CN117814882A - Automatic puncture equipment based on chest CT image and puncture method thereof - Google Patents
Automatic puncture equipment based on chest CT image and puncture method thereof Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000003780 insertion Methods 0.000 claims abstract description 34
- 230000037431 insertion Effects 0.000 claims abstract description 34
- 230000003902 lesion Effects 0.000 claims abstract description 22
- 230000035515 penetration Effects 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 210000001519 tissue Anatomy 0.000 description 11
- 230000001575 pathological effect Effects 0.000 description 7
- 210000004072 lung Anatomy 0.000 description 5
- 206010054107 Nodule Diseases 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 206010056342 Pulmonary mass Diseases 0.000 description 3
- 238000001574 biopsy Methods 0.000 description 3
- 238000003745 diagnosis Methods 0.000 description 3
- 230000036285 pathological change Effects 0.000 description 2
- 231100000915 pathological change Toxicity 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000002685 pulmonary effect Effects 0.000 description 2
- 230000000241 respiratory effect Effects 0.000 description 2
- 206010024971 Lower respiratory tract infections Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 230000009849 deactivation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007170 pathology Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 210000002345 respiratory system Anatomy 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/32—Surgical robots operating autonomously
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The invention provides automatic puncture equipment based on chest CT images and a puncture method thereof, comprising the following steps: the rectangular coordinate system sliding table component is erected on one side of the operating table; the vertical lifting platform is arranged at the top of the rectangular coordinate system sliding table component in a sliding manner; the horizontal fixed mechanical arm assembly and the horizontal telescopic mechanical arm assembly are both arranged on the vertical lifting platform in a sliding manner, and the self-driven mechanical arm assembly and the horizontal telescopic mechanical arm assembly move along the vertical lifting platform; one end of the guide plate is hinged with the end part of the horizontal fixed mechanical arm assembly; the guide plate is provided with a sliding groove along the length direction, and the end part of the horizontal telescopic mechanical arm assembly is arranged in the sliding groove in a sliding way; the movable needle inlet assembly is erected on the guide plate; the movable needle inlet assembly is detachably connected with a coaxial needle and drives the coaxial needle to enter the needle along the inclined angle of the guide plate. Under the accurate guidance of CT images, the device can quickly obtain the puncture position, the puncture angle and the needle insertion depth, automatically puncture, has higher accuracy and is suitable for smaller lesion parts.
Description
Technical Field
The invention relates to the technical field of auxiliary instruments, in particular to automatic puncture equipment based on chest CT images.
Background
The lung nodule is a round or round-like soft tissue shadow which can be found in chest image examination, has a diameter of less than 30mm and is surrounded by lung tissue, and is mostly clearly demarcated with surrounding tissue, and the chest nodule can be single shot or multiple shot. Chest infections and benign and malignant tumors all cause the chest to develop nodules, and are therefore more common. Most patients with pulmonary nodules have no obvious symptoms of the respiratory system, so it is important to ascertain early pulmonary nodule properties.
Currently, there are more and more patients with lung nodules in the outpatient department of the respiratory department, and for large footprints, a biopsy can be taken with a bronchoscope for definitive diagnosis. However, for the lung peripheral nodules, especially about 1cm, the bronchoscope is difficult to reach, and at present, percutaneous lung puncture biopsy is mostly adopted, and pathological tissues are taken and then subjected to clear diagnosis. Most existing puncture guiding methods scan a lesion part through CT and then manually locate puncture. However, there is a certain uncertainty in manual positioning, the stability and accuracy are low, and for smaller pathological tissues, a slight penetration deviation is very easy to cause a larger position error, so that the puncture needle cannot accurately reach the pathological change position.
Disclosure of Invention
In order to achieve the technical aim of automatic and accurate puncture, the invention provides automatic puncture equipment and a puncture method based on chest CT images. The invention provides the following technical scheme.
An automatic chest CT image-based lancing apparatus, comprising:
the rectangular coordinate system sliding table component is erected on one side of the operating table;
the vertical lifting platform is arranged at the top of the rectangular coordinate system sliding table assembly in a sliding manner, and the rectangular coordinate system sliding table assembly drives the vertical lifting platform to freely move on a certain horizontal plane;
one end of the horizontal fixed mechanical arm assembly and one end of the horizontal telescopic mechanical arm assembly are arranged on the vertical lifting platform in a sliding manner, and the horizontal fixed mechanical arm assembly and the horizontal telescopic mechanical arm assembly move along the vertical lifting platform in a self-driven manner; the horizontal telescopic mechanical arm assembly is positioned above the horizontal fixed mechanical arm assembly; the other end of the horizontal telescopic mechanical arm is provided with a movable sliding table; a sliding shaft is arranged in the movable sliding table in a sliding manner;
one end of the guide plate is hinged with the other end of the horizontal fixed mechanical arm assembly; the guide plate is provided with a sliding groove along the length direction, and the end part of the sliding shaft is arranged in the sliding groove in a sliding way;
the movable needle inlet assembly is erected on the guide plate; the movable needle feeding component is detachably connected with a coaxial needle and drives the coaxial needle to feed along the inclined angle of the guide plate;
the distance measuring unit comprises three groups of distance measuring sensing assemblies which are respectively arranged on the movable needle feeding assembly, the horizontal telescopic mechanical arm assembly and the horizontal fixed mechanical arm assembly, and respectively acquire the moving distance of the movable needle feeding assembly, the distance between the horizontal telescopic mechanical arm assembly and the horizontal fixed mechanical arm assembly and the distance between the horizontal fixed mechanical arm assembly and the rectangular coordinate system sliding table assembly;
the method comprises the steps of taking an end point of an operating table as a coordinate, determining a plane to be punctured according to a CT image, identifying coordinates of a needle insertion point and a lesion point, and constructing a puncture path according to the coordinates of the needle insertion point and the lesion point; the guide plate is overlapped with the puncture path through the rectangular coordinate system sliding table assembly, the horizontal fixed mechanical arm assembly and the horizontal telescopic mechanical arm assembly, and the coaxial needle is driven to enter the needle through the moving needle entering assembly according to the length of the puncture path.
Preferably, the horizontal fixed mechanical arm assembly and the horizontal telescopic mechanical arm assembly are driven to move up and down through the gear travelling assembly; the vertical lifting platform comprises a vertical arm and a rack fixedly arranged on one side of the vertical arm; the gear travel assembly includes:
a sliding frame; the middle part of the rack is provided with a guide groove along the length direction; the sliding frame is arranged on the rack in a sliding manner, and the end part of the sliding frame is abutted against one side of the vertical arm; the guide groove penetrates through a guide shaft, and two ends of the guide shaft are fixedly connected with two frame walls of the sliding frame respectively;
the gear is rotatably arranged in the sliding frame through a rotating shaft; the gear is meshed with the rack;
the first motor is fixedly arranged on the outer side of the sliding frame, and an output shaft of the first motor is in transmission connection with the rotating shaft.
Preferably, the horizontal stationary mechanical arm assembly comprises:
one end of the horizontal arm is fixedly connected with the back of one sliding frame;
the positioning hemisphere is rotatably arranged at the other end of the horizontal arm; the outer wall of the positioning hemisphere is fixedly connected with one end of the guide plate; the end face of the positioning hemisphere is parallel to the end face of the guide plate.
Preferably, the mobile needle assembly comprises:
a feed plate; the lower end of the guide plate is provided with a guide groove, and one end of the feed plate passes through the guide groove and slides along the guide groove; the other end of the feeding plate is provided with a coaxial needle clamping seat for clamping the coaxial needle; the end face of the positioning hemisphere is provided with a needle inlet groove matched with the coaxial needle;
the two motor plates are fixedly arranged at the back of the guide plate and are positioned at two ends of the guide groove;
the first lead screw passes through the other end of the feed plate and is in threaded fit with the feed plate; the two ends of the first screw rod are rotationally connected with the two motor plates;
the second motor is fixedly arranged on the outer side of one motor plate, and an output shaft of the second motor is in transmission connection with the first screw rod.
Preferably, the coaxial needle clamping seat comprises two symmetrically arranged cylinder clamping assemblies; the cylinder clamping assembly includes:
the fixed mount is fixedly arranged at the other end of the feed plate;
the cylinder is fixedly arranged on the fixing frame and is connected with the air supply part through an air duct;
a clamping plate; the telescopic end of the air cylinder penetrates through the fixing frame and is fixedly connected with the back of the clamping plate.
Preferably, the horizontal telescopic mechanical arm assembly comprises:
the two hack levers are fixedly arranged at the back of the other sliding frame;
the movable arm is inserted on the two hack levers in a sliding way;
the third motor is fixedly arranged at the back of the sliding frame;
one end of the second lead screw is in transmission connection with the output shaft of the third motor; the other end of the second lead screw passes through one end of the movable arm and is in threaded fit with the movable arm;
and one end of the sliding shaft is fixedly connected with the other end of the movable arm, and the other end of the sliding shaft penetrates into the sliding groove, slides with the guide plate through the elastic piece and is elastically abutted.
Preferably, the elastic member includes:
the limiting column passes through one end of the sliding shaft and is abutted with the back of the guide plate;
the limiting plate is connected with the end part of the sliding shaft through a plurality of springs;
and the two limiting balls are respectively and fixedly arranged on the limiting plate and are abutted with the end face of the guide plate.
Preferably, the rectangular coordinate system sliding table assembly includes:
the top of the fixed plate is provided with two frame plates; one end of the fixing plate is fixedly arranged on one side of the operating table;
a support plate, one end of which is slidably disposed between the two shelf plates;
the polished rod penetrates through the supporting plate and is in sliding fit with the supporting plate; two ends of the polish rod are fixedly connected with the two frame plates respectively;
the third lead screw passes through the supporting plate and is in threaded fit with the supporting plate; two ends of the third screw rod are respectively connected with the two frame plates in a rotating way;
the fourth motor is fixedly arranged on the outer side of one frame plate, and an output shaft of the fourth motor is in transmission connection with the third screw rod;
the sliding rail is fixedly arranged at the top of the supporting plate; the lower end of the vertical arm is arranged in the sliding rail in a sliding way;
the fourth lead screw passes through the lower end of the vertical arm and is in threaded fit with the vertical arm, and two ends of the fourth lead screw are respectively and rotatably connected with two ends of the sliding rail;
and the fifth motor is fixedly arranged at one end of the sliding rail, and an output shaft of the fifth motor is in transmission connection with the fourth screw rod.
Preferably, the ranging sensing assembly comprises a first laser sensor, a second laser sensor, a third laser sensor and a positioning plate; the positioning plate is fixedly arranged on one side of the lower end of the rack; the first laser sensor and the second laser sensor are respectively arranged on one sides of the two sliding frames, and the distance between the first laser sensor and the second laser sensor and the distance between the second laser sensor and the positioning plate are respectively measured.
The third laser sensor is arranged on one side of the feeding plate and measures the distance between the third laser sensor and one motor plate.
The puncturing method using the automatic puncturing equipment based on the chest CT image comprises the following steps:
a basic coordinate system is established by using one end point of the operating table, dynamic coordinates of the initial state of the CT table in the basic coordinate system are obtained by using a laser sensor, and the coordinates of the CT image in the basic coordinate system when the CT table obtains the CT image are obtained according to the dynamic coordinates; determining a plane to be punctured and a needle insertion point according to the CT image, identifying a lesion point, and determining the space coordinates of the needle insertion point and the lesion point according to a basic coordinate system;
constructing a puncture path according to the space coordinates of the needle insertion point and the lesion point, and obtaining a vertical plane where the puncture path is located; according to the needle inlet position, an auxiliary vertical plane parallel to the vertical lifting platform is made, and according to the puncture path, an included angle phi between the auxiliary vertical plane and the puncture path is obtained;
projecting the puncture path to an auxiliary vertical plane to obtain a projection path; constructing a vertical line parallel to the vertical lifting platform according to the needle insertion point and the projection path, constructing a perpendicular line from the lesion point to the vertical line, constructing a guiding right triangle according to the projection path and the vertical line, and determining the insertion angle theta;
determining the length difference l of the current horizontal fixed mechanical arm assembly and the horizontal telescopic mechanical arm assembly, and determining the distance h which needs to be met by the horizontal fixed mechanical arm assembly and the horizontal telescopic mechanical arm assembly according to the stab angle theta;
driving the rectangular coordinate system sliding table assembly to drive the vertical lifting table to an auxiliary vertical plane; determining the height of a horizontal fixed mechanical arm according to the distance measuring unit, and driving the horizontal fixed mechanical arm assembly to move up and down according to the space coordinate of the needle insertion point until one end of the guide plate is positioned at the needle insertion point to be penetrated by a patient; driving the horizontal telescopic mechanical arm assembly to move, wherein the distance between the horizontal telescopic mechanical arm assembly and the horizontal fixed mechanical arm is h, and the guide plate is overlapped with the projection path;
constructing a right triangle according to the projection path, the puncture path and the included angle phi, determining the distance s between the end part of the horizontal telescopic mechanical arm assembly and the projection path, and driving the sliding shaft to move by the distance s through the moving sliding table, so that the guide plate is positioned on the vertical plane where the puncture path is positioned and coincides with the puncture path;
the drive moves the needle insertion assembly to drive the coaxial needle to insert the needle at the length of the penetration path according to the penetration path.
The invention has the beneficial effects that:
the invention provides automatic puncture equipment based on chest CT images, which accurately performs positioning and puncture angle judgment through chest CT images, realizes quick positioning of a puncture point through a rectangular coordinate mechanical arm, accurately determines the puncture angle through controlling two horizontal mechanical arms, and accurately controls the puncture depth to reach pathological tissues. The device can replace manual work to realize accurate penetration, reduce penetration deviation and quickly and accurately reach smaller pathological tissues.
Drawings
FIG. 1 is a block diagram of an overall assembly of an automatic chest CT image-based lancing apparatus according to an embodiment of the present invention;
FIG. 2 is a block diagram of a horizontal telescopic mechanical arm assembly of an automatic chest CT image-based lancing apparatus according to an embodiment of the present invention;
FIG. 3 is a block diagram of a mobile needle insertion assembly of an automatic chest CT image based lancing apparatus according to an embodiment of the present invention;
FIG. 4 is a partial front view of an automated chest CT image-based lancing apparatus according to an embodiment of the present invention;
FIG. 5 is another angular block diagram of a mobile needle assembly of an automatic chest CT image based lancing apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic illustration of a penetration calculation of an automated penetration device based on CT images of the chest in accordance with an embodiment of the present invention;
fig. 7 is a flowchart of a chest CT image based automatic lancing apparatus according to an embodiment of the present invention.
Wherein, 1, a fixing plate; 2. a frame plate; 3. a polish rod; 4. positioning a hemisphere; 5. a horizontal arm; 6. a guide plate; 7. a moving arm; 8. a hack lever; 9. a gear; 10. a rack; 11. a sliding frame; 12. a first laser sensor; 13. a first motor; 14. a vertical arm; 15. a second laser sensor; 16. a positioning plate; 17. a slide rail; 18. moving the sliding table; 19. a second motor; 20. a support plate; 21. a third lead screw; 22. a third motor; 23. a second lead screw; 24. a slide bar; 25. a limit column; 26. a limit ball; 27. a limiting plate; 28. a spring; 29. a first lead screw; 30. a feed plate; 31. a second motor; 32. a motor plate; 33. a clamping plate; 34. an air duct; 35. a cylinder; 36. and a fixing frame.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Currently, more and more patients with lung nodules in the outpatient department of the respiratory department can be clearly diagnosed by using a bronchoscope for deactivation of a large occupied site, but for small lung peripheral nodules, especially about 1cm, the bronchoscope is difficult to reach, and at present, percutaneous lung puncture biopsy is mostly adopted, lesion tissues are taken, and then clear diagnosis of pathology is carried out. Most existing puncture guiding methods scan a lesion part through CT and then manually locate puncture. However, there is a certain uncertainty in manual positioning, the stability and accuracy are low, and for smaller pathological tissues, a slight penetration deviation is very easy to cause a larger position error, so that the puncture needle cannot accurately reach the pathological change position. For this purpose, the present embodiment proposes an automatic puncturing device based on chest CT images, as shown in fig. 1-6. The device comprises a rectangular coordinate system sliding table assembly, a vertical lifting table, a guide plate 6, a movable needle feeding assembly, a ranging unit, a horizontal fixed mechanical arm assembly and a horizontal telescopic mechanical arm assembly. The rectangular coordinate system sliding table component is erected on one side of the operating table; the vertical lifting platform is arranged at the top of the rectangular coordinate system sliding table assembly in a sliding manner, and the rectangular coordinate system sliding table assembly drives the vertical lifting platform to freely move on a certain horizontal plane; the horizontal fixed mechanical arm assembly and the horizontal telescopic mechanical arm assembly are both arranged on the vertical lifting platform in a sliding manner, and the self-driven mechanical arm assembly and the horizontal telescopic mechanical arm assembly move along the vertical lifting platform; the horizontal telescopic mechanical arm assembly is positioned above the horizontal fixed mechanical arm assembly; the other end of the horizontal telescopic mechanical arm is provided with a movable slipway 18; a sliding shaft 24 is arranged in the sliding way of the moving sliding table 18, and specifically, the moving sliding table 18 can adopt a screw sliding table structure; one end of the guide plate 6 is hinged with the end part of the horizontal fixed mechanical arm assembly; the guide plate 6 is provided with a sliding groove along the length direction, and the end part of the horizontal telescopic mechanical arm assembly is arranged in the sliding groove in a sliding way; the movable needle inlet assembly is erected on the guide plate 6; the movable needle inlet assembly is detachably connected with a coaxial needle and drives the coaxial needle to enter the needle along the inclined angle of the guide plate 6; the distance measuring unit comprises three groups of distance measuring sensing assemblies which are respectively arranged on the movable needle feeding assembly, the horizontal telescopic mechanical arm assembly and the horizontal fixed mechanical arm assembly, and respectively acquire the moving distance of the movable needle feeding assembly, the distance between the horizontal telescopic mechanical arm assembly and the horizontal fixed mechanical arm assembly and the distance between the horizontal fixed mechanical arm assembly and the rectangular coordinate system sliding table assembly;
the method comprises the steps of taking an end point of an operating table as a coordinate, determining a plane to be punctured according to a CT image, identifying coordinates of a needle insertion point and a lesion point, and constructing a puncture path according to the coordinates of the needle insertion point and the lesion point; the guide plate 6 is overlapped with the puncture path through the rectangular coordinate system sliding table assembly, the horizontal fixed mechanical arm assembly and the horizontal telescopic mechanical arm assembly, and the coaxial needle is driven to enter the needle by the length of the puncture path through moving the needle entering assembly.
As shown in fig. 2 and 4, the horizontal fixed mechanical arm assembly and the horizontal telescopic mechanical arm assembly are driven to move up and down by the gear travelling assembly; the vertical lifting platform comprises a vertical arm 14 and a rack 10 fixedly arranged on one side of the vertical arm 14; the gear travelling assembly comprises a sliding frame 11, a gear 9 and a first motor 13. The middle part of the rack 10 is provided with a guide groove along the length direction; the sliding frame 11 is slidably arranged on the rack 10, and the end part of the sliding frame is abutted against one side of the vertical arm 14; the guide groove penetrates through a guide shaft, and two ends of the guide shaft are fixedly connected with two frame walls of the sliding frame 11 respectively; the gear 9 is rotatably arranged in the sliding frame 11 through a rotating shaft; the gear 9 is meshed with the rack 10; the first motor 13 is fixedly arranged on the outer side of the sliding frame 11, and an output shaft of the first motor is in transmission connection with the rotating shaft.
As shown in fig. 1 and 3, the horizontal stationary mechanical arm assembly comprises a horizontal arm 5 and a positioning hemisphere 4. One end of the horizontal arm 5 is fixedly connected with the back of a sliding frame 11; the positioning hemisphere 4 is rotatably arranged at the other end of the horizontal arm 5; the outer wall of the positioning hemisphere 4 is fixedly connected with one end of the guide plate 6; the end face of the positioning hemisphere 4 is parallel to the end face of the guide plate 6.
As shown in fig. 3, the moving needle assembly includes a feed plate 30, two motor plates 32, a first lead screw 29, and a second motor 31. The lower end of the guide plate 6 is provided with a guide groove, and one end of the feed plate 30 passes through the guide groove and slides along the guide groove; the other end of the feed plate 30 is provided with a coaxial needle clamping seat for clamping the coaxial needle; the end face of the positioning hemisphere 4 is provided with a needle inlet groove matched with the coaxial needle; the two motor plates 32 are fixedly arranged on the back of the guide plate 6 and are positioned at the two ends of the guide groove; the first lead screw 29 passes through the other end of the feed plate 30 and is screw-fitted with the feed plate 30; two ends of the first screw rod 29 are rotatably connected with two motor plates 32; the second motor 31 is fixedly arranged on the outer side of a motor plate 32, and its output shaft is in driving connection with the first screw 29. As shown in fig. 3 and 5, the coaxial needle holder comprises two symmetrically arranged cylinder holder assemblies; the cylinder clamping assembly includes a mount 36, a cylinder 35, and a clamping plate 33. A fixing frame 36 fixedly provided at the other end of the feed plate 30; the air cylinder 35 is fixedly arranged on the fixing frame 36 and is connected with the air supply part through the air duct 34; the telescopic end of the cylinder 35 passes through the fixing frame 36 and is fixedly connected with the back of the clamping plate 33.
As shown in fig. 2, the horizontal telescopic mechanical arm assembly includes a moving arm 7, a third motor, a second screw 23, a sliding shaft 24, and two hack levers 8. The two hack levers 8 are fixedly arranged at the back of the other sliding frame 11; the movable arm 7 is inserted on the two hack levers 8 in a sliding way; the third motor is fixedly arranged at the back of the sliding frame 11; one end of the second lead screw 23 is in transmission connection with an output shaft of the third motor; the other end of the second lead screw 23 passes through one end of the movable arm 7 and is in threaded fit with the movable arm 7; one end of the sliding shaft 24 is fixedly connected with the other end of the movable arm 7, and the other end penetrates into the sliding groove to slide with the guide plate 6 through the elastic piece and elastically abut against the guide plate. The elastic member includes a limit post 25, a limit plate 27, and two limit balls 26, as shown in fig. 5. The limit column 25 passes through one end of the sliding shaft 24 and is abutted with the back of the guide plate 6; the limiting plate 27 is connected with the end part of the sliding shaft 24 through a plurality of springs 28; the two limiting balls 26 are fixedly arranged on the limiting plate 27 respectively and are abutted with the end face of the guide plate 6.
As shown in fig. 1, the rectangular coordinate system slide table assembly includes: the top of the fixed plate 1 is provided with two frame plates 2; one end of the fixed plate 1 is fixedly arranged on one side of the operating table; a support plate 20, one end of which is slidably disposed between the two shelf plates 2; the polished rod 3 passes through the supporting plate 20 and is in sliding fit with the supporting plate 20; two ends of the polish rod 3 are fixedly connected with the two frame plates 2 respectively; a third screw 21 penetrating the support plate 20 and screw-engaged with the support plate 20; two ends of the third screw rod 21 are respectively connected with the two frame plates 2 in a rotating way; the fourth motor is fixedly arranged on the outer side of one frame plate 2, and the output shaft of the fourth motor is in transmission connection with a third screw rod 21; a slide rail 17 fixedly provided at the top of the support plate 20; the lower end of the vertical arm 14 is arranged in the sliding rail 17 in a sliding way; the fourth lead screw passes through the lower end of the vertical arm 14 and is in threaded fit with the vertical arm 14, and two ends of the fourth lead screw are respectively and rotatably connected with two ends of the sliding rail 17; the fifth motor 19 is fixedly arranged at one end of the sliding rail 17, and an output shaft of the fifth motor is in transmission connection with the fourth screw rod.
As shown in fig. 1, the ranging sensing assembly includes a first laser sensor 12, a second laser sensor 15, a third laser sensor, and a positioning plate 16; the positioning plate 16 is fixedly arranged at one side of the lower end of the rack 10; the first laser sensor 12 and the second laser sensor 15 are respectively disposed at one side of the two slide frames 11, and the distance between the first laser sensor 12 and the second laser sensor 15 and the distance between the second laser sensor 15 and the positioning plate 16 are respectively measured. A third laser sensor is provided on one side of the feed plate 30 and measures the distance from one motor plate 32.
As shown in fig. 6 and 7, the method for puncturing an automatic puncturing device based on chest CT images includes the steps of firstly calculating and determining an included angle phi between a vertical plane where a puncturing path is located and an auxiliary vertical plane which passes through a needle insertion point and is parallel to a vertical lifting platform, and an included angle between the puncturing path and the vertical plane, namely a puncturing angle theta, then adjusting a mechanical arm to a puncturing angle and moving the mechanical arm to the auxiliary plane, rotating the mechanical arm from the auxiliary plane to the vertical plane where the puncturing path is located, and finally maintaining the puncturing angle to perform puncturing, and specifically includes the following steps:
s1: a basic coordinate system is established by using one end point of the operating table, dynamic coordinates of the initial state of the CT table in the basic coordinate system are obtained by using a laser sensor, and the coordinates of the CT image in the basic coordinate system when the CT table obtains the CT image are obtained according to the dynamic coordinates; and determining a plane to be punctured and a needle insertion point according to the CT image, identifying a lesion point, and determining the space coordinates of the needle insertion point and the lesion point according to a basic coordinate system.
S2: constructing a puncture path according to the space coordinates of the needle insertion point and the lesion point, and obtaining a vertical plane where the puncture path is located; and according to the needle inlet position, an auxiliary vertical plane parallel to the vertical lifting platform is made, and according to the puncture path, an included angle phi between the auxiliary vertical plane and the puncture path is obtained. Projecting the puncture path to an auxiliary vertical plane to obtain a projection path; and constructing a vertical line parallel to the vertical lifting platform according to the needle insertion point and the projection path, constructing a perpendicular line from the lesion point to the vertical line, constructing a guiding right triangle according to the projection path and the vertical line, and determining the insertion angle theta.
S3: and determining the length difference l of the horizontal fixed mechanical arm assembly and the horizontal telescopic mechanical arm assembly at present, and determining the distance h which needs to be met by the horizontal fixed mechanical arm assembly and the horizontal telescopic mechanical arm assembly according to the stab angle theta.
S4: driving the rectangular coordinate system sliding table assembly to drive the vertical lifting table to an auxiliary vertical plane; determining the height of the horizontal fixed mechanical arm according to the distance measuring unit, and driving the horizontal fixed mechanical arm assembly to move up and down according to the space coordinate of the needle insertion point until one end of the guide plate 6 is positioned at the needle insertion point to be penetrated by the patient; the horizontal telescopic mechanical arm assembly is driven to move, the distance h between the horizontal telescopic mechanical arm assembly and the horizontal fixed mechanical arm is h, the guide plate 6 coincides with the projection path at the moment, adjustment of the stab angle theta is completed, and movement to an auxiliary vertical plane is completed.
S5: and constructing a right triangle according to the projection path, the puncture path and the included angle phi, determining the distance s from the puncture path to the projection path at the end part of the horizontal telescopic mechanical arm assembly, driving the sliding shaft 24 to move for the distance s through the moving sliding table 18, completing the rotation from the auxiliary vertical plane to the vertical plane where the puncture path is located, and overlapping the guide plate 6 and the puncture path.
S6: the drive moves the needle insertion assembly to drive the coaxial needle to insert the needle at the length of the penetration path according to the penetration path.
S7: driving the cylinder clamping assembly to release the coaxial needle, recording the current position of the rectangular coordinate system sliding table assembly, withdrawing the whole device, judging the stab state of the chest CT image and whether collision with bone tissue or other tissues occurs or not, and readjusting the puncture path; and repeatedly executing S2-S6 until the coaxial needle puncture is completed.
S8: finally, the puncture needle is sent into the coaxial needle to execute puncture.
According to the device provided by the embodiment, positioning and stab angle judgment are accurately performed through chest CT images, quick positioning of stab points is achieved through rectangular coordinate mechanical arms, stab angles are accurately determined through controlling two horizontal mechanical arms, and stab depth is accurately controlled to reach pathological tissues. The device can replace manual work to realize accurate penetration, reduce penetration deviation and quickly and accurately reach smaller pathological tissues.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. An automatic chest CT image-based lancing apparatus, comprising:
the rectangular coordinate system sliding table component is erected on one side of the operating table;
the vertical lifting platform is arranged at the top of the rectangular coordinate system sliding table assembly in a sliding manner, and the rectangular coordinate system sliding table assembly drives the vertical lifting platform to freely move on a certain horizontal plane;
one end of the horizontal fixed mechanical arm assembly and one end of the horizontal telescopic mechanical arm assembly are arranged on the vertical lifting platform in a sliding manner, and the horizontal fixed mechanical arm assembly and the horizontal telescopic mechanical arm assembly move along the vertical lifting platform in a self-driven manner; the horizontal telescopic mechanical arm assembly is positioned above the horizontal fixed mechanical arm assembly; the other end of the horizontal telescopic mechanical arm is provided with a movable sliding table (18); a sliding shaft (24) is arranged in the movable sliding table (18) in a sliding manner;
one end of the guide plate (6) is hinged with the other end of the horizontal fixed mechanical arm assembly; the guide plate (6) is provided with a sliding groove along the length direction, and the end part of the sliding shaft (24) is arranged in the sliding groove in a sliding way;
a movable needle inlet assembly arranged on the guide plate (6); the movable needle inlet assembly is detachably connected with a coaxial needle and drives the coaxial needle to enter the needle along the inclined angle of the guide plate (6);
the distance measuring unit comprises three groups of distance measuring sensing assemblies which are respectively arranged on the movable needle feeding assembly, the horizontal telescopic mechanical arm assembly and the horizontal fixed mechanical arm assembly, and respectively acquire the moving distance of the movable needle feeding assembly, the distance between the horizontal telescopic mechanical arm assembly and the horizontal fixed mechanical arm assembly and the distance between the horizontal fixed mechanical arm assembly and the rectangular coordinate system sliding table assembly;
the method comprises the steps of taking an endpoint of an operating table as a coordinate, determining a plane to be punctured according to a CT image, identifying coordinates of a needle insertion point and a lesion point, constructing a puncture path according to the coordinates of the needle insertion point and the lesion point, and calculating the needle insertion depth; the guide plate (6) is overlapped with the puncture path through the rectangular coordinate system sliding table assembly, the horizontal fixed mechanical arm assembly and the horizontal telescopic mechanical arm assembly, and the coaxial needle is driven to enter the needle through the moving needle entering assembly according to the length of the puncture path.
2. The chest CT image based automatic lancing apparatus according to claim 1, wherein the horizontal stationary and telescoping robotic arm assemblies are each driven to move up and down by a gear travel assembly; the vertical lifting platform comprises a vertical arm (14), and a rack (10) is fixedly arranged on one side of the vertical arm (14); the gear travel assembly includes:
a sliding frame (11); the middle part of the rack (10) is provided with a guide groove along the length direction; the sliding frame (11) is arranged on the rack (10) in a sliding manner, and the end part of the sliding frame is abutted against one side of the vertical arm (14); the guide groove penetrates through a guide shaft, and two ends of the guide shaft are fixedly connected with two frame walls of the sliding frame (11) respectively;
a gear (9) rotatably arranged in the sliding frame (11) through a rotating shaft; the gear (9) is meshed with the rack (10);
the first motor (13) is fixedly arranged on the outer side of the sliding frame (11), and an output shaft of the first motor is in transmission connection with the rotating shaft.
3. The chest CT image based automatic lancing apparatus according to claim 2, wherein the horizontal stationary mechanical arm assembly comprises:
one end of the horizontal arm (5) is fixedly connected with the back of one sliding frame (11);
a positioning hemisphere (4) is rotatably arranged at the other end of the horizontal arm (5); the outer wall of the positioning hemisphere (4) is fixedly connected with one end of the guide plate (6); the end face of the positioning hemisphere (4) is parallel to the end face of the guide plate (6).
4. The chest CT image based automatic lancing apparatus according to claim 3, wherein the moving needle assembly comprises:
a feed plate (30); the lower end of the guide plate (6) is provided with a guide groove, and one end of the feed plate (30) passes through the guide groove and slides along the guide groove; the other end of the feeding plate (30) is provided with a coaxial needle clamping seat for clamping a coaxial needle; the end face of the positioning hemisphere (4) is provided with a needle inlet groove matched with the coaxial needle;
the two motor plates (32) are fixedly arranged at the back of the guide plate (6) and are positioned at two ends of the guide groove;
a first screw (29) passing through the other end of the feed plate (30) and being screw-fitted with the feed plate (30); two ends of the first screw rod (29) are rotationally connected with the two motor plates (32);
the second motor (31) is fixedly arranged on the outer side of one motor plate (32), and the output shaft of the second motor is in transmission connection with the first screw rod (29).
5. The automatic chest CT image based lancing apparatus according to claim 4, wherein the coaxial needle holder comprises two symmetrically disposed cylinder holder assemblies; the cylinder clamping assembly includes:
the fixed frame (36) is fixedly arranged at the other end of the feeding plate (30);
the air cylinder (35) is fixedly arranged on the fixing frame (36) and is connected with the air supply part through an air duct (34);
a clamping plate (33); the telescopic end of the air cylinder (35) penetrates through the fixing frame and is fixedly connected with the back of the clamping plate (33).
6. The chest CT image based automatic lancing apparatus according to claim 2, wherein the horizontal telescopic mechanical arm assembly comprises:
the two hack levers (8) are fixedly arranged at the back of the other sliding frame (11);
a movable arm (7) which is inserted on the two hack levers (8) in a sliding way;
the third motor (22) is fixedly arranged at the back of the sliding frame (11);
one end of the second lead screw (23) is in transmission connection with the output shaft of the third motor (22); the other end of the second lead screw (23) passes through one end of the movable arm (7) and is in threaded fit with the movable arm (7);
and one end of the sliding shaft (24) is fixedly connected with the other end of the movable arm (7), and the other end of the sliding shaft penetrates into the sliding groove, slides with the guide plate (6) through the elastic piece and is elastically abutted.
7. The chest CT image based automatic lancing apparatus according to claim 6, wherein the elastic member comprises:
a limit column (25) passing through one end of the sliding shaft (24) and abutting against the back of the guide plate (6);
a limiting plate (27) connected with the end of the sliding shaft (24) through a plurality of springs (28);
and the two limiting balls (26) are respectively and fixedly arranged on the limiting plate (27) and are abutted with the end face of the guide plate (6).
8. The chest CT image based automatic lancing apparatus according to claim 2, wherein the rectangular coordinate system slipway assembly comprises:
a fixed plate (1), the top of which is provided with two frame plates (2); one end of the fixed plate (1) is fixedly arranged on one side of the operating table;
a support plate (20) one end of which is slidably disposed between the two shelf plates (2);
a polish rod (3) passing through the support plate (20) and being in sliding fit with the support plate (20); two ends of the polish rod (3) are fixedly connected with the two frame plates (2) respectively;
a third screw (21) passing through the support plate (20) and being screw-fitted with the support plate (20); two ends of the third screw rod (21) are respectively and rotatably connected with the two frame plates (2);
the fourth motor is fixedly arranged on the outer side of one frame plate (2), and the output shaft of the fourth motor is in transmission connection with the third screw rod (21);
the sliding rail (17) is fixedly arranged at the top of the supporting plate (20); the lower end of the vertical arm (14) is arranged in the sliding rail (17) in a sliding way;
the fourth lead screw passes through the lower end of the vertical arm (14) and is in threaded fit with the vertical arm (14), and two ends of the fourth lead screw are respectively and rotatably connected with two ends of the sliding rail (17);
and the fifth motor (19) is fixedly arranged at one end of the sliding rail (17), and an output shaft of the fifth motor is in transmission connection with the fourth screw rod.
9. The chest CT image based automatic lancing apparatus according to claim 4, wherein the ranging sensing assembly includes a first laser sensor (12), a second laser sensor (15), a third laser sensor, and a positioning plate (16); the positioning plate (16) is fixedly arranged at one side of the lower end of the rack (10); the first laser sensor (12) and the second laser sensor (15) are respectively arranged on one side of the two sliding frames (11), and the distance between the first laser sensor (12) and the second laser sensor (15) and the distance between the second laser sensor (15) and the positioning plate (16) are respectively measured.
The third laser sensor is provided on one side of the feed plate (30) and measures a distance from one of the motor plates (32).
10. A puncturing method using the automatic puncturing device based on chest CT images as claimed in any one of claims 1 to 9, comprising the steps of:
a basic coordinate system is established by using one end point of the operating table, dynamic coordinates of the initial state of the CT table in the basic coordinate system are obtained by using a laser sensor, and the coordinates of the CT image in the basic coordinate system when the CT table obtains the CT image are obtained according to the dynamic coordinates; determining a plane to be punctured and a needle insertion point according to the CT image, identifying a lesion point, and determining the space coordinates of the needle insertion point and the lesion point according to a basic coordinate system;
constructing a puncture path according to the space coordinates of the needle insertion point and the lesion point, and obtaining a vertical plane where the puncture path is located; according to the needle inlet position, an auxiliary vertical plane parallel to the vertical lifting platform is made, and according to the puncture path, an included angle phi between the auxiliary vertical plane and the puncture path is obtained;
projecting the puncture path to an auxiliary vertical plane to obtain a projection path; constructing a vertical line parallel to the vertical lifting platform according to the needle insertion point and the projection path, constructing a perpendicular line from the lesion point to the vertical line, constructing a guiding right triangle according to the projection path and the vertical line, and determining the insertion angle theta;
determining the length difference l of the current horizontal fixed mechanical arm assembly and the horizontal telescopic mechanical arm assembly, and determining the distance h which needs to be met by the horizontal fixed mechanical arm assembly and the horizontal telescopic mechanical arm assembly according to the penetration angle theta;
driving the rectangular coordinate system sliding table assembly to drive the vertical lifting table to an auxiliary vertical plane; determining the height of the horizontal fixed mechanical arm according to the distance measuring unit, and driving the horizontal fixed mechanical arm assembly to move up and down according to the space coordinate of the needle insertion point until one end of the guide plate (6) is positioned at the needle insertion point to be penetrated by the patient; driving the horizontal telescopic mechanical arm assembly to move, wherein the distance h between the horizontal telescopic mechanical arm assembly and the horizontal fixed mechanical arm is h, and the guide plate (6) is overlapped with the projection path;
constructing a right triangle according to the projection path, the puncture path and the included angle phi, determining the distance s between the end part of the horizontal telescopic mechanical arm assembly and the projection path from the puncture path, and driving a sliding shaft (24) to move for the distance s through a moving sliding table (18) so that a guide plate (6) is positioned on the vertical plane where the puncture path is positioned and coincides with the puncture path;
the drive moves the needle insertion assembly to drive the coaxial needle to insert the needle at the length of the penetration path according to the penetration path.
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| CN202410098744.5A CN117814882A (en) | 2024-01-24 | 2024-01-24 | Automatic puncture equipment based on chest CT image and puncture method thereof |
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| CN202410098744.5A CN117814882A (en) | 2024-01-24 | 2024-01-24 | Automatic puncture equipment based on chest CT image and puncture method thereof |
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