CN112494141A - Image-guided interventional operation navigation treatment equipment - Google Patents

Abstract

The invention discloses an image-guided interventional operation navigation treatment device, which comprises a CT host, a CT scanning bed, ultrasonic equipment, a navigation display and a head fixing mechanism, wherein the CT host is used for acquiring CT images; the CT scanning bed is arranged close to the CT host; the ultrasonic equipment is arranged on one side of the CT scanning bed and used for acquiring an ultrasonic image, the ultrasonic equipment comprises an ultrasonic host, an ultrasonic probe and an electromagnetic sensor, the ultrasonic probe is connected to the ultrasonic host, and the electromagnetic sensor is arranged on the ultrasonic probe; the navigation display is arranged at one side of the CT scanning bed and is used for displaying a fused image fused by the CT image and/or the ultrasonic image; the head positioning mechanism is arranged at one end of the CT scanning bed close to the CT host machine and is used for fixing the head of the patient. According to the image-guided interventional operation navigation treatment equipment provided by the embodiment of the invention, CT image navigation, ultrasonic navigation or the combination of the two can be selected and utilized according to the needs, different needs are met, and the pertinence and the adaptability are better.

Description

Image-guided interventional operation navigation treatment equipment

Technical Field

The invention relates to interventional operation treatment equipment, in particular to image-guided interventional operation navigation treatment equipment.

Background

The image-guided minimally invasive interventional diagnosis and treatment is an interdisciplinary subject combining image diagnosis and clinical treatment, and refers to minimally invasive diagnosis or treatment by percutaneous puncture of various puncture needles, catheters and other interventional devices under the guidance and monitoring of an imaging technology (including ultrasound, X-ray, CT, MRI and the like).

In the related art, image-guided therapy generally employs a single image guide, such as ultrasound guide, which is not suitable for all clinical conditions, and different image guides can be used for different clinical conditions.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the invention aims to provide an image-guided interventional operation navigation treatment device.

To achieve the above object, an image guided interventional procedure navigation treatment apparatus according to an embodiment of the present invention includes:

the CT host is used for acquiring a CT image;

the CT scanning bed is arranged close to the CT host;

the ultrasonic equipment is arranged on one side of the CT scanning bed and used for acquiring an ultrasonic image, the ultrasonic equipment comprises an ultrasonic host, an ultrasonic probe and an electromagnetic sensor, the ultrasonic probe is connected to the ultrasonic host, and the electromagnetic sensor is arranged on the ultrasonic probe;

the navigation display is arranged on one side of the CT scanning bed and used for displaying a fused image fused by the CT image and/or the ultrasonic image;

the head positioning mechanism is arranged at one end of the CT scanning bed close to the CT host machine and used for fixing the head of the patient.

The image-guided interventional operation navigation treatment equipment provided by the embodiment of the invention is provided with CT scanning equipment and ultrasonic equipment, and the navigation display displays the fused image fused by the CT image and/or the ultrasonic image, so that CT image navigation and ultrasonic navigation or the combination of the CT image navigation and the ultrasonic navigation can be selected and utilized according to the needs, different needs are met, and the pertinence and the adaptability are better. In addition, the head positioning mechanism is further arranged, so that when the head is treated, the head can be positioned by the head positioning mechanism, and the positioning of interventional therapy is more accurate.

In addition, the image guided interventional operation navigation treatment device according to the above embodiment of the invention may further have the following additional technical features:

according to an embodiment of the present invention, an adjustable support is disposed at the one side of the CT scanning bed, and the navigation display is disposed on the adjustable support, so as to adjust the height and angle of the navigation display through the adjustable support.

According to one embodiment of the invention, the adjustable support comprises:

a support bar;

the sliding seat is arranged on the supporting rod in a penetrating mode and can slide along the vertical direction, and the sliding seat is provided with a thread sleeving end;

the locking sleeve is sleeved on the supporting rod and is connected with the threaded sleeve joint end so as to enable the threaded sleeve joint end to hold or loosen the supporting rod;

one end of each multi-joint support arm is connected to the sliding seat in a pivoting mode around a vertical axis, and each multi-joint support arm at least comprises a horizontal rotating joint and a vertical rotating joint; the other end of one of the two multi-joint supporting arms is suitable for mounting the navigation display, and the other end of the other of the two multi-joint supporting arms is suitable for mounting the ultrasonic probe.

According to one embodiment of the invention, the CT scanning bed further comprises a multi-axis mechanical arm which is arranged on one side of the CT scanning bed and is suitable for installing a treatment instrument.

According to one embodiment of the invention, the CT scanning bed comprises a bed base and a movable bed body, wherein the movable bed body is arranged on the bed base and can move in and out of the CT host;

the head fixing mechanism comprises two clamping mechanisms, the two clamping mechanisms are arranged on the bed seat close to one end of the CT host machine and are respectively positioned on two sides of the bed seat in the width direction, and each clamping mechanism is arranged along the bed seat in the width direction in a sliding manner.

According to one embodiment of the invention, two sides of one end of the bed seat adjacent to the CT host are respectively formed with a wing plate;

the fixture includes:

a sliding plate slidably provided on the wing plate in a width direction of the bed;

the first sliding assembly is arranged on the sliding plate in a sliding mode along the length direction of the bed base;

one end of the pivoting arm is pivotally connected to the first sliding assembly through a pivoting seat, and the other end of the pivoting arm is positioned above the moving bed body;

the clamping assembly is arranged at the other end of the pivoting arm and is suitable for clamping and fixing the head of the patient;

wherein the pivot arm is configured to be pivotable about a horizontal axis extending along a width of the bed and selectively stay at different angular positions to allow the clamp assembly to be adjustable in height position adjacent the head rest area.

According to an embodiment of the present invention, the pivot base comprises:

the fixed seat is installed on the first sliding assembly, a pivot hole is formed in the fixed seat, a plurality of first tooth parts are arranged around the pivot hole, and a first tooth groove is formed between every two adjacent first tooth parts;

the unlocking piece is arranged on one side of the fixed seat;

the rotating body is arranged on the other side of the fixed seat and is provided with a pivoting shaft and a plurality of second tooth parts arranged around the pivoting shaft, the pivoting shaft penetrates through the pivoting hole and then is connected with the unlocking part, and the second tooth parts are matched with the first tooth grooves to limit the rotating body to rotate relative to the fixed seat; the one end of the pivoting arm is connected with the rotating body and is circumferentially and relatively fixed;

the elastic piece is arranged between the fixed seat and the unlocking piece to provide elastic acting force to force the rotating body to move towards the fixed seat so as to keep the second tooth part in the first tooth groove;

when the operation release piece is applyed during elastic force's reverse effort, release piece passes through the pivot axis promotes the rotor is kept away from the fixing base, so that second tooth portion breaks away from behind the first tooth's socket, the rotor for the fixing base is rotatable.

According to one embodiment of the invention, the clamping assembly comprises:

the threaded sleeve is fixedly arranged at the other end of the pivoting arm, and the axis of the threaded sleeve extends along the horizontal direction;

the screw rod is in threaded fit with the threaded sleeve, and one end of the screw rod extends out of the threaded sleeve and then faces to one side of the head placing area;

the abutting head is connected to one end of the screw rod and is suitable for abutting and fixing the head of a patient;

the operating piece is connected to the other end of the screw rod and is operated by a user to drive the screw rod to rotate.

According to one embodiment of the invention, the bottom of the sliding plate is slidably connected with the wing plate through a second sliding assembly;

the wing plate is further provided with a screw rod, a screw rod sliding block and a driving motor, the screw rod sliding block is fixed at the bottom of the sliding plate and is in threaded fit with the screw rod, and the driving motor is connected with the screw rod to drive the screw rod to rotate.

According to an embodiment of the present invention, the clamping mechanism further includes a screw locking member, a threaded hole is provided on the first sliding member, and the screw locking member is screwed in the threaded hole to selectively lock and fix the first sliding member and the sliding plate.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an image-guided interventional procedure navigation treatment apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of another view angle of the image-guided interventional surgical navigation treatment device (with the CT host removed) according to the embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a treatment robot arm in an image-guided interventional navigation treatment apparatus according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of an adjustable support, an ultrasonic probe and a navigation display in the image-guided interventional operation navigation treatment device according to the embodiment of the invention;

FIG. 5 is a schematic structural diagram of a clamping mechanism in an image-guided interventional surgical navigation treatment device according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a clamping mechanism (in use) in an image-guided interventional navigation treatment device according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a hub of an image-guided interventional surgical navigation treatment device according to an embodiment of the present invention.

Reference numerals:

10. a CT host;

20. a CT scanning bed;

201. moving the bed body;

202. a bed base;

2021. a wing plate;

21. a sliding plate;

22. a screw rod;

23. a drive motor;

24. a screw locking member;

25. a second slide assembly;

30. an ultrasonic host;

31. an ultrasonic probe;

40. a navigation display;

41. an adjustable support;

411. a support bar;

412. a sliding seat;

413. a locking sleeve;

414. a multi-joint support arm;

50. a clamping mechanism;

501. a pivoting arm;

502. a clamping assembly;

5021. a threaded sleeve;

5022. a screw;

5023. a holding head;

5024. an operating member;

51. a first slide assembly;

52. a pivoting seat;

521. a fixed seat;

521a, a first tooth;

521b, a first tooth groove;

522. unlocking the lock;

523. a rotating body;

523a, a pivot shaft;

523b, a second tooth;

524. an elastic member;

60. provided is a multi-axis mechanical arm.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "circumferential," "radial," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only 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 one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

An image-guided interventional procedure navigation treatment apparatus according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

Referring to fig. 1 to 7, an image guided interventional procedure navigation treatment apparatus according to an embodiment of the present invention includes a CT host 10, a CT scanning bed 20, a navigation display 40, and a head positioning mechanism.

Specifically, the CT host 10 is used for acquiring a CT image, the CT scanning bed 20 is disposed adjacent to the CT host 10, and the patient can lie on the CT scanning bed 20 and scan with the CT host 10 to obtain the CT image.

The ultrasonic equipment is arranged on one side of the CT scanning bed 20 and used for acquiring ultrasonic images, the ultrasonic equipment comprises an ultrasonic host 30, an ultrasonic probe 31 and an electromagnetic sensor, the ultrasonic probe 31 is connected to the ultrasonic host 30, the electromagnetic sensor is arranged on the ultrasonic probe 31, and space positioning is carried out through the electromagnetic sensor.

The navigation display 40 is disposed at the side of the CT scanning bed 20 for displaying a fused image fused by the CT image and/or the ultrasound image, and a doctor can perform an accurate interventional therapy according to guidance of the fused image.

The head positioning mechanism is disposed at an end of the CT scanning table 20 close to the CT mainframe 10 for fixing the head of the patient, and in the case of head interventional therapy, the head positioning mechanism may be used to position and fix the head of the patient, so that the head state meets the surgical requirements.

The image-guided interventional operation navigation treatment device provided by the embodiment of the invention is provided with CT scanning equipment and ultrasonic equipment, and the navigation display 40 displays a fused image fused by a CT image and/or an ultrasonic image, so that CT image navigation and ultrasonic navigation or the combination of the CT image navigation and the ultrasonic navigation can be selected and utilized according to needs, different needs are met, and the pertinence and the adaptability are better. In addition, the head positioning mechanism is further arranged, so that when the head is treated, the head can be positioned by the head positioning mechanism, and the positioning of interventional therapy is more accurate.

Referring to fig. 2 and 4, in an embodiment of the invention, an adjustable support 41 is disposed on the one side of the CT scanning bed 20, and the navigation display 40 is disposed on the adjustable support 41, so that the height and the angle of the navigation display 40 can be adjusted by the adjustable support 41. That is to say, the navigation display 40 is arranged on the adjustable support 41, and the height and the angle of the navigation display 40 can be adjusted through the adjustable support 41, so that a doctor can conveniently observe the navigation display 40 at a more appropriate viewing angle, and the fused image in the navigation display 40 can be clearly observed.

Referring to fig. 4, in one embodiment of the present invention, the adjustable support 41 comprises a support bar 411, a sliding seat 412, a locking sleeve 413 and two multi-joint support arms 414, wherein the support bar 411 can be fixed on one side of the CT scanning table 20.

The sliding seat 412 is arranged on the supporting rod 411 in a penetrating mode and can slide along the vertical direction, the sliding seat 412 is provided with a threaded sleeve 5021 connecting end, exemplarily, the threaded sleeve 5021 connecting end is provided with external threads, at least two breaking grooves are formed in the threaded sleeve 5021 connecting section at intervals along the circumferential direction, the breaking grooves extend along the axis to divide the threaded sleeve 5021 connecting end into a plurality of sheet bodies, and the plurality of sheet bodies are wrapped outside the supporting rod 411.

The locking sleeve 413 is sleeved on the supporting rod 411 and connected with the sleeved end of the screw rod 5022, so that the supporting rod 411 is tightly held or loosened at the end of the threaded sleeve 5021, namely, the locking sleeve 413 is in threaded fit with the end of the threaded sleeve 5021, the supporting rod 411 or the supporting rod 411 is tightly held at the end of the threaded sleeve 5021 by rotating the threaded sleeve 5021, therefore, when the height needs to be adjusted, the supporting rod 411 can be loosened by adjusting the locking sleeve 413, then the sliding seat 412 slides upwards or downwards, and after sliding to a required position, the supporting rod 411 is tightly held at the end of the threaded sleeve 5021 by the locking sleeve 413.

One end of each multi-joint arm 414 is pivotally connected to the sliding seat 412 around a vertical axis, and each multi-joint arm 414 at least comprises a horizontal rotating joint and a vertical rotating joint, wherein the horizontal rotating joint is a pivoting joint capable of rotating around the horizontal axis, and the vertical rotating joint is a pivoting joint capable of rotating around the vertical axis. The other end of one of the two articulated support arms is adapted to mount the navigation display 40 and the other end of the other of the two articulated support arms is adapted to mount the ultrasound probe 31.

That is, the navigation display 40 is connected and installed through one multi-joint support arm 414, the ultrasonic probe 31 is connected and installed through the other multi-joint support arm 414, and the multi-joint support arm 414 at least has a horizontal rotation shutdown and a vertical rotation joint, so that the height, the angle and the like of the navigation display and the ultrasonic probe 31 can be freely adjusted according to needs when the ultrasonic probe is used, the adjustment is free and flexible, and the use is convenient. In addition, the ultrasonic probe 31 can be removed from the multi-joint arm 414, which facilitates the use of the ultrasonic probe 31.

In one embodiment of the present invention, a multi-axis robotic arm 60 is further included, and the multi-axis robotic arm 60 is disposed at one side of the CT scanning table 20 and is adapted to mount a treatment instrument, such as a radiator, an ablation needle, etc. so that some fine operations can be performed by using the multi-axis robotic arm 60 in cooperation with image guidance.

Referring to fig. 1 to 2, in an embodiment of the present invention, a CT scanning bed 20 includes a bed 202 and a moving bed 201, and the moving bed 201 is disposed on the bed 202 and is movable into and out of the CT mainframe 10. The head fixing mechanism comprises two clamping mechanisms 50, the two clamping mechanisms 50 are arranged at one end of the bed 202 close to the CT main machine 10 and are respectively positioned at two sides of the width direction of the bed 202, and each clamping mechanism 50 can slide along the width direction of the bed 202.

That is, two clamping mechanisms 50 are disposed at one end of the CT mainframe 10 adjacent to the bed 202, and the two clamping mechanisms 50 are respectively located at two sides of the bed 202, so that on the one hand, the two clamping mechanisms 50 at two sides of the bed 202 can respectively clamp and fix the head of the patient from two sides, thereby ensuring the head of the patient to be reliably positioned and fixed. On the other hand, since the two clamping mechanisms 50 are disposed on the bed 202, and the bed 202 is kept stationary, even when the movable bed 201 moves, the clamping mechanisms 50 are kept outside the CT mainframe 10, and thus, the CT scanning is not affected. On the other hand, two fixture 50 can slide along the width direction of bed 202, so, before using, can slide two fixture 50 to the outside, make it keep away from and move bed body 201, avoid causing the interference to patient or doctor, and when needs use, slide it to the inside again to it fixes a position fixedly in order to utilize fixture 50 to patient's head, so, convenient to use is nimble.

Referring to fig. 1 to 6, in one embodiment of the present invention, a wing 2021 is formed on each side of the bed 202 adjacent to one end of the CT main unit 10. The clamping mechanism 50 comprises a sliding plate 21, a first sliding member 51, a pivoting arm 501 and a clamping member 502, wherein the sliding plate 21 is slidably disposed on the wing plate 2021 along the width direction of the bed 202. The first sliding member 51 is slidably provided on the sliding plate 21 along the longitudinal direction of the bed 202.

One end of the pivot arm 501 is pivotally connected to the first sliding assembly 51 through a pivot base 52, and the other end of the pivot arm 501 is located above the moving bed 201. A clamp assembly 502 is provided at the other end of the pivot arm 501 and is adapted to clamp the head of the patient in place.

The pivot arm 501 is configured to be pivotable about a horizontal axis extending along the width of the bed 202 and selectively stay at different angular positions to allow the clamp assembly 502 to be adjustable in height adjacent the head rest area.

That is, the sliding plate 21 can slide along the width direction of the bed 202, the first sliding member 51 slides on the sliding plate 21 along the length direction of the bed 202, and since the pivot arm 501 is connected to the first sliding member 51, the pivot arm 501 and the clamping member 502 connected to the pivot arm 501 can slide along with the first sliding member 51 along the length direction of the bed 202. In addition, since the pivot arm 501 is pivotable around the horizontal axis, when the pivot arm 501 rotates, the clamp assembly 502 at the other end of the pivot arm 501 can be driven to rotate around the horizontal axis, in other words, the clamp assembly 502 can slide along the length direction of the bed 202, and can also rotate around the horizontal axis, so as to adjust the height position and the front-back position of the clamp assembly 502.

In specific use, the head of a patient is placed at one end of the movable bed 201 adjacent to the CT main machine 10, the body position of the patient is adjusted, the sliding plate 21 slides inwards along the width direction of the bed 202 to enable the clamping mechanisms 50 to be close to the movable bed 201, then the two clamping mechanisms 50 slide along the length direction of the bed 202, the pivoting arms 501 of the two clamping mechanisms 50 are respectively rotated to enable the clamping assemblies 502 on the two pivoting arms 501 to respectively rotate to proper positions, and then the head of the patient is clamped by the clamping assemblies 502 on the two pivoting arms 501. Because the body positions of the patient are different and the states of the head are different, the two clamping mechanisms 50 can slide respectively, the pivot arms 501 of the two clamping mechanisms 50 can rotate respectively, the rotation angles can be different, and therefore it is only required to ensure that the two clamping assemblies 502 rotate to the positions suitable for clamping respectively.

In this embodiment, the pivoting arm 501 slides along the length direction of the bed 202 and rotates around the horizontal axis, so as to adjust the front, back and height positions of the clamping assembly 502, and the position of the clamping assembly 502 can be freely adjusted according to the body position and other needs during use, so that the head can be conveniently and reliably positioned and fixed, and the operation is simple and convenient.

Referring to fig. 7, in an embodiment of the present invention, the pivot base 52 includes a fixed base 521, an unlocking member 522, a rotating member 523 and an elastic member 524, wherein the fixed base 521 is mounted on the first sliding member 51, the fixed base 521 has a pivot hole and a plurality of first teeth 521a arranged around the pivot hole, and a first tooth slot 521b is formed between two adjacent first teeth 521 a.

The unlocking member 522 is disposed at one side of the fixing base 521. The rotating body 523 is disposed at the other side of the fixed seat 521, the rotating body 523 has a pivot shaft 523a and a plurality of second tooth portions 523b arranged around the pivot shaft 523a, the pivot shaft 523a passes through the pivot hole and then is connected to the unlocking piece 522, and the second tooth portions 523b are matched with the first tooth grooves 521b to limit the rotating body 523 from rotating relative to the fixed seat 521; the one end of the pivot arm 501 is connected to the rotating body 523 and is circumferentially fixed relative thereto.

An elastic member 524 is disposed between the fixed base 521 and the unlocking member 522 to provide an elastic force to force the rotating body 523 to move toward the fixed base 521 and to hold the second tooth portion 523b in the first tooth slot 521 b. When the unlocking member 522 is operated to apply the reverse acting force of the elastic acting force, the unlocking member 522 pushes the rotating member 523 away from the fixed seat 521 through the pivot shaft 523a, so that the rotating member 523 can rotate relative to the fixed seat 521 after the second tooth portion 523b is separated from the first tooth groove 521 b.

That is to say, the rotating body 523 is disposed opposite to the fixed base 521, the rotating body 523 is rotatably engaged with the pivot hole of the fixed base 521 through the pivot shaft 523a, so that the rotating body 523 can rotate relative to the fixed base 521, and the rotating body 523 is connected to the pivoting arm 501, so that the pivoting arm 501 can rotate through the rotation engagement formed between the rotating body 523 and the fixed base 521. In addition, since the fixed base 521 is provided with a plurality of first tooth grooves 521b at intervals in the circumferential direction on one side facing the fixed base 521, the rotating body 523 is provided with a plurality of second tooth portions 523b at intervals in the circumferential direction, and the elastic member 524 provides an elastic force to force the rotating body 523 to move towards the fixed base 521, under the elastic force of the elastic member 524, the rotating body 523 and the fixed base 521 are kept in a close state, so that the second tooth portions 523b can be kept in the first tooth grooves 521b, and the rotating body 523 can not rotate by utilizing the matching of the second tooth portions 523b and the first tooth grooves 521b, so as to lock the rotating body 523, and the pivot arm 501 connected to the rotating body 523 can not rotate. The unlocking piece 522 is connected to the pivot shaft 523a, the elastic piece 524 is located between the fixed seat 521 and the unlocking piece 522, when a reverse acting force opposite to the elastic acting force is applied to the unlocking frame, the elastic piece 524 is compressed, the rotating body 523 is pushed away from the fixed seat 521 by the pivot shaft 523a, at this time, the second tooth portion 523b can withdraw from the first tooth groove 521b, so that the locking of the rotating body 523 is released, and the pivoting arm 501 returns to a rotatable state.

In the use process, if the angle of the pivoting arm 501 needs to be adjusted (that is, the height position of the clamping assembly 502 needs to be adjusted), the unlocking piece 522 on the pivoting seat 52 can be pressed by a reverse acting force opposite to the elastic acting force, so as to push the rotating body 523 to separate from the fixed seat 521, the second tooth portion 523b can withdraw from the first tooth groove 521b, so that the locking of the rotating body 523 is released, the pivoting arm 501 returns to a rotatable state, and then the pivoting arm 501 rotates to a required angle position. After the pivoting arm 501 is rotated to a desired angular position, the unlocking member 522 can be released, the reverse acting force is removed, at this time, the elastic member 524 is reset, the elastic acting force forces the rotating body 523 to return to be close to the fixed seat 521, so that the second toothed portion 523b is matched with the first toothed slot 521b, the rotating body 523 is locked, and the pivoting arm 501 cannot rotate and is limited to the desired position.

In this embodiment, the pivot seat 52 is adopted, and the pivot arm 501 is limited at different required angular positions by the cooperation of the first tooth groove 521b and the second tooth portion 523b, and the lock of the pivot arm 501 can be rapidly released by the unlocking member 522, so that the pivot arm 501 returns to the rotatable state.

Referring to fig. 5 and 6, in an embodiment of the present invention, the clamping assembly 502 includes a threaded sleeve 5021, a threaded rod 5022, a butt head 5023 and an operating piece 5024, wherein the threaded sleeve 5021 is fixedly disposed at the other end of the pivot arm 501, and an axis of the threaded sleeve 5021 extends in a horizontal direction; the screw 5022 is in threaded fit with the threaded sleeve 5021, and one end of the screw 5022 extends out of the threaded sleeve 5021 and then faces one side of the head placing area; a supporting head 5023 is connected to the one end of the screw 5022 and is suitable for supporting and fixing the head of the patient; the operating member 5024 is connected to the other end of the screw 5022, and is operated by a user to rotate the screw 5022.

When the head-clamping screw 5022 is used, the propping head 5023 on the screw 5022 is close to the head of a patient by rotating the screw 5022, and finally the propping head 5023 props against the head of the patient, so that the head of the patient is clamped and fixed, and when the head of the patient needs to be loosened, the screw 5022 is rotated reversely, so that the propping head 5023 on the screw 5022 is far away from the head of the patient.

Preferably, the propping head 5023 can be made of plastic material with certain flexibility, so that the head of the patient can be protected and the mechanical contact damage can be prevented.

Advantageously, the buttressing head 5023 is provided with a socket hole, the one end of the screw rod 5022 is provided with a socket part, the socket part is sheathed in the socket hole and can pivot around the axis of the socket hole, that is, the screw rod 5022 and the buttressing head 5023 can pivot relatively, so that the buttressing head 5023 can be stationary under the condition that the buttressing head 5023 is in contact with the head of a patient when the screw rod 5022 is rotated, and the buttressing head 5023 is prevented from generating friction damage with the head of the patient to a certain extent.

Referring to fig. 1 to 2, in one embodiment of the present invention, the bottom of the sliding plate 21 is slidably connected to the wing plate 2021 through a second sliding assembly 25; the wing plate 2021 is further provided with a screw rod 22, a screw rod 22 slider and a driving motor 23, the screw rod 22 slider is fixed at the bottom of the sliding plate 21 and is matched with the screw rod 22 through a threaded sleeve 5021, and the driving motor 23 is connected with the screw rod 22 to drive the screw rod 22 to rotate.

When the driving motor 23 drives the screw rod 22 to rotate, since the screw rod 22 is in threaded fit with the screw rod 22 at the bottom of the sliding plate 21, the screw rod 22 can drive the screw rod 22 and the connected sliding plate 21 to slide, so that the sliding plate 21 can slide along the width direction of the bed base 202, and the driving motor 23 can automatically drive the sliding plate, thereby facilitating operation and control.

In one embodiment of the present invention, the clamping mechanism 50 further comprises a screw locking member 24, a threaded hole is provided on the first sliding member 51, and the screw locking member 24 is screwed in the threaded hole to selectively lock and fix the first sliding member 51 and the sliding plate 21. After the pivot arm 501 slides with the first sliding member 51 to a desired position, the first sliding member and the sliding plate 21 can be locked and fixed by the screw locking member 24, thereby ensuring that the pivot arm 501 is maintained at the desired position.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. An image-guided interventional procedure navigation treatment device, comprising:

the CT host is used for acquiring a CT image;

the CT scanning bed is arranged close to the CT host;

the ultrasonic equipment is arranged on one side of the CT scanning bed and used for acquiring an ultrasonic image, the ultrasonic equipment comprises an ultrasonic host, an ultrasonic probe and an electromagnetic sensor, the ultrasonic probe is connected to the ultrasonic host, and the electromagnetic sensor is arranged on the ultrasonic probe;

the navigation display is arranged on one side of the CT scanning bed and used for displaying a fused image fused by the CT image and/or the ultrasonic image;

the head positioning mechanism is arranged at one end of the CT scanning bed close to the CT host machine and used for fixing the head of the patient.

2. The apparatus of claim 1, wherein an adjustable support is disposed at the side of the CT scanning bed, and the navigation display is disposed on the adjustable support to adjust the height and angle of the navigation display via the adjustable support.

3. The image-guided interventional procedure navigation treatment device of claim 2, wherein the adjustable support comprises:

a support bar;

the sliding seat is arranged on the supporting rod in a penetrating mode and can slide along the vertical direction, and the sliding seat is provided with a thread sleeving end;

the locking sleeve is sleeved on the supporting rod and is connected with the threaded sleeve joint end so as to enable the threaded sleeve joint end to hold or loosen the supporting rod;

one end of each multi-joint support arm is connected to the sliding seat in a pivoting mode around a vertical axis, and each multi-joint support arm at least comprises a horizontal rotating joint and a vertical rotating joint; the other end of one of the two multi-joint supporting arms is suitable for mounting the navigation display, and the other end of the other of the two multi-joint supporting arms is suitable for mounting the ultrasonic probe.

4. The image-guided interventional procedure guidance therapy device of claim 1, further comprising a multi-axis robotic arm disposed on one side of the CT scanning couch and adapted to mount a therapeutic instrument.

5. The image-guided interventional procedure guidance and treatment device of claim 1, wherein the CT scanning bed comprises a bed and a movable bed, and the movable bed is disposed on the bed and is movable in and out of the CT host;

the head fixing mechanism comprises two clamping mechanisms, the two clamping mechanisms are arranged on the bed seat close to one end of the CT host machine and are respectively positioned on two sides of the bed seat in the width direction, and each clamping mechanism is arranged along the bed seat in the width direction in a sliding manner.

6. The image-guided interventional procedure guidance and treatment device of claim 5, wherein a wing plate is formed on each of two sides of one end of the bed close to the CT host;

the fixture includes:

a sliding plate slidably provided on the wing plate in a width direction of the bed;

the first sliding assembly is arranged on the sliding plate in a sliding mode along the length direction of the bed base;

one end of the pivoting arm is pivotally connected to the first sliding assembly through a pivoting seat, and the other end of the pivoting arm is positioned above the moving bed body;

the clamping assembly is arranged at the other end of the pivoting arm and is suitable for clamping and fixing the head of the patient;

wherein the pivot arm is configured to be pivotable about a horizontal axis extending along a width of the bed and selectively stay at different angular positions to allow the clamp assembly to be adjustable in height position adjacent the head rest area.

7. The image-guided interventional procedure navigation treatment device of claim 6, wherein the pivot mount comprises:

the fixed seat is installed on the first sliding assembly, a pivot hole is formed in the fixed seat, a plurality of first tooth parts are arranged around the pivot hole, and a first tooth groove is formed between every two adjacent first tooth parts;

the unlocking piece is arranged on one side of the fixed seat;

the rotating body is arranged on the other side of the fixed seat and is provided with a pivoting shaft and a plurality of second tooth parts arranged around the pivoting shaft, the pivoting shaft penetrates through the pivoting hole and then is connected with the unlocking part, and the second tooth parts are matched with the first tooth grooves to limit the rotating body to rotate relative to the fixed seat; the one end of the pivoting arm is connected with the rotating body and is circumferentially and relatively fixed;

the elastic piece is arranged between the fixed seat and the unlocking piece to provide elastic acting force to force the rotating body to move towards the fixed seat so as to keep the second tooth part in the first tooth groove;

when the operation release piece is applyed during elastic force's reverse effort, release piece passes through the pivot axis promotes the rotor is kept away from the fixing base, so that second tooth portion breaks away from behind the first tooth's socket, the rotor for the fixing base is rotatable.

8. The image-guided interventional procedure navigation treatment device of claim 6, wherein the clamping assembly comprises:

the threaded sleeve is fixedly arranged at the other end of the pivoting arm, and the axis of the threaded sleeve extends along the horizontal direction;

the screw rod is in threaded fit with the threaded sleeve, and one end of the screw rod extends out of the threaded sleeve and then faces to one side of the head placing area;

the abutting head is connected to one end of the screw rod and is suitable for abutting and fixing the head of a patient;

the operating piece is connected to the other end of the screw rod and is operated by a user to drive the screw rod to rotate.

9. The image-guided interventional procedure navigation treatment device of claim 6, wherein a bottom portion of the sliding plate is slidably connected with the wing plate through a second sliding assembly;

the wing plate is further provided with a screw rod, a screw rod sliding block and a driving motor, the screw rod sliding block is fixed at the bottom of the sliding plate and is in threaded fit with the screw rod, and the driving motor is connected with the screw rod to drive the screw rod to rotate.

10. The image-guided interventional procedure navigation treatment device of claim 6, wherein the clamping mechanism further comprises a threaded lock, and a threaded hole is formed in the first sliding member, and the threaded lock is threadedly coupled within the threaded hole to selectively lock and fix the first sliding member and the sliding plate.

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