CN110623712A - Auxiliary device for thoracocentesis - Google Patents
Auxiliary device for thoracocentesis Download PDFInfo
- Publication number
- CN110623712A CN110623712A CN201911067722.8A CN201911067722A CN110623712A CN 110623712 A CN110623712 A CN 110623712A CN 201911067722 A CN201911067722 A CN 201911067722A CN 110623712 A CN110623712 A CN 110623712A
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- CN
- China
- Prior art keywords
- actuating piece
- seat body
- seat
- actuator
- plane
- 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.)
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- 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
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3407—Needle locating or guiding means using mechanical guide means including a base for support on the body
Abstract
The invention discloses an auxiliary device for thoracocentesis, which is used for positioning a puncture needle and comprises: the first seat body comprises a second seat body and a third seat body, the second seat body can be combined with the third seat body, and the second seat body comprises a plurality of positioning auxiliary mechanisms; the first moving mechanism, the second moving mechanism and the auxiliary operating device are fixedly connected by the first fixing part and the second fixing part; and a plurality of encoders for measuring the amount of movement of each of the moving members. Compared with the traditional auxiliary device, the auxiliary device for thoracocentesis provided by the invention has the characteristics of simple structure and good use stability.
Description
Technical Field
The invention relates to a medical instrument, in particular to an auxiliary device for thoracocentesis.
Background
The image technology is used for guiding the placement of the puncture needle, which is one of the common surgical procedures of surgical operations, and the common applications include vertebral arch screw implantation operation, biopsy operation, spinal nerve blocking operation and the like. In the operation process, the advancing direction and the final placement position of the puncture needle are guided by continuously irradiating dynamic X-ray images, so that accurate treatment can be achieved. With the progress of computer and medical imaging technology, the computer aided puncture auxiliary device comes along, providing a safe and efficient puncture surgery system for doctors. The computer-aided puncture device displays the position of the puncture needle in an image system in real time on the basis of computer tomography images shot for a patient before an operation, and does not need to confirm the position of the puncture needle in a mode of frequently irradiating dynamic X-ray images, so that a doctor can perform the operation in a radiation-free environment. Moreover, compared with the overlapped image of the dynamic X-ray, the tomographic image provided by the computer tomographic image enables a doctor to more accurately identify the tissues around the puncture, thereby achieving a higher-precision operation result. The conventional auxiliary devices mainly rely on an optical tracker to detect the reference point for positioning, but the reference point may be hidden to cause failure, and thus the conventional auxiliary devices are not very reliable in practical applications.
Another type of auxiliary device uses a robotic orientation measurement device that uses serial type linkages, which are bulky and often occupy the surgical space already in the relatively narrow space . Moreover, when the serial connecting rods are used for adjusting the position required by the puncture operation, the position of each connecting rod is dragged, so that fine movement is not easy to achieve.
Accordingly, there is a need for improvement in the above-mentioned problems of the prior art.
Disclosure of Invention
In view of the above-described problems of the prior art, an object of the present invention is to provide an auxiliary device for thoracocentesis that has a simple structure and high reliability.
In order to solve the above technical problems, the present invention provides an auxiliary device for thoracocentesis, which is used for positioning a puncture needle, and comprises:
the first seat body comprises a second seat body and a third seat body, the second seat body can be combined with the third seat body, and the second seat body comprises a plurality of positioning auxiliary mechanisms;
the first moving mechanism comprises a first actuating piece, a second actuating piece and a first fixing part, wherein the first actuating piece is connected to the first base in a shaft mode, one end of the second actuating piece is connected to the first actuating piece in a shaft mode, and the other end of the second actuating piece is connected to the first fixing part in a shaft mode, so that the first moving mechanism can be kept on a first plane to move horizontally randomly;
the second moving mechanism comprises a third actuating piece, a fourth actuating piece and a second fixing part, wherein the third actuating piece is connected to the first seat body in a shaft mode, one end of the fourth actuating piece is connected to the third actuating piece in a shaft mode, the other end of the fourth actuating piece is connected to the second fixing part, and therefore the second moving mechanism can keep moving on a second plane in a random translation mode, wherein the first plane is parallel to the second plane;
an auxiliary operation device fixedly connected with the first fixing part and the second fixing part;
and a plurality of encoders for measuring the amount of movement of each of the moving members.
Preferably, the second seat body comprises at least one slot, so that the third seat body can be selectively inserted into any one slot.
Preferably, the plurality of encoders are disposed at the shaft joints of the first actuator and the first base and the second actuator, and at the shaft joints of the third actuator and the first base and the fourth actuator.
Preferably, the first fixing portion is rotatable along a first rotation axis and a second rotation axis, the first rotation axis is orthogonal to the second rotation axis, and the first rotation axis is located on the first plane.
Preferably, the second fixing portion is rotatable along a third rotation axis and a fourth rotation axis, the third rotation axis is orthogonal to the fourth rotation axis, and the third rotation axis is located on the second plane.
Preferably, the second seat comprises a fixing mechanism for fixing a human body.
Compared with the prior art, the auxiliary device for thoracocentesis provided by the invention has the characteristics of simple structure and good use stability compared with the traditional auxiliary device.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention.
The summary of various implementations or examples of the technology described in this disclosure is not a comprehensive disclosure of the full scope or all features of the disclosed technology.
Drawings
In the drawings, which are not necessarily drawn to scale, like reference numerals may describe similar components in different views. Like reference numerals having letter suffixes or different letter suffixes may represent different instances of similar components. The drawings illustrate various embodiments, by way of example and not by way of limitation, and together with the description and claims, serve to explain the inventive embodiments. The same reference numbers will be used throughout the drawings to refer to the same or like parts, where appropriate. Such embodiments are illustrative, and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.
Fig. 1 is a schematic structural view of an auxiliary device for thoracentesis according to the present invention.
Fig. 2 is a schematic view showing a state of use of the thoracic puncture assist device of the present invention.
Fig. 3 is a schematic view showing another state of use of the thoracic puncture auxiliary device of the present invention.
Fig. 4 is a schematic structural view of the first seat of the auxiliary device for thoracentesis according to the present invention.
Reference numerals:
auxiliary device for thoracentesis-10
First seat body-11
Second seat body-112, 112'
Positioning assistance mechanism-112 a
Slot-112 b, 112 b'
Third seat body-114
Securing mechanism-116
First moving mechanism-12
First actuator-122
Second actuator-124
A first fixed part-126
Second moving mechanism-13
Third actuator-132
Fourth actuator-134
Second fixed part-136
Securing mechanism-136 a
Encoder-14
Auxiliary operating device-15
A puncture needle-20.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
Referring to fig. 1 and 2, an auxiliary device 10 for thoracentesis according to an embodiment of the present invention is used to position a puncture needle 20. as shown in fig. 1, the auxiliary device 10 for thoracentesis according to the present invention includes a first housing 11, a first moving mechanism 12, a second moving mechanism 13, an auxiliary operating device 15, and a plurality of encoders 14. The first base 11 includes a second base 112 and a third base 114, the second base 112 can be combined with the third base 114, and the second base 112 includes a plurality of positioning auxiliary mechanisms 112a to provide an image auxiliary positioning function. The second fastening structure 112 further includes at least one slot 112b, so that the surgeon can selectively insert the third fastening structure 114 into any of the slots 112b according to the actual situation to adjust the range of the operation.
In the second seat, because the second seat 112 of the first seat 11 is provided with the plurality of positioning auxiliary mechanisms 112a, in the process of taking a computed tomography image of a patient, the positioning auxiliary mechanisms 112a provide a display function of auxiliary positioning marks in the image, and the computed tomography image is subjected to image analysis processing by a computer or other processing devices, so that coordinates and relative positions of the plurality of positioning auxiliary mechanisms 112a can be established, that is, the positioning position and related information of the second seat 112 can be confirmed, thereby achieving the effect of automatic positioning. Since the related computer processing technology of the image-assisted positioning is prior art, it is not described herein. Then, the third seat 114 is combined with the second seat 112, and since the coordinates of the slot 112b of the second seat 112 are known after being positioned, the puncture needle can be tracked and positioned by a computer or other processing device according to the default specifications of the third seat 114 and other moving mechanisms and the movement-related information obtained from the other moving mechanisms.
The first moving mechanism 12 includes a first actuating member 122, a second actuating member 124 and a first fixing portion 126, the first actuating member 122 is coupled to the third seat 114 of the first seat 11, and one end of the second actuating member 124 is coupled to the first actuating member 122, and the other end is connected to the first fixing portion 126, so that the first moving mechanism 12 forms a linkage assembly; as shown in fig. 2, since the rotation axis of the first actuator 122 connected to the third base 114 is substantially parallel to the rotation axis of the second actuator 124 connected to the first actuator 122, the first moving mechanism 12 can maintain any translation on a first plane.
Similarly, the second moving mechanism 13 includes a third actuating member 132, a fourth actuating member 134 and a second fixing portion 136, the third actuating member 132 is coupled to the third base 114 of the first base 11, and one end of the fourth actuating member 134 is coupled to the third actuating member 132 and the other end is connected to the second fixing portion 136, so that the second moving mechanism 13 forms a linkage assembly; as shown in fig. 2, since the rotation axis of the third actuator 132 connected to the third base 114 is substantially parallel to the rotation axis of the fourth actuator 134 connected to the third actuator 132, the second moving mechanism 13 can be kept to move on a second plane arbitrarily. The first actuator 122 and the third actuator 132 are coupled to the third base 114 along the same axis, so that the first moving mechanism 12 and the second moving mechanism 13 form a set of parallel moving mechanisms. The first plane is substantially parallel to the second plane, and the auxiliary operation device 15 is fixed by the first fixing portion 126 and the second fixing portion 136. In the embodiment, the second fixing portion 136 is provided with a fixing mechanism 136a for installing and fixing the puncture needle 20, but the auxiliary device 10 for thoracentesis of the present invention can be combined with the puncture needle 20 by other structural designs, for example, the auxiliary operation device 15 is in the form of a hollow tube so as to accommodate and fix the puncture needle 20 in the hollow portion, but the present invention is not limited thereto. In addition, the needle 20 may be a scalpel, a drill, or other type of surgical instrument.
As shown in fig. 2, the first fixing portion 126 can rotate along a first rotation axis and a second rotation axis, the first rotation axis is substantially orthogonal to the second rotation axis, and the first rotation axis is located on the first plane. The second fixing portion 136 is rotatable along a third rotation axis and a fourth rotation axis, the third rotation axis is substantially orthogonal to the fourth rotation axis, and the third rotation axis is located on the second plane. When the auxiliary operating device 15 is operated to drive the first moving mechanism 12 and the second moving mechanism 13 to move horizontally, so that the first fixing portion 126 and the second fixing portion 136 are not located on a straight line substantially perpendicular to the first plane and the second plane, the first fixing portion 126 and the second fixing portion 136 can rotate correspondingly according to different arrangement positions, and the puncture needle 20 mounted on the auxiliary device for thoracocentesis 10 of the present invention can be driven to change the positioning position and the pointing direction. Therefore, the doctor can operate the auxiliary operating device 15 during the puncturing process, and then translate the second moving mechanism 13 to drive the second fixing portion 136 to control the positioning position of the puncturing needle 20, and translate the first moving mechanism 12 to drive the first fixing portion 126 to control the pointing direction of the puncturing needle 20, so that the auxiliary device 10 for thoracentesis of the present invention forms an operating mechanism with four degrees of freedom, thereby achieving the function of flexibly adjusting the puncturing needle 20. In this embodiment, the first fixing portion 126 or the second fixing portion 136 may be a dual-axis rotation linkage mechanism.
The encoders 14 are disposed at the axial joints of the first actuator 122 and the first base 11, the second actuator 124, and the axial joints of the third actuator 132 and the first base 11, the fourth actuator 134, and are used for measuring the movement amount of the first actuator 122 and the third actuator 132 relative to the first base 11, the movement amount of the second actuator 124 relative to the first actuator 122, and the movement amount of the fourth actuator 134 relative to the third actuator 132.
When the first moving mechanism 12 is translated on the first plane, the moving amounts of the first actuator 122 and the second actuator 124 are measured by the plurality of encoders 14, and the pointing direction of the puncture needle 20 can be defined; when the second moving mechanism 13 is translated on the second plane, the moving amounts of the third actuator 132 and the fourth actuator 134 are measured by the plurality of encoders 14, so as to define the positioning position of the puncture needle 20, thereby providing the positioning effect of the puncture needle 20. As shown in fig. 3, the auxiliary device 10 for thoracentesis of the present invention can be miniaturized by the design described above, so that the auxiliary device 10 for thoracentesis can be directly placed on the patient for operation, and the possible movement of the patient during the operation can be compensated. Wherein, the first seat 11 of the auxiliary device 10 for thoracentesis of the present invention can comprise a fixing mechanism 116, and the fixing mechanism 116 can fix the auxiliary device 10 for thoracentesis on the body of the patient. In the embodiment, the fixing mechanism 116 may be a buckle component, but other fixing mechanisms with fixing function may be used instead of the buckle component, and the embodiment is not limited thereto. The plurality of encoders 14 of the thoracic puncture assist device 10 of the present invention may be connected to a computer 30. When a doctor holds the auxiliary operation device 15 to operate, the plurality of encoders 14 acquire the moving amount of each moving member in the first moving mechanism 12 and the second moving mechanism 13, and the computer 30 processes the moving amount of each moving member and acquires the positioning information of the puncture needle 20 in cooperation with the image auxiliary positioning function of the first base 11, wherein the positioning information includes the pointing direction and the position of the puncture needle. As shown in fig. 4, in the present embodiment, the second seat 112 ' of the first seat 11 includes 2 slots 112b and 112b ' disposed at different positions of the second seat 112 '. Because the auxiliary device 10 for thoracentesis of the present invention can only be operated within a certain operation range due to the structural limitation when the third base 114 is combined with one slot 112b of the second base 112 ', in order to avoid the need to reposition and position the auxiliary device 10 for thoracentesis when an operation is performed on different points within a fixed area during the operation, the design of the plurality of slots 112b and 112 b' can achieve the effect of adjusting and expanding the operation range only by selectively inserting the third base 114 into any slot 112b or 112b 'according to the situation, and the second base 112' can be further provided with additional slots according to the requirements, thereby improving the convenience during the operation. Since the periphery of each slot 112b or 112b 'is provided with a plurality of positioning auxiliary mechanisms 112a, the computer can automatically position each slot 112b or 112 b' in the process of obtaining the computed tomography image. In addition, when the surgery is performed on different points in a fixed area, a plurality of second bases 112 'can be arranged in advance before the surgery is performed on the different points, so that the effect of large-scale surgery operation can be achieved by combining the third base 114 and the moving mechanism connected with the third base with the different second bases 112' during the surgery.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (6)
1. Auxiliary device for thoracentesis for a location pjncture needle, include:
the first seat body comprises a second seat body and a third seat body, the second seat body can be combined with the third seat body, and the second seat body comprises a plurality of positioning auxiliary mechanisms;
the first moving mechanism comprises a first actuating piece, a second actuating piece and a first fixing part, wherein the first actuating piece is connected to the first base in a shaft mode, one end of the second actuating piece is connected to the first actuating piece in a shaft mode, and the other end of the second actuating piece is connected to the first fixing part in a shaft mode, so that the first moving mechanism can be kept on a first plane to move horizontally randomly;
the second moving mechanism comprises a third actuating piece, a fourth actuating piece and a second fixing part, wherein the third actuating piece is connected to the first seat body in a shaft mode, one end of the fourth actuating piece is connected to the third actuating piece in a shaft mode, the other end of the fourth actuating piece is connected to the second fixing part, and therefore the second moving mechanism can keep moving on a second plane in a random translation mode, wherein the first plane is parallel to the second plane;
an auxiliary operation device fixedly connected with the first fixing part and the second fixing part;
and a plurality of encoders for measuring the amount of movement of each of the moving members.
2. The auxiliary device for thoracentesis of claim 1 wherein the second seat comprises at least one slot such that the third seat can be selectively inserted into any of the slots.
3. The auxiliary device for thoracentesis of claim 1, wherein the plurality of encoders are disposed at the axial joints of the first actuator and the first seat and the second actuator, and the axial joints of the third actuator and the first seat and the fourth actuator.
4. The thoracic puncture assist device according to claim 1, wherein the first fixing portion is rotatable about a first rotation axis and a second rotation axis, the first rotation axis is orthogonal to the second rotation axis, and the first rotation axis is located on the first plane.
5. The thoracentesis assist device of claim 1, wherein said second stationary portion is rotatable about a third axis of rotation and a fourth axis of rotation, said third axis of rotation is orthogonal to said fourth axis of rotation, and said third axis of rotation is located on said second plane.
6. The thoracentesis assist device of claim 1 wherein said second housing comprises a securing mechanism for securing a human body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911067722.8A CN110623712A (en) | 2019-11-04 | 2019-11-04 | Auxiliary device for thoracocentesis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911067722.8A CN110623712A (en) | 2019-11-04 | 2019-11-04 | Auxiliary device for thoracocentesis |
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| Publication Number | Publication Date |
|---|---|
| CN110623712A true CN110623712A (en) | 2019-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911067722.8A Pending CN110623712A (en) | 2019-11-04 | 2019-11-04 | Auxiliary device for thoracocentesis |
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| US20100125286A1 (en) * | 2008-11-20 | 2010-05-20 | Jaw-Lin Wang | Surgical Positioning Device and Image Guided Navigation System Using The Same |
| CN102499726A (en) * | 2011-11-09 | 2012-06-20 | 天津大学 | Close-distance minimally-invasive manipulator mechanism for nuclear magnetic resonance imaging environment |
| CN104665919A (en) * | 2015-03-11 | 2015-06-03 | 北京德康健医药科技有限公司 | Positioning device for assisting hollow rivet implanting operation |
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2019
- 2019-11-04 CN CN201911067722.8A patent/CN110623712A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070078475A1 (en) * | 2005-09-30 | 2007-04-05 | Restoration Robotics, Inc. | Tool assembly for harvesting and implanting follicular units |
| US20100125286A1 (en) * | 2008-11-20 | 2010-05-20 | Jaw-Lin Wang | Surgical Positioning Device and Image Guided Navigation System Using The Same |
| TW201019890A (en) * | 2008-11-20 | 2010-06-01 | Been-Der Yang | Surgical position device and image guided navigation system using the same |
| CN102499726A (en) * | 2011-11-09 | 2012-06-20 | 天津大学 | Close-distance minimally-invasive manipulator mechanism for nuclear magnetic resonance imaging environment |
| CN104665919A (en) * | 2015-03-11 | 2015-06-03 | 北京德康健医药科技有限公司 | Positioning device for assisting hollow rivet implanting operation |
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Application publication date: 20191231 |