CN116761567A - Stereotactic transmission system for controlling elongated members - Google Patents

Stereotactic transmission system for controlling elongated members Download PDF

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Publication number
CN116761567A
CN116761567A CN202180066111.0A CN202180066111A CN116761567A CN 116761567 A CN116761567 A CN 116761567A CN 202180066111 A CN202180066111 A CN 202180066111A CN 116761567 A CN116761567 A CN 116761567A
Authority
CN
China
Prior art keywords
guide
distal end
driving device
drive
elongated member
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202180066111.0A
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Chinese (zh)
Inventor
爱新觉罗·启轩
刘文博
吴朝
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Sinovation Beijing Medical Technology Co ltd
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Sinovation Beijing Medical Technology Co ltd
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Publication date
Application filed by Sinovation Beijing Medical Technology Co ltd filed Critical Sinovation Beijing Medical Technology Co ltd
Publication of CN116761567A publication Critical patent/CN116761567A/en
Pending legal-status Critical Current

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    • 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
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/90—Guides therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1402—Probes for open surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
    • 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
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
    • A61B2018/0212—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques using an instrument inserted into a body lumen, e.g. catheter
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles

Abstract

A stereotactic drive system for controlling an elongate member. The system comprises a guiding device (1), a sleeve (2), a plug connector (3) and a rotary driving device (4), wherein the proximal end of the sleeve (2) is connected with the plug connector (3), the distal end of the sleeve (2) can extend out of the distal end of the guiding device (1), in a use state, the slender component (5) is arranged in the sleeve (2), and the rotary driving device (4) drives the slender component (5) to rotate. The rotation driving device (4) drives the slender component (5) to rotate to realize rotation control of the slender component (5), the implantation direction of the slender component (5) can be guided through the guiding device (1), directional control of the slender component (5) can be realized without additionally installing a supporting structure at the skull, pain of a patient is reduced, and the device is simple and convenient to install.

Description

Stereotactic transmission system for controlling elongated members
The invention claims 20201632717. X, filing date 2020.12.31, a priority for a stereotactic drive system for controlling elongated members.
Technical Field
The invention relates to the technical field of medical treatment, in particular to a stereotactic transmission system for controlling an elongated member.
Background
At present, the minimally invasive interventional therapy has remarkable advantages and application prospects for various diseases, and when the minimally invasive interventional therapy is performed, the elongated member needs to be used as an interventional tool to enter a human body for treatment, for example: the elongate member may be an optical fiber, a liquid nitrogen catheter, or a radio frequency probe.
In order to perform directional control on the elongated member, an additional support structure is required to be installed at a patient, such as a skull, in order to perform directional control on the elongated member, however, the additional support structure increases the number of bone nails implanted into the skull, increases pain of the patient, and is complicated and inconvenient to install.
Disclosure of Invention
The invention provides a stereotactic transmission system for controlling an elongated member, which is used for driving the elongated member to rotate through a rotary driving device, guiding the implantation direction of the elongated member through a guiding device, realizing the orientation control of the elongated member without additionally installing a supporting structure at a skull, reducing the pain of a patient and having simple and convenient installation. The specific technical scheme is as follows:
in a first aspect, the present invention provides a stereotactic drive system for controlling an elongate member, comprising:
the device comprises a guiding device, a sleeve, a plug connector and a rotary driving device;
The proximal end of the sleeve is connected to the plug, and the distal end of the sleeve can extend from the distal end of the guide;
in use, the elongate member is disposed within the sleeve and the rotational drive drives rotation of the elongate member.
Optionally, the rotary driving device comprises a first driver;
the first driver is connected with the slender component, and the first driver drives the slender component to rotate around the axis of the slender component.
Optionally, the stereotactic transmission system for controlling an elongated member further comprises a controller, said first driver being communicatively connected to said controller;
in a use state, the controller sends a motion control command to the first driver;
the first driver drives the elongated member to rotate about its own axis in accordance with the motion control command.
Optionally, the rotary driving device further comprises a first angle sensor, and the first angle sensor is in communication connection with the controller;
the first angle sensor detects a rotation angle of the elongated member or a rotation angle of other components identical to the rotation angle of the elongated member and transmits the detected rotation angle to the controller.
Optionally, the stereotactic transmission system for controlling an elongated member further comprises a front-to-back translation driving device;
the rotary driving device is connected with the front-back translation driving device in a sliding way.
Optionally, the front-back translation driving device is in communication connection with the controller;
the controller sends a forward and backward translation instruction to the forward and backward translation driving device;
the front-back translation driving device drives the rotation driving device to translate back and forth according to the front-back translation command, and then drives the elongated member to translate back and forth.
Optionally, the rotation driving device further comprises a rotation device base;
the first driver is mounted to the rotating device base.
Optionally, the rotary drive device further comprises an elongate member adapter;
in use, the first driver drives the elongate member adapter to rotate, the distal end of the elongate member adapter being connected to the elongate member.
Optionally, the guide means comprises a hollow elongate structural guide and a clamping assembly, the distal end of the clamping assembly being connected to the proximal end of the hollow elongate structural guide, the clamping assembly being adapted to fix the relative position of the cannula and the hollow elongate structural guide after the cannula has extended beyond the distal end of the hollow elongate structural guide.
Optionally, the clamping assembly comprises an elastic plug, a clamping adapter, a jackscrew piece and a screwing piece;
the screwing piece is in threaded connection with the jackscrew piece, the distal end of the jackscrew piece is inserted into the clamping adapter piece and is in contact with the elastic plug, the distal end of the screwing piece can be in threaded connection with the proximal end of the clamping adapter piece, the distal end of the clamping adapter piece is connected with the proximal end of the hollow slender structure guide piece, and the elastic plug is arranged in the proximal cavity of the hollow slender structure guide piece;
in the use state, the screwing piece is screwed on the jackscrew piece and the clamping adapter piece, the jackscrew piece compresses tightly the elastic plug, the sleeve passes through the jackscrew piece, the elastic plug and the hollow slender structure guide piece, the distal end of the sleeve can extend out of the distal end of the hollow slender structure guide piece, and the elastic plug fixes the position of the sleeve.
Optionally, the plug connector is a hollow shell, and the proximal end of the sleeve is connected to the hollow shell.
Optionally, the plug connector comprises a sealing plug, an elongated member connector, a sealing nut, a luer connector, a water inlet adapter and a water outlet adapter which are sequentially connected along the direction from the proximal end to the distal end;
The slender component joint is connected with a transmission part of the rotary driving device, the sealing plug is arranged in the luer joint, and the inner boss of the sealing nut is in contact with the sealing plug;
in a use state, the sealing nut is screwed on the luer connector, the inner boss of the sealing nut presses the sealing plug, and the slender component passes through the slender component connector, the sealing nut, the sealing plug and the water inlet adapter to enter the sleeve.
Optionally, the plug connector further comprises a first water pipe and a second water pipe, and the sleeve comprises an inner water circulating pipe and an outer water circulating pipe;
the inner water circulation pipe is arranged in the outer water circulation pipe, a gap is reserved between the inner water circulation pipe and the outer water circulation pipe, the first water pipe passes through the water inlet adapter and is communicated with the inner water circulation pipe, and the second water pipe passes through the water outlet adapter and is communicated with the outer water circulation pipe;
in use, the elongate member passes through the elongate member fitting, the sealing nut and the sealing plug into the inner water circulation tube.
Optionally, a first strength enhancing structure is provided between the outer water circulation tube and the inner water circulation tube, and a second strength enhancing structure is provided between the inner water circulation tube and the elongated member.
Optionally, a rigid structure is provided outside at least a first portion of the elongate member, or at least a first portion of the elongate member has a reinforced outer surface structure, wherein the first portion comprises a portion of the elongate member from the proximal end to within the sealing plug and a portion beyond the sealing plug, the length of the portion beyond the sealing plug being greater than the distance of movement of the elongate member when the distal end of the elongate member is at the distal-most end of the system.
Optionally, the front-back translation driving device comprises a front-back translation driving device base, at least one sliding rail, a screw rod, a sliding block and a second driver;
the at least one sliding rail and the lead screw are arranged in parallel and penetrate through the sliding block, two ends of the at least one sliding rail are fixedly arranged on the front-back translation driving device base, the lead screw is rotationally connected with the front-back translation driving device base, the second driver drives the lead screw to rotate, the second driver is arranged on the front-back translation driving device base, and the rotation driving device is arranged on the sliding block.
In a second aspect, the present invention provides a stereotactic drive system for controlling an elongate member, comprising: the device comprises a guiding device, a transmission sleeve, an insert and a rotary driving device;
The guide device is connected with the distal end of the transmission sleeve, and the proximal end of the transmission sleeve is connected with the distal end of the plug-in;
in use, an elongate member passes through the insert, the drive sleeve and the guide means, the distal end of the elongate member being extendable from the distal end of the guide means, the rotational drive means driving the elongate member in rotation.
Optionally, the stereotactic transmission system for controlling an elongated member further comprises a front-back translation driving device, wherein the rotation driving device is slidably connected to the front-back translation driving device, and the front-back translation driving device drives the rotation driving device to move along the length direction of the elongated member.
Optionally, the insert is connected to the fore-aft translational drive.
Optionally, the guide comprises a hollow elongate structural guide and a guide housing;
the proximal end of the hollow elongate structural guide is connected to the distal end of the guide housing, and the proximal end of the guide housing is connected to the distal end of the drive sleeve;
the elongate member passes through the guide housing and the hollow elongate structure guide, the distal end of the elongate member being extendable from the distal end of the hollow elongate structure guide.
Optionally, the guiding device shell is a first bone screw cap, the proximal end of the hollow slender structure guiding piece is in threaded connection with the distal end of the first bone screw cap, and the proximal end of the first bone screw cap is connected with the distal end of the transmission sleeve.
Optionally, the guiding device shell comprises a second bone screw cap, a guiding device shell body and a transmission sleeve mounting base;
the proximal end of the hollow slender structure guide piece is in threaded connection with the distal end of the second bone screw cap, the proximal end of the second bone screw cap is connected with the distal end of the guide device shell body, the transmission sleeve mounting base is arranged at the proximal end of the guide device shell body, and the transmission sleeve mounting base is connected with the distal end of the transmission sleeve;
the elongate member passes through the drive sleeve mounting base, the guide housing body, and the second bone screw cap.
Optionally, the guiding device housing further includes a bone screw adaptor bolt, when the second bone screw cap is screwed on the hollow guiding piece with an elongated structure, a distal end of the bone screw adaptor bolt is fixed in the second bone screw cap, a proximal end of the bone screw adaptor bolt is in threaded connection with a distal end of the guiding device housing body, and the elongated member passes through the bone screw adaptor bolt.
Optionally, the guiding device housing body includes a guiding device housing body fixing portion and a guiding device housing body sliding portion, the proximal end of the second bone screw cap is connected with the distal end of the guiding device housing body fixing portion, the proximal end of the guiding device housing body fixing portion is connected with the distal end of the guiding device housing body sliding portion, and the transmission sleeve mounting base is disposed at the proximal end of the guiding device housing body sliding portion;
the elongated member passes through the guide housing body sliding portion and the guide housing body fixing portion.
Optionally, the guiding device casing body fixing part and/or the guiding device casing body sliding part are provided with a graduated scale, the guiding device casing body fixing part and the guiding device casing body sliding part can move relatively, and the graduated scale displays the distance of the relative movement.
Optionally, the guiding device further comprises a second angle sensor and a second rotary positioning device;
the second angle sensor and the second rotational positioning device are both mounted within the guide housing, and the elongated member passes through the second rotational positioning device and the second angle sensor.
Optionally, the guiding device further comprises a cooling sleeve, a cooling circulation assembly and a sealing plug;
the cooling circulation assembly and the sealing plug are sequentially arranged in the guide device shell along the direction from the distal end to the proximal end;
the cooling jacket sequentially passes through the sealing plug and the cooling circulation assembly, and the elongated member is disposed inside the cooling jacket.
Optionally, the insert includes an insert housing and an insert drive sleeve mounting base;
the plug-in transmission sleeve mounting base is arranged at the distal end of the plug-in shell and is connected with the proximal end of the transmission sleeve;
the elongated member passes through the insert housing and the insert drive sleeve mounting base.
Optionally, the insert further comprises a third angle sensor and a third rotational positioning device;
the third rotational positioning device and the third angle sensor are both mounted within the insert housing, and the elongated member passes through the third rotational positioning device and the third angle sensor.
Optionally, the insert housing includes an insert upper housing and an insert lower housing;
the lower shell of the plug-in unit comprises an extending part and a lower connecting part which are connected with each other, the upper shell of the plug-in unit and the lower connecting part are mutually covered to form a containing cavity, and the third rotary positioning device and the third angle sensor are arranged in the containing cavity.
Optionally, the rotary driving device comprises a first driver;
the first driver is connected with the slender component, and the first driver drives the slender component to rotate around the axis of the slender component.
Optionally, the rotation driving device further comprises a rotation device base;
the first driver is mounted to the rotating device base.
Optionally, the rotary drive device further comprises an elongate member adapter;
in use, the first driver drives the elongate member adapter to rotate, the distal end of the elongate member adapter being connected to the elongate member.
Optionally, the front-back translation driving device comprises a front-back translation driving device base, at least one sliding rail, a screw rod, a sliding block and a second driver;
the at least one sliding rail and the lead screw are arranged in parallel and penetrate through the sliding block, two ends of the at least one sliding rail are fixedly arranged on the front-back translation driving device base, the lead screw is rotationally connected with the front-back translation driving device base, the second driver drives the lead screw to rotate, the second driver is arranged on the front-back translation driving device base, and the rotation driving device is arranged on the sliding block.
From the foregoing, it will be appreciated that embodiments of the invention provide a stereotactic transmission system for controlling an elongate member, comprising a guide means, a sleeve, a connector and a rotary drive means, wherein the proximal end of the sleeve is connected to the connector, the distal end of the sleeve is extendable from the distal end of the guide means, and in use the elongate member is disposed within the sleeve, and the rotary drive means drives the elongate member in rotation. In the embodiment of the invention, the rotation driving device drives the elongated member to rotate to realize rotation control of the elongated member, the implantation direction of the elongated member can be guided by the guiding device, the elongated member can be directionally controlled without additionally installing a supporting structure at the skull, the pain of a patient is reduced, and the device is simple and convenient to install.
From the foregoing, it will be seen that a stereotactic transmission system for controlling an elongate member according to embodiments of the present invention comprises a guide means, a transmission sleeve, an insert and a rotational drive means, the guide means being connected to the distal end of the transmission sleeve, the proximal end of the transmission sleeve being connected to the distal end of the insert, the elongate member passing through the insert, the transmission sleeve and the guide means in use, the distal end of the elongate member being extendable from the distal end of the guide means, the rotational drive means driving the elongate member in rotation. In the embodiment of the invention, the rotation driving device drives the elongated member to rotate to realize rotation control of the elongated member, the implantation direction of the elongated member can be guided through the guiding device, the elongated member can be directionally controlled without additionally installing a supporting structure at the skull, the pain of a patient is reduced, and the device is simple and convenient to install.
Of course, it is not necessary for any one product or method of practicing the invention to achieve all of the advantages set forth above at the same time.
The innovation points of the first aspect of the embodiment of the invention include:
1. the rotation driving device drives the slender component to rotate to realize rotation control on the slender component, the implantation direction of the slender component can be guided through the guiding device, the slender component can be directionally controlled without additionally installing a supporting structure at the skull, the pain of a patient is reduced, and the device is simple and convenient to install.
2. By means of the first angle sensor, the rotation angle of the driving shaft or the rotation angle of the slender component can be detected and fed back to the controller; when the rotational drive means comprises a first angle sensor, the rotational angle of the elongated member having a rigid structure or having a stiffened outer surface structure may be detected and sent to a controller to effect rotational control of the elongated member.
3. By arranging the controller, the controller can control the front-back translation driving device to drive the rotary driving device to translate back and forth, so that the slender component moves along with the movement of the rotary driving device, and the front-back translation of the slender component is controlled.
4. The relative positions of the sleeve and the hollow slender structure guide piece can be fixed by arranging the hollow slender structure guide piece and the clamping assembly; by arranging the way that the distal end of the jackscrew member is inserted into the clamping adapter and contacted with the elastic plug, the jackscrew member can press the elastic plug to enable the elastic plug to extrude the sleeve inside when the screwing member is screwed on the jackscrew member and the clamping adapter, so that the purpose of fixing the sleeve is achieved.
5. The cooling and sealing of the slender components are realized by arranging the sealing plug and arranging the plug connector to comprise a first water pipe and a second water pipe and arranging the sleeve to comprise an inner water circulating pipe and an outer water circulating pipe.
6. By providing at least a first portion of the elongate member with a rigid structure or with a reinforced outer surface structure, the strength of the elongate member is enhanced, and by providing the first portion comprising a portion of the elongate member from the proximal end to within the sealing plug and a portion beyond the sealing plug, the length of the portion beyond the sealing plug being greater than the distance of movement of the elongate member when the distal end of the elongate member is at the distal end of the system, it is ensured that the elongate member within the sealing plug has a rigid structure or has a reinforced outer surface structure even after movement of the elongate member, eliminating the effect of friction between the sealing plug and the elongate member on rotation of the elongate member.
7. Through the mode that sets up first intensity enhancement structure and second intensity enhancement structure, increased sheathed tube intensity and puncture ability, prevent to warp when receiving external force extrusion, block cooling fluid circulation.
The innovative points of the embodiment of the second aspect of the invention include:
1. the rotation driving device drives the slender component to rotate to realize rotation control on the slender component, the implantation direction of the slender component can be guided through the guiding device, the slender component can be directionally controlled without additionally installing a supporting structure at the skull, the pain of a patient is reduced, and the device is simple and convenient to install.
2. The front-back translation driving device can drive the rotation driving device to move back and forth along the length direction of the elongated member by means of sliding connection of the rotation driving device to the front-back translation driving device, so that the elongated member moves along with the movement of the rotation driving device, and the control of the movement of the elongated member along the length direction is realized through the front-back translation driving device.
3. By providing the second rotational positioning means and the second angle sensor, the rotational angle of the elongated member located within the guide housing can be detected.
4. The guide housing body fixing portion and/or the guide housing body sliding portion may be provided with a scale to display the distance of the relative movement between the guide housing body fixing portion and the guide housing body sliding portion.
5. By providing the third rotational positioning means and the third angle sensor, the rotational angle of the elongated member located within the package housing can be detected, so that the control means performs a subsequent control operation such that the rotational angle of the elongated member at the second angle sensor is the same as the rotational angle at the third angle sensor.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is apparent that the drawings in the following description are only some embodiments of the invention. Other figures may be derived from these figures without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of an assembled configuration of a first stereotactic drive system for controlling an elongated member according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an exploded construction of a first stereotactic drive system for controlling elongated members according to an embodiment of the present invention;
FIG. 3 is a schematic view of a rotary drive device;
FIG. 4 is a cross-sectional view of a portion of the structure of FIG. 3;
fig. 5 is a cross-sectional view of an assembled structure of a guide device according to an embodiment of the present invention;
FIG. 6 is a cross-sectional view of an exploded structure of a guide device provided in an embodiment of the present invention;
fig. 7 is a schematic diagram of an assembly structure of a plug connector according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of an explosion structure of a plug according to an embodiment of the present invention;
FIG. 9 is a schematic structural view of a sleeve according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a front-rear translation driving device according to an embodiment of the present invention;
FIG. 11 is a schematic structural view of a second stereotactic drive system for controlling an elongated member provided by an embodiment of the present invention;
FIG. 12 is a schematic view of a guiding device according to an embodiment of the present invention;
FIG. 13 is an exploded view of an angle of a second rotational positioning device and a second angle sensor provided in an embodiment of the present invention;
FIG. 14 is an exploded view of a second rotational positioning device and a second angle sensor according to another embodiment of the present invention;
FIG. 15 is a cross-sectional view of FIG. 12;
FIG. 16 is a schematic view of a construction of an insert;
fig. 17 is a schematic view of another construction of the insert.
In the figures 1-17 of the drawings, a guide device, 11 hollow elongate structure guides, 12 clamping assemblies, 121 elastic plugs, 122 clamping adapters, 123 jackscrew members, 124 screws, 2 sleeves, 21 inner water circulation tubes, 22 outer water circulation tubes, 23 first strength enhancement structures, 24 second strength enhancement structures, 3 plugs, 31 sealing plugs, 32 elongate member joints, 33 sealing nuts, 34 luer joints, 35 water connectors, 36 water outlet adapters, 37 first water tubes, 38 second water tubes, 4 rotary drive devices, 41 first drivers, 42 rotary device bases, 43 elongate member adapters, 5 elongate members, 6 fore and aft translational drive devices, 61 fore and aft translational drive device bases, 62 slide rails, 63 screws, 64 sliding blocks, 65 second drivers, 66 driven wheels, 67 driving wheels, 7 plug connectors, 8 guide devices, 81 hollow elongate structure guides, 82 second bone screw caps, 83 drive sleeve mounting bases, 84 device housing body fixtures, 85 guide housing body slides, 86 scales, 87 bone screw bolts, 871 bosses, 88 second angle sensor bases, 89 second rotary device bases, 9 lower guide pins, 101 lower guide pin housing body slides, 60, 101 lower guide pin members, 101 second rotary device bases, 101 lower guide pin mounts, 35 rotary device bases, 101 lower guide pin mounts, 60 upper guide pin mounts, 35 rotary device bases, 101 lower pin mounts, 35 rotary device bases, 60 lower pin mounts, 101 upper rotary drive devices, 60 lower drive pins, 101 lower drive devices, 101 upper rotary drive devices, 60 upper rotary drive pins, 60, and lower drive pin mounts, 101 lower drive devices.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments of the present invention and the accompanying drawings are intended to cover non-exclusive inclusions. A process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may alternatively include other steps or elements not listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention discloses a three-dimensional directional transmission system for controlling an elongated member, which can drive the elongated member to rotate through a rotary driving device, can realize directional control on the elongated member without additionally installing a supporting structure at a skull, reduces the pain of a patient and is simple and convenient to install. The following describes embodiments of the present invention in detail.
Fig. 1 is a schematic diagram of an assembled configuration of a first stereotactic drive system for controlling an elongated member according to an embodiment of the present invention. Fig. 2 is a schematic diagram of an exploded construction of a first stereotactic drive system for controlling elongated members according to an embodiment of the present invention. Referring to fig. 1 and 2, a first stereotactic drive system for controlling an elongated member provided by an embodiment of the present invention comprises: the guiding device 1, the sleeve 2, the plug 3 and the rotary drive 4.
The proximal end of the cannula 2 is connected to the plug 3, and the distal end of the cannula 2 may protrude from the distal end of the guiding device 1, wherein the distal end of the cannula 2 may be a blind end.
In use, the elongate member 5 is disposed within the cannula 2 and the rotational drive means 4 drives the elongate member 5 in rotation.
The plug 3 may be fixed to any structure as long as the proximal end of the plug 3 is opposite to the distal end of the rotary drive device 4 after fixation, such that the rotary drive device 4 may drive the elongated member 5 to rotate, the elongated member 5 may rotate about its own axis and/or move in its own axial direction within the plug 3. For example, the plug-in element 3 is fixed to a special bracket or the plug-in element 3 can be connected to the rotary drive 4 or the plug-in element 3 can be connected to the front-rear translational drive 6 via a connection 7.
In summary, the stereotactic transmission system for controlling an elongated member provided by the embodiment of the present invention includes a guiding device 1, a sleeve 2, a plug connector 3, and a rotation driving device 4, wherein a proximal end of the sleeve 2 is connected to the plug connector 3, a distal end of the sleeve 2 can extend from a distal end of the guiding device 1, in a use state, the elongated member 5 is disposed in the sleeve 2, and the rotation driving device 4 drives the elongated member 5 to rotate. In the embodiment of the invention, the rotation driving device drives the elongated member to rotate to realize rotation control of the elongated member, the implantation direction of the elongated member can be guided by the guiding device, the elongated member can be directionally controlled without additionally installing a supporting structure at the skull, the pain of a patient is reduced, and the device is simple and convenient to install.
The various components of the stereotactic drive system for controlling elongated members are described in detail below:
fig. 3 is a schematic structural view of the rotation driving device 4, referring to fig. 3, the rotation driving device 4 includes a first driver 41, the first driver 41 is connected with the elongated member 5, and the first driver 41 drives the elongated member 5 to rotate around its own axis.
The first driver 41 has various structural forms including, but not limited to, a motor, a hydraulic form and a pneumatic form, and the embodiment of the present invention is not limited in this regard.
The first driver 41 may be connected to the elongated member 5 in a plurality of ways, and the rotation driving device 4 may further include a first transmission mechanism, where the first driver 41 is connected to the first transmission mechanism, and the first transmission mechanism is connected to the elongated member 5, so that the first driver 41 drives the elongated member 5 to rotate around its own axis through the connection of the first transmission mechanism.
The first transmission mechanism has various structural forms, including but not limited to a gear form and a belt form.
Thereby, the driving of the elongated member 5 in rotation about its own axis is achieved by the first driver 41.
With continued reference to fig. 3, the rotary drive device 4 may further include a rotary device base 42, the first driver 41 being mounted to the rotary device base 42.
Since in use, certain types of elongate members require an adapter for use, for example when the elongate member 5 is an optical fibre, fig. 4 is a cross-sectional view of a portion of the structure of fig. 3, and referring to fig. 4, the rotary drive device 4 may further comprise an elongate member adapter 43, in use the first driver 41 driving the elongate member adapter 43 in rotation, the distal end of the elongate member adapter 43 being connected to the elongate member 5.
Since the distal end of the elongate member adapter 43 is connected to the elongate member 5, when the first driver 41 drives the elongate member adapter 43 to rotate, the elongate member adapter 43 drives the elongate member 5 to rotate therewith.
Where the rotational drive means 4 comprises a first driver 41, the stereotactic transmission system for controlling an elongate member provided by an embodiment of the present invention further comprises a controller, the first driver 41 being communicatively connected to the controller.
In use, the controller sends a motion control command to the first driver 41, which first driver 41 drives the elongate member 5 to rotate about its own axis in accordance with the motion control command. That is, the rotation of the elongated member 5 about its own axis is controlled by the controller. The controller can be an autonomous controller or a signal receiving end, and when the controller is an autonomous controller, the motion control command is determined by the stereotactic transmission system; when the controller is a signal receiving end, the controller can receive a control signal outside the stereotactic transmission system, so that a motion control command is determined according to the received control signal.
The types of the first driver 41 may be various, and when the first driver 41 is a step driver, the first driver 41 may directly drive the elongated member 5 to rotate about its own axis.
Wherein the motion control command may include a target rotation number, an end point angle position or a relative rotation angle of each rotation, a stay time after each rotation, and the like, the first driver 41 may drive the elongated member 5 to rotate about its own axis according to the motion control command:
The first driver 41 drives the elongated member 5 to rotate around its own axis a target number of rotations, and stops the stay time after each rotation when reaching the end angle position or the relative rotation angle of the rotation.
Wherein the end angular position of each rotation is determined based on an initial angular position, which may be calibrated.
For example: assuming that the number of target rotations is 2, the initial angular position is a position corresponding to 0 °, the end angular position of the first rotation is a position corresponding to 30 °, the end angular position of the second rotation is a position corresponding to 60 °, and the residence time after each rotation is 5s; the first driver 41 drives the elongated member 5 to rotate about its own axis to a position corresponding to the end angular position of 30 ° and stay for 5s, and then drives the elongated member 5 to rotate about its own axis to a position corresponding to the end angular position of 60 ° and stay for 5s. It is understood that the angle and dwell position of the multiple rotations may be the same or different and that a variety of combinations of angles and dwell times are contemplated as falling within the scope of the present invention.
Thus, by providing the controller, the controller may control the first driver to drive the elongated member 5 in rotation.
When the first driver 41 is not a stepper motor, a sensor is required to detect the rotation angle, and thus, in case the stereotactic transmission system for controlling an elongated member provided in an embodiment of the present invention further comprises a controller, the rotation driving means 4 further comprises a first angle sensor communicatively connected to the controller, and the first driver 41 is illustratively an ultrasonic motor.
The first angle sensor is connected to the drive shaft of the first driver 41 or the elongated member 5;
the first angle sensor detects the rotation angle of the elongated member 5 or the rotation angle of other components identical to the rotation angle of the elongated member 5 and sends the detected rotation angle to the controller.
Since the first driver 41 can only rotate or stop rotating when it is not a stepping motor, it is necessary to pass the first angle sensor to rotate the angle of rotation of the elongated member 5 or other components identical to the angle of rotation of the elongated member 5 and send the detected angle of rotation to the controller, which receives the detected angle of rotation so as to know the angle of rotation of the elongated member 5.
There may be a variety of other components that are the same as the rotation angle of the elongated member 5, including but not limited to the following two:
First kind:
the other component may be a drive shaft of the first driver 41.
Second kind:
in case the rotational drive means 4 comprises an elongated member adapter 43, the other component may be the elongated member adapter 43.
Thus, by providing the first angle sensor, the rotation angle of the drive shaft or the rotation angle of the elongated member 5 can be detected and fed back to the controller.
With continued reference to fig. 1 and 2, where the stereotactic transmission system for controlling an elongated member provided by the embodiments of the present invention includes a controller, the stereotactic transmission system for controlling an elongated member provided by the embodiments of the present invention further includes an anterior-posterior translation driving device 6, and the rotation driving device 4 is slidably connected to the anterior-posterior translation driving device 6. There are various ways in which the rotation driving device 4 is slidably connected to the front-rear translation driving device 6, and the embodiment of the present invention is not limited in this regard.
Since the rotation driving device 4 is slidably connected to the back-and-forth translation driving device 6, the back-and-forth translation driving device 6 can drive the rotation driving device 4 to translate back and forth, so that the elongated member 5 moves along with the movement of the rotation driving device 4.
In one implementation, the connector 3 may be fixed to the front-rear translation driving device 6, and the connector 3 and the front-rear translation driving device 6 may be fixedly connected in various manners, and by way of example, with continued reference to fig. 1 and fig. 2, the stereotactic transmission system for controlling an elongated member provided in an embodiment of the present invention may further include a connector 7, where one end of the connector 7 is fixedly connected to the front-rear translation driving device 6, and the other end of the connector 7 is fixedly connected to the connector 3, so that the connector 3 is fixedly connected to the front-rear translation driving device 6 through the connector 7.
Thus, by slidably connecting the rotation driving device 4 to the back-and-forth translation driving device 6, the back-and-forth translation driving device 6 can drive the rotation driving device 4 to translate back and forth, so that the elongated member 5 moves along with the movement of the rotation driving device 4, and the back-and-forth translation of the elongated member 5 is controlled by the back-and-forth translation driving device 6.
Wherein, the back-and-forth translation driving device 6 is connected with the controller in a communication manner, and the mode of controlling the back-and-forth translation of the elongated member 5 by the back-and-forth translation driving device 6 may be:
the controller sends a forward and backward translation command to the forward and backward translation driving device 6;
the front-back translation driving device 6 drives the rotation driving device 4 to translate back and forth according to the front-back translation instruction, and then drives the elongated member 5 to translate back and forth.
Specifically, the forward-backward translation command may include a translation direction and a translation distance, and the forward-backward translation driving device 6 drives the forward-backward translation of the rotation driving device 4 according to the forward-backward translation command may be:
the front-rear translation driving device 6 drives the rotation driving device 4 to move a translation distance in the translation direction.
Wherein the translation direction includes a front and a rear, the front and rear being predetermined, for example: the distal end is set to be forward and the proximal end is set to be rearward.
Thus, by arranging the controller, the controller can control the front-back translation driving device 6 to drive the rotation driving device 4 to translate back and forth, so that the elongated member 5 moves along with the movement of the rotation driving device 4, and the front-back translation of the elongated member 5 is controlled.
The structure of the guide device 1 will be described below:
fig. 5 is a sectional view of an assembled structure of the guide device 1 according to the embodiment of the present invention. Fig. 6 is a cross-sectional view of an exploded structure of the guide device 1 according to the embodiment of the present invention. Referring to fig. 5 and 6, the guide device 1 comprises a hollow elongate structural guide 11 and a clamping assembly 12, the distal end of the clamping assembly 12 being connected to the proximal end of the hollow elongate structural guide 11, the clamping assembly 12 being adapted to fix the relative position of the cannula 2 and the hollow elongate structural guide 11 after the cannula 2 has been extended beyond the distal end of the hollow elongate structural guide 11.
Wherein the hollow elongate structural guide 11 is hollow and can provide a guiding orientation for the elongate member 5. The clamping assembly 12 is an assembly that can perform a clamping function.
Thus, by providing the hollow elongate structural guide 11 and the clamping assembly 12, the relative position of the cannula 2 and the hollow elongate structural guide 11 can be fixed.
With continued reference to fig. 5 and 6, the clamping assembly 12 may include a resilient plug 121, a clamping adapter 122, a jackscrew 123, and a screw 124.
The screwing member 124 is screwed to the top screw member 123, the distal end of the top screw member 123 is inserted into the clamping adapter 122 and is in contact with the elastic plug 121, the distal end of the screwing member 124 is screwed to the clamping adapter 122, the distal end of the clamping adapter 122 is connected to the proximal end of the hollow elongate structural guide 11, and the elastic plug 121 is disposed in the proximal cavity of the hollow elongate structural guide 11. The distal end of the clamping adapter 122 may be connected to the proximal end of the hollow elongate structural guide 11 in various manners, such as by screwing, welding, etc., and the embodiment of the present invention is not limited in this respect.
And, the tightening member 124 and the top wire member 123 may be a unitary structure that is threadably coupled to the clamping adapter 122.
In the use state, that is, in the state shown in fig. 5, the screwing member 124 is screwed on the jackscrew member 123 and the clamping adapter 122, the jackscrew member 123 presses the elastic plug 121, the sleeve 2 passes through the jackscrew member 123, the elastic plug 121 and the hollow elongated structure guide 11, the distal end of the sleeve 2 extends out of the distal end of the hollow elongated structure guide 11, and the elastic plug 121 presses the sleeve 2 inside due to the fact that the jackscrew member 123 presses the elastic plug 121, so that the elastic plug 121 further fixes the position of the sleeve 2. Illustratively, the elastic plug 121 may be a rubber plug.
Therefore, by arranging the distal end of the jackscrew member 123 to be inserted into the clamping adapter 122 and be in contact with the elastic plug 121, when the screwing member 124 is screwed on the jackscrew member 123 and the clamping adapter 122, the jackscrew member 123 can press the elastic plug 121 to enable the elastic plug 121 to press the inner sleeve 2, so that the purpose of fixing the sleeve 2 is achieved.
The structure of the plug 3 is described below:
the structure of the plug 3 is various, including but not limited to the following two:
first kind:
the plug 3 is a hollow housing to which the proximal end of the cannula 2 is connected.
That is, in this case, the plug 3 is a tubular object, and the proximal end of the sleeve 2 may be connected to the hollow housing in such a manner that the proximal end of the sleeve 2 is fixed in the hollow housing, or the proximal end of the sleeve 2 is fixedly connected to the distal end of the hollow housing.
Second kind:
fig. 7 is a schematic diagram of an assembly structure of the plug connector 3 according to an embodiment of the present invention. Fig. 8 is an exploded view of the plug 3 according to the embodiment of the present invention. Referring to fig. 7 and 8, the connector 3 may include a sealing plug 31, an elongated member fitting 32, and a sealing nut 33, a luer fitting 34, a water inlet fitting 35, and a water outlet fitting 36 connected in this order in a proximal to distal direction.
The elongate member fitting 32 is connected to the transmission part of the rotary drive device 4 and the sealing plug 31 is arranged in the luer fitting 34, the inner boss 331 of the sealing nut 33 being in contact with the sealing plug 31.
In use, the sealing nut 33 is tightened against the luer fitting 34, the internal boss 331 of the sealing nut 33 compresses the sealing plug 31, and the elongate member 5 passes through the elongate member fitting 32, the sealing nut 33, the sealing plug 31 and the water entry adapter 35 into the cannula 2.
Wherein the elongate member coupling 32 is connected to a transmission component of the rotary drive device 4 such that the elongate member 5 within the elongate member coupling 32 moves with the elongate member coupling 32, wherein the transmission component of the rotary drive device 4 may be an elongate member adapter 43; the sealing nut 33 is in threaded connection with the luer fitting 34; luer fitting 34 is threadably connected to water entry adapter 35; the water inlet adaptor 35 and the water outlet adaptor 36 may be connected by a threaded connection or may be welded or glued, which is not limited in any way in the embodiment of the present invention.
Since the sealing nut 33 is screwed onto the luer fitting 34 in use, the internal boss 331 of the sealing nut 33 compresses the sealing plug 31, the sealing plug 31 compresses the internal elongate member 5, preventing the outflow of cooling fluid, but this compression does not affect the rotation and movement of the elongate member 5.
Thus, the sealing of the elongated member 5 is achieved by providing a sealing plug 31, an elongated member fitting 32, and a sealing nut 33, a luer fitting 34, a water inlet adapter 35 and a water outlet adapter 36, which are connected in this order in the proximal to distal direction.
Since in use some types of elongate members require a cooling seal, for example when the elongate member 5 is an optical fibre, in order to achieve a cooling seal for the elongate member 5, with continued reference to figures 7 and 8, the connector 3 may further comprise a first water tube 37 and a second water tube 38, the sleeve 2 may comprise an inner water circulation tube 21 and an outer water circulation tube 22, wherein the first water tube 37 may be a water inlet tube or a water outlet tube, and similarly the second water tube 38 may be a water inlet tube or a water outlet tube, but one of the two is a water outlet tube and the other is a water inlet tube. The functions of the water inlet adapter 35 and the water outlet adapter 36 may also be reversed. That is, the water inlet adaptor 35 may be used for water inlet and water outlet, and the water outlet adaptor 36 may be used for water inlet and water outlet, but one of the two is used for water inlet and the other is used for water outlet.
The inner water circulation pipe 21 is disposed in the outer water circulation pipe 22 with a gap therebetween, the first water pipe 37 is communicated with the inner water circulation pipe 21 through the water inlet adaptor 35, and the second water pipe 38 is communicated with the outer water circulation pipe 22 through the water outlet adaptor 36.
In use, the elongate member 5 passes through the elongate member fitting 32, the sealing nut 33 and the sealing plug 31 into the inner water circulation tube 21.
In use, the cooling liquid is delivered through one of the first water tube 37 and the second water tube 38 such that the cooling liquid is delivered from the other of the first water tube 37 and the second water tube 38 through the gap between the inner water circulation tube 21 and the outer water circulation tube 22, whereby the cooling liquid can act as a cooling for the elongate member 5 within the inner water circulation tube 21, and also as a cooling seal for the elongate member 5 due to the presence of the sealing plug 31.
Thereby, by providing the sealing plug 31 and providing the plug 3 with the first water tube 37 and the second water tube 38, the sleeve 2 is provided with the inner water circulation tube 21 and the outer water circulation tube 22, a cooling seal of the elongated member 5 is achieved.
Since friction may exist between the sealing plug 31 and the elongate member 5, which may affect the rotation of the elongate member 5, in order to avoid this, it may be provided that at least a first part of the elongate member 5 is provided with a rigid structure outside, or that at least a first part of the elongate member 5 has a strengthened outer surface structure, wherein the first part comprises a part of the elongate member 5 from the proximal end to within the sealing plug 31 and a part beyond the sealing plug 31, the length of the part beyond the sealing plug 31 being greater than the distance of movement of the elongate member 5 when the distal end of the elongate member 5 is at the most distal end of the system.
In use, the elongate member 5 is not stationary but is moveable back and forth. When the elongated member 5 moves forward, the moving distance of the elongated member 5 is the forward moving distance; when the elongated member 5 moves backward, the moving distance of the elongated member 5 is a retreat distance, and the front-rear direction can be specified, for example: the direction of the distal end is marked as the front, and the direction of the proximal end is marked as the rear.
When the distal end of the elongate member 5 is at the most distal end of the system, the provision of a portion of greater length than the sealing plug 31 than the distance of movement of the elongate member 5 ensures that the sealing plug 31 is always in contact with the first portion of the elongate member 5 during forward and backward movement of the elongate member 5.
Thus, by providing at least a first portion of the elongate member 5 with a rigid structure or with a reinforced outer surface structure, the strength of the elongate member 5 is enhanced, and by providing the first portion comprising the portion of the elongate member 5 from the proximal end to within the sealing plug 31 and the portion beyond the sealing plug 31, the length of the portion beyond the sealing plug 31 being greater than the distance of movement of the elongate member 5 when the distal end of the elongate member is at the most distal end of the system, it is ensured that the elongate member 5 within the sealing plug 31 still has a rigid structure or has a reinforced outer surface structure, even after movement of the elongate member 5, eliminating the effect of friction between the sealing plug 31 and the elongate member 5 on the rotation of the elongate member 5.
And, when the rotation driving device 4 includes the first angle sensor, the rotation angle of the elongated member 5 having the rigid structure or having the reinforced outer surface structure may be detected and transmitted to the controller, thereby precisely monitoring the rotation angle of the elongated member 5 and realizing the rotation control of the elongated member 5.
Fig. 9 is a schematic structural view of a sleeve 2 according to an embodiment of the present invention, referring to fig. 9, in order to increase the strength of the sleeve 2, a first strength enhancing structure 23 may be further disposed between the outer water circulation tube 22 and the inner water circulation tube 21, and a second strength enhancing structure 24 may be disposed between the inner water circulation tube 21 and the elongated member 5.
The first strength enhancing structure 23 may be a plurality of enhancing frames, which may be uniformly distributed between the outer water circulation pipe 22 and the inner water circulation pipe 21, and the second strength enhancing structure 24 may be a plurality of enhancing frames, which may be uniformly distributed between the inner water circulation pipe 21 and the elongated member 5.
In order to avoid that the second strength enhancing structure 24 influences the rotation of the elongated member 5, a gap is provided between the second strength enhancing structure 24 and the elongated member 5, and the surface of the reinforcing frame that may be in contact with the elongated member 5 is provided as a convex surface.
Thereby, by providing the first strength enhancing structure 23 and the second strength enhancing structure 24, the strength and the puncture ability of the cannula 2 are increased, deformation when being pressed by an external force is prevented, and the circulation of the cooling fluid is blocked.
The following describes the front-rear translation driving device 6:
fig. 10 is a schematic structural diagram of an anterior-posterior translation driving device 6 according to an embodiment of the present invention, referring to fig. 10, the anterior-posterior translation driving device 6 may include an anterior-posterior translation driving device base 61, at least one sliding rail 62, a screw 63, a sliding block 64, and a second driver 65.
At least one slide rail 62 and lead screw 63 parallel arrangement and all pass the sliding block 64, and the both ends of at least one slide rail 62 fixed mounting is in translation drive base back and forth 61, and lead screw 63 swivelling joint is in translation drive base back and forth 61, and second driver 65 drive lead screw 63 rotation, and second driver 65 is installed in translation drive base back and forth 61, and rotation drive 4 is installed in sliding block 64.
When in use, the second driver 65 drives the screw 63 to rotate, the screw 63 drives the sliding block 64 to move along the sliding rail, and the sliding block 64 can drive the rotation driving device 4 to move back and forth because the rotation driving device 4 is arranged on the sliding block 64.
The second driver 65 may have various structural forms, including but not limited to a motor, a hydraulic form, and a pneumatic form, and the embodiment of the present invention is not limited in this regard.
The second driver 65 is connected to the screw 63 in various manners, and the front-rear translation driving device 6 may further include a second transmission mechanism, where the second driver 65 is connected to the second transmission mechanism, and the second transmission mechanism is connected to the other end of the screw 63, so that the second driver 65 drives the screw 63 to rotate through the connection of the second transmission mechanism.
The second transmission mechanism has various structural forms, including but not limited to a gear form and a belt form.
For example, with continued reference to fig. 10, the second transmission mechanism includes a driven wheel 66, a driving wheel 67 and a belt, the second driver 65 drives the driving wheel 67 to rotate, the driving wheel 67 is connected with the driven wheel 66 through the belt, the driving wheel 67 drives the driven wheel 66 to rotate, the driven wheel 66 is connected with the other end of the screw 63, and the driven wheel 66 drives the screw 63 to rotate.
Thus, by providing the slide rail 62, the screw 63, the slide block 64, and the second driver 65, the slide block 64 can drive the rotary driving device 4 to move forward and backward.
It should be noted that any combination of the above embodiments is possible.
An example of another configuration of a stereotactic drive system for controlling an elongated member is described below:
fig. 11 is a schematic structural view of a second stereotactic transmission system for controlling an elongated member according to an embodiment of the present invention. Referring to fig. 11, a stereotactic drive system for controlling an elongated member provided by an embodiment of the present invention comprises: a guide 8, a drive sleeve 9, an insert 10 and a rotary drive 4.
The guide 8 is connected to the distal end of the drive sleeve 9, and the proximal end of the drive sleeve 9 is connected to the distal end of the insert 10.
In use, the elongate member 5 passes through the insert 10, the drive sleeve 9 and the guide 8, the distal end of the elongate member being extendable from the distal end of the guide 8, and the rotational drive means 4 driving the elongate member 5 in rotation.
The insert 10 may be secured to either structure, provided that after being secured, the proximal end of the insert 10 is opposite the distal end of the rotational drive means 4, such that the rotational drive means 4 may drive the elongate member in rotation, the elongate member 5 being movable within the insert 10 in its own axial direction and rotatable about its own axis. For example, the insert 10 is secured to a dedicated bracket.
In summary, the stereotactic transmission system for controlling an elongated member provided by the embodiment of the present invention includes a guiding device 8, a transmission sleeve 9, an insert 10 and a rotation driving device 4, wherein the guiding device 8 is connected with the distal end of the transmission sleeve 9, the proximal end of the transmission sleeve 9 is connected with the distal end of the insert 10, in use, the elongated member 5 passes through the insert 10, the transmission sleeve 9 and the guiding device 8, the distal end of the elongated member can extend from the distal end of the guiding device 8, and the rotation driving device 4 drives the elongated member to rotate. In the embodiment of the invention, the rotation driving device drives the elongated member to rotate to realize rotation control of the elongated member, the implantation direction of the elongated member can be guided through the guiding device, the elongated member can be directionally controlled without additionally installing a supporting structure at the skull, the pain of a patient is reduced, and the device is simple and convenient to install.
With continued reference to fig. 11, the stereotactic transmission system for controlling an elongated member according to the present invention may further include an anterior-posterior translation driving device 6, wherein the rotation driving device 4 is slidably connected to the anterior-posterior translation driving device 6, and the rotation driving device 4 is slidably connected to the anterior-posterior translation driving device 6 in various manners, which are not limited in any way according to the present invention. Since the rotation driving device 4 is slidably connected to the front-back translation driving device 6, the front-back translation driving device 6 can drive the rotation driving device 4 to move along the length direction of the elongated member, so that the elongated member moves along with the movement of the rotation driving device 4.
The insert 10 may also be fixed to the front-rear translation driving device 6, and there are various manners in which the insert 10 is fixedly connected to the front-rear translation driving device 6, and by way of example, with continued reference to fig. 11, the stereotactic transmission system for controlling an elongated member provided in the embodiment of the present invention may further include an insert connector 7, where one end of the insert connector 7 is fixedly connected to the front-rear translation driving device 6, and the other end is fixedly connected to the insert 10, so that the insert 10 is fixedly connected to the front-rear translation driving device 6 through the insert connector 7.
Therefore, by means of sliding connection of the rotary driving device 4 to the front-back translation driving device 6, the front-back translation driving device 6 can drive the rotary driving device 4 to move back and forth along the length direction of the elongated member, so that the elongated member moves along with the movement of the rotary driving device 4, and the control of the movement of the elongated member along the length direction is realized through the front-back translation driving device.
The various components of the stereotactic drive system for controlling elongated members are described in detail below:
fig. 12 is a schematic structural view of a guide device 8 according to an embodiment of the present invention, and referring to fig. 12, the guide device 8 includes a hollow elongated structural guide 81 and a guide device housing, wherein a proximal end of the hollow elongated structural guide 81 is connected to a distal end of the guide device housing, and a proximal end of the guide device housing is connected to a distal end of the transmission sleeve 9.
The elongate member passes through the guide housing and the hollow elongate structure guide 81, and the distal end of the elongate member 5 may protrude from the distal end of the hollow elongate structure guide 81.
Wherein the hollow elongate structural guide 81 is hollow and can provide a guiding orientation for the elongate members, the hollow elongate structural guide 81 can be, for example, a hollow bone screw.
The guide housing may have a variety of configurations including, but not limited to, the following:
first kind:
the guiding device shell is a first bone screw cap, the proximal end of the hollow slender structure guiding piece 81 is in threaded connection with the distal end of the first bone screw cap, and the proximal end of the first bone screw cap is connected with the distal end of the transmission sleeve 9.
In the case of the guide housing being the first bone screw cap, the guide 8 may further comprise a second angle sensor and a second rotational positioning device, both mounted within the guide housing, i.e. the first bone screw cap, through which the elongate member 5 passes.
In particular, the second angle sensor is detachably connected to the second rotational positioning means, through which the elongated member 5 passes and is movable in the axial direction and rotatable about its own axis. In the use state, the second rotation positioning device clamps the elongated member 5 according to the preset pressure, allows the elongated member 5 to move along the length direction of the elongated member 5, and simultaneously enables the elongated member 5 to drive the second rotation positioning device to rotate, the second angle sensor detects the rotation angle of the second rotation positioning device, and the second angle sensor sends the detected rotation angle to the control device because the elongated member 5 drives the second rotation positioning device to rotate, and therefore the rotation angle of the second rotation positioning device detected by the second angle sensor is the rotation angle of the elongated member 5.
Thereby, by providing the second rotational positioning means and the second angle sensor, the rotational angle of the elongated member 5 located in the guide housing can be detected.
The structure of the second rotary positioning device is described as follows:
fig. 13 is an exploded view of one angle of the second rotary positioning device and the second angle sensor according to the embodiment of the present invention, and fig. 14 is an exploded view of the other angle of the second rotary positioning device and the second angle sensor according to the embodiment of the present invention. Referring to fig. 13-14, the second rotational positioning device may include a main body 51, at least one adjustable roof presser 52, two bearings 53, a first shaft 54, and a second shaft 55.
The side of the main body 51 is provided with two holes, one end of the main body 51 is provided with a groove, the groove divides the two holes into two parts, the bottom of the groove is provided with a through hole, one end face of the main body 51 is provided with a first hole 56 which is matched with the adjustable jack 52, one of the two holes close to the first hole 56 is communicated with the first hole 56, the two bearings 53 are arranged in the groove, the first shaft 54 passes through one bearing 53 of the two bearings 53 to be arranged in one hole of the two holes, the second shaft 55 passes through the other bearing 53 of the two bearings 53 to be arranged in the other hole of the two holes, the adjustable jack 52 is arranged in the first hole 56, and the slender component 5 is arranged between the two bearings 53 and passes through the through hole of the bottom of the groove.
Illustratively, the centerlines of the two holes are parallel to each other.
In the use state, the adjustable roof-press 52 is screwed down, the two bearings 53 hold the elongated member 5, the pressure between the two bearings 53 and the elongated member 5 reaches a predetermined value, that is, the position of the shaft in the hole communicating with the first hole 56 can be adjusted by screwing down the adjustable roof-press 52 so that the shaft in the hole communicating with the first hole 56 brings the bearing 53 through which it passes to apply pressure to the elongated member 5, and at the same time, the shaft in the hole not communicating with the first hole 56 also applies pressure to the elongated member 5 through the bearing 53 through which it passes, whereby the pressure between the two bearings 53 and the elongated member 5 is adjusted to a predetermined value by screwing down the adjustable roof-press 52.
In order to adjust the position of the shaft in the hole communicating with the first hole 56 of the two holes by tightening the adjustable roof punch 52, it is necessary to provide the hole communicating with the first hole 56 of the two holes with a size larger than the shaft provided therein.
The shaft in the hole which is not in communication with the first hole 56 of the two holes may be fixedly provided in the hole, which is not limited in the embodiment of the present invention, as long as the shaft in the hole can apply pressure to the elongated member 5 through the bearing 53 through which it passes.
And the type of the bearing 53 is not limited in the embodiment of the present invention, and the bearing 53 may be a bushing by way of example.
Illustratively, the number of adjustable jacks 52 may be 2 and the number of first apertures 56 may be 2. Two first holes 56 may be provided separately on both sides of the groove.
With continued reference to fig. 13-14, in the case where the second rotational positioning device includes a main body 51, at least one adjustable roof presser 52, two bearings 53, a first shaft 54, and a second shaft 55, the other end of the main body 51 is provided with a protrusion 511, the protrusion 511 is provided with a through hole, the through hole of the protrusion 511 communicates with the through hole of the groove bottom, the elongated member 5 passes through the through hole of the protrusion 511, the second angle sensor is provided with a catching hole 50, and the protrusion 511 is caught with the catching hole 50.
The second angle sensor and the second rotary positioning device may be detachably connected by providing a protrusion 511 at the other end of the main body 51, providing a clamping hole 50 at the second angle sensor, and connecting the second angle sensor and the second rotary positioning device together by clamping the protrusion 511 and the clamping hole 50.
In one implementation manner, the left and right sides of the protrusion 511 are arc-shaped, and the clamping hole 50 of the second angle sensor is horseshoe-shaped, and the protrusion 511 is clamped with the horseshoe-shaped clamping hole 50, however, the specific shapes of the protrusion 511 and the clamping hole 50 are not limited in the embodiment of the invention, so long as the two can be clamped.
Thus, by providing the protrusion 511 at the other end of the main body 51 and providing the engagement hole 50 at the second angle sensor, detachable connection between the second angle sensor and the second rotational positioning device is achieved.
Second kind:
with continued reference to fig. 12, the guide housing may include a second bone screw cap 82, a guide housing body, and a drive sleeve mounting base 83.
The proximal end of the hollow elongate structural guide 81 is threadedly connected to the distal end of the second bone screw cap 82, the proximal end of the second bone screw cap 82 is connected to the distal end of the guide housing body, the drive sleeve mounting base 83 is disposed at the proximal end of the guide housing body, the drive sleeve mounting base 83 is connected to the distal end of the drive sleeve 9, and the elongate member 5 passes through the drive sleeve mounting base 83, the guide housing body and the second bone screw cap 82.
When in use, the proximal end of the second bone screw cap 82 is connected with the distal end of the guiding device housing body, the transmission sleeve mounting base 83 is arranged at the proximal end of the guiding device housing body, the transmission sleeve mounting base 83 is connected with the distal end of the transmission sleeve 9, and then the distal end of the second bone screw cap 82 is in threaded connection with the proximal end of the hollow slender structure guiding member 81.
The guide housing body and the transmission sleeve mounting base 83 may be an integral structure or a non-integral structure, which is not limited in any way in the embodiment of the present invention.
When the guide housing body is of a non-integral structure, as illustrated in fig. 15, which is a cross-sectional view of fig. 12, referring to fig. 12 and 15, the guide housing body may include a guide housing body fixing portion 84 and a guide housing body sliding portion 85, the proximal end of the second bone screw cap 82 is connected to the distal end of the guide housing body fixing portion 84, the proximal end of the guide housing body fixing portion 84 is connected to the distal end of the guide housing body sliding portion 85, the driving sleeve mounting base 83 is provided to the proximal end of the guide housing body sliding portion 85, and the elongated member 5 passes through the guide housing body sliding portion 85 and the guide housing body fixing portion 84.
With continued reference to fig. 15, the guide housing body fixing portion 84 and/or the guide housing body sliding portion 85 are provided with a scale 86, the guide housing body fixing portion 84 and the guide housing body sliding portion 85 being relatively movable, the scale 86 showing the distance of the relative movement, that is, in use, the guide housing body sliding portion 85 may be pulled away from the guide housing body fixing portion 84, and the pulled-out distance may be read from the scale 86 every time the distance is pulled out, in fig. 15, the guide housing body sliding portion 85 is provided with the scale 86.
Thus, the distance of the relative movement between the guide housing body fixing portion 84 and the guide housing body sliding portion 85 can be displayed by providing the scale 86 to the guide housing body fixing portion 84 and/or the guide housing body sliding portion 85.
With continued reference to fig. 15, on the basis that the guide housing includes a second bone screw cap 82, a guide housing body and a drive sleeve mounting base 83, the guide housing further includes a bone screw transit bolt 87, when the second bone screw cap 82 is screwed down on the hollow elongate structural guide 81, the distal end of the bone screw transit bolt 87 is fixed within the second bone screw cap 82, the proximal end of the bone screw transit bolt 87 is threadedly connected with the distal end of the guide housing body, and the elongate member 5 passes through the bone screw transit bolt 87.
Specifically, the bone screw transit bolt 87 is provided with a bolt protrusion 871, the size of the bolt protrusion 871 is larger than the size of the opening at the proximal end of the second bone screw cap 82, and when the second bone screw cap 82 is screwed down on the hollow elongate structural guide 81, the opening at the proximal end of the second bone screw cap 82 is clamped against the bolt protrusion 871, so that the distal end of the bone screw transit bolt 87 is fixed in the second bone screw cap 82.
In use, the bone screw adaptor bolt 87 is inserted into the second bone screw cap 82, the proximal end of the bone screw adaptor bolt 87 is threaded with the distal end of the guide housing body, and finally the second bone screw cap 82 is screwed onto the hollow elongate structural guide 81 such that the opening at the proximal end of the second bone screw cap 82 and the hollow elongate structural guide 81 capture the bolt boss 871.
With continued reference to fig. 12, when the guide housing is of the second configuration described above, the guide 8 may further include a second angle sensor 88 and a second rotational positioning device 89, each of the second angle sensor 88 and the second rotational positioning device 89 being mounted within the guide housing, the elongate member 5 passing through the second rotational positioning device 89 and the second angle sensor 88. The specific structure and connection manner of the second rotational positioning device 89 and the second angle sensor 88 are described in the first structure of the guiding device housing, and will not be described herein.
Since in use some types of elongate members require a cooling seal, for example when the elongate member is an optical fibre, and thus with continued reference to figure 15, the guide 8 may further comprise a cooling sleeve 60, a cooling circulation assembly 70 and a sealing plug 31, the cooling circulation assembly 70 and sealing plug 31 being mounted in sequence within the guide housing in a distal to proximal direction, the cooling sleeve 60 passing in sequence through the sealing plug 31 and the cooling circulation assembly 70, the elongate member 5 being disposed within the cooling sleeve 60.
There are various ways of sealing, and in one implementation, the guide 8 may further include a cooling circulation assembly cap 90, the cooling circulation assembly cap 90 being disposed at the proximal end of the sealing plug 31 and mounted within the guide housing, the cooling sleeve 60 passing through the cooling circulation assembly cap 90.
Thereby, a cooling seal of the elongated member is achieved by means of the provision of the cooling jacket 60, the cooling circulation assembly 70 and the sealing plug 31.
The cooling circulation assembly 70 is caught in the guide housing body sliding part 85, and the cooling jacket 60 is driven to perform a longitudinal movement of a fixed distance by the guide housing body sliding part 85 with respect to the guide housing body fixing part 84.
The structure of the insert 10 is described below:
fig. 16 is a schematic view of a construction of the insert 10, see fig. 16, the insert 10 may include an insert housing 101 and an insert drive sleeve mounting base 102. The insert drive sleeve mounting base 102 is arranged at the distal end of the insert housing 101, the insert drive sleeve mounting base 102 being connected to the proximal end of the drive sleeve 9, the elongated member 5 passing through the insert housing 101 and the insert drive sleeve mounting base 102, the elongated member 5 being provided with an elongated member plug 501, the elongated member plug 501 being extendable from the proximal end of the insert housing 101. In one implementation, the insert housing 101 and the insert drive sleeve mounting base 102 may be of unitary construction.
Fig. 17 is a schematic view of another construction of the insert 10, referring to fig. 17, since the friction between the sealing plug 31 and the elongated member 5 and the stress of the elongated member 5 in the longitudinal direction accumulate to make the rotation angle of the elongated member 5 at the second angle sensor unstable after reaching the preset requirement in the case that the guide 8 includes the sealing plug 31, the insert 10 may further include a third angle sensor 103 and a third rotation positioning device 104, both of the third rotation positioning device 104 and the third angle sensor 103 being installed in the insert housing 101, and the elongated member 5 passing through the third rotation positioning device 104 and the third angle sensor 103 in the case that the guide 8 further includes the cooling jacket 60, the cooling circulation assembly 70 and the sealing plug 31. The specific structure and connection manner of the third rotary positioning device 104 and the third angle sensor 103 are the same as those of the second rotary positioning device and the second angle sensor, and the difference is only that the directions are different: a second angle sensor is positioned at the distal end and a second rotational positioning device is positioned at the proximal end; the third angle sensor 103 is located at the proximal end, and the third rotary positioning device 104 is located at the distal end, and specific reference may be made to the corresponding description when the guiding device housing is in the first structure, which is not described herein.
The third angle sensor 103 detects the rotation angle of the third rotation positioning device 104 and sends the rotation angle to the control device, and the control device performs subsequent control operation after receiving the rotation angle of the third rotation positioning device 104 so that the rotation angle of the second rotation positioning device is the same as the rotation angle of the third rotation positioning device 104.
Thus, by providing the third rotational positioning device 104 and the third angle sensor 103, the rotational angle of the elongated member located within the card housing 83 can be detected, so that the control device performs the subsequent control operation such that the rotational angle of the elongated member 5 at the second angle sensor is the same as the rotational angle at the third angle sensor 103.
The mechanism of the card housing 101 is various, and the embodiment of the present invention is not limited in this respect, and as an example, with continued reference to fig. 17, the card housing 101 may include an upper card housing 1011 and a lower card housing 1012, the lower card housing 1012 includes an extension 10121 and a lower connection 10122 that are connected to each other, and the upper card housing 1011 and the lower connection 10122 are mutually covered to form a receiving cavity, and the third rotary positioning device 104 and the third angle sensor 103 are installed in the receiving cavity.
The rotary drive 4 is described below:
referring to fig. 3, the rotation driving means 4 includes a first driver 41, the first driver 41 being connected to the elongated member 5, the first driver 41 driving the elongated member 5 to rotate about its own axis.
The first driver 41 has various structural forms including, but not limited to, a motor, a hydraulic form and a pneumatic form, and the embodiment of the present invention is not limited in this regard.
The first driver 41 may be connected to the elongated member 5 in a plurality of ways, and the rotation driving device 4 may further include a first transmission mechanism, where the first driver 41 is connected to the first transmission mechanism, and the first transmission mechanism is connected to the elongated member 5, so that the first driver 41 drives the elongated member 5 to rotate around its own axis through the connection of the first transmission mechanism.
The first transmission mechanism has various structural forms, including but not limited to a gear form and a belt form.
Thereby, the driving of the elongated member 5 in rotation about its own axis is achieved by the first driver 41.
With continued reference to fig. 3, the rotary drive device 4 may further include a rotary device base 42, the first driver 41 being mounted to the rotary device base 42.
Since in use, certain types of elongate members require an adapter for use, for example when the elongate member 5 is an optical fibre, fig. 4 is a cross-sectional view of fig. 3, and referring to fig. 4, the rotary drive device 4 may further comprise an elongate member adapter 43, in use the first driver 41 driving the elongate member adapter 43 in rotation, the distal end of the elongate member adapter 43 being connected to the elongate member 5.
Since the distal end of the elongate member adapter 43 is connected to the elongate member 5, when the first driver 41 drives the elongate member adapter 43 to rotate, the elongate member adapter 43 drives the elongate member 5 to rotate therewith.
With continued reference to fig. 4, when the elongate member 5 is an optical fiber, the connection to the distal end of the elongate member adapter 43 is an ablative fiber, and further includes a delivery fiber, the distal end of which is connected to the proximal end of the jumper fiber optic connector 44, and the proximal end of which is connected to a laser generator. In use, the distal end of the jumper fiber optic connector 44 is connected to the elongate member adaptor 43, the jumper fiber optic connector 44 is fixedly connected to the rotating device base 42 via the jumper fiber sleeve 45, then the distal end of the jumper fiber optic connector 44 is disconnected from the distal end of the elongate member adaptor 43, and the elongate member adaptor 43 is connected to the ablation fiber, at this time, when the first driver 41 drives the elongate member adaptor 43 to rotate, the elongate member adaptor 43 can drive the ablation fiber connected thereto to rotate therewith, and ablation treatment can be performed via the ablation fiber.
The following describes the front-rear translation driving device 6:
referring to fig. 10, the fore-and-aft translational drive device 6 may include a fore-and-aft translational drive device base 61, at least one slide rail 62, a lead screw 63, a slider 64, and a second driver 65.
At least one slide rail 62 and lead screw 63 parallel arrangement and all pass the sliding block 64, and the both ends of at least one slide rail 62 fixed mounting is in translation drive base back and forth 61, and lead screw 63 swivelling joint is in translation drive base back and forth 61, and second driver 65 drive lead screw 63 rotation, and second driver 65 is installed in translation drive base back and forth 61, and rotation drive 4 is installed in sliding block 64.
In use, the second driver 65 drives the screw 63 to rotate, the screw 63 drives the sliding block 64 to move along the sliding rail, and the sliding block 64 can drive the rotation driving device 4 to move along the length direction of the elongated member 5 because the rotation driving device 4 is mounted on the sliding block 64.
The second driver 65 may have various structural forms, including but not limited to a motor, a hydraulic form, and a pneumatic form, and the embodiment of the present invention is not limited in this regard.
The second driver 65 is connected to the screw 63 in various manners, and the front-rear translation driving device 6 may further include a second transmission mechanism, where the second driver 65 is connected to the second transmission mechanism, and the second transmission mechanism is connected to the other end of the screw 63, so that the second driver 65 drives the screw 63 to rotate through the connection of the second transmission mechanism.
The second transmission mechanism has various structural forms, including but not limited to a gear form and a belt form.
For example, with continued reference to fig. 10, the second transmission mechanism includes a driven wheel 66, a driving wheel 67 and a belt, the second driver 65 drives the driving wheel 67 to rotate, the driving wheel 67 is connected with the driven wheel 66 through the belt, the driving wheel 67 drives the driven wheel 66 to rotate, the driven wheel 66 is connected with the other end of the screw 63, and the driven wheel 66 drives the screw 63 to rotate.
Thus, by providing the slide rail 62, the screw 63, the slide block 64 and the second driver 65, the slide block 64 can drive the rotary driving device 4 to move back and forth along the length direction of the elongated member 5.
The embodiments may be arbitrarily combined.
Those of ordinary skill in the art will appreciate that: the drawing is a schematic diagram of one embodiment and the modules or flows in the drawing are not necessarily required to practice the invention.
Those of ordinary skill in the art will appreciate that: the modules in the apparatus of the embodiments may be distributed in the apparatus of the embodiments according to the description of the embodiments, or may be located in one or more apparatuses different from the present embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or may be further split into a plurality of sub-modules.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (21)

  1. A stereotactic drive system for controlling an elongated member, comprising: the device comprises a guiding device, a sleeve, a plug connector and a rotary driving device;
    the proximal end of the sleeve is connected to the plug, and the distal end of the sleeve can extend from the distal end of the guide;
    in use, the elongate member is disposed within the sleeve and the rotational drive drives rotation of the elongate member.
  2. The system of claim 1, wherein the rotary drive comprises a first drive;
    the first driver is connected with the slender component, and the first driver drives the slender component to rotate around the axis of the slender component.
  3. The system of claim 2, further comprising a controller, the first driver being communicatively coupled to the controller;
    in a use state, the controller sends a motion control command to the first driver;
    the first driver drives the elongated member to rotate about its own axis in accordance with the motion control command.
  4. The system of claim 3, wherein the rotary drive device further comprises a first angle sensor in communication with the controller;
    the first angle sensor detects a rotation angle of the elongated member or a rotation angle of other components identical to the rotation angle of the elongated member and transmits the detected rotation angle to the controller.
  5. A system as claimed in claim 3, wherein the system further comprises a fore-aft translational drive;
    the rotary driving device is connected with the front-back translation driving device in a sliding way.
  6. The system of claim 5, wherein the fore-aft translational drive device is communicatively coupled to the controller;
    the controller sends a forward and backward translation instruction to the forward and backward translation driving device;
    The front-back translation driving device drives the rotation driving device to translate back and forth according to the front-back translation instruction, and then drives the slender component to translate back and forth.
  7. The system of any one of claims 1-6, wherein the guide device comprises a hollow elongate structure guide and a clamping assembly, a distal end of the clamping assembly being coupled to a proximal end of the hollow elongate structure guide, the clamping assembly being configured to fix a relative position of the cannula and the hollow elongate structure guide after the cannula extends beyond the distal end of the hollow elongate structure guide.
  8. The system of any one of claims 1-6, wherein the plug is a hollow housing and the proximal end of the cannula is connected to the hollow housing.
  9. The system of any one of claims 1-6, wherein the plug comprises a sealing plug, an elongate member fitting, and a sealing nut, a luer fitting, a water-in adapter, and a water-out adapter that are connected in sequence in a proximal-to-distal direction;
    the slender component joint is connected with a transmission part of the rotary driving device, the sealing plug is arranged in the luer joint, and the inner boss of the sealing nut is in contact with the sealing plug;
    In a use state, the sealing nut is screwed on the luer connector, the inner boss of the sealing nut presses the sealing plug, and the slender component passes through the slender component connector, the sealing nut, the sealing plug and the water inlet adapter to enter the sleeve.
  10. A system as claimed in claim 9, wherein at least a first portion of the elongate member is provided with a rigid structure externally or has a reinforced outer surface structure, wherein the first portion comprises a portion of the elongate member from the proximal end to within the sealing plug and a portion beyond the sealing plug, the length of the portion beyond the sealing plug being greater than the distance of movement of the elongate member when the distal end of the elongate member is at the most distal end of the system.
  11. The system of claim 5, wherein the fore-aft translational drive comprises a fore-aft translational drive base, at least one slide rail, a lead screw, a slider, and a second driver;
    the at least one sliding rail and the lead screw are arranged in parallel and penetrate through the sliding block, two ends of the at least one sliding rail are fixedly arranged on the front-back translation driving device base, the lead screw is rotationally connected with the front-back translation driving device base, the second driver drives the lead screw to rotate, the second driver is arranged on the front-back translation driving device base, and the rotation driving device is arranged on the sliding block.
  12. A stereotactic drive system for controlling an elongated member, comprising: the device comprises a guide device, a transmission sleeve, an insert and a rotary driving device;
    the guide device is connected with the distal end of the transmission sleeve, and the proximal end of the transmission sleeve is connected with the distal end of the plug-in;
    in use, an elongate member passes through the insert, the drive sleeve and the guide means, the distal end of the elongate member being extendable from the distal end of the guide means, the rotational drive means driving the elongate member in rotation.
  13. The system of claim 12, further comprising an anterior-posterior translational drive device, wherein the rotational drive device is slidably coupled to the anterior-posterior translational drive device, wherein the anterior-posterior translational drive device moves the rotational drive device along the length of the elongated member.
  14. The system of claim 12, wherein the guide comprises a hollow elongate structural guide and a guide housing;
    the proximal end of the hollow elongate structural guide is connected to the distal end of the guide housing, and the proximal end of the guide housing is connected to the distal end of the drive sleeve;
    The elongate member passes through the guide housing and the hollow elongate structure guide, the distal end of the elongate member being extendable from the distal end of the hollow elongate structure guide.
  15. The system of claim 14, wherein the guide housing is a first bone screw cap, the proximal end of the hollow elongate structural guide is threadably coupled to the distal end of the first bone screw cap, and the proximal end of the first bone screw cap is coupled to the distal end of the drive sleeve.
  16. The system of claim 14, wherein the guide housing comprises a second bone screw cap, a guide housing body, and a drive sleeve mounting base;
    the proximal end of the hollow slender structure guide piece is in threaded connection with the distal end of the second bone screw cap, the proximal end of the second bone screw cap is connected with the distal end of the guide device shell body, the transmission sleeve mounting base is arranged at the proximal end of the guide device shell body, and the transmission sleeve mounting base is connected with the distal end of the transmission sleeve;
    the elongate member passes through the drive sleeve mounting base, the guide housing body, and the second bone screw cap.
  17. The system of claim 16, wherein the guide further comprises a second angle sensor and a second rotational positioning device;
    The second angle sensor and the second rotational positioning device are both mounted within the guide housing, and the elongated member passes through the second rotational positioning device and the second angle sensor.
  18. The system of claim 17, wherein the guide further comprises a cooling jacket, a cooling circulation assembly, and a sealing plug;
    the cooling circulation assembly and the sealing plug are sequentially arranged in the guide device shell along the direction from the distal end to the proximal end;
    the cooling jacket sequentially passes through the sealing plug and the cooling circulation assembly, and the elongated member is disposed inside the cooling jacket.
  19. The system of claim 18, wherein the insert comprises an insert housing and an insert drive sleeve mounting base;
    the plug-in transmission sleeve mounting base is arranged at the distal end of the plug-in shell and is connected with the proximal end of the transmission sleeve;
    the elongated member passes through the insert housing and the insert drive sleeve mounting base.
  20. The system of claim 19, wherein the insert further comprises a third angle sensor and a third rotational positioning device;
    The third rotational positioning device and the third angle sensor are both mounted within the insert housing, and the elongated member passes through the third rotational positioning device and the third angle sensor.
  21. The system of claim 12, wherein the fore-aft translational drive comprises a fore-aft translational drive base, at least one slide rail, a lead screw, a slider, and a second driver;
    the at least one sliding rail and the lead screw are arranged in parallel and penetrate through the sliding block, two ends of the at least one sliding rail are fixedly arranged on the front-back translation driving device base, the lead screw is rotationally connected with the front-back translation driving device base, the second driver drives the lead screw to rotate, the second driver is arranged on the front-back translation driving device base, and the rotation driving device is arranged on the sliding block.
CN202180066111.0A 2020-12-31 2021-12-31 Stereotactic transmission system for controlling elongated members Pending CN116761567A (en)

Applications Claiming Priority (3)

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CN202011632717X 2020-12-31
CN202011632717.XA CN114681069B (en) 2020-12-31 2020-12-31 Stereotactic transmission system for controlling elongated members
PCT/CN2021/143704 WO2022143986A1 (en) 2020-12-31 2021-12-31 Three-dimensional directional transmission system for controlling elongated member

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CN116761567A true CN116761567A (en) 2023-09-15

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CN202180066111.0A Pending CN116761567A (en) 2020-12-31 2021-12-31 Stereotactic transmission system for controlling elongated members

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WO2018202470A1 (en) * 2017-05-02 2018-11-08 Koninklijke Philips N.V. Transperineal stepper including rotatable transducer probe and shaft with internal cable
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CN209574906U (en) * 2018-10-22 2019-11-05 中国人民解放军第四军医大学 A kind of stereotaxic apparatus electric operation controller
CN211355946U (en) * 2019-10-11 2020-08-28 华志微创医疗科技（北京）有限公司 Guide device
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CN215994222U (en) * 2020-12-31 2022-03-11 华科精准（北京）医疗科技有限公司 Stereotactic transmission system for controlling elongated members

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CN114681069A (en) 2022-07-01
WO2022143986A1 (en) 2022-07-07

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