CN112603498A

CN112603498A - Automatic puncture needle placing system

Info

Publication number: CN112603498A
Application number: CN202011588860.3A
Authority: CN
Inventors: 程敏; 王光鑫; 黄华杰; 王�锋
Original assignee: Nanjing Tuodao Medical Technology Co Ltd
Current assignee: Nanjing Tuodao Medical Technology Co Ltd
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2021-04-06

Abstract

The invention discloses an automatic puncture needle placing system, which comprises: drilling a bone; the puncture outfit is detachably arranged on the bone drill and comprises a puncture channel and a puncture needle, and a connecting part for realizing the channel placement and needle withdrawal through the positive and negative rotation of the puncture needle is arranged between the puncture channel and the puncture needle; and the mechanical arm is used for driving the bone drill to do linear motion and rotary motion. The invention can assist a doctor to complete the work of puncture needle placement, is executed by the mechanical arm, has accurate lesion position positioning, stable and reliable puncture process and does not have the shaking problem in the manual puncture process; and because the force feedback system is arranged, the puncture operation process parameters can be monitored in real time, the operation accidents caused by the abnormal puncture process are avoided, and the puncture operation is safer.

Description

Automatic puncture needle placing system

Technical Field

The invention relates to the field of mechanical structures, in particular to an automatic puncture needle placing system.

Background

At present, the mainstream puncture process of the spinal surgery mainly depends on the manual completion of an experienced doctor, the doctor determines the puncture position by means of repeated perspective of a C-arm machine in the process, the doctor uses an electric hand drill to drill and puncture in the puncture process, and the doctor needs to complete the puncture under the condition that the electric drill is held to ensure that the puncture direction does not deviate. In order to accurately locate the lesion, a doctor with rich clinical experience is required to complete the process; the operation environment is more complex and severe due to the difference of the spine shapes and the difference of the focus positions of different patients; the doctor needs to be exposed in the radiation environment of the C-arm machine for a long time, needs to keep a posture for a long time, and holds the electric drill by hand, so that the situations of body stiffness, fatigue and the like of the doctor can be caused, and the smooth operation of a patient is not facilitated; the long-time radiation receiving reduces the working time of doctors.

The invention of the puncture robot not only brings convenience to doctors, but also can reduce the radiation amount of the doctors, but the existing puncture robot mainly adopts a motor to drive the needle insertion, then inserts the needle into the implantation channel, and finally takes out the Kirschner wire. The method is not only complicated in steps, but also the position where the implantation channel is placed may have a certain deviation, and the operation precision is difficult to ensure. Meanwhile, the existing puncture robot cannot judge the needle insertion distance, cannot ensure the safety and possibly causes medical accidents.

Disclosure of Invention

The purpose of the invention is as follows: aiming at the problems, the invention provides an automatic puncture needle placement system which can assist a doctor to finish accurate puncture, greatly reduce the exposure time of the doctor in X-ray and simultaneously reduce the requirements of the operation on the clinical experience of the doctor.

The technical scheme is as follows:

an automated puncture needle placement system comprising:

drilling a bone;

the puncture outfit is detachably arranged on the bone drill and comprises a puncture channel and a puncture needle, and a connecting part for realizing the channel placement and needle withdrawal through the positive and negative rotation of the puncture needle is arranged between the puncture channel and the puncture needle;

and the mechanical arm is used for driving the bone drill to do linear motion and rotary motion.

The bone drill comprises a drill bit which is driven by a motor to do linear motion, the drill bit is driven by the motor to rotate, and the puncture outfit is arranged on the drill bit.

The drill bit drives linear motion through a motor and a lead screw module arranged on a motor shaft, and the drill bit is fixedly arranged on the lead screw module.

And two ends of a lead screw of the lead screw module are respectively provided with a proximity sensor for detecting the displacement of the upper slide block.

The drill bit includes electric drill motor and the electric drill chuck group on the motor shaft electric drill motor be located on the terminal surface of its motor shaft side be equipped with the sensor of electric drill chuck group front end contact, the sensor is gathered the centre gripping of electric drill chuck group the resistance that the puncture ware received forms force feedback information.

The bone drill also comprises a control module for controlling the starting and stopping of the motor, and the control module is connected with the sensor and receives force feedback information acquired by the sensor; presetting a first threshold value and a second threshold value in the control module;

when the force feedback information acquired by the sensor is smaller than a first threshold value in the sensor, the control module controls the motor to stop linear feeding;

when the force feedback information acquired by the sensor is larger than a first threshold value and smaller than a second threshold value, the control module simultaneously controls the motor to perform linear feeding and rotary drilling;

and when the force feedback information acquired by the sensor is larger than a second threshold value or drops suddenly, the control module controls the motor to stop and give an alarm.

The bone drill also comprises a shell which is arranged outside the bone drill and plays a role in protection.

The connecting part comprises a first connecting part sleeved outside the puncture channel and a second connecting part sleeved outside the puncture needle;

the first connecting part and the second connecting part are connected in a magnetic matching manner;

at least one inclined plane block for limiting and guiding is arranged at the position, close to the side face of the second connecting part, of the upper end face of the first connecting part along the rotating direction of the puncture needle, and a guide groove corresponding to the inclined plane block is correspondingly arranged on the lower end face of the second connecting part.

the upper end face of the first connecting portion is provided with at least one inclined plane block used for guiding limiting, the corresponding position of the lower end face of the second connecting portion is provided with a corresponding inclined plane groove, and the first connecting portion and the second connecting portion achieve channel arrangement and needle withdrawal through positive and negative rotation of the puncture needle and matching of the inclined plane block and the inclined plane groove.

The number of the inclined plane blocks is two, and the two inclined plane blocks are distributed on the upper end face of the first connecting part in an axial symmetry manner

Has the advantages that:

1. the invention can assist doctors to complete the work of puncture needle placement, is executed by the robot arm, has accurate focus position positioning, stable and reliable puncture process and does not have the shaking problem in the manual puncture process.

2. The invention is provided with the force feedback system, monitors the parameters of the puncture surgery process in real time, avoids the surgery accidents caused by the abnormity of the puncture process and ensures the puncture surgery to be safer.

3. According to the invention, from the feeding puncture to the withdrawing puncture, a doctor only needs to operate and control at the computer end without carrying the operation area of a patient all the time, so that the radiation of X-rays received by the doctor is reduced.

4. The invention reduces the requirement on the clinical experience of an operator through the robot-assisted operation, and can accurately and reliably complete the operation work only by operating the robot equipment.

Drawings

Fig. 1 is a diagram of a robotic trolley set equipped with the automatic puncture needle system of the present invention.

Fig. 2 is an assembly view of the automatic lancing system of the present invention.

Fig. 3 is an exploded view of the automatic piercing system of the present invention.

Fig. 4 is a cross-sectional view of an intelligent bone drill module of the present invention.

FIG. 5 is an assembly view of the spike assembly of the present invention.

Fig. 6 is a flow chart of the work control of the present invention.

In the figure, 1, a robot trolley, 2, a robot trolley body, 3, a robot arm, 4, an automatic puncture needle placing system and 5, a display;

41. the bone drill assembly comprises a bone drill assembly, a puncture outfit, a tracer 43, an indicator 44, an indicator light 45, a front housing 46, a shell 47, a rear housing 48, a fixed seat 49, a limiting plate 410, a control plate 411, a mounting interface 412, a driving motor 413, a lead screw module 414, a proximity sensor 415 and a mounting base plate;

41a, a drill chuck group, 41b, a sensor, 41c, a drill motor;

421. the puncture channel 4211, the puncture channel handle, 422, the puncture needle, 4221, the puncture needle handle, 4212, the bevel block, 4222, the bevel.

Detailed Description

The invention is further elucidated with reference to the drawings and the embodiments.

Fig. 1 is a diagram showing a robot trolley on which the automatic puncture needle system of the present invention is mounted, and as shown in fig. 1, a robot trolley 1 on which the automatic puncture needle system of the present invention is mounted includes a robot trolley body 2, a robot arm 3, an automatic puncture needle placement system 4, and a display 5, wherein the robot arm 3 and the display 5 are mounted on the robot trolley body 2, and the automatic puncture needle placement system 4 is mounted on a joint at the end of the robot arm 3.

As shown in fig. 2 and 3, the automatic puncture needle inserting system 4 of the present invention includes a housing, an installation interface 411, a bone drill assembly 41, a puncture outfit 42 and a tracer 43, wherein a rear installation surface is arranged at the rear side of the installation interface 411 and is installed at the end of a mechanical arm through the rear installation surface, an installation bottom plate 415 is fixedly installed on the upper installation surface of the installation interface 411, a driving motor 412 and a lead screw module 413 are respectively and fixedly installed above the installation bottom plate 415, a control board 410 is further installed above the installation bottom plate 415, and the control board 410 is connected with the driving motor 412 and is used for controlling the driving motor 412 to start and stop; a motor shaft of the driving motor 412 is connected with the lead screw module 413 and drives the lead screw module 413 to rotate, so as to drive the sliding block of the lead screw module 413 to linearly slide; a fixed seat 48 is fixedly arranged on the sliding block of the lead screw module 413 and can move back and forth along with the sliding block, and a bone drill component 41 is arranged on the fixed seat 48; in the present invention, a mounting hole is opened at the front side of the fixing base 48, and the rear end of the bone drill assembly 41 is fixed in the mounting hole and can move back and forth along with the fixing base 48.

In the invention, the fixed seat 48 is provided with the limit plate 49 which moves along with the sliding of the fixed seat 48, the two ends of the lead screw module 413 on the installation bottom plate 415 are fixedly provided with the proximity sensors 414 for acquiring signals of the limit plate 49 on the fixed seat 48, when the proximity sensors 414 acquire the signals of the limit plate 49, the proximity sensors 414 indicate that the fixed seat 48 has moved to one end of the lead screw module 413, the proximity sensors 414 send the signals to the control board 410, and the control board 410 controls the driving motor 412 to stop.

Fig. 4 is a cross-sectional view of the intelligent bone drill module of the present invention, as shown in fig. 4, the bone drill assembly 41 includes an electric drill motor 41c fixedly mounted on the fixing base 48, the electric drill motor 41c is connected to the control board 410, and the start and stop of the electric drill motor 41c are controlled by the control board 410; an electric drill chuck group 41a is fixedly arranged on a motor shaft of the electric drill motor 41 c; in the invention, a sensor 41b which is contacted with the front end of the electric drill chuck group 41a is arranged on the end surface of the electric drill motor 41c on the motor shaft side, the sensor 41b is connected with the control board 410, and collects the pressure applied by the electric drill chuck group 41a to obtain a force feedback value F so as to obtain the resistance of the electric drill chuck group 41a in the puncture process and feed back the resistance to the control board 410; a first threshold value and a second threshold value are preset in the control board 410, when the force feedback value F acquired by the sensor 41b is smaller than the first threshold value preset in the control board 410, the control board 410 controls the driving motor 412 to rotate so as to drive the lead screw module 413 to feed, and the puncture outfit 42 is driven to puncture skin and puncture fat until the needle point of the puncture outfit is abutted against the surface of the spinal bone; when the force feedback value F acquired by the sensor 41b is greater than a first threshold value preset in the control board 410 and smaller than a second threshold value, the control board 410 controls the driving motor 412 and the electric drill motor 41c to rotate at the same time, so that the electric drill motor 41c drives the puncture outfit 42 to rotationally drill into the focus spine while keeping linear feeding; when the force feedback value F acquired by the sensor 41b is greater than a second threshold preset in the control board 410 or drops suddenly, the control board 410 controls the driving motor 412 and the electric drill motor 41c to stop rotating at the same time, and the emergency control driving motor 412 and the electric drill motor 41c can also be operated by a doctor at the computer end to stop rotating, so that the operation is prevented from being mistakenly injured.

The shell comprises a front cover shell 45, a shell 46 and a rear cover shell 47, wherein the shell 46 is fixed in the middle of the mounting bottom plate 415 and used for protecting the lead screw module 413; the front side surface of the front cover shell 45 is provided with a through hole which is fixed at the front position on the mounting bottom plate 415 and used for protecting the intelligent bone drill component 41, and the intelligent bone drill component 41 passes through the through hole on the front side surface; the rear cover 47 is fixed to the mounting base plate 415 at a rear position thereof for protecting the driving motor 412 and the control board 410.

A tracer 43 is fixedly mounted outside the housing for optical tracker collection of indicia identifying the relative position of the automatic lancing system of the present invention. An indicator light 44 is also mounted on the housing, and the indicator light 44 is connected to the driving motor 412 and indicates the operating state thereof.

As shown in fig. 2 and 3, the puncture instrument 42 is mounted on the electric drill chuck group 41a of the bone drill assembly 41; as shown in fig. 5, the puncture outfit 42 includes a puncture channel 421 and a puncture needle 422, and the length of the puncture needle 422 is greater than that of the puncture channel 421, so as to ensure that the needle tip of the puncture needle 422 extends out of the puncture channel 421; wherein, a puncture channel handle 4211 is sleeved outside the puncture channel 421, and a magnet is arranged on the puncture channel handle 4211; a puncture needle handle 4221 is also sleeved outside the puncture needle 422, a magnet correspondingly matched with the magnet on the puncture channel handle 4211 is arranged on the puncture needle handle 4221, and the puncture needle 422 is inserted into the puncture channel 421 and is connected by the adsorption effect of the magnets on the two handles.

As shown in fig. 5, at least one bevel block 4212 for limiting and guiding the rotation direction of the puncture needle 422 is arranged at the position, close to the outer side surface of the puncture needle handle 4221, on the upper end surface of the puncture channel handle 4211, and the high position of the bevel block 4212 is outward relative to the low position thereof; a corresponding inclined plane 4222 is arranged on the lower end surface of the puncture needle handle 4221 and at the position opposite to the inclined plane block 4212 on the upper end surface of the puncture needle handle 4211.

In the invention, two bevel blocks 4212 are provided, and the two bevel blocks 4212 are axially and symmetrically distributed on the upper end surface of the puncture tube handle 4211.

In the invention, at least one bevel block 4212 can also be directly arranged on the upper end surface of the puncture tube handle 4211 in an extending way along the rotation direction of the puncture needle 422, a corresponding bevel groove is arranged at a corresponding position on the lower end surface of the puncture needle handle 4221, and the puncture needle and the bevel block 4212 realize the channel insertion and needle withdrawal through the positive and negative rotation of the puncture needle 422 and the matching of the bevel groove.

During puncture, the puncture needle 422 rotates forwards, and the puncture needle handle 4221 can be blocked by the inclined plane block 4212, so that the puncture channel 421 rotates along with the puncture needle 422; when the puncture needle 421 is reversely rotated, the inclined surface of the puncture needle handle 4221 or the inclined surface of the inclined surface groove on the lower end surface thereof can slide along the inclined surface block 4212 without the puncture channel 421 rotating, and gradually separate from the puncture channel handle 4211 by the guidance of the inclined surface block 4212.

By adopting the automatic puncture system, a doctor can input a control instruction through a computer terminal outside an operation area to control the robot trolley system in the operation area, wherein the control instruction is transmitted to the robot trolley system through a cable, and the operation flow of the automatic puncture system is as follows:

(1) the focus of a patient is subjected to perspective scanning through a C-arm machine, the tracer 43 on the automatic puncture needle-placing system 4 is collected through an optical tracker to be registered and uploaded to a computer end, and a doctor sets a puncture track path and a puncture position at the computer end according to the above and carries out motion pose simulation;

(2) the computer end sends out an instruction, and the mechanical arm 3 on the robot trolley 1 moves to a designed position to be kept according to a preset pose;

(3) after the position is confirmed to be normal, setting the puncture feeding depth, sending an instruction to the control panel 410 of the automatic puncture needle placing system 4, and controlling the driving motor 412 to move by the control panel 410 so as to drive the lead screw module 413 to drive the bone drill component 41 to perform linear feeding; the puncture outfit 42 clamped at the tail end of the bone drill component 41 punctures skin and penetrates fat in the process until the needle point of the puncture outfit 42 is pressed against the surface of spinal bone; during the process, the resistance applied to the puncture process of the puncture outfit 42 is transmitted to the sensor 41b through the electric drill chuck group 41a, and the sensor 41b acquires a force feedback value F and transmits the force feedback value F to the control panel 410 for pressure information acquisition and feedback; in the process, the pressure is smaller than a first threshold value preset in the control plate 410, the automatic puncture system 4 only performs linear feeding action, and the bone drill component 41 does not perform rotary motion;

(4) when the needle point of the puncture outfit 42 is propped against the surface of spinal bone, the resistance is increased, the pressure borne by the sensor 41b is increased, and the force feedback value F acquired by the sensor 41b is greater than a first certain threshold value, the control panel 410 controls the electric drill motor 41c of the bone drill component 41 to rotate clockwise according to preset parameters, and simultaneously, the puncture outfit 42 rotates and drills into the focal spinal column;

(5) in the process, perspective scanning needs to be carried out through a C-arm machine, the position of the puncture needle 422 entering a focus is confirmed, during the process, the sensor 41b collects pressure in real time and outputs the pressure to the display end, the pressure value is increased continuously in theory along with the increase of the depth in the puncture process, and if the force feedback value collected by the sensor 41b is larger than a second threshold value preset in the control board 410, the control board 410 controls the driving motor 412 to stop rotating, and simultaneously controls the electric drill motor 41C to stop rotating and report an alarm state.

If abnormal phenomena such as abrupt pressure drop occur, doctors can operate the emergency control driving motor 412 and the electric drill motor 41c to stop through the computer end, and therefore operation error injury is prevented.

(6) After confirming that the puncture needle 422 reaches the designated focus position by fluoroscopy, the puncture feed is stopped.

(7) The doctor sends out a puncture needle 422 exit instruction through the computer end, the control panel 410 controls the bone drill component 41 to rotate anticlockwise at a low speed, and meanwhile, the control panel 410 controls the driving motor 412 to drive the driving screw module 413 to move back linearly; because the cladding damping effect of backbone to puncture channel 421, when bone drill subassembly 41 anticlockwise rotation, pjncture needle 422 also anticlockwise rotation, pjncture needle 422 breaks away from with puncture channel 421 this moment, drives pjncture needle 422 straight line along with lead screw module 413 and retreats, pjncture needle 422 leaves the focus, takes out from puncture channel 421, and puncture channel 421 stays in the focus backbone, and then realizes putting into the passageway automatically.

At the moment, the puncture channel is left at the position appointed by the focus of the patient, and a working channel is left for the subsequent operation work. The doctor exempts from to drive through the arm, moves away the patient with the arm to remove the operation area with the robot platform truck, vacate the space for follow-up operation.

Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and these equivalent changes are all within the protection scope of the present invention.

Claims

1. The utility model provides an automatic puncture needle placing system which characterized in that: the method comprises the following steps:

drilling a bone;

2. The automatic puncture needle placement system according to claim 1, characterized in that: the bone drill comprises a drill bit which is driven by a motor to do linear motion, the drill bit is driven by the motor to rotate, and the puncture outfit is arranged on the drill bit.

3. The automatic puncture needle placement system according to claim 2, characterized in that: the drill bit drives linear motion through a motor and a lead screw module arranged on a motor shaft, and the drill bit is fixedly arranged on the lead screw module.

4. The automatic puncture needle placement system according to claim 3, characterized in that: and two ends of a lead screw of the lead screw module are respectively provided with a proximity sensor for detecting the displacement of the upper slide block.

5. The automatic puncture needle placement system according to claim 2, characterized in that: the drill bit includes electric drill motor and the electric drill chuck group on the motor shaft electric drill motor be located on the terminal surface of its motor shaft side be equipped with the sensor of electric drill chuck group front end contact, the sensor is gathered the centre gripping of electric drill chuck group the resistance that the puncture ware received forms force feedback information.

6. The automatic puncture needle placement system according to claim 5, wherein: the bone drill also comprises a control module for controlling the starting and stopping of the motor, and the control module is connected with the sensor and receives force feedback information acquired by the sensor; presetting a first threshold value and a second threshold value in the control module;

7. The automatic puncture needle placement system according to claim 1, characterized in that: the bone drill also comprises a shell which is arranged outside the bone drill and plays a role in protection.

8. The automatic puncture needle placement system according to claim 1, characterized in that: the connecting part comprises a first connecting part sleeved outside the puncture channel and a second connecting part sleeved outside the puncture needle;

9. The automatic puncture needle placement system according to claim 1, characterized in that: the connecting part comprises a first connecting part sleeved outside the puncture channel and a second connecting part sleeved outside the puncture needle;

10. The automatic puncture needle placement system according to any one of claims 8 or 9, wherein: the number of the inclined plane blocks is two, and the two inclined plane blocks are distributed on the upper end face of the first connecting part in an axisymmetric mode.