CN111012456B - Ablation operation automatic positioning and needle inserting device based on image guide equipment - Google Patents
Ablation operation automatic positioning and needle inserting device based on image guide equipment Download PDFInfo
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- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
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- A61B2018/00577—Ablation
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The invention provides an automatic positioning and needle inserting device for an ablation operation based on image guide equipment, which comprises: the needle inserting device comprises a base, a positioning mechanism, a rotating assembly and a needle inserting mechanism; the positioning mechanism comprises a first moving assembly and a second moving assembly, the first moving assembly and the second moving assembly are vertically connected, the extending direction along the first moving assembly is the X direction, the extending direction along the second moving assembly is the Y direction, the first moving assembly is arranged on the base, and the second moving assembly can move along the direction parallel to the X direction; the rotating mechanism is arranged on the second moving assembly and can move along the direction parallel to the Y direction, and the needle inserting mechanism is connected with the rotating mechanism through the rotating assembly. The automatic positioning and needle inserting device accurately controls the ablation needle to reach the planned needle inserting angle and the planned needle inserting depth through a remote operation computer under the real-time image guidance of a doctor, realizes the automatic positioning and automatic needle inserting functions of the puncture needle, and eliminates the uncertain risk brought by manual needle inserting.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an automatic positioning and needle inserting device for an ablation operation based on image guide equipment.
Background
CT guided puncture refers to puncturing the focus under the guidance of computed tomography (CT for short) to complete the treatment of pathological biopsy, drainage, tumor ablation or radioactive particle implantation. The CT guided puncture has the characteristics of targeting, micro-wound, safety and high efficiency, so that the CT guided puncture is increasingly accepted and welcomed by patients and clinicians, and plays an increasingly important role in the comprehensive treatment of tumors.
Liver cancer is one of the common malignant tumors at present, and has high morbidity and mortality. There are many treatments for liver tumors, which are largely classified into interventional treatments and non-interventional treatments, wherein tumor ablation is an important branch of interventional treatments. With the development of the technology in recent years, the liver tumor ablation based on CT guided puncture has been more and more widely applied to the interventional therapy of liver tumor because of its advantages of accurate anatomical information, high resolution, short scanning time, etc.
Currently, the liver tumor ablation therapy based on CT guidance in clinic generally comprises the following steps: firstly, before an operation, a doctor plans a tumor ablation plan based on CT images, wherein the plan includes information such as a needle insertion point, a needle insertion angle, a needle insertion depth and the like; then, in the operation, a doctor punctures the guide needle and the puncture needle into the tumor by virtue of experience and a simple auxiliary positioning tool, and needs to perform repeated CT scanning for many times during the process to confirm whether the guide needle and the puncture needle reach the expected positions; and finally, performing radio frequency ablation after the puncture needle reaches a preset position. In actual clinical treatment, the key to the success of the operation depends on the actual needle insertion angle of the ablation needle and the final ablation position, so the personal experience, ability and the state of the operation of the physician are important. Accurate operation is very difficult for beginners or physicians with little experience, and even for physicians with mature experience, when the focus is small or the position is deep, it is difficult to achieve a successful puncture. The problem not only limits the popularization and application of the puncture operation, but also increases the pain of the patient and the probability of medical liability accidents in the operation process.
Disclosure of Invention
Technical problem to be solved
The invention provides an automatic positioning and needle inserting device for an ablation operation based on image guide equipment, and aims to solve the problems of high requirements on doctor operation and inaccurate operation in the existing operation process of the tumor ablation operation.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that: the needle inserting device comprises a base, a positioning mechanism, a rotating assembly and a needle inserting mechanism;
the positioning mechanism comprises a first moving assembly and a second moving assembly, the first moving assembly and the second moving assembly are vertically connected, the extending direction along the first moving assembly is the X direction, the extending direction along the second moving assembly is the Y direction, the first moving assembly is arranged on the base, and the second moving assembly can move along the direction parallel to the X direction;
the rotating mechanism is arranged on the second moving assembly and can move along the direction parallel to the Y direction, and the needle inserting mechanism is connected with the rotating mechanism through the rotating assembly.
Preferably, the first moving assembly comprises a first connecting plate, a first linear module, a second linear module and a plurality of connecting blocks;
the first straight line module and the second straight line module are arranged in parallel from top to bottom, the second straight line module is fixed on the first connecting plate, the first straight line module is fixed on the base, the first connecting plate is connected with the base through a plurality of connecting blocks, and the first straight line module and the second straight line module are vertically connected with the second moving assembly.
Preferably, the second moving assembly comprises a third linear module, a fourth linear module, a first T-shaped sliding block, a second T-shaped sliding block and a plurality of second connecting plates;
the third straight line module and the fourth straight line module are arranged in parallel up and down, the third straight line module is connected with the side end of the first T-shaped sliding block through one of the second connecting plates, the bottom end of the first T-shaped sliding block is connected with the second straight line module, and the third straight line module is vertically connected with the second straight line module through the first T-shaped sliding block;
the fourth straight line module is connected with the side end of the second T-shaped sliding block through another second connecting plate, the bottom end of the second T-shaped sliding block is connected with the first straight line module, and the fourth straight line module is vertically connected with the first straight line module through the second T-shaped sliding block;
the third linear module can move along the direction parallel to the X direction through the first T-shaped sliding block, and the fourth linear module can move along the direction parallel to the X direction through the second T-shaped sliding block.
Preferably, the rotating mechanism comprises a first connecting rod, a second connecting rod, a U-shaped connecting piece and a fixing column;
one end of the first connecting rod is connected with the third linear module, and the other end of the first connecting rod is rotatably connected with the rotating assembly;
one end of the second connecting rod is connected with the fourth linear module, the other end of the second connecting rod is rotatably connected with the closed end of the U-shaped connecting piece, the open end of the U-shaped connecting piece is rotatably connected with two sides of the rotating assembly through the fixing column, a fastener mounting hole is formed in the fixing column, and the U-shaped connecting piece is fixedly connected with the rotating assembly through a fastener;
the first and second connecting rods are movable in a direction parallel to the Y direction.
Preferably, one surface of the rotating assembly is a needle insertion surface, the surface opposite to the needle insertion surface is a mounting surface, a sliding groove is formed in the mounting surface, and the end of the first connecting rod can rotate in the sliding groove and can slide along the sliding groove.
Preferably, the needle inserting mechanism comprises a driving wheel shaft, a driven wheel and a motor, the motor is arranged on the mounting surface, and the lower end of the rotating assembly is provided with a shaft hole and a first waist-shaped hole; the driving wheel shaft can penetrate through the shaft hole from the needle inserting surface to be connected with the motor, the driven wheel is mounted on the driven wheel shaft and attached to the driving wheel shaft, the driven wheel shaft can be inserted into the first kidney-shaped hole, and an ablation needle is placed between the driving wheel shaft and the driven wheel; the motor can drive the driving wheel shaft to rotate, so that the ablation needle is driven to move up and down.
Preferably, the needle inserting mechanism further comprises an electromagnetic valve and an electromagnetic valve conversion block; the electromagnetic valve is arranged on the mounting surface and connected with the electromagnetic valve conversion block, the electromagnetic valve can drive the electromagnetic valve conversion block to move along the direction parallel to the Y direction, a first round hole is formed in the electromagnetic valve conversion block, the driven wheel shaft can penetrate through the first waist-shaped hole from the needle inserting surface and is mounted in the first round hole, and the electromagnetic valve conversion block can drive the driven wheel shaft to move along the direction parallel to the Y direction.
Preferably, the needle inserting mechanism further comprises a first guide block and a second guide block; first guide block with the second guide block is located on the needle feeding surface, first guide block with it has the needle inlet hole to open on the contact surface of second guide block, the one end of second guide block is equipped with the cylinder boss, it has second waist type hole to open on the runner assembly, it has the second round hole to open on the solenoid valve conversion piece, the cylinder boss can pass second waist type hole install in the second round hole, the solenoid valve conversion piece can drive the second guide block is along being on a parallel with the direction motion of Y direction.
Preferably, the needle inserting mechanism further comprises a driven wheel cushion block, and the driven wheel cushion block is arranged between the rotating assembly and the driven wheel.
(III) advantageous effects
The invention has the beneficial effects that: the automatic positioning and needle inserting device for the CT-guided tumor ablation operation accurately controls an ablation needle to reach a planned needle inserting point, a planned needle inserting angle and a planned needle inserting depth in a remote operation computer mode under the guidance of a real-time CT image by a doctor so as to realize the automatic positioning and automatic needle inserting functions of a puncture needle and eliminate uncertain risks caused by manual needle inserting. The mechanism breaks through the limit of experience of doctors, realizes high-precision needle inserting angle and depth of the puncture needle through mechanical movement, and can accurately reach an ablation position for smaller and deeper focuses, so that the puncture needle can reach a preset ablation position, and the success rate of an ablation operation is greatly improved.
Through the cooperation of the positioning mechanism and the rotating mechanism, the puncture needle can accurately reach a preset position and an angle according to a plan. The needle inserting mechanism is matched for use, the needle inserting and withdrawing movement of the puncture needle can be realized, and the puncture needle can be inserted into a human body according to a set angle and can advance to a preset tumor ablation position under the guidance of a real-time CT image; meanwhile, when a doctor needs to intervene to disinfect the puncture part and the like under certain conditions, the needle inserting mechanism can loosen the puncture needle and withdraw, so that enough space is provided for the doctor to operate.
Description of the drawings
FIG. 1 is a schematic view of a simulated operation of an automatic positioning and needle inserting device for an ablation operation based on image guidance provided by the present invention;
FIG. 2 is a schematic structural view of the automatic positioning and needle inserting device according to the present invention;
FIG. 3 is a schematic structural view of the positioning mechanism, the rotating mechanism and the needle inserting mechanism in FIG. 2;
FIG. 4 is a schematic structural view of the rotating assembly and the needle inserting mechanism shown in FIG. 3;
FIG. 5 is a schematic structural view of a rotating assembly;
fig. 6 is a schematic structural diagram of the electromagnetic valve switching block.
[ description of reference ]
1: a base;
2: a first moving assembly; 21: a first connecting plate; 22: a first linear module; 23: a second linear module; 24: connecting blocks;
3: a second moving assembly; 31: a third linear module; 32: a fourth linear module; 33: a second connecting plate; 34: a first T-shaped slider; 35: a second T-shaped slider;
41: a first connecting rod; 42: a second connecting rod; 43: a U-shaped connecting piece; 44: fixing a column;
5: a rotating assembly; 51: a chute; 52: a needle feeding surface; 53: a mounting surface; 54: a first kidney-shaped hole; 55: a second kidney-shaped hole; 56: a shaft hole;
61: a driving wheel shaft; 62: a driven axle; 63: a driven wheel; 64: a motor; 65: an electromagnetic valve; 66: a solenoid valve conversion block; 661: a first circular hole; 662: a second circular hole; 67: a first guide block; 68: a second guide block;
7: a patient model; 8: scanning a bed plate; 9: CT; 10: an ablation needle.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The invention provides an automatic positioning and needle inserting device for an ablation operation based on an image guide device, which comprises the following components as shown in figures 1 and 2: the device comprises a base 1, a positioning mechanism, a rotating assembly 5 and a needle inserting mechanism; the positioning mechanism comprises a first moving assembly 2 and a second moving assembly 3, the first moving assembly 2 and the second moving assembly 3 are vertically connected, the extending direction along the first moving assembly 2 is the X direction, the extending direction along the second moving assembly 3 is the Y direction, the first moving assembly 2 is arranged on the base 1, and the second moving assembly 3 can move along the X direction; the rotating mechanism is arranged on the second moving assembly 3 and can move along the direction parallel to the Y direction, and the needle inserting mechanism is connected with the rotating mechanism through the rotating assembly 5. As shown in fig. 1, the automatic positioning and needle inserting device is fixed on a scanning bed plate 8 through a base 1, a patient model 7 is used to replace a patient in fig. 1, the patient lies on the scanning bed plate 8, the patient and an ablation needle 10 are guided to scan by an image guiding device in real time in the operation process, medical staff controls the automatic positioning and needle inserting device of the ablation operation to adjust the ablation needle 10 to a proper angle and position through a computer, and controls the ablation needle 10 to be inserted into the body of the patient to reach a preset tumor ablation part for ablation. The guidance using the image guidance device can be CT guidance, X-Ray imaging device guidance, PET guidance, ultrasound guidance, and is preferably CT guidance.
The automatic positioning and needle inserting device for the ablation operation based on the image guide equipment accurately controls the ablation needle 10 to reach a planned needle inserting point, a needle inserting angle and a needle inserting depth in a remote operation computer mode under the real-time CT9 image guide of a doctor so as to realize the automatic positioning and automatic needle inserting functions of a puncture needle and eliminate the uncertain risk caused by manual needle inserting. The mechanism breaks through the limit of experience of doctors, realizes high-precision needle inserting angle and depth of the puncture needle through mechanical movement, and can accurately reach an ablation position for smaller and deeper focuses, so that the puncture needle can reach a preset ablation position, and the success rate of an ablation operation is greatly improved.
As shown in fig. 2 and 3, the first moving assembly 2 includes a first connection plate 21, a first linear module 22, a second linear module 23, and a plurality of connection blocks 24; the first straight line module 22 and the second straight line module 23 are arranged in parallel up and down, the second straight line module 23 is fixed on the first connecting plate 21, the first straight line module 22 is fixed on the base 1, the first connecting plate 21 is connected with the base 1 through a plurality of connecting blocks 24, and the first straight line module 22 and the second straight line module 23 are vertically connected with the second moving assembly 3.
Further, the second moving assembly 3 includes a third linear module 31, a fourth linear module 32, a first T-shaped slider 34, a second T-shaped slider 35 and a plurality of second connecting plates 33; the third straight line module 31 and the fourth straight line module 32 are arranged in parallel up and down, the third straight line module 31 is connected with the side end of the first T-shaped slide block 34 through one of the second connecting plates 33, the bottom end of the first T-shaped slide block 34 is connected with the second straight line module 23, and the third straight line module 31 is vertically connected with the second straight line module 23 through the first T-shaped slide block 34; the fourth straight line module 32 is connected with the side end of the second T-shaped sliding block 35 through another second connecting plate 33, the bottom end of the second T-shaped sliding block 35 is connected with the first straight line module 22, and the fourth straight line module 32 is vertically connected with the first straight line module 22 through the second T-shaped sliding block 35; the third linear module 31 is movable in a direction parallel to the X direction by a first T-shaped slider 34, and the fourth linear module 32 is movable in a direction parallel to the X direction by a second T-shaped slider 35.
In addition, the first linear module 22, the second linear module 23, the third linear module 31 and the fourth linear module 32 are all ball screw type linear modules, and the ball screw type linear modules mainly comprise ball screws, ball screw supporting seats, sliding tables, linear guide rails, couplers, linear module motors, photoelectric switches and the like; the last cover of ball screw is equipped with the slip table, and the slip table can be at the linear reciprocating motion of single direction, consequently, because first T type slider 34 and second T type slider 35 all locate on the slip table to can realize first T type slider 34 and the reciprocal linear motion of second T type slider 35 in the direction that is on a parallel with the X direction, the collocation encoder uses the accurate motion and the location that can control the slip table. The ball screw type linear module can realize linear reciprocating motion of the load through the combination of all units, so that the automation of the load is more flexible and the positioning is more accurate.
As shown in fig. 3, the rotating mechanism includes a first connecting rod 41, a second connecting rod 42, a U-shaped connecting member 43 and a fixing column 44; one end of the first connecting rod 41 is connected with the third linear module 31, and the other end of the first connecting rod 41 is rotatably connected with the rotating assembly 5; one end of the second connecting rod 42 is connected with the fourth linear module 32, the other end of the second connecting rod 42 is rotatably connected with the closed end of the U-shaped connecting piece 43, the open end of the U-shaped connecting piece 43 is rotatably connected with two sides of the rotating assembly 5 through a fixing column 44, a fastener mounting hole is formed in the fixing column 44, the U-shaped connecting piece is fixedly connected with the rotating assembly 5 through a fastener, and the fastener can be a screw; the first connecting rod 41 and the second connecting rod 42 are capable of linear reciprocating motion in a direction parallel to the Y direction. The U-shaped connecting piece 43 is rotatably connected with the second connecting rod 42 through a bearing, and the open end of the U-shaped connecting piece 43 is fixedly connected with the rotating assembly 5 through a screw in the fixed column 44. Preferably, a gasket is arranged between the U-shaped connecting piece 43 and the second connecting rod 42.
Wherein, third straight line module 31 and fourth straight line module 32 are ball screw type straight line module, as shown in fig. 2, the one end of first connecting rod 41 is connected with the slip table of third straight line module 31, and the one end of second connecting rod 42 is connected with the slip table of fourth straight line module 32 to can realize the straight reciprocating motion of first connecting rod 41 and second connecting rod 42 in the direction that is on a parallel with the Y direction. The precise movement and positioning of the sliding table can be controlled by using the encoder. The ball screw type linear module can realize linear reciprocating motion of the load through the combination of all units, so that the automation of the load is more flexible and the positioning is more accurate.
As shown in fig. 3 and 4, one surface of the rotating member 5 is a needle insertion surface 52, the surface opposite to the needle insertion surface 52 is a mounting surface 53, a sliding groove 51 is formed in the mounting surface 53, the cross section of the sliding groove 51 perpendicular to the extending direction is circular, and the end of the first connecting rod 41 that is engaged with the sliding groove 51 is spherical, so that the end (i.e., the spherical end) of the first connecting rod 41 can freely rotate in the sliding groove 51 and can slide along the sliding groove 51.
Specifically, referring again to fig. 3, the method for implementing the automatic positioning function of the ablation needle 10 by the positioning mechanism and the rotating mechanism is as follows: in order to select the needle insertion angle according to the plan, when the computer controls the sliding table on the third linear module 31 to make a linear motion along the direction parallel to the Y direction, the sliding table on the third linear module 31 will drive the first connecting rod 41 to move along the direction parallel to the Y direction, and further drive the spherical end of the first connecting rod 41 to slide in the sliding slot 51 of the rotating assembly 5. Since the open end of the U-shaped connecting member 43 is fixedly connected to the rotating assembly 5, and the closed end of the U-shaped connecting member 43 is rotatably connected to the second connecting rod 42 through a bearing, the first connecting rod 41 can drive the rotating assembly 5 to rotate around the axis of the second connecting rod 42 (i.e. rotate around the direction parallel to the X direction). Referring to fig. 2 and 3, when the slider of the second linear module 23 is controlled to perform linear motion along the direction parallel to the X direction, the slider of the second linear module 23 drives the third linear module 31 to perform linear motion along the direction parallel to the X direction, and since the sliding table of the third linear module 31 is connected to one end of the first connecting rod 41, the first connecting rod 41 also performs linear motion along the direction parallel to the X direction, and the first connecting rod 41 can drive the rotating component 5 to rotate around the axis of the fixed column 44 (i.e., rotate around the direction parallel to the Y direction). By rotating the rotating assembly 5 in the directions parallel to the X direction and the Y direction, the ablation needle 10 can reach a planned needle inserting point, a needle inserting angle and a needle inserting depth, so that the automatic positioning function of the puncture needle is realized, and the uncertain risk caused by manual needle inserting is eliminated.
Further, the needle inserting mechanism comprises a driving wheel shaft 61, a driven wheel shaft 62, a driven wheel 63 and a motor 64, the motor 64 is arranged on the mounting surface 53, and the lower end of the rotating assembly 5 is provided with a shaft hole 56 and a first kidney-shaped hole 54; the driving wheel shaft 61 can penetrate through the shaft hole 56 from the needle inserting surface 52 to be connected with the motor 64, the driven wheel 63 is mounted on the driven wheel shaft 62 and attached to the driving wheel shaft 61, the driven wheel shaft 62 can be inserted into the first kidney-shaped hole 54, and the ablation needle 10 is placed between the driving wheel shaft 61 and the driven wheel 63; the motor 64 can drive the driving wheel shaft 61 to rotate, so as to drive the ablation needle 10 to move up and down.
In addition, the needle inserting mechanism also comprises an electromagnetic valve 65 and an electromagnetic valve conversion block 66; the electromagnetic valve 65 is installed on the installation surface 53, the electromagnetic valve 65 is connected with the electromagnetic valve conversion block 66, the electromagnetic valve 65 can drive the electromagnetic valve conversion block 66 to move along the Y direction, a first round hole 661 is formed in the electromagnetic valve conversion block 66, the driven wheel shaft 62 can penetrate through the first kidney-shaped hole 54 from the needle insertion surface 52 and is installed in the first round hole 661 through screws, and the electromagnetic valve conversion block 66 can drive the driven wheel shaft 62 to move along the Y direction.
The electromagnetic valve 65 is composed of a copper coil, a frame, an output shaft, a retainer ring and a spring, wherein the spring is arranged between the frame and the retainer ring, the working principle of the electromagnetic valve is that the output shaft is in an extension state under the action of the elastic force of the spring in a power-off state, and the output shaft compresses the spring to be in a contraction state under the action of the electromagnetic force after the electromagnetic valve is powered on; one surface of the electromagnetic valve 65 is fixed with the rotating assembly 5 through screws, and an output shaft of the electromagnetic valve 65 is fixed with the electromagnetic valve conversion block 66 through a cylindrical pin. The output shaft of the solenoid valve 65 is in an extension state in the power-off state, and a certain compression amount of the spring can be ensured in the power-off state by controlling the installation positions of the solenoid valve 65 and the rotating assembly 5, and the pressure is transmitted to the solenoid valve conversion block 66 and then transmitted to the second guide block 68 and the driven wheel shaft 62, so that the needle inserting hole is in a closed state, the ablation needle 10 is in a clamping state, and a doctor can remotely control the space position of the ablation needle 10 and the needle inserting and withdrawing movement in the clamping state. When the electromagnetic valve 65 is in a power-on state, the output shaft of the electromagnetic valve is in a contraction state, and at the moment, the output shaft drives the electromagnetic valve conversion block 66 to move, so that the second guide block 68 and the driven wheel shaft 62 are driven to move, so that the guide hole is in an open state, the ablation needle 10 is in a loosening state, and the needle inserting mechanism can be moved away in the loosening state, so that a space is provided for operations such as disinfection and the like in intervention of a doctor.
Further preferably, as shown in fig. 3, 5 and 6, the needle inserting mechanism further comprises a first guide block 67 and a second guide block 68; first guide block 67 is located on advancing needle face 52 through the screw, it has into the pinhole to open on the contact surface of first guide block 67 and second guide block 68, the one end of second guide block 68 is equipped with the cylinder boss, it has second waist type hole 55 to open on the runner assembly 5, it has second round hole 662 to open on the solenoid valve conversion piece 66, the cylinder boss can pass second waist type hole 55 and pass through the screw mounting in second round hole 662, solenoid valve conversion piece 66 can drive second guide block 68 and remove along the Y direction. The arrangement of the needle inlet hole can provide guidance for the movement of the ablation needle 10, and meanwhile, the movement precision of the ablation needle 10 in the needle inlet direction can be controlled by controlling the size of the gap between the guide hole and the ablation needle 10. The second guide block 68 is inserted into the second circular hole 662 and fixed with the electromagnetic valve conversion block 66 through a screw, so that the electromagnetic valve conversion block 66 can drive the second guide block 68 to move in the second kidney-shaped hole 55 by moving in the Y direction, thereby realizing the opening and closing of the needle inlet hole, and the needle inlet hole is in a closed state during normal work.
When the motor 64 is in a power-on state and the electromagnetic valve 65 is in a power-off state, the motor 64 drives the driving wheel shaft 61 to rotate, the driving wheel shaft 61 drives the driven wheel 63 to rotate, and the ablation needle 10 is arranged between the driving wheel shaft 61 and the driven wheel 63, so that the ablation needle 10 moves up and down; when the motor 64 is in a power-off state and the electromagnetic valve 65 is in a power-on state, the ablation needle 10 is in a loosening state, the whole needle inserting mechanism is withdrawn from the operation area, and an operation space is provided for a doctor when necessary.
In addition, the needle inserting mechanism further comprises a driven wheel cushion block, the driven wheel cushion block is arranged between the rotating assembly 5 and the driven wheel 63, and the rotating resistance of the driven wheel 63 can be reduced by the aid of the driven wheel cushion block.
Through the cooperation of the positioning mechanism, the rotating mechanism and the rotating assembly 5, the puncture needle can accurately reach the preset position and angle according to the plan. The needle inserting mechanism is matched for use, the needle inserting and withdrawing movement of the puncture needle can be realized, and the puncture needle can be inserted into a human body according to a set angle and can advance to a preset tumor ablation position under the guidance of a real-time CT image; meanwhile, when a doctor needs to intervene to disinfect the puncture part and the like under certain conditions, the needle inserting mechanism can loosen the puncture needle and withdraw, so that enough space is provided for the doctor to operate.
It should be understood that the above description of specific embodiments of the present invention is only for the purpose of illustrating the technical lines and features of the present invention, and is intended to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, but the present invention is not limited to the above specific embodiments. It is intended that all such changes and modifications as fall within the scope of the appended claims be embraced therein.
Claims (7)
1. An automatic positioning and needle inserting device for an ablation operation based on image guide equipment is characterized by comprising: the needle inserting device comprises a base, a positioning mechanism, a rotating assembly and a needle inserting mechanism;
the positioning mechanism comprises a first moving assembly and a second moving assembly, the first moving assembly and the second moving assembly are vertically connected, the extending direction along the first moving assembly is the X direction, the extending direction along the second moving assembly is the Y direction, the first moving assembly is arranged on the base, and the second moving assembly can move along the direction parallel to the X direction;
the rotating mechanism is arranged on the second moving assembly and can move along the direction parallel to the Y direction, and the needle inserting mechanism is connected with the rotating mechanism through the rotating assembly;
the first moving assembly comprises a first connecting plate, a first linear module, a second linear module and a plurality of connecting blocks;
the first linear module and the second linear module are arranged in parallel up and down, the second linear module is fixed on the first connecting plate, the first linear module is fixed on the base, the first connecting plate is connected with the base through a plurality of connecting blocks, and the first linear module and the second linear module are vertically connected with the second moving assembly;
the second moving assembly comprises a third linear module, a fourth linear module, a first T-shaped sliding block, a second T-shaped sliding block and a plurality of second connecting plates;
the third straight line module and the fourth straight line module are arranged in parallel up and down, the third straight line module is connected with the side end of the first T-shaped sliding block through one of the second connecting plates, the bottom end of the first T-shaped sliding block is connected with the second straight line module, and the third straight line module is vertically connected with the second straight line module through the first T-shaped sliding block;
the fourth straight line module is connected with the side end of the second T-shaped sliding block through another second connecting plate, the bottom end of the second T-shaped sliding block is connected with the first straight line module, and the fourth straight line module is vertically connected with the first straight line module through the second T-shaped sliding block;
the third linear module can move along the direction parallel to the X direction through the first T-shaped sliding block, and the fourth linear module can move along the direction parallel to the X direction through the second T-shaped sliding block.
2. The automatic positioning and needle insertion device of claim 1, wherein: the rotating mechanism comprises a first connecting rod, a second connecting rod, a U-shaped connecting piece and a fixing column;
one end of the first connecting rod is connected with the third linear module, and the other end of the first connecting rod is rotatably connected with the rotating assembly;
one end of the second connecting rod is connected with the fourth linear module, the other end of the second connecting rod is rotatably connected with the closed end of the U-shaped connecting piece, the open end of the U-shaped connecting piece is rotatably connected with two sides of the rotating assembly through the fixing column, a fastener mounting hole is formed in the fixing column, and the U-shaped connecting piece is fixedly connected with the rotating assembly through a fastener;
the first and second connecting rods are movable in a direction parallel to the Y direction.
3. The automatic positioning and needle insertion device of claim 2, wherein: one surface of the rotating assembly is a needle inserting surface, the surface opposite to the needle inserting surface is an installation surface, a sliding groove is formed in the installation surface, and the end portion of the first connecting rod can rotate in the sliding groove and can slide along the sliding groove.
4. The automatic positioning and needle insertion device of claim 3, wherein: the needle inserting mechanism comprises a driving wheel shaft, a driven wheel and a motor, the motor is arranged on the mounting surface, and the lower end of the rotating assembly is provided with a shaft hole and a first waist-shaped hole; the driving wheel shaft can penetrate through the shaft hole from the needle inserting surface to be connected with the motor, the driven wheel is mounted on the driven wheel shaft and attached to the driving wheel shaft, the driven wheel shaft can be inserted into the first kidney-shaped hole, and an ablation needle is placed between the driving wheel shaft and the driven wheel; the motor can drive the driving wheel shaft to rotate, so that the ablation needle is driven to move up and down.
5. The automatic positioning and needle insertion device of claim 4, wherein: the needle inserting mechanism also comprises an electromagnetic valve and an electromagnetic valve conversion block; the electromagnetic valve is arranged on the mounting surface and connected with the electromagnetic valve conversion block, the electromagnetic valve can drive the electromagnetic valve conversion block to move along the direction parallel to the Y direction, a first round hole is formed in the electromagnetic valve conversion block, the driven wheel shaft can penetrate through the first waist-shaped hole from the needle inserting surface and is mounted in the first round hole, and the electromagnetic valve conversion block can drive the driven wheel shaft to move along the direction parallel to the Y direction.
6. The automatic positioning and needle insertion device of claim 5, wherein: the needle inserting mechanism further comprises a first guide block and a second guide block; first guide block with the second guide block is located on the needle feeding surface, first guide block with it has the needle inlet hole to open on the contact surface of second guide block, the one end of second guide block is equipped with the cylinder boss, it has second waist type hole to open on the runner assembly, it has the second round hole to open on the solenoid valve conversion piece, the cylinder boss can pass second waist type hole install in the second round hole, the solenoid valve conversion piece can drive the second guide block is along being on a parallel with the direction motion of Y direction.
7. The automatic positioning and needle insertion device of claim 6, wherein: the needle inserting mechanism further comprises a driven wheel cushion block, and the driven wheel cushion block is arranged between the rotating assembly and the driven wheel.
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| CN113598936B (en) * | 2021-09-07 | 2022-04-12 | 上海睿刀医疗科技有限公司 | Multi-needle puncture device |
| CN114469326B (en) * | 2022-03-31 | 2022-07-01 | 真健康（北京）医疗科技有限公司 | Energy ablation needle clamping device, surgical robot and energy ablation system |
| CN114424967B (en) * | 2022-03-31 | 2022-06-24 | 真健康（北京）医疗科技有限公司 | Four-freedom puncture needle positioning and guiding device with orthogonal structure |
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