CN114469284A - Four-freedom-degree puncture needle positioning and guiding device - Google Patents
Four-freedom-degree puncture needle positioning and guiding device Download PDFInfo
- Publication number
- CN114469284A CN114469284A CN202210334906.1A CN202210334906A CN114469284A CN 114469284 A CN114469284 A CN 114469284A CN 202210334906 A CN202210334906 A CN 202210334906A CN 114469284 A CN114469284 A CN 114469284A
- Authority
- CN
- China
- Prior art keywords
- linear motion
- motion mechanism
- puncture needle
- driving
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
Abstract
The application discloses a four-degree-of-freedom puncture needle positioning and guiding device which comprises a first fixing part, a second fixing part and a driving assembly; the driving components comprise a first linear motion mechanism, a second linear motion mechanism, a connecting piece and a connecting joint; the first end of the connecting piece is fixed at the output end of the first linear motion mechanism and is hinged with the output end of the second linear motion mechanism through a vertical shaft; the second end of the connecting piece is hinged with the connecting joint through a rotating shaft in the X direction; the first fixing part and the second fixing part are respectively hinged on the connecting joint of one driving component and the connecting joint of the other driving component through a Y-direction horizontal shaft; the first fixing part is connected with the second fixing part in a sliding mode. The puncture machine solves the problems that the puncture machine in the related art is large in size, small in working space, small in puncture posture type and small in adjustable posture angle.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to a medical auxiliary device.
Background
Many of the conventional treatments applied in modern clinical practice involve the percutaneous insertion of medical tools (e.g., needles and catheters) for biopsy, drug delivery, and other diagnostic and therapeutic procedures. The goal of the insertion procedure is to place the tip of a suitable medical tool safely and accurately at the target area, which may be a lesion, tumor, organ or vessel. Examples of treatments requiring insertion of such medical tools include vaccination, blood/fluid sampling, local anesthesia, tissue biopsy, catheterization, cryoablation, electrolytic ablation, brachytherapy, neurosurgery, deep brain stimulation, and various minimally invasive procedures.
In recent years, miniaturized automatic four-degree-of-freedom needle positioning guides have been introduced. Some of these devices are guide devices that help select the insertion point and help align the needle with the insertion point and target, and the physician then manually inserts the needle. These devices can be mounted on the body of a patient to automatically compensate for breathing, and therefore require that the device be small enough and light enough, and the puncture direction of the needle is determined by the guiding direction of the device, so that the puncture operation effect of the puncture needle at the needle inserting position and posture guided by the device can be directly influenced.
Disclosure of Invention
The main objective of the present application is to provide a four-degree-of-freedom puncture needle positioning and guiding device to solve the problems of a four-degree-of-freedom puncture needle positioning and guiding device in the related art, such as large volume, small working space, few types of postures that can be punctured, and small adjustable posture angle.
In order to achieve the above object, the present application provides a four-degree-of-freedom puncture needle positioning guide apparatus including: the first fixing part, the second fixing part and the driving assembly;
the driving assemblies are arranged into two groups and distributed up and down;
each driving assembly comprises a first linear motion mechanism, a second linear motion mechanism, a connecting piece and a connecting joint; the first linear motion mechanism and the second linear motion mechanism can rotate around a Z axis;
the first end of the connecting piece is fixed at the output end of the first linear motion mechanism and is hinged with the output end of the second linear motion mechanism through a vertical shaft; the second end of the connecting piece is hinged with the connecting joint through a rotating shaft in the X direction;
the first fixing part and the second fixing part are respectively hinged on the connecting joint of one of the driving components and the connecting joint of the other driving component through a Y-direction horizontal shaft;
the first fixing part is connected with the second fixing part in a sliding manner; the second fixing part is used for mounting a puncture needle; the distance between the output end of the first linear motion mechanism and the output end of the second linear motion mechanism is gradually reduced along the X-axis direction.
Furthermore, the connecting piece comprises a connecting plate, a first connecting head and a second connecting head which are arranged at the first end of the connecting plate;
the first connecting head is fixed at the end part of the connecting plate, and the second connecting head is hinged on the first connecting head through a vertical shaft, so that the second connecting head can rotate around a Z axis relative to the first connecting head;
the first connector is connected with the output end of the first linear motion mechanism, and the second connector is connected with the output end of the second linear motion mechanism.
Furthermore, first connector with the second connector all includes annular portion and is located the installation department in the annular portion outside, two it is articulated through vertical axis between the annular portion, the installation department sets firmly corresponding first linear motion mechanism's output with on the output of second linear motion mechanism.
Furthermore, each driving assembly further comprises two rotary driving mechanisms, and the two rotary driving mechanisms are respectively connected with the first linear motion mechanism and the second linear motion mechanism and are respectively used for driving the first linear motion mechanism and the second linear motion mechanism to rotate around the Z axis.
Further, the connecting plate comprises a horizontal part and a vertical part, and the first connecting head is fixed on the inner side of the horizontal part;
the connecting joint is hinged to the outer side of the vertical portion through a rotating shaft in the X direction.
Furthermore, the connecting joint is arranged to be connected with the ear seat and the ear connecting plate;
the connecting lug seat is hinged to the second end of the connecting plate through a rotating shaft in the X direction; the connecting lug plates are hinged to the corresponding connecting lug seats through rotating shafts in the Y direction;
the first fixing part and the second fixing part are fixedly arranged on the corresponding connecting ear plates.
Furthermore, the first fixing part and the second fixing part are respectively provided with a first fixing sleeve and a second fixing sleeve, the first fixing sleeve is fixedly arranged on the connecting lug plate of one of the driving components, and the second fixing sleeve is fixedly arranged on the connecting lug plate of the other driving component;
a linear guide rail is connected between the first fixing sleeve and the second fixing sleeve in a sliding manner; and the second fixing sleeve is provided with a mounting hole for fixing the puncture needle.
Further, the axis of the output end of the first linear motion mechanism and the axis of the output end of the second linear motion mechanism of each driving assembly are located on the same horizontal plane.
Furthermore, the mounting device also comprises two mounting plates which are sequentially arranged from bottom to top, and the two mounting plates are fixedly connected through a connecting column;
each mounting plate is provided with two rotary driving mechanisms, one first linear motion mechanism and one second linear motion mechanism;
the two rotary driving mechanisms are respectively used for driving the first linear motion mechanism and the second linear motion mechanism to rotate around a Z axis.
Further, the rotary driving mechanism is established including the cover first linear motion mechanism with the motor mounting of second linear motion mechanism stiff end, and locate rotating electrical machines on the mounting panel, rotating electrical machines's output with the motor mounting transmission is connected.
Firstly, in the embodiment of the application, a first fixing part, a second fixing part and a driving component are arranged; the driving components are arranged into two groups and distributed up and down; each driving component comprises a first linear motion mechanism, a second linear motion mechanism, a connecting piece and a connecting joint; the first linear motion mechanism and the second linear motion mechanism can rotate around the Z axis; the first end of the connecting piece is fixed at the output end of the first linear motion mechanism and is hinged with the output end of the second linear motion mechanism through a vertical shaft; the second end of the connecting piece is hinged with the connecting joint through a rotating shaft in the X direction; the first fixing part and the second fixing part are respectively hinged on the connecting joint of one driving component and the connecting joint of the other driving component through a Y-direction horizontal shaft; the first fixing part is connected with the second fixing part in a sliding manner; the second fixing part is used for installing the puncture needle, the first linear motion mechanism and the second linear motion mechanism in the two driving components synchronously act to drive the puncture needle on the second fixing part to translate in the horizontal direction and rotate around the Z axis for posture adjustment, the first linear motion mechanism and the second linear motion mechanism in the two driving components respectively act to drive the puncture needle on the second fixing part to deflect around the X axis and deflect around the Y axis for posture adjustment, thereby realizing the technical effects that the four-freedom-degree puncture needle positioning and guiding device has four-freedom-degree actions, the whole body has smaller volume and weight and higher freedom degree and more working spaces, further solving the technical problems that the four-freedom-degree puncture needle positioning and guiding device in the related technology has larger volume, smaller working space and fewer puncture posture types, and a problem of a small adjustable attitude angle.
Meanwhile, the four-degree-of-freedom puncture needle positioning and guiding device can be fixed on the abdomen, the back, the lateral back and the front chest of a patient due to small size, and the position and the posture of the puncture needle can be guided by jointly driving the first linear motion mechanism and the second linear motion mechanism of the two layers of driving assemblies, so that the puncture needle guiding and positioning function is realized, and a doctor is assisted to complete a puncture operation. The device has compact structure, small volume, light weight and low cost, can be fixed on a human body to compensate respiratory motion, and is also suitable for being used in combination with the navigation of the existing optical instrument, CT navigation, ultrasonic navigation and the like.
In addition, the four-degree-of-freedom puncture needle positioning and guiding device can be mounted on a mechanical arm and laterally stands beside the body of a patient, the needle inserting position and posture of the puncture needle are guided by jointly driving the first linear motion mechanism and the second linear motion mechanism of the two layers of driving assemblies, the puncture needle guiding and positioning function is realized, and a doctor is assisted to complete a puncture operation.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and the description of the exemplary embodiments of the present application are provided for explaining the present application and do not constitute an undue limitation on the present application. In the drawings:
FIG. 1 is a schematic structural diagram of an embodiment of the present application;
FIG. 2 is a schematic diagram of an explosive structure according to an embodiment of the present application;
FIG. 3 is a schematic side view of an embodiment of the present application;
FIG. 4 is a schematic front view of an embodiment of the present application;
FIG. 5 is a schematic top view of an embodiment of the present application;
FIG. 6 is a schematic view of the deflection of the needle about the Y-axis in an embodiment of the subject application;
FIG. 7 is a schematic view of the deflection of the needle about the Y-axis in an embodiment of the subject application;
FIG. 8 is a schematic view of the configuration of the needle deflection about the Z-axis in an embodiment of the subject application;
FIG. 9 is a schematic view of the configuration of the needle deflection about the X-axis in an embodiment of the subject application;
FIG. 10 is a schematic view of the configuration of the needle deflection about the X-axis in an embodiment of the subject application;
FIG. 11 is a schematic view showing the structure of the translational extension of the puncture needle in the embodiment of the present application;
the device comprises a driving component 1, a first linear motion mechanism 101, a second linear motion mechanism 102, a rotary driving mechanism 2, a motor fixing component 201, a connecting component 3, a first connecting joint 311, a connecting plate 312, a second connecting joint 313, a connecting joint 314, a connecting lug 3141, a mounting plate 4, a puncture needle 5, a linear guide rail 6, a first fixing part 7a, a second fixing part 7b, a first fixing sleeve 71 and a second fixing sleeve 72.
Detailed Description
In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used.
In this application, the terms "upper", "lower", "inside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as the case may be.
Furthermore, the terms "disposed," "provided," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to improve the precision and efficiency of the needle puncture operation of a doctor on a patient, a four-degree-of-freedom puncture needle positioning guide device is adopted for assisting puncture in the related technology. The puncture position and the puncture angle of the puncture needle are determined by the four-degree-of-freedom puncture needle positioning and guiding device through posture adjustment, so that the position and the angle at which the needle can puncture are directly limited by the posture and the angle which can be guided by the four-degree-of-freedom puncture needle positioning and guiding device. And in some cases the four-degree-of-freedom needle positioning guide needs to be fixed on the body of the patient, so the volume and weight requirements of the four-degree-of-freedom needle positioning guide are high.
Therefore, the four-degree-of-freedom puncture needle positioning and guiding device is provided, and aims of enabling the four-degree-of-freedom puncture needle positioning and guiding device to have a larger working space, a larger posture angle adjustment angle and more postures while being small in size and weight are achieved. The details are as follows:
as shown in fig. 1 to 5, an embodiment of the present application provides a four-degree-of-freedom puncture needle positioning guide device, including:
a first fixing part 7a, a second fixing part 7b and a driving assembly 1;
the driving components 1 are arranged into two groups and distributed up and down;
each driving assembly 1 comprises a first linear motion mechanism 101, a second linear motion mechanism 102, a connecting piece 3 and a connecting joint 314; the first linear motion mechanism 101 and the second linear motion mechanism 102 can rotate around the Z axis;
the first end of the connecting piece 3 is fixed at the output end of the first linear motion mechanism 101 and is hinged with the output end of the second linear motion mechanism 102 through a vertical shaft; the second end of the connecting piece 3 is hinged with the connecting joint 314 through a rotating shaft in the X direction;
the first fixing part 7a and the second fixing part 7b are respectively hinged on the connecting joint 314 of one driving component 1 and the connecting joint 314 of the other driving component 1 through a Y-direction horizontal shaft;
the first fixing part 7a and the second fixing part 7b are connected in a sliding way; the second fixing portion 7b is used for mounting the puncture needle 5.
In this embodiment, the driving unit 1 is used as a driving part of the four-degree-of-freedom puncture needle positioning guide, and since the movement of the driving unit 1 is used to move the puncture needle 5, it is necessary to apply the power output from the driving unit to the puncture needle through another component. The driving assemblies 1 are arranged in two groups and distributed up and down in the embodiment, and the structures of the two groups of driving assemblies 1 are substantially the same as a whole.
Each group of driving assemblies 1 consists of four parts, namely a first linear motion mechanism 101, a second linear motion mechanism 102, a connecting piece 3 and a connecting joint 314. The first linear motion mechanism 101 and the second linear motion mechanism 102 have the same structure, and they may be arranged side by side on the same horizontal plane. The first linear motion mechanism 101 and the second linear motion mechanism 102 are both composed of a fixed end and an output end, wherein the output end can move linearly on the fixed end, and a linear motor, an air cylinder, a hydraulic cylinder or a lead screw transmission structure and the like can be adopted.
The output ends of the first linear motion mechanism 101 and the second linear motion mechanism 102 can be extended or retracted independently, so that the first linear motion mechanism 101 and the second linear motion mechanism 102 can rotate independently around the Z-axis. This is achieved in the present embodiment by the rotary drive mechanisms 2, i.e., the first linear motion mechanism 101 and the second linear motion mechanism 102 correspond to one rotary drive mechanism 2. The rotary driving mechanism 2 is also composed of an output end and a fixed end, wherein the output end can rotate around the Z axis. When the output end of the rotation driving mechanism 2 is connected to the fixed ends of the first and second linear motion mechanisms 101 and 102, the rotation direction, the rotation angle, and the rotation speed of the first and second linear motion mechanisms 101 and 102 can be controlled by controlling the rotation driving mechanism 2.
An output structure capable of applying translational motion along the X-axis direction is formed by the first linear motion mechanism 101 and the second linear motion mechanism 102, and an output structure capable of applying rotational motion around the Z-axis direction is formed simultaneously under the action of the rotary driving mechanism. For the adjustment of the translational posture of the puncture needle in the X direction, the first linear motion mechanism 101 and the second linear motion mechanism 102 of the upper and lower driving assemblies need to be kept to synchronously extend or contract. For the posture adjustment of the puncture needle 5 around the Z axis, it is necessary to rotate the corresponding first linear motion mechanism 101 and second linear motion mechanism 102 by the rotation driving mechanism, and to contract the linear motion mechanism located on the inner side in the rotation direction and extend the linear motion mechanism located on the outer side.
Since the driving assemblies are arranged in two sets arranged up and down in this embodiment, when it is necessary to control the deflection of the puncture needle 5 about the Y axis and the deflection about the X axis, the driving assemblies of the upper and lower sets are required to apply forces to the puncture needle 5 at the same time. Therefore, in the present embodiment, in a manner that the first fixing portion 7a and the second fixing portion 7b are always slidably connected in the posture adjustment of the puncture needle, the first fixing portion 7a and the second fixing portion 7b enable the movement of the upper and lower two sets of driving components to be combined to the puncture needle 5, so that the posture adjustment of the puncture needle 5 in the deflection around the Y axis and the deflection around the X axis can be realized. In the above two-kind-yaw attitude adjustment, the connection joint 314 needs to be used in cooperation with the first fixing portion 7a and the second fixing portion 7 b.
The following describes various attitude adjustments, respectively:
1. as shown in fig. 11, the puncture needle 5 moves linearly in the horizontal direction when vertical:
the axes of the output ends of the two first linear motion mechanisms 101 which are arranged up and down are located in the same vertical plane, and the axes of the output ends of the two second linear motion mechanisms 102 are located in the same vertical plane. At this time, the puncture needle 5 mounted on the second fixing portion 7b can be controlled to linearly extend in the X-axis direction by controlling the two first linear motion mechanisms 101 and the two second linear motion mechanisms 102 to synchronously extend, and similarly, the puncture needle 5 mounted on the second fixing portion 7b can be controlled to linearly retract in the X-axis direction by controlling the two first linear motion mechanisms 101 and the two second linear motion mechanisms 102 to synchronously contract.
2. As shown in FIG. 8, the puncture needle 5 rotates about the Z-axis
Each of the first linear motion mechanism 101 and the second linear motion mechanism 102 is rotated about the Z-axis by one rotation driving mechanism alone. Since the first linear motion mechanism 101 and the second linear motion mechanism 102 in each set of driving components are arranged on a horizontal plane, the distance between the two ends of the output ends of the first linear motion mechanism 101 and the second linear motion mechanism 102 will change during the rotation. Since the output ends of the first linear motion mechanism 101 and the second linear motion mechanism 102 are commonly connected to the first end of the connecting member 3, it is necessary to suppress the change in the distance between the output ends of the two linear motion mechanisms.
Therefore, in this embodiment, in the process of rotating the first linear motion mechanism 101 and the second linear motion mechanism 102, the linear motion mechanism control output end located at the inner side in the rotation direction is contracted, the linear motion mechanism control output end located at the outer side is extended or maintained, and the connecting piece 3 is fixedly connected with one output end and hinged with the other output end through the vertical shaft. The posture of the puncture needle rotating around the Z axis can be adjusted by the arrangement of the structure.
3. As shown in fig. 6 and 7, the puncture needle 5 deflects around the Y-axis:
the deflection of the puncture needle 5 about the Y axis in this embodiment is achieved by controlling the positional difference in the X axis direction between the connecting joint 314 in the upper drive assembly 1 and the connecting joint 314 in the lower drive assembly 1. That is, the upper first linear motion mechanism 101 and the upper second linear motion mechanism 102 are controlled to have different motion outputs from the lower first linear motion mechanism 101 and the lower second linear motion mechanism 102, so that the corresponding connection joints 314 have a positional difference. Since the two connecting joints 314 are respectively hinged to the first fixing portion 7a and the second fixing portion 7b through the Y-direction rotating shaft, when the two connecting joints 314 have a position difference in the X-direction, the first fixing portion 7a and the second fixing portion 7b are pulled to rotate by a certain angle around the Y-axis, so that the puncture needle 5 located on the second fixing portion 7b deflects around the Y-axis. The magnitude of the deflection angle is determined by the magnitude of the position difference between the two connecting joints 314.
4. As shown in fig. 9 and 10, the puncture needle 5 is deflected about the X-axis;
the deflection of the puncture needle 5 about the X axis in this embodiment is achieved by controlling the positional difference in the Y axis direction between the connecting joint 314 in the upper drive assembly and the connecting joint 314 in the lower drive assembly.
Specifically, the upper rotary driving mechanism 2 drives the corresponding first linear motion mechanism 101 and the corresponding second linear motion mechanism 102 to synchronously rotate clockwise or counterclockwise, and meanwhile, the linear motion mechanism located on the inner side in the rotation direction synchronously contracts, and the linear motion mechanism located on the outer side synchronously extends. The lower rotary driving mechanism 2 drives the corresponding first linear motion mechanism 101 and second linear motion mechanism 102 to move in a direction and/or distance different from the upper motion direction. The upper connecting joint 314 and the lower connecting joint 314 have a position difference in the Y-axis direction, because the two connecting joints 314 are connected by the first fixing portion 7a and the second fixing portion 7b, and because the second end of the connecting member 3 is hinged by the rotating shaft in the X-direction, the above-mentioned movement will drive the connecting joint 314 to rotate by a certain angle around the X-axis, thereby driving the first fixing portion 7a and the second fixing portion 7b to rotate by a certain angle, so that the puncture needle 5 located on the second fixing portion 7b synchronously deflects by a corresponding angle, and the size of the angle is also determined by the size of the position difference between the two connecting joints 314.
In the process, the distance between the first fixing portion 7a and the second fixing portion 7b is increased, but the two are in a sliding connection relationship.
As shown in fig. 6 to 11, the four-degree-of-freedom puncture needle positioning and guiding device in the present embodiment can enable the puncture needle 5 to have four-degree-of-freedom posture adjustment, and compared to the related art in which the orthogonal moving platform is required to implement the horizontal translation of the puncture needle 5 and the linear structure such as the piston mechanism is required to implement the deflection of the puncture needle 5 around the Y axis, the present embodiment can implement the posture adjustment of the puncture needle 5 in multiple directions by the rotating mechanism and the two sets of the first linear motion mechanism 101 and the second linear motion mechanism 102 connected in parallel. Compared with a robot provided with a moving platform, the four-degree-of-freedom puncture needle positioning and guiding device has the advantages that the size is smaller, meanwhile, the moving mechanisms of the upper part and the lower part can act actively, working space can be increased, the adjustable posture of the cross-section puncture needle is large, the adjustable posture types are more, and the posture angle is larger.
In order to reduce the volume of the whole device, the distance between the output end of the first linear motion mechanism 101 and the output end of the second linear motion mechanism 102 is gradually reduced along the linear extending direction, so that the first linear motion mechanism 101 and the second linear motion mechanism 102 in each driving assembly 1 form a triangular configuration, and more movement space can be provided while the volume is reduced.
As shown in fig. 1 to 2, the connecting member 3 serves as a part for providing the degree of freedom of movement of the puncture needle 5, and the present embodiment further describes the structure of the connecting member 3:
the connecting piece 3 comprises a connecting plate 312, a first connecting head 311 and a second connecting head 313 which are arranged at the first end of the connecting plate 312; a first coupling head 311 is fixed to an end of the coupling plate 312, and a second coupling head 313 is hinged to the first coupling head 311 by a vertical shaft so that the second coupling head 313 can rotate about the Z-axis with respect to the first coupling head 311; the first connection head 311 is connected to the output end of the first linear motion mechanism 101, and the second connection head 313 is connected to the output end of the second linear motion mechanism 102.
The connecting plate 312 may be shaped in an L-shape including a horizontal portion and a vertical portion. The horizontal plane of which is located at the upper portion, a connection plate 312 is installed at the distal ends of the output ends of the first and second linear motion mechanisms 101 and 102, and a first connection head 311 and a second connection head 313 serve as direct connection portions with the output ends of the linear motion mechanisms.
The upper end (i.e., horizontal portion) of the connecting plate 312 is provided with a mounting hole and a positioning hole. The positioning hole at the upper end is flange-coupled with the first coupling head 311, thereby fixing the first coupling head 311 to the upper end of the coupling plate 312. The second connector 313 is arranged below the first connector 311, the first connector 311 and the second connector 313 are connected through a connecting bearing, and the connecting bearing can be arranged through a mounting hole in the connecting plate 312, so that the second connector 313 and the first connector 311 can relatively rotate around the Z axis, and the rotation around the Z axis and the deflection around the X axis of the puncture needle can be met.
The first connector 311 and the second connector 313 both include an annular portion and an installation portion located outside the annular portion, the two annular portions are hinged through a vertical shaft, and the installation portion is fixedly arranged at the output end of the corresponding first linear motion mechanism 101 and the output end of the corresponding second linear motion mechanism 102.
Specifically, the side surfaces of the first connection head 311 and the second connection head 313 are connected to the output ends of the first linear motion mechanism 101 and the second linear motion mechanism 102, respectively. Specifically, the first connector 311 and the second connector 313 have the same structure and include a circular portion and an installation portion disposed on a side of the circular portion, a shaft hole is formed in the installation portion, and output ends of the first linear motion mechanism 101 and the second linear motion mechanism 102 are respectively sleeved and fixed in the corresponding shaft hole.
As shown in fig. 1 and 2, the connection joint 314 is configured to connect the ear seat 3141 and the ear plate;
the connecting ear seat 3141 is hinged at the second end of the connecting plate 312 through the rotating shaft in the X direction; the connecting ear plates are hinged on the corresponding connecting ear seats 3141 through rotating shafts in the Y direction;
the first fixing part 7a and the second fixing part 7b are fixedly arranged on the corresponding connecting ear plates.
Specifically, the lower end (i.e., the vertical portion) of the connecting plate 312 is also provided with a mounting hole and a positioning hole. The connection ear seat 3141 is installed at the lower end of the connection plate 312, the connection ear seat 3141 is connected with the connection plate 312 through a connection bearing, and the connection bearing is connected with the connection ear seat 3141 through a mounting hole, so that the connection ear seat 3141 can rotate around the X axis.
Connecting bearings are arranged in two side plates of the connecting lug seat 3141, the two connecting bearings are connected through a rotating shaft, and the connecting lug plate is arranged between the two side plates of the connecting lug seat and sleeved on the rotating shaft, so that the connecting lug plate can rotate around the Y axis.
The position of installing the connection lug plate on the connection lug seat 3141 is a through groove structure, so that the limitation on the rotation angle of the connection lug plate can be reduced, and the connection lug plate has a larger rotation angle after being installed on the connecting seat. The first fixing portion 7a and the corresponding connecting ear plate can be integrally formed, and the second fixing portion 7b and the corresponding connecting ear plate can also be integrally formed.
As shown in fig. 1 and 2, the first fixing portion 7a and the second fixing portion 7b are provided as a first harness 71 and a second harness 72, respectively;
the first fixing sleeve 71 is fixedly arranged on the connecting lug plate of one of the driving components 1, and the second fixing sleeve 72 is fixedly arranged on the connecting lug plate of the other driving component 1;
a linear guide rail 6 is connected between the first fixing sleeve 71 and the second fixing sleeve 72 in a sliding manner; the second fixing sleeve 72 is provided with a mounting hole for fixing the puncture needle 5.
Specifically, it should be noted that the first fixing sleeve 71 can be fixed on the connecting ear plate of the upper driving assembly 1, and the second fixing sleeve 72 can be fixed on the connecting ear plate of the lower driving assembly 1. The first fixing sleeve 71 is provided with a through hole for the linear guide 6 to pass through, and the second fixing sleeve 72 is provided with a through hole for fixing the lower end of the linear guide 6 and a through hole for fixing the puncture needle 5. In order to stabilize the posture adjustment of the puncture needle 5, the axis of the linear guide 6 and the axis of the puncture needle 5 are in the same plane and kept parallel. The linear guide 6 and the puncture needle 5 are always kept parallel, so that the motion configuration of the puncture needle 5 is kept through the linear guide 6.
When the puncture needle 5 is deflected around the X-axis, the linear guide 6 also slides synchronously within the first fixing sleeve 71 to adjust the spacing between the first and second fixing sleeves. Meanwhile, the connection plate, the connection lug 3141, the second connection block 313, the first connection hole and the connection plate 312 are all relatively rotated by a certain angle.
As shown in fig. 1 and 2, the axis of the output end of the first linear motion mechanism 101 and the axis of the output end of the second linear motion mechanism 102 of each drive assembly 1 are located on the same horizontal plane, thereby facilitating the motion resolution of the first linear motion mechanism 101 and the second linear motion mechanism 102.
In order to realize the installation of the first linear motion mechanism 101, the second linear motion mechanism 102 and the rotary drive mechanism 2 in the upper and lower groups of drive mechanisms, in the embodiment, the device at least comprises two mounting plates 4 which are sequentially arranged from bottom to top, and the two mounting plates 4 are fixedly connected through a connecting column;
each mounting plate 4 is provided with two rotary driving mechanisms 2, a first linear motion mechanism 101 and a second linear motion mechanism 102.
The rotary drive mechanisms 2 on each mounting plate 4 are distributed left and right, and the first linear motion mechanism 101 and the second linear motion mechanism 102 are also distributed left and right. Since the puncture needle 5 has a degree of freedom of deflection about the Y-axis, the mounting plate 4 at the bottom needs to reserve a space for the puncture needle 5 to rotate when rotating counterclockwise about the Y-axis. For this purpose, the mounting plate 4 located at the bottom in this embodiment is provided with a recess.
As shown in fig. 1 and fig. 2, the rotary driving mechanism 2 includes a motor fixing member 201 disposed at the fixed ends of the first linear motion mechanism 101 and the second linear motion mechanism 102, and a rotary motor disposed on the mounting plate 4, and an output end of the rotary motor is in transmission connection with the motor fixing member 201.
Specifically, it should be noted that the rotating electrical machine is fixed on the mounting plate 4, a shaft of the rotating electrical machine extends out of the mounting plate 4 and then is fixed in the motor fixing member 201, and the rotating electrical machine drives the motor fixing member 201 to rotate, so as to drive the corresponding first linear motion mechanism 101 and the corresponding second linear motion mechanism 102 to rotate.
To facilitate the mounting of the shaft of the upper rotating motor, this embodiment also includes a top plate 8, the top plate 8 being located at the topmost end of the device, and the shaft of the upper rotating motor extending into the top plate 8 and being connected by bearings.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A four-degree-of-freedom puncture needle positioning guide device is characterized by comprising: the first fixing part, the second fixing part and the driving component are arranged on the base;
the driving assemblies are arranged into two groups and distributed up and down;
each driving assembly comprises a first linear motion mechanism, a second linear motion mechanism, a connecting piece and a connecting joint; the first linear motion mechanism and the second linear motion mechanism can rotate around a Z axis;
the first end of the connecting piece is fixed at the output end of the first linear motion mechanism and is hinged with the output end of the second linear motion mechanism through a vertical shaft; the second end of the connecting piece is hinged with the connecting joint through a rotating shaft in the X direction;
the first fixing part and the second fixing part are respectively hinged on the connecting joint of one of the driving components and the connecting joint of the other driving component through a Y-direction horizontal shaft;
the second fixing part is used for installing a puncture needle, a linear guide rail is fixedly arranged on the second fixing part, the axis of the linear guide rail and the axis of the puncture needle are positioned on the same plane and are kept parallel, and the upper end of the linear guide rail penetrates through the first fixing part in a sliding manner; and the distance between the output end of the first linear motion mechanism and the output end of the second linear motion mechanism is gradually reduced along the X-axis direction.
2. The four-degree-of-freedom puncture needle positioning guide device according to claim 1, wherein the connecting member includes a connecting plate, and a first connector and a second connector provided at a first end of the connecting plate;
the first connecting head is fixed at the end part of the connecting plate, and the second connecting head is hinged on the first connecting head through a vertical shaft, so that the second connecting head can rotate around a Z axis relative to the first connecting head;
the first connector is connected with the output end of the first linear motion mechanism, and the second connector is connected with the output end of the second linear motion mechanism.
3. The four-degree-of-freedom puncture needle positioning guide device according to claim 2, wherein the first connector and the second connector each include an annular portion and a mounting portion located outside the annular portion, the two annular portions are hinged to each other through a vertical shaft, and the mounting portions are fixedly arranged at the output ends of the corresponding first linear motion mechanism and the second linear motion mechanism.
4. The four-degree-of-freedom needle positioning guide of claim 2 or 3, wherein each drive assembly further comprises two rotary drive mechanisms, each rotary drive mechanism being coupled to the first and second linear motion mechanisms for driving the first and second linear motion mechanisms, respectively, in rotation about the Z-axis.
5. The four-degree-of-freedom needle positioning guide according to claim 2 or 3, wherein the connecting plate includes a horizontal portion and a vertical portion, and the first connecting joint is fixed to an inner side of the horizontal portion;
the connecting joint is hinged to the outer side of the vertical part through a rotating shaft in the X direction.
6. A four degree-of-freedom puncture needle positioning guide device according to any one of claims 1 to 3, wherein the connection joint is configured as a connection ear seat and a connection ear plate;
the connecting lug seat is hinged to the second end of the connecting plate through a rotating shaft in the X direction; the connecting lug plates are hinged to the corresponding connecting lug seats through rotating shafts in the Y direction;
the first fixing part and the second fixing part are fixedly arranged on the corresponding connecting ear plates.
7. The four-degree-of-freedom puncture needle positioning guide device according to claim 6, wherein the first fixing portion and the second fixing portion are respectively provided as a first fixing sleeve and a second fixing sleeve, the first fixing sleeve is fixedly arranged on the connecting ear plate of one of the driving components, and the second fixing sleeve is fixedly arranged on the connecting ear plate of the other of the driving components;
a linear guide rail is connected between the first fixing sleeve and the second fixing sleeve in a sliding manner; and the second fixing sleeve is provided with a mounting hole for fixing the puncture needle.
8. The four-degree-of-freedom needle positioning guide device of claim 7, wherein the axis of the output of the first linear motion mechanism and the axis of the output of the second linear motion mechanism of each drive assembly are located on the same horizontal plane.
9. The four-degree-of-freedom puncture needle positioning guide device according to claim 7 or 8, further comprising two mounting plates which are sequentially arranged from bottom to top, wherein the two mounting plates are fixedly connected through a connecting column;
each mounting plate is provided with two rotary driving mechanisms, one first linear motion mechanism and one second linear motion mechanism;
the two rotary driving mechanisms are respectively used for driving the first linear motion mechanism and the second linear motion mechanism to rotate around a Z axis.
10. The four-degree-of-freedom puncture needle positioning and guiding device according to claim 9, wherein the rotary driving mechanism comprises a motor fixing member sleeved at the fixed ends of the first linear motion mechanism and the second linear motion mechanism, and a rotary motor arranged on the mounting plate, and an output end of the rotary motor is in transmission connection with the motor fixing member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210334906.1A CN114469284B (en) | 2022-03-31 | 2022-03-31 | Four-freedom-degree puncture needle positioning and guiding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210334906.1A CN114469284B (en) | 2022-03-31 | 2022-03-31 | Four-freedom-degree puncture needle positioning and guiding device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114469284A true CN114469284A (en) | 2022-05-13 |
| CN114469284B CN114469284B (en) | 2022-07-01 |
Family
ID=81488403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210334906.1A Active CN114469284B (en) | 2022-03-31 | 2022-03-31 | Four-freedom-degree puncture needle positioning and guiding device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114469284B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117064559A (en) * | 2023-10-13 | 2023-11-17 | 上海嘉奥信息科技发展有限公司 | Double-sided multi-degree-of-freedom surgical robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1706347A (en) * | 2004-05-21 | 2005-12-14 | 伊西康内外科公司 | MRI device localization fixture |
| EP1648288A2 (en) * | 2003-07-02 | 2006-04-26 | Adrian Paz | Virtual ports devices and method |
| CN101756715A (en) * | 2008-12-25 | 2010-06-30 | 深圳迈瑞生物医疗电子股份有限公司 | Puncture needle rack |
| US20140076088A1 (en) * | 2002-05-13 | 2014-03-20 | Universite Joseph Fourier | System for positioning on a patient an observation and/or intervention device |
| KR20180042762A (en) * | 2016-10-18 | 2018-04-26 | 한국기계연구원 | Handle unit for interventional procedure, and master device for interventional procedure using the handle unit, and remote control interventional procedure system using the master device |
| CN110236647A (en) * | 2019-06-06 | 2019-09-17 | 南京航空航天大学 | A kind of prostate acupuncture mechanism and working method for inside magnetic resonance imager |
| CN212853600U (en) * | 2020-08-12 | 2021-04-02 | 浙江伽奈维医疗科技有限公司 | Puncture surgery robot device with breathing following function |
| CN113081282A (en) * | 2021-04-22 | 2021-07-09 | 浙江大学 | Six-degree-of-freedom CT-compatible breathing compensation needle puncture robot |
| CN113952008A (en) * | 2021-12-23 | 2022-01-21 | 真健康（北京）医疗科技有限公司 | Cross-drive type puncture needle inserting mechanism and needle puncturing device |
-
2022
- 2022-03-31 CN CN202210334906.1A patent/CN114469284B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140076088A1 (en) * | 2002-05-13 | 2014-03-20 | Universite Joseph Fourier | System for positioning on a patient an observation and/or intervention device |
| EP1648288A2 (en) * | 2003-07-02 | 2006-04-26 | Adrian Paz | Virtual ports devices and method |
| CN1706347A (en) * | 2004-05-21 | 2005-12-14 | 伊西康内外科公司 | MRI device localization fixture |
| CN101756715A (en) * | 2008-12-25 | 2010-06-30 | 深圳迈瑞生物医疗电子股份有限公司 | Puncture needle rack |
| KR20180042762A (en) * | 2016-10-18 | 2018-04-26 | 한국기계연구원 | Handle unit for interventional procedure, and master device for interventional procedure using the handle unit, and remote control interventional procedure system using the master device |
| CN110236647A (en) * | 2019-06-06 | 2019-09-17 | 南京航空航天大学 | A kind of prostate acupuncture mechanism and working method for inside magnetic resonance imager |
| CN212853600U (en) * | 2020-08-12 | 2021-04-02 | 浙江伽奈维医疗科技有限公司 | Puncture surgery robot device with breathing following function |
| CN113081282A (en) * | 2021-04-22 | 2021-07-09 | 浙江大学 | Six-degree-of-freedom CT-compatible breathing compensation needle puncture robot |
| CN113952008A (en) * | 2021-12-23 | 2022-01-21 | 真健康（北京）医疗科技有限公司 | Cross-drive type puncture needle inserting mechanism and needle puncturing device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117064559A (en) * | 2023-10-13 | 2023-11-17 | 上海嘉奥信息科技发展有限公司 | Double-sided multi-degree-of-freedom surgical robot |
| CN117064559B (en) * | 2023-10-13 | 2024-01-09 | 上海嘉奥信息科技发展有限公司 | Double-sided multi-degree-of-freedom surgical robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114469284B (en) | 2022-07-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109771811B (en) | Parallel robot for implanting particles into prostate flexible needle | |
| JP7131834B2 (en) | Automatic insertion device | |
| CN114469284B (en) | Four-freedom-degree puncture needle positioning and guiding device | |
| CN218128746U (en) | Positioning device, medical robot, and surgical navigation system | |
| CN218391268U (en) | Miniaturized puncture robot | |
| CN114424967B (en) | Four-freedom puncture needle positioning and guiding device with orthogonal structure | |
| CN114431940B (en) | Four-degree-of-freedom puncture needle positioning and guiding device based on RCM structure | |
| CN114469285B (en) | Connecting rod type five-degree-of-freedom puncture robot | |
| CN218279795U (en) | Orthogonal structure puncture robot | |
| CN218391224U (en) | Puncture needle positioning and guiding device | |
| CN114191079A (en) | Independent drive type interventional operation robot | |
| CN114209400A (en) | Ultrasound image navigation prostate puncture surgical robot | |
| CN112006780B (en) | Minimally invasive surgery robot system and artificial cochlea minimally invasive implantation surgery device | |
| CN111888010A (en) | Mammary tissue fixing device based on ultrasonic guidance and control method thereof | |
| CN217566246U (en) | Connecting rod type puncture needle positioning and guiding device | |
| CN114469283B (en) | Connecting rod type four-freedom-degree puncture needle positioning and guiding device | |
| CN114469286B (en) | Miniaturized puncture robot | |
| CN218528882U (en) | Minimally invasive surgery robot compatible with MRI and CT environments | |
| CN218305051U (en) | Orthogonal structure puncture needle positioning and guiding device | |
| CN217611304U (en) | Puncture needle positioning and guiding device based on RCM structure | |
| CN217938333U (en) | Pneumatic rigidity-variable six-freedom-degree CT-MRI needle puncture robot | |
| CN114469282B (en) | Orthogonal structure five-degree-of-freedom puncture robot | |
| CN114699142A (en) | Pneumatic rigidity-variable six-freedom-degree CT-MRI needle puncture robot | |
| CN217611303U (en) | Connecting rod type puncture robot | |
| CN215606250U (en) | Surgical robot and multi-degree-of-freedom surgical system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230104 Address after: Room 105-75274, No. 6, Baohua Road, Hengqin New District, Zhuhai City, Guangdong Province, 519000 (centralized office area) Patentee after: True Health (Zhuhai) Medical Technology Co.,Ltd. Address before: 100192 Room 308, floor 3, building 2, Tiandi Linfeng, No. 1, yongtaizhuang North Road, Haidian District, Beijing Patentee before: ZHENJIANKANG (BEIJING) MEDICAL TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |