CN205612544U - Pjncture needle propulsion machinery arm and use system that melts of this pjncture needle propulsion machinery arm - Google Patents
Pjncture needle propulsion machinery arm and use system that melts of this pjncture needle propulsion machinery arm Download PDFInfo
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- CN205612544U CN205612544U CN201620140314.6U CN201620140314U CN205612544U CN 205612544 U CN205612544 U CN 205612544U CN 201620140314 U CN201620140314 U CN 201620140314U CN 205612544 U CN205612544 U CN 205612544U
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- Prior art keywords
- needle
- mechanical arm
- ablation
- control unit
- puncture
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Abstract
The utility model discloses a pjncture needle propulsion machinery arm, include arm body, advancing device and melt the needle, the arm body includes base flange, top flange and sets up six arms between base flange and top flange, advancing device includes the frame, be equipped with linear guide rail in the frame and remove the slip table, move the slip table can be in linear guide rail nature guide rail reciprocating sliding along the line, it installs in the bottom of removing the slip table through melting the needle holder utensil to melt the needle, the utility model also provides an include before if the system that melts of pjncture needle propulsion machinery arm, have accurate positioning pathological change position, melt the thorough advantage of excision, protect the doctor not receive the harm of ray radiation simultaneously.
Description
Technical field
This utility model relates to a kind of medical instruments field, be specifically related to a kind of puncture needle pusher mechanical arm and
Use the ablation system of this puncture needle pusher mechanical arm.
Background technology
When inside of human body generation pathological changes, and the health of patient does not allow to carry out operation and cuts off treatment situation
Under, it is sometimes desirable to utilize puncture means focus is carried out biopsy or treatment (radio-frequency (RF) ablation, chemical ablation,
Microwave ablation).What microwave ablation was applied in recent years is more and more extensive, and microwave refers to that frequency exists
Between 300MHz-300GHz, wavelength 1 meter (without 1 meter) to 0.1 centimetre between frequency electromagnetic waves.
Microwave also has wave particle dualism as a kind of electromagnetic wave.The energy of microwave quantum is 199 × 10-25～1.99
× 10-21 joule.Microwave magnetic field can make molecule high speed rotary motion the temperature arrising caused by friction of surrounding, so that group
Knit solidification, dehydration necrosis, reach the purpose for the treatment of.
Microwave ablation determines focus and skin anchor point mostly by way of instrument such as CT/MRI scanning means
Orientation and the degree of depth of puncture needle (ablation needle), on the cross section of human body, first measure the position of focus,
In this aspect, select optimal inserting needle position and needle angle, utilize inserting needle aspect, needle angle and inserting needle deep
The three-dimensional conformation of degree determines focus and the exact position of puncture needle (ablation needle) inserting needle.Although CT/MRI sweeps
Imaging apparatus can accurately determine three-dimensional needle angle and depth of needle, but the process of puncturing operation be all by
Patient is carried out after CT/MRI scanning aspect removes, and when patient leaves CT scan device, doctor can only
According to the judgement of oneself, determine an inserting needle direction substantially, puncture, carry out CT scan the most again and add
To confirm.When carrying out ablative surgery, skin entry point i.e. starts to puncture tumor targets after determining.Puncture is led to
Often determine that needle angle keeps consistent as far as possible with design puncture angle by protractor, but practical operation
In journey due to hand operation often error relatively greatly, abecedarian is difficult to the most accurately sting quasi-target spot.Often
In piercing process, CT scan is needed repeatedly to confirm and adjust angle and the folder of human body fault plane of puncture needle
Angle.So that operating time extends, patient irradiation dose is greatly increased.Due to repeated localised puncture and tumor targets
Puncture poor accuracy and make postoperative complication increase, and directly affect therapeutic effect.
It addition, existing horseley-Clarke technique is very difficult to apply in the operation at other positions of human body, main cause
It is that the soft tissue at other positions of human body is not fixed relative to the skeletal tissue position of surrounding, makes image space and disease
People space is difficult to the coordinate setting agreed.Therefore the intervention at other positions of human body punctures and goes back neither one admittedly
Can be fixed up in the direction of puncture needle by fixed guide-localization/appearance device, generally use real-time CT image
Guide, but owing to not puncturing guiding location/appearance, still suffer from the blindness in piercing process, in doctor's hands
Puncture instrument does not has objective accurate position mark, is difficult in piercing process be fixed on puncture needle pre-orbit determination
On mark, need to can only constantly carry out image scan adjustment direction by the experience of doctor individual, final result can
Or can there is certain skew with ideal plan route, and time-consuming and affect therapeutic effect.It addition, CT scan
Shi doctor holds puncture needle with hand steered, can suffer unnecessary roentgenization.
Due to artificial many factors, often result in inserting needle inaccurate, impact treatment precision.Sometimes for weight
Multiple repeatedly inserting needle, can cause time serious wearing by mistake, brings the most painful and risk to patient.Further, for
Tumor patient, likely excises not thorough during operation, this is also a kind of serious hidden danger to sufferer, it is possible to
Because tumor resection does not thoroughly cause the consequences such as recurrence.
Therefore, for above-mentioned technical problem, it is necessary to provide one can be accurately positioned diseased region the most accurately
Carry out the ablation system melted.
Utility model content
In view of this, the purpose of this utility model is provide a kind of puncture needle pusher mechanical arm and use this to wear
The ablation system of pricker pusher mechanical arm, it is achieved be accurately positioned tumor, mechanical arm produces displacement to be carried out
Melt, it is not necessary to the hand-held ablation needle of doctor, effectively prevent the x radiation x injury to clinician body.
Concrete, for achieving the above object, this utility model following technical scheme of offer:
A kind of puncture needle pusher mechanical arm, including mechanical arm body, propulsion plant and ablation needle,
Described mechanical arm body includes base flange, top flange and is arranged at base flange and top flange
Between six shaft mechanical arms,
Described propulsion plant includes that frame, described frame are provided with linear guides and Mobile Slide, described movement
Slide unit can reciprocatingly slide along linear guides in linear guides,
Described ablation needle is installed on the bottom of Mobile Slide by ablation needle fixture.
Further, the side of described Mobile Slide is provided with cooling water pipe, and the outlet of cooling water pipe is positioned at and disappears
Melt the afterbody of pin.
Further, also include, be arranged at linear guides upper end and provide watching of sliding power for Mobile Slide
Take motor.
Further, described ablation needle is provided with one or more.
On the basis of above-mentioned puncture needle pusher mechanical arm, this utility model also provides for a kind of ablation system, bag
Include foregoing puncture needle pusher mechanical arm.
Further, also include central control unit, positioning imaging device,
Described central control unit includes being positioned to as control unit and melts control unit, described in be positioned to picture
Control unit controls positioning imaging device and forms diseased region image, and the size of diseased region image is through melting control
Unit processed changes into displacement according to default program.
Further, described central control unit is provided with monitoring screen, described monitoring screen and control software
Unit connects.
Further, this ablation system also includes that temperature sensor described in temperature sensor is for detecting ablation needle
Operating temperature, and pass to melt control unit by operational temperature information.
Further, described positioning imaging device is CT or ultrasonic guidance imager.
Compared with prior art, the beneficial effects of the utility model are mainly reflected in the following aspects:
1, puncture needle pusher mechanical arm is under the control of central control unit, it is achieved be accurately positioned tumor,
Ablation system uses puncture needle pusher mechanical arm, controls to puncture pusher mechanical arm by central control unit and produces
Displacement is melted, it is not necessary to staff operates, and effectively prevents the ray injury to clinician body；
2, six shaft mechanical arms cooperations realize 360 ° of rotations, make ablation system more be precisely controlled puncture angle,
Further ensure that operation safety；
3, using linear guides and Mobile Slide as positioner, its transmission accuracy can reach 0.1mm.Push away
Entering torsion constant, speed uniformly can be fast or slow, stable drive noiselessness；
4, microwave thermal field distribution is uniform, and energy is concentrated, and the thermal efficiency is high, and treatment time is short；
5, multiple ablation needle is set, is simultaneously operable, bigger ablated volume can be reached.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in this utility model embodiment, embodiment will be described below
The accompanying drawing used required in is briefly described, it should be apparent that, relevant practicality in describing below is new
The accompanying drawing of type is only embodiments more of the present utility model, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the perspective view of puncture needle pusher mechanical arm disclosed in this utility model embodiment.
Fig. 2 is the side-looking structural representation of puncture needle pusher mechanical arm disclosed in this utility model embodiment.
Fig. 3 is the structural representation of propulsion plant disclosed in this utility model embodiment
Fig. 4 is the structural representation of ablation system disclosed in this utility model embodiment.
Detailed description of the invention
Refer to Fig. 1 and Fig. 2, a kind of puncture needle pusher mechanical arm, including mechanical arm body 1, propulsion plant
2 and ablation needle 3,
Described mechanical arm body 1 include base flange 101, top flange 103 and be arranged at base flange and
Six shaft mechanical arms between top flange.
Described six shaft mechanical arms include first connecting shaft the 1021, second connecting shaft the 1022, the 3rd connecting shaft 1023,
4th connecting shaft the 1024, the 5th connecting shaft 1025 and the 6th connecting shaft 1026, the first connecting shaft and second
Connecting shaft connects, and the 4th connecting shaft, the 5th connecting shaft, the 6th connecting shaft be sequentially connected with, the 4th connecting shaft and
5th connecting shaft be arranged in parallel, and is each perpendicular to the 5th connecting shaft, the second connecting shaft and the 3rd connecting shaft it
Between be provided with the first mechanical arm body of rod 104, be provided with the second mechanical arm body of rod between the 4th connecting shaft and the 5th connecting shaft
105。
Ablation needle can arrange one or more, adds according to actual needs, as used many ablation needles, has
Benefit and improve the efficiency melted.
Refer to Fig. 3, described propulsion plant 2 includes that frame 201, described frame are provided with linear guides 202
With Mobile Slide 203, described Mobile Slide can reciprocatingly slide along linear guides in linear guides, described in melt
Pin 3 is installed on the bottom of Mobile Slide by ablation needle fixture 204.The side of Mobile Slide is provided with cooling water
Pipe, the outlet of cooling water pipe is positioned at the afterbody of ablation needle, is described as follows melting Aculeata herein: with
Contact with sufferer one of ablation needle is defined as head, and other end is defined as afterbody.
Puncture needle pusher mechanical arm also includes, is arranged at linear guides upper end and provides slip dynamic for Mobile Slide
The servomotor 4 of power, is described as follows linear guides upper end herein: be at one end linear with ablation needle
Guide rail lower end, then the other end of linear guides is defined as linear guides upper end.
On the basis of above-mentioned puncture needle pusher mechanical arm, this utility model also provides for a kind of ablation system, please
With reference to Fig. 4, including foregoing puncture needle pusher mechanical arm.
Further, also include central control unit 5, positioning imaging device 6,
Described central control unit includes being positioned to as control unit and melts control unit, described in be positioned to picture
Control unit controls positioning imaging device and forms diseased region image, and the size of diseased region image is through melting control
Unit processed changes into displacement according to default program.
Further, described central control unit is provided with monitoring screen, described monitoring screen and control software
Unit connects.
Further, this ablation system also includes that temperature sensor described in temperature sensor is for detecting ablation needle
Operating temperature, and pass to melt control unit by operational temperature information.
Further, described positioning imaging device is CT or ultrasonic guidance imager.
In sum, microwave ablation system of the present utility model utilizes positioning imaging device to form diseased region figure
Picture, is punctured to diseased region by mechanical arm clamps ablation needle, is possible to prevent microwave radiation to endanger doctor,
Diseased region excision simultaneously thoroughly, prevents recurrence.
It is obvious to a person skilled in the art that this utility model is not limited to the thin of above-mentioned one exemplary embodiment
Joint, and in the case of without departing substantially from spirit or essential attributes of the present utility model, it is possible to concrete with other
Form realizes this utility model.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary
, and be nonrestrictive, scope of the present utility model is limited by claims rather than described above
It is fixed, it is intended that all changes fallen in the implication of equivalency and scope of claim are included at this
In utility model.Should not be considered as limiting involved claim by any reference in claim.
Moreover, it will be appreciated that although this specification is been described by according to embodiment, but the most each enforcement
Mode only comprises an independent technical scheme, and this narrating mode of description is only for clarity sake,
Those skilled in the art should be using description as an entirety, and the technical scheme in each embodiment can also be through
Appropriately combined, form other embodiments that it will be appreciated by those skilled in the art that.
Claims (8)
1. a puncture needle pusher mechanical arm, it is characterised in that include mechanical arm body, propulsion plant and
Ablation needle,
Described mechanical arm body includes base flange, top flange and is arranged at base flange and top method
Six shaft mechanical arms between orchid,
Described propulsion plant includes that frame, described frame are provided with linear guides and Mobile Slide, described shifting
Dynamic slide unit can reciprocatingly slide along linear guides in linear guides,
Described ablation needle is installed on the bottom of Mobile Slide by ablation needle fixture.
2. puncture needle pusher mechanical arm as claimed in claim 1, it is characterised in that described Mobile Slide
Side be provided with cooling water pipe, the outlet of cooling water pipe is positioned at the afterbody of ablation needle.
3. puncture needle pusher mechanical arm as claimed in claim 1, it is characterised in that also include, arrange
In linear guides upper end and for Mobile Slide provide sliding power servomotor.
Puncture needle pusher mechanical arm the most according to claim 1, it is characterised in that described ablation needle
It is provided with one or more.
5. an ablation system, it is characterised in that include the puncture as described in any one of claim 1-4
Pin pusher mechanical arm.
Ablation system the most according to claim 5, it is characterised in that during described ablation system includes
Centre controls device, positioning imaging device,
Described central control unit includes being positioned to as control unit and melts control unit, described in be positioned to
Forming diseased region image as control unit controls positioning imaging device, the size of diseased region image is through disappearing
Melt control unit and change into displacement according to default program.
Ablation system the most according to claim 6, it is characterised in that in described central control unit
Being provided with monitoring screen, described monitoring screen is connected with controlling software unit.
Ablation system the most according to claim 6, it is characterised in that described positioning imaging device is
CT or ultrasonic guidance imager.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620140314.6U CN205612544U (en) | 2016-02-25 | 2016-02-25 | Pjncture needle propulsion machinery arm and use system that melts of this pjncture needle propulsion machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620140314.6U CN205612544U (en) | 2016-02-25 | 2016-02-25 | Pjncture needle propulsion machinery arm and use system that melts of this pjncture needle propulsion machinery arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205612544U true CN205612544U (en) | 2016-10-05 |
Family
ID=57032897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620140314.6U Expired - Fee Related CN205612544U (en) | 2016-02-25 | 2016-02-25 | Pjncture needle propulsion machinery arm and use system that melts of this pjncture needle propulsion machinery arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205612544U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105662578A (en) * | 2016-02-25 | 2016-06-15 | 鑫麦源创时代医疗科技(苏州)有限公司 | Puncture needle propelling mechanical arm and ablation system using same |
| CN107260308A (en) * | 2017-07-31 | 2017-10-20 | 成都中科博恩思医学机器人有限公司 | Operating robot mechanical arm attachment means and its operating robot |
-
2016
- 2016-02-25 CN CN201620140314.6U patent/CN205612544U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105662578A (en) * | 2016-02-25 | 2016-06-15 | 鑫麦源创时代医疗科技(苏州)有限公司 | Puncture needle propelling mechanical arm and ablation system using same |
| CN107260308A (en) * | 2017-07-31 | 2017-10-20 | 成都中科博恩思医学机器人有限公司 | Operating robot mechanical arm attachment means and its operating robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161005 Termination date: 20200225 |