CN113599722B - Implant needle clamp for surgical navigation and radioactive implantation system and use method - Google Patents
Implant needle clamp for surgical navigation and radioactive implantation system and use method Download PDFInfo
- Publication number
- CN113599722B CN113599722B CN202110885684.8A CN202110885684A CN113599722B CN 113599722 B CN113599722 B CN 113599722B CN 202110885684 A CN202110885684 A CN 202110885684A CN 113599722 B CN113599722 B CN 113599722B
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- 238000002513 implantation Methods 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000007943 implant Substances 0.000 title claims description 25
- 230000002285 radioactive effect Effects 0.000 title claims description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 88
- 230000005540 biological transmission Effects 0.000 claims abstract description 73
- 230000008569 process Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 2
- 238000007599 discharging Methods 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 9
- 238000009434 installation Methods 0.000 abstract description 3
- 206010028980 Neoplasm Diseases 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000001959 radiotherapy Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
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- 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
- A61B17/3468—Trocars; Puncturing needles for implanting or removing devices, e.g. prostheses, implants, seeds, wires
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- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/103—Treatment planning systems
Abstract
The invention discloses an implantation needle clamp for an operation navigation and radioactivity implantation system and a use method thereof, wherein the implantation needle clamp comprises a shell, a delivery mechanism and a clamping mechanism; the shell is fixedly connected with the mechanical arm; the delivery mechanism comprises a delivery wheel set, a delivery wheel shaft and a delivery power mechanism; the automatic guiding, delivering and clamping device is ingenious in structural arrangement and reasonable in arrangement, and can be used for realizing automatic guiding, delivering and clamping of the implantation needle, and compared with the traditional implantation needle clamp which needs manual installation and disassembly, the automatic guiding, delivering and clamping device is greatly convenient for clamping and replacing the implantation needle; the invention further skillfully designs the delivery mechanism and the clamping mechanism, has simple and skillful structure, realizes delivery and clamping by utilizing the rotation of the delivery wheel set and the wheel track change, and realizes that the delivery wheel set is still in transmission connection when the wheel track change is realized by the delivery mechanism by adopting a set of power equipment; the clamping mechanism is nested in the delivery mechanism, and the track change of the delivery wheel set is realized by using a set of power equipment.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an implantation needle clamp for a surgical navigation and radioactive implantation system.
Background
The surgical navigation and radioactive implantation system, hereinafter referred to as navigation implantation system, is mainly used for navigating surgery or radioactive implantation, and is mainly used for surgical treatment and radioactive treatment of tumors; in the operation process, the position of the tumor is accurately identified, a doctor is guided to conduct operation excision, a radioactive seed source is guided to be accurately implanted into a tumor target area, and the treatment is carried out in a radiotherapy mode. The surgical navigation and radioactive implantation system adopts an implantation needle for implantation treatment; however, most of the existing fixture structures of the implantation needle adopt a fixture structure which is formed by fixing and tightening; however, the structure is rigid and the function is single, and especially the assembly and the disassembly are not convenient.
Disclosure of Invention
The technical problem to be solved by the invention is that the implanted needle clamp structure has rigid and single function, and is particularly inconvenient to assemble and disassemble, and the invention provides the following technical scheme:
an implantation needle clamp for a surgical navigation and radioactive implantation system comprises a shell, a delivery mechanism and a clamping mechanism; the shell is fixedly connected with the mechanical arm; the delivery mechanism comprises a delivery wheel set, a delivery wheel shaft and a delivery power mechanism; the delivery wheel set consists of two delivery wheels; the delivery wheel shafts and the delivery wheels are arranged in one-to-one correspondence; the delivery wheels are mounted on the corresponding delivery wheel shafts;
the delivery wheel set is provided with at least one delivery clamping groove, the implantation needle penetrates through the shell and is clamped on the delivery clamping groove of the delivery wheel set, and the delivery power mechanism is connected to the delivery wheel shafts to drive the two delivery wheel shafts to synchronously and reversely rotate; the delivery wheel set rotates downwards or upwards to drive the implantation needle to move downwards or upwards to deliver or retract; the delivery wheel shaft is in sliding fit on the housing; the clamping mechanism can drive the two delivery wheel shafts and the delivery wheels to be close to or separate from each other along the direction of the central connecting line, so that the implanted needle can be clamped or loosened.
As a further aspect of the invention: delivery sliding grooves are formed in two ends, corresponding to the delivery wheel shafts, of the shell, the end parts of the delivery wheel shafts are respectively connected with sliding blocks, and the sliding blocks are in sliding fit with the delivery sliding grooves.
As still further aspects of the invention: the delivery power mechanism comprises a delivery motor and a transmission mechanism; the delivery motor is arranged on the delivery wheel shafts, the two delivery wheel shafts are in transmission connection through the transmission mechanism, and the transmission mechanism is always in transmission connection with the two delivery wheel shafts in the process that the two delivery wheel shafts are close or separated along the direction of the central connecting line.
As still further aspects of the invention: the transmission mechanism comprises a driving gear, a driven gear and a movable transmission gear set mechanism; the driving gear and the driven gear are respectively sleeved on the two delivery wheel shafts; the movable transmission gear set mechanism comprises a vertical movable bracket, a transmission gear and a transmission shaft; the vertical movable support comprises a fixed plate and an elastic guide piece; the fixed plate is connected below the shell through an elastic guide piece; the transmission gears are two, and the transmission shafts are arranged in one-to-one correspondence with the transmission gears; one end of the transmission shaft is in rotary fit with the transmission gear, and the other end of the transmission shaft is fixedly connected with a fixed plate of the vertical movable bracket; the two transmission gears are meshed for transmission, one transmission gear is meshed for transmission with the driving gear, and the other transmission gear is meshed for transmission with the driven gear; the two transmission gears always keep meshed transmission with the driving gear and the driven gear with the changing center distance under the elastic action of the elastic guide piece;
as still further aspects of the invention: the elastic guide piece comprises a fixed sleeve, a guide sliding block, a guide sliding rod and a telescopic spring, wherein the top of the fixed sleeve is fixedly connected to the top wall of the shell, the guide sliding block is in sliding fit with the middle of the fixed sleeve, the top end of the guide sliding block is fixedly connected with the inner top end of the fixed sleeve through the telescopic spring, the bottom of the guide sliding block is fixedly connected with the guide sliding rod, the guide sliding rod penetrates through the bottom of the fixed sleeve and is in sliding fit with the bottom end of the fixed sleeve, and the bottom end of the guide sliding rod is fixedly connected with a fixed plate.
As still further aspects of the invention: the clamping mechanism comprises a shaft bracket, a screw shaft, a linkage piece and a screw power mechanism; the shaft bracket is fixed at the bottom of the shell, the screw rod shaft is divided into two sections equally, and the spiral directions of the two sections are opposite; the screw shaft is perpendicular to the delivery wheel shaft and parallel to the delivery chute; the middle part of the screw rod shaft is sleeved on a bearing arranged on the shaft bracket;
the linkage part is provided with two connecting shafts which are respectively connected with two sides of the screw rod shaft; one end of the linkage piece is spirally matched with one side of the screw rod shaft; the other end is rotationally connected with a delivery wheel shaft at one side; the screw rod shaft rotates positively to drive the linkage piece to move towards each other along the middle of the screw rod axial direction, so as to drive the two delivery wheel shafts to move towards the middle of the screw rod axial direction, the two delivery wheels clamp the implantation needle, and the screw rod shaft rotates reversely to drive the linkage piece to move towards the outer side of the screw rod axial direction to open; driving the two delivery wheel shafts to move outwards to open; the two delivery wheels loosen the implantation needle;
as still further aspects of the invention: the screw rod power mechanism comprises a clamping motor, a pinion and a main gear; the auxiliary gear is sleeved in the middle of the screw shaft, and the clamping motor is fixed at the bottom of the shell and is in transmission connection with the auxiliary gear through the main gear.
As still further aspects of the invention: the top and the bottom of the shell are provided with pinholes corresponding to the delivery clamping grooves of the delivery wheel set, and the pinholes are arranged in one-to-one correspondence with the delivery clamping grooves;
as still further aspects of the invention: the needle discharging guide mechanism comprises a guide wheel set, a guide wheel shaft and an elastic clamping mechanism; the guide wheel group consists of two guide wheels, and the guide wheel shafts and the guide wheels are arranged in one-to-one correspondence; the guide wheel group is provided with a guide clamping groove corresponding to the delivery clamping groove; the bottom of the implantation needle is clamped on the guide clamping groove; the two elastic clamping mechanisms are symmetrically connected with two ends of the two guide wheel shafts, and the two guide wheels connected to the two guide wheel shafts are kept to be elastically clamped;
as still further aspects of the invention: the elastic clamping mechanism comprises a sliding rail, a clamping sliding block and a clamping spring; the sliding rail is arranged in parallel with the delivery sliding groove, and two ends of the sliding rail are fixed on two sides of the shell; the clamping sliding blocks are arranged in one-to-one correspondence with the end parts of the guide wheel shafts; two ends of the guide wheel shaft are respectively in rotary fit with the clamping slide blocks; the clamping slide block is in sliding fit with the slide rail; the outer side of the clamping sliding block is fixedly connected with the end part of the sliding rail through a clamping spring;
as still further aspects of the invention: the shell is provided with a fixed support, and the fixed support is provided with a plurality of fixed holes, so that the manipulator of the navigation implantation system is conveniently connected through bolts.
The invention further provides a using method of the implantation needle clamp for the surgical navigation and radioactive implantation system, which comprises the following steps:
step one, the clamp is fixedly connected with a mechanical arm of a navigation implantation system;
step two, placing an implantation needle from the top of the shell according to the requirement, and delivering and clamping the implantation needle by using a clamp;
and thirdly, after the puncture is finished, reversely operating the clamp to pull out the implantation needle, clamping, and after the standby mechanical arm moves to a safe position, loosening the implantation needle according to the requirement, reversely operating, and withdrawing the implantation needle.
It should be noted that the electronic or electrical control possibly related to the present invention is only a prior art means for achieving the object of the present invention, and the present invention is not specifically described herein nor limited thereto, and is intended to protect structural designs that produce beneficial effects.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides an implantation needle clamp for an operation navigation and radioactive implantation system, which is ingenious in structural arrangement and reasonable in arrangement, and realizes automatic introduction, delivery and clamping of implantation needles, compared with the traditional implantation needle clamp which needs manual installation and disassembly, the implantation needle clamp is greatly convenient for clamping and replacement of implantation needles;
2. the invention further skillfully designs the delivery mechanism and the clamping mechanism, has simple and skillful structure, realizes delivery and clamping by utilizing the rotation of the delivery wheel set and the wheel track change, and realizes that the delivery wheel set is still in transmission connection when the wheel track change is realized by the delivery mechanism by adopting a set of power equipment; the clamping mechanism is nested in the delivery mechanism, and the track change of the delivery wheel set is realized by using a set of power equipment.
3. The delivery mechanism and the clamping mechanism can realize the insertion and extraction of the implantation needle by forward and reverse operation, and further facilitate the puncturing operation.
4. The invention further designs a delivery wheel set which is suitable for multiple needle stations, one set of equipment can be suitable for automatic introduction, delivery and clamping of different needles, and multiple implantation needles can be clamped simultaneously under the necessary condition, so that multiple needles can be punctured simultaneously.
5. The invention further skillfully designs the needle guiding mechanism, corresponds to the multi-needle station design of the delivery wheel set, realizes the elastic clamping and guiding of the implanted needle, is suitable for the implanted needles with different sizes or types due to the fact that the elastic clamping and guiding is free of guiding gaps, has vibration reduction effect in the clamping and puncturing processes, and improves the puncturing stability.
Drawings
Fig. 1 is a perspective view of an implant needle holder for a surgical navigation and radiological implant system.
Fig. 2 is an exploded view of an implant needle holder for a surgical navigation and radiological implant system.
Fig. 3 is a schematic view of the structure of a delivery mechanism in an implant needle holder for a surgical navigation and radiological implant system.
Fig. 4 is a schematic view of the structure of a clamp mechanism in an implant needle clamp for a surgical navigation and radiological implant system.
Fig. 5 is a schematic view of the structure of the needle-out guide mechanism in the implantation needle holder for the surgical navigation and radiological implantation system.
Fig. 6 is an assembly view of the interior of a housing in an implant needle holder for a surgical navigation and radiological implant system.
In the figure: 1. a housing; 11. a pinhole; 12. a delivery chute; 2. a delivery mechanism; 21. a delivery wheel set; 210. a delivery wheel; 211. a delivery clip groove; 22. a delivery axle; 221. a slide block; 23. a delivery power mechanism; 231. a delivery motor; 232. a drive gear; 233. a driven gear; 234. a movable transmission gear set mechanism; 235. a vertical movable bracket; 2351. a fixing plate; 2352. a fixed sleeve; 2353. a guide slide block; 2354. a guide slide bar; 2355. a telescopic spring; 236. a transmission gear; 237. a transmission shaft; 3. a clamping mechanism; 31. a shaft bracket; 32. a screw shaft; 33. a linkage member; 34. a screw rod power mechanism; 341. clamping a motor; 342. a pinion gear; 343. a main gear; 4. a needle-out guide mechanism; 41. a guide wheel set; 410. a guide wheel; 411. a guide clip groove; 42. a guide wheel shaft; 43. an elastic clamping mechanism; 431. a slide rail; 432. clamping the sliding block; 433. a clamping spring; 100. an implantation needle; 200. a fixed bracket; 201. and a fixing hole.
Detailed Description
The technical scheme of the patent is further described in detail below with reference to the specific embodiments.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are based on directions or positional relationships shown in the drawings, are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in the specific direction, and thus should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1-2, an implant needle holder for a surgical navigation and radiological implant system includes a housing 1, a delivery mechanism 2, a clamping mechanism 3, and a needle exit guide mechanism 4; the shell 1 is provided with a fixed support 200, the fixed support 200 is provided with a plurality of fixed holes 201, and the fixed support is conveniently connected with a mechanical arm (not shown) of the navigation implantation system through bolts;
referring to fig. 3-4, the delivery mechanism 2 includes a delivery wheel set 21, a delivery wheel axle 22, and a delivery power mechanism 23; the delivery wheel set 21 consists of two delivery wheels 210; the delivery wheel shafts 22 are arranged in one-to-one correspondence with the delivery wheels 210; delivery wheels 210 are mounted on respective delivery axles 22;
two delivery clamping grooves 211 are formed in the delivery wheel set 21, pinholes 11 are formed in the top and the bottom of the shell 1, corresponding to the delivery clamping grooves 211 of the delivery wheel set 21, and the pinholes 11 are arranged in one-to-one correspondence with the delivery clamping grooves 211; the two ends of the shell 1 corresponding to the delivery wheel shaft 22 are provided with delivery slide grooves 12, the ends of the delivery wheel shaft 22 are respectively connected with sliding blocks 221, and the sliding blocks 221 are in sliding fit with the delivery slide grooves 12.
The delivery power mechanism 23 comprises a delivery motor 231, a driving gear 232, a driven gear 233 and a movable transmission gear set mechanism 234; the driving gear 232 and the driven gear 233 are respectively sleeved on the two delivery wheel shafts 22; the movable transmission gear set mechanism 234 comprises a vertical movable bracket 235, a transmission gear 236 and a transmission shaft 237; the vertical movable bracket 235 comprises a fixed plate 2351, a fixed sleeve 2352, a guide sliding block 2353, a guide sliding rod 2354 and a telescopic spring 2355, wherein the top of the fixed sleeve 2352 is fixedly connected to the top wall of the shell 1, the guide sliding block 2353 is in sliding fit with the middle of the fixed sleeve 2352, the top end of the guide sliding block 2353 is fixedly connected with the inner top end of the fixed sleeve 2352 through the telescopic spring 2355, the bottom of the guide sliding block 2353 is fixedly connected with the guide sliding rod 2354, the guide sliding rod 2354 penetrates through the bottom of the fixed sleeve 2352 and is in sliding fit with the bottom end of the fixed sleeve 2352, and the bottom end of the guide sliding rod 2354 is fixedly connected with the fixed plate 2351; the transmission gears 236 are two, and transmission shafts 237 are arranged in one-to-one correspondence with the transmission gears 236; one end of the transmission shaft 237 is in rotary fit with the transmission gear 236, and the other end is fixedly connected with the fixing plate 2351; two transmission gears 236 are meshed for transmission, one transmission gear 236 is meshed for transmission with the driving gear 232, and the other transmission gear 236 is meshed for transmission with the driven gear 233; the two transmission gears 236 always keep meshed transmission with the driving gear 232 and the driven gear 233 with the changed center distance under the elastic force of the telescopic springs;
the clamping mechanism 3 comprises a shaft bracket 31, a screw shaft 32, a linkage piece 33 and a screw power mechanism 34; the shaft bracket 31 is fixed at the bottom of the shell 1, the screw rod shaft 32 is equally divided into two sections, and the spiral directions of the two sections are opposite; the screw shaft 32 is arranged perpendicular to the delivery wheel shaft 22 and parallel to the delivery chute 12; the middle part of the screw shaft 32 is sleeved on a bearing arranged on the shaft bracket 31;
the two linkage pieces 33 are respectively connected with the two delivery wheel shafts 22 and the two sides of the screw rod shaft 32; one end of the linkage member 33 is spirally matched with one side of the screw shaft 32; the other end is rotatably connected with a delivery wheel shaft 22 at one side; the forward rotation of the screw shaft 32 drives the linkage piece 33 to move towards the middle along the screw shaft 32 to drive the two delivery wheel shafts 22 to move towards the middle to clamp the implantation needle 100, and the reverse rotation of the screw shaft 32 drives the linkage piece 33 to move towards the outside along the screw shaft 32 to open; to drive the two delivery axles 22 to move outwards to open; two delivery wheels 210 release the implant needle 100;
the screw power mechanism 34 comprises a clamping motor 341, a secondary gear 342 and a main gear 343; the secondary gear 342 is sleeved in the middle of the screw shaft 32, and the clamping motor 341 is fixed at the bottom of the shell 1 and is in transmission connection with the secondary gear 342 through the primary gear 343.
Referring to fig. 5-6, the needle guiding mechanism 4 includes a guiding wheel set 41, a guiding wheel axle 42, and an elastic clamping mechanism 43; the guide wheel group 41 consists of two guide wheels 410, and the guide wheel shafts 42 are arranged in one-to-one correspondence with the guide wheels 410; the guide wheel group 41 is provided with a guide clip slot 411 corresponding to the delivery clip slot 211; the bottom of the implant needle 100 is clamped on the guide clamping slot 411; the elastic clamping mechanisms 43 are provided with two guide wheels, which are symmetrically connected with two ends of the two guide wheel shafts 42, and keep the two guide wheels 410 connected with the two guide wheel shafts 42 to be elastically clamped; the elastic clamping mechanism 43 comprises a sliding rail 431, a clamping slider 432 and a clamping spring 433; the sliding rail 431 is arranged parallel to the delivery chute 12, and two ends of the sliding rail 431 are fixed at two sides of the shell 1; the clamping sliding blocks 432 are arranged in one-to-one correspondence with the end parts of the guide wheel shafts 42; both ends of the guide wheel shaft 42 are respectively in rotary fit with the clamping slide blocks 432; the clamping slide block 432 is in sliding fit with the slide rail 431; the outer side of the clamping slide block 432 is fixedly connected with the end part of the sliding rail 431 through a clamping spring 433;
the operation navigation and radioactive implantation system implantation needle clamp using method comprises the following steps:
step one, the clamp is fixedly connected with a mechanical arm of a navigation implantation system;
step two, placing an implantation needle from the top of the shell according to the requirement, and delivering and clamping the implantation needle by using a clamp;
and thirdly, after the puncture is finished, reversely operating the clamp to pull out the implantation needle, clamping, and after the standby mechanical arm moves to a safe position, loosening the implantation needle according to the requirement, reversely operating, and withdrawing the implantation needle.
The working principle of the invention is as follows: the invention provides an implantation needle clamp for an operation navigation and radioactive implantation system, which has ingenious structural arrangement and reasonable arrangement, realizes automatic introduction, delivery and clamping of the implantation needle 100, and greatly facilitates clamping and replacement of the implantation needle 100 compared with the traditional implantation needle clamp which needs manual installation and disassembly; the invention further skillfully designs the delivery mechanism 2 and the clamping mechanism 3, has simple and skillful structure, realizes delivery and clamping by utilizing the rotation and the wheel tread change of the delivery wheel set 21, and the delivery wheel set is still in transmission connection when the wheel tread change of the delivery mechanism 2 is realized by adopting a set of power equipment; the clamping mechanism 3 is nested in the delivery mechanism 2, and the track change of the delivery wheel set 21 is realized by using a set of power equipment, so that the clamping is realized. The invention further designs a delivery wheel set 21 to adapt to multiple needle stations, and one set of equipment can adapt to automatic introduction delivery and clamping of different needles, so that a plurality of implantation needles 100 can be clamped simultaneously to realize simultaneous puncture of multiple needles if necessary. The invention further skillfully designs the needle guide mechanism 4, and the design of multiple needle stations corresponding to the delivery wheel set 21 realizes the elastic clamping guide of the implantation needle 100, so that on one hand, the elastic clamping guide is free from guide gaps, and is suitable for implantation needles of different sizes or types, on the other hand, the elastic clamping has a vibration reduction effect in the clamping and puncturing processes, and the puncturing stability is improved.
While the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes may be made without departing from the spirit of the present patent within the knowledge of one of ordinary skill in the art.
Claims (7)
1. An implantation needle clamp for a surgical navigation and radioactive implantation system is characterized by comprising a shell, a delivery mechanism and a clamping mechanism; the shell is fixedly connected with the mechanical arm; the delivery mechanism comprises a delivery wheel set, a delivery wheel shaft and a delivery power mechanism; the delivery wheel set consists of two delivery wheels; the delivery wheel shafts and the delivery wheels are arranged in one-to-one correspondence; the delivery wheels are mounted on the corresponding delivery wheel shafts; the delivery wheel set is provided with at least one delivery clamping groove, the implantation needle penetrates through the shell and is clamped on the delivery clamping groove of the delivery wheel set, and the delivery power mechanism is connected to the delivery wheel shafts to drive the two delivery wheel shafts to synchronously and reversely rotate; the delivery wheel set rotates downwards or upwards to drive the implantation needle to move downwards or upwards to deliver or retract; the delivery wheel shaft is in sliding fit on the housing; the clamping mechanism can drive the two delivery wheel shafts and the delivery wheels to be close or separated along the direction of the central connecting line, and clamp or loosen the implantation needle;
delivery sliding grooves are formed in the two ends, corresponding to the delivery wheel shafts, of the shell, and the end parts of the delivery wheel shafts are respectively connected with sliding blocks which are in sliding fit with the delivery sliding grooves;
the delivery power mechanism comprises a delivery motor and a transmission mechanism; the delivery motor is arranged on the delivery wheel shafts, the two delivery wheel shafts are in transmission connection through the transmission mechanism, and the transmission mechanism is always in transmission connection with the two delivery wheel shafts in the process of approaching or separating the two delivery wheel shafts along the direction of the central connecting line;
the transmission mechanism comprises a driving gear, a driven gear and a movable transmission gear set mechanism; the driving gear and the driven gear are respectively sleeved on the two delivery wheel shafts; the movable transmission gear set mechanism comprises a vertical movable bracket, a transmission gear and a transmission shaft; the vertical movable support comprises a fixed plate and an elastic guide piece; the fixed plate is connected below the shell through an elastic guide piece; the transmission gears are two, and the transmission shafts are arranged in one-to-one correspondence with the transmission gears; one end of the transmission shaft is in rotary fit with the transmission gear, and the other end of the transmission shaft is fixedly connected with a fixed plate of the vertical movable bracket; the two transmission gears are meshed for transmission, one transmission gear is meshed for transmission with the driving gear, and the other transmission gear is meshed for transmission with the driven gear; the two transmission gears are always meshed with the driving gear and the driven gear with the center distance changing under the elastic action of the elastic guide piece.
2. The implantation needle clamp for a surgical navigation and radiological implantation system according to claim 1, wherein the elastic guide member comprises a fixing sleeve, a guide slide block, a guide slide bar and a telescopic spring, the top of the fixing sleeve is fixedly connected to the top wall of the housing, the guide slide block is slidably matched with the middle of the fixing sleeve, the top of the guide slide block is fixedly connected with the inner top of the fixing sleeve through the telescopic spring, the bottom of the guide slide block is fixedly connected with the guide slide bar, the guide slide bar penetrates through the bottom of the fixing sleeve and is slidably matched with the bottom of the fixing sleeve, and the bottom of the guide slide bar is fixedly connected with the fixing plate.
3. The implant needle clamp for a surgical navigation and radiological implant system of claim 2, wherein said clamping mechanism includes a shaft, a screw shaft, a linkage, and a screw power mechanism; the shaft bracket is fixed at the bottom of the shell, the screw rod shaft is divided into two sections equally, and the spiral directions of the two sections are opposite; the screw shaft is perpendicular to the delivery wheel shaft and parallel to the delivery chute; the middle part of the screw rod shaft is sleeved on a bearing arranged on the shaft bracket; the linkage part is provided with two connecting shafts which are respectively connected with two sides of the screw rod shaft; one end of the linkage piece is spirally matched with one side of the screw rod shaft; the other end is rotationally connected with a delivery wheel shaft at one side; the forward rotation of the screw rod shaft drives the linkage piece to move close along the middle of the screw rod shaft direction, and drives the two delivery wheel shafts to move close along the middle of the screw rod shaft direction
The two delivery wheels clamp the implantation needle, and the screw rod shaft reversely rotates to drive the linkage piece to move and open along the axial outer side of the screw rod; driving the two delivery wheel shafts to move outwards to open; the two delivery wheels loosen the implantation needle; the screw rod power mechanism comprises a clamping motor, a pinion and a main gear; the auxiliary gear is sleeved in the middle of the screw shaft, and the clamping motor is fixed at the bottom of the shell and is in transmission connection with the auxiliary gear through the main gear.
4. The implant needle clamp for a surgical navigation and radiological implant system of claim 3, wherein the delivery clamping grooves of the corresponding delivery wheel sets on the top and bottom of the housing are provided with pinholes, and the pinholes are arranged in one-to-one correspondence with the delivery clamping grooves; the needle discharging guide mechanism comprises a guide wheel set, a guide wheel shaft and an elastic clamping mechanism; the guide wheel group consists of two guide wheels, and the guide wheel shafts and the guide wheels are arranged in one-to-one correspondence; the guide wheel group is provided with a guide clamping groove corresponding to the delivery clamping groove; the bottom of the implantation needle is clamped on the guide clamping groove; the elastic clamping mechanisms are provided with two guide wheels which are symmetrically connected with two ends of the two guide wheel shafts and keep the two guide wheels connected to the two guide wheel shafts to be elastically clamped.
5. The implant needle clamp for a surgical navigation and radiological implant system of claim 4, wherein said elastic clamping mechanism includes a slide rail, a clamping slider, and a clamping spring; the sliding rail is arranged in parallel with the delivery sliding groove, and two ends of the sliding rail are fixed on two sides of the shell; the clamping sliding blocks are arranged in one-to-one correspondence with the end parts of the guide wheel shafts; two ends of the guide wheel shaft are respectively in rotary fit with the clamping slide blocks; the clamping slide block is in sliding fit with the slide rail; the outer side of the clamping sliding block is fixedly connected with the end part of the sliding rail through a clamping spring.
6. The implant needle holder for a surgical navigation and radiological implant system of claim 5, wherein a fixation bracket is provided on the housing, and a plurality of fixation holes are provided on the fixation bracket.
7. A method of using the surgical navigation and radiological implant system of claim 6, comprising the steps of:
step one, the clamp is fixedly connected with a mechanical arm of a navigation implantation system;
step two, placing an implantation needle from the top of the shell according to the requirement, and delivering and clamping the implantation needle by using a clamp;
and thirdly, after the puncture is finished, reversely operating the clamp to pull out the implantation needle, clamping, and after the standby mechanical arm moves to a safe position, loosening the implantation needle according to the requirement, reversely operating, and withdrawing the implantation needle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN113599722A (en) | 2021-11-05 |
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