CN114711914A - High-precision puncture biopsy positioning system and method - Google Patents
High-precision puncture biopsy positioning system and method Download PDFInfo
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- CN114711914A CN114711914A CN202210321150.7A CN202210321150A CN114711914A CN 114711914 A CN114711914 A CN 114711914A CN 202210321150 A CN202210321150 A CN 202210321150A CN 114711914 A CN114711914 A CN 114711914A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- 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
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/70—Means for positioning the patient in relation to the detecting, measuring or recording means
- A61B5/702—Posture restraints
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/70—Means for positioning the patient in relation to the detecting, measuring or recording means
- A61B5/704—Tables
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/70—Means for positioning the patient in relation to the detecting, measuring or recording means
- A61B5/708—Breast positioning means
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Abstract
A high-precision puncture biopsy positioning system and a method belong to medical facilities, and comprise an examination bed, wherein a patient lies prone on the examination bed, a prone position matched with the body type of the patient is arranged on the examination bed, a body fixing mechanism is arranged at the prone position, an examination window is arranged at the chest of the patient at the prone position, the breast of the patient naturally sags and penetrates through the examination window to go deep into an examination area below the examination window, a focus positioning system is arranged at the examination window, and the focus positioning system is positioned at the lower part of the examination bed and is under the chest of the patient in the prone position. The invention has novel design and ingenious conception, can carry out positioning and puncture guiding in the puncture biopsy of the breast disease focus, has accurate detection and positioning and good guiding effect on the puncture.
Description
Technical Field
The invention relates to the field of medical facilities, in particular to a system and a method for accurately positioning a puncture biopsy of a breast disease focus.
Background
According to statistics, the disease which threatens women most globally is breast cancer, 230 million women are diagnosed with the breast cancer in 2020, and 68.5 million people die globally. By the end of 2020, in the last five years, 780 ten thousand women in the world are diagnosed with breast cancer, so that the breast cancer becomes the most common cancer in the world, in recent years, the incidence rate of the breast cancer in China is on a remarkably rising trend, in addition, the first malignant tumor in China is the breast cancer, and the disability adjustment life years lost by the breast cancer of women are more than that of any other types of cancers.
Women in every country in the world develop breast cancer at any age after puberty, but the incidence is increasing in later years. Breast cancer occurs in the ductal lining cells (epithelium) of the breast (85%) or in the lobules of the breast glandular tissue (15%). Initially, cancer cell growth is confined to the inside of the ductal or lobular tract ("in situ"), symptoms are usually absent, and the likelihood of spread (metastasis) is minimal. Over time, these in situ (stage 0) cancer cells may develop and invade the surrounding breast tissue (invasive breast cancer) and then spread to nearby lymph nodes (regional metastases-specific) or other organs in the body (distant metastases). If a woman died from breast cancer, it was due to extensive metastasis.
Treatment of breast cancer can be very effective, and can achieve 90% or greater survival rates, particularly when the disease is discovered early. Treatment of breast cancer typically involves the combination of surgical resection, radiation therapy, and drug therapy (hormone therapy, chemotherapy, and/or targeted biological therapy, etc.) to treat microscopic tumor cells or tissues that have disseminated through the blood from breast tumors, which can prevent the growth and spread of malignant tumors, thereby saving life.
However, early symptoms of breast cancer are not obvious, local symptoms such as breast lumps, breast skin abnormality, nipple discharge, nipple or areola abnormality and the like are mainly used, and the symptoms are not obvious, and some symptoms are consistent with normal female physiological expression or similar to other skin diseases, so that the breast cancer is easily overlooked and even misdiagnosed. Further conventional detection means include ultrasound, X-ray imaging, MRI and the like, and in the absence of high suspicion, only ultrasound is generally adopted without further examination, but the conventional handheld single-probe ultrasound has low detection success rate, high misjudgment rate on tumor tissues and general tissues, and is difficult to find and attach importance to a small amount of tumor tissues in early breast cancer, and even X-ray imaging has less than half detection success rate. In order to realize the accurate diagnosis of breast cancer, people choose a method of needle biopsy, firstly locate the suspicious breast lesion, then insert the hollow needle into the suspicious breast lesion, take out the pathological tissue, and perform the pathological examination, wherein the pathological examination can realize 100% determination of the pathological condition of the pathological tissue, but the difficulty of needle biopsy lies in the accurate location of the suspicious breast lesion, and the guide means for further needle puncture is lacked, so that any further problems occur, and the false diagnosis can be caused by taking out only the normal breast tissue and performing the pathological examination. Therefore, in the case of the aspiration biopsy for breast cancer, a more precise positioning and aspiration guiding scheme is needed to fill up the technical gap that may exist at present, so as to solve the possible misdiagnosis problem.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a high-precision puncture biopsy positioning system and a high-precision puncture biopsy positioning method, which are used for accurately positioning and puncture guiding a breast puncture biopsy operation.
The technical problem to be solved by the invention is realized by the following technical means:
the utility model provides a high accuracy puncture biopsy positioning system, including the inspection bed, the patient pronates on the inspection bed, be provided with the prone position that matches with the patient size on the inspection bed, prone position department is provided with body fixed establishment, the inspection window is seted up to the prone position, patient's breast natural drooping passes the inspection window and deepens the inspection area of below, inspection window department is provided with focus positioning system, focus positioning system is located the lower part of inspection bed, under the inspection window, focus positioning system includes inspection head and inspection head motion, the inspection head is image check out the probe end of equipment.
In the invention, the prone position is a groove shape formed by downwards recessing the middle part of an examination bed, a body fixing device is arranged in the prone position and comprises a shoulder positioning mechanism and an abdomen binding mechanism, the shoulder positioning mechanism is positioned at the front part of the examination bed and comprises shoulder pressing plates respectively positioned at two sides, the shoulder pressing plates are upwards recessed to form a socket shape and matched with the shoulder contour of a human body, telescopic pipes are arranged at the edges of the shoulder pressing plates, one ends of the telescopic pipes are fixed at the edges of the lower sides of the shoulder pressing plates, springs are arranged in the telescopic pipes, shoulder supporting plates are arranged at corresponding positions below the shoulder pressing plates, the other ends of the telescopic pipes are fixed on the shoulder supporting plates, sliding grooves are formed in the examination bed below the shoulder supporting plates, the shoulder supporting plates are freely and slidably connected with the examination bed along the front part of the examination bed through embedded sliding grooves, and one sides, opposite to the shoulder supporting plates, of the shoulder supporting plates are coated with flexible materials; the abdomen binding mechanism comprises two abdomen binding belts which are respectively led out from the left side and the right side of the bottom of the prone position, one end of each abdomen binding belt is fixed on the examination bed, and the other end of each abdomen binding belt bypasses the prone position and is connected above the prone position patient through a magic tape.
Furthermore, the front end of the examination bed is provided with a head support, the head support is provided with an arc-shaped groove with an upward opening, the forehead of a patient is supported, the upper side of the head support is covered with a flexible material, and the lower part of the head support is fixed on the examination bed through a telescopic mounting frame.
The inspection head movement mechanism of the lesion positioning system is arranged under an inspection window and is arranged around an inspection area, and comprises at least two moving modules, all the moving modules are spliced to form a cylinder or a hemisphere around the inspection area, each moving module comprises an arc-shaped driving shaft and a moving support platform, the driving shaft is driven by a first driving motor, the surface of the driving shaft is provided with external threads, the driving shaft penetrates through the moving support platform, a fixed tooth groove matched with the external threads of the driving shaft is arranged in the moving support platform, the driving shaft rotates to drive the moving support platform to move freely along the driving shaft, horizontal sliding rails or horizontal sliding grooves are arranged on the upper side and the lower side of the driving shaft, and sliding blocks or pulleys matched with the horizontal sliding rails or the horizontal sliding grooves are arranged on the corresponding moving support platform, so that the moving track of the moving support platform is further limited.
Further, the driving shaft comprises rotating joints which are connected with each other end to end, the middle part of each rotating joint is cylindrical, 2-4 raised oblique ridges are uniformly arranged on the outer wall of the driving shaft and are obliquely arranged and staggered with the central line of the rotating joint, the oblique ridge on each rotating joint is spirally arranged around the central line of the rotating joint, one end of each oblique ridge is a V-shaped groove, the other end of each oblique ridge is a V-shaped tip and is matched with the V-shaped groove at the end part of the oblique ridge corresponding to the adjacent rotating joint, the upper end of each rotating joint is hinged with the lower end of the adjacent rotating joint, the upper end of each rotating joint is a female end and is a concave groove, the bottom of each concave groove is arc-shaped, the lower end of each rotating joint is a male end and is embedded in the upper end of the adjacent rotating joint, the end part is arc-shaped, the lower end of each rotating joint is also provided with a through hole through which is penetrated by an elastic metal wire pin shaft, and the two ends of each pin shaft are respectively connected with two sides in the concave grooves at the upper ends of the rotating joints, the hinge joint is stable, the height of the inclined ridge along the central line of the rotating joint is smaller than the length of the rotating joint, after the rotating joint is hinged into the arc-shaped driving shaft, the inclined ridges on the adjacent rotating joints towards the direction of the movable supporting table are connected end to end and meshed with the fixed teeth in the movable supporting table.
Furthermore, an inspection head mounting seat is arranged on the movable supporting platform, the bottom of the inspection head mounting seat is connected with the movable supporting platform in a sliding mode, the movable supporting platform extends downwards and is provided with a lifting driving screw rod and a lifting guide sliding rod, the inspection head mounting seat is sleeved outside the lifting driving screw rod and the lifting guide sliding rod, a driving gear driven by a second driving motor is arranged in the inspection head mounting seat, the driving gear is meshed with the lifting driving screw rod, a ball bearing is arranged in the inspection head mounting seat, the ball bearing is sleeved outside the lifting guide sliding rod and is matched with the lifting driving screw rod to limit the lifting movement track of the inspection head mounting seat.
Furthermore, the lifting driving screw rod is replaced by a lifting driving rack, correspondingly, a driving gear driven by a second driving motor is arranged in the inspection head mounting seat, and the driving gear is meshed with the lifting driving rack.
Furthermore, an inspection head mounting sleeve is arranged on the inspection head mounting seat, the inspection head mounting sleeve is cylindrical, the front end of the inspection head mounting sleeve is open, the tail end of the inspection head mounting sleeve is closed, the tail part of the inspection head is embedded in the inspection head mounting sleeve, a first electric push rod is arranged in the inspection head mounting sleeve, the telescopic end of the first electric push rod is connected to the tail part of the inspection head, the driving end of the first electric push rod is fixed in the inspection head mounting sleeve, the inspection head and the inspection head mounting sleeve realize relative sliding movement through an inspection head telescopic slide rail, and an angle sensor is further arranged in the inspection head mounting sleeve; the fixed support frame that is provided with on the inspection head mount pad, the articulated setting in middle part of support frame and inspection head installation sleeve, inspection head installation sleeve use the hinge as center free rotation, be connected with second electric putter on the removal brace table, the flexible end of second electric putter articulates the tail end of inspection head installation sleeve, and second electric putter's drive end articulates to removing the brace table, and the flexible rotation that promotes the inspection head installation sleeve of second electric putter.
In the invention, the inspection window is provided with an inspection support, the upper part of the inspection support is provided with an opening, the edge of the opening is provided with a hard frame extending outwards, the outline size of the hard frame is larger than that of the inspection window, so that the whole bracket of the inspection support is arranged at the inspection window, a body of the inspection support is embedded in the inspection window, the body of the inspection support comprises two hemispherical or approximately hemispherical supports, the supports are used for containing and supporting breasts of a patient and are made of elastic non-metallic materials and comprise at least two concentrically arranged connecting rings and vertical connecting ribs for connecting the adjacent connecting rings, the connecting rings and the connecting ribs are constructed into a grid shape of large grids, and the size of each grid of the grids is not larger than the size of the head end of an inspection head.
Further, the inspection support has a plurality of specifications, and the size of the supports and the distance between the two supports adopted by the inspection support of different specifications are different.
In the invention, a camera is arranged outside the examination area to provide an external observation image for examination and puncture.
Based on the high-precision puncture biopsy positioning system with the structure, the high-precision puncture biopsy positioning method comprises the following steps:
s1: after the equipment is started, the first driving motor drives the driving shaft to rotate, at the moment, the driving shaft is formed into a circular arc shape by connecting a plurality of sections of rotating sections end to end, after the first driving motor drives the rotating section at the end part of the driving shaft through a bevel gear, the rotating sections sequentially drive adjacent rotating sections until all the rotating sections of the driving shaft synchronously rotate, inclined ridges of the adjacent rotating sections are mutually spliced towards the direction of the circle center of the circular arc driving shaft, so that the driving shaft presents continuous external threads towards the direction of the circle center of the circular arc driving shaft, and the external threads drive the movable supporting platform to move forwards or backwards along the direction of the driving shaft through a fixed tooth socket meshed with the external threads so that the inspection head moves along the horizontal direction by taking an inspection area as the center;
s2: the second driving motor drives the driving gear to rotate, and the driving gear is meshed with the lifting driving screw rod or the lifting driving rack to freely lift along the lifting guide sliding rod, so that the inspection head vertically lifts or longitudinally displaces by taking the bearing as a center;
s3: the telescopic end of the second electric push rod is freely telescopic, at the moment, the telescopic end of the second electric push rod is hinged with the tail end of the inspection head mounting sleeve, the middle part of the inspection head mounting sleeve is hinged with the support frame on the inspection head mounting seat, and the telescopic end of the second electric push rod drives the inspection head mounting sleeve to longitudinally rotate by taking the middle part of the inspection head mounting sleeve as a center, so that the inspection direction of the inspection head longitudinally swings;
s4: the telescopic end of the first electric push rod is freely telescopic, so that the inspection head is pushed to be telescopic in the inspection head mounting sleeve, the inspection head is made to perform telescopic action towards the bearing direction, and the head end of the inspection head is made to penetrate into the square of the bearing to perform inspection work;
s5: the plurality of mobile modules work together, and the plurality of groups of inspection heads are matched with each other to inspect together so as to draw out a complete three-dimensional image.
Compared with the prior art, the technical scheme of the invention has the following advantages:
(1) the invention adopts the synchronous inspection of a multi-machine inspection head to draw out the three-dimensional image of the internal structure of the breast of a patient, so that various tissue structures in the breast of the patient can be clearly seen, tiny lesions can be clearly observed, and whether lesion tissues are infiltrated or not is further judged, and surrounding tissues are widely invaded, so that the disease condition of the patient is judged from the image science firstly;
(2) the examination bed is used as a carrier for bearing the patient, the patient only needs to lie on the examination bed in the prone position, the breasts are deep into the examination area, unnecessary actions are not needed, the breasts of the patient naturally droop in the examination area and are supported by the examination support, and the displacement of organ tissues in the examination area caused by the accidental actions or the driving of the patient is avoided, so that the errors of the displacement and the like of the examination images are caused;
(3) the prone position of the examination bed is provided with the shoulder positioning mechanism and the abdomen binding mechanism which are matched with the head support, so that the body of a patient can be properly bound from the shoulder and the waist and the back of the patient, the patient is ensured to be in a comfortable prone posture, and the possibility of accidental actions of the patient is reduced;
(4) the focus positioning system adopts a plurality of moving modules carrying the inspection heads, and the plurality of moving modules completely surround the inspection area, so that the plurality of inspection heads can jointly inspect the focus of a patient at multiple positions and multiple angles to manufacture a completely three-dimensional image model;
(5) the movable module of the invention adopts various means such as encircling, lifting, longitudinal swinging, stretching and the like to realize the adjustment of the inspection head, so that the inspection head can fully reach a proper position to perform inspection at a proper angle, and the movable dead angle is reduced to the maximum extent;
(6) the movable supporting table horizontally displaces around the inspection area along the circular driving shaft, and is limited by the sliding rail or the sliding groove, so that the movable supporting bar is free in displacement and accurate in control;
(7) the movable support table is provided with an inspection head mounting seat, the inspection head mounting seat realizes the lifting action through a lifting driving screw rod and a lifting guide sliding rod, the inspection head mounting seat is provided with an inspection head mounting sleeve, the longitudinal swing of the inspection head mounting sleeve is pushed through the telescopic action of a second electric push rod, and the accurate control of the longitudinal displacement and the angle adjustment of the inspection head can be realized to the maximum extent under the feedback of a high-precision angle sensor;
(8) according to the invention, the first electric push rod is arranged in the inspection head mounting sleeve to push the inspection head to stretch, so that the inspection head can be moved to a proper position and a proper angle and then extends out to perform close-range detection or contact with organs of a patient;
(9) the invention adopts the examination support to support the organ of the patient, the large grid structure of the examination support leaves sufficient space for the examination of the examination head while ensuring that the organ of the patient has no displacement and deformation, and provides sufficient visual field and space for the subsequent puncture.
(10) The positioning method realizes the multi-camera mutual-matching common examination of the organs of the patient by means of automatic adjustment and intelligent control so as to generate a complete three-dimensional image of the internal structure of the organs of the patient, and has the advantages of simple operation, high examination speed and high examination efficiency.
Therefore, the invention has novel conception and smart design, can perform positioning and puncture guiding in the puncture biopsy of the breast disease focus, has accurate detection and positioning and good guiding effect on the puncture.
Drawings
FIG. 1 is a top view of the high precision biopsy positioning system of the present invention (patient examination state diagram);
FIG. 2 is a side view of FIG. 1 (patient not shown);
FIG. 3 is a schematic structural diagram of a lesion localization system according to the present invention;
FIG. 4 is a side view of the moving module of FIG. 3;
FIG. 5 is a schematic view of the internal structure of the inspection head mounting sleeve of FIG. 4;
FIG. 6 is a view of a rotary joint structure of the drive shaft of FIG. 3;
FIG. 7 is a top view of FIG. 6;
FIG. 8 is a schematic view of the swivel connection shown in FIG. 6;
FIG. 9 is a view showing the state of the rotational segments shown in FIG. 6 spliced end to end into a circular arc shaped drive shaft;
FIG. 10 is a schematic view of an inspection tray according to the present invention;
fig. 11 is a schematic structural view of the hydraulic lifting mechanism of the present invention.
In the figure: the device comprises an inspection bed 1, a prone position 2, an inspection window 3, a shoulder pressing plate 4, a shoulder supporting plate 5, an extension pipe 6, a sliding groove 7, a head support 8, a telescopic mounting frame 9, an abdomen binding belt 10, a moving module 11, a driving shaft 12, a moving supporting table 13, a horizontal sliding groove 14, a pulley 15, an inspection head mounting seat 16, a lifting driving screw 17, an inspection head mounting sleeve 18, a first electric push rod 19, an inspection head 20, an inspection head telescopic sliding rail 21, a supporting frame 22, a second electric push rod 23, a rotating joint 24, an inclined ridge 25, a V-shaped groove 26, a V-shaped tip 27, a female end 28, a male end 29, a pin shaft 30, a hard frame 31, a bearing 32, a connecting ring 33, a connecting rib 34, a hydraulic lifting mechanism 35, a shearing rod 36, a lifting hydraulic cylinder 37 and an angle sensor 38.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments of the description, without thereby limiting the scope of protection of the invention.
Example 1
The utility model provides a high accuracy puncture biopsy positioning system, as shown in figure 1, including the inspection bed 1, the patient lies prostrate on the inspection bed 1, be provided with the prone position 2 with patient's size matching on the inspection bed 1, prone position 2 department is provided with body fixed knot and constructs, examination window 3 has been seted up to prone position 2, the breast of patient hangs down naturally and passes inspection window 3 and deepens the inspection zone of below, inspection window 3 department is provided with focus positioning system, focus positioning system is located the lower part of inspection bed 1, under inspection window 3, focus positioning system includes inspection head 20 and inspection head moving mechanism, inspection head 20 is the probe end of image check-up equipment, the inspection means of image check-up equipment includes but not only is limited to B type ultrasonic wave or X line, still be provided with the camera outside the inspection zone, provide outside observation image to inspection and puncture.
The prone position 2 is a groove shape formed by downwards sinking the middle part of the examination bed 1, the body fixing device is arranged in the prone position 2 and comprises a shoulder positioning mechanism and an abdomen binding mechanism, in fig. 2, the shoulder positioning mechanism is located at the front part of the examination bed 1, and comprises shoulder pressing plates 4 respectively located at two sides, the lower sides of the shoulder pressing plates 4 are recessed upwards to form a socket shape, the shoulder pressing plate is matched with the shoulder contour of a human body, an extension tube 6 is arranged at the edge of the shoulder pressing plate 4, one end of the extension tube 6 is fixed at the edge of the lower side of the shoulder pressing plate 4, a spring is arranged in the extension tube 6, a shoulder supporting plate 5 is arranged at a corresponding position below the shoulder pressing plate 6, the other end of the extension tube 6 is fixed on the shoulder supporting plate 5, a sliding groove 7 is formed in the inspection bed 1 below the shoulder supporting plate 5, the shoulder supporting plate 5 is in free sliding connection with the inspection bed 1 along the front part of the inspection bed 1 through the embedded sliding groove 7, and one side, opposite to the shoulder pressing plate 4, of the shoulder supporting plate 5 is coated with a flexible material; abdomen constraint mechanism includes belly constraint area 10, belly constraint area 10 has two, draw forth from the left and right sides of 2 bottoms in prone position respectively, its one end is all fixed on inspection bed 1, the other end is walked around prone position 2 and is passed through the magic and paste the top of connecting at prone position patient, the front end of inspection bed 1 is provided with head support 8, be provided with the ascending arc-shaped groove of opening on the head support 8, hold up patient's forehead portion, the flexible material is covered to the side of going up of head support 8, the lower part is fixed on inspection bed 1 through scalable mounting bracket 9.
As shown in fig. 3, the focus positioning system, its inspection head motion set up under inspection window 3, surround the inspection area and arrange, including 3 removal modules 11, each account for 120, 3 removal modules 11 splice are the cylinder around the inspection area, removal module 11 includes convex drive shaft 12 and removal brace table 13, drive shaft 12 is driven by a driving motor, drive shaft 12 surface has the external screw thread, drive shaft 12 passes removal brace table 13, removal brace table 13 embeds has the fixed tooth's socket that matches with the external screw thread of drive shaft 12, the rotation of drive shaft 12 drives removal brace table 13 and freely moves along drive shaft 12, the upper and lower both sides of drive shaft 12 are provided with horizontal spout 14, be provided with pulley 15 with horizontal spout 14 matched with on the corresponding removal brace table 13, further define the removal orbit that removes brace table 13.
As shown in fig. 4, an inspection head mounting seat 16 is provided on the movable support platform, the bottom of the inspection head mounting seat 16 is slidably connected to the movable support platform 13, the movable support platform 13 extends downward and is provided with a lifting drive screw 17 and a lifting guide sliding rod, the inspection head mounting seat 16 is sleeved outside the lifting drive screw 17 and the lifting guide sliding rod, a drive gear driven by a second drive motor is provided in the inspection head mounting seat 16, the drive gear is engaged with the lifting drive screw 17, a ball bearing is provided in the inspection head mounting seat 16, the ball bearing is sleeved outside the lifting guide sliding rod and cooperates with the lifting drive screw 17 to limit the lifting movement track of the inspection head mounting seat 16.
An inspection head mounting sleeve 18 is arranged on the inspection head mounting base 16, in fig. 5, the inspection head mounting sleeve 18 is cylindrical, the front end of the inspection head mounting sleeve 18 is open, the tail end of the inspection head mounting sleeve is closed, the tail part of the inspection head 20 is embedded in the inspection head mounting sleeve 18, a first electric push rod 19 is arranged in the inspection head mounting sleeve 18, the telescopic end of the first electric push rod 19 is connected to the tail part of the inspection head 20, the driving end of the first electric push rod 19 is fixed in the inspection head mounting sleeve 18, the inspection head 20 and the inspection head mounting sleeve 18 realize relative sliding movement through an inspection head telescopic slide rail 21, and an angle sensor 38 is further arranged in the inspection head mounting sleeve 18; fixed support frame 22 that is provided with on inspection head mount pad 16, support frame 22 and the articulated setting in middle part of inspection head installation sleeve 18, inspection head installation sleeve 18 uses the hinge to freely rotate as the center, be connected with second electric putter 23 on the removal brace table 13, the tail end of inspection head installation sleeve 18 is articulated to the flexible end of second electric putter 23, the drive end of second electric putter 23 articulates to removing brace table 16, the flexible rotation that promotes inspection head installation sleeve 18 of second electric putter 23.
The driving shaft 12 in fig. 3 includes rotating joints 24 connected end to end, the rotating joints 24 are as shown in fig. 6 and 7, the middle part is cylindrical, the outer wall is uniformly provided with 3 raised oblique ridges 25, the oblique ridges 25 are obliquely arranged and staggered with the central line of the rotating joints 24, the oblique ridge 25 on each rotating joint 24 surrounds the central line of the rotating joint 24 and is spiral, one end of the oblique ridge 25 is provided with a V-shaped groove 26, the other end is provided with a V-shaped tip 27, the oblique ridge 25 is matched with the V-shaped groove 26 at the end part of the oblique ridge 25 corresponding to the adjacent rotating joint 24, in fig. 8, the upper end of the rotating joint 24 is hinged with the lower end of the adjacent rotating joint 24, the upper end of the rotating joint 24 is a female end 28 and is provided with a concave groove, the bottom of the concave groove is arc-shaped, the lower end of the rotating joint 24 is a male end 29, the end is embedded in the upper end of the adjacent rotating joint 24, the lower end part is arc-shaped, the lower end of the rotating joint 24 is further provided with a through hole, an elastic metal wire pin shaft 30 penetrates through the hinge, two ends of the pin shaft 30 are respectively connected to two sides in a concave groove at the upper end of the rotating joint 24, so that the hinge is stable, the height of the inclined ridge 25 along the central line of the rotating joint 24 is smaller than the length of the rotating joint 24, in the figure 9, after the rotating joint 24 is hinged into the circular arc-shaped driving shaft 12, the inclined ridges 25 on the adjacent rotating joints 24 towards the direction of the movable supporting table 13 are connected end to end and meshed with the fixed teeth in the movable supporting table 13.
Example 2
The utility model provides a high accuracy puncture biopsy positioning system, including the inspection bed 1, the patient pronates on the inspection bed 1, be provided with the prone position 2 that matches with the patient's size on the inspection bed 1, 2 departments in prone position are provided with body fixed knot and construct, examination window 3 has been seted up to prone position 2, patient's breast natural droop passes examination window 3 and deepens the inspection zone of below, 3 departments in inspection window are provided with focus positioning system, focus positioning system is located the lower part of inspection bed 1, under inspection window 3, focus positioning system includes inspection head 20 and inspection head motion, inspection head 20 is the probe end of image check out test set, still be provided with the camera outside the inspection zone, provide outside observation image to inspection and puncture.
Different from embodiment 1, focus positioning system's inspection head motion sets up under inspection window 3, encircle the inspection area and arrange, including 4 removal modules 11, respectively account for 90, 4 removal modules 11 splices and is the cylinder around the inspection area, removal module 11 includes convex drive shaft 12 and removal brace table 13, drive shaft 12 is driven by first driving motor, drive shaft 12 surface has the external screw thread, drive shaft 12 passes removal brace table 13, it has the fixed tooth's socket of external screw thread matched with drive shaft 12 to remove the built-in fixed tooth's socket that has with drive shaft 12 of support table 13, drive shaft 12 rotates and drives removal brace table 13 and freely move along drive shaft 12, the upper and lower both sides of drive shaft 12 are provided with horizontal slide rail, be provided with the slider with horizontal slide rail matched with on the corresponding removal brace table 13, further prescribe a limit to remove the removal orbit of brace table 13.
Example 3
The utility model provides a high accuracy puncture biopsy positioning system, including the inspection bed 1, the patient pronates on the inspection bed 1, be provided with the prone position 2 that matches with the patient's size on the inspection bed 1, 2 departments in prone position are provided with body fixed knot and construct, examination window 3 has been seted up to prone position 2, patient's breast natural droop passes examination window 3 and deepens the inspection zone of below, 3 departments in inspection window are provided with focus positioning system, focus positioning system is located the lower part of inspection bed 1, under inspection window 3, focus positioning system includes inspection head 20 and inspection head motion, inspection head 20 is the probe end of image check out test set, still be provided with the camera outside the inspection zone, provide outside observation image to inspection and puncture.
Different from embodiment 1, focus positioning system's inspection head motion sets up under inspection window 3, encircle the inspection area and arrange, including 3 removal modules 11, respectively account for 120, 3 removal module 11 splices and is the hemisphere around the inspection area, removal module 11 includes convex drive shaft 12 and removal brace table 13, drive shaft 12 is driven by first driving motor, drive shaft 12 surface has the external screw thread, drive shaft 12 passes removal brace table 13, it has the fixed tooth's socket of external screw thread matched with drive shaft 12 to remove the built-in fixed tooth's socket that has with drive shaft 12 of support table 13, drive shaft 12 rotates and drives removal brace table 13 and freely move along drive shaft 12, the upper and lower both sides of drive shaft 12 are provided with horizontal spout 14, be provided with on the corresponding removal brace table 13 with horizontal spout 14 matched with pulley 15, further prescribe a limit to remove the removal orbit of brace table 13.
An inspection head mounting seat 16 is arranged on the movable supporting platform 13, the bottom of the inspection head mounting seat 16 is connected with the movable supporting platform 13 in a sliding mode, the movable supporting platform 13 extends downwards and is provided with a lifting driving rack and a lifting guide sliding rod, the lifting driving rack and the lifting guide sliding rod are both arc-shaped, the inspection head mounting seat 16 is sleeved outside the lifting driving rack and the lifting guide sliding rod, a driving gear driven by a second driving motor is arranged in the inspection head mounting seat 16 and is meshed with the lifting driving rack, a ball bearing is arranged in the inspection head mounting seat 16, the ball bearing is sleeved outside the lifting guide sliding rod and is matched with the lifting driving rack to limit the lifting movement track of the inspection head mounting seat 16.
Example 4
The utility model provides a high accuracy puncture biopsy positioning system, including the inspection bed 1, the patient pronates on the inspection bed 1, be provided with the prone position 2 that matches with the patient's size on the inspection bed 1, 2 departments in prone position are provided with body fixed knot and construct, examination window 3 has been seted up to prone position 2, patient's breast natural droop passes examination window 3 and deepens the inspection zone of below, 3 departments in inspection window are provided with focus positioning system, focus positioning system is located the lower part of inspection bed 1, under inspection window 3, focus positioning system includes inspection head 20 and inspection head motion, inspection head 20 is the probe end of image check out test set, still be provided with the camera outside the inspection zone, provide outside observation image to inspection and puncture.
Different from the embodiment 1, a hydraulic lifting mechanism 35 is arranged below the examination bed 1, the hydraulic lifting mechanism 35 is a scissor-fork type lifting mechanism, and comprises two groups of scissor-rod mechanisms symmetrically arranged at the left side and the right side of the examination bed, each group of scissor-rod mechanism comprises a plurality of groups of scissor-rod units connected end to end, the upper end of one of the two scissor-rods 36 at the top is horizontally and slidably connected with the examination bed 1, the upper end of the other scissor-rod 36 is hinged with the examination bed 1, the lower end of one of the two scissor-rods 36 at the bottom is horizontally and slidably connected with the ground, the lower end of the other scissor-rod 36 is hinged with the ground, the lowest group of scissor-rod unit is connected to the ground through a lifting hydraulic cylinder 37, the telescopic end of the lifting hydraulic cylinder 37 is hinged to one scissor-rod 36 of the scissor-rod unit, the other end of the lifting hydraulic cylinder 37 is hinged to the ground, and the scissor-fork type lifting mechanism is driven to lift and descend through the extension of the telescopic hydraulic cylinder 37, thereby driving the whole examining table 1 to lift.
Example 5
A high-precision puncture biopsy positioning system comprises an examination couch 1, a patient lies on the examination couch 1, a prone position 2 matched with the body type of the patient is arranged on the examination couch 1, a body fixing structure is arranged at the prone position 2, an examination window 3 is arranged at the prone position 2, the breast of the patient naturally sags to penetrate through the examination window 3 to go deep into an examination area below the examination window, a focus positioning system and a puncture guiding system are arranged at the examination window 3, the focus positioning system and the puncture guiding system are both positioned at the lower part of the examination couch 1 and right below the examination window 3, the focus positioning system comprises an examination head 20 and an examination head moving mechanism, the examination head 20 is a probe end of an image examination device, the puncture guiding system comprises a multi-shaft mechanical arm, a hollow thick needle is mounted at an operation end of the multi-shaft mechanical arm, the hollow thick needle is preferably a commercially available Marmorton biopsy probe, and a camera is arranged outside the examination area, external viewing images are provided for inspection and puncture.
Example 6
A high-precision biopsy puncture positioning method is implemented by taking the high-precision biopsy puncture positioning system described in embodiment 1 as an example through the following steps:
s1: after the equipment is started, the first driving motor drives the driving shaft 12 to rotate, at the moment, the driving shaft 12 is formed into a circular arc shape by connecting a plurality of sections of rotating joints 24 end to end, after the first driving motor drives the rotating joint 24 at the end part of the driving shaft 12 through a bevel gear, the rotating joints 24 sequentially drive the adjacent rotating joints 24 until all the rotating joints 24 of the driving shaft 12 synchronously rotate, the inclined ridges 25 of the adjacent rotating joints 24 are mutually spliced towards the direction of the circle center of the circular arc-shaped driving shaft 12, so that the driving shaft 12 presents continuous external threads towards the direction of the circle center, the external threads drive the movable supporting table 13 to advance or retreat along the direction of the driving shaft 12 through a fixed tooth socket meshed with the external threads, and the inspection head 20 is enabled to displace along the horizontal direction by taking an inspection area as the center;
s2: the second driving motor drives the driving gear to rotate, and the driving gear is meshed with the lifting driving screw 17 or the lifting driving rack to freely lift along the lifting guide sliding rod, so that the inspection head 20 vertically lifts or longitudinally displaces by taking the support 32 as a center;
s3: the telescopic end of the second electric push rod 23 is freely telescopic, at this time, the telescopic end is hinged with the tail end of the inspection head mounting sleeve 18, the middle part of the inspection head mounting sleeve 18 is hinged with the support frame 22 on the inspection head mounting base 16, and the telescopic end of the second electric push rod 23 drives the inspection head mounting sleeve 18 to longitudinally rotate by taking the middle part of the inspection head mounting sleeve 18 as a center, so that the inspection direction of the inspection head 20 longitudinally swings;
s4: the telescopic end of the first electric push rod 19 is freely telescopic, so that the inspection head 20 is pushed to be telescopic in the inspection head mounting sleeve 18, the inspection head 20 is made to perform telescopic action towards the bearing 32, and the head end of the inspection head 20 is made to penetrate into a square of the bearing 32 to perform inspection work;
s5: the plurality of mobile modules 11 work together, and the plurality of groups of inspection heads 20 cooperate with each other to inspect together, so as to draw a complete stereoscopic image.
Further, before the equipment is started, an examination support with a proper specification is placed on an examination window 3 of the examination bed 1, the shoulder positioning mechanisms slide to two sides, a patient lies in the prone position 2 of the examination bed 1, the head of the patient faces downwards and the forehead of the patient is placed on the head support 8, two arms of the patient are horizontally placed along the trunk of the patient, the breasts of the patient are placed in the examination support, then the shoulder positioning mechanisms slide to a proper position, the shoulder pressing plates 4 are pulled up, the shoulders on two sides of the patient fall on the shoulder supporting plates 5, and the shoulder pressing plates 4 are loosened, so that the shoulder positioning mechanisms on two sides of the patient can position and limit the shoulders and the trunk of the patient; two abdominal binding belts 10 of the abdominal binding mechanism are pulled up and go round the waist and back of the patient to position and limit the trunk of the patient, and then the subsequent examination work can be started.
In conclusion, the high-precision puncture biopsy positioning system and the method thereof have the advantages of novel concept, ingenious design, accurate detection, accurate positioning and good guiding effect on puncture biopsy, and can be used for positioning and puncture guiding in the puncture biopsy of breast disease focuses.
Claims (10)
1. The utility model provides a high accuracy puncture biopsy positioning system, includes the inspection bed, and the patient pronates on the inspection bed, its characterized in that: be provided with the prone position with patient's size matching on the inspection bed, prone position department is provided with body fixed establishment, and the inspection window is seted up to the prone position, and patient's breast hangs down naturally and passes the inspection window and deepens the inspection area to the below, and inspection window department is provided with focus positioning system, and focus positioning system is located the lower part of inspection bed, under the inspection window, and focus positioning system includes inspection head and inspection head motion, and the inspection head is image inspection equipment's probe end.
2. The high precision biopsy positioning system of claim 1, wherein: the prone position is a groove shape formed by downwards sinking the middle part of the examination bed, the body fixing device is arranged in the prone position and comprises a shoulder positioning mechanism and an abdomen binding mechanism, the shoulder positioning mechanism is positioned at the front part of the examination bed and comprises shoulder pressing plates respectively positioned at two sides, the shoulder pressing plates are upwards sunk into a pit shape and matched with the shoulder contour of a human body, telescopic pipes are arranged at the edges of the shoulder pressing plates, one ends of the telescopic pipes are fixed at the edges of the lower sides of the shoulder pressing plates, springs are arranged in the telescopic pipes, shoulder supporting plates are arranged at corresponding positions below the shoulder pressing plates, the other ends of the telescopic pipes are fixed on the shoulder supporting plates, sliding grooves are formed in the examination bed below the shoulder supporting plates, the shoulder supporting plates are freely and slidably connected with the examination bed along the front part of the examination bed through embedded sliding grooves, and one sides, opposite to the shoulder supporting plates, of the shoulder supporting plates are coated with flexible materials; the abdomen binding mechanism comprises two abdomen binding belts which are respectively led out from the left side and the right side of the bottom of the prone position, one end of each abdomen binding belt is fixed on the examination bed, and the other end of each abdomen binding belt bypasses the prone position and is connected above the prone position patient through a magic tape.
3. The high precision biopsy positioning system of claim 2, wherein: the front end of the examining table is provided with a head support, the head support is provided with an arc-shaped groove with an upward opening, the forehead of a patient is supported, the upper side surface of the head support is coated with a flexible material, and the lower part of the head support is fixed on the examining table through a telescopic mounting frame.
4. The high precision biopsy positioning system of claim 1, wherein: the first motion of inspection mechanism setting of focus positioning system is under the inspection window, encircle the inspection area and arrange, including two at least removal modules, all removal module concatenations are cylinder or hemisphere around the inspection area, it includes convex drive shaft and removal brace table to remove the module, the drive shaft is driven by first driving motor, the drive shaft surface has the external screw thread, the drive shaft passes and removes the brace table, it has the fixed tooth's socket with the external screw thread matched with of drive shaft to remove the brace table embeds, the rotation of drive shaft drives and removes the brace table along the drive shaft free movement, the upper and lower both sides of drive shaft are provided with horizontal slide rail or horizontal spout, be provided with slider or pulley with horizontal slide rail or horizontal spout matched with on the corresponding removal brace table, further inject the removal orbit that removes the brace table.
5. The high precision biopsy positioning system of claim 4, wherein: the driving shaft comprises rotating joints which are connected with each other end to end, the middle part of each rotating joint is cylindrical, 2-4 raised oblique ridges are uniformly arranged on the outer wall of each rotating joint and are obliquely arranged and staggered with the central line of each rotating joint, the oblique ridge on each rotating joint is spirally wound around the central line of each rotating joint, one end of each oblique ridge is a V-shaped groove, the other end of each oblique ridge is a V-shaped tip and is matched with a V-shaped groove at the end part of the oblique ridge corresponding to the adjacent rotating joint, the upper end of each rotating joint is hinged with the lower end of the adjacent rotating joint, the upper end of each rotating joint is a female end and is a concave groove, the bottom of each concave groove is arc-shaped, the lower end of each rotating joint is a male end and is embedded in the upper end of the adjacent rotating joint, the end part is arc-shaped, the lower end of each rotating joint is also provided with a through hole, an elastic metal wire pin shaft penetrates through the through holes, and the two ends of the pin shaft are respectively connected to two sides in the concave grooves at the upper ends of the rotating joints, the hinge joint is stable, the height of the inclined ridge along the central line of the rotating joint is smaller than the length of the rotating joint, after the rotating joint is hinged into the arc-shaped driving shaft, the inclined ridges on the adjacent rotating joints towards the direction of the movable supporting table are connected end to end and meshed with the fixed teeth in the movable supporting table.
6. The high precision biopsy positioning system of claim 5, wherein: the movable support platform is provided with an inspection head mounting seat, the bottom of the inspection head mounting seat is connected with the movable support platform in a sliding mode, the movable support platform extends downwards and is provided with a lifting drive screw rod and a lifting guide sliding rod, the inspection head mounting seat is sleeved outside the lifting drive screw rod and the lifting guide sliding rod, a drive gear driven by a second drive motor is arranged in the inspection head mounting seat, the drive gear is meshed with the lifting drive screw rod, a ball bearing is arranged in the inspection head mounting seat, the ball bearing is sleeved outside the lifting guide sliding rod and is matched with the lifting drive screw rod to limit the lifting movement track of the inspection head mounting seat.
7. The high accuracy biopsy positioning system of claim 5, wherein: the movable support platform is provided with an inspection head mounting seat, the bottom of the inspection head mounting seat is connected with the movable support platform in a sliding mode, the movable support platform extends downwards and is provided with a lifting driving rack and a lifting guiding sliding rod, the inspection head mounting seat is sleeved outside the lifting driving rack and the lifting guiding sliding rod, a driving gear driven by a second driving motor is arranged in the inspection head mounting seat, the driving gear is meshed with the lifting driving rack, a ball bearing is arranged in the inspection head mounting seat, the ball bearing is sleeved outside the lifting guiding sliding rod and is matched with the lifting driving rack to limit the lifting movement track of the inspection head mounting seat.
8. The high precision biopsy positioning system of claim 6, wherein: the inspection head mounting seat is provided with an inspection head mounting sleeve, the inspection head mounting sleeve is cylindrical, the front end of the inspection head mounting sleeve is open, the tail end of the inspection head mounting sleeve is closed, the tail part of the inspection head is embedded in the inspection head mounting sleeve, a first electric push rod is arranged in the inspection head mounting sleeve, the telescopic end of the first electric push rod is connected to the tail part of the inspection head, the driving end of the first electric push rod is fixed in the inspection head mounting sleeve, relative sliding movement between the inspection head and the inspection head mounting sleeve is realized through an inspection head telescopic slide rail, and an angle sensor is further arranged in the inspection head mounting sleeve; the fixed support frame that is provided with on the inspection head mount pad, the articulated setting in middle part of support frame and inspection head installation sleeve, inspection head installation sleeve use the hinge as center free rotation, remove and be connected with second electric putter on the brace table, the flexible end of second electric putter articulates the tail end of inspection head installation sleeve, and second electric putter's drive end articulates to removing the brace table, and the flexible rotation that promotes inspection head installation sleeve of second electric putter.
9. The high precision biopsy positioning system of claim 1, wherein: inspection window department is provided with the inspection support, the upper portion opening of inspection support, the opening edge sets up the stereoplasm frame into outside extension, the profile size of stereoplasm frame is greater than the inspection window, make the inspection support whole bracket in inspection window department, the body embedding of inspection support is in the inspection window, the body of inspection support includes two hemispheres or approximate hemispherical bearings, the bearing splendid attire holds up patient's breast, the bearing is made for elasticity non-metallic material, go-between and the vertical splice bar of connecting adjacent go-between including two at least concentric settings, go-between and splice bar construct the latticed of big square, every square size of net is not more than the head end size of inspection head.
10. A high-precision puncture biopsy positioning method is characterized by comprising the following steps:
s1: after the equipment is started, the first driving motor drives the driving shaft to rotate, at the moment, the driving shaft is formed into a circular arc shape by connecting a plurality of sections of rotating sections end to end, after the first driving motor drives the rotating section at the end part of the driving shaft through a bevel gear, the rotating sections sequentially drive adjacent rotating sections until all the rotating sections of the driving shaft synchronously rotate, inclined ridges of the adjacent rotating sections are mutually spliced towards the direction of the circle center of the circular arc driving shaft, so that the driving shaft presents continuous external threads towards the direction of the circle center of the circular arc driving shaft, and the external threads drive the movable supporting platform to move forwards or backwards along the direction of the driving shaft through a fixed tooth socket meshed with the external threads so that the inspection head moves along the horizontal direction by taking an inspection area as the center;
s2: the second driving motor drives the driving gear to rotate, and the driving gear is meshed with the lifting driving screw rod or the lifting driving rack to freely lift along the lifting guide sliding rod, so that the inspection head vertically lifts or longitudinally displaces by taking the bearing as a center;
s3: the telescopic end of the second electric push rod is freely telescopic, at the moment, the telescopic end of the second electric push rod is hinged with the tail end of the inspection head mounting sleeve, the middle part of the inspection head mounting sleeve is hinged with the support frame on the inspection head mounting seat, and the telescopic end of the second electric push rod drives the inspection head mounting sleeve to longitudinally rotate by taking the middle part of the inspection head mounting sleeve as a center, so that the inspection direction of the inspection head longitudinally swings;
s4: the telescopic end of the first electric push rod is freely telescopic, so that the inspection head is pushed to be telescopic in the inspection head mounting sleeve, the inspection head is made to perform telescopic action towards the bearing direction, and the head end of the inspection head is made to penetrate into the square of the bearing to perform inspection work;
s5: the plurality of mobile modules work together, and the plurality of groups of inspection heads are matched with each other to inspect together so as to project and draw out a complete three-dimensional image.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115363895A (en) * | 2022-10-10 | 2022-11-22 | 中南大学湘雅医院 | Electroencephalogram detection device for sedation depth |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115363895A (en) * | 2022-10-10 | 2022-11-22 | 中南大学湘雅医院 | Electroencephalogram detection device for sedation depth |
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