CN110115601A - A kind of ultrasound guidance breast lesion Stereoscopic localized instrument - Google Patents
A kind of ultrasound guidance breast lesion Stereoscopic localized instrument Download PDFInfo
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- CN110115601A CN110115601A CN201910496572.6A CN201910496572A CN110115601A CN 110115601 A CN110115601 A CN 110115601A CN 201910496572 A CN201910496572 A CN 201910496572A CN 110115601 A CN110115601 A CN 110115601A
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- connecting rod
- support arm
- mould group
- biopsy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
Abstract
The invention discloses a kind of ultrasound guidance breast lesion Stereoscopic localized instrument, it pops one's head in including biopsy instrument main body, support arm and biopsy procedure, one end of the support arm is mounted in biopsy instrument main body, and the support arm other end is connect by universal joint with first connecting rod one end that biopsy procedure is popped one's head in；The biopsy procedure probe further includes the ultrasonic probe clamping moving device connecting with first connecting rod, the vacuum chuck breast auxiliary fixing device for being installed on ultrasonic probe clamping moving device bottom, the puncture needle auxiliary locator being mounted in ultrasonic probe clamping moving device, is equipped with ultrasonic instrument second display screen in the middle part of the first connecting rod.The present invention proposes solution for four crucial technological difficulties present on VAB art operating technology, on the one hand, the comfort for shortening operating time, increasing operative doctor；On the other hand, the accuracy of biopsy procedure and the accuracy of lesion resection are improved.
Description
Technical field
The present invention relates to the field of medical instrument technology more particularly to a kind of ultrasound guidance breast lesion Stereoscopic localizeds
Instrument.
Background technique
With the development of Imaging Technology, more and more clinical accessible and untouchable breast lumps are sent out in early days
It is existing.(Fine needle aspiration, FNA), hollow needle biopsy (Core needle are punctured including fine needle aspiration
Biopsy, CNB) and vacuum assisted biopsy (vacuum-assisted biopsy, VAB) including percutaneous transthoracic needle biopsy technology be
Obtain the effective minimal invasive techniques of early stage pathology diagnosis, especially the VAB art of ultrasound guidance, the small, few intercurrent disease with its wound
And it can get enough tissue sticks and be widely used.Currently, ultrasound guidance VAB art is widely used in mammary gland
The early stage diagnosis and treatment of disease, and become the preferred measure of breast lump diagnosis and treatment instead of open surgical biopsy substantially.
Under ultrasound guidance when row VAB art, it is ensured that lump and puncture needle are located within ultrasonic probe scanning plane to clear
Clear imaging simultaneously carries out rotary-cut sampling biopsy to targeted site under this guidance and is to ensure that operation is gone on smoothly and the pass of surgical quality
Key.But there are four crucial technological difficulties: (1) free property of breast: due to cream always in the operating technology of VAB art
Room is the biggish body surface organ of freedom, and breast tissue is comparatively dense, leads to breast position during rotary-cut is needled into
Set and lump shift it is even complete deviate, so that lump and (or) biopsy needle is deviateed ultrasonic probe scanning plane and without Faxian
Picture has broken the continuity of operation, and operative doctor resetting is needed to adjust；(2) ultrasonic probe scanning plane, lump and puncture needle
Between mutually spatial relation holding: in operating technology require puncture rotary-cut needle be maintained within ultrasonic probe scanning plane,
It requires to keep puncture rotary-cut needle parallel with ultrasonic probe long axis in manipulation process and be located at immediately below it, to make to wear
Thorn rotary-cut needle is real-time under ultrasonic instrument monitoring, clearly indicates its punctures track.But due to the free property of breast, operation
The factors such as the fatigue and operation skill of doctor are difficult to remain that puncture rotary-cut needle equal with ultrasonic probe long axis in manipulation process
Go and be located at immediately below its, slightly deflection punctures rotary-cut needle and can not just image, at this point, operator need to re-move ultrasonic probe and
It punctures rotary-cut needle to be repositioned, is again positioned within ultrasonic probe scanning plane and images again so as to puncture rotary-cut needle；
(3) accuracy of moving operation: manual operations probe movement, it may occur that biggish displacement, it is inaccurate, especially when lump compared with
Hour, it will cause the loss of lump trace, lead to duplicate positioning operation.(4) doctor, biopsy needle and ultrasonic instrument three
Between positional relationship: best biopsy visual range be ultrasound display, ultrasonic probe long axis, biopsy device and doctor hand
Point-blank.Ultrasonic device is placed on doctor opposite side, doctor can be facilitated to look at display screen straight in biopsy, increases the comfortable of operation
Property.But due to the non-integral of biopsy syste and ultrasonic system, lead to the dislocation of optimum positional relationship in the course of surgery,
The comfort of operation is reduced, doctor takes often adjustment positional relationship.
Such situation, on the one hand, the fatigue that positioning operation repeatedly extends operating time, increases operative doctor；Separately
On the one hand, the accuracy for affecting biopsy procedure causes the accuracy of lesion resection to reduce, causes different degrees of Residue
Or the excessive excision of normal tissue；In addition, this is also one of the technical bottleneck for limiting junior doctor learning and mastering VAB art, limitation
This breast lump first choice makes a definite diagnosis the universal of technology.Therefore, it can solve the corresponding surgical assistant system of above-mentioned technological difficulties
With huge application value and foreseeable social benefit.
Currently, in view of the above problems, x-ray guidance and MRI guidance under the field vacuum assisted biopsy rotary-cut art (VAB)
There is relevant surgical assistant system to be applied to clinic.But field vacuum assisted biopsy rotary-cut art (VAB) under ultrasound guidance,
Relevant surgical assistant system there is no to be reported both at home and abroad.
Summary of the invention
The purpose of the present invention is to provide a kind of ultrasound guidance breast lesion Stereoscopic localized instrument, to solve above-mentioned skill
Art problem.
The present invention using following technical scheme in order to solve the above technical problems, realized:
A kind of ultrasound guidance breast lesion Stereoscopic localized instrument, including biopsy instrument main body, support arm and biopsy procedure
Probe.One end of support arm is mounted in biopsy instrument main body, the other end by universal joint with biopsy procedure is popped one's head in first connect
Bar is connected；The biopsy instrument main body includes Ultrasound Instrument host, the second ultrasonic probe, console and shell, and the shell passes through ten thousand
It is grounding type to wheel chassis design.The biopsy instrument main body be integrated with biopsy procedure pop one's head in each work system relevant apparatus and control
System processed, and be associated through support arm with biopsy procedure probe by relevant connection device (conducting wire or conduit).The console
Be integrated with vacuum generating device and three axial filament bar slide units and diverter starting and parameter (including suction size, sucker queue hand over
Temporary substitute working frequency, screw rod movement speed and angular speed of diverter rotation etc.) adjustment interface；The Ultrasound Instrument host is equipped with ultrasound
Instrument second display screen and a part popped one's head in as biopsy procedure, can be with the scanning of host display simultaneous display ultrasonic probe institute
The image arrived.
Further, the support arm includes armstand, horizontal support arm, the first perpendicular support arm, the second perpendicular support arm, the first rotation pass
Section, the second rotary joint, third rotary joint, the 4th rotary joint, revolute and with biopsy procedure probe be connected it is universal
Section.Armstand is mounted in biopsy instrument main body by the pair that moves along a straight line；It one end of horizontal support arm can by the first rotary joint and armstand
Rotation connection, the other end are rotatably connected by the second rotary joint and the first perpendicular support arm；First perpendicular support arm and the second perpendicular support arm
Between moved by monoplane and there is the revolute of locking function to be connected, for providing biopsy procedure probe in above-below direction
Movement；Third rotary joint is of coupled connections with the 4th rotary joint, and is connected respectively at the second perpendicular support arm with universal joint, thus
Perpendicular support arm and universal internode composition is set to be rotatably connected；Support arm by above-mentioned setting, allow biopsy procedure pop one's head in do it is horizontal and
The grand movement of up and down direction, the divertical motion that the setting of universal joint then allows biopsy procedure probe to do 360 °, to meet
The requirement of biopsy procedure.
Further, the biopsy procedure probe includes vacuum chuck breast auxiliary fixing device, the second connecting rod, ultrasound
Probe clamping moving device, puncture needle auxiliary locator, ultrasonic instrument second display screen, controller, handle, first connecting rod
Control button occurs with vacuum.First plastotype frame of vacuum chuck breast auxiliary fixing device is visited by the second connecting rod and ultrasound
The Y-axis mould group of head clamping moving device is mechanically connected；Puncture needle auxiliary locator is visited by the inserted block and ultrasound of end
The slot of head clamping moving device does detachable and with locking function inserting slot construction and is slidably connected, and facilitates puncture needle auxiliary fixed
Position device removes disinfection；Controller and handle pass through Y-axis mould group phase of the mechanical connection with ultrasonic probe clamping moving device
Connection, the setting of handle is convenient for the moving operation to biopsy probe；First connecting rod middle section mechanical connection has ultrasonic instrument
The Y-axis mould group of second display screen, lower end and ultrasonic probe clamping moving device is mechanically connected, and upper end is universal with support arm end
Section is rotatably connected；Vacuum occurs control button and is mounted on handle.
Further, the ultrasonic probe clamping moving device include by Y-axis mould group, X-axis mould group and Z axis mould group composition
Three axial filament bar slide units, sliding block, arc-shaped connecting rod, rotary joint, diverter, slot and ultrasonic probe.The three axial filaments bar slide unit
It include the structures such as servo motor, screw rod, nut and guide rail, for driving ultrasonic probe to do horizontal and up and down direction X, Y, Z axis
Three-axis moving.The sliding block is mounted in Z axis mould group, and is connected by arc-shaped connecting rod with rotary joint；Rotary joint
It is connected by diverter with ultrasonic probe, the steering that the diverter can drive ultrasonic probe to do 360 ° under controller remote control
Movement；Slot and diverter are mechanically connected, and are removably slidably connected with the inserted block of puncture needle auxiliary locator composition；Institute
Y-axis mould group is stated to be mechanically connected by the second plastotype frame of the second connecting rod and vacuum chuck breast auxiliary fixing device.Rotation is closed
The divertical motion that the setting of section allows puncture needle auxiliary locator, ultrasonic probe and diverter to do 360 ° as a whole,
In order to puncture the adjustment transformation in direction in surgical procedure.
Further, the vacuum chuck breast auxiliary fixing device includes the first plastotype frame, the second plastotype frame, first team
Column sucker and second queue sucker.It is in " L " type, angulation β by mechanical connection between first plastotype frame and the second plastotype frame.Modeling
Successively cross arrangement has first queue sucker and second queue sucker inside type frame, and plastotype frame adsorbs breast by vacuum chuck
Skin, and the breast in target biopsy area is fixed and moulding by the frame of " L " type, it is empty to provide ideal operation for operation
Between；First queue sucker and second queue sucker are worked alternatively by setpoint frequency, prevent adsorption zone cutaneous necrosis.Second plastotype frame
It is mechanically connected by the Y-axis mould group of the second connecting rod and ultrasonic probe clamping moving device.
Further, the puncture needle auxiliary locator includes inserted block, the first long connecting rod, the second long connecting rod,
One short connecting rod, the second short connecting rod, puncture tank and rotary joint.The slot of the inserted block and ultrasonic probe clamping moving device
Detachable and with locking function inserting slot construction is done to be slidably connected.The puncture tank includes the slot connecting with the second short connecting rod
Body, puncture needle entrance, puncture needle outlet and guiding channel.The diameter by width and puncture rotary-cut needle of the guiding channel is big
It is small to be adapted；The central angle of fan-shaped guide structure is α.By monoplane and with the rotation of locking function between the connecting rod
Turn joint to be attached, the second short connecting rod is mechanically connected with puncture tank, and by the setting of mechanical force, is made in puncture tank
The plane of guiding channel and ultrasonic scan acoustic beam are maintained at same section, thus make to puncture rotary-cut needle in operation always by
Be limited in ultrasonic scan plane, can make its puncture track by real time, be clearly displayed；Described first long connection simultaneously
Bar and the second long connecting rod can guarantee in operative process puncture rotary-cut needle relatively large distance and range movement, described first
Short connecting rod and the second short connecting rod are connect with puncture tank groove body, are conducive to the flexible shifting for puncturing rotary-cut needle smaller range and distance
It is dynamic, guarantee the flexibility of rotary-cut operation, improves the accuracy of lesion resection.
Further, the controller includes moving horizontally trace ball, course changing control knob and moving up and down control handle.
Controller end is connected by being mechanically connected with the Y-axis mould group of ultrasonic probe clamping moving device.
Preferably, the angle α, β is disposed as 120 °；
Preferably, the puncture needle auxiliary locator uses medical stainless steel material, is sterilized with convenient sterilizing.
Preferably, the Ultrasound Instrument host, the composition of ultrasonic instrument second display screen and ultrasonic probe as this biopsy instrument
Integrated design is made with whole in part.Wherein the shelling machine of ultrasonic probe is the structure that can be fixedly connected with diverter.
Preferably, lead between the first plastotype frame and the second plastotype frame of the vacuum chuck breast auxiliary fixing device
The revolute of locking can be fixed by, which crossing, is attached, to facilitate the suitable adjusting to angle beta.
Preferably, the controller design is " mouse type " absolute construction, passes through conducting wire and biopsy instrument main body phase
Even, to increase the scope of activities of biopsy instrument controller, increase the flexibility of operation, adapt to the use habit of different operation person.
The beneficial effects of the present invention are:
(1) vacuum chuck breast auxiliary fixing device solves the problems, such as the free property of breast: breast auxiliary fixing device
Plastotype frame adsorbs skin of breast by vacuum chuck, and the breast in target biopsy area is fixed by the plastotype frame of " L " type
And moulding, ideal operating space is provided for operation；Breast position and lump during rotary-cut is needled into is reduced to occur
The degree of offset guarantees that lump and (or) biopsy needle are maintained within ultrasonic probe scanning plane and clearly image, maintains hand
The continuity of art.
(2) ultrasonic probe clamping moving device solves the accuracy problem of moving operation: three axial filament bar slide units pass through essence
Close threaded screw rod reaches control ultrasonic probe level and the precision of up and down direction is mobile, and diverter has then reached control ultrasonic probe
Do 360 ° of accurate divertical motion；It solves the problems, such as that manual operations probe movement is inaccurate, it is fixed to reduce duplicate lump
Bit manipulation.
(3) puncture needle auxiliary locator solves mutual space bit between ultrasonic probe scanning plane, lump and puncture needle
The problem of setting the holding of relationship: by monoplane and with locking function between the linking arm of puncture needle auxiliary locator
Rotary joint is attached, and the plane of guiding channel and ultrasonic scan acoustic beam in puncture tank is made to be maintained at same section, thus
It is limited at puncture rotary-cut needle always in ultrasonic scan plane in operation, it can be made to puncture track by real-time, clear
It shows clearly；The accuracy and stability that ensure that VAB art operating process, avoid positioning operation repeatedly and need not
The tissue damage wanted.In addition, puncture needle auxiliary locator is moved using dismountable slot connection structure and ultrasonic probe clamping
Dynamic device is connected, while positioning device is made of medical stainless steel metal, is conducive to high-temperature steam sterilization, to guarantee in art
Sterile principle, reduce patient's art in infected probability, improve the safety of operation.
(4) design of ultrasonic instrument second display screen solves between doctor, biopsy needle and ultrasonic instrument three
The problem of positional relationship: ultrasonic instrument second display screen is mounted on the first connecting rod of biopsy probe, to guarantee operating
Display, ultrasonic probe, biopsy needle and the hand of doctor always point-blank, increase the comfort of operation in the process.
The present invention proposes solution for four crucial technological difficulties present on above-mentioned VAB art operating technology,
On the one hand, the comfort for shortening operating time, increasing operative doctor；On the other hand, the accuracy of biopsy procedure is improved
With the accuracy of lesion resection, the excessive excision of Residue and normal tissue is reduced；In addition, reducing learning and mastering VAB
The technical threshold of art is conducive to the universal of the technology, has huge application value and foreseeable social benefit.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the embodiment of the present invention 1；
Fig. 2 is biopsy procedure probe (being not inserted into puncture needle) structural schematic diagram of the embodiment of the present invention 1；
Fig. 3 is biopsy procedure probe (insertion puncture needle) structural schematic diagram of the embodiment of the present invention 1；
Fig. 4 is the vacuum chuck breast auxiliary fixing device structural schematic diagram of the embodiment of the present invention 1；
Fig. 5 is the puncture needle auxiliary locator structural schematic diagram of the embodiment of the present invention 1；
Fig. 6 is the puncture slot structure schematic diagram of the embodiment of the present invention 1；
Fig. 7 is the controller architecture schematic diagram of the embodiment of the present invention 1；
Appended drawing reference: 1- biopsy instrument main body；11- Ultrasound Instrument host；The second ultrasonic probe of 12-；13- console；Outside 14-
Shell；2- support arm；201- armstand；The horizontal support arm of 202-；203- first erects support arm；204- second erects support arm；The rotation of 205- first is closed
Section；The second rotary joint of 206-；207- third rotary joint；The 4th rotary joint of 208-；209- revolute；210- universal joint；
3- biopsy procedure probe；31- vacuum chuck breast auxiliary fixing device；311- the first plastotype frame；312- the second plastotype frame；313-
First queue sucker；314- second queue sucker；The second connecting rod of 32-；33- ultrasonic probe clamping moving device；3301-Y axis
Mould group；3302-X Axle mould group；3303-Z Axle mould group；3304- sliding block；3305- arc-shaped connecting rod；3306- rotary joint；3307-
Diverter；3308- slot；3309- ultrasonic probe；34- puncture needle auxiliary locator；341- inserted block；The long connection of 342- first
Bar；The long connecting rod of 343- second；The short connecting rod of 344- first；The short connecting rod of 345- second；346- puncture tank；3461- groove body；
3462- puncture needle entrance；The outlet of 3463- puncture needle；3464- guiding channel；347- rotary joint；35- ultrasonic instrument second is aobvious
Display screen；36- controller；361- moves horizontally trace ball；362- course changing control knob；363- moves up and down control handle；37- handle
Hand；38- first connecting rod；Control button occurs for 39- vacuum.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Specific embodiments and the drawings are closed, the present invention is further explained, and however, the following embodiments are merely preferred embodiments of the present invention, not
All.Based on the implementation example in the implementation mode, those skilled in the art are obtained without making creative work
Other embodiments belong to protection scope of the present invention.
Specific embodiments of the present invention are described with reference to the accompanying drawing.
Embodiment 1
As shown in Figure 1, a kind of ultrasound guidance breast lesion Stereoscopic localized instrument, including biopsy instrument main body 1, support arm
2 and biopsy procedure probe 3, biopsy instrument main body 1 include Ultrasound Instrument host 11, console 13.
One end of support arm 2 is mounted in biopsy instrument main body 1, and 2 other end of support arm passes through universal joint 210 and biopsy procedure
38 one end of first connecting rod connection of probe 3；
As shown in Figures 2 and 3, biopsy procedure probe 3 further includes that the ultrasonic probe clamping connecting with first connecting rod 38 moves
Dynamic device 33, is mounted on the vacuum chuck breast auxiliary fixing device 31 for being installed on 33 bottom of ultrasonic probe clamping moving device
Puncture needle auxiliary locator 34 in ultrasonic probe clamping moving device 33.
The middle part of first connecting rod 38 is equipped with ultrasonic instrument second display screen 35, the letter of ultrasonic instrument second display screen 35
Number input terminal is connect with 11 signal output end of Ultrasound Instrument host by cable.
Ultrasonic probe clamping moving device 33 includes being made of Y-axis mould group 3301, X-axis mould group 3302 and Z axis mould group 3303
Three axial filament bar slide units, arc-shaped connecting rod 3305, rotary joint 3306, diverter 3307, slot 3308, first connecting rod 38 with
Y-axis mould group 3301 connects, and the sliding block 3304 in Z axis mould group 3303 is connect by arc-shaped connecting rod 3305 with rotary joint 3306,
Rotary joint 3306 is connect by diverter 3307 with ultrasonic probe 3309.
As shown in figure 5, puncture needle auxiliary locator 34 includes inserted block 341, the long connection of the first long connecting rod 342, second
Bar 343, the first short connecting rod 344, the second short connecting rod 345, puncture tank 346 and rotary joint 347；Inserted block 341 be mounted on
Slot 3308 on diverter 3307 is detachably connected with, and the first long connecting rod 342 is mounted on inserted block 341, the first long connecting rod
342, the second long connecting rod 343, the first short connecting rod 344, pass sequentially through monoplane between the second short connecting rod 345 and there is lock
The rotary joint 347 of tight function connects, and the second short connecting rod 345 is connect with puncture tank 346.
As shown in fig. 6, puncture tank 346 includes the groove body 3461 connecting with the second short connecting rod 345, groove body 3461 includes wearing
Spike inlet 3462, puncture needle outlet 3463 and section are fan-shaped guiding channel 3464.Guiding channel 3464 passes through width
It is adapted with the diameter for puncturing rotary-cut needle；The central angle of fan-shaped guiding channel 3464 is α.
As shown in figure 4, vacuum chuck breast auxiliary fixing device 31 include the first plastotype frame 311, the second plastotype frame 312,
First queue sucker 313 and second queue sucker 314, the first plastotype frame 311 and the second plastotype frame 312 are detachably connected in " L "
Type and angle are β, and the second plastotype frame 312 is connect by the second connecting rod 32 with Y-axis mould group 3301, the first plastotype frame 311 and the
Intersect inside two plastotype frames 312 and first queue sucker 313 and second queue sucker 314,313 He of first queue sucker are installed
Second queue sucker 314 is all connect with vacuum generating device, and vacuum generating device is integrated in the console 13 in biopsy instrument main body 1
It is interior.
Vacuum generating device occurs control button 39 with vacuum by cable and connect, and vacuum occurs control button 39 and is mounted on
On handle 37, handle 37 is mounted in Y-axis mould group 3301.
As shown in fig. 7, X-axis mould group 3302, Y-axis mould group 3301 pass through the XY Axle mould group controller on cable and controller 36
Connection is provided with the mobile level of control X-axis mould group 3302, the sliding block 3304 in Y-axis mould group 3301 on XY Axle mould group controller
Motion track ball 361, Z axis mould group 3303 are connect by cable with the Z axis module controller on controller 36, the control of Z axis mould group
The sliding block 3304 being provided in control Z axis mould group 3303 on device moves up and down control handle 363 along what Z-direction moved, turns to
Device 3307 is connect by cable with the diverter controller on controller 36, is provided on diverter controller and is turned to for controlling
The course changing control knob 362 that device 3307 turns to, controller 36 are connect by cable with biopsy instrument main body 1, and controller 36 is mounted on Y
In Axle mould group 3301.
Support arm 2 includes armstand 201, horizontal support arm 202, the first perpendicular support arm 203, the second perpendicular support arm 204, the first rotary joint
205, the second rotary joint 206, third rotary joint 207, the 4th rotary joint 208, revolute 209 and universal joint 210；Armstand
201 are mounted in biopsy instrument main body 1 by the pair that moves along a straight line, and one end of horizontal support arm 202 passes through the first rotary joint 205 and armstand
201 are rotatably connected, and the other end of horizontal support arm 202 is rotatably connected by the second rotary joint 206 with the first perpendicular support arm 203,
It is moved between first perpendicular support arm 203 and the second perpendicular support arm 204 by monoplane and there is the revolute 209 of locking function to be connected,
Third rotary joint 207 is of coupled connections with the 4th rotary joint 208 and is connected respectively at the second perpendicular support arm 204 and universal joint 210
It connects.
Biopsy instrument main body 1 further includes the second ultrasonic probe 12 and shell 14, and 14 bottom of shell is equipped with universal wheel.
Working principle: 1. instruments prepare: it is preoperative, open biopsy instrument ultrasound host and console 13, make Ultrasound Instrument host 11,
Vacuum generating device, three axial filament bar slide units and diverter 3307 are in standby mode；Appropriateness adjusts vacuum as needed
The parameter of device and three axial filament bar slide units and diverter 3307, including suction size, sucker queue work alternatively frequency, screw rod moves
The angular speed etc. that dynamic speed and diverter 3307 rotate；Vacuum aided rotary-cut surgery systems are opened, are allowed to be in standby；2.
Patient prepares: patient lies on operating bed, and exposure is to field of operation breast；Surgical doctor is mentioned what patient's Preoperative ultrasound diagnosis was reported
Under showing, holds the second ultrasonic probe 12 and scanning positioning is carried out to Ipsilateral breast lesion, determine operative region and cross, and in operation
Area's dermal application ultrasonic coupling agent is ready for operation.3. operation: (1) fixed plastotype: surgical doctor holds biopsy instrument biopsy
The alignment of plastotype frame is adjacent to pre-designed field of operation by the handle 37 for operating probe, and the vacuum started on handle 37 is controlled
Button 39 processed, plastotype frame adsorb skin of breast by vacuum chuck, and by the structure of " L " type to the breast in target biopsy area into
Row fixation and moulding provide ideal operating space for operation；Meanwhile first queue sucker 313 and second queue sucker 314 are pressed
Setpoint frequency works alternatively, and can prevent adsorption zone cutaneous necrosis.(2) scanning positions: doctor passes through first moves up and down control rotation
Button 363 controls ultrasonic probe and moves downward, and is allowed to be adjacent to skin of breast with suitable pressure, so that ultrasonic instrument can be shown clearly
Clear image is advisable；Then, the scanning campaign that ultrasonic probe 3309 does horizontal direction is controlled by moving horizontally trace ball 361,
And scanning waits for aspiration biopsy lesion under the guidance of previous lesion localization label, keeps breast lump lesion clear on ultrasonic instrument
Development；(3) paracentesis area sterilizes: after the suitable entry point of the second plastotype frame 312 selection, label, carrying out iodophor disinfection；(4) art
Area's anesthesia: art area is anaesthetized using syringe under the guidance of ultrasonic real-time monitoring, including around lump and (or) after breast
Gap；(5) aspiration biopsy: the puncture needle auxiliary locator 34 after installing sterilized sterilization treatment, puncture needle enters through puncture needle
Mouth 3462 is pierced by under the guidance of guiding channel 3464 by puncture needle outlet 3463, by predetermined point of puncture inserting needle, and in ultrasonic image
The underface of target breast lump lesion is punctured under guiding in real time.Puncture needle auxiliary locator 34 is set by mechanical force
It sets, the plane of guiding channel 3464 and ultrasonic scan acoustic beam in puncture tank 346 is made to be maintained at same section, to make to puncture rotary-cut
Needle is limited in ultrasonic scan plane always in operation, can make its puncture track by real time, clearly show that
Come, doctor observes the opposite position of puncture the rotary-cut needle and breast lesion of the display of ultrasonic instrument second display screen 38 in puncture process
It sets, adjusts the puncture angle for puncturing rotary-cut needle, so that puncture rotary-cut needle is accurately reached breast lesion position, guarantee the effect of guiding puncture
Fruit and efficiency.Rotary joint 3306 allows doctor to manipulate the appropriateness movement that rotary-cut needle does left and right directions, and the sector of puncture tank 346 is drawn
The design of pathway 3464 allows doctor to manipulate the appropriateness movement that rotary-cut needle does up and down direction, revolves during rotary-cut to meet
Cutter carries out the actual conditions of rotary-cut angles and positions moderate change on demand around lump, to reach to the accurate rotary-cut of lump
Purpose；Diverter 3307 can provide 360 ° of ultrasonic probe of divertical motion simultaneously, can adjust ultrasound in due course during rotary-cut
Probe 3309 scanning section direction, with observe detection lump difference section rotary-cut situation and puncture needle different sections with
The relative position of lump, so that doctor be facilitated to make suitable adjustment.(6) recheck: after excision operation, ultrasound check ensures
Lesion noresidue.
Embodiment 2
In the case where other parts are same as Example 1, the present embodiment the difference from embodiment 1 is that: vacuum inhale
Between the first plastotype frame 311 and the second plastotype frame 312 of disk breast auxiliary fixing device 31 by can fix the revolute of locking into
Row connection, to facilitate the suitable adjusting to angle beta.
Embodiment 3
In the case where other parts are same as Example 1, the present embodiment the difference from embodiment 1 is that: controller
36 increase the flexibility of operation for " mouse type " absolute construction to increase the scope of activities of biopsy instrument controller, adapt to different behaviour
The use habit of author.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
For personnel it should be appreciated that the present invention is not limited to the above embodiments, described in the above embodiment and specification is only the present invention
Preference, be not intended to limit the invention, without departing from the spirit and scope of the present invention, the present invention also has various
Changes and improvements, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by institute
Attached claims and its equivalent thereof.
Claims (10)
1. a kind of ultrasound guidance breast lesion Stereoscopic localized instrument, including biopsy instrument main body (1), support arm (2) and biopsy
Operation probe (3), the biopsy instrument main body (1) includes Ultrasound Instrument host (11), console (13), it is characterised in that:
One end of the support arm (2) is mounted on biopsy instrument main body (1), and support arm (2) other end passes through universal joint
(210) it is connect with first connecting rod (38) one end of biopsy procedure probe (3)；
Biopsy procedure probe (3) further include the ultrasonic probe clamping moving device (33) being connect with first connecting rod (38),
It is installed on the vacuum chuck breast auxiliary fixing device (31) of ultrasonic probe clamping moving device (33) bottom, is mounted on ultrasonic spy
Puncture needle auxiliary locator (34) in head clamping moving device (33)；
It is equipped with ultrasonic instrument second display screen (35) in the middle part of the first connecting rod (38), the ultrasonic instrument second is shown
The signal input part of screen (35) is connect with Ultrasound Instrument host (11) signal output end by cable.
2. a kind of ultrasound guidance breast lesion Stereoscopic localized instrument according to claim 1, it is characterised in that: described
Ultrasonic probe clamping moving device (33) includes being made of Y-axis mould group (3301), X-axis mould group (3302) and Z axis mould group (3303)
Three axial filament bar slide units, arc-shaped connecting rod (3305), rotary joint (3306), diverter (3307), slot (3308), described
One connecting rod (38) is connect with Y-axis mould group (3301), and the sliding block (3304) on the Z axis mould group (3303) passes through arc-shaped connecting rod
(3305) it is connect with rotary joint (3306), the rotary joint (3306) passes through diverter (3307) and ultrasonic probe (3309)
Connection.
3. a kind of ultrasound guidance breast lesion Stereoscopic localized instrument according to claim 2, it is characterised in that: described
Puncture needle auxiliary locator (34) includes inserted block (341), the first long connecting rod (342), the second long connecting rod (343), first
Short connecting rod (344), the second short connecting rod (345), puncture tank (346) and rotary joint (347)；The inserted block (341) and peace
Slot (3308) on diverter (3307) is detachably connected with, and the first long connecting rod (342) is mounted on inserted block (341)
On, the first long connecting rod (342), the second long connecting rod (343), the first short connecting rod (344), the second short connecting rod
(345) monoplane is passed sequentially through between and the rotary joint (347) with locking function connects, the second short connecting rod
(345) it is connect with puncture tank (346).
4. a kind of ultrasound guidance breast lesion Stereoscopic localized instrument according to claim 3, it is characterised in that: described
Puncture tank (346) includes the groove body (3461) connecting with the second short connecting rod (345), and the groove body (3461) includes that puncture needle enters
Mouth (3462), puncture needle outlet (3463) and section are fan-shaped guiding channel (3464), and the guiding channel (3464) is led to
It crosses width and is adapted with the diameter for puncturing rotary-cut needle；The central angle of fan-shaped guiding channel (3464) is α.
5. a kind of ultrasound guidance breast lesion Stereoscopic localized instrument according to claim 2, it is characterised in that: described
Vacuum chuck breast auxiliary fixing device (31) includes the first plastotype frame (311), the second plastotype frame (312), first queue sucker
(313) it is detachably connected with second queue sucker (314), the first plastotype frame (311) and the second plastotype frame (312) in " L "
Type and angle are β, and the second plastotype frame (312) is connect by the second connecting rod (32) with Y-axis mould group (3301), first plastotype
Intersect inside frame (311) and the second plastotype frame (312) and first queue sucker (313) and second queue sucker (314) be installed,
The first queue sucker (313) and second queue sucker (314) are all connect with vacuum generating device, the vacuum generating device
It is integrated in the console (13) on biopsy instrument main body (1) Nei.
6. a kind of ultrasound guidance breast lesion Stereoscopic localized instrument according to claim 5, it is characterised in that: described
It is attached between first plastotype frame (311) and the second plastotype frame (312) by the way that the revolute of locking can be fixed, the vacuum occurs
Device occurs control button (39) with vacuum by cable and connect, and the vacuum occurs control button (39) and is mounted on handle (37)
On, the handle (37) is mounted in Y-axis mould group (3301).
7. a kind of ultrasound guidance breast lesion Stereoscopic localized instrument according to claim 2, it is characterised in that: described
X-axis mould group (3302), Y-axis mould group (3301) are connect by cable with the XY Axle mould group controller on controller (36), the XY
Mobile horizontal of control X-axis mould group (3302), the sliding block (3304) in Y-axis mould group (3301) is provided on Axle mould group controller to move
Dynamic trace ball (361), the Z axis mould group (3303) is connect by cable with the Z axis module controller on controller (36), described
The sliding block (3304) being provided in control Z axis mould group (3303) in Z axis module controller moves up and down control along what Z-direction moved
Knob (363) processed, the diverter (3307) are connect by cable with the diverter controller on controller (36), the steering
The course changing control knob (362) for controlling diverter (3307) steering is provided on device controller, the controller (36) is logical
It crosses cable to connect with biopsy instrument main body 1, the controller 36 is mounted in Y-axis mould group (3301).
8. a kind of ultrasound guidance breast lesion Stereoscopic localized instrument according to claim 7, it is characterised in that: described
Controller (36) is " mouse type " absolute construction.
9. a kind of ultrasound guidance breast lesion Stereoscopic localized instrument according to claim 1, it is characterised in that: described
Support arm (2) includes armstand (201), horizontal support arm (202), the first perpendicular support arm (203), the second perpendicular support arm (204), the first rotation pass
Save (205), the second rotary joint (206), third rotary joint (207), the 4th rotary joint (208), revolute (209) and ten thousand
Xiang Jie (210)；The armstand (201) is mounted on biopsy instrument main body (1) by the pair that moves along a straight line, the horizontal support arm (202)
One end is rotatably connected by the first rotary joint (205) with armstand (201), and the other end of the horizontal support arm (202) passes through the
Two rotary joints (206) are rotatably connected with the first perpendicular support arm (203), the first perpendicular support arm (203) and the second perpendicular support arm
(204) it is moved between by monoplane and there is the revolute (209) of locking function to be connected, the third rotary joint (207)
It is of coupled connections with the 4th rotary joint (208) and is connected respectively at the second perpendicular support arm (204) and universal joint (210).
10. a kind of ultrasound guidance breast lesion Stereoscopic localized instrument according to claim 1, it is characterised in that: institute
Stating biopsy instrument main body (1) further includes the second ultrasonic probe (12) and shell (14), and shell (14) bottom is equipped with universal wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910496572.6A CN110115601A (en) | 2019-06-03 | 2019-06-03 | A kind of ultrasound guidance breast lesion Stereoscopic localized instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910496572.6A CN110115601A (en) | 2019-06-03 | 2019-06-03 | A kind of ultrasound guidance breast lesion Stereoscopic localized instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110115601A true CN110115601A (en) | 2019-08-13 |
Family
ID=67523980
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910496572.6A Withdrawn CN110115601A (en) | 2019-06-03 | 2019-06-03 | A kind of ultrasound guidance breast lesion Stereoscopic localized instrument |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110115601A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111888010A (en) * | 2020-07-29 | 2020-11-06 | 济南大学 | Mammary tissue fixing device based on ultrasonic guidance and control method thereof |
| CN113367777A (en) * | 2021-06-09 | 2021-09-10 | 大连医工机器人科技有限公司 | Artificial intelligence robot-assisted prostate targeted puncture diagnosis and treatment device |
| CN113974863A (en) * | 2021-12-03 | 2022-01-28 | 郑州大学第一附属医院 | Breast tumor aspiration biopsy implementation positioning device |
-
2019
- 2019-06-03 CN CN201910496572.6A patent/CN110115601A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111888010A (en) * | 2020-07-29 | 2020-11-06 | 济南大学 | Mammary tissue fixing device based on ultrasonic guidance and control method thereof |
| CN113367777A (en) * | 2021-06-09 | 2021-09-10 | 大连医工机器人科技有限公司 | Artificial intelligence robot-assisted prostate targeted puncture diagnosis and treatment device |
| CN113974863A (en) * | 2021-12-03 | 2022-01-28 | 郑州大学第一附属医院 | Breast tumor aspiration biopsy implementation positioning device |
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Application publication date: 20190813 |