CN113081263A - Intervene puncture system and have its diagnosis and treatment equipment - Google Patents
Intervene puncture system and have its diagnosis and treatment equipment Download PDFInfo
- Publication number
- CN113081263A CN113081263A CN201911337403.4A CN201911337403A CN113081263A CN 113081263 A CN113081263 A CN 113081263A CN 201911337403 A CN201911337403 A CN 201911337403A CN 113081263 A CN113081263 A CN 113081263A
- Authority
- CN
- China
- Prior art keywords
- puncture
- interventional
- local coil
- patient
- imaging device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
Abstract
The invention provides an interventional puncture system and a diagnosis and treatment device with the same. The interventional puncture system includes: the local coil can move to a scanning cavity of the imaging device along with a patient on a sickbed, and is used for scanning a focus area; and the puncture mechanism can extend into the scanning cavity and comprises a position and posture adjusting component and an interventional instrument arranged at the end part of the position and posture adjusting component, wherein the position and posture adjusting component can drive the interventional instrument to move to the upper part of a sickbed and perform interventional puncture operation. The puncture mechanism can stretch into the scanning cavity, so that puncture in the scanning cavity is conveniently realized, and after a focus area is determined, the position and posture adjusting component can directly drive the interventional instrument to move according to a real-time image scanned by the imaging device so as to penetrate into the focus area of a patient, so that an interventional puncture operation is completed.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an interventional puncture system and diagnosis and treatment equipment with the same.
Background
The real-time interventional puncture guided by magnetic resonance has great clinical value, and the puncture process can be accurately, efficiently and safely completed under the guidance of real-time images. However, the magnetic resonance imaging field of vision is in the middle area of the aperture, and the medical staff can not go deep to such a far place by bare hands, which affects the effect of interventional puncture.
Disclosure of Invention
Based on this, it is necessary to provide an intervention puncture system convenient for puncturing in a scanning cavity and a diagnosis and treatment device with the same aiming at the problem that the medical care personnel cannot manually extend into the middle of the aperture to perform an intervention operation at present.
The above purpose is realized by the following technical scheme:
an interventional puncture system comprising:
the local coil can move to a scanning cavity of the imaging equipment along with the sickbed, and is used for scanning a focus area; and
can stretch into the puncture mechanism in scanning chamber, including position and gesture adjustment subassembly and set up in the intervention apparatus of position and gesture adjustment subassembly tip, position and gesture adjustment subassembly can drive intervention apparatus moves to the sick bed top to intervene the puncture operation.
In one embodiment, the puncture mechanism is disposed at the local coil.
In one embodiment, the puncture mechanism is fixedly or removably mounted to the local coil.
In one embodiment, the interventional puncture system further comprises a sliding mechanism disposed on the local coil, and the puncture mechanism is disposed on and slidable along the sliding mechanism.
In one embodiment, the sliding mechanism includes a sliding drive connected to the lancing mechanism to drive the lancing mechanism to slide along the sliding mechanism.
In one embodiment, the sliding mechanism comprises an axial slider disposed on the local coil, the axial slider being extendable along the length of the patient bed, the axial slider being configured to slidably mount the puncturing mechanism.
In one embodiment, the sliding mechanism includes a three-axis slider disposed on the local coil, and the output end of the three-axis slider is slidably mounted on the puncturing mechanism for achieving three-axis displacement adjustment of the puncturing mechanism.
In one embodiment, the puncture mechanism is independent of the local coil.
In one embodiment, the puncturing mechanism is positioned outside the imaging device and at one end of the imaging device, or the puncturing mechanism is arranged at the end of the imaging device, or the puncturing mechanism is suspended at the peripheral side of the imaging device;
the puncture mechanism is movable into the scanning cavity when a puncture access procedure is performed.
In one embodiment, the puncturing mechanism is disposed on an inner wall of the scanning chamber.
In one embodiment, the position and posture adjustment assembly includes a mounting member, a multi-degree-of-freedom motion member rotatably mounted on the mounting member, and a clamping member disposed at an end of the multi-degree-of-freedom motion member, wherein the clamping member is used for clamping the interventional instrument, and the multi-degree-of-freedom motion member is capable of moving relative to the mounting member and driving the clamping member to move, so that the interventional instrument moves to a position near a lesion area.
In one embodiment, the multiple degree of freedom motion piece comprises a rotatable rotating piece, a rotatable rotating piece and a pushing piece, the pushing piece can be used for installing the clamping piece and pushing the interventional instrument in the clamping piece to perform interventional puncture surgery, and the rotating piece can drive the pushing piece to move so as to adjust the interventional angle of the interventional instrument.
In one embodiment, the multi-degree-of-freedom motion piece comprises a serial mechanical arm and/or a parallel mechanical arm;
or the multi-degree-of-freedom motion piece comprises a serial mechanical arm and/or a parallel mechanical arm and flexible mechanical arm combination.
In one embodiment, the local coil at least partially wraps around the patient in a circumferential direction of the scanning bore.
A medical treatment device comprising an imaging device, a patient bed and an interventional puncture system according to any one of the above technical features;
the local coil of the interventional puncture system is arranged corresponding to a focus area of a patient, after the sickbed enters the scanning cavity, a puncture mechanism of the interventional puncture system can extend into the scanning cavity, and the puncture mechanism can perform interventional puncture operation on the focus area of the patient;
wherein the imaging device is an MR device, a PET/MR device, a CT device, a PET/CT device.
In one embodiment, the medical equipment further comprises a control system in transmission connection with the local coil and the puncture mechanism, after the control system receives the real-time imaging of the focal region by the local coil, the control system can control the position and posture adjusting component of the puncture mechanism to drive the interventional device to move to the vicinity of the focal region according to the real-time imaging, and control the position and posture adjusting component to drive the interventional device to perform interventional puncture surgery;
or the diagnosis and treatment equipment further comprises an operation and control system connected with the puncture mechanism, wherein the operation and control system can control the position and posture adjusting component of the puncture mechanism to drive the interventional device to move to the position near the focus area, and control the position and posture adjusting component to drive the interventional device to perform interventional puncture operation.
After the technical scheme is adopted, the invention at least has the following technical effects:
according to the interventional puncture system and the diagnosis and treatment equipment with the same, when interventional puncture surgery is carried out, the local coil is placed in the focus area of a patient, and the patient is driven by the hospital bed to enter the scanning cavity of the imaging equipment together, so that the scanning cavity images the focus area of the patient through the local coil; meanwhile, the puncture mechanism can extend into the scanning cavity, and after the focus area is determined, the position and posture adjusting component can directly drive the interventional instrument to move according to the real-time image scanned by the imaging device so as to penetrate into the focus area of the patient, and the interventional puncture operation is completed. Intervene puncture mechanism when puncture operation can be arranged in the scanning chamber, and the problem of intervention operation in the middle of the unable bare-handed aperture of medical personnel is stretched into to effectual solution at present, conveniently realizes the puncture in the scanning chamber. Meanwhile, the position and posture adjusting component drives the interventional instrument to be matched with the imaging device and then can be accurately inserted into a focus area of a patient, and the fact that the interventional puncture operation can be accurately, efficiently and safely completed in a puncture process is guaranteed.
Drawings
FIG. 1 is a perspective view of an interventional puncture system in accordance with an embodiment of the present invention;
FIG. 2 is a perspective view of the interventional puncture system of FIG. 1 mounted on a patient;
FIG. 3 is a schematic view of the interventional puncture system of FIG. 2 as it enters a scanning chamber with a patient;
FIG. 4 is a perspective view of one embodiment of a multiple degree of freedom mover of the lancing mechanism shown in FIG. 1;
FIG. 5 is a perspective view of another embodiment of a multiple degree of freedom mover of the lancing mechanism shown in FIG. 1;
FIG. 6 is a perspective view of the lancing mechanism of FIG. 5 mounted to a local coil;
FIG. 7 is a perspective view of the lancing mechanism of FIG. 6 mounted to a local coil by a slide mechanism;
FIG. 8 is a perspective view of a third embodiment of a multiple degree of freedom mover in the lancing mechanism shown in FIG. 1;
FIG. 9 is a perspective view of a fourth embodiment of a multiple degree of freedom mover in the lancing mechanism shown in FIG. 1;
FIG. 10 is a perspective view of a fifth embodiment of a multiple degree of freedom mover in the lancing mechanism shown in FIG. 1;
FIG. 11 is a perspective view of an embodiment of an interventional puncture system in accordance with another embodiment of the invention;
FIG. 12 is a perspective view of another embodiment of an interventional puncture system in accordance with another embodiment of the invention;
FIG. 13 is a perspective view of yet another embodiment of an interventional puncture system in accordance with another embodiment of the invention;
fig. 14 is a perspective view of an interventional puncture system in accordance with yet another embodiment of the invention.
Wherein:
100-an interventional puncture system;
110-a puncture mechanism;
111-position and attitude adjustment assembly;
1111-a mounting member;
1112-a multiple degree of freedom motion piece;
11121-a rotating member;
11122-rotating member;
11123-a pusher;
1113-a clamp;
112-an interventional instrument;
120-local coil;
121-a hollowed-out portion;
130-a sliding mechanism;
131-an axial slide;
132-a three-axis slider;
140-a mobile seat;
200-a hospital bed;
300-patient;
400-an imaging device;
410-scanning the chamber.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly apparent, the interventional puncture system and the medical device having the same of the present invention are further described in detail by embodiments in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1, 3, 6, 11-14, the present invention provides an interventional puncture system 100. The interventional puncture system 100 is applied to a medical instrument to perform an interventional puncture operation on a lesion area of a patient 300. Moreover, the interventional puncture system 100 of the present invention may be inserted into a scanning cavity 410 of an imaging device 400 (imaging body), and an interventional puncture operation is performed on a lesion region of the patient 300 within the scanning cavity 410. The focus area of the patient 300 is scanned and imaged through the imaging device 400, the control system of the diagnosis and treatment device can receive the real-time image of the focus area, then the intervention puncture system 100 is controlled to guide the intervention puncture operation according to the real-time image, accurate positioning and accurate puncture are achieved, the success rate of the intervention puncture operation is improved, and the risk of medical accidents caused by accidental injuries is reduced.
After the interventional puncture system 100 of the present invention is inserted into the scanning cavity 410 of the imaging device 400, a medical staff is not required to be inserted into the scanning cavity 410 for an interventional puncture operation, so that the puncture in the scanning cavity 410 is conveniently realized. Meanwhile, the position and posture adjusting component 111 drives the interventional instrument 112 to be matched with the imaging device 400, so that the interventional instrument can accurately penetrate into a focus area of the patient 300, and the interventional puncture operation can be accurately, efficiently and safely completed in a puncture process. It is understood that the interventional puncture procedure herein includes, but is not limited to, tissue biopsy, tumor ablation, particle implantation, fluid collection, nerve block, superficial surgery, and other various interventional procedures.
Referring to fig. 1, 3, 6, 11-14, in one embodiment, interventional puncture system 100 includes a local coil 120 and a puncture mechanism 110. The local coil 120 is mounted on the patient 300 and corresponds to a focal region, the local coil 120 can move with the patient 300 on the patient bed 200 to the scanning chamber 410 of the imaging device 400, and the local coil 120 is used for scanning (transmitting and/or receiving radio frequency signals) the focal region. The puncture mechanism 110 may extend into the scanning lumen 410. The puncture mechanism 110 includes a position and posture adjusting component 111 and an interventional device 112 disposed at an end of the position and posture adjusting component 111, and the position and posture adjusting component 111 can drive the interventional device 112 to move to a lesion area for interventional puncture surgery.
The local coil 120 is mounted on the patient 300 during scanning for receiving imaging signals. The local coil 120 may assist the imaging device 400 in accurately acquiring magnetic resonance imaging signals in a focal region of the patient 300. In this way, the imaging device 400 can scan and image the lesion area of the patient 300, and transmit the dynamic information of the lesion area to the control system in real time, and the control system generates a real-time image of the lesion area according to the dynamic information of the lesion area.
The puncture mechanism 110 includes a position and posture adjusting assembly 111 and an interventional instrument 112. The interventional device 112 is installed at the output end of the position and posture adjusting component 111, the position and posture adjusting component 111 can drive the interventional device 112 to move synchronously when moving, so that the interventional device 112 can move to the vicinity of a focus area, and then the position and posture adjusting component 111 drives the interventional device 112 to perform interventional puncture operation. The position and posture adjustment assembly 111 has a motion capability of at least two degrees of freedom, and can adjust the position and/or posture, and further adjust the position of the interventional device 112, so that the interventional device 112 can accurately move to the vicinity of the focal region and penetrate into the focal region of the patient 300 at an accurate interventional angle and posture.
Optionally, the interventional instrument 112 is a puncture needle. The puncture needle includes but is not limited to a biopsy needle, a radio frequency ablation needle, a microwave ablation needle or a puncture drainage needle, etc. Of course, in other embodiments of the present invention, the interventional instrument 112 may also include a non-contact treatment member or the like. Non-contact treatment components include, but are not limited to, radiation sources for radiation therapy, and the like.
When the interventional puncture system 100 of the above embodiment is used for interventional puncture surgery, the local coil 120 is placed in the focal region of the patient 300, and the patient 300 is driven by the hospital bed 200 to enter the scanning cavity 410 of the imaging device 400 together, so that the focal region of the patient 300 is imaged by the scanning cavity 410 through the local coil 120; meanwhile, the puncture mechanism 110 may extend into the scanning cavity 410, and after the focal region is determined, the position and posture adjustment component 111 may directly drive the interventional device 112 to move according to the real-time image scanned by the imaging device 400 to penetrate into the focal region of the patient 300, thereby completing the interventional puncture operation. Intervene puncture mechanism 110 during puncture operation and can be arranged in scanning chamber 410, and the problem of intervention operation in the middle of the unable bare-handed aperture of medical personnel at present of effectual solution conveniently realizes the puncture in scanning chamber 410. Meanwhile, the position and posture adjusting component 111 drives the interventional instrument 112 to be matched with the imaging device 400, so that the interventional instrument can accurately penetrate into a focus area of the patient 300, and the interventional puncture operation can be accurately, efficiently and safely completed in a puncture process.
Referring to fig. 1-3, 6 and 7, in an embodiment, the local coil 120 at least partially wraps around the patient 300 in a circumferential direction of the scanning lumen 410. That is, the local coil 120 may completely wrap the patient 300 along the peripheral side of the patient 300, or may partially wrap the patient 300, as long as the local coil 120 is ensured to correspond to the focal region of the patient 300.
Optionally, the local coil 120 completely encases the patient 300 along a peripheral side of the patient 300. As shown in fig. 1, the local coil 120 has a plurality of hollow portions 121 for the intervention instrument 112 to pass through, and the intervention instrument 112 can extend into the focal region of the patient 300 through the hollow portions 121 to perform an intervention puncture operation. Of course, the bottom of the local coil 120 can also be a bottom shell made of a hard material, i.e. the area of the back of the patient 300 that is in contact with the local coil 120 can be a bottom shell. This reduces the area of the local coil 120, which in turn reduces costs, as long as the bottom shell is guaranteed to reliably support the patient 300. In other embodiments of the invention, the local coil 120 may be sheet-shaped, in which case the local coil 120 covers only a small area of the body of the patient 300. In the case of an interventional puncture operation, the sheet-like local coil 120 may be fixed to the body of the patient 300. It is understood that the local coil 120 may be applied to any location of a focal region of the patient 300, such as the head, neck, chest, abdomen, thoraco-abdominal, extremities, and so forth.
In one embodiment, the local coil 120 may be secured to the body of the patient 300 by a strap, lasso, velcro, plastic snap, or the like. The local coil 120 can be reliably fixed on the body of the patient 300 by the above method, so that the local coil 120 is prevented from falling off from the body of the patient 300, the focal region of the patient 300 can be accurately positioned by the local coil 120, and the accuracy of the interventional puncture operation is further ensured.
Referring to fig. 1-7, in one embodiment of the present invention, the lancing mechanism 110 is disposed in a local coil 120. That is, the position and orientation adjustment assembly 111 is disposed at the local coil 120. The position and attitude adjustment assembly 111 has one end connected to the local coil 120 and the other end to which the interventional instrument 112 is mounted. Since the local coil 120 is mounted on the patient 300 during use, after the local coil 120 enters the scan chamber 410 of the imaging device 400 along with the patient 300, the position and orientation adjustment assembly 111 on the local coil 120 also enters the scan chamber 410 along with the patient 300. After the imaging device 400 cooperates with the local coil 120 to image the focal region of the patient 300 in real time, the position and posture component drives the interventional instrument 112 to move above the focal region of the patient 300. In addition, in the process of moving the interventional device 112 to the upper part of the focus area, the position and posture adjusting component 111 adjusts the inclination angle and the position of the interventional device 112 in real time, so that the interventional device 112 can be aligned to the focus area of the patient 300, and in the process of driving the interventional device 112 to penetrate into the focus area of the patient 300 by the position and posture adjusting component 111, the inclination angle and the position of the interventional device 112 can be adjusted in real time, so that the interventional device 112 can accurately penetrate into the focus area of the patient 300, and the effect of the interventional puncture operation is ensured.
In one embodiment, the lancing mechanism 110 is fixedly or removably mounted to the local coil 120. Alternatively, the puncture mechanism 110 may be fixedly arranged to the local coil 120. That is, the puncture mechanism 110 may be integrally formed with the partial coil 120, which may reduce the assembly process; of course, the puncture mechanism 110 may also be fixed to the local coil 120 in a subsequent process, such as by welding or the like. Still alternatively, the puncture mechanism 110 is detachably mounted to the local coil 120. That is, the position and posture adjusting component 111 and the local coil 120 are separately arranged, when the interventional puncture operation is performed, the position and posture adjusting component 111 is mounted on the local coil 120, and after the operation is completed, the position and posture adjusting component 111 is detached from the local coil 120, so that the position and posture adjusting component 111 and the local coil 120 can be conveniently accommodated; meanwhile, the position and posture adjusting components 111 in different types are convenient to replace so as to adapt to different types of interventional puncture operations. Alternatively, the puncture mechanism 110 is detachably mounted to the local coil 120 by a pin connection, a bolt connection, a bayonet connection, an interference connection, an adhesive connection, or the like.
Further, the puncture mechanism 110 is detachably connected to the local coil 120 via a mounting interface. Illustratively, the lancing mechanism 110 has a first mounting interface and the local coil 120 has a second mounting interface, and the lancing mechanism 110 is removably mounted to the local coil 120 by mating the first mounting interface with the second mounting interface. Of course, the lancing mechanism 110 is fixedly mounted to the local coil 120 by mating the first mounting interface with the second mounting interface.
Referring to fig. 7, in one embodiment, the interventional puncture system 100 further includes a sliding mechanism 130 disposed on the local coil 120, and the puncture mechanism 110 is disposed on the sliding mechanism 130 and is slidable along the sliding mechanism 130. The sliding mechanism 130 is used to slidably mount the position and orientation adjusting assembly 111. In this way, the position and orientation adjusting component 111 can slide along the local coil 120 through the sliding mechanism 130, and the position of the position and orientation adjusting component 111 on the sliding mechanism 130 is adjusted, so as to reduce the protruding length of the position and orientation adjusting component 111, and facilitate the control of the position and orientation adjusting component 111.
When the interventional puncture operation is performed, after the patient 300 and the local coil 120 are driven by the hospital bed 200 to move to the scanning cavity 410 of the imaging device 400, the position and posture adjusting component 111 drives the interventional device 112 to move along the sliding mechanism 130, so that the position and posture adjusting component 111 is as close to the lesion area of the patient 300 as possible. Then, the position and posture adjustment component 111 drives the interventional device 112 to move above the lesion area of the patient 300, and performs an interventional puncturing operation.
It is understood that the position and orientation adjustment assembly 111 may be actively driven or passively driven at the sliding mechanism 130. When the position and orientation adjusting assembly 111 is actively driven, the power of the position and orientation adjusting assembly 111 on the sliding mechanism 130 can be provided by the sliding mechanism 130, and the sliding mechanism 130 can drive the position and orientation adjusting assembly 111 to slide along the sliding mechanism 130, which will be described in detail later; of course, the power of the position and orientation adjusting assembly 111 on the sliding mechanism 130 can also be realized by the control system of the medical equipment, and the control system controls the position and orientation adjusting assembly 111 to move along the sliding mechanism 130. When the position and orientation adjusting assembly 111 is driven passively, after the imaging device 400 cooperates with the local coil 120 to determine the focal region of the patient 300, the medical staff can manually control the position and orientation adjusting assembly 111 to slide along the sliding mechanism 130, so that the position and orientation adjusting assembly 111 is as close to the focal region of the patient 300 as possible.
Illustratively, sliding mechanism 130 includes a sliding drive coupled to lancing mechanism 110 to drive lancing mechanism 110 to slide along sliding mechanism 130. That is, the sliding mechanism 130 enables the position and orientation adjustment assembly 111 to be actively driven by sliding the driving member. The sliding driver is a power source of the position and orientation adjusting assembly 111, and can drive the position and orientation adjusting assembly 111 to move along the sliding mechanism 130, so as to adjust the position of the position and orientation adjusting assembly 111 on the local coil 120. Alternatively, the sliding driving member includes, but is not limited to, an electric motor, a pneumatic cylinder, a hydraulic cylinder, a piezoelectric ceramic, etc., and may also be other actuators capable of driving the position and orientation adjusting assembly 111.
Referring to fig. 7, in an embodiment, the sliding mechanism 130 includes an axial slider 131 disposed on the local coil 120, the axial slider 131 can extend along the length direction of the hospital bed 200, and the axial slider 131 can slidably mount the puncturing mechanism 110. The local coil 120 is located behind the scanning chamber 410 and the axial slide 131 extends in the axial direction of the scanning chamber 410. The bottom of the position and posture adjusting component 111 is mounted on the axial sliding member 131 and can slide along the axial sliding member 131, so that the position and posture adjusting component 111 can drive the interventional device 112 to be close to the lesion area, and the position and posture adjusting component 111 can be controlled conveniently.
Alternatively, axial slide 131 includes, but is not limited to, a sliding slot or a sliding rail. Illustratively, the axial slide 131 is an axial slide. Of course, the axial sliding member 131 may have a linear type, a curved type, or a combination of linear and curved types. In this way, the position and orientation adjustment assembly 111 may be slid to any position of the local coil 120 to facilitate alignment of the interventional instrument 112 at the end of the position and orientation adjustment assembly 111 with the focal region of the patient 300.
In other embodiments of the present invention, the sliding mechanism 130 comprises a three-axis slider 132 disposed on the local coil 120, and an output end of the three-axis slider 132 slidably mounts the puncture mechanism 110 for achieving three-axis displacement adjustment of the puncture mechanism 110. The three-axis slide 132 can enable adjustment of the position and attitude adjustment assembly 111 for displacement in three directions relative to the local coil 120. Illustratively, the three-axis slider 132 includes an X-direction slider, a Y-direction slider, and a Z-direction slider, which are slidably connected in sequence, wherein one slider is connected to two other sliders, one of which is mounted to the local coil 120, and the other is slidably mounted to the position and attitude adjusting assembly 111. This may enable adjustment of the position and orientation adjustment assembly 111 in three-dimensional space. The three-axis driving member 132 is shown in fig. 13, and the three-axis sliding members 132 are shown in the same manner as in fig. 13, except that the positions may be different, such as on the patient bed 200, on the wall or ceiling, on the inner wall of the scanning chamber 410, and so on.
In an embodiment, the axial sliding member 131 and the local coil 120 may be integrally formed, which may reduce the assembly process and ensure that the axial sliding member 131 is reliably fixed to the local coil 120. Of course, the axial sliding member 131 may also be detachably disposed on the local coil 120 by an assembling manner, so that the position of the axial sliding member 131 on the local coil 120 can be conveniently adjusted, so that the position and posture adjusting assembly 111 can be adapted to different focal regions.
Referring to fig. 11-14, in another embodiment of the present invention, the lancing mechanism 110 is independent of the local coil 120. That is, the puncture mechanism 110 and the local coil 120 are two separate components, and there is no interconnection therebetween. When the puncture operation is performed, the puncture mechanism 110 and the local coil 120 may enter the scanning cavity 410, respectively, to complete the interventional puncture operation on the lesion area of the patient 300. Alternatively, interventional puncture system 100 may include only puncture mechanism 110. That is, when the puncture mechanism 110 and the local coil 120 are independent from each other, the local coil 120 may not be used, and only the focal region of the patient 300 is imaged in real time by the imaging device 400, and then the puncture mechanism 110 extends into the scanning cavity 410 of the imaging device 400, thereby completing the interventional puncture operation.
Referring to fig. 11-13, in one embodiment, lancing mechanism 110 is located outside of imaging device 400 and at one end of imaging device 400, or lancing mechanism 110 is disposed at an end of imaging device 400, or lancing mechanism 110 is suspended at a peripheral side of imaging device 400. When performing a puncture access procedure, puncture mechanism 110 may be moved into scanning chamber 410.
Referring to fig. 11, in one embodiment, the lancing mechanism 110 is provided in a hospital bed 200. When the patient 300 is carried into the scanning chamber 410 by the patient bed 200, the puncturing mechanism 110 can be carried into the scanning chamber 410 at the same time. In this manner, the movement of lancing mechanism 110 into scanning chamber 410 need not be separately controlled, facilitating control of lancing mechanism 110. Optionally, the puncturing mechanism 110 is fixedly or detachably connected to the patient bed 200. Further, the puncturing mechanism 110 can be directly fixed to the patient bed 200, in which case the bottom of the puncturing mechanism 110 is directly mounted to the edge of the patient bed 200. Of course, the puncturing mechanism 110 can also be mounted to the patient bed 200 by the sliding mechanism 130. Specifically, when the sliding mechanism 130 includes the axial sliding member 131, the axial sliding member 131 is disposed along the length direction of the hospital bed 200 and is located at the edge of the hospital bed 200; when the sliding mechanism 130 includes the three-axis slider 132, one axis of the three-axis slider 132, such as an X-direction slider, may be mounted to an edge of the patient bed 200.
In another embodiment, lancing mechanism 110 is positioned on the floor at the end of imaging device 400. Alternatively, lancing mechanism 110 is secured directly to the floor at the end of imaging device 400, and adjacent to the end of imaging device 400, to facilitate insertion of lancing mechanism 110 into scanning bore 410 for interventional lancing procedures. Still alternatively, as shown in fig. 12, the puncture mechanism 110 may be movably disposed on the ground at the end of the imaging apparatus 400 by the movable base 140. When performing an interventional puncture procedure, the puncture mechanism 110 may be moved by the movable base 140 near the end of the imaging device 400 and then extended into the scanning cavity 410 to perform the interventional puncture procedure. After the interventional puncture procedure is completed, the puncture mechanism 110 is moved out of the scanning lumen 410 and removed from the end of the imaging device 400 by the movable mount 140.
Referring to fig. 13, in yet another embodiment, lancing mechanism 110 is suspended from the end of imaging device 400. One end of the puncture mechanism 110 may be fixed to a wall or a ceiling near the imaging device 400, and the other end is suspended from the end of the imaging device 400, and when performing an interventional puncture procedure, the puncture mechanism 110 may perform the interventional puncture procedure with the end of the imaging device 400 protruding into the scanning chamber 410. After the interventional puncture procedure is completed, the puncture mechanism 110 is moved out of the scanning lumen 410. Alternatively, the puncture mechanism 110 may be provided directly on a wall or ceiling near the imaging apparatus 400, or may be provided on a wall or ceiling near the imaging apparatus 400 via the slide mechanism 130.
Referring to fig. 14, in yet another embodiment, the puncture mechanism 110 is disposed on an inner wall of the scanning chamber 410. After the patient 300 is driven by the hospital bed 200 to enter the scanning cavity 410, the puncturing mechanism 110 can directly move to the focal region of the patient 300 without being controlled to move to the scanning cavity 410, so that the control procedure is reduced, and the puncturing mechanism 110 can be conveniently controlled. Alternatively, lancing mechanism 110 is fixedly or removably mounted to the interior wall of scanning chamber 410. Alternatively, the puncturing mechanism 110 may be disposed directly on the inner wall of the scanning chamber 410, or may be disposed on the inner wall of the scanning chamber 410 via the sliding mechanism 130.
Referring to fig. 1, 4, 5, 8-10, in one embodiment, position and orientation adjustment assembly 111 includes a mounting member 1111, a multi-degree-of-freedom motion member 1112 rotatably mounted to mounting member 1111, and a clamping member 1113 disposed at an end of multi-degree-of-freedom motion member 1112, wherein clamping member 1113 is configured to clamp interventional instrument 112, and multi-degree-of-freedom motion member 1112 is movable relative to mounting member 1111 and drives clamping member 1113 to move interventional instrument 112 to a vicinity of a lesion area. The mounting member 1111 is a bearing member of the position and orientation adjusting assembly 111, and can bear various components of the position and orientation adjusting assembly 111, and the position and orientation adjusting assembly 111 is mounted to the local coil 120 through the mounting member 1111, or mounted to the patient bed 200, fixed to the floor, mounted to the wall or ceiling, or mounted to the inner wall of the scanning chamber 410, or the like. Optionally, mount 1111 is a mounting bar or a mount. Further, mounting member 1111 is telescopically arranged for adjusting the position of multiple degree of freedom movement 1112. The retractable power source of the mounting member 1111 may be a motor, an air cylinder, a hydraulic cylinder, or a piezoelectric ceramic.
The multiple degree of freedom motion 1112 may implement motion in at least two degrees of freedom, and may be a component of the position and orientation adjustment assembly 111 that implements multiple degree of freedom motion to implement adjustment of the position and/or orientation of the interventional instrument 112. It is understood that the multiple degree of freedom motion 1112 may control the interventional instrument 112 to produce at least two of rotation, translation, oscillation, and the like. Specific structure for the multiple degree of freedom mover 1112 is mentioned below. The clamping member 1113 is used to clamp the interventional device 112, so that the interventional device 112 is reliably installed in the position and posture adjusting assembly 111, and the interventional device 112 is prevented from falling off during the operation. The multi-degree-of-freedom movement member 1112 is movably attached to the mounting member 1111 at one end and movably attached to the holding member 1113 at the other end. In this way, multi-degree-of-freedom motion element 1112 can move relative to mounting element 1111 to move clamping element 1113 and interventional instrument 112 therein.
Referring to fig. 1, 4, 5, 8 to 10, in an embodiment, the multiple degree of freedom movement element 1112 includes a rotatable rotating element 11121, a rotatable rotating element 11122, and a pushing element 11123, the pushing element 11123 can mount the holding element 1113 and push the interventional instrument 112 in the holding element 1113 for interventional puncture, and the rotating element 11122 and the rotating element 11121 can drive the pushing element 11123 to move to adjust the interventional angle of the interventional instrument 112.
The rotating part 11121 can make the multi-degree-of-freedom moving part 1112 have the freedom of swinging motion, the rotating part 11122 can make the multi-degree-of-freedom moving part 1112 have the freedom of rotating motion, and the rotating part 11121 and the rotating part 11122 can make the multi-degree-of-freedom moving part 1112 generate moving displacement when rotating. It is understood that the rotating member 11121 can be mounted to the mounting member 1111, with the rotating member 11122 rotatably coupled to the rotating member 11121; the rotating member 11122 may also be rotatably coupled to the mounting member 1111 and the rotating member 11121 may be rotatably mounted to the rotating member 11122. Moreover, the number of the rotating member 11121 and the rotating member 11122 is at least one, the rotating member 11121 includes but is not limited to a rotating link, and the rotating member 11122 includes but is not limited to a rotating link. Optionally, the rotating members 11121 and the rotating members 11122 have driving capability to drive the rotating members 11121 and the rotating members 11122 to move. Furthermore, the driving capability is realized by a motor, an air cylinder, a hydraulic cylinder or piezoelectric ceramics.
The pushing member 11123 is mounted to the end of the rotating member 11122 or the rotating member 11121 on which the holding member 1113 is movably mounted. The pusher 11123 is used to effect pushing of the interventional instrument 112 such that the interventional instrument 112 penetrates a focal region of the patient 300. It will be appreciated that the interventional instrument 112 is rotated relative to the mounting member 1111 by the rotating member 11121 and the rotating member 11122 to adjust the position and posture of the interventional instrument 112 such that the interventional instrument 112 is positioned above the lesion area at an optimal interventional angle. Then, the pushing member 11123 pushes the holding member 1113 to move the interventional device 112 linearly along the interventional angle, so that the interventional device 112 penetrates into the lesion area of the patient 300. Alternatively, the pusher 11123 includes a housing and a linearly moving member disposed in the housing, and the clamp 1113 is located in the housing and mounted to an end of the linearly moving member. When the linear motion part moves, the clamping part 1113 can be pushed to drive the interventional device 112 to move. Further, the linear motion member includes, but is not limited to, a linear motor, a hydraulic cylinder, an air cylinder, or other components capable of outputting linear motion.
Of course, the pushing member 11123 can also be a component of the telecentric fixed point function currently used in surgery, and the pushing member 11123 can ensure that the position and posture of the interventional device 112 are fixed after the rotating member 11121 and the rotating member 11122 ensure the interventional angle of the interventional device 112. Subsequently, the pusher member 11123 may provide rotational and push control of the interventional instrument 112 so that the interventional instrument 112 may be accurately inserted into the lesion of the patient 300. The parts with the telecentric fixed point function form a stable supporting mechanism by a plurality of connecting rods, which is the prior art and is not described in detail herein. Also, the pusher 11123 has driving capability to effectuate driving of the pusher motion. Furthermore, the driving capability is realized by a motor, an air cylinder, a hydraulic cylinder or piezoelectric ceramics.
Alternatively, the multiple degree of freedom kinematic element 1112 may be used in conjunction with the slide mechanism 130, or may be used alone. Several specific configurations of the multiple degree of freedom motion assembly are illustrated below.
Illustratively, as shown in FIG. 8, FIG. 8 is a schematic view of a third embodiment of multiple degree of freedom mover 1112 in lancing mechanism 110. In this embodiment, the multiple degree of freedom motion element 1112 can be used alone, wherein the rotating element 11121 comprises two horizontal links rotatably connected to each other, one of the horizontal links rotatably connected to the mounting element 1111, the other horizontal link rotatably mounting the rotating element 11122, the swing link mounted to the end of the rotating element 11122, the pushing element 11123 mounted to the end of the swing link, and the pushing element 11123 movably mounting the holding element 1113 therein. At this time, the mounting member 1111 may be directly mounted to the local coil 120. Thus, movement of the two horizontal links causes the rotation member 11122, the swing link, and the pushing member 11123 to extend, such that the interventional instrument 112 moves over the focal region. The rotation of the rotating member 11122 and the swinging of the swinging link can drive the pushing member 11123 and the interventional device 112 therein to move so as to adjust the posture of the interventional device 112, so that the interventional device 112 is located above the lesion area at an accurate interventional angle. Of course, in this case, the multiple degree of freedom motion element 1112 may also move in cooperation with the axial slider 131 or the three-axis slider 132 in the slide mechanism 130.
Illustratively, as shown in FIG. 9, FIG. 9 is a schematic view of a fourth embodiment of multiple degree of freedom mover 1112 in lancing mechanism 110. In this embodiment, the multiple degree of freedom kinematic elements 1112 may be used in conjunction with the slide mechanism 130. The multiple degree of freedom motion piece 1112 is mounted on the axial slider 131 or the three-axis slider 132 of the sliding mechanism 130 through the mounting piece 1111, the multiple degree of freedom motion piece 1112 drives the pushing piece 11123 and the interventional instrument 112 therein to move above the lesion area through the sliding mechanism 130, and the multiple degree of freedom motion piece 1112 adjusts the interventional angle of the interventional instrument 112, so that the interventional instrument 112 can accurately penetrate into the lesion area of the patient 300. Specifically, the multiple degree of freedom movement element 1112 includes a rotatable rotating element 11122 and a swingable rotating element 11121, one end of the rotating element 11121 is swingably connected to an end of the mounting member 1111, the other end of the rotating element 11121 is rotatably connected to the rotating element 11122, and the pushing element 11123 is connected to an end of the rotating element 11122 remote from the rotating element 11121. At this time, the mounting member 1111 is mounted to the local coil 120 by the slide mechanism 130. The engagement of the rotating member 11122 and the rotating member 11121 can drive the pushing member 11123 and the interventional device 112 therein to move so as to adjust the posture of the interventional device 112, so that the interventional device 112 is located above the lesion area at a correct interventional angle.
Illustratively, as shown in FIG. 10, FIG. 10 is a schematic view of a fifth embodiment of multiple degree of freedom mover 1112 in lancing mechanism 110. In this embodiment, the pushing member 11123 is mounted to the end of the rotating member 11121, the end of the rotating member 11121 remote from the pushing member 11123 swingably mounts the rotating member 11122, and the end of the rotating member 11122 remote from the rotating member 11121 rotatably mounts the mounting member 1111. When the multi-degree-of-freedom motion element 1112 moves, the rotating element 11122 may rotate the rotating element 11121 and the pushing element 11123 relative to the mounting element 1111, and the cooperation between the rotating element 11121 and the pushing element 11123 may drive the pushing element 11123 and the interventional device 112 therein to move, so as to adjust the posture of the interventional device 112, such that the interventional device 112 is located above the lesion area at an accurate interventional angle. The multiple degree of freedom motion element 1112 in this embodiment may be attached to the axial slider 131 or the tri-axial slider 132 of the sliding mechanism 130, or may be used alone.
The push member 11123 in the above embodiments can be a straight-line moving part or a part with a function of a far center point.
Referring to fig. 1-7, in one embodiment, the multiple degree of freedom kinematic 1112 comprises tandem and/or parallel robotic arms. That is, the multiple degree of freedom kinematic unit 1112 may include a plurality of serial robotic arms, and the interventional puncture procedure may be performed by connecting the plurality of serial robotic arms. The multiple degree of freedom motion 1112 may also include multiple parallel robotic arms coupled to perform an interventional procedure. Of course, the multi-degree-of-freedom motion element 1112 may further include at least one serial robot and at least one parallel robot, and the interventional puncture operation is performed by the cooperation of the serial robot and the parallel robot, in which case the parallel robot is located at the end of the serial robot. It will be appreciated that the tandem robot arm comprises a plurality of single arms, with rotatable connections between adjacent single arms. The parallel robotic arm may comprise, for example, a stewart platform.
Illustratively, as shown in fig. 5 to 7, the multiple degree of freedom kinematic element 1112 includes a plurality of serial robotic arms, and an interventional puncture procedure is performed according to a real-time image through the plurality of serial robotic arms. The tandem robot arm is assembled to the local coil 120, and may be fixed to the local coil 120 by a mounting member 1111, or may be adjusted in position on the local coil 120 by an axial slider 131 or a triaxial slider 132 of the slide mechanism 130.
In one embodiment, the multi-degree-of-freedom motion 1112 comprises a combination of serial and/or parallel robots and flexible robots. That is, the multi-degree-of-freedom kinematic element 1112 may include a plurality of serial robots and flexible robots at ends of the serial robots, the flexible robots being mounted with the gripping members 1113. The multi-degree-of-freedom motion part 1112 may also include a plurality of parallel mechanical arms and a flexible mechanical arm at the end of the parallel mechanical arms, and the flexible mechanical arm is provided with a clamping part 1113 to implement an interventional puncture operation. Of course, the multi-degree-of-freedom motion element 1112 may further include at least one serial mechanical arm, at least one parallel mechanical arm, and a flexible mechanical arm, where the flexible mechanical arm is mounted with the clamp 1113, and the serial mechanical arm, the parallel mechanical arm, and the flexible mechanical arm cooperate together to implement an interventional puncture operation.
Illustratively, as shown in fig. 1 to 4, the multiple degree of freedom motion 1112 includes a parallel mechanical arm and a flexible mechanical arm, and the position and the posture of multiple degrees of freedom are adjusted by the parallel mechanical arm and the flexible mechanical arm, and the interventional puncture surgery is completed according to the real-time image. The parallel mechanical arm is the stewart platform structure, the specific structure of the parallel mechanical arm is shown in fig. 4, and the parallel mechanical arm is provided with a plurality of telescopic rods to realize multi-degree-of-freedom adjustment. The flexible robotic arms are mounted to the output ends of the parallel robotic arms, and the interventional instrument 112 is mounted to the output ends of the flexible robotic arms. The parallel robotic arm is assembled to the local coil 120, and may be fixed to the local coil 120 by a mounting member 1111, or may be adjusted in position on the local coil 120 by an axial slider 131 or a triaxial slider 132 of the slide mechanism 130. The parallel robot is mounted to the local coil 120 through a mounting member 1111, and the multi-degree-of-freedom moving member 1112 further includes a driving unit disposed at the top of the parallel robot and driving the parallel robot and the flexible robot to move through the driving unit.
It should be noted that the essential spirit of the multi-degree-of-freedom motion 1112 is that it can have a multi-degree-of-freedom drive scheme to achieve arbitrary adjustment of the position and/or attitude of the interventional instrument 112. In the above embodiments, several specific implementation forms of the multi-degree-of-freedom motion element 1112 are described, but the multi-degree-of-freedom driving manner is various in arrangement and cannot be exhaustive, and the multi-degree-of-freedom driving manner of the present invention is not limited to the specific implementation form.
Referring to fig. 3, 11 to 14, the present invention further provides a medical apparatus including an imaging apparatus 400 (imaging body), a patient bed 200 and the interventional puncture system 100 in the above embodiment. The local coil 120 of the interventional puncture system 100 is installed corresponding to the focal region of the patient 300, after the hospital bed 200 enters the scanning cavity 410, the puncture mechanism 110 of the interventional puncture system 100 can extend into the scanning cavity 410, and the puncture mechanism 110 can perform interventional puncture operation on the focal region of the patient 300. After the interventional puncture system 100 of the embodiment is adopted by the medical equipment of the invention, the focal region of the patient 300 can be accurately positioned through the matching of the local coil 120 and the imaging device 400, and the focal region is imaged in real time, meanwhile, the puncture mechanism 110 can extend into the scanning cavity 410 during the interventional puncture operation, and after the focal region is determined, the position and posture adjusting component 111 can directly drive the interventional device 112 to move according to the real-time image scanned by the imaging device 400 so as to penetrate into the focal region of the patient 300, and the interventional puncture operation is completed.
It is understood that the puncturing mechanism 110 can be disposed on the local coil 120, which can make the interventional puncturing system 100 small in size, convenient to adjust, and capable of achieving a high-precision puncturing function. Of course, the puncturing mechanism 110 may also be provided independently of the local coil 120, e.g., on the patient bed 200, on the floor beside the imaging device 400, on a wall or ceiling beside the imaging device 400, etc., as long as it is ensured that the puncturing mechanism 110 extends into the scanning chamber 410 when in use.
Among them, the Imaging device 400 (Imaging body) of the medical device is a Magnetic Resonance Imaging (MR) device (body), a Positron Emission Computed Tomography (PET) device (body), a Computed Tomography (CT) device (body), a PET-MR device (body), a PET-CT device (body), or the like.
In an embodiment, the medical apparatus further includes a control system in transmission connection with the local coil 120 and the puncturing mechanism 110, after the control system receives the real-time imaging of the focal region by the local coil 120, the control system may control the position and posture adjusting component 111 of the puncturing mechanism 110 to drive the interventional device 112 to move to the vicinity of the focal region according to the real-time imaging, and control the position and posture adjusting component 111 to drive the interventional device 112 to perform an interventional puncturing operation; or, the medical apparatus further includes a control system connected to the puncturing mechanism 110, the control system may control the position and posture adjusting component 111 of the puncturing mechanism 110 to drive the interventional device 112 to move to a position near the focal region, and control the position and posture adjusting component 111 to drive the interventional device 112 to perform the interventional puncturing operation. That is, the puncturing mechanism 110 may puncture autonomously or may be controlled by a medical staff. It will be appreciated that the transmission connection may be a wired connection, or may be a wireless connection such as a communications connection.
When the puncture mechanism 110 autonomously completes puncture, after the control system receives dynamic information of a focus area fed back by the imaging device 400, the control system can generate a real-time image of the focus area from the dynamic information through information processing, and further the control system can process the position of the puncture mechanism 110, the position of the local coil 120 and the position of the focus area to obtain a distance between the puncture mechanism 110 and the focus area, and plan a movement path of the puncture mechanism 110 moving to the vicinity of the focus area to obtain a preset planning path; the angle of penetration mechanism 110 into the lesion area is also planned to obtain a predetermined angle of intervention. Then, the control system controls the puncture mechanism 110 to move to the vicinity of the lesion area according to a predetermined planned path, and then the control system controls the puncture mechanism 110 to perform an intervention operation according to a predetermined intervention angle. In addition, in the process of interventional puncture, medical personnel can observe the relative position relationship between the puncture mechanism 110 and a focus area in real time, so as to avoid the occurrence of deviation. Of course, the predetermined planned path as well as the predetermined angle of intervention may also be planned manually by the medical staff. It can be understood that the control system processes information and positions in the prior art, and details thereof are omitted here.
When the puncture mechanism 110 is controlled by a medical staff to perform interventional puncture, after the control system receives dynamic information of a lesion area fed back by the imaging device 400, the control system can generate a real-time image of the lesion area from the dynamic information through information processing. Then, the medical staff may control the movement of the puncturing mechanism 110 through a control system, such as a remote controller, a joystick, etc., and the medical staff may observe the relative position relationship between the puncturing mechanism 110 and the lesion area in real time, so as to control the puncturing mechanism 110 to move above the lesion area of the patient 300, and at the same time, the position and posture adjusting component 111 adjusts the intervention angle of the interventional instrument 112 to match the current real-time image of the lesion area. Subsequently, the medical staff drives the interventional device 112 to perform the interventional puncture operation through the position and posture adjusting assembly 111 controlled by a control system such as a remote controller, a joystick and the like. In addition, during the interventional puncture procedure, the medical staff may adjust the interventional device 112 according to the real-time image of the lesion area.
The technical features of the embodiments described above can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An interventional puncture system, comprising:
the local coil can move to a scanning cavity of the imaging equipment along with the sickbed; and
can stretch into the puncture mechanism in scanning chamber, including position and gesture adjustment subassembly and set up in the intervention apparatus of position and gesture adjustment subassembly tip, position and gesture adjustment subassembly can drive intervention apparatus moves to the sick bed top to intervene the puncture operation.
2. The interventional puncture system of claim 1, wherein the puncture mechanism is disposed at the local coil.
3. The interventional puncture system of claim 2, wherein the puncture mechanism is fixedly or removably mounted to the local coil.
4. The interventional puncture system of claim 2, further comprising a sliding mechanism disposed on the local coil, the puncture mechanism being disposed on and slidable along the sliding mechanism.
5. The interventional puncture system of claim 4, wherein the sliding mechanism includes a sliding drive coupled to the puncture mechanism to drive the puncture mechanism to slide along the sliding mechanism.
6. The interventional puncture system of claim 4, wherein the sliding mechanism comprises an axial slider disposed on the local coil, the axial slider being extendable along a length of the patient bed, the axial slider being configured to slidably mount the puncture mechanism.
7. The interventional puncture system of claim 4, wherein the sliding mechanism includes a tri-axial slider disposed on the local coil, an output end of the tri-axial slider slidably mounting the puncture mechanism for enabling tri-axial displacement adjustment of the puncture mechanism.
8. The interventional puncture system of claim 1, wherein the puncture mechanism is independent of the local coil.
9. The interventional puncture system of claim 8, wherein the puncture mechanism is located outside and at one end of the imaging device, or is disposed at an end of the imaging device, or is suspended around a circumference of the imaging device;
the puncture mechanism is movable into the scanning cavity when a puncture access procedure is performed.
10. A medical device comprising an imaging device, a patient bed, and the interventional puncture system of any one of claims 1-9;
the local coil of the interventional puncture system is arranged corresponding to a focus area of a patient, after the sickbed enters the scanning cavity, a puncture mechanism of the interventional puncture system can extend into the scanning cavity, and the puncture mechanism can perform interventional puncture operation on the focus area of the patient;
wherein the imaging device is an MR device, a PET/MR device, a CT device, a PET/CT device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911337403.4A CN113081263A (en) | 2019-12-23 | 2019-12-23 | Intervene puncture system and have its diagnosis and treatment equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911337403.4A CN113081263A (en) | 2019-12-23 | 2019-12-23 | Intervene puncture system and have its diagnosis and treatment equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113081263A true CN113081263A (en) | 2021-07-09 |
Family
ID=76663944
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911337403.4A Pending CN113081263A (en) | 2019-12-23 | 2019-12-23 | Intervene puncture system and have its diagnosis and treatment equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113081263A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113893036A (en) * | 2021-09-09 | 2022-01-07 | 上海交通大学 | Interventional robot device in magnetic resonance environment |
| CN117860226A (en) * | 2024-01-12 | 2024-04-12 | 安徽硕金医疗设备有限公司 | Large-caliber short-cavity interventional therapy type magnetic resonance equipment and design method thereof |
Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5678549A (en) * | 1992-07-29 | 1997-10-21 | Siemens Aktiengesellschaft | Stereotactic auxiliary attachment for a nuclear magnetic resonance tomography apparatus |
| US6529764B1 (en) * | 1999-10-05 | 2003-03-04 | Ge Yokogawa Medical Systems, Limited | Puncture needle support tool, RF coil, magnetic resonance signal measuring apparatus, and magnetic resonance imaging apparatus and method |
| CN2712301Y (en) * | 2004-06-17 | 2005-07-27 | 冯威健 | Guiding device for puncturation, biopsy and injection under CT |
| CN101554333A (en) * | 2004-05-21 | 2009-10-14 | 伊西康内外科公司 | Mri biopsy device |
| CN102859385A (en) * | 2010-04-14 | 2013-01-02 | 皇家飞利浦电子股份有限公司 | Instrument guiding during magnetic resonance imaging |
| CN202843607U (en) * | 2012-09-13 | 2013-04-03 | 上海联影医疗科技有限公司 | Magnetic resonance system |
| US20140188132A1 (en) * | 2012-12-31 | 2014-07-03 | Mako Surgical Corp. | System for image-based robotic surgery |
| US20150057525A1 (en) * | 2013-08-26 | 2015-02-26 | Kabushiki Kaisha Toshiba | Coil pad, vibrator, and magnetic resonance imaging apparatus |
| US20160033589A1 (en) * | 2013-04-10 | 2016-02-04 | Kabushiki Kaisha Toshiba | Rf coil and magnetic resonance imaging apparatus |
| CN106646295A (en) * | 2015-10-28 | 2017-05-10 | 西门子(深圳)磁共振有限公司 | Local coil of magnetic resonance imaging system and application method and magnetic resonance imaging system |
| CN206355135U (en) * | 2016-08-15 | 2017-07-28 | 苏州安术医疗科技有限公司 | Lesions position diagnoses and treatment all-in-one |
| CN107049443A (en) * | 2017-06-16 | 2017-08-18 | 北京理工大学 | A kind of lung puncture robot main body mechanism of CT images guiding in real time |
| CN107242898A (en) * | 2017-06-29 | 2017-10-13 | 安徽硕金医疗设备有限公司 | A kind of knee joint intervenes coil |
| CN107280670A (en) * | 2017-06-29 | 2017-10-24 | 安徽硕金医疗设备有限公司 | A kind of backbone intervenes coil |
| CN108836485A (en) * | 2018-07-13 | 2018-11-20 | 江苏集萃智能制造技术研究所有限公司 | A kind of medical robot for pyramid plastic operation |
| CN109009349A (en) * | 2018-08-03 | 2018-12-18 | 广州医科大学附属第医院 | A kind of robot puncturing control method and device |
| CN109303610A (en) * | 2017-07-27 | 2019-02-05 | 赛诺微医疗科技(北京)有限公司 | Surgical instrument clamping device, end effector and the surgery mechanical arm using it |
| CN109862845A (en) * | 2016-09-16 | 2019-06-07 | Gys科技有限责任公司(经营名称为卡丹机器人) | System and method for the mounting robot arm in surgical robot system |
| CN110522491A (en) * | 2018-05-24 | 2019-12-03 | 上海联影医疗科技有限公司 | Medical equipment |
-
2019
- 2019-12-23 CN CN201911337403.4A patent/CN113081263A/en active Pending
Patent Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5678549A (en) * | 1992-07-29 | 1997-10-21 | Siemens Aktiengesellschaft | Stereotactic auxiliary attachment for a nuclear magnetic resonance tomography apparatus |
| US6529764B1 (en) * | 1999-10-05 | 2003-03-04 | Ge Yokogawa Medical Systems, Limited | Puncture needle support tool, RF coil, magnetic resonance signal measuring apparatus, and magnetic resonance imaging apparatus and method |
| CN101554333A (en) * | 2004-05-21 | 2009-10-14 | 伊西康内外科公司 | Mri biopsy device |
| CN2712301Y (en) * | 2004-06-17 | 2005-07-27 | 冯威健 | Guiding device for puncturation, biopsy and injection under CT |
| CN102859385A (en) * | 2010-04-14 | 2013-01-02 | 皇家飞利浦电子股份有限公司 | Instrument guiding during magnetic resonance imaging |
| CN202843607U (en) * | 2012-09-13 | 2013-04-03 | 上海联影医疗科技有限公司 | Magnetic resonance system |
| US20140188132A1 (en) * | 2012-12-31 | 2014-07-03 | Mako Surgical Corp. | System for image-based robotic surgery |
| US20160033589A1 (en) * | 2013-04-10 | 2016-02-04 | Kabushiki Kaisha Toshiba | Rf coil and magnetic resonance imaging apparatus |
| US20150057525A1 (en) * | 2013-08-26 | 2015-02-26 | Kabushiki Kaisha Toshiba | Coil pad, vibrator, and magnetic resonance imaging apparatus |
| CN106646295A (en) * | 2015-10-28 | 2017-05-10 | 西门子(深圳)磁共振有限公司 | Local coil of magnetic resonance imaging system and application method and magnetic resonance imaging system |
| CN206355135U (en) * | 2016-08-15 | 2017-07-28 | 苏州安术医疗科技有限公司 | Lesions position diagnoses and treatment all-in-one |
| CN109862845A (en) * | 2016-09-16 | 2019-06-07 | Gys科技有限责任公司(经营名称为卡丹机器人) | System and method for the mounting robot arm in surgical robot system |
| CN107049443A (en) * | 2017-06-16 | 2017-08-18 | 北京理工大学 | A kind of lung puncture robot main body mechanism of CT images guiding in real time |
| CN107242898A (en) * | 2017-06-29 | 2017-10-13 | 安徽硕金医疗设备有限公司 | A kind of knee joint intervenes coil |
| CN107280670A (en) * | 2017-06-29 | 2017-10-24 | 安徽硕金医疗设备有限公司 | A kind of backbone intervenes coil |
| CN109303610A (en) * | 2017-07-27 | 2019-02-05 | 赛诺微医疗科技(北京)有限公司 | Surgical instrument clamping device, end effector and the surgery mechanical arm using it |
| CN110522491A (en) * | 2018-05-24 | 2019-12-03 | 上海联影医疗科技有限公司 | Medical equipment |
| CN108836485A (en) * | 2018-07-13 | 2018-11-20 | 江苏集萃智能制造技术研究所有限公司 | A kind of medical robot for pyramid plastic operation |
| CN109009349A (en) * | 2018-08-03 | 2018-12-18 | 广州医科大学附属第医院 | A kind of robot puncturing control method and device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113893036A (en) * | 2021-09-09 | 2022-01-07 | 上海交通大学 | Interventional robot device in magnetic resonance environment |
| CN113893036B (en) * | 2021-09-09 | 2023-11-21 | 上海交通大学 | Interventional robot device under magnetic resonance environment |
| CN117860226A (en) * | 2024-01-12 | 2024-04-12 | 安徽硕金医疗设备有限公司 | Large-caliber short-cavity interventional therapy type magnetic resonance equipment and design method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9554779B2 (en) | Method and device for MRI-guided breast interventions | |
| CN109475384B (en) | Automatic insertion device | |
| CN211534702U (en) | Intervene puncture system and have its diagnosis and treatment equipment | |
| EP3054868B1 (en) | Needle steering by shaft manipulation | |
| US9259271B2 (en) | Automated in-bore MR guided robotic diagnostic and therapeutic system | |
| EP3342349B1 (en) | Robotic operating table and hybrid operating system | |
| KR20140125398A (en) | Compact needle manipulator for targeted interventions | |
| CN110522491B (en) | Medical device | |
| CN110960318A (en) | CT guided ablation system and ablation positioning method | |
| CN211534703U (en) | Intervene puncture system and have its diagnosis and treatment equipment | |
| CN114209400A (en) | Ultrasound image navigation prostate puncture surgical robot | |
| CN113784683A (en) | Systems and methods for maintaining sterility of components using a removable sterile volume | |
| KR20160122558A (en) | Hair transplant apparatus | |
| CN113729941B (en) | VR-based operation auxiliary positioning system and control method thereof | |
| CN211534700U (en) | Intervene puncture system and have its diagnosis and treatment equipment | |
| CN211534705U (en) | Intervene puncture system and have its diagnosis and treatment equipment | |
| CN113081263A (en) | Intervene puncture system and have its diagnosis and treatment equipment | |
| CN114427565A (en) | Damping hinge structure, mechanical arm and robot for puncture surgery | |
| CN211534701U (en) | Intervene puncture system and have its diagnosis and treatment equipment | |
| JP3421322B2 (en) | Magnetic resonance tomography equipment | |
| US20190336093A1 (en) | System for performing robotic surgery | |
| CN114098970A (en) | CT imaging, navigation and positioning device and system of orthopedic surgery robot | |
| CN218515900U (en) | Arch device for image scanning bed | |
| CN211534704U (en) | Intervene puncture system and have its diagnosis and treatment equipment | |
| CN207901145U (en) | Medical mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |