CN111297451A - Puncture locator for oncology - Google Patents
Puncture locator for oncology Download PDFInfo
- Publication number
- CN111297451A CN111297451A CN202010207000.4A CN202010207000A CN111297451A CN 111297451 A CN111297451 A CN 111297451A CN 202010207000 A CN202010207000 A CN 202010207000A CN 111297451 A CN111297451 A CN 111297451A
- Authority
- CN
- China
- Prior art keywords
- puncture
- probe
- guide rail
- displacement structure
- driving actuator
- 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.)
- Pending
Links
Images
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
- 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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
- A61B90/13—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
-
- 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
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- 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
- 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
-
- 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
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
Abstract
The invention provides a puncture locator applied to the field of tumor puncture detection, which comprises a puncture probe, an installation base, a fixed sucker elastic band, an X-axis displacement structure, a Y-axis displacement structure and a Z-axis displacement structure, wherein the elastic band and the fixed sucker are arranged on the locator, so that the installation base is firmly bound with a human body, the locator can synchronously move according to the motion of the human body, and a puncture point cannot be positioned difficultly due to the shaking of the human body; the multi-axis moving mechanism is arranged to drive the puncture probe to move in multiple directions, so that the puncture probe can be positioned at any puncture point; meanwhile, a visual positioning mechanism such as a camera or a lamp can be arranged for assistance so as to observe the puncture point more clearly; then drive and spacing through setting up guide rail, slider and drive executor for puncture probe's removal is more steady, and the puncture location is more accurate.
Description
Technical Field
The invention relates to the field of puncture, in particular to a puncture positioner for an oncology department.
Background
With the continuous development of medical technology, many diseases can be positioned and guided through CT to be punctured percutaneously without surgical incision, and diagnosis and treatment can be achieved through minimally invasive surgery. In particular, the pathological classification of tumor diseases is important, and a treatment plan is often formulated by obtaining a clear pathological diagnosis before treatment.
In the past, a puncture person can only determine the depth and angle of a puncture point by means of CT scanning, the needle insertion angle is subjectively determined, the accuracy is poor, in the process of puncture, the puncture person is influenced by the body position change of a patient during physical activity, puncture errors often occur, repeated positioning puncture is needed, local tumor implantation metastasis is caused, and serious complications such as pneumothorax, hemothorax and visceral bleeding occur, the operation of tumor surgery in long-term operation of the team and the research and development of related instruments are carried out, partial products are used in hospitals, and through a large amount of search and reference, the puncture localizers disclosed in patents with publication numbers of CN102940533B, CN101773411A, JP2007117622A, JP2010523235A, JP2003065826 and the like are found, the localizers of the technical schemes generally comprise a scale plate and an angle indicator needle, and the angle indicator needle is arranged on a driving rod in a penetrating mode, the pulse driving type micromotor is connected with a pulse generating circuit, the pulse generating circuit is connected with the output of the CT scanner, when the CT scanner determines an optimal puncture angle, the angle is output to the pulse generating circuit in an electric signal mode, the pulse number matched with the needed puncture angle is calculated, the pulse number is transmitted to the pulse driving type micromotor, the pulse driving type micromotor controls the rotation angle of the pulse motor, the motor is automatically locked at the needed angle after the pulse driving type micromotor rotates to the set angle, the method has high requirements on the position placement of the positioner, the positioner needs to be placed at an accurate position according to experience, and a patient cannot easily move and bounce to influence the positioning after the positioning, so the positioner is not strong in practical applicability. In order to improve the stability and accuracy of puncture, some technical schemes include a puncture module support matched with a bed frame, the puncture mechanism can enable a patient to comfortably perform matched treatment when lying on the bed, but the device has higher requirements on the patient's body, and the puncture module fixedly mounted on the support cannot be synchronously adjusted according to the action of the patient.
Disclosure of Invention
The invention aims to provide a puncture positioner for oncology, aiming at the defects of the accuracy and stability of the existing puncture positioner for tumor detection.
In order to overcome the defects of the prior art, the invention adopts the following technical scheme:
a puncture locator for oncology comprises a puncture probe; installing a base;
the fixed sucker is arranged on the lower side of the mounting base and is used for being adsorbed on a human body so as to fix the puncture locator;
the elastic band is connected with the mounting base and is used for being sleeved on a human body so as to be fixed with the human body, and meanwhile, the fixed sucker is tensioned through the elasticity of the elastic band;
the X-axis displacement structure is arranged on the mounting base and is used for controlling the puncture probe to displace along the X axis;
the Y-axis displacement structure is connected with the X-axis displacement structure and used for controlling the puncture probe to displace along the Y axis;
and the Z-axis displacement structure is connected with the Y-axis displacement structure and is used for controlling the puncture probe to displace in the Z axis.
The X-axis displacement structure comprises a first driving actuator, a first guide rail and a first sliding block, the first driving actuator and the first guide rail are fixedly arranged on the upper portion of the mounting base, the first driving actuator and the first guide rail are arranged in parallel, and the first sliding block is slidably arranged on the first guide rail;
the Y-axis displacement structure comprises a mounting plate, a second driving actuator, a second guide rail and a second slider, the lower part of the mounting plate is connected with the first slider and the first driving actuator, the second driving actuator and the second guide rail are fixedly mounted on the upper part of the mounting plate, the second driving actuator and the second guide rail are parallel to each other and perpendicular to the first guide rail, and the second slider is arranged on the second guide rail;
z axle displacement structure is including connecting diaphragm, installation riser, third drive executor and probe mounting panel, the downside of connecting the diaphragm with the third drive executor is connected, the front side of connecting the diaphragm with the installation riser is connected just connect the diaphragm with installation riser mutually perpendicular, the third drive executor is installed on the installation riser, the lower part of probe mounting panel with the third drive executor is connected, the puncture probe is installed probe mounting panel upper portion.
The first guide rails are provided with two groups, the two groups of first guide rails are arranged in parallel, and each first guide rail is provided with at least one first sliding block.
The first driving actuator, the second driving actuator and the third driving actuator are ball screw driving slide block type electric actuators, a slide block of the first driving actuator is connected with the mounting plate, a slide block of the second driving actuator is connected with the connecting transverse plate, and a slide block of the third driving actuator is connected with the probe mounting plate.
A triangular support plate for reinforcing connection is further installed between the connecting transverse plate and the mounting vertical plate.
The beneficial effects obtained by the invention are as follows:
the positioner is provided with the elastic band and the fixed sucker, so that the mounting base is firmly bound with the human body, the positioner can synchronously move according to the motion of the human body, and the puncture point cannot be positioned difficultly due to the shaking of the human body; the multi-axis moving mechanism is arranged to drive the puncture probe to move in multiple directions, so that the puncture probe can be positioned at any puncture point; meanwhile, a visual positioning mechanism such as a camera or a lamp can be arranged for assistance so as to observe the puncture point more clearly; then drive and spacing through setting up guide rail, slider and drive executor for puncture probe's removal is more steady, and the puncture location is more accurate.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
Fig. 1 is a schematic front view of the present invention.
Fig. 2 is a schematic top view of the present invention.
Fig. 3 is a right-view structural diagram of the present invention.
Fig. 4 is a schematic perspective view of the present invention.
Fig. 5 is a schematic view of the connection in a specific use of the present invention.
Fig. 6 is a partial structural view of another embodiment of the present invention.
Fig. 7 is a schematic overall structure diagram of another embodiment of the present invention.
Fig. 8 is a partial structural view of another embodiment of the present invention.
FIG. 9 is a graph of the relationship of irradiation to the location of a puncture site in accordance with another embodiment of the present invention.
In the figure; puncture probe 1, installation base 2, fixed suction cup 3, elastic band 4, X-axis displacement structure 5, first drive executor 51, first guide rail 52, first slider 53, Y-axis displacement structure 6, mounting plate 61, second drive executor 62, second guide rail 63, second slider 64, Z-axis displacement structure 7, connecting transverse plate 71, mounting vertical plate 72, third drive executor 73, probe mounting plate 74, camera 8, first lamp 9, second lamp 10, safety cover 11.
Detailed Description
In order to make the objects and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the following embodiments; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "X-axis", "Y-axis", "Z-axis", etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the drawings, this is for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or component being referred to must have a particular orientation. Constructed and operated in a particular orientation, and thus the terms used in describing positional relationships in the drawings are intended to be illustrative only and should not be construed as limiting the patent, to the extent that the specific meaning of the terms is understood by those of ordinary skill in the art in a specific context.
The first embodiment is as follows:
a puncture locator for oncology comprises a puncture probe 1; mounting a base 2;
the fixed sucker 3 is arranged at the lower side of the mounting base 2 and is used for being adsorbed on a human body so as to fix the puncture locator;
the elastic band 4 is connected with the installation base 2 and is used for being sleeved on a human body so as to be fixed with the human body, and meanwhile, the fixed sucker 3 is tensioned through the elasticity of the elastic band 4;
the X-axis displacement structure 5 is arranged on the mounting base 2 and used for controlling the puncture probe 1 to displace along the X axis;
the Y-axis displacement structure 6 is connected with the X-axis displacement structure 5 and is used for controlling the puncture probe 1 to displace along the Y axis;
and the Z-axis displacement structure 7 is connected with the Y-axis displacement structure 6 and is used for controlling the puncture probe 1 to displace in the Z axis.
The X-axis displacement structure 5 comprises a first driving actuator 51, a first guide rail 52 and a first slider 53, wherein the first driving actuator 51 and the first guide rail 52 are both fixedly mounted on the upper portion of the mounting base 2, the first driving actuator 51 and the first guide rail 52 are arranged in parallel, and the first slider is slidably mounted on the first guide rail 52;
the Y-axis displacement structure 6 comprises a mounting plate 61, a second driving actuator 62, a second guide rail 63 and a second slider 64, the lower part of the mounting plate 61 is connected with the first slider 53 and the first driving actuator 51, the second driving actuator 62 and the second guide rail 63 are both fixedly mounted on the upper part of the mounting plate 61, the second driving actuator 62 and the second guide rail 63 are parallel to each other and perpendicular to the first guide rail 52, and the second slider 64 is arranged on the second guide rail 63;
the Z-axis displacement structure 7 includes a connecting transverse plate 71, a mounting vertical plate 72, a third driving actuator 73 and a probe mounting plate 74, the lower side of the connecting transverse plate 71 is connected to the third driving actuator 73, the front side of the connecting transverse plate 71 is connected to the mounting vertical plate 72, the connecting transverse plate 71 is perpendicular to the mounting vertical plate 72, the third driving actuator 73 is mounted on the mounting vertical plate 72, the lower portion of the probe mounting plate 74 is connected to the third driving actuator 73, and the puncture probe 1 is mounted on the probe mounting plate 74.
The first guide rails 52 are provided with two sets, the two sets of first guide rails 52 are arranged in parallel, and each first guide rail 52 is provided with at least one first sliding block 53.
The first driving actuator 51, the second driving actuator 62 and the third driving actuator 73 are ball screw driving slider type electric actuators, the slider of the first driving actuator 51 is connected to the mounting plate 61, the slider of the second driving actuator 62 is connected to the connecting cross plate 71, and the slider of the third driving actuator 73 is connected to the probe mounting plate 74.
A triangular support plate for reinforcing connection is further installed between the connecting transverse plate 71 and the mounting vertical plate 72.
When the puncture needle is used specifically, an operator stretches the elastic band 4 and then sleeves the elastic band 4 at a part needing puncture, such as a tibia part, a humerus part or a chest part, the elastic band 4 with different lengths can be selected and matched according to specific different parts, the fixed sucker 3 can be adsorbed on a human body while the elastic band 4 is bound, the X-axis displacement mechanism and the Y-axis displacement mechanism are respectively driven to position a lower needle point of the probe, the puncture probe 1 is lowered through the Z-axis displacement mechanism after reaching a specified position, so that the puncture probe 1 is gradually contacted with a puncture point, and when the part rotates and shakes, the bound positioner can also synchronously rotate with the part, so that the position of the puncture probe 1 and the puncture point are kept relatively static.
Example two: the present embodiment is further described in embodiment 1, and it should be understood that the present embodiment includes all the technical features described above and is further specifically described as follows: :
as shown in fig. 5 and 6, the puncture locator for the oncology department comprises a puncture probe 1; mounting a base 2;
the fixed sucker 3 is arranged at the lower side of the mounting base 2 and is used for being adsorbed on a human body so as to fix the puncture locator;
the elastic band 4 is connected with the installation base 2 and is used for being sleeved on a human body so as to be fixed with the human body, and meanwhile, the fixed sucker 3 is tensioned through the elasticity of the elastic band 4;
the X-axis displacement structure 5 is arranged on the mounting base 2 and used for controlling the puncture probe 1 to displace along the X axis;
the Y-axis displacement structure 6 is connected with the X-axis displacement structure 5 and is used for controlling the puncture probe 1 to displace along the Y axis;
and the Z-axis displacement structure 7 is connected with the Y-axis displacement structure 6 and is used for controlling the puncture probe 1 to displace in the Z axis.
The X-axis displacement structure 5 comprises a first driving actuator 51, a first guide rail 52 and a first slider 53, wherein the first driving actuator 51 and the first guide rail 52 are both fixedly mounted on the upper portion of the mounting base 2, the first driving actuator 51 and the first guide rail 52 are arranged in parallel, and the first slider is slidably mounted on the first guide rail 52;
the Y-axis displacement structure 6 comprises a mounting plate 61, a second driving actuator 62, a second guide rail 63 and a second slider 64, the lower part of the mounting plate 61 is connected with the first slider 53 and the first driving actuator 51, the second driving actuator 62 and the second guide rail 63 are both fixedly mounted on the upper part of the mounting plate 61, the second driving actuator 62 and the second guide rail 63 are parallel to each other and perpendicular to the first guide rail 52, and the second slider 64 is arranged on the second guide rail 63;
the Z-axis displacement structure 7 includes a connecting transverse plate 71, a mounting vertical plate 72, a third driving actuator 73 and a probe mounting plate 74, the lower side of the connecting transverse plate 71 is connected to the third driving actuator 73, the front side of the connecting transverse plate 71 is connected to the mounting vertical plate 72, the connecting transverse plate 71 is perpendicular to the mounting vertical plate 72, the third driving actuator 73 is mounted on the mounting vertical plate 72, the lower portion of the probe mounting plate 74 is connected to the third driving actuator 73, and the puncture probe 1 is mounted on the probe mounting plate 74.
The first guide rails 52 are provided with two sets, the two sets of first guide rails 52 are arranged in parallel, and each first guide rail 52 is provided with at least one first sliding block 53.
The first driving actuator 51, the second driving actuator 62 and the third driving actuator 73 are ball screw driving slider type electric actuators, the slider of the first driving actuator 51 is connected to the mounting plate 61, the slider of the second driving actuator 62 is connected to the connecting cross plate 71, and the slider of the third driving actuator 73 is connected to the probe mounting plate 74. In the present embodiment, the first, second and third driving actuators 51, 62 and 73 are electric actuators of LEFS32A type,
a triangular support plate for reinforcing connection is further installed between the connecting transverse plate 71 and the mounting vertical plate 72.
In this embodiment, the mounting base 2 is further provided with a protection cover 11, the bottom of the protection cover 11 is provided with an opening for the puncture probe 1 to pass through, and the protection cover 11 is made of a transparent material such as acrylic.
In this embodiment, still include first vision positioning mechanism, first vision positioning mechanism is camera 8, camera 8 is installed on the probe mounting panel 74, makes people can follow the long-range puncture position to puncture probe 1 and observes through installation camera 8 to remote control carries out control and regulation to the locator, in this embodiment, camera 8 adopts miniature wireless camera 8, reduces camera 8's volume and the convenient side by side installation with camera 8 and puncture probe 1 of wiring.
During specific use, the puncture point is observed through the camera 8, so that positioning and puncture are remotely realized, images shot through the camera 8 are sent to a remote PC (personal computer) terminal for observation and research, observation is not needed from the side, the position of the puncture point can be accurately judged when the puncture probe 1 is closer to the puncture point when observation is needed from the side, the shooting direction of the camera 8 is the same as the extending direction of the puncture probe 1, and the puncture point can be accurately observed from the camera 8.
Third embodiment, the present embodiment is further described in the above embodiments, and it should be understood that the present embodiment includes all the technical features described above and is further specifically described as: the method specifically comprises the following steps:
as shown in fig. 7, the puncture locator for the oncology department comprises a puncture probe 1; mounting a base 2;
the fixed sucker 3 is arranged at the lower side of the mounting base 2 and is used for being adsorbed on a human body so as to fix the puncture locator;
the elastic band 4 is connected with the installation base 2 and is used for being sleeved on a human body so as to be fixed with the human body, and meanwhile, the fixed sucker 3 is tensioned through the elasticity of the elastic band 4;
the X-axis displacement structure 5 is arranged on the mounting base 2 and used for controlling the puncture probe 1 to displace along the X axis;
the Y-axis displacement structure 6 is connected with the X-axis displacement structure 5 and is used for controlling the puncture probe 1 to displace along the Y axis;
and the Z-axis displacement structure 7 is connected with the Y-axis displacement structure 6 and is used for controlling the puncture probe 1 to displace in the Z axis.
The X-axis displacement structure 5 comprises a first driving actuator 51, a first guide rail 52 and a first slider 53, wherein the first driving actuator 51 and the first guide rail 52 are both fixedly mounted on the upper portion of the mounting base 2, the first driving actuator 51 and the first guide rail 52 are arranged in parallel, and the first slider is slidably mounted on the first guide rail 52;
the Y-axis displacement structure 6 comprises a mounting plate 61, a second driving actuator 62, a second guide rail 63 and a second slider 64, the lower part of the mounting plate 61 is connected with the first slider 53 and the first driving actuator 51, the second driving actuator 62 and the second guide rail 63 are both fixedly mounted on the upper part of the mounting plate 61, the second driving actuator 62 and the second guide rail 63 are parallel to each other and perpendicular to the first guide rail 52, and the second slider 64 is arranged on the second guide rail 63;
the Z-axis displacement structure 7 includes a connecting transverse plate 71, a mounting vertical plate 72, a third driving actuator 73 and a probe mounting plate 74, the lower side of the connecting transverse plate 71 is connected to the third driving actuator 73, the front side of the connecting transverse plate 71 is connected to the mounting vertical plate 72, the connecting transverse plate 71 is perpendicular to the mounting vertical plate 72, the third driving actuator 73 is mounted on the mounting vertical plate 72, the lower portion of the probe mounting plate 74 is connected to the third driving actuator 73, and the puncture probe 1 is mounted on the probe mounting plate 74.
The first guide rails 52 are provided with two sets, the two sets of first guide rails 52 are arranged in parallel, and each first guide rail 52 is provided with at least one first sliding block 53.
The first driving actuator 51, the second driving actuator 62 and the third driving actuator 73 are ball screw driving slider type electric actuators, the slider of the first driving actuator 51 is connected to the mounting plate 61, the slider of the second driving actuator 62 is connected to the connecting cross plate 71, and the slider of the third driving actuator 73 is connected to the probe mounting plate 74.
A triangular support plate for reinforcing connection is further installed between the connecting transverse plate 71 and the mounting vertical plate 72.
In this embodiment, the apparatus further includes a second visual positioning mechanism, the second visual positioning mechanism includes a first lamp 9 and a second lamp 10, the first lamp 9 is mounted on the probe mounting plate 74 and is mounted on a side of the puncture probe 1, the second lamp 10 is mounted on an upper portion of the puncture probe 1, a direction of irradiation of the first lamp 9 and the second lamp 10 is parallel to a needle direction of the puncture probe 1, a first irradiation light of the first lamp 9 is perpendicular to a second irradiation light of the second lamp 10, the first lamp 9 and the second lamp 10 are word line laser lamps, and a specific model of the word line laser lamp is YD-L635P5 in this embodiment.
When the puncture probe 1 is used specifically, as shown in fig. 8, two mutually perpendicular irradiation light beams are irradiated by the first irradiation lamp 9 and the second irradiation lamp 10, wherein an intersection point of the two irradiation light beams is a puncture drop point after the puncture probe 1 is lowered, so that the puncture drop point of the puncture probe 1 can be accurately judged without purely judging by experience and adjusting the puncture probe 1 to a sufficiently low position for prediction.
Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples. Various configurations may omit, substitute, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in an order different than that described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, as different aspects and elements of the configurations may be combined in a similar manner. Further, elements therein may be updated as technology evolves, i.e., many elements are examples and do not limit the scope of the disclosure or claims.
Specific details are given in the description to provide a thorough understanding of the exemplary configurations including implementations. However, configurations may be practiced without these specific details, for example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
In conclusion, it is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that these examples are illustrative only and are not intended to limit the scope of the invention. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (5)
1. A puncture locator for oncology is characterized by comprising a puncture probe; installing a base;
the fixed sucker is arranged on the lower side of the mounting base and is used for being adsorbed on a human body so as to fix the puncture locator;
the elastic band is connected with the mounting base and is used for being sleeved on a human body so as to be fixed with the human body, and meanwhile, the fixed sucker is tensioned through the elasticity of the elastic band;
the X-axis displacement structure is arranged on the mounting base and is used for controlling the puncture probe to displace along the X axis;
the Y-axis displacement structure is connected with the X-axis displacement structure and used for controlling the puncture probe to displace along the Y axis;
and the Z-axis displacement structure is connected with the Y-axis displacement structure and is used for controlling the puncture probe to displace in the Z axis.
2. The puncture positioner for oncology department of claim 1, wherein the X-axis displacement structure comprises a first driving actuator, a first guide rail and a first slide block, the first driving actuator and the first guide rail are fixedly arranged on the upper part of the mounting base, the first driving actuator and the first guide rail are arranged in parallel, and the slide block is slidably arranged on the first guide rail;
the Y-axis displacement structure comprises a mounting plate, a second driving actuator, a second guide rail and a second slider, the lower part of the mounting plate is connected with the first slider and the first driving actuator, the second driving actuator and the second guide rail are fixedly mounted on the upper part of the mounting plate, the second driving actuator and the second guide rail are parallel to each other and perpendicular to the first guide rail, and the second slider is arranged on the second guide rail;
z axle displacement structure is including connecting diaphragm, installation riser, third drive executor and probe mounting panel, the downside of connecting the diaphragm with the third drive executor is connected, the front side of connecting the diaphragm with the installation riser is connected just connect the diaphragm with installation riser mutually perpendicular, the third drive executor is installed on the installation riser, the lower part of probe mounting panel with the third drive executor is connected, the puncture probe is installed probe mounting panel upper portion.
3. The puncture locator for oncology of claim 2, wherein the first guide rails are provided in two sets, the two sets of first guide rails are arranged in parallel, and each first guide rail is provided with at least one first slider.
4. The oncology puncture locator of claim 2, wherein the first, second and third drive actuators are ball screw drive slide-type electric actuators, the slide of the first drive actuator is connected to the mounting plate, the slide of the second drive actuator is connected to the connecting cross plate, and the slide of the third drive actuator is connected to the probe mounting plate.
5. The puncture locator for oncology department of claim 2, wherein a triangular support plate for reinforcing connection is further installed between the connecting transverse plate and the mounting vertical plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010207000.4A CN111297451A (en) | 2020-03-23 | 2020-03-23 | Puncture locator for oncology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010207000.4A CN111297451A (en) | 2020-03-23 | 2020-03-23 | Puncture locator for oncology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111297451A true CN111297451A (en) | 2020-06-19 |
Family
ID=71151347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010207000.4A Pending CN111297451A (en) | 2020-03-23 | 2020-03-23 | Puncture locator for oncology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111297451A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111643774A (en) * | 2020-06-20 | 2020-09-11 | 杜书华 | Nursing-used retention needle fixing device |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1482840B1 (en) * | 2002-03-11 | 2008-12-10 | PAWLISZYN, Janusz B. | Micro-devices for investigation of biological systems |
| CN202505451U (en) * | 2012-03-23 | 2012-10-31 | 贾国 | Convenient epidural anesthesia puncture needle |
| CN104287931A (en) * | 2014-09-25 | 2015-01-21 | 天津丰翼医疗器械有限公司 | Fixing frame for operating bed traction system |
| CN104780985A (en) * | 2014-08-29 | 2015-07-15 | 深圳市大疆创新科技有限公司 | Position adjusting device, shooting game device using same, and shooting method thereof |
| CN204487603U (en) * | 2015-03-15 | 2015-07-22 | 张涵林 | A kind of cutter |
| CN104874171A (en) * | 2015-02-06 | 2015-09-02 | 珠海市欣颖电子有限公司 | Billiard aiming device and aiming method |
| CN106037894A (en) * | 2016-07-04 | 2016-10-26 | 哈尔滨金玉科技开发有限公司 | Automatic CT puncture locator device |
| CN205994550U (en) * | 2016-05-14 | 2017-03-08 | 湖北医药学院附属人民医院 | A kind of cerebral hemorrhage puncture locator |
| CN106852702A (en) * | 2015-12-09 | 2017-06-16 | 财团法人金属工业研究发展中心 | Puncture needle positioning apparatus |
| CN207768463U (en) * | 2017-03-29 | 2018-08-28 | 无锡市第二人民医院 | A kind of multi-functional bone saw of orthopaedic medical treatment |
| CN108856816A (en) * | 2018-06-29 | 2018-11-23 | 扬州市职业大学 | A kind of bench drill drilling cross laser positioning device |
-
2020
- 2020-03-23 CN CN202010207000.4A patent/CN111297451A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1482840B1 (en) * | 2002-03-11 | 2008-12-10 | PAWLISZYN, Janusz B. | Micro-devices for investigation of biological systems |
| CN202505451U (en) * | 2012-03-23 | 2012-10-31 | 贾国 | Convenient epidural anesthesia puncture needle |
| CN104780985A (en) * | 2014-08-29 | 2015-07-15 | 深圳市大疆创新科技有限公司 | Position adjusting device, shooting game device using same, and shooting method thereof |
| CN104287931A (en) * | 2014-09-25 | 2015-01-21 | 天津丰翼医疗器械有限公司 | Fixing frame for operating bed traction system |
| CN104874171A (en) * | 2015-02-06 | 2015-09-02 | 珠海市欣颖电子有限公司 | Billiard aiming device and aiming method |
| CN204487603U (en) * | 2015-03-15 | 2015-07-22 | 张涵林 | A kind of cutter |
| CN106852702A (en) * | 2015-12-09 | 2017-06-16 | 财团法人金属工业研究发展中心 | Puncture needle positioning apparatus |
| CN205994550U (en) * | 2016-05-14 | 2017-03-08 | 湖北医药学院附属人民医院 | A kind of cerebral hemorrhage puncture locator |
| CN106037894A (en) * | 2016-07-04 | 2016-10-26 | 哈尔滨金玉科技开发有限公司 | Automatic CT puncture locator device |
| CN207768463U (en) * | 2017-03-29 | 2018-08-28 | 无锡市第二人民医院 | A kind of multi-functional bone saw of orthopaedic medical treatment |
| CN108856816A (en) * | 2018-06-29 | 2018-11-23 | 扬州市职业大学 | A kind of bench drill drilling cross laser positioning device |
Non-Patent Citations (2)
| Title |
|---|
| 鄂大伟 等: "《多媒体计算机原理与应用》", 31 December 1997, 中国物资出版社 * |
| 陈训如、PETER MACK 等: "《腹腔镜外科理论与实践》", 30 November 2017, 云南科技出版社 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111643774A (en) * | 2020-06-20 | 2020-09-11 | 杜书华 | Nursing-used retention needle fixing device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110946653B (en) | Operation navigation system | |
| JP6905036B2 (en) | Drill Guide Fixtures, Cranial Insert Fixtures, and Related Methods and Robot Systems | |
| JP7145599B2 (en) | Method and system for improving convergence of 2D-3D registration | |
| EP2637571B1 (en) | Remote center of motion robot for medical image scanning and image-guided targeting | |
| US11576746B2 (en) | Light and shadow guided needle positioning system and method | |
| JP7019658B2 (en) | Surgical robot automation with tracking markers | |
| JP6936282B2 (en) | Controlling surgical robots to avoid robot arm collisions | |
| CN113316429A (en) | System and method for registration and navigation between coordinate systems | |
| CN101355984A (en) | Method and system for compensating a self-caused displacement of tissue | |
| CN215778612U (en) | Medical auxiliary robot | |
| JP6894466B2 (en) | Systems and methods related to robotic guidance in surgery | |
| JP2021171655A (en) | Fixtures for fluoroscopic imaging systems and related navigation systems and methods | |
| CN109758233A (en) | A kind of diagnosis and treatment integrated operation robot system and its navigation locating method | |
| CN212521854U (en) | Medical instrument | |
| JP2002248098A (en) | Method and apparatus for specifying position in subject | |
| CN101904757A (en) | Frameless spinal navigation surgery robot | |
| JP7082090B2 (en) | How to tune virtual implants and related surgical navigation systems | |
| CN102885650B (en) | Surgical location and navigation device attached to C-arm X ray machine | |
| CN111297451A (en) | Puncture locator for oncology | |
| JP6979049B2 (en) | Robot systems and related methods that provide co-registration using natural standards | |
| CN114795496A (en) | Passive surgical robot navigation positioning system | |
| CN109745140A (en) | A kind of animal spinal cord injury system | |
| EP3733112A1 (en) | System for robotic trajectory guidance for navigated biopsy needle | |
| CN115429409A (en) | Percutaneous pedicle of vertebral arch pjncture needle anchoring position and puncture direction navigation | |
| WO2016044939A1 (en) | Tool manipulator and system for positioning a tool for surgical and like uses |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200619 |
|
| RJ01 | Rejection of invention patent application after publication |