CN112674850B - Compact image-guided puncture operation auxiliary system - Google Patents
Compact image-guided puncture operation auxiliary system Download PDFInfo
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- CN112674850B CN112674850B CN202110007494.6A CN202110007494A CN112674850B CN 112674850 B CN112674850 B CN 112674850B CN 202110007494 A CN202110007494 A CN 202110007494A CN 112674850 B CN112674850 B CN 112674850B
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- layer plate
- puncture needle
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- middle layer
- puncture
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Abstract
The invention relates to a compact image-guided puncture operation auxiliary system, which comprises a CT (computed tomography) bed, wherein one side of the CT bed is provided with a CT, a display and a computer, the CT is electrically connected with a computer, the display and the computer are arranged on a trolley, the compact image-guided puncture operation auxiliary system also comprises a micro follow-up puncture needle guiding device, the micro follow-up puncture needle guiding device is fixed on the chest of a patient, the output end of the micro follow-up puncture needle guiding device is connected with a puncture needle, the puncture needle moves back and forth and left and right under the drive of the micro follow-up puncture needle guiding device and rotates, and after the CT acquires focus positions, the computer processes CT data and adjusts the needle feeding track of the puncture needle; compared with the prior art, the invention can avoid the position deviation of the auxiliary positioning system caused by the displacement of the patient after CT image examination, can greatly improve the operation precision of puncture, and can greatly reduce the occupied space compared with the prior art, thereby being convenient for doctors to operate the operation with more available space.
Description
[ technical field ]
The invention relates to the technical field of medical appliances, in particular to a compact image-guided puncture operation auxiliary system.
[ background Art ]
At present, the existing puncture operation basically depends on the experience of doctors and the estimation of patient images to make blind puncture, so that the puncture error is larger, and normal sensitive tissues or blood vessels are easy to be punctured by mistake, thereby causing medical accidents of the puncture operation. Therefore, it would be of great clinical significance to provide an image guidance assistance system that can accurately guide a doctor to perform an accurate puncture operation on a human lesion.
[ summary of the invention ]
The invention aims to solve the defects and provide a compact image-guided puncture operation auxiliary system, which can avoid the position deviation of an auxiliary positioning system caused by the displacement of a patient after CT image examination and can greatly improve the operation precision of puncture.
The compact image guided puncture surgery auxiliary system comprises a CT bed 2 for supporting a patient 3, wherein one side of the CT bed 2 is provided with a CT1, a display 4 and a computer 5, the CT1 is electrically connected with the computer 5, the display 4 and the computer 5 are arranged on a trolley 6, the compact image guided puncture surgery auxiliary system further comprises a micro follow-up puncture needle guiding device, the micro follow-up puncture needle guiding device is fixed on the chest of the patient 3, the output end of the micro follow-up puncture needle guiding device is connected with a puncture needle 7, the puncture needle 7 moves in the front-back direction and the left-right direction under the driving of the micro follow-up puncture needle guiding device and rotates, and after the CT1 acquires focus positions, the computer 5 processes CT data and adjusts the needle feeding track of the puncture needle 7.
Further, the miniature follow-up puncture needle guiding device comprises an upper layer plate 11, a middle layer plate 12, a lower layer plate 13, an adhesive layer 14 and a puncture needle guiding table 15, wherein the upper layer plate 11 can be connected to the middle layer plate 12 in a back-and-forth movable mode, the middle layer plate 12 can be connected to the lower layer plate 13 in a left-and-right movable mode, the adhesive layer 14 is arranged at the bottom of the lower layer plate 13 and is fixed on a chest of a patient 3 through the adhesive layer 14, the puncture needle guiding table 15 is arranged on the upper layer plate 11, and the puncture needle 7 is connected to the puncture needle guiding table 15 and is driven by the puncture needle guiding table 15 to perform rotary motion.
Further, the upper plate 11 translates in the front-back direction through an upper plate driving mechanism, the upper plate driving mechanism comprises an upper plate micro screw rod 16, an upper plate sliding table 17, an upper plate screw nut 18 and an upper plate translation driving motor 19, the output end of the upper plate translation driving motor 19 is connected with the upper plate micro screw rod 16, the upper plate micro screw rod 16 is rotatably provided with the upper plate screw nut 18, the upper plate screw nut 18 is connected with the upper plate sliding table 17, and the upper plate sliding table 17 is fixedly connected to the bottom of the upper plate 11 and drives the upper plate 11 to do front-back direction translation movement.
Further, the middle layer plate 12 realizes left and right direction translation through a middle layer plate driving mechanism, the middle layer plate driving mechanism comprises a middle layer plate miniature screw rod 20, a middle layer plate sliding table 21, a middle layer plate screw rod nut 22 and a middle layer plate translation driving motor 23, the output end of the middle layer plate translation driving motor 23 is connected with the middle layer plate miniature screw rod 20, the middle layer plate screw rod nut 22 is rotatably arranged on the middle layer plate miniature screw rod 20, the middle layer plate sliding table 21 is connected on the middle layer plate screw rod nut 22, and the middle layer plate sliding table 21 is fixedly connected to the bottom of the middle layer plate 12 and drives the middle layer plate 12 to do left and right direction translation motion.
Further, the puncture needle guiding platform 15 realizes rotary loading and unloading through a rotary driving mechanism, the rotary driving mechanism is arranged on the upper layer plate 11 and comprises a rotary driving motor 24, a rotary driving wheel 25, a synchronous belt 26 and a rotary driving driven wheel 27, the rotary driving wheel 25 is arranged on an output shaft of the rotary driving motor 24, the rotary driving wheel 25 is connected with the rotary driving driven wheel 27 through the synchronous belt 26, the puncture needle guiding platform 15 is connected with the rotary driving driven wheel 27 and rotates along with the rotary driving driven wheel 27 under the driving of the rotary driving motor 24, a puncture needle guiding sleeve 28 is fixed on the puncture needle guiding platform 15, and a middle through hole of the puncture needle guiding sleeve 28 guides the puncture needle 7 to perform needle feeding.
Further, the middle layer plate 12 is provided with a first upper layer plate translation guide rail 29 and a second upper layer plate translation guide rail 30 which are symmetrically arranged left and right, the first upper layer plate translation guide rail 29 and the second upper layer plate translation guide rail 30 extend along the front-back direction, and the upper layer plate 11 moves along the first upper layer plate translation guide rail 29 and the second upper layer plate translation guide rail 30 in a front-back direction.
Further, the lower layer plate 13 is provided with a first middle layer plate translation guide rail 31 and a second middle layer plate translation guide rail 32 which are arranged in a front-back symmetrical manner, the first middle layer plate translation guide rail 31 and the second middle layer plate translation guide rail 32 extend along the left-right direction, and the middle layer plate 12 moves in a left-right direction along the first middle layer plate translation guide rail 31 and the second middle layer plate translation guide rail 32.
Compared with the prior art, the invention provides an auxiliary positioning system which is composed of a compact three-dimensional moving structure and can be directly placed on the surface of a human body, the system can be directly placed on the surface of the human body and can be used for simultaneously carrying out CT image examination with the human body, so that the position information of a focus of the human body and the system can be obtained simultaneously in CT image data, a doctor can adjust the three-dimensional moving structure according to the CT image data to move a puncture guide head to a position capable of accurately puncturing the focus, meanwhile, the doctor can carry out CT image examination confirmation again before actually completing the puncture operation, whether the puncture guide head and the focus are on the same straight line can be checked in the confirmed CT image, and the puncture operation of the puncture track and the focus of the guide head can be started within a reasonable error range, so that the position deviation of the auxiliary positioning system caused by the displacement of a patient after the CT image examination can be avoided, and the operation precision of puncture can be greatly improved; in conclusion, the invention can move along with the movement of the human body, so that the focus of displacement generated by respiratory motion can be accurately positioned, meanwhile, compared with the existing product, the occupied space of the system can be greatly reduced, and the system is convenient for doctors to operate the operation with more available space and is worthy of popularization and application.
[ description of the drawings ]
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the structure of the miniature follow-up type puncture needle guiding device of the present invention;
FIG. 3 is a schematic view of the upper plate drive mechanism of the present invention;
FIG. 4 is a schematic view of a laminate driving mechanism according to the present invention;
FIG. 5 is a schematic view of the rotary drive mechanism of the lancet guide table of the present invention;
in the figure: 1. CT 2, CT couch 3, patient 4, display 5, computer 6, trolley 7, puncture needle 11, upper plate 12, middle plate 13, lower plate 14, adhesive layer 15, puncture needle guide table 16, upper plate mini-screw 17, upper plate slide table 18, upper plate screw nut 19, upper plate translation drive motor 20, middle plate mini-screw 21, middle plate slide table 22, middle plate screw nut 23, middle plate translation drive motor 24, rotation drive motor 25, rotation drive wheel 26, timing belt 27, rotation drive driven wheel 28, puncture needle guide sleeve 29, upper plate translation guide rail one 30, upper plate translation guide rail two 31, middle plate translation guide rail one 32, middle plate translation guide rail two.
Detailed description of the preferred embodiments
The invention is further described below with reference to the accompanying drawings:
as shown in figure 1, the invention provides a compact image guided puncture operation auxiliary system, which comprises a CT bed 2 for supporting a patient 3, wherein one side of the CT bed 2 is provided with a CT1, a display 4 and a computer 5, the CT1 is electrically connected with the computer 5, the display 4 and the computer 5 are arranged on a trolley 6, the compact image guided puncture operation auxiliary system also comprises a micro follow-up puncture needle guiding device, the micro follow-up puncture needle guiding device is fixed on the chest of the patient 3, the output end of the micro follow-up puncture needle guiding device is connected with a puncture needle 7, the puncture needle 7 moves forwards and backwards, leftwards and rightwards and rotates under the drive of the micro follow-up puncture needle guiding device, and after the CT1 acquires a focus position, the computer 5 processes CT data and adjusts the needle feeding track of the puncture needle 7. When in use, the miniature follow-up puncture needle guiding device is fixed on the chest of a patient, scans CT, acquires focus positions, processes CT data by a computer, plans the needle insertion track of the puncture needle, and adjusts the gesture according to the needle insertion track. The miniature follow-up puncture needle guiding device has the advantages of small volume, light weight, no occupation of operation space, simple and convenient installation and disassembly modes, and no need of any modification on the equipment of the existing CT room.
As shown in fig. 2, the micro follow-up puncture needle guiding device comprises an upper layer plate 11, a middle layer plate 12, a lower layer plate 13, an adhesive layer 14 and a puncture needle guiding table 15, wherein the upper layer plate 11 can be connected to the middle layer plate 12 in a back-and-forth movable mode, the middle layer plate 12 can be connected to the lower layer plate 13 in a left-and-right movable mode, the adhesive layer 14 is arranged at the bottom of the lower layer plate 13 and is fixed on the chest of a patient 3 through the adhesive layer 14, the puncture needle guiding table 15 is arranged on the upper layer plate 11, and the puncture needle 7 is connected to the puncture needle guiding table 15 and is driven by the puncture needle guiding table 15 to perform rotary motion. In the figure, m.1 is the upper plate translation direction, m.2 is the middle plate translation direction, and M.3 is the guide table rotation direction.
As shown in fig. 3, the upper plate 11 translates in the front-rear direction through an upper plate driving mechanism, the upper plate driving mechanism comprises an upper plate micro screw rod 16, an upper plate sliding table 17, an upper plate screw nut 18 and an upper plate translation driving motor 19, the output end of the upper plate translation driving motor 19 is connected with the upper plate micro screw rod 16, the upper plate micro screw rod 16 is rotatably provided with the upper plate screw nut 18, the upper plate screw nut 18 is connected with the upper plate sliding table 17, and the upper plate sliding table 17 is fixedly connected to the bottom of the upper plate 11 and drives the upper plate 11 to do front-rear direction translation movement.
As shown in fig. 4, the middle layer plate 12 translates left and right through a middle layer plate driving mechanism, the middle layer plate driving mechanism comprises a middle layer plate micro screw rod 20, a middle layer plate sliding table 21, a middle layer plate screw rod nut 22 and a middle layer plate translation driving motor 23, the output end of the middle layer plate translation driving motor 23 is connected with the middle layer plate micro screw rod 20, the middle layer plate micro screw rod 20 is rotatably provided with the middle layer plate screw rod nut 22, the middle layer plate screw rod nut 22 is connected with the middle layer plate sliding table 21, and the middle layer plate sliding table 21 is fixedly connected to the bottom of the middle layer plate 12 and drives the middle layer plate 12 to do left and right translation movement.
As shown in fig. 5, the puncture needle guiding table 15 performs a rotating movement through a rotating driving mechanism, the rotating driving mechanism is mounted on the upper plate 11, the rotating driving mechanism comprises a rotating driving motor 24, a rotating driving wheel 25, a synchronous belt 26 and a rotating driving driven wheel 27, the rotating driving wheel 25 is mounted on an output shaft of the rotating driving motor 24, the rotating driving wheel 25 is connected with the rotating driving driven wheel 27 through the synchronous belt 26, the puncture needle guiding table 15 is connected with the rotating driving driven wheel 27 and performs a rotating movement along with the rotating driving driven wheel 27 under the driving of the rotating driving motor 24, a puncture needle guiding sleeve 28 is fixed on the puncture needle guiding table 15, and a middle through hole of the puncture needle guiding sleeve 28 guides the puncture needle 7 to perform a needle feeding movement. In the rotary driving mechanism, the rotary driving motor rotates positively and reversely, and the driven wheel is driven by the synchronous belt and the rotation driving wheel, so that the puncture needle guide table rotates. The puncture needle guiding sleeve is fixedly connected to the puncture needle guiding platform, and the middle through hole guides the puncture needle to enter the needle.
In the invention, an upper layer plate translation guide rail I29 and an upper layer plate translation guide rail II 30 which are arranged symmetrically left and right are arranged on a middle layer plate 12, the upper layer plate translation guide rail I29 and the upper layer plate translation guide rail II 30 extend along the front and back directions, and the upper layer plate 11 moves in the front and back directions along the upper layer plate translation guide rail I29 and the upper layer plate translation guide rail II 30. The lower layer plate 13 is provided with a first middle layer plate translation guide rail 31 and a second middle layer plate translation guide rail 32 which are arranged in a front-back symmetrical mode, the first middle layer plate translation guide rail 31 and the second middle layer plate translation guide rail 32 extend along the left-right direction, and the middle layer plate 12 moves in a left-right direction in a translation mode along the first middle layer plate translation guide rail 31 and the second middle layer plate translation guide rail 32.
The invention originally provides an auxiliary positioning system which is composed of a compact three-dimensional moving structure and can be directly placed on the surface of a human body, the system can be directly placed on the surface of the human body, so that CT image examination can be carried out on the system and the human body at the same time, and the position information of a focus of the human body and the system can be obtained in CT image data, so that a doctor can adjust the three-dimensional moving structure according to the CT image data to move a puncture guide head to a position capable of accurately puncturing the focus, meanwhile, before the doctor actually completes puncture operation, CT image examination and confirmation can be carried out again, whether the puncture guide head and the focus are on the same straight line can be checked in the confirmed CT image, puncture operation can be started in a reasonable error range by confirming the puncture track of the guide head and the focus, and the position deviation of the auxiliary positioning system caused by the displacement of a patient after CT image examination can be avoided, and thus the puncture operation precision can be greatly improved.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the invention are intended to be equivalent substitutes and are included in the scope of the invention.
Claims (4)
1. The utility model provides a compact image guidance puncture operation auxiliary system, includes CT bed (2) that are used for supporting patient (3), CT bed (2) one side is provided with CT (1), display (4), computer (5), CT (1) are connected with computer (5) electricity, on platform truck (6) are arranged in to display (4), computer (5), its characterized in that: the miniature follow-up puncture needle guiding device is fixed on the chest of a patient (3), the output end of the miniature follow-up puncture needle guiding device is connected with a puncture needle (7), the puncture needle (7) moves back and forth and moves left and right under the drive of the miniature follow-up puncture needle guiding device and rotates, and after the CT (1) acquires the focus position, a computer (5) processes CT data and adjusts the needle insertion track of the puncture needle (7); the miniature follow-up puncture needle guiding device comprises an upper layer plate (11), a middle layer plate (12), a lower layer plate (13), a pasting layer (14) and a puncture needle guiding table (15), wherein the upper layer plate (11) can be connected to the middle layer plate (12) in a front-back movable mode, the middle layer plate (12) can be connected to the lower layer plate (13) in a left-right movable mode, the pasting layer (14) is arranged at the bottom of the lower layer plate (13) and is fixed on a chest of a patient (3) through the pasting layer (14), the puncture needle guiding table (15) is arranged on the upper layer plate (11), and a puncture needle (7) is connected to the puncture needle guiding table (15) and is driven by the puncture needle guiding table (15) to perform rotary motion; the upper layer plate (11) is horizontally moved in the front-back direction through an upper layer plate driving mechanism, the upper layer plate driving mechanism comprises an upper layer plate micro screw rod (16), an upper layer plate sliding table (17), an upper layer plate screw rod nut (18) and an upper layer plate horizontally moving driving motor (19), the output end of the upper layer plate horizontally moving driving motor (19) is connected with the upper layer plate micro screw rod (16), the upper layer plate micro screw rod (16) is rotatably provided with an upper layer plate screw rod nut (18), the upper layer plate screw rod nut (18) is connected with an upper layer plate sliding table (17), and the upper layer plate sliding table (17) is fixedly connected to the bottom of the upper layer plate (11) and drives the upper layer plate (11) to horizontally move in the front-back direction; the middle layer board (12) realizes horizontal movement through middle layer board actuating mechanism, middle layer board actuating mechanism includes middle layer board miniature lead screw (20), middle layer board slip table (21), middle layer board screw nut (22), middle layer board translation driving motor (23), middle layer board miniature lead screw (20) are connected to the output of middle layer board translation driving motor (23), middle layer board screw nut (22) are equipped with to the last rotation of middle layer board miniature lead screw (20), be connected with middle layer board slip table (21) on middle layer board screw nut (22), middle layer board slip table (21) link firmly in middle layer board (12) bottom to drive middle layer board (12) and do horizontal movement.
2. The compact image guided lancing surgical assistance system of claim 1, wherein: the puncture needle guiding table (15) realizes rotary loading and unloading through a rotary driving mechanism, the rotary driving mechanism is arranged on the upper layer plate (11), the rotary driving mechanism comprises a rotary driving motor (24), a rotary driving wheel (25), a synchronous belt (26) and a rotary driving driven wheel (27), the rotary driving wheel (25) is arranged on an output shaft of the rotary driving motor (24), the rotary driving wheel (25) is connected with the rotary driving driven wheel (27) through the synchronous belt (26), the puncture needle guiding table (15) is connected with the rotary driving driven wheel (27) and rotates along with the rotary driving driven wheel (27) under the driving of the rotary driving motor (24), a puncture needle guiding sleeve (28) is fixed on the puncture needle guiding table (15), and a middle through hole of the puncture needle guiding sleeve (28) guides the puncture needle (7) to move.
3. The compact image guided puncture surgical assistance system of claim 2, wherein: the upper layer plate (11) moves in a front-back direction along the first upper layer plate translation guide rail (29) and the second upper layer plate translation guide rail (30).
4. A compact image guided puncture surgical assistance system as set forth in claim 3, wherein: the lower laminate (13) is provided with a first middle laminate translation guide rail (31) and a second middle laminate translation guide rail (32) which are arranged in a front-back symmetrical mode, the first middle laminate translation guide rail (31) and the second middle laminate translation guide rail (32) extend along the left-right direction, and the middle laminate (12) moves in a left-right direction along the first middle laminate translation guide rail (31) and the second middle laminate translation guide rail (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110007494.6A CN112674850B (en) | 2021-01-05 | 2021-01-05 | Compact image-guided puncture operation auxiliary system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110007494.6A CN112674850B (en) | 2021-01-05 | 2021-01-05 | Compact image-guided puncture operation auxiliary system |
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| CN112674850A CN112674850A (en) | 2021-04-20 |
| CN112674850B true CN112674850B (en) | 2023-09-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110007494.6A Active CN112674850B (en) | 2021-01-05 | 2021-01-05 | Compact image-guided puncture operation auxiliary system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114869424B (en) * | 2022-05-12 | 2023-11-21 | 首都医科大学附属北京朝阳医院 | Operation puncture positioning equipment |
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| CN111658147A (en) * | 2020-07-09 | 2020-09-15 | 上海睿触科技有限公司 | Compact CT image guide puncture surgery navigation device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI435705B (en) * | 2008-11-20 | 2014-05-01 | Been Der Yang | Surgical position device and image guided navigation system using the same |
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2021
- 2021-01-05 CN CN202110007494.6A patent/CN112674850B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102090932A (en) * | 2011-03-22 | 2011-06-15 | 上海交通大学 | CT guided lung puncture positioning instrument |
| CN205672066U (en) * | 2016-05-05 | 2016-11-09 | 西南医科大学附属医院 | The puncture locator that a kind of CT guides |
| CN107874817A (en) * | 2016-09-30 | 2018-04-06 | 冯威健 | A kind of puncture positioning device and bootstrap technique |
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| CN106974707A (en) * | 2017-04-21 | 2017-07-25 | 上海交通大学 | CT Guided Percutaneous lung punctures space auxiliary locator |
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