CN110522491A - Medical equipment - Google Patents
Medical equipment Download PDFInfo
- Publication number
- CN110522491A CN110522491A CN201810508477.9A CN201810508477A CN110522491A CN 110522491 A CN110522491 A CN 110522491A CN 201810508477 A CN201810508477 A CN 201810508477A CN 110522491 A CN110522491 A CN 110522491A
- Authority
- CN
- China
- Prior art keywords
- robot assemblies
- medical equipment
- hospital bed
- medical
- invasive procedures
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1604—Chisels; Rongeurs; Punches; Stamps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1703—Guides or aligning means for drills, mills, pins or wires using imaging means, e.g. by X-rays
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/374—NMR or MRI
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Dentistry (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Radiology & Medical Imaging (AREA)
- Gynecology & Obstetrics (AREA)
- Robotics (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Manipulator (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
Abstract
The present invention provides a kind of medical equipment, comprising: hospital bed device, for carrying patient to be scanned；Medical imaging device is scanned imaging for the focal area to the patient；Robot assemblies, one end are fixed to the medical imaging device or the hospital bed device；And executive component, it is connected to the other end of the robot assemblies, the robot assemblies drive the executive component to execute Invasive procedures according to the imaging of the focal area.Drilling and Invasive procedures are executed using robot assemblies, guarantees the stability and accuracy of Invasive procedures, and then guarantees that postoperative effect consistency is good；Simultaneously, medical imaging device can be imaged the focal area of patient, with after robot assemblies cooperation interventional navigation can be executed to robot assemblies, Invasive procedures can directly be carried out, substantially reduce operating time, the problem of being also avoided that the increase of amount of radiation caused by repeating to shoot determining focal area simultaneously, and then avoid that the body of patient is caused to damage.
Description
Technical field
The present invention relates to technical field of medical equipment, more particularly to a kind of medical equipment.
Background technique
Currently, in treatment cerebral hemorrhage, Parkinson, the neurosurgeries such as epilepsy and tumour ablation, puncture, radiation
Property the general surgeries such as seeds implanted in addition bone surgery and plastic surgery operations in, all can be for the use of to tradition machinery
Drilling technique.But when due to manpower operation, accuracy and stability have very big uncertain factor, in addition path in art
It is invisible, cause to need in art repeatedly to carry out the accuracy that x-ray shooting determines needle and punching, increases amount of radiation, Er Qieshu
Effect is also inconsistent afterwards.
Summary of the invention
Based on this, it is necessary to insufficient with stability for accuracy caused by drilling technique is manually carried out in current operation
Problem provides a kind of medical equipment that can guarantee stability and accuracy.
Above-mentioned purpose is achieved through the following technical solutions:
A kind of medical equipment, comprising:
Hospital bed device is used to carry patient to be scanned；
Medical imaging device is used to be scanned the focal area of the patient imaging；
Robot assemblies, one end are fixed to the medical imaging device or the hospital bed device；And
Executive component is connected to the other end of the robot assemblies, and the robot assemblies are according to the focal zone
The imaging in domain drives the executive component to execute Invasive procedures.
The robot assemblies are removably installed on the medical imaging device in one of the embodiments,
's.
The robot assemblies are rotatably installed on the medical imaging device in one of the embodiments,
's.
The robot assemblies are mounted on ground, metope or ceiling in one of the embodiments, with
Making the executive component is operable to the Invasive procedures of the focal area.
The hospital bed device is liftable in one of the embodiments, and the robot assemblies are installed on the disease
On bed apparatus, with servo-actuated with the hospital bed device.
The medical equipment further includes sliding rail in one of the embodiments, and the sliding rail is set to described
On ground, metope or ceiling；
The robot assemblies are slidably disposed on the sliding rail.
The sliding rail is elongated in one of the embodiments, or arc.
The quantity of the robot assemblies is at least two in one of the embodiments, at least two mechanical arm
Component is located side by side at the side of the hospital bed device or is divided into the two sides of the hospital bed device.
The robot assemblies include multiple serial mechanisms and/or multiple parallel institutions in one of the embodiments, more
A serial mechanism and/or the connection of multiple parallel institutions.
The medical imaging device includes computed tomography imaging system, magnetic resonance imaging in one of the embodiments,
System, positron emission tomography, radiotherapy system, x-ray imaging system, single photon emission computed tomography at
As one of system, ultrasonic image-forming system or a variety of combinations.
After adopting the above technical scheme, the invention has the benefit that
Medical equipment of the invention executes drilling and Invasive procedures, the current people of effective solution using robot assemblies
Work carries out the problem of accuracy and stability deficiency caused by drilling operation, guarantees the stability and accuracy of Invasive procedures,
And then guarantee that postoperative effect consistency is good；Meanwhile medical imaging device can be imaged the focal area of patient, with machinery
After arm component cooperation, can robot assemblies be executed with interventional navigation, can directly carry out Interventional after medical equipment imaging
Operation, substantially reduces operating time, while being also avoided that amount of radiation caused by repeating to shoot determining focal area increases
The problem of, and then avoid that the body of patient is caused to damage.
Detailed description of the invention
Fig. 1 is the schematic diagram of one embodiment of medical equipment of the present invention, wherein robot assemblies are set to medical imaging device
On；
Fig. 2 is the schematic diagram of one embodiment of medical equipment of the present invention, wherein robot assemblies are set on ground；
Fig. 3 is the schematic diagram of one embodiment of medical equipment of the present invention, wherein robot assemblies are set on ceiling；
Fig. 4 is the schematic diagram of one embodiment of medical equipment of the present invention, wherein robot assemblies are set on hospital bed device；
Fig. 5 is the schematic diagram of one embodiment of medical equipment of the present invention, wherein sliding rail is set on ceiling；
Fig. 6 is the schematic diagram of one embodiment of medical equipment of the present invention, wherein sliding rail is set on ground；
Fig. 7 is the schematic diagram of one embodiment of medical equipment of the present invention, wherein the quantity of robot assemblies is two.
Wherein:
100- medical equipment；
110- medical imaging device；
120- robot assemblies；
130- hospital bed device；
140- sliding rail；
The ground 200-；
300- ceiling.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, by the following examples, it and combines attached
Figure, is further elaborated medical equipment of the invention.It should be appreciated that specific embodiment described herein only to
It explains the present invention, is not intended to limit the present invention.
It is herein component institute serialization number itself, such as " first ", " second " etc., is only used for distinguishing described object,
Without any sequence or art-recognized meanings.And " connection ", " connection " described in the application, unless otherwise instructed, include directly and
It is indirectly connected with (connection).In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", " left side ",
The orientation of the instructions such as " right side ", "vertical", "horizontal", "top", "bottom", "inner", "outside", " clockwise ", " counterclockwise " or position are closed
System is merely for convenience of description of the present invention and simplification of the description to be based on the orientation or positional relationship shown in the drawings, rather than indicates
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitation of the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
Referring to Fig. 1, the present invention provides a kind of medical equipment 100, which can position focal area, in turn
It realizes and Invasive procedures, scan operation etc. is carried out to the focal area of patient, guarantee the stability of Invasive procedures and accurate
Degree, and then guarantee that postoperative consistency is good.Moreover, medical equipment 100 of the invention has a wide range of application, can be applied to outside nerve
Section, department of general surgery, orthopaedics, plastic surgery etc. are multi-field.It is understood that Invasive procedures include but is not limited to intervene operation,
For example including but be not limited to puncture, biopsy, ablation, Following Orthopaedic Proceduress etc..
In the present embodiment, medical equipment 100 includes medical imaging device 110, robot assemblies 120 and hospital bed device
130.Medical imaging device 110 is for being imaged the focal area of patient on hospital bed device 130.Robot assemblies 120 can
It is fixed relative to medical imaging device 110 or hospital bed device 130.Robot assemblies 120 are situated between according to the imaging execution of focal area
The operation of entering property.Hospital bed device 130 is for carrying patient to be scanned, and when being scanned with Invasive procedures, patient can lie
On hospital bed device 130.It is understood that robot assemblies 120 can be fixed only with respect to medical imaging device 110,
It can only fix opposite hospital bed device 130.Certainly, in other embodiments of the invention, robot assemblies 120 can also be opposite
It is fixed in medical imaging device 110 and hospital bed device 130.
Medical imaging device 110 is for being scanned imaging to the focal area of patient, to position the specific of focal area
Position facilitates robot assemblies 120 to carry out Invasive procedures, simultaneously, moreover it is possible to guarantee the accuracy and stability of Invasive procedures,
And then guarantee postoperative consistency.Exemplary, medical imaging device 110 includes computed tomography imaging system (Computed
Tomography, referred to as: CT), magnetic resonance imaging system (Magnetic Resonance, referred to as: MR), positron emission fault
Imaging system, radiotherapy system, x-ray imaging system, single photon emission computerized tomography system, ultrasonic image-forming system
Deng one of or a variety of combinations.It is understood that medical imaging device 110 is imaged in the preoperative, medical imaging dress
Set 110 can be to patient's lesion sector scanning after, hospital bed structure remove scanning area, execute intervention by robot assemblies 120
Property operation；It can also be imaged in art, robot assemblies 120 directly carry out Invasive procedures in imaging region, and pass through doctor
Guiding in real time is carried out with imaging device 110, robot assemblies 120 are accurately intervened, guarantees the peace of Invasive procedures
Quan Xing.Also, medical imaging device 110 can be used alone CT imaging, and CT cooperation ultrasonic image-forming system imaging also can be used.
Moreover, medical equipment 100 further includes executive component, executive component is connected to the other end of robot assemblies 120, machine
Tool arm component 120 drives executive component to execute Invasive procedures according to the imaging of focal area.Executive component is robot assemblies
120 execute the main component of Invasive procedures, and robot assemblies 120 control executive component and carry out Invasive procedures, specifically, holding
The focal area that units can extend into patient carries out Invasive procedures.Exemplary, executive component is installed on robot assemblies 120
End.Robot assemblies 120 are able to drive actuator movement when moving, and executive component is enabled to intervene the lesion of patient
Position executes Invasive procedures.
Preferably, medical equipment 100 further includes control work station, control work station connection medical imaging device 110 and machine
Tool arm component 120, connection here may include that wired connection such as cable etc. and/or wireless connection such as communicate to connect.It is medical
After imaging device 110 scans the focal area of patient, the information of patient focal area is transferred to control work station, controls work
The concrete operations information of robot assemblies 120 can be generated according to the position of patient focal area by standing.It is exemplary, in a kind of puncture
In the Invasive procedures of operation, concrete operations information includes that the needle azimuth information that enters of motion path information and point of puncture such as enters needle
Angle and depth etc. guarantee the accuracy and stability of Invasive procedures, and then guarantee that postoperative effect consistency is good.
Robot assemblies 120 are the main control part of Invasive procedures, and robot assemblies 120 have preferable stablize
Property, it may be implemented to be precisely controlled, manpower drilling and interventional procedure can be substituted, guarantee the stability of Invasive procedures and accurate
Property, and then guarantee that postoperative consistency is good.Robot assemblies 120 may include multiple serial mechanisms and/or multiple parallel institutions, more
A serial mechanism and/or the connection of multiple parallel institutions.That is, robot assemblies 120 may include multiple serial mechanisms, lead to
It crosses multiple serial mechanism connections and realizes Invasive procedures.Robot assemblies 120 may also comprise multiple parallel institutions, by it is multiple simultaneously
Invasive procedures are realized in online structure connection.Certainly, robot assemblies 120 may also include at least one serial mechanism and at least one
Parallel institution is cooperated by serial mechanism and parallel institution and realizes Invasive procedures, jointly at this point, parallel institution is located at cascade machine
The end of structure.It is understood that serial mechanism includes multiple single armeds, it is rotatably connected between adjacent single armed.Parallel institution
It may include such as stewart platform.
Further, executive component is installed on the end of robot assemblies 120, multiple serial mechanisms and/or multiple parallel connections
Mechanism drives executive component to execute Invasive procedures.Executive component includes but is not limited to contact therapy component, contactless controls
Treat component or detection part etc..Contact therapy component includes but is not limited to needle, ultrasonic probe or scalpel etc.
Executive component.It should be noted that scalpel here refers to the scalpel of shallow-layer operation.Contactless therapy component include but
It is not limited to use in the radiographic source etc. of radiotherapy.Detection part includes but is not limited to ultrasonic probe etc..In the present embodiment, only with medical portion
Part carries out puncture Invasive procedures by needle to be illustrated for the needle of contact therapy component.Needle packet
Include but be not limited to biopsy needle, puncture needle, ablation needle etc..
Medical equipment 100 of the invention executes drilling and Invasive procedures, effective solution mesh using robot assemblies 120
The problem of accuracy and stability deficiency caused by preceding artificial carry out drilling operation guarantees the stability of Invasive procedures and accurate
Degree, and then guarantee that postoperative effect consistency is good；Meanwhile medical imaging device 110 can be imaged the focal area of patient,
After cooperating with robot assemblies 120, can robot assemblies 120 be executed with interventional navigation, after medical equipment 100 is imaged
Invasive procedures are directly carried out, substantially reduce operating time, while being also avoided that repeating to shoot determining focal area leads
The problem of amount of radiation of cause increases, and then avoid that the body of patient is caused to damage.
It is understood that it is unrestricted on the form principle of robot assemblies 120, as long as can be realized Interventional behaviour
Make, guarantees stability and accuracy.Moreover, the position of robot assemblies 120 is also unrestricted, as long as guaranteeing mechanical arm group
Part 120 can execute Invasive procedures to patient.Each position of robot assemblies 120 is illustrated individually below.
Referring to Fig. 1, in one embodiment, robot assemblies 120 are removably installed on medical imaging device 110
's.After medical imaging device 110 is to the focal area imaging of patient on hospital bed device 130, robot assemblies 120 are directly from medical
It is stretched out on imaging device 110, carries out Invasive procedures.Medical imaging device 110 has the hollow barrel shell for imaging, hospital bed dress
Hollow barrel shell can be entered or exit from barrel shell by setting 130.Robot assemblies 120 can be fixed close to 130 side of hospital bed device
Onto the rack of the medical imaging device 110, may make between robot assemblies 120 and medical imaging device 110 in this way
Relative position is fixed, and can guarantee the stability and accuracy that puncture Invasive procedures, while can also reduce occupied operation
Space.Optionally, robot assemblies 120 are rotatably installed in such as rack of medical imaging device 110, can facilitate machine in this way
Tool arm component 120 drives executive component to implement operation in different orientation；Certainly, in other embodiments, mechanical arm group
Part 120 may also set up on the outer peripheral surface of hollow barrel shell, being also able to carry out Invasive procedures in this way, and it is empty to reduce occupied operation
Between.
It is understood that robot assemblies 120 are detachably installed, after the completion of use, robot assemblies 120 can be torn open
Under, save occupied space；Moreover, robot assemblies 120 are removed also not when medical imaging device 110 is used only for imaging
It will affect medical staff to operate with.
Referring to figs. 2 and 3, in one embodiment, robot assemblies 120 are removably mounted to ground 200, metope or smallpox
On plate 300, so that the Invasive procedures that executive component carries out focal area are operable.Here operability refers to machine
The installation site of tool arm component 120 is unrestricted, as long as robot assemblies 120 are able to drive executive component to hospital bed device 130
The focal area of upper patient carries out Invasive procedures.Exemplary, robot assemblies 120 can be installed to medical imaging device
110 or hospital bed device 130 near ground 200, on metope or ceiling 300, robot assemblies 120 can be facilitated to drive in this way
Executive component executes Invasive procedures.Specifically, robot assemblies 120 can be installed to the ground near medical imaging device 110
On face 200, such as it is arranged near hollow barrel shell, facilitates and carry out Invasive procedures；If medical imaging device 110 nearby has side
The wall in face, robot assemblies 120 are also mountable on wall；Certainly, medical imaging device 110 can also be using the side of suspention
Formula is installed on the ceiling 300 near medical imaging device 110, can also carry out Invasive procedures in this way.Robot assemblies 120
When using aforesaid way, occupied operative space can be reduced, facilitate carry out Invasive procedures.
Referring to fig. 4, in one embodiment, hospital bed device 130 is liftable, and robot assemblies 120 are installed on hospital bed dress
It sets on 130, with servo-actuated with hospital bed device 130.It is understood that hospital bed device 130 may include base portion and relative to base portion
The lifting unit moved up and down and the bed body being set on lifting unit, bed body carry patient, and lifting unit drives bed body and thereon
Patient moves up and down, and robot assemblies 120 can be set on base portion, mechanical when lifting unit drives bed body to move up and down
Arm component 120 can also move up and down, and can facilitate the position of determining robot assemblies 120 in this way, and then facilitate mechanical arm
Component 120 is directed at the focal area of patient, guarantees the stability and accuracy that puncture Invasive procedures, while can also reduce shared
Operative space.Certainly, in other embodiments of the invention, robot assemblies 120 be may also set up on lifting unit, in this way
Also can be realized robot assemblies 120 drives executive component to execute Invasive procedures.
Referring to figs. 2 and 3, in one embodiment, robot assemblies 120 are mounted at close to hospital bed device 130
Ground 200, on metope or ceiling 300.Robot assemblies 120 can be installed to the ground 200 near hospital bed device 130
On, the left and right sides of hospital bed device 130 is such as set, facilitates and carries out Invasive procedures；If hospital bed device 130 nearby has side
The wall in face, robot assemblies 120 are also mountable on wall；Certainly, medical imaging device 110 can also be using the side of suspention
Formula is installed on the ceiling 300 near hospital bed device 130, can also carry out Invasive procedures in this way.Robot assemblies 120 use
When aforesaid way, occupied operative space can be reduced, facilitate carry out Invasive procedures.
Referring to figs. 5 and 6, in one embodiment, medical equipment 100 further includes sliding rail 140, and sliding rail 140 is set
It is placed on ground 200, metope or ceiling 300.Robot assemblies 120 are slidably disposed on sliding rail 140.Slide rail
Road 140 can facilitate the movement of robot assemblies 120, and then be convenient for the position control of robot assemblies 120.In use, mechanical
Arm component 120 can slide into predeterminated position along sliding rail 140, then lock robot assemblies 120, avoid robot assemblies
Play occurs for 120 position in the course of surgery, guarantees the safety of operation.After the completion of operation, by robot assemblies 120 along cunning
Dynamic rail road 140 is removed, and occupied space is avoided.Moreover, the ground 200 near hospital bed device 130 can be set in sliding rail 140
On, it also can be set on the side wall near hospital bed device 130, can also be arranged using suspension method in ceiling 300
On.Sliding rail 140 can increase the covering space of robot assemblies 120, so that robot assemblies 120 cover the area of patient
More greatly, when and not using robot assemblies 120, operating space can be removed, operative space is less occupied.Further, rail is slided
Road 140 is elongated or arc is arranged.It is only illustrated in the present embodiment with sliding rail 140 to be U-shaped.U-shaped sliding rail
140 are arranged around hospital bed device 130, and robot assemblies 120 can be moved to hospital bed device 130 along U-shaped sliding rail 140
Either side facilitates carry out Invasive procedures；Certainly, U-shaped sliding rail 140 can also be fixed on ceiling 300 in a suspended manner
On, the corresponding hospital bed device 130 of sliding rail 140 is arranged, and robot assemblies 120 can be moved to disease along U-shaped sliding rail 140
The either side of bed apparatus 130 facilitates carry out Invasive procedures.It is appreciated that the sliding rail can also be other shapes, such as
For annular or shaped form etc..
Referring to Fig. 7, in one embodiment, the quantity of robot assemblies 120 is at least two, at least two robot assemblies
120 are located side by side at the side of hospital bed device 130 or are divided into the two sides of hospital bed device 130.Pass through multiple robot assemblies 120
It is performed simultaneously operation, area coverage and flexibility ratio can be increased, while can also act synergistically between multiple mechanical arms, saves operation
Time improves efficiency.In the present embodiment, the quantity of robot assemblies 120 is two, and two robot assemblies 120 are set respectively
The two sides of hospital bed device 130 are placed in, two robot assemblies 120 act synergistically, and can simulate the both hands of medical staff, improve hand
The convenience of art.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the record scope of this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of medical equipment characterized by comprising
Hospital bed device is used to carry patient to be scanned；
Medical imaging device is used to be scanned the focal area of the patient imaging；
Robot assemblies, one end are fixed to the medical imaging device or the hospital bed device；And
Executive component is connected to the other end of the robot assemblies, and the robot assemblies are according to the focal area
Imaging drives the executive component to execute Invasive procedures.
2. medical equipment according to claim 1, which is characterized in that the robot assemblies are to be removably installed in institute
It states on medical imaging device.
3. medical equipment according to claim 1 or 2, which is characterized in that the robot assemblies are to be rotatably mounted
In on the medical imaging device.
4. medical equipment according to claim 1, which is characterized in that the robot assemblies are mounted at ground
On face, metope or ceiling, so that the executive component is operable to the Invasive procedures of the focal area.
5. medical equipment according to claim 1, which is characterized in that the hospital bed device is liftable, the machinery
Arm component is installed on the hospital bed device, with servo-actuated with the hospital bed device.
6. medical equipment according to claim 1, which is characterized in that the medical equipment further includes sliding rail, described
Sliding rail is set on the ground, metope or ceiling；
The robot assemblies are slidably disposed on the sliding rail.
7. medical equipment according to claim 6, which is characterized in that the sliding rail is elongated or arc.
8. medical equipment according to claim 1, which is characterized in that the quantity of the robot assemblies is at least two,
At least two robot assemblies are located side by side at the side of the hospital bed device or are divided into the two sides of the hospital bed device.
9. medical equipment according to claim 1, which is characterized in that the robot assemblies include multiple serial mechanisms
And/or multiple parallel institutions, multiple serial mechanisms and/or the connection of multiple parallel institutions.
10. medical equipment according to claim 1, which is characterized in that the medical imaging device includes computerized tomography
Imaging system, magnetic resonance imaging system, positron emission tomography, radiotherapy system, x-ray imaging system, list
Photon emits one of computed tomography imaging system, ultrasonic image-forming system or a variety of combinations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810508477.9A CN110522491B (en) | 2018-05-24 | 2018-05-24 | Medical device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810508477.9A CN110522491B (en) | 2018-05-24 | 2018-05-24 | Medical device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110522491A true CN110522491A (en) | 2019-12-03 |
| CN110522491B CN110522491B (en) | 2021-04-20 |
Family
ID=68657983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810508477.9A Active CN110522491B (en) | 2018-05-24 | 2018-05-24 | Medical device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110522491B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111686379A (en) * | 2020-07-23 | 2020-09-22 | 上海联影医疗科技有限公司 | Radiation therapy system and method |
| CN112603716A (en) * | 2020-11-30 | 2021-04-06 | 鲁朝康 | Medical treatment operation guide equipment |
| CN113081263A (en) * | 2019-12-23 | 2021-07-09 | 武汉联影智融医疗科技有限公司 | Intervene puncture system and have its diagnosis and treatment equipment |
| WO2021150902A1 (en) * | 2020-01-23 | 2021-07-29 | Promaxo, Inc. | Mri-guided robotic systems and methods for biopsy |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022249164A1 (en) * | 2021-05-26 | 2022-12-01 | Mazor Robotics Ltd. | Multi-arm surgical robotic platform |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103249370A (en) * | 2010-10-08 | 2013-08-14 | 皇家飞利浦电子股份有限公司 | Endoscopy-guided deployment of vessel punch |
| CN107397590A (en) * | 2017-07-21 | 2017-11-28 | 中国人民解放军第二军医大学第二附属医院 | A kind of mechanical arm for spinal operation |
| CN107645924A (en) * | 2015-04-15 | 2018-01-30 | 莫比乌斯成像公司 | Integrated medical imaging and surgical robotic system |
| GB2552541A (en) * | 2016-07-29 | 2018-01-31 | Cambridge Medical Robotics Ltd | Drive transfer |
| CN207024117U (en) * | 2017-02-08 | 2018-02-23 | 李钢 | A kind of control of multifunctional remote can X ray puncture procedure system thoroughly |
| CN107811710A (en) * | 2017-10-31 | 2018-03-20 | 微创（上海）医疗机器人有限公司 | Operation aided positioning system |
-
2018
- 2018-05-24 CN CN201810508477.9A patent/CN110522491B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103249370A (en) * | 2010-10-08 | 2013-08-14 | 皇家飞利浦电子股份有限公司 | Endoscopy-guided deployment of vessel punch |
| CN107645924A (en) * | 2015-04-15 | 2018-01-30 | 莫比乌斯成像公司 | Integrated medical imaging and surgical robotic system |
| GB2552541A (en) * | 2016-07-29 | 2018-01-31 | Cambridge Medical Robotics Ltd | Drive transfer |
| CN207024117U (en) * | 2017-02-08 | 2018-02-23 | 李钢 | A kind of control of multifunctional remote can X ray puncture procedure system thoroughly |
| CN107397590A (en) * | 2017-07-21 | 2017-11-28 | 中国人民解放军第二军医大学第二附属医院 | A kind of mechanical arm for spinal operation |
| CN107811710A (en) * | 2017-10-31 | 2018-03-20 | 微创（上海）医疗机器人有限公司 | Operation aided positioning system |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113081263A (en) * | 2019-12-23 | 2021-07-09 | 武汉联影智融医疗科技有限公司 | Intervene puncture system and have its diagnosis and treatment equipment |
| WO2021150902A1 (en) * | 2020-01-23 | 2021-07-29 | Promaxo, Inc. | Mri-guided robotic systems and methods for biopsy |
| CN115209829A (en) * | 2020-01-23 | 2022-10-18 | 普罗马克索公司 | Robotic system and method for MRI guidance of biopsies |
| US20230106912A1 (en) * | 2020-01-23 | 2023-04-06 | Promaxo, Inc. | Mri-guided robotic systems and methods for biopsy |
| CN111686379A (en) * | 2020-07-23 | 2020-09-22 | 上海联影医疗科技有限公司 | Radiation therapy system and method |
| CN111686379B (en) * | 2020-07-23 | 2022-07-22 | 上海联影医疗科技股份有限公司 | Radiotherapy system |
| CN112603716A (en) * | 2020-11-30 | 2021-04-06 | 鲁朝康 | Medical treatment operation guide equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110522491B (en) | 2021-04-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110522491A (en) | Medical equipment | |
| US8812077B2 (en) | System and method for image guidance during medical procedures | |
| AU2010324494B2 (en) | Automated in-bore MR guided robotic diagnostic and therapeutic system | |
| US8295906B2 (en) | MRI guided radiation therapy | |
| DE69534862T2 (en) | Surgical navigation arrangement including reference and location systems | |
| JP4627872B2 (en) | Procedure planning for minimally invasive therapy for in vivo placement of foreign bodies | |
| US7803164B2 (en) | Method for guiding instruments having different sizes | |
| US20080255544A1 (en) | System for Guiding Instruments Having Different Sizes | |
| US11540792B2 (en) | C-arm with integrated CT system | |
| JP2000139948A (en) | Method and device for planning surgical procedure | |
| CN105125290B (en) | minimally invasive medical robot system | |
| CN206630673U (en) | Operating robot operating theater instruments clamps guiding device | |
| von Jako et al. | Percutaneous laser discectomy guided with stereotactic computer‐assisted surgical navigation | |
| AU2017204730B2 (en) | System and method for image guidance during medical procedures | |
| Giunta et al. | Digital X-Ray Apparatus Especially Designed for Precise Biometry in Stereotactic Surgical Procedures | |
| JP2000166954A (en) | Ultrasonic treating instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200207 Address after: 430073 No. 549-1, Block B1, Guanggu Biological City, 666 High-tech Avenue, Donghu New Technology Development Zone, Wuhan City, Hubei Province Applicant after: Wuhan Lianying Zhirong Medical Technology Co., Ltd. Address before: 201800 No. 2258 Chengbei Road, Jiading District, Shanghai Applicant before: SHANGHAI UNITED IMAGING HEALTHCARE Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |