CN201537120U - Percutaneous puncture device with mirror holding function - Google Patents
Percutaneous puncture device with mirror holding function Download PDFInfo
- Publication number
- CN201537120U CN201537120U CN200920241516XU CN200920241516U CN201537120U CN 201537120 U CN201537120 U CN 201537120U CN 200920241516X U CN200920241516X U CN 200920241516XU CN 200920241516 U CN200920241516 U CN 200920241516U CN 201537120 U CN201537120 U CN 201537120U
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- mechanical arm
- puncture needle
- motor gear
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- gear train
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Abstract
A percutaneous puncture device with a mirror holding function is characterized in that a mechanical arm lifting motor gear set is connected to the top end of a support, the mechanical arm lifting motor gear set is connected to a mechanical arm translation motor and a mechanical arm swinging motor via a front arm, the mechanical arm swinging motor is connected to a rear arm, a front section of the rear arm is fixedly connected with a cavity scope holding clipper and a horizontal swinging motor gear set, and the horizontal swinging motor gear set is connected to a puncture needle angle adjuster which is respectively connected with a B ultrasonic rotary motor gear set and a puncture needle guide rail. The percutaneous puncture device has the advantages that firstly, the device has high structural flexibility due to the fact that the mechanical arms are movable and can be added into or removed from treatment range at any time, secondly, under guidance of B ultrasonic and via control of a doctor, the device is capable of optionally and flexibly choosing positions for inserting a needle and withdrawing the needle on a patient's body, and thirdly, by holding a cavity scope to a fixed position, the device is capable of reducing labor intensity of the doctor.
Description
Technical field
This utility model relates to a kind of percutaneous puncture device, relates in particular to a kind of percutaneous puncture device of holding the mirror function that has.
Background technology
Percutaneous renal puncture is the common operating technology of Urology Surgery, is percutaneous nephrostomy, the fundamental operation of operation such as PCN holmium lasertripsy.Various maneuver guiding inserting needle commonly used comprises X line location, CT location and B ultrasonic orientation direction.
For the robot system of percutaneous renal puncture, external existing relevant human experimentation report.JOHNHOPKINS leader's research group has been invented a kind of percutaneous renal puncture robot.It has a cover effectively location and guidance system.Syringe needle is fixed on the middle part in last joint of robotic arm, rather than the distal-most end of traditional fixed needle, has strengthened the stability and the fold resistance of syringe needle.After with B ultrasonic renal calices being positioned, control crank is fixed standby, and the doctor can rotate C shape shooting rocking arm and obtain the silhouette of wanting, lasting supervision depth of needle and path, thus increased the safety and the accuracy of operation process greatly.
Summary of the invention
The purpose of this utility model has been to provide a kind of percutaneous puncture device of holding the mirror function that has, and the paracentesis depth of this device puncture needle and position can accurately be controlled, can be on patient body in the operation process arbitrfary point bit selecting flexibly, inserting needle, the withdraw of the needle.
The utility model is achieved like this, it comprises support, mechanical arm lifting motor gear train, forearm, the mechanical arm translation motor, mechanical arm swing motor, postbrachium, horizontal hunting motor gear group, chamber mirror clamping clamp, the puncture needle angle demodulator, Ultrasonic-B probe, the puncture needle guide rail, the puncture needle servomechanism, control box, touch control panel, hand switch, B ultrasonic electric rotating machine gear train, it is characterized in that cantilever tip is connected with mechanical arm lifting motor gear train, mechanical arm lifting motor gear train connects mechanical arm translation motor and mechanical arm swing motor by forearm, mechanical arm swing motor connects postbrachium, the postbrachium leading portion is fixed with chamber mirror clamping clamp and horizontal hunting motor gear group, horizontal hunting motor gear group connects the puncture needle angle demodulator, the puncture needle angle demodulator is connected with B ultrasonic electric rotating machine gear train and puncture needle guide rail respectively, the puncture needle guide rail connects the puncture needle servomechanism, be connected with control box on the support, control box connects touch control panel and hand switch respectively, and B ultrasonic electric rotating machine gear train connects Ultrasonic-B probe.
Technique effect of the present utility model is: 1, flexibility ratio height on the structure, and mechanical arm is a mobile portable, can add or shift out therapeutic domain at any time, does not influence other operation technique, the paracentesis depth of puncture needle and position can accurately be controlled; 2, can be on patient body in the operation process arbitrfary point bit selecting flexibly, inserting needle, the withdraw of the needle; 3, mechanical arm reaches 7 free mobilities (DOF) and deals with complicated bit selecting inserting needle, the other B ultrasonic of installing of puncture needle, positioning probes such as color ultrasound omnidistancely instruct puncture, approach is accurate, can help the chamber mirror to the fixed position to reduce doctor's labor intensity.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
In the drawings, 1, support 2, mechanical arm lifting motor gear train 3, forearm 4, mechanical arm translation motor 5, mechanical arm swing motor 6, postbrachium 7, horizontal hunting motor gear group 8, chamber mirror clamping clamp 9, puncture needle angle demodulator 10, Ultrasonic-B probe 11, puncture needle guide rail 12, puncture needle servomechanism 13, control box 14, touch control panel 15, hand switch 16, B ultrasonic electric rotating machine gear train
The specific embodiment
As shown in Figure 1, the utility model is achieved like this, it comprises support 1, mechanical arm lifting motor gear train 2, forearm 3, mechanical arm translation motor 4, mechanical arm swing motor 5, postbrachium 6, horizontal hunting motor gear group 7, chamber mirror clamping clamp 8, puncture needle angle demodulator 9, Ultrasonic-B probe 10, puncture needle guide rail 11, puncture needle servomechanism 12, control box 13, touch control panel 14, hand switch 15, it is characterized in that support 1 top is connected with mechanical arm lifting motor gear train 1, mechanical arm lifting motor gear train 1 connects mechanical arm translation motor 4 and mechanical arm swing motor 5 by forearm 3, mechanical arm swing motor 5 connects postbrachium 6, postbrachium 6 leading portions are fixed with chamber mirror clamping clamp 8 and horizontal hunting motor gear group 7, horizontal hunting motor gear group 7 connects puncture needle angle demodulator 9, puncture needle angle demodulator 9 is connected with B ultrasonic electric rotating machine gear train 16 and puncture needle guide rail 11 respectively, puncture needle guide rail 11 connects puncture needle servomechanism 12, be connected with control box 13 on the support 1, control box 13 connects touch control panel 14 and hand switch 15 respectively, and B ultrasonic electric rotating machine gear train 16 connects Ultrasonic-B probes 10.
Prepare before patient carries out art, set position, routine disinfection is after the anesthesia.The doctor controls the motion of robot (robotic arm) by touching the control key on the control panel, and the coarse positioning of therapeutic bed combines with the meticulous location of robotic arm, selects puncture inserting needle position in the appropriate location of patient body, determines angle, the degree of depth.And the puncture of finishing is rapidly and efficiently moved.After finishing puncture, puncture needle can be retained on the patient, so that next step operation, the extensible work top of puncture robotic arm, when inserting the chamber mirror,, the chamber mirror can be placed on the fixed chamber mirror clamping clamp if need not the mobile cavity mirror, helped by robot, the percutaneous puncture frame can move apart therapeutic bed after operation was finished.
Claims (1)
1. one kind has the percutaneous puncture device of holding the mirror function, it comprises support, mechanical arm lifting motor gear train, forearm, the mechanical arm translation motor, mechanical arm swing motor, postbrachium, horizontal hunting motor gear group, chamber mirror clamping clamp, the puncture needle angle demodulator, Ultrasonic-B probe, the puncture needle guide rail, the puncture needle servomechanism, control box, touch control panel, in moving switch, B ultrasonic electric rotating machine gear train, it is characterized in that cantilever tip is connected with mechanical arm lifting motor gear train, mechanical arm lifting motor gear train connects mechanical arm translation motor and mechanical arm swing motor by forearm, mechanical arm swing motor connects postbrachium, the postbrachium leading portion is fixed with chamber mirror clamping clamp and horizontal hunting motor gear group, horizontal hunting motor gear group connects the puncture needle angle demodulator, the puncture needle angle demodulator is connected with B ultrasonic electric rotating machine gear train and puncture needle guide rail respectively, the puncture needle guide rail connects the puncture needle servomechanism, be connected with control box on the support, control box connects touch control panel and hand switch respectively, and B ultrasonic electric rotating machine gear train connects Ultrasonic-B probe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920241516XU CN201537120U (en) | 2009-11-27 | 2009-11-27 | Percutaneous puncture device with mirror holding function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920241516XU CN201537120U (en) | 2009-11-27 | 2009-11-27 | Percutaneous puncture device with mirror holding function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201537120U true CN201537120U (en) | 2010-08-04 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200920241516XU Expired - Fee Related CN201537120U (en) | 2009-11-27 | 2009-11-27 | Percutaneous puncture device with mirror holding function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201537120U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103750908A (en) * | 2014-02-10 | 2014-04-30 | 陈仕林 | Movable needle inserting table |
| CN104873276A (en) * | 2015-03-27 | 2015-09-02 | 王莹 | Cardiac color Doppler ultrasonography positioning puncture device |
| CN105662593A (en) * | 2016-04-25 | 2016-06-15 | 中山大学附属第三医院 | Universal type-B ultrasonic probe percutaneous renal puncture frame capable of adjusting inserting needle at multiple angles |
| CN105726126A (en) * | 2016-04-11 | 2016-07-06 | 深圳市六联科技有限公司 | Manipulator |
| CN106074137A (en) * | 2016-08-10 | 2016-11-09 | 武汉德仁科技开发有限公司 | Wound treating instrument for repairing |
| CN106580474A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Articulated thermal ablation medical auxiliary robot |
| CN107811683A (en) * | 2017-10-20 | 2018-03-20 | 张还添 | A kind of Bones and joints ultrasound minimally-invasive treatment instrument |
| CN109475384A (en) * | 2016-05-25 | 2019-03-15 | 赞克特机器人有限公司 | Automatic-inserting device |
| CN109620361A (en) * | 2018-12-03 | 2019-04-16 | 中奕智创医疗科技有限公司 | A kind of operation auxiliary locator |
| CN112386313A (en) * | 2019-08-19 | 2021-02-23 | 西安交通大学医学院第一附属医院 | Positioning auxiliary device for percutaneous renal biopsy |
| CN113955484A (en) * | 2021-10-22 | 2022-01-21 | 苏州德睿联自动化科技有限公司 | Transport manipulator is transplanted to photovoltaic field battery cluster |
-
2009
- 2009-11-27 CN CN200920241516XU patent/CN201537120U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103750908A (en) * | 2014-02-10 | 2014-04-30 | 陈仕林 | Movable needle inserting table |
| CN104873276A (en) * | 2015-03-27 | 2015-09-02 | 王莹 | Cardiac color Doppler ultrasonography positioning puncture device |
| CN106580474A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Articulated thermal ablation medical auxiliary robot |
| CN105726126B (en) * | 2016-04-11 | 2017-06-23 | 深圳市六联科技有限公司 | A kind of manipulator |
| CN105726126A (en) * | 2016-04-11 | 2016-07-06 | 深圳市六联科技有限公司 | Manipulator |
| CN105662593A (en) * | 2016-04-25 | 2016-06-15 | 中山大学附属第三医院 | Universal type-B ultrasonic probe percutaneous renal puncture frame capable of adjusting inserting needle at multiple angles |
| CN109475384A (en) * | 2016-05-25 | 2019-03-15 | 赞克特机器人有限公司 | Automatic-inserting device |
| CN109475384B (en) * | 2016-05-25 | 2022-02-18 | 赞克特机器人有限公司 | Automatic insertion device |
| CN106074137A (en) * | 2016-08-10 | 2016-11-09 | 武汉德仁科技开发有限公司 | Wound treating instrument for repairing |
| CN107811683A (en) * | 2017-10-20 | 2018-03-20 | 张还添 | A kind of Bones and joints ultrasound minimally-invasive treatment instrument |
| CN109620361A (en) * | 2018-12-03 | 2019-04-16 | 中奕智创医疗科技有限公司 | A kind of operation auxiliary locator |
| CN112386313A (en) * | 2019-08-19 | 2021-02-23 | 西安交通大学医学院第一附属医院 | Positioning auxiliary device for percutaneous renal biopsy |
| CN113955484A (en) * | 2021-10-22 | 2022-01-21 | 苏州德睿联自动化科技有限公司 | Transport manipulator is transplanted to photovoltaic field battery cluster |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100804 Termination date: 20111127 |