CN109077784A

CN109077784A - Comprehensive piercing mechanism and medical accurate lancing system

Info

Publication number: CN109077784A
Application number: CN201810949173.6A
Authority: CN
Inventors: 朱远湖; 吴育化
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-08-20
Filing date: 2018-08-20
Publication date: 2018-12-25
Anticipated expiration: 2038-08-20
Also published as: CN109077784B

Abstract

The present invention discloses a kind of comprehensive piercing mechanism and medical accurate lancing system, the comprehensive piercing mechanism includes all-direction rotation mechanism and sting device, all-direction rotation mechanism is for driving sting device to rotate set angle in solid space around a fixed point, wherein, for fixed point on the extended line where the puncture direction of sting device 30, set angle is set as the arbitrary value between 0 ° -360 °.It puncture sting device can in any angle, preferably avoid important organ and tissue etc., guarantee the safety of patient.

Description

Comprehensive piercing mechanism and medical accurate lancing system

Technical field

The present invention relates to a kind of Medical Devices, and in particular to a kind of comprehensive piercing mechanism and medical accurate lancing system.

Background technique

Puncture is will to puncture to be needled into body to extract secretion and/or soft tissue etc. and chemically examine, or into body Injection gas or contrast agent do contrast examination, and put in drug, locator markers, radion etc. extremely into body A kind of a kind of few Clinics treated.It is carried out on living body when due to this puncture, in order to avoid in puncture process It is accidentally punctured to normal tissue, causes secondary injury to living body, it is necessary to assure the precision of puncture.Previous puncturing operation often needs companion It just may be implemented precisely to puncture with the support of X ray image, certain radiation can be caused to the medical worker of operation puncturing operation Injury.With the continuous development of Medical Imaging Technology, CT (CT scan) or MRI (magnetic resonance can be first passed through Imaging) determine that entering for puncturing operation and enters needle depth at pin mark, then by adjusting the puncture direction of puncture needle, to guarantee that puncture needle can Target position is punctured to accurately arrive at, achievees the purpose that precisely to diagnose or treat.In order to easily adjust puncture needle Direction is punctured, produces locating rack etc. for adjusting the device and equipment that puncture pin puncture direction, for example, publication No. is The application for a patent for invention of CN106852702A discloses a kind of puncture needle positioning apparatus, which includes backrest And positioning mechanism, positioning mechanism are arranged in backrest, positioning mechanism includes position adjustment structure and angle-adjusting mechanism, position Setting adjustment structure can move along first direction and second direction relative to backrest, and position adjustment structure includes first puncture needle piece, Angle-regulation structure is arranged in position adjustment structure, and can relative position adjustment structure it is mobile, angle-regulation structure includes the Two needle threading sheets, puncture needle can be arranged in the second needle threading sheet and the first needle threading sheet, be threaded a needle by angle-regulation structure driving second Piece is moved along first direction and/or second direction, adjusts the relative position of the second needle threading sheet and the first needle threading sheet, adjustable to wear Pricker enters needle angle.With this solution, the step of can simplify positioning puncture needle, and promote the positioning accuracy of puncture needle.

But since the adjustment of the puncture angle of the puncture needle of the puncture needle positioning apparatus needs by adjusting positional relationship It is needed into needle angle to adjust by being changed with the relationship for entering needle angle at a distance from the first needle threading sheet the second needle threading sheet It calculates, operates still more complicated；And when adjusting the position of the second needle threading sheet by angle-regulation structure, the first needle threading sheet is kept It is static, at this point, the second needle threading sheet is only capable of moving along first direction and/or second direction, only under the adjustment of angle-regulation structure The needle angle that enters of puncture needle can be made to adjust between 0-180 ° of space, puncture needle to enter needle angle limited, when puncture, can not be very The defects of avoiding important organ and tissue well.Also, these defects but also the puncture needle positioning apparatus usage mode It is limited, the safety of patient when not can guarantee puncture.

Summary of the invention

Puncture needle carries out fast accurate puncture in space any angle when in order to allow to puncture, avoid important organ and Tissue etc. reduces because puncturing error caused by the unconscious offset of patient, respiratory movement etc., guarantees the safety of patient, according to this hair Bright one aspect provides a kind of comprehensive piercing mechanism.

The comprehensive piercing mechanism includes all-direction rotation mechanism and sting device, and all-direction rotation mechanism is worn for driving Thorn device rotates set angle around a fixed point in solid space, wherein fixed point is set to where the puncture direction of sting device On extended line, set angle is set as the arbitrary value between 0 ° -360 °.

When the comprehensive piercing mechanism and CT (CT scan) or MRI (magnetic resonance imaging) match When, the comprehensive piercing mechanism is arranged on locating rack first, and the comprehensive piercing mechanism and patient are opposite with CT or MRI Position is fixed, and being established by laser system with reference to isocenter point (is by laser system the two of patient body with reference to isocenter point The intersection point that the laser rays of side and top transmitting is formed determines, is for the ginseng for the three-dimensional coordinate for determining the puncture target of patient's body Examine origin), meanwhile, in the laser rays that the surface markers laser system of the skin of patient or the body film of immobilized patients or head film issues The intersection point intersected to form establishes reference frame according to intersection point, and places metal marker object at mark point, doctor by CT or The medical image that MRI scan is rebuild determines the puncture target of patient's body, punctures the space coordinate of target and enters the space of pin mark Coordinate, to obtain into pin position, enter needle direction and enter needle depth；It determines pin mark and to be avoided as far as possible when entering needle direction important Organ and tissue, avoid because caused by being punctured to important organ and tissue puncture sequelae；Since all-direction rotation mechanism drives When dynamic sting device rotation institute around fixed point be respectively positioned on the extended line for puncturing direction of sting device namely comprehensive puncture machine Structure is arranged its fixed point when on locating rack and necessarily passes into needle direction, or the driving device by being arranged on locating rack or position tune Complete machine structure adjusts the fixed point of comprehensive piercing mechanism to entering on needle direction, then, is punctured by all-direction rotation institutional adjustment The rotational angle of device, so that it is conllinear with needle direction is entered to make the puncture direction of sting device, at this point, by sting device along puncture Direction is punctured, and sting device can be made along needle direction is entered, from the skin for entering pin mark piercing patient, obtained according to from medical image What is taken enters needle depth, and final accurate reach punctures target position, and when terminating to puncture, sting device is returned along original route.It is logical The comprehensive piercing mechanism is crossed, sting device can be made to rotate the angle of setting, and the angular range set in spatial dimension Between 0 ° -360 °, to keep the puncture direction of sting device unrestricted, allow doctor in CT or MRI and locating rack Auxiliary under, preferably determine needle direction, enter pin position and enter needle depth, to avoid important organ and tissue etc., reduce The risk of puncture reduces and punctures the pain caused by patient, avoids because after puncture caused by being punctured to important organ and tissue etc. Lose disease.

Puncture needle carries out fast accurate puncture in space any angle when in order to allow to puncture, avoid important organ and Tissue etc. reduces because puncturing error caused by the unconscious offset of patient, respiratory movement etc., guarantees the safety of patient, according to this hair Bright one aspect provides a kind of medical accurate lancing system.

The medical accurate lancing system includes comprehensive piercing mechanism above-mentioned and for adjusting comprehensive piercing mechanism The three-dimensional position adjustment mechanism of three-dimensional position, comprehensive piercing mechanism are set on three-dimensional position adjustment mechanism.

When the medical accurate lancing system is matched with CT (CT scan) or MRI (magnetic resonance imaging) When, the medical accurate lancing system and patient are fixed with the relative position CT or MRI first, reference etc. is established by laser system Central point (is that the intersection point that the laser rays by laser system in the two sides of patient body and top transmitting is formed is true with reference to isocenter point It is fixed, be for the reference origin for the three-dimensional coordinate for determining the puncture target of patient's body), meanwhile, skin or fixation in patient The intersection point that the laser rays that the body film of patient or the surface markers laser system of head film issue intersects to form, establishes according to intersection point and refers to Coordinate system, and metal marker object is placed at mark point, doctor determines patient's body by the medical image that CT or MRI scan are rebuild The space coordinate of interior puncture target, puncture target and the space coordinate for entering pin mark, obtaining into pin position, entering needle direction and entering Needle depth；It determines pin mark and to avoid important organ and tissue as far as possible when entering needle direction, avoid important because being punctured to Organ and tissue cause to puncture sequelae；Then comprehensive piercing mechanism movement is driven by three-dimensional position adjustment mechanism, so that On the fixed-point motion of comprehensive piercing mechanism to the straight line entered where needle direction, then dress punctured by the driving of all-direction rotation mechanism Set rotate up to the puncture direction of sting device with enter needle direction and be overlapped to start to be punctured, by sting device along puncture Direction is punctured, and sting device can be made along needle direction is entered, from the skin for entering pin mark piercing patient, obtained according to from medical image What is taken enters needle depth, and final accurate reach punctures target position, and when terminating to puncture, sting device is returned along original route.It is logical The medical accurate lancing system is crossed, allows doctor under the auxiliary of CT or MRI, preferably determines needle direction, enter needle position Needle depth is set and entered, to avoid important organ and tissue etc., the risk of puncture is reduced, reduces and puncture the pain caused by patient Hardship is avoided because puncturing sequelae caused by being punctured to important organ and tissue etc., moreover, because sting device is in three-dimensional position tune Under the support of complete machine structure and all-direction rotation mechanism, it can be smoothly pierced into the puncture target of patient's body, in puncture process, The puncture needle of sting device will not shake, and complete after puncturing, and sting device can be returned along original route, reduce to puncture and make to patient At pain.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the comprehensive piercing mechanism of an embodiment of the present invention；

Fig. 2 is the structural schematic diagram at another visual angle of comprehensive piercing mechanism shown in Fig. 1；

Fig. 3 is the puncture pre-structure schematic diagram of a wherein embodiment for piercing mechanism shown in Fig. 2；

Fig. 4 is enlarged structure schematic diagram at the G of piercing mechanism shown in Fig. 3；

Fig. 5 is the schematic diagram of the section structure of piercing mechanism shown in Fig. 3；

Fig. 6 is the structural schematic diagram after the puncture of piercing mechanism shown in Fig. 3；

Fig. 7 is enlarged structure schematic diagram at the H of piercing mechanism shown in Fig. 6；

Fig. 8 is enlarged structure schematic diagram at the I of piercing mechanism shown in Fig. 6；

Fig. 9 is the structural schematic diagram of positioning ring shown in Fig. 3；

Figure 10 is the structural schematic diagram before the puncture of the another embodiment of piercing mechanism shown in Fig. 2；

Figure 11 is the structural schematic diagram after the puncture of piercing mechanism shown in Figure 10；

Figure 12 is the schematic diagram of the section structure of piercing mechanism shown in Figure 11；

The structural schematic diagram of the another embodiment of piercing mechanism shown in Figure 13 Fig. 2；

Figure 14 is the schematic diagram of the section structure after the injection of piercing mechanism shown in Figure 13 or before extracting；

Figure 15 is the schematic diagram of the section structure after the injection front and back of piercing mechanism shown in Figure 13 is extracted；

Figure 16 is the structural schematic diagram of borehole drill construction shown in Fig. 2；

Figure 17 is a kind of structural schematic diagram of embodiment of drill bit shown in Figure 16；

Figure 18 is the structural schematic diagram of another embodiment of drill bit shown in Figure 16；

Figure 19 is the structural schematic diagram of the medical accurate lancing system of an embodiment of the present invention；

Figure 20 is the structural schematic diagram at another visual angle of medical accurate lancing system shown in Figure 19；

Figure 21 is the L-L the schematic diagram of the section structure of medical accurate lancing system shown in Figure 20；

Figure 22 is enlarged structure schematic diagram at the B of medical accurate lancing system shown in Figure 21；

Figure 23 is enlarged structure schematic diagram at the C of medical accurate lancing system shown in Figure 21；

Figure 24 is the M-M the schematic diagram of the section structure of medical accurate lancing system shown in Figure 19；

Figure 25 is enlarged structure schematic diagram at the D of medical accurate lancing system shown in Figure 24；

Figure 26 is the N-N the schematic diagram of the section structure of medical accurate lancing system shown in Figure 19；

Figure 27 is the partial profile structure of medical accurate lancing system shown in Figure 26；

Figure 28 is enlarged structure schematic diagram at the F of medical accurate lancing system shown in Figure 27；

Figure 29 is pulley structure schematic diagram shown in Figure 28；

Figure 30 is body membrane structure diagram.

Specific embodiment

The invention will now be described in further detail with reference to the accompanying drawings.

Fig. 1 to Figure 18 schematically shows a kind of comprehensive piercing mechanism of embodiment according to the present invention.

As shown in Figure 1, the comprehensive piercing mechanism includes all-direction rotation mechanism and sting device 30, wherein comprehensive Rotating mechanism pinpoints for driving sting device 30 to rotate set angle in solid space around a fixed point and is set to sting device Puncture direction where extended line on, set angle is set as the arbitrary value between 0 ° -360 °.

When the comprehensive piercing mechanism and CT (CT scan) or MRI (magnetic resonance imaging) match When, the comprehensive piercing mechanism is arranged on locating rack first, and the comprehensive piercing mechanism and patient are opposite with CT or MRI Position is fixed, and being established by laser system with reference to isocenter point (is by laser system the two of patient body with reference to isocenter point The intersection point that the laser rays of side and top transmitting is formed determines, is for the ginseng for the three-dimensional coordinate for determining the puncture target of patient's body Examine origin), meanwhile, in the surface markers laser system of the skin of patient or the body film 52 (as shown in figure 30) of immobilized patients or head film The intersection point that the laser rays that system issues intersects to form, establishes reference frame according to intersection point, and metal marker is placed at mark point Object, doctor determine the puncture target of patient's body by the medical image that CT or MRI scan are rebuild, puncture the space coordinate of target With the space coordinate for entering pin mark, to obtain into pin position, enter needle direction and enter needle depth；It determines pin mark and is wanted when entering needle direction Important organ and tissue are avoided as far as possible, are avoided because puncturing sequelae caused by being punctured to important organ and tissue；Due to complete Orientation rotating mechanism driving sting device 30 rotate when institute around fixed point be respectively positioned on sting device 30 puncture direction extended line On namely comprehensive piercing mechanism be arranged when on locating rack its fixed point necessarily pass into needle direction, or by being set on locating rack The driving device set or position adjusting mechanism adjust the fixed point of comprehensive piercing mechanism to entering on needle direction, then, by complete Orientation rotating mechanism adjusts the rotational angle of sting device 30, so that the puncture direction of sting device 30 be made to be total to needle direction is entered Line can make sting device 30 along entering needle direction at this point, sting device 30 is punctured along direction is punctured, from entering pin mark It is pierced into the skin of patient, enters needle depth according to from medical image acquisition, final accurate reach punctures target position, terminates When puncture, sting device 30 is returned along original route.By the comprehensive piercing mechanism, sting device 30 can be made in spatial dimension The angle of interior rotation setting, and the angular range set is between 0 ° -360 °, thus make the puncture direction of sting device 30 not by Limit, allows doctor under the auxiliary of CT or MRI and locating rack, preferably determines needle direction, enters pin position and enter needle Depth reduces the risk of puncture to avoid important organ and tissue etc., reduces and punctures the pain caused by patient, avoid because Important organ and tissue etc. is punctured to cause to puncture sequelae.

In the present embodiment, as shown in Figure 1, all-direction rotation mechanism includes the first rotating mechanism 23 and the second rotating mechanism 24, the first rotating mechanism 23 drives sting device 30 to rotate the first set angle together for the second rotating mechanism 24 of driving, the Two rotating mechanisms 24 are for driving sting device 30 to rotate the second set angle, and the first set angle and the second set angle Value range is 0 ° -360 ° 30；Wherein, the shaft of the first rotating mechanism 23 is vertical with the shaft of the second rotating mechanism 24, the The shaft of two rotating mechanisms 24 and the puncture direction of sting device 30 are vertical, and the shaft of the first rotating mechanism 23, the second rotation The shaft of mechanism 24 and the puncture direction three of sting device 30 cross to form fixed point.To be rebuild by CT or MRI scan Medical image determine enter pin position, enter needle direction and enter needle depth after, can under the premise of fixed point is located at into needle direction, lead to Crossing the first rotating mechanism 23 drives the second rotating mechanism 24 that sting device 30 is driven to rotate the first set angle, then passes through second Rotating mechanism 24 drives sting device 30 to rotate the second set angle, so that it is default to rotate sting device 30 in solid space Angle realizes that the puncture direction of sting device 30 is conllinear with needle direction is entered, and then sting device 30 is punctured along direction is punctured. Specific first rotating mechanism 23 and the second rotating mechanism 24 can use servo motor.

In other embodiments, all-direction rotation mechanism also can be implemented as the rotation controllable universal rotational machine of angle Structure.

In the present embodiment, sting device 30 includes the piercing mechanism for picking and placing solid and extraction or injection fluid, Piercing mechanism fixs rotation round a fixed point in the second rotating mechanism 24 really.

In some embodiments, piercing mechanism as shown in figs. 3 to 9, including the puncture needle for puncture, is used for puncture Needle provides the outer needle guard 347 of puncture path, and for driving puncture needle and outer needle guard 347 to move upwards in puncture side, and limits The supplying position of fixed outer needle guard 347, to realize the Needle localization driving mechanism of anti-needle track tumor planting, and Needle localization driving machine Structure drives puncture needle and the rotation round a fixed point, therefore the piercing mechanism together of outer needle guard 347 under the driving of the second rotating mechanism 24 Also known as anti-needle track tumor planting piercing mechanism 34.

When puncture needle and outer needle guard 347 are conllinear with needle direction is entered under the adjustment of all-direction rotation mechanism, can first lead to It crosses Needle localization driving mechanism driving puncture needle and outer needle guard 347 to feed along direction is punctured, when outer needle guard 347 is close to lesions position When, stop that outer needle guard 347 is driven to advance, while continuing that puncture needle edge in the puncture path that outer needle guard 347 provides is driven to puncture Direction continues on, until marching into needle depth, punctures be needled into lesion at this time, the substance that can be will test or treat It is put into lesion, or samples from lesion to be used as detection, after puncture needle completes pick-and-place processing, can be driven by Needle localization Mechanism driving puncture needle moves in the puncture path that outer needle guard 347 provides, then is punctured by the driving of Needle localization driving mechanism Needle and outer needle guard 347 pull out needle together away from puncturing direction movement, with realize piercing mechanism, due to pulling out needle during once with disease The puncture needle that stove contacted is located in the puncture path of outer needle guard 347, by puncture needle with pull out normal tissue on needle path diameter every It opens, the glutinous puncture needle for having sick cell in lesion during pulling out needle is avoided to contact needle track tumor planting caused by normal cell.

In the present embodiment, as shown in Fig. 1, Fig. 3, Fig. 5 and Fig. 6, outer needle guard 347, which is equipped with, penetrates through the two of outer needle guard 347 First cavity at end, Needle localization driving mechanism include feeding driving mechanism 27, and feeding driving mechanism 27 is for driving localization machine Structure, puncturing driving mechanism, puncture needle and outer needle guard 347, movement, feeding driving mechanism 27 can be located at simultaneously on puncturing direction On second rotating mechanism；It simultaneously include the positioning mechanism being located on feeding driving mechanism 27, it is fixed for being moved in outer needle guard 347 When the spacing place of position mechanism, the external needle guard 347 of positioning mechanism is limited；It further include the puncture being located on feeding driving mechanism 27 Driving mechanism punctures driving mechanism for driving puncture needle and outer needle guard to move upwards in puncture side, and moves in outer needle guard When the spacing place of positioning mechanism, continue to drive puncture needle that the first cavity is stretched out or be at least retracted to from the first cavity along direction is punctured In, wherein positioning mechanism and puncture driving mechanism can be directly arranged in feeding driving mechanism 27, can also be arranged by connector On feeding driving mechanism 27, as long as can be moved under the driving of feeding driving mechanism 27.It is worn so as to first pass through It pierces driving mechanism driving puncture needle and outer needle guard 347 to feed along direction is punctured, when outer needle guard 347 moves to the limit of positioning mechanism It when place, punctures driving mechanism and no longer drive the movement of outer needle guard 347, outer needle guard 347 is close to lesions position at this time, while puncturing driving Mechanism continues that puncture needle is driven to continue in the first cavity along puncture direction, until marching into needle depth, wears at this time Pricker is pierced into lesion, and the substance that can be will test or treat is put into lesion, or is sampled from lesion to be used as detection, when wearing Pricker complete pick-and-place processing after, can by puncture driving mechanism drive puncture needle at least move in the first cavity, then by into Drive puncture needle and outer needle guard 347 together away from direction movement is punctured to driving mechanism 27, to realize puncture needle and outer needle guard 347 Pull out needle.

In the present embodiment, as shown in Fig. 1, Fig. 3, Fig. 5 and Fig. 6, positioning mechanism includes locating rack 344 and positioning ring 345； Wherein one end of locating rack 344 is located on feeding driving mechanism 27, and locating rack 344 also can be set into and pass through feeding driving mechanism 27 are driven rather than and are set up directly on feeding driving mechanism 27, as long as locating rack 344 can be driven by feeding driving mechanism 27 It is travelled upwardly in puncture side, and the free end of locating rack 344 is equipped with the positioning for limiting the shift position of positioning ring 345 Ring snap-in structure, positioning ring 345 be securely removably connected at the outside of outer needle guard 347 and be located at locating rack free end with into To between driving mechanism 27；Puncture needle is set in the first cavity, and the positioning ring 345 being arranged on outer needle guard 347 is moved to Before positioning ring snap-in structure, puncture needle drives outer needle guard 347 simultaneously on puncturing direction under the driving for puncturing driving mechanism It is mobile；From the positioning gas at positioning ring snap-in structure of ring 345, puncture needle punctures direction certainly in the driving lower edge for puncturing driving mechanism First cavity is stretched out or is at least retracted in the first cavity.To when outer needle guard 347 moves to positioning ring snap-in structure, fixed It under the snap-in function of position ring snap-in structure, punctures driving mechanism and outer needle guard 347 is no longer driven to move, to pass through setting positioning ring Snap-in structure limits the position of outer needle guard 347, easy to operate；Simultaneously as positioning ring 345 is detachably connected to outer needle guard On 347, the shift position of outer needle guard 347 is adjusted by link position of the positioning ring 345 on outer needle guard 347 It is whole, so that the piercing mechanism is can be adapted for anti-needle track tumor planting or the puncture of anti-pneumothorax of different lesions position.

Preferably, outer needle guard 347 is arranged to its frictional force for being less than itself and positioning ring 345 with the frictional force of puncture needle.By This, when positioning ring 345 is not fastened in positioning ring snap-in structure, puncture needle moves same under the driving for puncturing driving mechanism When can drive outer needle guard 347 by frictional force, and puncture direction in edge moves together；When positioning ring 345 is fastened on positioning ring snap-in structure When middle, since the frictional force of positioning ring 345 and outer needle guard 347 is greater than the frictional force of positioning ring 345 and puncture needle, in positioning ring In the case that 345 keep opposing stationary with positioning ring snap-in structure, outer needle guard 347 is static also relative to positioning ring snap-in structure, It is punctured at this point, puncture needle still can puncture direction movement in the driving lower edge for puncturing driving mechanism, thus, it is possible to make outer needle guard 347 are changed into stationary state from motion state automatically because being fastened in positioning ring snap-in structure, without operating control, operation letter Just.

In the present embodiment, as shown in figure 9, positioning ring 345 includes being ring-shaped outer ring 3453 and inner ring 3454, In, outer ring 3453 is made of two semicircular rings, and two semicircular rings are detachably connected, specifically, two semicircular ring engagings Connection, inner ring 3454 are also to be made of two semicircular rings, it is preferred that inner ring 3454 is made of elastic material, and outer ring 3453 is adopted It is made of rigid material.When outer ring 3453 be fastened on outer needle guard 347 it is outer when, inner ring 3454 is located at outer needle guard 347 and outer ring 3453 Between, and when outer ring 3453 engages, presses to inner ring 3454, is deformed inner ring 3454, thus increase outer needle guard 347 with it is interior The frictional force of ring 3454, meanwhile, in order to avoid deforming when the compression of outer needle guard 347, lead to the frictional force of outer needle guard 347 and puncture needle Increase, outer needle guard 347 is arranged to rigid structure, is specifically made of rigid material, to make positioning ring 345 and outer needle guard 347 frictional force is greater than the frictional force of positioning ring 345 and puncture needle.

In the present embodiment, as shown in Fig. 3, Fig. 4, Fig. 6 and Fig. 7, positioning ring snap-in structure includes inclined wedge 3451 and spring, Inclined wedge 3451 is connected on locating rack 344 by spring, and is connected into and can be passed through for positioning ring 345 along direction is punctured；And tiltedly The limit space for being used for stationary positioned ring 345 is formed between wedge 3451 and locating rack 344, so as to pass through inclined wedge 3451 and determine The limit space that position frame 344 surrounds limits positioning ring 345.

Further, as shown in Fig. 3, Fig. 4, Fig. 6 and Fig. 7, inclined wedge 3451 is equipped with inclined-plane, and is arranged to its inclined-plane and outer needle For the acute angle that the axis of set 347 is formed towards positioning ring 345, the end on inclined-plane is arranged to elastic force and positioning ring 345 in spring Under the collective effect of motive force, positioning ring 345 can be made along puncturing direction between the end on inclined-plane and the outer wall of outer needle guard 347 Pass through.To, before the piercing mechanism is punctured, outer needle guard 347 punctures direction in the drive lower edge of puncture needle and moves, and this When be located at positioning ring 345 on outer needle guard 347 and moved towards inclined wedge 3451, as shown in figure 3, since inclined-plane is set towards Feed servo system 27 It sets, when positioning ring 345 is moved and is resisted against on the inclined-plane of inclined wedge 3451 along puncture direction, direction and its is applied to inclined wedge 3451 The pressure of the spring of connection, so that compressed spring, keeps inclined wedge 3451 mobile towards the direction of spring connected to it, thus limiting The opening passed through for positioning ring 345 is formd in bit space, after positioning ring 345 moves to limit space, positioning ring 345 is no longer Thrust is applied to inclined wedge 3451, the spring connecting with inclined wedge 3451 restores former long, while the outside needle guard 347 of inclined wedge 3451 being driven to transport Dynamic, so as to surround limit space between inclined wedge 3451 and locating rack 344, limit space limits the movement of positioning ring 345 at this time Position keeps the position of positioning ring 345, outer needle guard 347 and locating rack 344 relatively fixed (as shown in Figure 6 and Figure 7)；Due to inclined wedge 3451 inclined-plane towards feeding driving mechanism 27, when positioning ring 345 along puncture direction and moved towards inclined wedge 3451 when, can automatically will be oblique Wedge 3451 is pushed open, and is moved in limit space, realizes automatic fastening positioning；And when positioning ring 345 is along away from puncture direction court When inclined wedge 3451 moves, inclined wedge 3451 can not be pushed open automatically, to realize that positioning ring 345 unidirectionally moves into positioning ring snap-in structure And limit function.

Preferably, as shown in Fig. 3, Fig. 4, Fig. 6 and Fig. 7, the end for being connected with inclined wedge 3451 of spring is also connected with shifting block 3452, locating rack 344 is equipped with through slot for placing spring, and through slot is open at least provided with two, the respectively first opening and Second opening, the first opening are located at towards on the end face of inclined wedge, and spring passes through the first opening and connect with inclined wedge, and the second opening is located at Locating rack 344 is not provided on the end face of the first opening, and the second opening is arranged along the axial direction of spring, and shifting block 3452 passes through Second opening is connect with spring, thus, it is possible to pass through shifting block 3452 by stirring shifting block 3452 along the extending direction of the second opening Spring movement is driven, realize the compression of spring or restores former long, it when the spring is compressed, can will be former by mobile outer needle guard 347 Originally the positioning ring 345 between inclined wedge 3451 and locating rack 344 removes, and is adjusted by disassembling and installing positioning ring 345 again The recycling of positioning ring 345 is realized in position of the positioning ring 345 on outer needle guard 347.

Preferably, piercing mechanism is as shown in Figure 10 to Figure 12, which not only has and Fig. 3 above-mentioned to Fig. 9 institute The identical structure of the piercing mechanism shown, moreover, in order to avoid in puncture process, when puncture needle is from the first chamber of interior needle guard 342 It is extracted in body, and when outer needle guard 347 also stays in patient's body, outer needle guard 347 is led because patient's body to be connected to vitro It causes patient to generate pneumothorax, is also arranged with connector sleeve 346, connector sleeve 346 in the end close to feeding driving mechanism 27 of outer needle guard The interior sealing diaphragm 3461 equipped with changeability.When puncture needle passes through connector sleeve 346, by the sealing diaphragm 3461 in connector sleeve 346 To opening, the inner wall of sealing diaphragm 3461 is abutted against on the outer wall of puncture needle, while puncture needle is inserted into outer needle guard 347；Work as puncture When needle is retracted between connector sleeve 346 and feeding driving mechanism 27, the sealing diaphragm 3461 in connector sleeve 346 resiles outer needle The inside of set 347 is isolated from the environment, and prevents the thoracic cavity of patient and outside from carrying out gas exchanges, avoids generating pneumothorax because puncturing.Cause This, the piercing mechanism under this embodiment is also known as anti-pneumothorax piercing mechanism 35.

Moreover, according to the difference of structure, the purposes of anti-needle track tumor planting piercing mechanism 34 and anti-pneumothorax piercing mechanism 35 It is different, wherein anti-pneumothorax piercing mechanism 35 is used to extract solid type objects from patient's body, to be detected；Anti- needle track tumour Piercing mechanism 34 is planted by the way that openable and closable needle cover 343 is arranged in the opening of the free end of the second cavity, can be used for solid Substance is placed into patient's body, and to achieve the purpose that treatment or detection, as shown in Fig. 3 to Fig. 6 and Fig. 8, needle cover 343 is hinged on Interior needle guard 342 far from first it is anti-plantation telescoping mechanism 348 end side and lid close on the port of interior needle guard 342, needle The size of lid 343 at least more than interior needle guard 342 internal diameter so that needle cover 343 be only capable of inside needle guard 342 outside open or against On the end face of interior needle guard 342；Before the anti-needle track tumor planting piercing mechanism 34 is not punctured, it will need to be placed in human body Solid particle 3411 be placed in interior needle guard 342, and by needle cover 343 lid close in the end of interior needle guard 342.

Specifically, as shown in Figures 3 to 12, anti-needle track tumor planting piercing mechanism 34 and anti-pneumothorax piercing mechanism 35 It is arranged to, puncture needle includes the interior needle guard 342 of interior needle 341 and both ends by interior the second cavity perforation set, and interior needle guard is set to the In cavity, interior needle 341 is set in the second cavity；Wherein, the puncture driving mechanism of anti-needle track tumor planting piercing mechanism 34 includes For driving interior needle 341 that the first anti-plantation telescoping mechanism 349 in the second cavity is stretched out or retracted from the second cavity；Be used for The first anti-plantation telescoping mechanism 349 and interior needle guard 342 is driven to move along direction is punctured, so that interior needle guard 342 is from the first cavity It stretches out or retracts the second anti-plantation telescoping mechanism 348 in the first cavity, the second anti-plantation telescoping mechanism 348 can directly be set On feeding driving mechanism 27, it can also be located at by connector on feeding driving mechanism 27；Anti- pneumothorax piercing mechanism 35 is worn Thorn driving mechanism includes that the second anti-pneumothorax for driving interior needle 341 to stretch out or retract from the second cavity in the second cavity is flexible Mechanism 352, wherein the second anti-pneumothorax telescoping mechanism 352 can select cylinder；With for drive the second anti-pneumothorax telescoping mechanism 352 and interior needle guard 342 along puncture direction move so that interior needle guard 342 is stretched out or is retracted in the first cavity from the first cavity First anti-pneumothorax telescoping mechanism 351, the first anti-pneumothorax telescoping mechanism 351 can be directly arranged on feeding driving mechanism 27, can also To be located on feeding driving mechanism 27 by connector.When the first anti-anti- pneumothorax telescoping mechanism of plantation telescoping mechanism 348 or the first 351 drive interior needle guard 342 and the outer needle guard 347 and positioning ring 345 that are located at outside interior needle guard 342 to move along direction direction is punctured When (as shown in Fig. 3 to Fig. 5 or Figure 10), positioning ring 345 is in the first anti-anti- pneumothorax telescoping mechanism of plantation telescoping mechanism 348 or the first Pressure is applied to inclined wedge 3451 under 351 driving, so that the spring connecting with inclined wedge 3451 is pressurized and shrinks, to make positioning ring 345 Push inclined wedge 3451 open, when positioning ring 345, which is moved to, not to be contacted with inclined wedge 3451, inclined wedge 3451 restores former under the support of spring Position (i.e. inclined wedge 3451 and locating rack 344 surrounds limit space), due to that can not be pushed away when inclined wedge 3451 is to away from the movement of puncture direction Inclined wedge 3451 is opened, and defines the position of positioning ring 345 and outer needle guard 347, positioning ring 345 is fastened in positioning ring snap-in structure When, as shown in Fig. 6 and Fig. 7 or Figure 11.When piercing mechanism is anti-needle track tumor planting piercing mechanism 34, the point of outer needle guard 347 End keeps a small distance with target is punctured；Then, the interior insertion of needle guard 342 is driven to wear by the first anti-plantation telescoping mechanism 348 Position where dazzling mark.Then drive interior needle 341 and interior needle guard 342 to retraction one by the first anti-plantation telescoping mechanism 348 Segment distance, retraction distance are equivalent to the diameter of solid particle 3411 to be placed, then stop the first anti-plantation telescoping mechanism 348 driving；Then, interior needle 341 is driven to move along direction is punctured by the second anti-plantation telescoping mechanism 349, interior needle 341 is the Solid particle 3411 is pushed under the driving of two anti-plantation telescoping mechanisms 349, solid particle 3411 is pushed needle cover 343 open and is moved to interior Outside needle guard 342, such as Fig. 6 and Fig. 8, realize that solid particle 3411 is placed into the position punctured where target, to assist in the treatment of or examine It is disconnected, then drive interior needle 341 and interior needle guard 342 to retract in outer needle guard 347 by the first anti-plantation telescoping mechanism 348.Work as puncture When mechanism is anti-pneumothorax piercing mechanism 35, interior needle guard 342 continues to move under the driving of the first anti-pneumothorax telescoping mechanism 351, directly To insertion lesion locations, stop the driving of the first anti-pneumothorax telescoping mechanism 351 at this time；Pass through the second anti-pneumothorax telescoping mechanism at this time 352 drive in needle 341 slowly retract in 342 a small distance of needle guard, then the driving of the first anti-pneumothorax telescoping mechanism 351 after It is continuous to be driven into needle, until target position, thus embedding in the cavity for surrounding the inner wall of the free end of interior needle 341 and interior needle guard 342 Enter Portions of soft tissue, then, is driven in interior 341 fast retractile of needle in needle guard 342 by the second anti-pneumothorax telescoping mechanism 352, by It is very fast in interior 341 movement speed of needle, negative pressure is formed in the cavity that the free end of interior needle 341 and the inner wall of interior needle guard 342 surround, To suck a fritter soft tissue of lesion locations in interior needle guard 342, realizes sampling, then pass through the first anti-pneumothorax telescopic machine Structure 351 drives interior needle 341 and interior needle guard 342 to retract in outer needle guard 347.Then, no matter piercing mechanism is anti-needle track tumor planting Piercing mechanism 34 or anti-pneumothorax piercing mechanism 35 require to drive sting device 30 along entering needle side by feeding driving mechanism 27 To opposite direction carry out pulling out needle, during pulling out needle, interior needle 341 and interior needle guard 342 are set in outer needle guard 347 , the interior needle 341 and interior needle guard 342 for avoiding contact to lesion pollute normal tissue and cell when pulling out needle, prevent needle track tumour Plantation.Preferably, for the ease of the first anti-plantation telescoping mechanism 349 of anti-plantation telescoping mechanism 348, second of control and the first gas-tight The driving trip of chest telescoping mechanism 351, the first anti-plantation telescoping mechanism 349 of anti-plantation telescoping mechanism 348, second and the first gas-tight The structure that chest telescoping mechanism 351 drives nut to advance using oil cylinder or motor driven screw rod.

In other embodiments, Needle localization driving mechanism includes puncture needle, outer needle guard 347 and Needle localization driving machine Structure, Needle localization driving mechanism includes puncturing needle drive mechanism, outer needle guard driving mechanism and puncturing driving mechanism, wherein puncturing As hereinbefore, details are not described herein, difference for needle, outer needle guard 347 and the specific structure for puncturing driving mechanism and implementation It is in outer needle guard driving mechanism drives outer needle guard 347 to move upwards and control the stroke of outer needle guard 347 in puncture side, punctures Needle drive mechanism driving puncture driving mechanism drives puncture needle to move upwards and control puncture needle in puncture side and puncture together and drives The stroke of motivation structure.The specific oil that punctures town driving mechanism and outer needle guard driving mechanism and can be can control using driving trip Cylinder or servo motor are realized.

Preferably, which further includes control module, control module and Needle localization driving mechanism and Feed servo system Mechanism connection, control module are used to control the working condition of Needle localization driving mechanism and feeding driving mechanism, and are recorded. Specifically, control module can be with the first rotating mechanism 23, the second rotating mechanism 24, feeding driving mechanism 27, the first anti-plantation The anti-plantation telescoping mechanism 349 of telescoping mechanism 348, second, the first anti-pneumothorax telescoping mechanism 351 and the second anti-pneumothorax telescoping mechanism 352 connections, to control the first rotating mechanism 23, the second rotating mechanism 24, feeding driving mechanism 27, the first anti-plantation telescoping mechanism 348, the stroke of the second anti-plantation telescoping mechanism 349, the first anti-pneumothorax telescoping mechanism 351 and the second anti-pneumothorax telescoping mechanism 352 And the working time, realize that the automation of the piercing mechanism punctures.

Piercing mechanism is as shown in FIG. 13 to 15 in yet other embodiments, including for extracting or injecting gas automatically Or the injection mechanism 36 of liquid；It is wherein set on the injecting cavity 363 of injection mechanism 36 there are two connector 365, one of connection First 365 for injecting cavity 363 to be connected to injection needle 364, with connector 365 be used for the gas of injecting cavity 363 and outside Body or liquid injection system are connected to or for injecting cavity 363 to be connected to external gas or fluid extraction system.In addition, injection The other structures of mechanism 36 can be identical as common syringe, can be configured as shown in FIG. 13 to 15, and injection mechanism 36 is also Including injection telescoping mechanism 361 and oil cylinder 362；Injection telescoping mechanism 361 is located on feeding driving mechanism 27, or is arranged to pass through Feeding driving mechanism 27 drives, and oil cylinder 362 is arranged on injection telescoping mechanism 361 and the axis direction of the two is parallel, injecting cavity 363 one end is located on the cylinder body of oil cylinder 362, and the piston rod of oil cylinder 362 is adapted to injecting cavity 363 and protrudes into injecting cavity 363, The other end of injecting cavity 363 is connect by a connector 365 with injection needle 364, the axial direction and injection telescopic machine of injection needle 364 The axial direction of structure 361 is parallel, and a connector 365 is also connected on injecting cavity 363.Thus, it is possible to pass through injection telescoping mechanism 361 Drive cylinder 362, injecting cavity 363, injection needle 364 and connector 365 are moved along needle direction is entered, when injection needle 364 is inserted into patient Internal target position after, can by the piston rod of oil cylinder 362 stretch out by injecting cavity 363 injection or gas injection suffer from The intracorporal target position of person, as shown in Figure 14 and Figure 15；By the puncture of patient when can also be retracted by the piston rod of oil cylinder 362 Liquid or gas extraction in target is into injecting cavity 363, as shown in figure 15, simultaneously because being additionally provided with one on injecting cavity 363 A connector 365 can add injection or gas during injection, or when the liquid full of extraction in injecting cavity 363 Or when gas, liquid is taken out by the connector 365 being arranged on injecting cavity 363 from injecting cavity 363, keep injection and extracted Continuity.

Since one-time puncture operation may relate to multiple steps, for example, when needing to feed the skin degerming of pin position, this When piercing mechanism can be disinfecting mechanism；When needing to carry out local anaesthesia to site of puncture, piercing mechanism can be note at this time Mechanism 36 is penetrated, furthermore piercing mechanism can also be aspiration biopsy mechanism and/or puncture the mechanisms such as drug administration mechanism；When passing through thermoplastic film Or other fix device immobilized patients and when fixed device is covered on pin mark, at this point, can also be arranged on sting device 30 Borehole drill construction 37.In order to make the sting device 30 that different function may be implemented, and do not need to tear open repeatedly when switching different function Dress improves centesis efficiency, the piercing mechanism of different function can be arranged on sting device 30, as shown in Fig. 2, sting device 30 include third rotating mechanism 31, puncture frame 32 and piecing attachment 33, and piercing mechanism is at least provided with two；Puncture frame 32 are arranged on the second rotating mechanism 24, or are arranged to drive by the second rotating mechanism 24 and puncture the rotation of frame 32, no matter and It is arranged using which kind of and is placed, the third rotating mechanism 31 being arranged on puncture frame 32 is all provided with to be set to its shaft and puncture direction and put down Row；On puncturing frame 32, piercing mechanism is all provided with to be set to be turned the setting of third rotating mechanism 31 by piecing attachment 33 and third Motivation structure 31 connects, and it is half that all piercing mechanisms, which are respectively positioned on the vertical line of the shaft by aforementioned fixed point to third rotating mechanism 31, Diameter, using intersection point as on circumference defined by the center of circle.Thus, it is possible to the piercing mechanism of different function is set on sting device 30, To realize different function, when needing the piercing mechanism using specific function, it can be driven and be punctured by third rotating mechanism 31 Connector 33 drives piercing mechanism rotation, until needing piercing mechanism to be used to turn at fixed point above-mentioned, at this point, can To adjust the first rotating mechanism 23 and the second rotating mechanism 24 using method above-mentioned, make wearing for need piercing mechanism to be used It is conllinear with needle direction is entered to pierce direction, can carry out and puncture according to the track of setting.Due to that can be arranged on piecing attachment 33 The piercing mechanism of multiple and different functions, by adjusting the first rotating mechanism 23 and the second rotating mechanism 24, can make to need using Piercing mechanism move to the position conllinear with needle direction is entered, do not need not only to replace puncture machine by disassembling and installing repeatedly Structure, and can guarantee the position precision of multiple piercing mechanisms, paracentetic efficiency is improved, guarantees to puncture precision.

In the present embodiment, third rotating mechanism 31 includes motor, and the base of the motor of third rotating mechanism 31 is mounted on It puncturing on frame 32, the shaft of the motor of third rotating mechanism 31 is connect with piecing attachment 33, and third rotating mechanism 31 The shaft of motor, which is arranged to be parallel to, punctures direction.

When piercing mechanism is additionally provided with feeding driving mechanism 27, and puncture frame 32 be arranged to by feeding driving mechanism 27 with When second rotating mechanism 24 connects, in order to guarantee the mobile stability of sting device 30, as shown in Figure 1, puncturing frame 32 Opposite two sides are equipped with feeding driving mechanism 27, the shaft of the first rotating mechanism 23 by U-shaped be connected part and be located at two into To the second rotating mechanism 24 connection in driving mechanism 27, wherein the both ends of the opening of U-shaped connector 231 are respectively at being located at two The second rotating mechanism 24 connection on a feeding driving mechanism 27, the segmental arc of U-shaped connector 231 and the first rotating mechanism 23 Shaft connection.

In order to enable the use scope of the medical accurate lancing system to cover various types of puncturing operations, body is such as taken out Filled after interior foreign matter, deploying endoscope, blocking tumor feeding, radiotherapy etc., while it being provided with the structure for manually puncturing, such as Shown in Fig. 1 and Fig. 2, it is additionally provided on the piecing attachment 33 of the sting device 30 for logical for the mobile puncture of hand-held puncture needle 39 The direction in road, puncture channel is identical as the moving direction of feeding driving mechanism 27, and puncture channel is matched with hand-held puncture needle 39, and The axis of puncture channel is located on the circumference that piercing mechanism surrounds.

In order to by the puncture needle of head film or the fixed sting device 30 of body film 52, guarantee to puncture precision, as shown in Figure 1, Figure 2 and figure Shown in 16, sting device 30 further includes borehole drill construction 37, and as shown in Figure 16 to Figure 18, borehole drill construction 37 includes drill bit 373, drilling Control mechanism and for driving drill bit 373 and the bore motor 372 that rotates together of control mechanism that drills；Bore motor 372 is set On piecing attachment 33, and be arranged to its shaft with puncture direction it is parallel, the extended line of shaft is enclosed with aforementioned piercing mechanism At circumference have intersection point；Drilling control mechanism is arranged to according to the signal control drill bit 373 received in bore motor It is drilled under 372 driving or stops drilling.Specifically, drilling control mechanism include against spring 374 and butting section 375, Wherein, it is resisted against against one end of spring 374 on the outer end face of shaft of bore motor 372, the other end abuts against portion 375 Wherein one end on, butting section 375 is set on drill bit 373；Against the pressure according to suffered by one end of butting section 375 of spring 374 Power switches between compressive state and retracted position, so that the blade of drill bit 373 is exposed to the outside of butting section 375 or hides In the inside of butting section 375.

In some embodiments, drilling control mechanism is as shown in figure 17, and drill bit 373 is located in the shaft of bore motor 372, One end of butting section 375 is hinged on drill bit 373, select here against spring 374 be torsionspring, in 375 He of butting section Torsionspring is provided on the articulated shaft of drill bit 373, one end of torsionspring is resisted against the bore motor 372 of connection drill bit 373 Shaft on, the other end of torsionspring abuts against on the end face of the shaft towards bore motor 372 in portion 375.

In further embodiments, drilling control mechanism is as shown in figure 18, and drill bit 373 is located at the shaft of bore motor 372 On, selecting here is adjustable spring against spring 374, and butting section 375 is connected to turning for bore motor 372 by adjustable spring On axis, specifically, one end of adjustable spring is connected on the end face equipped with drill bit 373 of the shaft of bore motor 372, the other end It is connected on the end face of the shaft towards bore motor 372 of butting section 375, butting section 375 is set in the outside of drill bit 373.

No matter which kind of embodiment is taken, and the medial surface of butting section 375 all abuts the lateral surface of drill bit 373, and butting section 375 use hard material, and when in order to the drilling of drill bit 373, butting section 375 is drill-through by drill bit 373 under the drive of drill bit 373 Hole further expansion, realize the effect of reaming.When bore motor 372, drill bit 373, against spring 374 and butting section 375 1 When playing mobile to head film or body film 52, butting section 375 by film to the end or body film 52 blocking and stop moving, and due to drilling electricity Machine 372, drill bit 373 and mobile to head film or body film 52 against spring 374, to make butting section 375 by film to the end or body film 52 Pressure, and compressed to against spring 374, when the drilling area of drill bit 373 contact film or when body film 52 to the end, brill can be passed through Hole motor 372 drives drill bit 373 to drill on head film or body film 52.When drill bit 373 is not vertically to pierce a film or body film When in 52, drill bit 373 will appear the case where a part first drills through a film or body film 52, support on spring 374 at this point, being connected to Relying part 375 can compress the muscle of patient, on the body surface for being resisted against patient under the support of compressed spring to avoid trouble The blade of the body surface contact drill bit 373 of person guarantees that borehole drill construction 37 is drilling until drill bit 373 drills through head film or body film 52 Shi Buhui is damaged to patient.

In order to guarantee the cleaning after drilling, borehole drill construction 37 further includes for absorbing the clast generated when drill bit 373 drills Dust exhaust apparatus.Specifically as shown in Fig. 2 and Figure 16, dust exhaust apparatus includes shell, dedusting tank 377 and air pump 378；Shell is formed For receiving drill bit, the dust suction cavity of drill control mechanism and bore motor 372, and shell is equipped with for for 373 He of drill bit The drilling opening that drilling control mechanism passes through, air pump 378 are located on shell, and the side wall of shell is equipped with dust suction cavity and air pump Air inlet connection through-hole, the gas outlet of air pump 378 is connected to dedusting tank 377.More specifically, as shown in figure 16, shell packet The installation set for being used to form dust suction cavity and Telescopic cover 376 are included, installation set is set on bore motor 372, and is arranged It is formed and is sealed at wherein one end, the other end is opening；Telescopic cover 376 include dust suction curtain and compressed spring, dust suction curtain and Compressed spring is equipped with multiple, and each dust suction curtain is connected on the open end face of installation set at least through a compressed spring, And adjacent dust suction curtain is bonded to each other, the free end of all dust suction curtains surrounds drilling opening jointly.Each dust suction curtain can as a result, It is individually moved with the pressure according to suffered by it, so that the free end of each dust suction curtain can be closely adhered to a film or body film 52 Surface on, avoid the leakage of clast, keep the cleaning of workplace.

Preferably, installation set is arranged to tubulose, and is set in the outside of bore motor 372, and Telescopic cover 376 is pipe Shape, Telescopic cover 376 and installation set it is coaxially connected and be set in the outside of bore motor 372 or be set in drill bit 373 and The outside of bore motor 372, air pump 378 are located in installation set, and the side wall of installation set is equipped with to be connected to the air inlet of air pump 378 Through-hole, the gas outlet of air pump 378 is connected to dedusting tank.Thus, it is possible to by dust exhaust apparatus that the clast generated when drilling is clear Reason is clean, and clast is avoided to impact paracentetic precision；Since Telescopic cover 376 has scalability, drilling machine In drilling, Telescopic cover 376 deforms structure 37, is tightly fitted on the surface of a film or body film 52, avoids clast Leakage, keep the cleaning of workplace, while the work of operator's cleared of debris after piercing can also be saved, reduce operation The workload of person improves drilling efficiency；And due to cleaning up clast while drilling, clast is avoided to reduce borehole accuracy.

Preferably, drill bit 373 passes through the connection of connecting tube and bore motor 372, and turn of connecting tube and bore motor 372 Axis is coaxially connected, and the through-hole that will be connected to inside and outside connecting tube is provided on the tube wall of connecting tube, so that air pump 378 will be in connecting tube The clast that drilling generates is sucked out, and guarantees the cleaning in connecting tube.

The feeding on direction is being punctured for the ease of control drill bit 373, as shown in figure 16, which further includes using In the drilling telescoping mechanism 371 that driving bore motor 372 is moved back and forth along boring direction.Specifically, drilling telescoping mechanism 371 wraps Motor, screw rod and retracting cylinder are included, the motor of drilling telescoping mechanism 371 is located on piecing attachment 33, drilling telescoping mechanism 371 The shaft of motor and the screw rod of drilling telescoping mechanism 371 are coaxially connected, and the retracting cylinder of drilling telescoping mechanism 371 is set in puncture and connects In fitting 33, and the internal diameter that piecing attachment 33 is adapted to the retracting cylinder of drilling telescoping mechanism 371 is equipped with and Feed servo system machine The parallel rib of the moving direction of structure 27, the outer diameter of the retracting cylinder for the telescoping mechanism 371 that drills are equipped with matched recessed with the rib Slot, and groove is arranged along the moving direction of feeding driving mechanism 27, the internal diameter of the retracting cylinder for the telescoping mechanism 371 that drills is equipped with and brill The screw hole of the screw rod adaptation of hole telescoping mechanism 371, bore motor 372 are located at the separate brill of the retracting cylinder of drilling telescoping mechanism 371 The end of the motor of hole telescoping mechanism 371.When the screw rod of the motor driven drilling telescoping mechanism 371 of drilling telescoping mechanism 371 turns When dynamic, since piecing attachment 33 limits the rotation of the retracting cylinder of drilling telescoping mechanism 371, drilling telescoping mechanism 371 stretches Cylinder is moved back and forth along the axis direction of the screw rod of drilling telescoping mechanism 371, to drive bore motor 372 and drill bit 373 etc. past It is multiple mobile.

In the present embodiment, as shown in Fig. 5, Figure 12, Figure 14 and Figure 16, the first anti-plantation telescoping mechanism 348, anti-pneumothorax are stretched Contracting mechanism 351, injection telescoping mechanism 361 are identical as the drilling mechanism of telescoping mechanism 371, include motor, screw rod and flexible Cylinder, set-up mode is identical, and driving method is identical, and details are not described herein.The difference is that as shown in figure 5, the first anti-plantation is stretched The retracting cylinder of contracting mechanism 348 is connect with the motor of the second anti-plantation telescoping mechanism 349, the electricity of the second anti-plantation telescoping mechanism 349 The screw rod of the shaft of machine and the second anti-plantation telescoping mechanism 349 is coaxially connected, the screw rod and the of the second anti-plantation telescoping mechanism 349 The retracting cylinder of two anti-plantation telescoping mechanisms 349 is threadedly coupled, and the second anti-guide sleeve 3491 for planting telescoping mechanism 349 is tubulose, guide sleeve 3491 one end is located on the base of the motor of the second anti-plantation telescoping mechanism 349, and the internal diameter of guide sleeve 3491 is equipped with to be driven with feeding The retracting cylinder 3492 of the parallel rib of the moving direction of motivation structure 27, the second anti-plantation telescoping mechanism 349 is located at the second anti-plantation Between the screw rod and guide sleeve 3491 of telescoping mechanism 349, and set on the outer diameter of the retracting cylinder 3492 of the second anti-plantation telescoping mechanism 349 The through slot for thering is the moving direction along feeding driving mechanism being adapted to the rib on the internal diameter of guide sleeve 3491 to be arranged, interior needle 341 with The end connection far from the first anti-plantation telescoping mechanism 348 of the retracting cylinder 3492 of second anti-plantation telescoping mechanism 349.When second When the screw rod rotation of the anti-plantation telescoping mechanism 349 of motor driven second of anti-plantation telescoping mechanism 349, the second anti-plantation is driven to stretch The retracting cylinder 3492 and interior needle 341 of contracting mechanism 349 are back and forth moved along the axis direction of the screw rod of the second anti-plantation telescoping mechanism 349 It is dynamic.Difference is lain also in, as shown in figure 12, the retracting cylinder and anti-pneumothorax piercing mechanism 35 of the first anti-pneumothorax telescoping mechanism 351 The second anti-pneumothorax telescoping mechanism 352 it is coaxially connected.It also differ in that, as shown in figure 14, injection telescoping mechanism 361 is stretched Contracting cylinder is connect with the oil cylinder of injection mechanism 36.

Further, for the verifying point of puncture before puncture and puncture direction, guarantee the accuracy punctured, as shown in Fig. 2, Sting device 30 further includes laser emitter 38；Laser emitter 38 is located on piecing attachment 33, and is located at piercing mechanism group At circumference on and its ray radiation direction with puncture direction it is parallel.Thus, it is possible to by laser emitter 38 to drilling machine The angle for the position for entering pin hole that structure 37 drills out on head film or body film 52 is confirmed, can also be existed by laser emitter 38 Piercing mechanism carries out, to guarantee the accuracy of piercing mechanism puncture, avoiding into pin mark and the confirmation for entering needle direction before being punctured It is inaccurate because puncturing, it is punctured repeatedly to pain caused by patient.

Figure 19 to Figure 30 schematically shows a kind of medical accurate lancing system of embodiment according to the present invention.

As illustrated in figures 19 and 20, which includes comprehensive piercing mechanism above-mentioned and for adjusting The three-dimensional position adjustment mechanism of the three-dimensional position of comprehensive piercing mechanism, comprehensive piercing mechanism setting adjust machine with three-dimensional position On structure.Wherein, for example shown in Figure 19, Figure 20, Figure 26 to Figure 29, three-dimensional position is adjusted for the specific implementation of three-dimensional position adjustment mechanism Mechanism includes the first telescoping mechanism 22 and the planar movement mechanism for driving the first telescoping mechanism 22 to move in perpendicular 21, planar movement mechanism 21 is arranged to that the first telescoping mechanism 22 is driven to move along preset arching trajectory, comprehensive piercing mechanism It is located on the first telescoping mechanism 22.When the first telescoping mechanism 22 is arranged in planar movement mechanism 21, planar movement mechanism 21 For driving the first telescoping mechanism 22 to drive comprehensive piercing mechanism, specifically when comprehensive piercing mechanism includes the first rotating machine When structure 23, the second rotating mechanism and sting device 30, planar movement mechanism 21 is for driving the first telescoping mechanism 22 to drive first Rotating mechanism 23, the second rotating mechanism 24 and sting device 30 move in perpendicular together, at this point, the first telescoping mechanism 22, the first rotating mechanism 23, the second rotating mechanism 24 and sting device 30 are sequentially connected, and the first telescoping mechanism 22 is for driving the One rotating mechanism 23 drives the second rotating mechanism 24 and sting device 30 together to the side to become close or remote from planar movement mechanism 21 To movement, the first rotating mechanism 23 is for driving the second rotating mechanism 24 that sting device 30 is driven to rotate together, the second rotating machine Structure 24 is for driving sting device 30 to rotate；And first telescoping mechanism 22 telescopic direction and the first rotating mechanism 23 shaft all Be arranged perpendicular to planar movement mechanism 21 shift position constitute perpendicular, the telescopic direction of the first telescoping mechanism 22 and The puncture direction of sting device 30 is arranged to the direction of the shaft perpendicular to the second rotating mechanism 24.

When the medical accurate lancing system is matched with CT (CT scan) or MRI (magnetic resonance imaging) When, the medical accurate lancing system and patient are fixed with the relative position CT or MRI first, reference etc. is established by laser system Central point (is that the intersection point that the laser rays by laser system in the two sides of patient body and top transmitting is formed is true with reference to isocenter point It is fixed, be for the reference origin for the three-dimensional coordinate for determining the puncture target of patient's body), meanwhile, skin or fixation in patient The intersection point that the laser rays that the body film 52 of patient or the surface markers laser system of head film issue intersects to form, establishes according to intersection point and joins Coordinate system is examined, and places metal marker object at mark point, doctor determines patient by the medical image that CT or MRI scan are rebuild The intracorporal space coordinate for puncturing target, puncturing target and enter the space coordinate of pin mark, with obtain into pin position, enter needle direction and Enter needle depth；It determines pin mark and to avoid important organ and tissue as far as possible when entering needle direction, avoid important because being punctured to Organ and tissue cause puncture sequelae；Then comprehensive wear is driven by planar movement mechanism 21 and the first telescoping mechanism 22 Mechanism kinematic is pierced, so that on the fixed-point motion of comprehensive piercing mechanism to the straight line entered where needle direction, then pass through comprehensive turn Motivation structure driving sting device 30 rotate up to the puncture direction of sting device 30 with enter needle direction and be overlapped to start to be worn Thorn；When all-direction rotation mechanism includes the first rotating mechanism 23 and the second rotating mechanism 24, and 22, first turns of the first telescoping mechanism When motivation structure 23, the second rotating mechanism 24 and sting device 30 are sequentially connected, second can be driven by the first rotating mechanism 23 Rotating mechanism 24 and sting device 30 rotate together, and drive sting device 30 to rotate by the second rotating mechanism 24, to make The puncture direction of sting device 30 is identical as needle direction is entered, and then, drives the first telescoping mechanism 22 by planar movement mechanism 21 The first rotating mechanism 23, the second rotating mechanism 24 and sting device 30 is driven to move in perpendicular, and flexible by first Mechanism 22 drives the first rotating mechanism 23 to drive the second rotating mechanism 24 and sting device 30 together perpendicular to planar movement machine It is moved on the direction for the plane that the shift position of structure 21 is constituted, so that it is conllinear with needle direction is entered to make sting device 30, at this point, will wear Thorn device 30 is punctured along direction is punctured, and sting device 30 can be made along needle direction is entered, from the skin for entering pin mark piercing patient Skin enters needle depth according to from medical image acquisition, and final accurate reach punctures target position, when terminating to puncture, punctures Device 30 is returned along original route.By the medical accurate lancing system, allow doctor under the auxiliary of CT or MRI, more preferably Ground determines needle direction, enters pin position and enter needle depth, to avoid important organ and tissue etc., reduces the risk of puncture, subtracts It is few to puncture the pain caused by patient, it avoids because puncturing sequelae caused by being punctured to important organ and tissue etc., moreover, because Sting device 30 is in planar movement mechanism 21, the branch of the first telescoping mechanism 22, the first rotating mechanism 23 and the second rotating mechanism 24 Under support, it can be smoothly pierced into the puncture target of patient's body, in puncture process, the puncture needle of sting device 30 will not shake It is dynamic, and complete after puncturing, sting device 30 can be returned along original route, reduced and punctured the pain caused by patient.

In the present embodiment, as shown in Figure 26 to Figure 29, planar movement mechanism 21 include rack gear 212, rotary electric machine 213, Gear 214, arc-shaped guide rail 215 and the pulley 216 being adapted to rack gear 212；Rack gear 212 and arc-shaped guide rail 215, which are all provided with, to be set to coaxially Arc, and the two connects side by side, and gear 214 is connect with pulley 216 by rotary electric machine 213, specifically, rotary electric machine 213 It is arranged on pulley 216, gear 214 and the shaft of rotary electric machine 213 are coaxially connected, and gear 214 fits on rack gear 212, and Pulley 216 is fastened on arc-shaped guide rail 215, and in the present embodiment, as shown in figure 29, pulley 216 is equipped with for installing rotation It the motor installing hole 2161 of motor 213, the sliding block 2162 for being adapted to arc-shaped guide rail 215 and is equipped in 2162 bottom surface of sliding block Rotatable ball, to reduce the frictional force between pulley 216 and arc-shaped guide rail 215, the base of rotary electric machine 213 is stretched with first Contracting mechanism 22 or the connection of the first rotating mechanism 23.When driving gear 214 to rotate by rotary electric machine 213 as a result, due to pulley 216 are fastened on arc-shaped guide rail 215 simultaneously, so that gear 214 drives the first telescoping mechanism when arcuately rack gear 212 moves 22 or first rotating mechanism 23 together in perpendicular arcuately track move back and forth, to realize sting device 30 vertical Movement in plane.It in other embodiments, also can also may include horizontal mobile mechanism with planar movement mechanism 21 and vertical Mobile mechanism, wherein vertical shift mechanism is located on the moving parts of horizontal mobile mechanism, the moving direction of vertical shift mechanism Perpendicular to the moving direction setting of horizontal mobile mechanism, the first telescoping mechanism 22 or the first rotating mechanism 23 are located at vertical shift machine On the moving parts of structure.

In the present embodiment, as shown in figures 24 and 25, the first telescoping mechanism 22 includes motor, screw rod, fixed link and stretches Contracting cylinder, the base of the motor of the first telescoping mechanism 22 is mounted on the moving parts of planar movement mechanism 21 and the shaft of the motor It is vertical with the perpendicular that the shift position of planar movement mechanism 21 is constituted, the screw rod and the first telescopic machine of the first telescoping mechanism 22 The shaft of the motor of structure 22 is coaxially connected, and fixed link is tubulose, and one end of fixed link is connected to the electricity of the first telescoping mechanism 22 On the base of machine, fixed link is set in the outside of the screw rod of the first telescoping mechanism 22, the silk of fixed link and the first telescoping mechanism 22 Retracting cylinder is equipped between bar, the internal diameter of retracting cylinder is equipped with the internal screw thread being adapted to the screw rod of the first telescoping mechanism 22, and fixed The internal diameter of bar is equipped with rib, and the outer diameter of retracting cylinder is equipped with card slot 521 corresponding with rib, and the setting of the first rotating mechanism 23 exists On one end of the motor far from the first telescoping mechanism 22 of retracting cylinder, when the first telescopic machine of motor driven of the first telescoping mechanism 22 When the screw rod rotation of structure 22, since fixed link limits the rotation of retracting cylinder, so that retracting cylinder is reciprocal along the axial direction of screw rod (for example, when the motor of the first telescoping mechanism 22 rotates forward, retracting cylinder is moved to the direction of the motor far from the first telescoping mechanism 22 for movement It is dynamic；When the motor reversal of the first telescoping mechanism 22, the direction where retracting cylinder to the motor of the first telescoping mechanism 22 is mobile), from And it is moved with the first rotating mechanism 23 and sting device 30 to the direction to become close or remote from planar movement mechanism 21.In other realities It applies in example, the first telescoping mechanism 22 can also use oil cylinder or cylinder, at this point, the piston rod of oil cylinder or cylinder is moved perpendicular to plane The perpendicular that the shift position of motivation structure 21 is constituted, the first rotating mechanism 23 are connected on the piston rod of oil cylinder or cylinder.

In the present embodiment, as shown in figure 24, the first rotating mechanism 23 includes motor, the motor of the first rotating mechanism 23 Base is mounted on the first telescoping mechanism 22, and the shaft of the motor of the first rotating mechanism 23 is connect with the second rotating mechanism 24, and The shaft of the motor of first rotating mechanism 23 is arranged perpendicular to the perpendicular that the shift position of planar movement mechanism 21 is constituted.

In the present embodiment, as shown in Figure 19 and Figure 21, the second rotating mechanism 24 includes motor, the second rotating mechanism 24 The base of motor is mounted on the first rotating mechanism 23, and the shaft of the motor of the second rotating mechanism 24 is connect with sting device 30, And second the shaft of motor of rotating mechanism 24 be arranged also to shaft and sting device 30 perpendicular to the first rotating mechanism 23 Puncture direction.

In order to further ensure the accuracy of the medical accurate lancing system and the relative position CT or MRI, to ensure to puncture Accuracy, which further includes the reference for establishing the reference frame of the medical accurate lancing system Coordinate system auxiliary body, reference frame auxiliary body are located in planar movement mechanism 21, can specifically be located at planar movement machine On the plane framework 211 of structure, and it is arranged to the plane of motion (planar movement that its coordinate surface is parallel to where planar movement mechanism 21 Plane where mechanism is perpendicular where the perpendicular namely arching trajectory that the shift position of planar movement mechanism 21 is constituted Straight plane).In use, can be relatively fixed by patient and the medical accurate lancing system, and by the medical accurate lancing system It is relatively fixed with CT or MRI, reference frame is established by the medical accurate lancing system, while doctor can by CT or The medical image that MRI scan is rebuild, which determines, coordinate of the punctures target of patient in reference frame and enters the coordinate of pin mark, with It obtains into pin position, enter needle direction and enter needle depth；And when using the medical accurate lancing system, without external ginseng It examines establishment of coordinate system mechanism and establishes reference frame, also just there is no the medical accurate lancing systems and external reference frame The problem of installation accuracy when set up mechanism is relatively fixed, the installation effectiveness of the medical accurate lancing system is improved, is realized accurate It punctures.

In some embodiments, as shown in Figure 19, Figure 21 and Figure 27, which is laser system 40；Laser system 40 includes a first laser transmitter 41 and two second laser transmitters 42, first laser transmitter 41 The plane and planar movement on the plane framework 211 of planar movement mechanism 21 and constituted is arranged at second laser transmitter 42 The perpendicular that the shift position of mechanism 21 is constituted is parallel, and wherein planar movement mechanism 21 is arranged in first laser transmitter 41 One end far from ground, two second laser transmitters 42 are separately positioned on the two sides of first laser transmitter 41 and are located at first The subaerial side of laser emitter 41, the high settings such as two second laser transmitters 42, and two second laser transmittings Device 42 to each other where direction emit laser, first laser transmitter 41 towards ground direction emit laser.Thus, it is possible to pass through The intersection point that laser system 40 is intersected to form in the surface markers laser rays of the skin of patient or the body film 52 of immobilized patients or head film, Reference frame is established according to intersection point.In other embodiments, reference frame auxiliary body is metal marker point, metal At least provided with two, metal marker point is arranged on the plane framework 211 of planar movement mechanism 21 and constitutes straight mark point Line is parallel with the perpendicular that the shift position of planar movement mechanism 21 is constituted.When using CT or MRI scan, metal marker point It is on the position of body scans, so as to establish reference frame according to metal marker point, without the skin in patient The surface markers intersection point of the body film or head film of skin or immobilized patients, and metal marker object is placed, it is swift to operate.

It further, should in order to make reference frame auxiliary body form the origin of reference frame in place Medical accurate lancing system further includes the second telescoping mechanism 43, and reference frame auxiliary body is located at by the second telescoping mechanism 43 In planar movement mechanism 21, the second telescoping mechanism 43 is for driving reference frame auxiliary body where perpendicular to arching trajectory Perpendicular direction move back and forth.The second telescoping mechanism 43 is located on plane framework 211 at this time.Specifically, such as Figure 21 institute Show, laser system 40 further includes the second telescoping mechanism 43；First laser transmitter 41 and second laser transmitter 42 are individually set It sets on second telescoping mechanism 43, and the plane framework of planar movement mechanism 21 is set by the second telescoping mechanism 43 On 211, and the perpendicular that the telescopic direction of the second telescoping mechanism 43 is constituted perpendicular to the movement position of planar movement mechanism 21. Thus, it is possible to adjust the position of first laser transmitter and second laser transmitter 42 simultaneously by the second telescoping mechanism 43, with Laser is set to form intersection point in the suitable position on the surface of the skin of patient or the body film 52 of immobilized patients or head film.In this implementation In example, the specific structure of the second telescoping mechanism 43 is identical as the structure of the first telescoping mechanism 22, all includes motor, screw rod, fixation Bar and retracting cylinder, the second telescoping mechanism 43 is identical as the internal structure of the first telescoping mechanism 22, and details are not described herein, difference It is, the base of the motor of the second telescoping mechanism 43 is mounted on the plane framework 211 of planar movement mechanism 21, and second is flexible The perpendicular that the shaft of the motor of mechanism 43 is constituted perpendicular to the shift position of planar movement mechanism 21, first laser transmitter 41 and second laser transmitter 42 be individually located at second telescoping mechanism 43 retracting cylinder far from the second telescoping mechanism 43 Motor end, the second telescoping mechanism 43 driving first laser transmitter 41 and second laser transmitter 42 become close or remote from flat The mode of face mobile mechanism 21 is identical as the mode that the first telescoping mechanism 22 drives the first rotating mechanism 23 mobile, no longer superfluous herein It states.

For the position of immobilized patients, guarantee paracentetic precision, as shown in Figure 19 to Figure 21, Figure 24 to Figure 27, the doctor It further include bottom plate 50 with accurate lancing system, three-dimensional position adjustment mechanism is located on bottom plate 50.Specifically, first movement mechanism 26 It is located on bottom plate 50, the surface of bottom plate 50 is parallel with the moving direction of first movement mechanism 26 and shifting with planar movement mechanism 21 The perpendicular that dynamic position is constituted is vertical, and head film and/or body film 52 are removably equipped on bottom plate 50, and head film and body film 52 use Low temperature thermoplastic plate is made.The medical accurate lancing system and CT or MRI foundation are being matched with reference to isocenter point and really as a result, When determining the space coordinate of puncture target of patient's body, on the one hand it can be avoided by the position of low temperature thermoplastic plate immobilized patients The puncture object space coordinate for causing practical puncture target position to determine with CT or MRI because of patient's displacement is not overlapped, and is caused The puncture accuracy decline of the medical accurate lancing system；It on the other hand, can also be on the surface of the low temperature thermoplastic plate of immobilized patients Mark laser rays intersection point, low temperature thermoplastic plate enter pin mark where position pierce pin hole, the puncture needle of sting device 30 is worn The pin hole that enters in Low Temperature Thermal mould plate is crossed, along the puncture target position for entering needle direction piercing patient, puncture needle is in the skin for being pierced into patient During skin, due to there is the support of low temperature thermoplastic plate, it is further ensured that the precision of puncture.

For the ease of the installation and removal of head film or body film 52, as shown in figure 19, bottom plate 50 is equipped with mounting base 53, installation Seat 53 is equipped with the installation through slot 531 with body film 52 or the thickness matching of head film, and installation plug-in unit 54 is plugged in mounting base 53, Plug-in unit 54 is installed along the direction insertion mounting base 53 perpendicular to installation through slot 531, and is worn during being inserted into mounting base 53 Cross installation through slot 531；Correspondingly, head film or body film 52 are equipped with the card slot 521 being adapted to installation plug-in unit 54, and card slot 521 is set In the two sides of head film or body film 52, as shown in figure 30, the two sides of body film 52 are equipped with card slot 521.When setting for head film or body film 52 Have in the installation through slot 531 of two sides insertion mounting base 53 of card slot 521, the installation insertion of plug-in unit 54 can be located at installation through slot Head film in 531 or in the card slot 521 of body film 52, head film or body film 52 are fixed with pedestal.

In order to further fix the position of patient, vacuum pad or foamed glue are placed on pedestal, when patient lies in or lies prone When on vacuum pad or foamed glue, moulding vacuum bag or foamed glue keep its shape consistent with body surface, will be in vacuum bag Gas extraction vacuum bag is hardened or is hardened dimensionally stable as standing time extends foamed glue, with the position of immobilized patients.

In order to increase the moving range of the medical accurate lancing system, improve the medical accurate lancing system use it is flexible Property, as shown in Figure 19, Figure 21 and Figure 27, which further includes the position for adjusting three-dimensional position adjustment mechanism The position adjusting mechanism set, the setting of three-dimensional position adjustment mechanism are arranged on bottom plate 50 by position adjusting mechanism.Specifically, position Set adjustment mechanism include for drive planar movement mechanism 21 go up and down elevating mechanism 25 and/or for driving planar movement mechanism The 21 first movement mechanisms 26 moved back and forth in the horizontal plane, wherein the lifting direction of elevating mechanism 25 and planar movement mechanism 21 plane of motion is parallel and vertical with the telescopic direction of the first telescoping mechanism 22, the moving direction of first movement mechanism 26 and the The telescopic direction of one telescoping mechanism 22 is parallel.

Specifically, when position adjusting mechanism does not include first movement mechanism 26, as shown in Figure 19 and Figure 21, planar movement The plane framework 211 of mechanism 21 is arranged on elevating mechanism 25, the shifting in the lifting direction and planar movement mechanism 21 of lifting structure The perpendicular that dynamic position is constituted is parallel and vertical with the telescopic direction of the second telescoping mechanism 43.In the present embodiment, such as Figure 19 With shown in Figure 21, elevating mechanism 25 includes guide rail, sliding block, screw rod and motor, wherein guide rail is mutually adapted with sliding block, guide rail Guiding is equipped with the motor of elevating mechanism 25, the shaft and elevator of the motor of elevating mechanism 25 perpendicular to horizontal plane on sliding block The screw rod of structure 25 is coaxially connected, and position corresponding with elevating mechanism 25 is equipped with the spiral shell being adapted to the screw rod of elevating mechanism 25 on guide rail Hole, planar movement mechanism 21 are located on sliding block.When the rotation of the screw rod of the motor driven elevating mechanism of elevating mechanism 25, due to leading Rail is connected together with sliding block, and guide rail can not rotate, and therefore, sliding block is moved up and down relative to guide rail (for example, elevating mechanism 25 Motor rotate forward when, sliding block rise；When the motor reversal of elevating mechanism 25, sliding block decline), the movement of sliding block drives plane simultaneously Mobile mechanism 21 and the first telescoping mechanism 22, the first rotating mechanism 23, the second rotating mechanism 24, sting device 30 and laser system System 40 etc. moves together.As a result, both can by elevating mechanism 25 drive planar movement mechanism 21 drive the first telescoping mechanism 22, First rotating mechanism 23, the second rotating mechanism 24, sting device 30 and reference frame auxiliary body rise or decline together, with Adapt to the patient of different building shape.

When position adjusting mechanism does not include elevating mechanism 25, the setting of the plane framework 211 of planar movement mechanism 21 is the In one mobile mechanism 26, specifically, the plane framework 211 of planar movement mechanism 21 is located in first movement mechanism 26.

As a result, during the medical accurate lancing system and CT or MRI match, when swashing using CT or MRI When photosystem establishes reference frame, in order to avoid sting device 30, the second rotating mechanism 24, the first rotating mechanism 23 and first Telescoping mechanism 22 blocks the laser of CT or MRI, in addition, when carrying out CT or MRI scan, in order to avoid sting device 30, second Rotating mechanism 24, the first rotating mechanism 23 and the first telescoping mechanism 22 block scanned position and form medical image artifact, Ke Yitong Crossing first movement mechanism 26 drives elevating mechanism 25 to drive planar movement mechanism 21, the first rotating mechanism 23, the first telescoping mechanism 22, the second telescoping mechanism 43, the second rotating mechanism 24 and sting device 30 move together.Due to being provided with first movement mechanism 26, the medical accurate lancing system stroke in the horizontal direction is increased, the flexibility ratio used is increased；Also make this medical precisely When lancing system and CT or MRI are installed together, relative position is without excessively accurate, reduction installation difficulty, to accelerate installation speed Degree, while improving centesis efficiency.

In the present embodiment, as shown in Figure 19 and Figure 21, first movement mechanism 26 includes motor, screw rod, guide rail and sliding block, Wherein the motor of first movement mechanism 26 is mounted on the guide rail of first movement mechanism 26, the screw rod of first movement mechanism 26 and The shaft of the motor of one mobile mechanism 26 is coaxially connected, and the guide rail of first movement mechanism 26 and the sliding block of first movement mechanism 26 are suitable Match, meanwhile, the sliding block of first movement mechanism 26 is equipped with the screw thread being adapted to the screw rod of first movement mechanism 26, elevating mechanism 25 It is located on the sliding block of first movement mechanism 26, the guide rail and screw rod of first movement mechanism 26 are horizontally disposed.When the first shifting When the screw rod rotation of the motor driven first movement mechanism 26 of motivation structure 26, since the guide rail of first movement mechanism 26 limits the The rotation of the sliding block of one mobile mechanism 26, so that axis of the sliding block of first movement mechanism 26 along the screw rod of first movement mechanism 26 Direction is moved back and forth with the change of the steering of the motor of first movement mechanism 26, to drive elevating mechanism 25 and plane Mobile mechanism 21, the first telescoping mechanism 22, the first rotating mechanism 23 and sting device 30 etc. move in the horizontal direction.

When setting up elevating mechanism 25 and first movement mechanism 26 simultaneously in position adjusting mechanism, such as Figure 19 and Figure 21 institute Show, plane framework 211, elevating mechanism 25 and first movement mechanism 26 are sequentially connected, and first movement mechanism 26 drives elevating mechanism 25 and plane framework 211 move back and forth in the horizontal plane, it is preferred that the direction that moves back and forth in the horizontal plane and the first telescopic machine The telescopic direction of structure 22 is parallel；Elevating mechanism 25 drives plane framework 211 to move back and forth in perpendicular, it is preferred that perpendicular The direction moved back and forth in straight plane is vertical with the telescopic direction of the first telescoping mechanism 22.

When in order to be installed together the medical accurate lancing system and CT or MRI, relative position is without excessively accurate, drop Low installation difficulty to accelerate installation speed, while improving centesis efficiency.As shown in Figure 19 and Figure 21, the medical accurate puncture System further includes the first movement mechanism 26 for driving elevating mechanism 25 to move back and forth in the horizontal plane, and elevating mechanism 25 is located at In first movement mechanism 26, and the moving direction of first movement mechanism 26 is parallel to the horizontal plane and the lifting side with elevating mechanism 25 To vertical.At this point, the specific embodiment of elevating mechanism 25 and first movement mechanism 26 and elevating mechanism 25 and single is separately provided Solely the embodiment of setting first movement mechanism 26 is identical, repeats no more again.Reference frame has been established, and has been determined into needle Position, after entering needle direction and entering needle depth, then by first movement mechanism 26 drive elevating mechanism 25 drive planar movement mechanism 21, the first rotating mechanism 23, the first telescoping mechanism 22, the second telescoping mechanism 43, the second rotating mechanism 24 and sting device 30 1 Movement is played, the puncture position of sting device 30 and puncture direction are adjusted in place, can be punctured；To keep this medical precisely Piercing mechanism both can be adapted for the patient of different building shape, while flexibility ratio with higher, and the medical accurate puncture system When system is installed together with CT or MRI, without excessively accurate, reduction installation difficulty is improved with accelerating installation speed for relative position Centesis efficiency.

In order to increase the driving method that sting device 30 pulls out needle, as shown in Figure 19, Figure 21 and Figure 27, this is medical precisely Lancing system further includes for driving sting device 30 to drive along the feeding of the shaft reciprocating movement perpendicular to the second rotating mechanism 24 Motivation structure 27；Feeding driving mechanism 27 is arranged on the second rotating mechanism 24, and sting device 30 is arranged in feeding driving mechanism 27 On, and the moving direction of feeding driving mechanism 27 is parallel with the puncture direction of sting device 30.Thus, it is possible to pass through Feed servo system Mechanism 27 drives sting device 30 to be punctured or pulled out needle.

In the present embodiment, as shown in Figure 19, Figure 21 and Figure 27, feeding driving mechanism 27 includes motor, screw rod, sliding block, The guide rail parallel with direction is punctured can be set on sting device 30, the sliding block of feeding driving mechanism 27 is adapted to the guide rail, Meanwhile the motor of feeding driving mechanism 27 is mounted on sting device 30, the screw rod and Feed servo system machine of feeding driving mechanism 27 The motor coaxle of structure 27 connects, and the screw rod of feeding driving mechanism 27 is parallel with the guide rail being located on sting device 30, and feeding is driven The screw hole being adapted to the screw rod of feeding driving mechanism 27 is additionally provided on the sliding block of motivation structure 27, the sliding block of feeding driving mechanism 27 is also It is connect with the second rotating mechanism 24.When the rotation of the screw rod of the motor driven feeding driving mechanism 27 of feeding driving mechanism 27, band The sliding block of dynamic feeding driving mechanism 27 is moved along the axis direction of the screw rod of feeding driving mechanism 27, to make feeding driving mechanism 27 sliding block and the second rotating mechanism 24 being arranged on the sliding block of feeding driving mechanism 27 are mobile relative to sting device 30.

When in order to realize centesis, automatic adjusting position, in the present embodiment, the medical accurate lancing system further include control Molding block, control module are connect with all-direction rotation mechanism, sting device 30 and three-dimensional position adjustment mechanism, and control module is used for All-direction rotation mechanism, the working condition of sting device 30 and three-dimensional position adjustment mechanism are controlled, and is recorded.Specifically, Control module and planar movement mechanism 21, the first telescoping mechanism 22, the first rotating mechanism 23, the second rotating mechanism 24 and puncture fill 30 connections are set, control module is for controlling planar movement mechanism 21, the first telescoping mechanism 22,23, second turns of the first rotating mechanism The working condition of motivation structure 24 and sting device 30, and recorded.Thus, it is possible to control planar movement machine by control module Structure 21, the first telescoping mechanism 22, the first rotating mechanism 23, the second rotating mechanism 24 and sting device 30 motion profile, with reality It now punctures automation and guarantees the accuracy punctured.

The application method of the medical accurate lancing system includes the following steps,

S301: the reference isocenter point of patient is determined by CT or MRI and punctures the position of target, determines needle position Set, enter needle direction and enter needle depth；

S303: adjustment planar movement mechanism 21, the first telescoping mechanism 22, the first rotating mechanism 23 and the second rotating mechanism 24, keep the puncture direction of sting device 30 conllinear with needle direction is entered.

In some embodiments, further comprising the steps of before step S301 for the position of immobilized patients:

S101: placing vacuum pad or foamed glue on pedestal, when patient is lain in or is lain prone on vacuum pad or foamed glue, modeling Shape vacuum bag or foamed glue keep its shape consistent with body surface, by vacuum bag gas extraction vacuum bag be hardened or with Standing time extend foamed glue and be hardened dimensionally stable, with the position of immobilized patients.

It is further comprising the steps of between step S101 and step S301 in order to further fix the position of patient:

S201: when patient is located on pedestal, head film or body film 52 being mounted in the mounting base 53 of pedestal, suffered from fixed The position of person.

In other embodiments, can also be only before step S301 for the position of immobilized patients, administration step Patient is fixed on the base by S201 by the head film or body film 52 that are removably mounted in the mounting base 53 of pedestal.

When sting device 30 includes multiple piercing mechanisms, borehole drill construction 37, laser emitter 38, hand-held puncture needle 39 and note It is further comprising the steps of between step S301 and step S303 when penetrating mechanism 36:

S302: by third rotating mechanism 31 will need piercing mechanism to be used, borehole drill construction 37, laser emitter 38, Injection mechanism 36 or the axis of the puncture channel for supplying hand-held puncture needle 39 mobile turn to the second rotating mechanism 24 and first The intersection of the shaft of rotating mechanism 23.

In the present invention, general telescoping mechanism, mobile mechanism can drive nut movement using motor driven screw rod Mode is realized, can also be realized by the way of oil cylinder or cylinder, as long as flexible or mobile state, this hair may be implemented The bright specific implementation to telescoping mechanism or mobile mechanism is without limitation；And hand-held puncture needle 39 can be using manually adjusting Mode is realized.In the present invention, being detachably connected, which can be, is bolted or is connected together, as long as two objects may be implemented It is detachably connected, the present invention is not specifically limited the specific implementation being detachably connected.

In the present invention, medical accurate lancing system can only include perpendicular in move planar movement mechanism 21, First telescoping mechanism 22, the first rotating mechanism 23, the second rotating mechanism 24 and sting device 30；It may be that realization is different Purpose is distinguished or is combined on the medical accurate lancing system and installs laser system 40, elevating mechanism 25, first movement mechanism additional 26, feeding driving mechanism 27 and control module；It can also be in order to realize that different functions is arranged at least two on sting device 30 A piercing mechanism, these piercing mechanisms can be anti-needle track tumor planting piercing mechanism 34, anti-pneumothorax piercing mechanism 35 and/or note Penetrate mechanism 36, it is preferred that anti-needle track tumor planting piercing mechanism 34, anti-pneumothorax piercing mechanism 35 and/or injection mechanism 36 pass through Dismountable mode is arranged；It can also increase in medical accurate lancing system to realize the fixed function in puncture process Bottom plate 50, head film and/or body film 52 can also increase in medical accurate lancing system in order to further ensure the precision of puncture If borehole drill construction 37 and laser emitter 38.The mechanism added above, which can according to need, only adds one, can also be according to need It combines and adds, preferably puncture effect to reach.

Above-described is only some embodiments of the present invention.For those of ordinary skill in the art, not Under the premise of being detached from the invention design, various modifications and improvements can be made, these belong to protection model of the invention It encloses.

Claims

1. comprehensive piercing mechanism, which is characterized in that including all-direction rotation mechanism and sting device (30), described comprehensive turn Motivation structure is for driving the sting device (30) to rotate set angle in solid space around a fixed point, wherein

On the extended line where the puncture direction of the sting device (30), the set angle is set as the fixed point Arbitrary value between 0 ° -360 °.

2. comprehensive piercing mechanism according to claim 1, which is characterized in that the all-direction rotation mechanism includes first Rotating mechanism (23) and the second rotating mechanism (24), first rotating mechanism (23) is for driving second rotating mechanism (24) the first set angle is rotated, second rotating mechanism (24) is for driving the second setting of the sting device (30) rotation The value range of angle, first set angle and the second set angle is 0 °~360 °；

Wherein, the shaft of first rotating mechanism (23) is vertical with the shaft of second rotating mechanism (24), and described second The shaft of rotating mechanism (24) is vertical with the puncture direction of the sting device (30), and the shaft of the first rotating mechanism (23), The shaft of second rotating mechanism (24) and the puncture direction three of sting device (30) cross to form the fixed point.

3. comprehensive piercing mechanism according to claim 2, which is characterized in that the sting device (30) include for into Row picks and places the piercing mechanism of processing, piercing mechanism rotation round a fixed point under the driving of second rotating mechanism (24).

4. comprehensive piercing mechanism according to claim 3, which is characterized in that

The piercing mechanism includes:

Puncture needle for puncture；

For providing the outer needle guard (347) of puncture path for the puncture needle；And

For driving the puncture needle and outer needle guard (347) to move upwards in puncture side, and limit the outer needle guard (347) into To position, to realize the Needle localization driving mechanism of anti-needle track tumor planting.

5. comprehensive piercing mechanism according to claim 4, which is characterized in that the outer needle guard (347) is equipped with perforation First cavity at its both ends, the Needle localization driving mechanism include

The feeding driving mechanism (27) being located on second rotating mechanism (24), for driving positioning mechanism, puncturing driving machine Structure, puncture needle and outer needle guard (347) are mobile simultaneously on puncturing direction；

The positioning mechanism being located on the feeding driving mechanism (27), for being moved to positioning mechanism in the outer needle guard (347) Spacing place when, the outer needle guard (347) is limited；And

The puncture driving mechanism being located on the feeding driving mechanism (27), the puncture driving mechanism is for driving the puncture Needle is moved upwards with outer needle guard (347) in puncture side, and moves to the spacing place of the positioning mechanism in the outer needle guard (347) When, continue that the puncture needle is driven to stretch out or be at least retracted in first cavity from first cavity along direction is punctured.

6. comprehensive piercing mechanism according to claim 5, which is characterized in that the puncture needle include interior needle (341) and Both ends are by the interior needle guard (342) of interior the second cavity perforation set, and the interior needle guard (342) is in first cavity, institute Interior needle (341) are stated in second cavity；

The puncture driving mechanism includes

It is flexible for driving the interior needle (341) that the first anti-plantation in second cavity is stretched out or retracted from the second cavity Mechanism (349)；With

For driving the described first anti-plantation telescoping mechanism (349) and interior needle guard (342) to move, along direction is punctured so that in described Needle guard (342) stretches out from first cavity or retracts the second anti-plantation telescoping mechanism (348) in first cavity.

7. comprehensive piercing mechanism according to claim 4, which is characterized in that approaching for the outer needle guard (347) is described The end of feeding driving mechanism (27) is also arranged with connector sleeve (346), be equipped in the connector sleeve (346) deformable sealing every Film (3461).

8. comprehensive piercing mechanism according to claim 3, which is characterized in that the piercing mechanism includes for taking out automatically Take or inject the injection mechanism (36) of gas or liquid；

Wherein, the injecting cavity (363) of the injection mechanism (36) is equipped at least two connectors (365), one of connection Head (365) for the injecting cavity (363) to be connected to injection needle (364), with connector (365) for by the injection Chamber (363) is connected to the injecting cavity (363) and external gas or liquid or is used for external gas or liquid injection system The connection of body extraction system.

9. the comprehensive piercing mechanism according to claim 3 to 8 any one, which is characterized in that the sting device (30) further include third rotating mechanism (31), puncture frame (32) and piecing attachment (33), and the piercing mechanism is at least set There are two；

The puncture frame (32) is arranged on the second rotating mechanism (24), and third rotating mechanism (31) setting is worn described Thorn frame (32) on and be arranged to its shaft with puncture direction it is parallel；

The piercing mechanism is all provided with to be set to and be connect by the piecing attachment (33) with the third rotating mechanism (31), and institute Having piercing mechanism to be respectively positioned on by the vertical line of the shaft using the fixed point to third rotating mechanism (31) is radius, using intersection point as the center of circle Defined by circumference.

10. comprehensive piercing mechanism according to claim 9, which is characterized in that the sting device (30) further includes boring Holes mechanism (37), the borehole drill construction (37) include drill bit (373), drilling control mechanism and for drive drill bit (373) and The bore motor (372) that drilling control mechanism rotates together；

The bore motor (372) is located on the piecing attachment (33), and be arranged to its shaft with puncture direction it is parallel, The extended line of shaft and the circumference have intersection point；

The drilling control mechanism is arranged to control the drill bit (373) in the bore motor according to the signal received (372) it is drilled under driving or stops drilling.