CN114343794A - Alignment apparatus, alignment system, alignment method, computer device, and storage medium - Google Patents
Alignment apparatus, alignment system, alignment method, computer device, and storage medium Download PDFInfo
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- CN114343794A CN114343794A CN202111471351.7A CN202111471351A CN114343794A CN 114343794 A CN114343794 A CN 114343794A CN 202111471351 A CN202111471351 A CN 202111471351A CN 114343794 A CN114343794 A CN 114343794A
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Abstract
The invention relates to an alignment device, a system, a method, a computer device and a storage medium, comprising a first-stage motion part, a second-stage motion part, a third-stage motion part, a fourth-stage motion part and a fifth-stage motion part, wherein the second-stage motion part is movably assembled on the first-stage motion part and can reciprocate along a first-stage linear guide track, the third-stage motion part is movably assembled on the second-stage motion part and can reciprocate along a second-stage linear guide track, the fourth-stage motion part is movably assembled on the third-stage motion part and can coaxially rotate along a third-stage rotary reference axis, the fifth-stage motion part is movably assembled on the fourth-stage motion part and can coaxially rotate along a fourth-stage rotary reference axis, and the fifth-stage rotary reference axis is configured to be used as a motion reference of an end effector. The alignment device definitely limits the motion matching relation between all levels of motion parts, can provide accurate needle inserting postures for the puncture needle, and replaces manual puncture operation of doctors.
Description
Technical Field
The present invention relates to the field of medical equipment technology, and in particular, to an alignment apparatus, system, method, computer device, and storage medium.
Background
The lung puncture (usually percutaneous lung puncture) is a pleural cavity pleural puncture into the lung, and is used for diagnosis and differential diagnosis of peripheral lung lesions or diffuse lung lesions. The lung puncture has high operation requirements on doctors, the doctors are required to be careful, careful and rapid during operation, the time is shortened as much as possible, patients need to be closely matched, the respiration is stable, coughing cannot be caused, and detailed examination is required before puncture, so that the doctors can correctly position the lung puncture needle, and the success rate of puncture is improved. The current lung puncture surgery procedure is as follows: the CT is used for locating a focus, a doctor observes an image, the first puncture is carried out, the CT is used for rescanning, the doctor adjusts the puncture angle, the CT is used for rescanning … …, the operation is repeated until the scanning result shows that the needle inserting angle can insert the focus and avoid bones, blood vessels and the like, and finally the puncture needle is inserted until the center of the focus.
However, in the existing puncture surgery process, the influence of human factors is obviously found to be large. Since the display and CT are not usually in one room, the physician needs to look at the approximate angle of the needle insertion in the outdoor compartment and then return to the operating room for the needle insertion procedure. After the needle insertion, the patient needs to frequently run in the two rooms, then the needle insertion angle which needs to be adjusted after the needle insertion is memorized according to repeated CT scanning display pictures, and the doctor can continuously adjust the space angle by means of judgment. Therefore, in the whole operation process, the requirements on space memory capability, hand control capability and the like of doctors are high. When the patient is subjected to fatigue operation or experiences are insufficient, repeated adjustment can be caused, and the patient is repeatedly exposed to CT radiation and is injured.
Disclosure of Invention
In view of the above, it is necessary to provide an alignment apparatus, a system, a method, a computer device, and a storage medium for solving the problem that the needle insertion operation of the puncture operation is repeatedly adjusted and cannot enter a lesion quickly and accurately.
The present invention provides an alignment apparatus, comprising:
a primary motion part having a primary linear guide track;
the secondary motion part is movably assembled on the primary motion part and can reciprocate along the primary linear guide track, and the secondary motion part is provided with a secondary linear guide track;
the three-stage motion part is movably assembled on the two-stage motion part and can reciprocate along the two-stage linear guide track, and the three-stage motion part is provided with a three-stage rotary reference axis;
the four-stage motion part is movably assembled on the three-stage motion part and can be fixed to rotate along the three-stage rotary reference axis, and the four-stage motion part is provided with a four-stage rotary reference axis;
a fifth stage motion portion movably mounted on the fourth stage motion portion and rotatable about the fourth stage pivotal reference axis, the fifth stage motion portion having a fifth stage pivotal reference axis, the fifth stage motion portion being configured for driving an end effector to rotate about the fifth stage pivotal reference axis.
In one embodiment, the secondary linear guide track is perpendicular to the primary linear guide track; and/or the tertiary rotary reference axis is parallel to the secondary linear guide track; and/or the four-stage and three-stage revolution reference axes are perpendicular to each other; and/or the five-stage revolution reference axis and the four-stage revolution reference axis are perpendicular to each other.
In one embodiment, a plane where the three-level revolution reference axis and the two-level linear guide track are located together is parallel to the one-level linear guide track; and/or the presence of a gas in the gas,
the second-stage linear guide track, the third-stage rotary reference axis and the fourth-stage rotary reference axis are in the same plane; and/or the presence of a gas in the gas,
the plane where the three-stage rotary reference axis and the four-stage rotary reference axis are located together is perpendicular to the five-stage rotary reference axis.
In one embodiment, the primary motion portion includes:
a first-stage frame body;
the first-stage linear driving mechanism is arranged on the first-stage frame body and is configured to form the first-stage linear guide track.
In one embodiment, the secondary motion portion comprises:
a second-stage frame body;
and the second-stage linear driving mechanism is arranged on the second-stage frame body, the second-stage linear driving mechanism is movably assembled with the first-stage linear driving mechanism along the first-stage linear guide track, and the second-stage linear driving mechanism is configured to form the second-stage linear guide track.
In one embodiment, the primary motion portion further includes:
and the first-stage guide rail mechanism is arranged on the first-stage frame body and is parallel to the first-stage linear driving mechanism.
In one embodiment, the secondary motion portion further comprises:
and the second-stage guide rail mechanism is arranged on the second-stage frame body and is parallel to the second-stage linear driving mechanism, and the second-stage guide rail mechanism and the second-stage linear driving mechanism are movably assembled together along the first-stage linear guide track and the first-stage linear driving mechanism.
In one embodiment, the first-stage moving part further comprises a first-stage connecting frame, the second-stage moving part further comprises a second-stage connecting frame, the first-stage linear driving mechanism and the first-stage guide rail mechanism are connected with the first-stage connecting frame, the second-stage linear driving mechanism and the second-stage guide rail mechanism are connected with the second-stage connecting frame, and the first-stage connecting frame is connected with the second-stage connecting frame.
In one embodiment, the primary connecting frame is a U-shaped frame, and the primary connecting frame is sleeved on the primary guide rail mechanism and is simultaneously connected with the primary linear driving mechanism; and/or the second-stage connecting frame is a U-shaped frame, is sleeved on the second-stage guide rail mechanism and is simultaneously connected with the second-stage linear driving mechanism.
In one embodiment, the tertiary motion portion includes:
the third-stage bracket is arranged on the second-stage bracket;
a tertiary rotator disposed on the tertiary support, the tertiary rotator configured to drive the quaternary motion part to rotate along the tertiary reference axis of revolution.
In one embodiment, the four-stage motion part comprises:
the four-stage bracket is in driving connection with the output end of the three-stage rotator;
a four-stage rotator disposed on the four-stage support, the four-stage rotator configured to drive the five-stage moving part to rotate around the four-stage revolution reference axis.
In one embodiment, the five-stage motion part includes:
the five-stage bracket is in driving connection with the output end of the four-stage rotator;
a five-stage rotator disposed on the five-stage support, the five-stage rotator configured to drive the end effector to rotate around the five-stage rotation reference axis.
In one embodiment, the five-stage motion part further includes:
a carriage link having one end connected to the fifth stage carriage and another end configured for articulating a first position of an end effector and for forming a synchronization reference axis parallel to the fifth stage swing reference axis;
a crank, one end of the crank is in driving connection with the output end of the five-stage rotator, and the crank is configured to be driven by the five-stage rotator to rotate along the five-stage revolution reference axis in a fixed shaft manner;
a drive link having one end articulated with the other end of the crank, the other end of the drive link configured for articulation in a second position of an end effector.
In one embodiment, the carrier link and the drive link are equal in length, and the first position and the second position are spaced apart by a distance equal to the length of the crank.
In one embodiment, the third-stage moving part further comprises a third-stage connecting frame, the fourth-stage moving part further comprises a fourth-stage connecting frame, one end of the third-stage connecting frame is connected to the output end of the third-stage rotator through a bearing, the other end of the third-stage connecting frame is connected with the third-stage support, one end of the fourth-stage connecting frame is connected with the output end of the third-stage rotator, and the other end of the fourth-stage connecting frame is connected with the fourth-stage support.
In one embodiment, the third connecting frame is a U-shaped frame, the fourth connecting frame is a U-shaped frame, one end of the fourth connecting frame is positioned in the U-shaped recess of the third connecting frame, and the fourth driver is positioned in the U-shaped recess of the fourth connecting frame.
In one embodiment, the tertiary motion portion further includes:
the cantilever link, the cantilever link includes the connecting portion at both ends and is located two the supporting part in the middle of the connecting portion, two the connecting portion respectively with the level four support with the output of tertiary rotating device is connected.
In one embodiment, the alignment apparatus further comprises:
and the end effector is movably assembled on the five-stage motion part and can be fixedly rotated along the five-stage revolution reference axis or fixedly rotated along a synchronous reference axis parallel to the five-stage revolution reference axis.
In one embodiment, the alignment apparatus further comprises:
an optical marking component secured to the end effector, the optical marking component configured to provide an optical feedback signal.
In one embodiment, the alignment apparatus further comprises:
a needle holder secured to the end effector, the needle holder configured for mounting a puncture needle.
In one embodiment, the needle holder comprises:
a needle holding frame;
the needle holder comprises a needle holder frame, at least three positioning rollers, a plurality of needle holders and a plurality of needle holders, wherein the needle holder frame is rotatably assembled on the needle holder frame through a rotating shaft bracket; at least one of the rotating shaft brackets is elastically assembled with the needle holding frame through an elastic piece so as to carry the positioning roller thereon to be elastically close to or far away from the needle holding space for elastically clamping the puncture needle.
In one embodiment, the needle holder comprises:
the fixing plate is provided with a first needle accommodating groove;
one end of the movable plate is rotatably assembled on one end of the fixed plate, and the other end of the movable plate is connected with the other end of the fixed plate in a buckling manner; the movable plate is provided with a second needle containing groove, and the first needle containing groove is correspondingly matched with the second needle containing groove and used for clamping a puncture needle.
In one embodiment, the alignment apparatus further comprises:
the primary motion part is arranged on the moving device.
The present invention also provides an alignment system comprising:
a medical imaging device configured to acquire a biological image of a target object;
the alignment device is configured to perform a puncturing operation based on the biological image.
The invention also provides a using method of the alignment system, which comprises the following steps:
establishing a biological coordinate system of a target object and a navigation coordinate system of the alignment device according to the biological image;
establishing a mapping relation between the biological coordinate system and the navigation coordinate system;
generating an alignment path from the mapping relationship, the alignment path configured for importing the alignment device.
The invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable by the processor, the processor implementing the steps of the alignment method when executing the computer program.
The invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the alignment method.
The alignment device clearly defines specific motion reference and motion mode in the first-stage motion part, the second-stage motion part, the third-stage motion part, the fourth-stage motion part and the fifth-stage motion part, and clearly defines the motion matching relation between adjacent stages of motion parts at the same time, so that stable and accurate coordination and matching are formed between the motion parts at all stages, accurate needle inserting postures can be provided for puncture needles, and manual puncture operation of doctors is replaced.
Drawings
FIG. 1 is a perspective view of the internal mechanism of an alignment device provided in accordance with one embodiment of the present invention;
FIG. 2 is an exploded view of the internal mechanism of the alignment device shown in FIG. 1;
FIG. 3 is a front view of the internal mechanism of the alignment device shown in FIG. 2;
FIG. 4 is a side view of the internal mechanism of the alignment device shown in FIG. 2;
FIG. 5 is a top view of the internal mechanism of the alignment fixture shown in FIG. 2;
FIG. 6 is an exploded view of an alignment device provided in accordance with an embodiment of the present invention;
FIG. 7 is a front view of the alignment device shown in FIG. 6;
FIG. 8 is a side view of the alignment device shown in FIG. 6;
FIG. 9 is a top view of the alignment device shown in FIG. 6;
FIG. 10 is a front view of an alignment device provided in accordance with one embodiment of the present invention;
FIG. 11 is a top view of an alignment device provided in accordance with an embodiment of the present invention;
FIG. 12 is an exploded view of a primary motion segment and a secondary motion segment provided in accordance with one embodiment of the present invention;
FIG. 13 is a front view of the primary motion portion and the secondary motion portion as shown in FIG. 12;
FIG. 14 is a side view of the primary motion portion and the secondary motion portion as shown in FIG. 12;
FIG. 15 is a top view of the primary motion portion and the secondary motion portion shown in FIG. 12;
FIG. 16 is a perspective view of a tertiary motion portion and a quaternary motion portion provided in accordance with one embodiment of the present invention;
FIG. 17 is a front view of the tertiary motion portion and the quaternary motion portion of FIG. 16;
FIG. 18 is a perspective view of a tertiary motion portion and a quaternary motion portion provided in accordance with another embodiment of the present invention;
FIG. 19 is a front view of the tertiary motion portion and the quaternary motion portion of FIG. 18;
FIG. 20 is a perspective view of a five-step motion segment provided in accordance with one embodiment of the present invention;
FIG. 21 is a front view of the five-step motion segment shown in FIG. 20;
FIG. 22 is a perspective view of an end effector provided in accordance with one embodiment of the present invention;
FIG. 23 is a perspective assembly view of a needle holder provided in accordance with one embodiment of the present invention;
FIG. 24 is a top view of the needle holder shown in FIG. 23;
FIG. 25 is a perspective view of a needle holder provided in accordance with another embodiment of the present invention;
FIG. 26 is a perspective assembly view of the mobile device of FIG. 1 in accordance with one embodiment of the present invention;
fig. 27 is a perspective assembly view of the mobile device of fig. 2 according to an embodiment of the present invention.
Reference numerals
100. A primary motion section; 200. a secondary motion part; 300. a tertiary motion section; 400. a four-stage motion part; 500. a fifth-stage motion part; 600. an end effector; 700. an optical marking member; 800. a needle holder; 900. a mobile device;
101. a first-level linear guide track; 102. a second-level straight guide track; 103. a tertiary reference axis of gyration; 104. a four-level rotational reference axis; 105. a five-level gyration reference axis; 106. a synchronization reference axis;
110. a first-stage frame body; 120. a primary linear drive mechanism; 130. a first-stage guide rail mechanism; 140. a primary connecting frame;
210. a second-stage frame body; 220. a secondary linear drive mechanism; 230. a secondary guide rail mechanism; 240. a secondary connecting frame;
310. a third stage support; 320. a three-stage rotator; 330. a third-stage connecting frame; 340. a cantilever connection frame;
410. a four-stage bracket; 420. a four-stage rotator; 430. a four-stage connecting frame;
510. a fifth-stage bracket; 520. a five-stage rotator; 530. a bracket connecting rod; 540. a crank; 550. a transmission connecting rod;
810. a needle holding frame; 820. positioning the roller; 830. a rotating shaft bracket; 840. an elastic member; 850. a fixing plate; 860. a movable plate; 870. a first needle accommodating groove; 880. a second needle containing groove.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, 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.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Referring to fig. 1 to 11, an alignment apparatus according to an embodiment of the present invention is adapted to assist a medical puncturing device in performing an alignment operation during a puncturing procedure, so that the puncturing procedure can be performed accurately, the alignment apparatus including: a primary motion part 100, a secondary motion part 200, a tertiary motion part 300, a quaternary motion part 400, and a quinary motion part 500, which together form a robot structure capable of realizing five-axis flexible motion, wherein the primary motion part 100 has a primary linear guide track 101, the secondary motion part 200 is movably assembled on the primary motion part 100 and can reciprocate along the primary linear guide track 101, the secondary motion part 200 has a secondary linear guide track 102, the tertiary motion part 300 is movably assembled on the secondary motion part 200 and can reciprocate along the secondary linear guide track 102, the tertiary motion part 300 has a tertiary rotation reference axis 103, the quaternary motion part 400 is movably assembled on the tertiary motion part 300 and can be fixed-axis rotated along the tertiary rotation reference axis 103, the quaternary motion part 400 has a quaternary rotation reference axis 104, a fifth-stage motion part 500 is movably mounted on the fourth-stage motion part 400 and can be fixed-shaft rotated along the fourth-stage revolution reference axis 104, the fifth-stage motion part 500 is provided with a fifth-stage revolution reference axis 105, and the fifth-stage motion part 500 is configured for driving the end effector 600 to be fixed-shaft rotated along the fifth-stage revolution reference axis 105.
In one embodiment, the secondary linear guide track 102 and the primary linear guide track 101 can be controlled to be perpendicular to each other, the tertiary rotary reference axis 103 and the secondary linear guide track 102 are parallel to each other, the quaternary rotary reference axis 104 and the tertiary rotary reference axis 103 are perpendicular to each other, and the quinary rotary reference axis 105 and the quaternary rotary reference axis 104 are perpendicular to each other.
Further, a plane where the tertiary rotation reference axis 103 and the secondary linear guide track 102 are located together and the primary linear guide track 101 may be controlled to be parallel to each other, which may be referred to as a first-stage reference control. Meanwhile, the secondary linear guide track 102, the tertiary rotary reference axis 103 and the quaternary rotary reference axis 104 can be controlled to be located in the same plane, which is called second-stage reference control. Meanwhile, when the plane where the three-stage swing reference axis 103 and the four-stage swing reference axis 104 are located together and the five-stage swing reference axis 105 are perpendicular to each other, this may be referred to as a third-stage reference control.
The first-stage reference control, the second-stage reference control and the third-stage reference control may be combined at will to form a complete reference control, and particularly, when a plane where the three-stage rotation reference axis 103 and the second-stage linear guide track 102 are located is parallel to the first-stage linear guide track 101, the second-stage linear guide track 102, the third-stage rotation reference axis 103 and the fourth-stage rotation reference axis 104 are located in the same plane, and a plane where the three-stage rotation reference axis 103 and the fourth-stage rotation reference axis 104 are located is perpendicular to the fifth-stage rotation reference axis 105, each linear guide track and each rotation reference axis of the five-stage motion part are in an absolutely parallel state, which may be referred to as a standard control state.
In this standard control state, the five-level motion units can form standard motions in the X-axis, Y-axis, and Z-axis of the three-dimensional space, respectively, and can be controlled by a relatively clear and simple control logic. However, each linear guide track and the rotation reference axis of the five-level motion part may also form an adaptive angle fit relatively, for example, when adjacent or non-adjacent linear guide tracks or rotation reference axes have a relatively determined non-perpendicular angle, the motion formed by the five-level motion part in the three-dimensional space does not completely move along the X-axis, the Y-axis and the Z-axis of the three-dimensional space, which may provide more possibilities for the motion of the alignment apparatus in the three-dimensional space, and at the same time, a more complex logic control is required to implement the motion control.
In the alignment device capable of realizing five-axis flexible motion, specific motion reference and motion mode of each level are clearly defined, and motion matching relation between adjacent motion parts is clearly defined, and the specific definition is that the first-level motion part 100 and the second-level motion part 200 respectively perform mutually vertical linear motion states, so when the first-level linear guide track 101 of the first-level motion part 100 is set to be consistent with the horizontal direction, the first-level motion part 100 and the second-level motion part 200 can be used for realizing linear motion of the alignment device in the horizontal direction and the vertical direction, and further primary space positioning is formed for the alignment device, and the full range of the lung is covered. And the three-stage motion part 300, the four-stage motion part 400 and the five-stage motion part 500 can form mutually coordinated three-dimensional space rotary motion matched with the linear motion of the first-stage motion part 100 and the second-stage motion part, so that more detailed accurate posture positioning is realized on the basis of primary space positioning, and the puncture needle is allowed to be inserted at various accurate postures and angles. Therefore, the alignment device clearly defines specific motion reference and motion mode in each stage, so that stable and accurate coordination and coordination are formed between motion parts of each stage, accurate needle inserting postures can be provided for the puncture needle, manual puncture operation of doctors is replaced, frequent correction of puncture angles and puncture paths by the doctors is avoided, operation time is shortened, and pain of patients is reduced.
Referring to fig. 12 to 15, in one embodiment, the primary moving portion 100 includes a primary frame body 110 and a primary linear driving mechanism 120, the primary frame body 110 may serve as an integral base of the primary moving portion 100, the primary linear driving mechanism 120 is disposed on the primary frame body 110, and the primary linear driving mechanism 120 is configured to form the primary linear guide track 101. The second-stage moving portion 200 includes a second-stage frame body 210 and a second-stage linear driving mechanism 220, the second-stage frame body 210 can be used as an integral basis of the second-stage moving portion 200, the second-stage linear driving mechanism 220 is arranged on the second-stage frame body 210, the second-stage linear driving mechanism 220 is movably assembled with the first-stage linear guiding track 101 and the first-stage linear driving mechanism 120, and the second-stage linear driving mechanism 220 is configured to form the second-stage linear guiding track 102. Therefore, the alignment device can linearly move in two mutually perpendicular directions through the assembly relationship formed by the first stage frame body 110, the first stage linear driving mechanism 120, the second stage frame body 210 and the second stage linear driving mechanism 220 and the mutually perpendicular linear motion state, so as to form the preliminary space positioning for the alignment device.
The first-stage linear driving mechanism 120 and the second-stage linear driving mechanism 220 may both adopt screw transmission mechanisms such as a screw-nut mechanism (also called a ball screw mechanism), the screw-nut mechanism includes a screw and a nut, the nut is in threaded connection with the screw, when the screw rotates, the nut can be driven to move linearly, that is, the rotational motion is converted into the linear motion, and then the converted linear motion is utilized to form a first-stage linear guide track 101 or a second-stage linear guide track 102, and meanwhile, components for driving the screw to rotate may adopt rotators such as motors of various models and types. Therefore, the secondary linear driving mechanism 220 is movably assembled with the primary linear driving mechanism 120 along the primary linear guiding track 101, and can also be realized by using the nut of the secondary linear driving mechanism 220 to be in driving connection with the nut of the primary linear driving mechanism 120, and after the two nuts are connected, the secondary linear driving mechanism 220 can be linearly reciprocated along the primary linear guiding track 101 relative to the primary linear driving mechanism 120. In addition, the primary linear driving mechanism 120 and the secondary linear driving mechanism 220 may be replaced by other linear driving mechanisms capable of forming linear motion, such as a mechanism formed by an electrically controlled slide rail and an electrically controlled slider, and the formation of the primary linear guide track 101 or the secondary linear guide track 102 may also be actively completed, which is not limited herein.
The first-stage moving portion 100 further includes a first-stage guide mechanism 130, and the first-stage guide mechanism 130 is disposed on the first-stage frame body 110 and is parallel to the first-stage linear driving mechanism 120. The second-stage moving part 200 further comprises a second-stage guide rail mechanism 230, the second-stage guide rail mechanism 230 is arranged on the second-stage frame body 210 and is parallel to the second-stage linear driving mechanism 220, and the second-stage guide rail mechanism 230 and the second-stage linear driving mechanism 220 are movably assembled together along the first-stage linear guide track 101 and the first-stage linear driving mechanism 120 and the first-stage guide rail mechanism 130. The first-stage guide rail mechanism 130 and the second-stage guide rail mechanism 230 are used as mechanisms matched with the first-stage linear driving mechanism 120 and the second-stage linear driving mechanism 220, and can passively assist the corresponding linear motion on the basis that the first-stage linear driving mechanism 120 and the second-stage linear driving mechanism 220 form the first-stage linear guide track 101 or the second-stage linear guide track 102, and ensure that the linear motion can be stably carried out through passive auxiliary guide. The first-stage guide rail mechanism 130 and the second-stage guide rail mechanism 230 may be formed by matching a mechanical slide rail and a slide block, and the slide block may move along the slide rail to assist the smooth linear motion.
In the above assembly, the first stage guide rail mechanism 130, the second stage guide rail mechanism 230, the first stage linear driving mechanism 120, and the second stage linear driving mechanism 220 may be directly or indirectly assembled according to an overall mechanism matching structure of the alignment apparatus, and a corresponding positional relationship may be flexibly adjusted, for example, the first stage moving portion 100 further includes a first stage link 140, the second stage moving portion 200 further includes a second stage link 240, the first stage linear driving mechanism 120 and the first stage guide rail mechanism 130 are both connected to the first stage link 140, the second stage linear driving mechanism 220 and the second stage guide rail mechanism 230 are both connected to the second stage link 240, and the first stage link 140 is connected to the second stage link 240.
The first-stage connecting frame 140 and the second-stage connecting frame 240 may also be configured to have a suitable structural shape for meeting the requirement of the overall mechanism matching structure of the alignment apparatus, for example, the first-stage connecting frame 140 is a U-shaped frame, the first-stage connecting frame 140 is sleeved on the first-stage guide rail mechanism 130 and is simultaneously connected with the first-stage linear driving mechanism 120, the second-stage connecting frame 240 is a U-shaped frame, and the second-stage connecting frame 240 is sleeved on the second-stage guide rail mechanism 230 and is simultaneously connected with the second-stage linear driving mechanism 220. In addition, the primary connecting frame 140 and the secondary connecting frame 240 may have other regular or irregular shapes, and the specific shape is not limited.
Referring to fig. 16 to 19, the three-stage moving part 300 includes a three-stage frame 310 and a three-stage rotator 320, the three-stage frame may be an integral base of the three-stage moving part 300, the three-stage frame 310 is disposed on the two-stage frame, the three-stage rotator 320 is disposed on the three-stage frame 310, and the three-stage rotator 320 is configured to form the three-stage rotation reference axis 103 and to drive the four-stage moving part 400 to rotate around the three-stage rotation reference axis 103. The four-stage moving part 400 comprises a four-stage bracket 410 and a four-stage rotator 420, the four-stage bracket can be used as the integral base of the four-stage moving part 400, the four-stage bracket 410 is in driving connection with the output end of the three-stage rotator 320, the four-stage bracket 410 is configured to be driven by the three-stage rotator 320 to rotate along the three-stage rotary reference axis 103 in a fixed axis manner, the four-stage rotator 420 is arranged on the four-stage bracket 410, and the four-stage rotator 420 is configured to form the four-stage rotary reference axis 104 and drive the five-stage moving part 500 to rotate along the four-stage rotary reference axis 104 in a fixed axis manner. The fifth-stage moving part 500 includes a fifth-stage support 510 and a fifth-stage rotator 520, the fifth-stage support can be an integral base of the fifth-stage moving part 500, the fifth-stage support 510 is in driving connection with an output end of the fourth-stage rotator 420, the fifth-stage support 510 is configured to be driven by the fourth-stage rotator 420 to rotate around the fourth-stage rotation reference axis 104, the fifth-stage rotator 520 is disposed on the fifth-stage support 510, and the fifth-stage rotator 520 is configured to form the fifth-stage rotation reference axis 105 and to drive the end effector 600 to rotate around the fifth-stage rotation reference axis 105.
At this time, the three-stage motion part 300, the four-stage motion part 400 and the five-stage motion part 500 which are sequentially driven and connected can form mutually coordinated three-dimensional space rotation control motion according to the three-stage rotation reference axis 103, the four-stage rotation reference axis 104 and the five-stage rotation reference axis 105 which are sequentially formed, more detailed accurate posture positioning is realized on the basis of preliminary space positioning, the puncture needle is allowed to be inserted at various accurate postures and angles, accurate needle inserting postures are provided for the puncture needle, and manual puncture operation of a doctor is replaced. The three-stage rotator 320, the four-stage rotator 420, and the five-stage rotator 520 may employ various types and types of motors, or may provide various components for rotational driving as the rotational driving components.
Referring to fig. 20 and 21, the fifth-stage motion portion 500 further includes a support link 530, a crank 540, and a transmission link 550, wherein one end of the support link 530 is connected to the fifth-stage support 510, the other end of the support link 530 is configured to be used for articulating the first position of the end effector 600 and forming the synchronization reference axis 106 parallel to the fifth-stage rotation reference axis 105, one end of the crank 540 is connected to the output end of the fifth-stage rotator 520, the crank 540 is configured to be driven by the fifth-stage rotator 520 to rotate around the fifth-stage rotation reference axis 105, one end of the transmission link 550 is hinged to the other end of the crank 540, the other end of the transmission link 550 is configured to be used for articulating the second position of the end effector 600, and wherein the support link 530 and the transmission link 550 are equal in length, the first and second positions are spaced apart by a distance equal to the length of the crank 540. It can be seen that the carriage link 530, the crank 540, the drive link 550, and the end effector 600, which can be mounted on the carriage link 530 and the drive link 550, form a four-bar linkage.
The four-bar linkage mechanism has the effect of repeated carving rotary motion, and synchronous reference axes 106 which are parallel to each other can be carved again according to the five-stage rotary reference axis 105, so that the end effector 600 can rotate along the synchronous reference axes 106 after being assembled on the five-stage motion part 500, and the end effector 600 is pushed to realize the 'nodding' function. The actual position of the end effector 600 can be changed into the position of the non-five-level rotation reference axis 105 by using the four-bar linkage mechanism, but the rotation reference formed by the five-level rotation reference axis 105 can still be repeatedly engraved, so that the interference generated when a five-level driver is provided with a metal structure such as a motor and the like during CT radiography is avoided, and the calculation difficulty of a control algorithm end is also simplified.
In the above-mentioned assembly, the three-stage moving part 300 and the four-stage moving part 400 may be directly assembled or indirectly assembled according to an overall mechanism matching structure of the alignment device, and a corresponding position relationship is flexibly adjusted, for example, referring to fig. 16 and 17, the three-stage moving part 300 further includes a three-stage connecting frame 330, the four-stage moving part 400 further includes a four-stage connecting frame 430, one end of the three-stage connecting frame 330 is connected to an output end of the three-stage rotator 320 through a bearing, the other end of the three-stage connecting frame 330 is connected to the three-stage bracket 310, one end of the four-stage connecting frame 430 is connected to an output end of the three-stage rotator 320, and the other end of the four-stage connecting frame 430 is connected to the four-stage bracket 410.
The third connecting frame 330 and the fourth connecting frame 430 may also be configured to be suitable for the overall mechanism matching structure of the alignment device, for example, the third connecting frame 330 is a U-shaped frame, the fourth connecting frame 430 is a U-shaped frame, one end of the fourth connecting frame 430 is located in the U-shaped recess of the third connecting frame 330, and the fourth driver is located in the U-shaped recess of the fourth connecting frame 430. In addition, the third-stage link 330 and the fourth-stage link 430 may have other regular or irregular shapes, and the specific shape is not limited.
In another embodiment, referring to fig. 18 and 19, the third-stage moving part 300 may further include a cantilever connecting frame 340, and the cantilever connecting frame 340 includes two connecting portions at two ends and a supporting portion located between the two connecting portions, and the two connecting portions are respectively connected to the four-stage bracket 410 and the output end of the third-stage rotator 320. The two connecting portions may be in a mutually perpendicular state, and the intermediate support portion may connect the two connecting portions at an arbitrary angle or form.
When the three-stage moving part 300 and the four-stage moving part 400 are assembled relatively, the indirect connection part formed by the three-stage connection frame 330 and the four-stage connection frame 430, or the independent cantilever connection frame 340, is used as an intermediate part for the three-stage moving part 300 and the four-stage moving part 400 to bear up and down, and therefore, the bearing capacity of sufficient force and moment is required. When the three-stage moving part 300 and the four-stage moving part 400 are assembled using the indirect connection member constituted by the three-stage link 330 and the four-stage link 430, excellent performance can be provided in terms of mechanical characteristics, and design requirements can be satisfied. When the third-stage moving part 300 and the fourth-stage moving part 400 are assembled by using the independent cantilever connecting frames 340, the structure can be simplified, and the assembly friendliness can be achieved to a great extent.
Referring to fig. 22, the alignment device includes an end effector 600, and the coordination of the first-stage motion part 100, the second-stage motion part 200, the third-stage motion part 300, the fourth-stage motion part 400, and the fifth-stage motion part 500 of the entire alignment device is finally to control the actual posture of the end effector 600 and to implement the puncturing operation by the end effector 600, and the end effector 600 is movably mounted on the fifth-stage motion part 500 and can be fixed-axis rotated along the fifth-stage rotation reference axis 105 or fixed-axis rotated along the synchronization reference axis 106 parallel to the fifth-stage rotation reference axis 105.
In order to accurately determine the position of the end effector 600, the alignment apparatus includes an optical marking unit 700, the optical marking unit 700 being fixed to the end effector 600, the optical marking unit 700 being configured to provide an optical feedback signal. The optical marker 700 may be an optical navigation ball such as a reflective ball, and the number of the optical marker 700 may be selected according to the requirement, for example, the number of the optical marker 700 is four, five, six, etc. to provide more calibration standards, and the optical marker 700 may perform a "nodding" operation with the end effector 600 of the alignment apparatus to calculate the position of the puncture needle by using the position and posture data of the end effector 600. The alignment device may be pre-calibrated to allow the alignment device to calculate the position of movement under system control, to match the position provided by the optical feedback signal of the optical marker component 700, and then to compensate for the error by an algorithm.
In the actual working process, a biological coordinate system covering the focus can be established through a shot biological image (such as a CT picture), meanwhile, a navigation coordinate system is established according to the optical feedback signal of the optical marking component 700, and the position of the alignment device can be determined in the navigation coordinate system because the alignment device is fixedly connected with the optical marking component 700. When a CT picture is taken, the optical marking component 700 enters a CT room along with a CT bed (the bed and a focus are relatively static), a mapping relation between a biological coordinate system and a navigation coordinate system can be established in the system according to the position of the optical marking component 700 on the CT picture, so that the optimal alignment path and angle for puncturing from the current position of the robot are calculated through an algorithm, the alignment device is urged to move to the vicinity of a puncture point according to the optimal scheme, the angle of the end effector 600 is adjusted, and puncturing is prepared.
The puncture needle may be mounted directly or indirectly to the end effector 600, for example, as shown with reference to fig. 23 and 24, the alignment device includes a needle holder 800, the needle holder 800 being secured to the end effector 600, the needle holder 800 being configured for mounting the puncture needle. The needle holder 800 may take various forms and may mount the puncture needle with a suitable degree of fastening, such as absolute fastening or relatively adjustable fastening, as desired. When the alignment device controls the end effector 600 to perform posture change, the needle holder 800 can hold the puncture needle and the end effector 600 synchronously to perform accompanying movement in space.
For example, the needle holder 800 includes a needle holder 810, at least three positioning rollers 820, the positioning rollers 820 are rotatably assembled on the needle holder 810 through a rotating shaft bracket 830, a plurality of the positioning rollers 820 relatively enclose to form a needle holding space, and the needle holding space is configured for installing a puncture needle; at least one of the shaft brackets 830 is elastically assembled with the needle holding frame 810 through an elastic member 840 so as to carry the positioning roller 820 thereon to elastically approach or depart from the needle holding space for elastically clamping the puncture needle, and the puncture needle can be installed in the needle holding space in a relatively elastic fixed manner.
The number of positioning rollers 820 and the number of spindle supports 830 that can be resiliently mounted on the needle holder 810 can be adapted accordingly to allow for a resilient grip of the puncture needle. For example, the needle holder 800 may have four positioning rollers 820, and the four positioning rollers 820 are divided into two pairs, wherein the shaft bracket 830 of one pair is elastically assembled with the needle holder 810 by the elastic member 840. At the moment, the puncture needle can penetrate through the needle holding space between the four positioning rollers 820, and elastic clamping is formed by the pair of elastically assembled positioning rollers 820, so that the puncture needle cannot be too loose or too tight during needle inserting, and the real-time force is self-adaptive.
For another example, referring to fig. 25, the needle holder 800 includes a fixed plate 850 and a movable plate 860, the fixed plate 850 is provided with a first needle receiving groove 870, one end of the movable plate 860 is rotatably assembled on one end of the fixed plate 850, and the other end of the movable plate 860 is connected with the other end of the fixed plate 850 in a snap-fit manner; the movable plate 860 is provided with a second needle containing groove 880, and the first needle containing groove 870 is correspondingly matched with the second needle containing groove 880 for clamping a puncture needle. The first needle containing groove 870 and the second needle containing groove 880 can be correspondingly arranged according to the shape and the thickness of the puncture needle, the movable plate 860 and the fixed plate 850 can be rotatably assembled through a pin shaft and the like, the snap connection can form a microminiature variable for compressing the puncture needle, the puncture needle can be locked, and the opening and the closing can be realized only by shifting the snap.
In addition, the needle holder 800 may have other types of structures, and the needle holder 800 may be configured with irregular bosses and corresponding recesses on the end effector 600, and the needle holder 800 may be securely mounted on the end effector 600 by the small interference fit between the bosses and the recesses, and the irregular bosses may limit the needle holder 800 to prevent rotation.
The first-stage motion part 100 and the second-stage motion part 200 of the alignment device may adopt a mechanism such as a mechanical arm, the third-stage motion part 300, the fourth-stage motion part 400, and the fifth-stage motion part 500 may adopt a rotating shaft mechanism, and the alignment device may be similar to a pistol type in shape as a whole, and a relatively long and thin end arm extends from a relatively solid mechanical arm (the first-stage motion part 100 or the second-stage motion part 200) to drag the motion of the end effector 600. Moreover, the alignment device may adopt a housing adapted to the corresponding structure of the first-stage moving part 100, the second-stage moving part 200, the third-stage moving part 300, the fourth-stage moving part 400, and the fifth-stage moving part 500, and the structure formed by connecting the first-stage moving part, the second-stage moving part, the third-stage moving part, and the fifth-stage moving part, and the material of the housing is not limited.
In one embodiment, referring to fig. 26 and 27, the aligning apparatus includes a moving apparatus 900, and the primary motion part 100 is disposed on the moving apparatus 900. The moving device 900 may be a device that can be moved, such as a medical special trolley, and when a patient lies on a CT bed, the alignment device may be fixed beside the CT bed, or may be mounted on the moving device 900 to move along with the CT bed, and enter the CT machine along with the patient for scanning.
The invention also provides an alignment system, which comprises a medical imaging device and the alignment device, wherein the medical imaging device is configured to be used for acquiring the biological image of the target object, and the alignment device is configured to be used for performing the puncture operation according to the biological image. When the puncture operation is specifically carried out, the focus position can be located by means of a medical image shot by a CT, an alignment path is selected according to human tissues and the focus position, the end effector 600 is moved to the puncture position by the alignment device, the operating bed is provided with the alignment device loaded with the puncture needle and the needle holder 800 and enters the CT along with a patient, the medical image is shot again, the position and the posture of the puncture needle are confirmed by the medical image, the end effector 600 is adjusted so that the position and the posture of the puncture needle are consistent with the alignment path, and finally, accurate puncture is carried out. Wherein, the needle threading path is the path confirmed and locked by the alignment device.
The invention also provides a using method of the alignment system, which comprises the following steps: establishing a biological coordinate system of a target object and a navigation coordinate system of the alignment device according to the biological image; establishing a mapping relation between the biological coordinate system and the navigation coordinate system; and generating an alignment path according to the mapping relation, wherein the alignment path is configured to be used for leading in the alignment device so as to realize the puncture operation. In the method, a biological coordinate system covering a focus can be established through the taken biological images (such as CT images), and a navigation coordinate system is established according to an optical feedback signal of the optical marking component 700, so that the position of the alignment device can be determined in the navigation coordinate system because the alignment device is fixedly connected with the optical marking component 700. When a CT picture is taken, the optical marking component 700 enters a CT room along with a CT bed (the bed and a focus are relatively static), a mapping relation between a biological coordinate system and a navigation coordinate system can be established in the system according to the position of the optical marking component 700 on the CT picture, so that the optimal alignment path for puncturing from the current position of the robot is calculated through an algorithm, the alignment device is urged to move to the vicinity of a puncture point according to the optimal scheme, and the angle of the end effector 600 is adjusted to realize accurate puncturing. The method can assist in improving the stability of a doctor in operating the puncture, provide path guidance and locking and reduce the possibility of errors.
The invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable by the processor, the processor implementing the steps of the alignment method when executing the computer program.
The invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the alignment method.
The technical features of the embodiments described above may 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 being within 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 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 (27)
1. An alignment device, comprising:
a primary motion part having a primary linear guide track;
the secondary motion part is movably assembled on the primary motion part and can reciprocate along the primary linear guide track, and the secondary motion part is provided with a secondary linear guide track;
the three-stage motion part is movably assembled on the two-stage motion part and can reciprocate along the two-stage linear guide track, and the three-stage motion part is provided with a three-stage rotary reference axis;
the four-stage motion part is movably assembled on the three-stage motion part and can be fixed to rotate along the three-stage rotary reference axis, and the four-stage motion part is provided with a four-stage rotary reference axis;
a fifth stage motion portion movably mounted on the fourth stage motion portion and rotatable about the fourth stage pivotal reference axis, the fifth stage motion portion having a fifth stage pivotal reference axis, the fifth stage motion portion being configured for driving an end effector to rotate about the fifth stage pivotal reference axis.
2. The alignment device of claim 1, wherein the secondary linear guide track is perpendicular to the primary linear guide track; and/or the tertiary rotary reference axis is parallel to the secondary linear guide track; and/or the four-stage and three-stage revolution reference axes are perpendicular to each other; and/or the five-stage revolution reference axis and the four-stage revolution reference axis are perpendicular to each other.
3. The alignment device as claimed in claim 2, wherein a plane where the tertiary rotation reference axis and the secondary linear guide track are located together is parallel to the primary linear guide track; and/or the presence of a gas in the gas,
the second-stage linear guide track, the third-stage rotary reference axis and the fourth-stage rotary reference axis are in the same plane; and/or the presence of a gas in the gas,
the plane where the three-stage rotary reference axis and the four-stage rotary reference axis are located together is perpendicular to the five-stage rotary reference axis.
4. The alignment device of claim 1, wherein the primary motion portion comprises:
a first-stage frame body;
the first-stage linear driving mechanism is arranged on the first-stage frame body and is configured to form the first-stage linear guide track.
5. The alignment device of claim 4, wherein the secondary motion portion comprises:
a second-stage frame body;
and the second-stage linear driving mechanism is arranged on the second-stage frame body, the second-stage linear driving mechanism is movably assembled with the first-stage linear driving mechanism along the first-stage linear guide track, and the second-stage linear driving mechanism is configured to form the second-stage linear guide track.
6. The alignment device of claim 5, wherein the primary motion portion further comprises:
and the first-stage guide rail mechanism is arranged on the first-stage frame body and is parallel to the first-stage linear driving mechanism.
7. The alignment device of claim 6, wherein the secondary motion portion further comprises:
and the second-stage guide rail mechanism is arranged on the second-stage frame body and is parallel to the second-stage linear driving mechanism, and the second-stage guide rail mechanism and the second-stage linear driving mechanism are movably assembled together along the first-stage linear guide track and the first-stage linear driving mechanism.
8. The alignment device as claimed in claim 7, wherein the primary motion part further comprises a primary connecting frame, the secondary motion part further comprises a secondary connecting frame, the primary linear driving mechanism and the primary guiding mechanism are both connected with the primary connecting frame, the secondary linear driving mechanism and the secondary guiding mechanism are both connected with the secondary connecting frame, and the primary connecting frame is connected with the secondary connecting frame.
9. The alignment device as claimed in claim 8, wherein the primary connecting frame is a U-shaped frame, and the primary connecting frame is sleeved on the primary guide rail mechanism and is simultaneously connected with the primary linear driving mechanism; and/or the second-stage connecting frame is a U-shaped frame, is sleeved on the second-stage guide rail mechanism and is simultaneously connected with the second-stage linear driving mechanism.
10. The alignment device of claim 5, wherein the tertiary motion portion comprises:
the third-stage bracket is arranged on the second-stage bracket;
a tertiary rotator disposed on the tertiary support, the tertiary rotator configured to drive the quaternary motion part to rotate along the tertiary reference axis of revolution.
11. The alignment device of claim 10, wherein the four-stage motion part comprises:
the four-stage bracket is in driving connection with the output end of the three-stage rotator;
a four-stage rotator disposed on the four-stage support, the four-stage rotator configured to drive the five-stage moving part to rotate around the four-stage revolution reference axis.
12. The alignment device of claim 11, wherein the five-stage motion portion comprises:
the five-stage bracket is in driving connection with the output end of the four-stage rotator;
a five-stage rotator disposed on the five-stage support, the five-stage rotator configured to drive the end effector to rotate around the five-stage rotation reference axis.
13. The alignment device of claim 12, wherein the five stage motion further comprises:
a carriage link having one end connected to the fifth stage carriage and another end configured for articulating a first position of an end effector and for forming a synchronization reference axis parallel to the fifth stage swing reference axis;
a crank, one end of the crank is in driving connection with the output end of the five-stage rotator, and the crank is configured to be driven by the five-stage rotator to rotate along the five-stage revolution reference axis in a fixed shaft manner;
a drive link having one end articulated with the other end of the crank, the other end of the drive link configured for articulation in a second position of an end effector.
14. The alignment device of claim 13 wherein the carriage link and the drive link are equal in length, and the first position and the second position are equidistant from the length of the crank.
15. The alignment device as claimed in claim 12, wherein the third stage motion part further comprises a third stage link, the fourth stage motion part further comprises a fourth stage link, one end of the third stage link is connected to the output end of the third stage rotator through a bearing, the other end of the third stage link is connected to the third stage support, one end of the fourth stage link is connected to the output end of the third stage rotator, and the other end of the fourth stage link is connected to the fourth stage support.
16. The alignment device of claim 15 wherein the tertiary link is a U-shaped link and the quaternary link is a U-shaped link, one end of the quaternary link being located in the U-shaped recess of the tertiary link and the quaternary actuator being located in the U-shaped recess of the quaternary link.
17. The alignment device of claim 12, wherein the tertiary motion section further comprises:
the cantilever link, the cantilever link includes the connecting portion at both ends and is located two the supporting part in the middle of the connecting portion, two the connecting portion respectively with the level four support with the output of tertiary rotating device is connected.
18. The alignment device of any one of claims 1-17, further comprising:
and the end effector is movably assembled on the five-stage motion part and can be fixedly rotated along the five-stage revolution reference axis or fixedly rotated along a synchronous reference axis parallel to the five-stage revolution reference axis.
19. The alignment device of claim 18, further comprising:
an optical marking component secured to the end effector, the optical marking component configured to provide an optical feedback signal.
20. The alignment device of claim 18, further comprising:
a needle holder secured to the end effector, the needle holder configured for mounting a puncture needle.
21. The alignment device of claim 20, wherein the needle holder comprises:
a needle holding frame;
the needle holder comprises a needle holder frame, at least three positioning rollers, a plurality of needle holders and a plurality of needle holders, wherein the needle holder frame is rotatably assembled on the needle holder frame through a rotating shaft bracket; at least one of the rotating shaft brackets is elastically assembled with the needle holding frame through an elastic piece so as to carry the positioning roller thereon to be elastically close to or far away from the needle holding space for elastically clamping the puncture needle.
22. The alignment device of claim 20, wherein the needle holder comprises:
the fixing plate is provided with a first needle accommodating groove;
one end of the movable plate is rotatably assembled on one end of the fixed plate, and the other end of the movable plate is connected with the other end of the fixed plate in a buckling manner; the movable plate is provided with a second needle containing groove, and the first needle containing groove is correspondingly matched with the second needle containing groove and used for clamping a puncture needle.
23. The alignment device of claim 18, further comprising:
the primary motion part is arranged on the moving device.
24. An alignment system, comprising:
a medical imaging device configured to acquire a biological image of a target object;
the alignment device of any one of claims 1-23, configured for performing a puncturing operation from the biometric image.
25. An alignment method, comprising the steps of:
establishing a biological coordinate system of the target object and a navigation coordinate system of the alignment device according to the biological image;
establishing a mapping relation between the biological coordinate system and the navigation coordinate system;
generating an alignment path from the mapping relationship, the alignment path configured for importing the alignment device.
26. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable by the processor, characterized in that the processor realizes the steps of the alignment method of claim 25 when executing the computer program.
27. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the alignment method of claim 25.
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| CN207445016U (en) * | 2017-04-21 | 2018-06-05 | 上海交通大学 | CT Guided Percutaneous lung punctures space auxiliary locator |
| CN109771035A (en) * | 2019-02-12 | 2019-05-21 | 北京理工大学 | Six degree of freedom mechanical arm and the lung puncture robot for using the mechanical arm |
| CN209734099U (en) * | 2019-02-26 | 2019-12-06 | 上海联影医疗科技有限公司 | puncture device |
| CN110711033A (en) * | 2019-10-21 | 2020-01-21 | 浙江大学 | Six-degree-of-freedom puncture surgical robot |
| CN213098208U (en) * | 2020-07-29 | 2021-05-04 | 张涛 | Kidney puncture needle holder |
| CN111920524A (en) * | 2020-09-18 | 2020-11-13 | 浙江伽奈维医疗科技有限公司 | Remote control stepping puncture robot system and operation method |
| CN113349896A (en) * | 2021-07-07 | 2021-09-07 | 北京精准医械科技有限公司 | Needle puncture mechanism and puncture surgical robot |
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