includes two display screens 22 being arranged on station 21 and station 21.Operation
The bottom of platform 21 is provided with idler wheel 23, and idler wheel 23 can facilitate the movement of imaging device 2.Station 21 is liftable structure, from
And the height of display screen 22 can be adjusted.A display screen 22 in two display screens 22 can show the figure that camera 5 obtains
The composograph for the image that picture and CT scanner obtain, another display screen 22 can show the image that Ultrasonic-B probe 6 obtains.
As shown in Fig. 2, piercing mechanism 3 further includes the mechanical arm 31 being movably arranged and for installing puncture needle 32 and right
The first positioning system 33 that puncture needle 32 is positioned, the first positioning system 33 and camera 5 are arranged on mechanical arm 31, the
One positioning system 33 connects controller, and controller can be according to the image that the image and camera 5 that CT scanner obtains obtain
Blending image controls position and the angle of the first positioning system 33 adjustment puncture needle 32.Mechanical arm 31 can be hinged in lying bed 1
It can also be hinged on station 21.Mechanical arm 31 includes the first arm 311 and the second arm 312, the first arm 311 and lying bed 1 or behaviour
It is hinged to make platform 21, the second arm 312 is connect with the first positioning system 33, is rotatably connected between the first arm 311 and the second arm 312.
It is realized by knob 315 to the first arm 311 and the second arm 312 relatively rotates and relatively-stationary adjustment.
Camera 5 is fixed on the second arm 312, and the first positioning system 33 is fixed on one of camera 5 far from the second arm 312
Side.
As shown in Figures 3 and 4, the first arm 311 connects first connecting portion 313, and the second arm 312 connects second connecting portion 314.The
The middle part of one interconnecting piece 313 is through-hole.Knob 315 and second connecting portion 314 are located at the two sides of first connecting portion 313, the
Two interconnecting pieces 314 are convexly equipped with stud 3141 close to the side of first connecting portion 313, and stud 3141 protrudes into first connecting portion 313
In through-hole.Knob 315 includes hand-operated 3151, is fixed with locking member 3152 on hand-operated 3151, offers on locking member 3152
Internal thread hole.Hand-operated 3151 is pressed in the one end of first connecting portion 313 far from second connecting portion 314, and locking member 3152 protrudes into
It is threadedly coupled in the through-hole of one interconnecting piece 313 with stud 3141.When knob 315 screws, as shown in figure 3, manual rotation manual
Portion 3151, when so that the connection area of locking member 3152 and stud 3141 is bigger, knob 315 is by first connecting portion 313 and second
Interconnecting piece 314 is tightly pressed together, and is cannoted rotate relative to each other until between first connecting portion 313 and second connecting portion 314, realizes
It is relatively fixed between one arm 311 and the second arm 312.Knob 315 reversely rotates, as shown in figure 4, the first arm 311 then can be achieved
And the second relative rotation between arm 312.
In present embodiment, referring to Fig. 5-Fig. 7, the first positioning system 33 include the first shell 331, the first dynamical system,
Second dynamical system, first connecting rod mechanism 334, second connecting rod mechanism 335 and puncture needle holder hold device 336.First dynamical system
It is arranged in the first shell 331 with the second dynamical system, and the first dynamical system includes two the first driving mechanisms 332, the
Two dynamical systems include two the second driving mechanisms 333.First driving mechanism 332 is identical with the structure of the second driving mechanism 333,
It is straight line driving mechanism.The input terminal of first connecting rod mechanism 334 connects the first dynamical system, and output end is located at the first shell
The 331 outsides and top spherical surface for holding device 336 with puncture needle holder is hinged.The input terminal connection second of second connecting rod mechanism 335 is dynamic
Force system, output end are located at 331 outside of the first shell and hold the lower hinge of device 336 with puncture needle holder.First connecting rod mechanism
334 and the movement of second connecting rod mechanism 335 can be realized adjustment puncture needle holder and hold position and the angle of device 336, to realize
Adjust position and the angle of puncture needle 32.In other embodiments, the position of first connecting rod mechanism 334 and second connecting rod mechanism 335
Setting mutually to exchange.
As shown in Figure 6 and Figure 7, first connecting rod mechanism 334 includes the first master connecting-rod 3341,3341 one end ball of the first master connecting-rod
It cuts with scissors and is held on device 336 in puncture needle holder, the other end is hinged with the first strut 3342, and the middle part of the first master connecting-rod 3341 is hinged with
Two struts 3343；Two the first driving mechanisms 332 are hinged with the first strut 3342 and the second strut 3343 respectively.Specifically,
One driving mechanism 332 includes on the first threaded rod and the first threaded rod of the output axis connection of the first motor and the first motor
The first sliding block being threadedly coupled.In two the first driving mechanisms 332 first sliding block respectively with the first strut 3342 and the second strut
3343 is hinged.
As shown in Figure 6 and Figure 7, second connecting rod mechanism 335 includes the second master connecting-rod 3351,3351 one end of the second master connecting-rod hinge
It is connected to puncture needle holder to hold on device 336, the other end is hinged with third strut 3352, and the middle part of the second master connecting-rod 3351 is hinged with
Four struts 3353；Two the second driving mechanisms 333 are hinged with third strut 3352 and the 4th strut 3353 respectively.Specifically,
Two driving mechanisms 333 are identical as the structure of the first driving mechanism 332, the output axis connection including the first motor and the first motor
The first threaded rod and the first threaded rod on the first sliding block for being threadedly coupled.First sliding block in two the second driving mechanisms 333
It is hinged with third strut 3352 and the 4th strut 3353 respectively.
Two the first threaded rods in two the first threaded rods and the second driving mechanism 333 in first driving mechanism 332
It is arranged in parallel.
The first motor in first driving mechanism 332 and the second driving mechanism 333 is connect with controller, and controller can be with
Control steering and the rotation time of the first motor.The positive and negative rotation of first motor can be realized control the first sliding block glide direction,
Rotation time can control the distance mobile towards a direction of the first sliding block.First connecting rod mechanism 334 and second connecting rod mechanism
Position and angle that device 336 is held to puncture needle holder may be implemented in change in location of first sliding block on the first threaded rod in 335
Degree is adjusted.
Above-mentioned the first master connecting-rod 3341 and the second master connecting-rod 3351 is in bending, the second strut 3343 and the 4th strut
3353 are separately connected the corner of the first master connecting-rod 3341 and the corner of the second master connecting-rod 3351.
As shown in Figure 5-Figure 8, it includes second housing 3361 that puncture needle holder, which holds device 336, is provided in second housing 3361
The output end of third driving mechanism 3362, third driving mechanism 3362 is straight line output, and output end is connected with stretching second housing
3361 support rod 3363 is fixed with stop block 3364 on support rod 3363, and puncture needle 32 is threaded through on stop block 3364.
Hinge bar 3365 is provided on the outer surface of second housing 3361, hinge bar 3365 is parallel to the outer surface of shell,
First master connecting-rod, 3341 one end flexural pivot is in hinge bar 3365.In the outer surface of side of the second housing 3361 far from hinge bar 3365
It is hinged with casing 3366, casing 3366 is located at the lower section of stop block 3364.Puncture needle 32 includes head and needle portion, the outer diameter on head
Size is greater than the outer diameter in needle portion, and when puncture needle 32 is passed through on stop block 3364, head is limited by stop block 3364 in stop block
3364 tops, needle portion is threaded through in casing 3366 after passing through stop block 3364, due to puncture needle 32, stop block 3364 and casing
3366 interaction will not generate random shaking although casing 3366 and housing hinge.Second master connecting-rod 3351 is hinged
In the hinged place of casing 3366 and second housing 3361.
Third driving mechanism 3362 includes the second motor 33621 being fixed on second housing 3361, the second motor 33621
Output shaft on be arranged with first gear 33622, first gear 33622 is engaged with second gear 33623, second gear 33623
It is coaxially connected with the second threaded rod 33624, the axis of the second threaded rod 33624 is parallel with the axis of the output shaft of motor, and second
The second sliding block 33625,33625 connection support bar 3363 of the second sliding block are threaded on threaded rod 33624.Second threaded rod
33624 are arranged in parallel with support rod 3363, so that support rod 3363 moves along a straight line, since puncture needle holder holds device 336 generally
It is along the vertical direction or at an acute angle with vertical direction, so up and down direction movement may be implemented in support rod 3363, so as to adjust wearing
The height of pricker 32.
As shown in figs. 5 and 9, puncturing operation system further includes the second positioning system 7, and the second positioning system 7, which is fixed on, to be taken the photograph
As first 5 sides far from the second arm 312.Ultrasonic-B probe 6 and controller, controller control second are connected in second positioning system 7
Positioning system 7 act so that Ultrasonic-B probe 6 to around point of puncture tissue and puncture path be monitored.
Second positioning system 7 include third shell 71, third dynamical system, the 4th dynamical system, third connecting rod mechanism 72,
Fourth link mechanism 73 and the fixed device 76 of Ultrasonic-B probe.Third dynamical system and the 4th dynamical system are provided in third shell 71
System, third dynamical system include two the 4th driving mechanisms 74, and the 4th dynamical system includes two the 5th driving mechanisms 75.Third
72 input terminal of link mechanism is connect with third dynamical system, the fixed device 76 of the output end and Ultrasonic-B probe of third connecting rod mechanism 72
Lower spherical it is hinged.The input terminal of fourth link mechanism 73 is connect with the 4th dynamical system, the output of fourth link mechanism 73
It holds hinged with the top of the fixed device 76 of Ultrasonic-B probe.
Third dynamical system includes two the 4th driving mechanisms 74, and the 4th dynamical system includes two the 5th driving mechanisms
75, the 4th driving mechanism 74 and the 5th driving mechanism 75 are essentially identical with the structure of the first driving mechanism 332, and difference exists
In, the first sliding block in the 4th driving mechanism 74 is connect with third connecting rod mechanism 72, in the 5th driving mechanism 75 first sliding block with
Fourth link mechanism 73 connects.
Third connecting rod mechanism 72 includes third master connecting-rod, the 5th strut and the 6th strut, and third master connecting-rod one end flexural pivot is in B
On super probe fixing device 76, the other end is hinged with the 5th strut, and the 6th strut is hinged in the middle part of third master connecting-rod.Two
The first sliding block in four driving mechanisms 74 is respectively articulated with the 5th strut and the 6th strut.
Fourth link mechanism 73 includes the 4th master connecting-rod, the 7th strut and the 8th strut, and the 4th master connecting-rod one end flexural pivot is in B
On super probe fixing device 76, the other end is hinged with the 7th strut, is hinged with the 8th strut in the middle part of the 4th master connecting-rod.Two
The second sliding block 33625 in five driving mechanisms 75 is respectively articulated with the 7th strut and the 8th strut.
Ultrasonic-B probe 6 is slidably disposed on the fixed device 76 of Ultrasonic-B probe, and Ultrasonic-B probe 6, which can be realized, to be moved up and down.
It is provided with spring arrangement on the fixed device 76 of Ultrasonic-B probe, spring arrangement connects Ultrasonic-B probe 6, when Ultrasonic-B probe is fixed
When the pushing Ultrasonic-B probe 6 of device 76 is monitored, on the one hand Ultrasonic-B probe 6 can be pressed on human skin surface by spring arrangement,
On the other hand it can also to generate buffering between Ultrasonic-B probe 6 and human skin, avoid generating human body uncomfortable pressure.
As shown in Figure 10, present embodiment also provides the operating method of above-mentioned puncturing operation system, includes the following steps：
The first step：Five objects 4 that will be captured by CT scanner and camera 5 are fixed on outside operative site
On skin.
Wherein, object 4 is antiseptic skin label, and specific number is not limited to five, can choose three or more, can
By object by the image that CT scanner obtains and the image registration that camera 5 obtains.
Second step：It controls CT scanner scanning operative site and object 4 forms the first image, and according to the first image system
It is fixed to puncture planning, determine lesion locations.
CT scan is primarily directed to rib cage, bladder, ureter, renal tissue, kidney stone, liver, spleen, colon and object 4
It is scanned imaging.CT scan is usually to carry out in the previous day of operation.Object 4 is removed after the completion of CT scan, in target
The fixation position of object 4 is marked by anti-water-color paintbrush.
Third step：Camera 5 takes pictures in real time to object 4, forms the second image, and controller is obtained according to the second image
Take the real time position of object 4.
It is the operation same day, first that object 4 is fixed in the original location before camera 5 is taken pictures, then take pictures.
4th step：Controller is accurately positioned puncture needle, executes puncture according to the blending image of the first image and the second image
Planning.
5th step：Puncture needle 32 is penetrated into operative site by doctor, and in puncture process by Ultrasonic-B probe 6 to wearing
The puncture path of pricker 32 carries out real-time monitoring.
6th step：Carry out subsequent procedures operation.
In order to meet the needs of different treatments, the method for this puncturing operation system and puncturing operation can be used for percutaneous kidney and wear
Pierce biopsy, percutaneous kidney stoma drainage and Percutaneous nephrolithotomy, correspondingly, can be inserted in puncture needle 32 biopsy needle,
Draining pipe, rubble scalpel etc..Wherein, biopsy needle can be sampled analysis to lesion；Draining pipe can by urine from
It is discharged in kidney calices or renal plevis；Rubble scalpel can accurately crush kidney stone.
Note that above are only presently preferred embodiments of the present invention.It will be appreciated by those skilled in the art that the present invention is not limited to here
Specific embodiment, be able to carry out for a person skilled in the art it is various it is apparent variation, readjust and substitute without
It is detached from protection scope of the present invention.Therefore, although the present invention has been described in more detail through the above examples,
The present invention is not limited to the above embodiments only, can also include that more other are equivalent without departing from the inventive concept
Embodiment, and the scope of the invention is determined by the scope of the appended claims.
Claims (11)
1. a kind of puncturing operation system, which is characterized in that including：
Object (4), the object (4) are fixed on the operative site of patient, for positioning to be marked to operative site；
CT scanner obtains the target for being scanned before puncturing to the tissue of the object (4) and operative site
The image of the tissue of object (4) and operative site；
Camera (5) is used to take pictures to the skin of the object (4) and operative site before puncture, obtains institute
State the image of the skin of object (4) and operative site；
Piercing mechanism (3) is provided with puncture needle (32), the position of the puncture needle (32) and adjustable angle；
Ultrasonic-B probe (6), for puncture when to around point of puncture tissue and puncture path be monitored to obtain point of puncture
The image of surrounding；
Imaging device (2), the image obtained for showing the Ultrasonic-B probe (6).
2. puncturing operation system according to claim 1, which is characterized in that the piercing mechanism (3) further includes moving
Mechanical arm (31) and for install the puncture needle (32) and to the puncture needle (32) positioned first positioning be
It unites (33), first positioning system (33) and the camera (5) are arranged on the mechanical arm (31), and described first is fixed
The blending image for the image that position system (33) can be obtained according to the image and camera (5) that CT scanner obtains, described in adjusting
The position of puncture needle (32) and angle, are directed at the lesion locations prestored.
3. puncturing operation system according to claim 2, which is characterized in that first positioning system (33) includes first
Link mechanism (334), second connecting rod mechanism (335) and puncture needle holder are held device (336), the first connecting rod mechanism (334)
Input terminal is connected with the first dynamical system, and the output end and the puncture needle holder of the first connecting rod mechanism (334) hold device
(336) top or lower spherical is hinged, and the input terminal of the second connecting rod mechanism (335) is connected with the second dynamical system, institute
State the output end of second connecting rod mechanism (335) and the puncture needle holder hold device (336) lower part or top it is hinged.
4. puncturing operation system according to claim 3, which is characterized in that the first connecting rod mechanism (334) includes the
One master connecting-rod (3341), the first master connecting-rod (3341) one end flexural pivot are held on device (336) in the puncture needle holder, the other end
It is hinged with the first strut (3342), is hinged with the second strut (3343) in the middle part of first master connecting-rod (3341)；Described first
Dynamical system include two the first driving mechanisms (332), two first driving mechanisms (332) respectively with first strut
(3342) and the second strut (3343) hingedly, two first driving mechanisms (332) are straight line driving mechanism.
5. puncturing operation system according to claim 4, which is characterized in that first driving mechanism (332) includes the
One motor, be threadedly coupled with the first threaded rod of the output axis connection of first motor and with first threaded rod
One sliding block.
6. puncturing operation system according to claim 4 or 5, which is characterized in that the second connecting rod mechanism (335) includes
Second master connecting-rod (3351), described second master connecting-rod (3351) one end is articulated with the puncture needle holder and holds on device (336), another
End is hinged with third strut (3352), is hinged with the 4th strut (3353) in the middle part of second master connecting-rod (3351)；Described
Two dynamical systems include two the second driving mechanisms (333), two second driving mechanisms (333) respectively with the third branch
Hingedly, two second driving mechanisms (333) are straight line driving mechanism for bar (3352) and the 4th strut (3353).
7. puncturing operation system according to claim 3, which is characterized in that the puncture needle holder holds device (336) and includes
Shell is provided with third driving mechanism (3362) in the shell, and the third driving mechanism (3362) is straight line driving mechanism,
Its output end is connected with the support rod (3363) for stretching out the shell, is fixed with stop block on the support rod (3363)
(3364), the puncture needle (32) is threaded through on the stop block (3364).
8. puncturing operation system according to claim 7, which is characterized in that the third driving mechanism (3362) includes solid
Determine the second motor (33621) on the shell, is connected with first gear on the output shaft of second motor (33621)
(33622), the first gear (33622) is engaged with second gear (33623), and the second gear (33623) is coaxially connected
Have the second threaded rod (33624), the output shaft of the axis of second threaded rod (33624) and second motor (33621)
Axis it is parallel, be threaded with the second sliding block (33625) on second threaded rod (33624), second sliding block
(33625) support rod (3363) is connected.
9. according to the described in any item puncturing operation systems of claim 2-5, which is characterized in that further include the second positioning system
(7), it is connected with the Ultrasonic-B probe (6) on second positioning system (7), second positioning system (7) controls the B ultrasound
Probe (6) to around point of puncture tissue and puncture path be monitored.
10. puncturing operation system according to claim 9, which is characterized in that second positioning system (7) includes third
Link mechanism (72), fourth link mechanism (73) and Ultrasonic-B probe are fixed device (76), the input of the third connecting rod mechanism (72)
End is connected with third dynamical system, and the output end flexural pivot of the third connecting rod mechanism (72) is connected to the fixed device of the Ultrasonic-B probe
(76) input terminal on top or lower part, the fourth link mechanism (73) is connected with the 4th dynamical system, the fourth link
The output end of mechanism (73) is hinged with the lower part or top of the Ultrasonic-B probe fixed device (76).
11. puncturing operation system according to claim 2, which is characterized in that the imaging device (2) includes station
(21), the mechanical arm (31) is hinged on the station (21)；
The mechanical arm (31) includes the first arm (311) and the second arm (312), first arm (311) and the station
(21) hingedly, second arm (312) connect with first positioning system (33), first arm (311) and described second
Arm is rotatably connected between (312).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810756325.0A CN108852473B (en) | 2018-07-11 | 2018-07-11 | Puncture operation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810756325.0A CN108852473B (en) | 2018-07-11 | 2018-07-11 | Puncture operation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108852473A true CN108852473A (en) | 2018-11-23 |
| CN108852473B CN108852473B (en) | 2024-03-15 |
Family
ID=64300734
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810756325.0A Active CN108852473B (en) | 2018-07-11 | 2018-07-11 | Puncture operation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108852473B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109820574A (en) * | 2019-01-31 | 2019-05-31 | 张囡囡 | A kind of liver localised puncture device |
| CN110353774A (en) * | 2018-12-15 | 2019-10-22 | 深圳铭杰医疗科技有限公司 | Assist Needle-driven Robot and its control method, computer equipment, storage medium |
| CN110368040A (en) * | 2019-07-01 | 2019-10-25 | 中奕智创医疗科技有限公司 | Needle pierces minimally invasive robot |
| CN111374740A (en) * | 2020-04-22 | 2020-07-07 | 张家港汇致机电设备有限公司 | Interatrial septum puncture art is with supplementary puncture system of augmented reality |
| CN113693690A (en) * | 2021-08-30 | 2021-11-26 | 广东工业大学 | Nuclear magnetic resonance compatible two-degree-of-freedom needle inserting angle adjusting mechanism for puncture surgery |
| CN113768590A (en) * | 2021-08-16 | 2021-12-10 | 郴州市第一人民医院 | Auxiliary system for B-ultrasonic guided puncture |
| CN114569212A (en) * | 2022-03-04 | 2022-06-03 | 汕头市超声仪器研究所股份有限公司 | Automatic guider of transperineal prostate puncture system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001128974A (en) * | 1999-11-08 | 2001-05-15 | Toshiba Corp | Puncture adapter for ultrasonographic apparatus and ultrasonographic apparatus |
| WO2007085953A1 (en) * | 2006-01-26 | 2007-08-02 | Nanyang Technological University | Apparatus and method for motorised placement of needle |
| CN102512246A (en) * | 2011-12-22 | 2012-06-27 | 中国科学院深圳先进技术研究院 | Surgery guiding system and method |
| CN105188560A (en) * | 2012-12-11 | 2015-12-23 | 生物机器人医疗有限公司 | An apparatus and method for biopsy and therapy |
| EP3072472A1 (en) * | 2015-03-25 | 2016-09-28 | Germán Carlos Rey Portolés | Stereotactic whole-body guide system for precisely positioning surgical instruments inside the body |
| CN106419960A (en) * | 2016-12-04 | 2017-02-22 | 无锡圣诺亚科技有限公司 | Ultrasonic apparatus having ultrasonic puncture navigation mechanism |
| CN107970060A (en) * | 2018-01-11 | 2018-05-01 | 上海联影医疗科技有限公司 | Surgical robot system and its control method |
| CN208926538U (en) * | 2018-07-11 | 2019-06-04 | 深圳熙康医疗科技有限公司 | A kind of puncturing operation system |
-
2018
- 2018-07-11 CN CN201810756325.0A patent/CN108852473B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001128974A (en) * | 1999-11-08 | 2001-05-15 | Toshiba Corp | Puncture adapter for ultrasonographic apparatus and ultrasonographic apparatus |
| WO2007085953A1 (en) * | 2006-01-26 | 2007-08-02 | Nanyang Technological University | Apparatus and method for motorised placement of needle |
| CN102512246A (en) * | 2011-12-22 | 2012-06-27 | 中国科学院深圳先进技术研究院 | Surgery guiding system and method |
| CN105188560A (en) * | 2012-12-11 | 2015-12-23 | 生物机器人医疗有限公司 | An apparatus and method for biopsy and therapy |
| EP3072472A1 (en) * | 2015-03-25 | 2016-09-28 | Germán Carlos Rey Portolés | Stereotactic whole-body guide system for precisely positioning surgical instruments inside the body |
| CN106419960A (en) * | 2016-12-04 | 2017-02-22 | 无锡圣诺亚科技有限公司 | Ultrasonic apparatus having ultrasonic puncture navigation mechanism |
| CN107970060A (en) * | 2018-01-11 | 2018-05-01 | 上海联影医疗科技有限公司 | Surgical robot system and its control method |
| CN208926538U (en) * | 2018-07-11 | 2019-06-04 | 深圳熙康医疗科技有限公司 | A kind of puncturing operation system |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110353774A (en) * | 2018-12-15 | 2019-10-22 | 深圳铭杰医疗科技有限公司 | Assist Needle-driven Robot and its control method, computer equipment, storage medium |
| CN109820574A (en) * | 2019-01-31 | 2019-05-31 | 张囡囡 | A kind of liver localised puncture device |
| CN109820574B (en) * | 2019-01-31 | 2021-08-20 | 张囡囡 | Liver positioning and puncturing device |
| CN110368040A (en) * | 2019-07-01 | 2019-10-25 | 中奕智创医疗科技有限公司 | Needle pierces minimally invasive robot |
| CN111374740A (en) * | 2020-04-22 | 2020-07-07 | 张家港汇致机电设备有限公司 | Interatrial septum puncture art is with supplementary puncture system of augmented reality |
| CN111374740B (en) * | 2020-04-22 | 2021-10-08 | 重庆市江津区中心医院 | Interatrial septum puncture art is with supplementary puncture system of augmented reality |
| CN113768590A (en) * | 2021-08-16 | 2021-12-10 | 郴州市第一人民医院 | Auxiliary system for B-ultrasonic guided puncture |
| CN113693690A (en) * | 2021-08-30 | 2021-11-26 | 广东工业大学 | Nuclear magnetic resonance compatible two-degree-of-freedom needle inserting angle adjusting mechanism for puncture surgery |
| CN113693690B (en) * | 2021-08-30 | 2022-09-02 | 广东工业大学 | Nuclear magnetic resonance compatible two-degree-of-freedom needle inserting angle adjusting mechanism for puncture surgery |
| CN114569212A (en) * | 2022-03-04 | 2022-06-03 | 汕头市超声仪器研究所股份有限公司 | Automatic guider of transperineal prostate puncture system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108852473B (en) | 2024-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208926538U (en) | A kind of puncturing operation system | |
| CN108852473A (en) | A kind of puncturing operation system | |
| JP2021525632A (en) | Medical imaging method using multiple sequences | |
| CN108175510A (en) | Medical robot and medical system | |
| CN107693120B (en) | A kind of operated eye robot | |
| CN105916463A (en) | Detachable-mountable arc-shaped precise positioning equipment | |
| CN109480878B (en) | C-arm X-ray apparatus and method of acquiring X-ray image | |
| EP3328306A1 (en) | Apparatus for performing fracture reduction | |
| US20200289207A1 (en) | Method of fluoroscopic surgical registration | |
| CN110141354A (en) | A kind of Kirschner wire guider and its application method based on pediatric Orthopaedics operative treatment | |
| CN106859766B (en) | Navigation system for being resetted in shaft fracture marrow | |
| KR20160122558A (en) | Hair transplant apparatus | |
| DE60024994T2 (en) | Remote control system for positioning an observation / intervention device | |
| CN113729941B (en) | VR-based operation auxiliary positioning system and control method thereof | |
| CN108324358B (en) | Fracture fixation device and fracture reduction system | |
| CN110115601A (en) | A kind of ultrasound guidance breast lesion Stereoscopic localized instrument | |
| EP3632294B1 (en) | System and method for holding an image reproduction device | |
| CN217938333U (en) | Pneumatic rigidity-variable six-freedom-degree CT-MRI needle puncture robot | |
| CN101627915A (en) | C-arm X-ray perspective machine with external pick-up device | |
| CN218606798U (en) | Projection principle-based guide nail placing device, guide robot and integrated orthopedic surgery equipment | |
| EP1795143A1 (en) | Device for guiding needles, particularly biopsy needles or the like | |
| CN112155738B (en) | Meniscus miniature surgical robot in knee joint | |
| CN114795444A (en) | Guiding robot based on projection principle and bone surgery nail placing method | |
| CN211460115U (en) | Novel endoscope adjusting device for breast augmentation plastic surgery | |
| CN209107951U (en) | Orthopedic robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200217 Address after: 518000 Life Science Workshop B2101, Shencheng investment creative factory, JuLongshan a road, xiuxin community, Kengzi street, Pingshan District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Aosheng Medical Technology Co.,Ltd. Address before: 518000 Granda Equipment Industrial Park Phase II Factory Building N Area of Zhukeng Community, Longtian Street, Pingshan District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN XIKANG MEDICAL TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |