CN206612845U - The percutaneous interventional programs robot of non-vascular - Google Patents
The percutaneous interventional programs robot of non-vascular Download PDFInfo
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- CN206612845U CN206612845U CN201621362144.2U CN201621362144U CN206612845U CN 206612845 U CN206612845 U CN 206612845U CN 201621362144 U CN201621362144 U CN 201621362144U CN 206612845 U CN206612845 U CN 206612845U
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- needle holder
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Abstract
The utility model discloses a kind of percutaneous interventional programs robot of non-vascular, including：The controller of Medical Image Workstation and the universal mechanical arm of driving, the universal mechanical arm is installed on base；The base is provided with level(l)ing mechanism and level meter, and the end of the universal mechanical arm is fixed with Surgery Platform, and the Surgery Platform is provided with guide rail, and the guide rail is provided with operating theater instruments clamping guiding device.The operating robot improves perform the operation actual puncture path and the uniformity in positioning operation path, reduce and puncture repeatedly and CT scan checking repeatedly, reduce ionising radiation and postoperative complication, reduce operating time and patient suffering, significantly improve the accuracy and surgical result of operation materials, establish a specification, efficient three-dimensional digital Surgery Platform, and it is suitable for remote operation, it is the developing direction of Minimally Invasive Surgery, with wide popularizing application prospect, with higher social benefit and economic benefit.
Description
Technical field
The utility model is related to technical field of medical equipment, more particularly to a kind of suitable for the percutaneous intervention diagnosis and therapy of non-vascular
Operating robot.
Background technology
Non-vascularized iliac bone diagnosis and treatment are exactly that under the guiding of medical image equipment, the precision instruments such as special puncture needle draw
Enter human body, internal lesion is diagnosed and local treatment, be clinically widely used, be that one of modern medicine development necessarily becomes
Gesture.The problem of current Non-vascularized iliac bone diagnosis and treatment are present is that most domestic hospital is worn using orientation direction in the conventional cross sections of CT
Thorn, Path selection is relatively single, and puncture needle non-angular is indicated, often the experience with operator selects puncture path, and progress is blind to wear,
Needle angle, which is held, is forbidden, and error is larger, and one-time successful puncture rate is relatively low, generally requires multiple puncture, multiple CT scan, operation
Lack of standardization, complication is more, and the dose of radiation that patient receives is larger.The conventional one-time successful puncture rate punctured is general left 40%
The right side, complication rate is 45% or so.The one of puncture path when the key of operation is positioning operation path and implements to puncture
Cause property, that is to say, that accurate operation path of setting up turns into the key of interventional minimally-invasive successful surgery.
Utility model content
For the above-mentioned deficiency of prior art, the utility model provides a kind of percutaneous interventional programs machine of non-vascular
People, is accurately to set up interventional minimally-invasive operation pathway to improve perform the operation actual puncture path and the uniformity in positioning operation path
Specific purpose tool.
In order to solve the above technical problems, the technical solution of the utility model is：A kind of percutaneous interventional programs of non-vascular
Robot, including：The controller of Medical Image Workstation and the universal mechanical arm of driving, the universal mechanical arm is installed on base
On；The base is provided with level(l)ing mechanism and level meter, and the end of the universal mechanical arm is fixed with Surgery Platform, described
Surgery Platform is provided with guide rail, and the guide rail is provided with operating theater instruments clamping guiding device.
Wherein, the operating theater instruments clamping guiding device includes：Pin is held in fixed needle holder and mobile needle holder, the fixation
Device is fixed on the guide rail, and the mobile needle holder is slidably mounted on the guide rail.
Wherein, the fixed needle holder or mobile needle holder include upper press cover and lower connecting base, the fixed needle holder
Lower connecting base is fixed on the guide rail, and the lower connecting base of the mobile needle holder is slidably mounted on the guide rail, it is described on
Gland is hinged with the lower connecting base, and elastic clip holds guiding set, the guiding between the upper press cover and the lower connecting base
Set is provided with operating theater instruments guide hole.
Wherein, the material of the guiding set is X-ray material.
Wherein, the fixed needle holder or mobile needle holder are integral structures, and pin is held in the fixed needle holder or movement
Operating theater instruments guide hole is offered on the body of device.
Wherein, the material of the fixed needle holder or mobile needle holder is the material of X-ray.
Wherein, the mobile needle holder is connected with Vidacare corp.
Wherein, the guide rail is provided with scale.
Wherein, the level meter is digital display type level meter.
Wherein, the base is provided with CT examination bed bed board clamping device.
Above-mentioned technical proposal is employed, the beneficial effects of the utility model are：
The percutaneous interventional programs robot of non-vascular disclosed in the utility model, Medical Image Workstation utilizes patient
The preoperative three-dimensional digital positioning operation path of view data, and obtain in its spatial data, art and pass data to machine
People's motion arm, control operation arm completes operating theater instruments operation pose adjustment, and navigation puncture operation pathway improves operation actual
Puncture path and the uniformity in positioning operation path, reduce and puncture repeatedly and CT scan checking repeatedly, reduce ionising radiation
With postoperative complication, operating time and patient suffering, the accuracy and surgical result of operation materials are significantly improved, once
Puncture success rate is brought up to 85% or so, and complication rate is reduced to 6% or so.Establish a specification, efficient three
Dimension word Surgery Platform, is the developing direction of Minimally Invasive Surgery, before wide popularization and application while being adapted to remote operation
Scape, with higher social benefit and economic benefit.
Brief description of the drawings
Fig. 1 is the structural representation of the percutaneous interventional programs robot of the utility model non-vascular；
Fig. 2 is the structure sectional view of operating theater instruments clamping guiding device in Fig. 1；
Fig. 3 is the structure sectional view that another operating theater instruments clamps guiding device；
In figure：The universal mechanical arms of 1-, 11- mechanical arm tail ends, 2- bases, 21- level(l)ing mechanisms, 22- level meters, 3- hands
Art platform, 4- guide rails, 5- movement needle holders, 51- upper press covers, 52- lower connecting bases, 6- is fixed under needle holder, 61- upper press covers, 62-
Connecting seat, 7- guiding sets, 8- operating theater instruments.
Embodiment
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 shows a kind of console mode operating robot, for implementing by three-dimensional digital planning and alignment system institute
The puncture path of determination, can improve the uniformity of actual puncture path and positioning operation path.
Three-dimensional digital plan with positioning operation path system, by multi-layer spiral CT (multisliecs helieal CT,
MSCT), Medical Image Workstation and body surface location grid etc. are constituted.Multi-layer spiral CT (MSCT) can carry out 1mm thickness,
Quickly scanning and the reconstruction of 1mm spacer layers；Medical image makees the DICOM format data that station receives MSCT, window width and window level regulation, tool
There are the functions such as multiplanar reconstruction (MPR), linear measure longimetry, patient can be carried out and enter record, statistics, various image procossings, preservation, beat
Print, network transmission.Robot three-dimensional digitlization planning and the percutaneous intervention operation pathway of positioning, and obtain its three-dimensional coordinate data.
Before percutaneous interventional-operation patient three-dimensional digital positioning, positioning and pricking body position are determined according to conventional image document,
Such as the standard flat of supine prostrate, lateral position, and positioning, such as Coronal or sagittal plain；Conventional inflating die during positioning
Immobilized patients, blood pressure, heart rate, blood oxygen saturation detection, respiratory training pastes body surface locator, multi-layer spiral CT in focal zone
(MSCT) enhancing scanning, according to 1mm thickness, 1mm intervals, reconstruction parameter B31f medium smooth+ carry out thin reconstruction, will
Data transfer in dicom format carries out multiplanar reconstruction to Medical Image Workstation.Pass through multiplanar reconstruction (MPR) technology
Lesion region limbs can be subjected to arbitrary plane cutting, coronal-plane, sagittal plane and any angle for obtaining lesion region are tiltedly sweared
Shape face, oblique cross-sectional image, comprehensively understand lesion structure, form size, particularly its adjoining with surrounding tissue, blood
The relation of pipe, target point is in the substantial portion center using focus, in its three dimensions, the dissection according to focus and surrounding tissue
Feature, and Minimally Invasive Surgery path optimization criteria, can preferably avoid bone, blood vessel, heart, pulmonary belb, interlobar fissure etc. weight
Organize and organ, and it is most short to puncture distance, accurate planning is with selecting minimally invasive intervention operation pathway, and the intersection point of itself and skin is exactly
Entry point is punctured, target point is exactly Minimally Invasive Surgery path with entering to wear a little 2 lines, and many plane Plane Rotation skills for passing through MPR
Art, found out when dorsal position and prone position are punctured by the cross section of this straight line intersection and sagittal facial plane, oblique cross section with
Oblique sagittal plane；Found out when lateral position is punctured by the cross section of this straight line intersection and coronal facial plane, oblique cross section with tiltedly
Coronal-plane, and the three-dimensional perspective for obtaining this straight line is shown by plane；Then linear measure longimetry software is recycled, operation is measured
The depth in path, thus obtains intervention operation pathway space coordinate.Skin enters to wear mark a little, in the skin of extent of disease
Upper stickup grid locator, is carried out after CT scan, the bed numerical value of the target point CT planes of delineation is punctured according to focus, and puncture
The relation in path and longitudinal direction and horizontal leads position on body surface locator, and linear measure longimetry is carried out, open CT in the position and swash
Light-seeking line, finds skin accurately and enters to wear a little and carry out mark；This completes three-dimensional digital Minimally Invasive Surgery path planning with determining
Position, the standard flat of three-dimensional localization is horizontal plane.
Non-vascular, which percutaneously intervenes robotic surgery, includes three coordinate systems：Medical image coordinate system, robot coordinate system and
Operation coordinate system.Three coordinate systems mutually unify that intervention robotic surgery could be carried out.
As shown in figure 1, base 2 is a part for coordinate system regulator control system, level(l)ing mechanism 21 and water are provided with
Level 22, the level of 21 adjustable frames of level(l)ing mechanism 2, passes through the state of the observable base 2 of level meter 22, it is ensured that base 2
On the basis of horizontal plane, level meter 22 is preferably digital display type level meter, to improve Adjustment precision.
The need for according to patient's intervention operation, operating robot is reached after specified location, leveling base 2.Patient with operation exists
Mattress being fixed by vacuum gas filling on CT examination bed to remain stationary, carrying out CT scan, then, operation is just enterprising in CT examination bed
OK.Because the standard flat that the standard flat and robot of three-dimensional localization are run all is horizontal plane and is performed the operation just on CT examination bed
Carry out, such medical image three-dimensional location coordinate, robot coordinate system, operation coordinate system are just in same coordinate system, machine
Device people's service data truly reflects location data, realizes location data and the uniformity of operation pathway.
As Fig. 1 and Fig. 2 jointly shown in, the end 11 of universal mechanical arm 1 is fixedly connected with Surgery Platform 3, and universal mechanical arm 1 has
There is six-freedom degree joint, by electric drive, can run under the control of the controller freely, can do any posture in space, and can be with
When locking, normed space position can be accurately run to according to location data, and spatial attitude can be kept constant, guided operations device
The direction and position of tool, until completing intervention operation technique.Surgery Platform 3 is provided with guide rail 4, and single track knot is shown in the figure
Structure or double track, operating theater instruments clamping guiding device are just arranged on guide rail 4.Operating theater instruments clamping guiding device can
Seize the operating theater instruments such as all kinds of puncture biopsy needles, radio frequency puncture for treating pin, radioactive prospecting instrument pin, bone puncture needle, bone drill on both sides by the arms,
And guide function is risen to operating theater instruments direction, due to being provided with scale on guide rail 4, therefore it is deep also to can indicate that operating theater instruments enters
Degree.
As shown in Fig. 2 fixed needle holder 6 is fixed on guide rail 4, mobile needle holder 5 is slidably mounted on guide rail 4.Landing
The operating theater instruments clamping guiding device of formula intervention operation robot is designed as open-close type, and the lower connecting base 62 of fixed needle holder 6 is consolidated
Due on guide rail 4, the lower connecting base 52 of mobile needle holder 5 is slidably mounted on upper press covers 51 and lower connecting base 52 on the guide rail 4
It is hinged, upper press cover 61 is hinged with lower connecting base 62, between upper press cover 51 and lower connecting base 52 and upper press cover 61 and lower connecting base
Elastic clip holds guiding set 7 between 62, and guiding set 7 is provided with operating theater instruments guide hole, and the material of guiding set 7 is X-ray material
(such as plastics, carbon fiber), operating theater instruments 8 is passed from operating theater instruments guide hole.The axle center of two guiding sets 7 is in straight line
On, and parallel to Surgery Platform 3.It when operation needs CT scan to verify, can at any time open, discharge operating theater instruments 8, prevent production
Raw metal artifacts, influence operative image quality.And upper press cover 51,61 can be got up with aseptic cover cover respectively with lower connecting base 52,62,
It is easy to also keep aseptic operation to operate when needle holder is in folding.
Operation technique has manual and electronic both of which, and can realize the propulsion of operating theater instruments 8, precession, according to positioning
Direction and depth data, surgical target (focus) is sent to by operating theater instruments 8 along operation pathway, sets up intervention operation path, herein
Biopsy procedure materials, the electrode insertion of RF therapy operation, the radioactivity grain of seeds implanted operation are completed on the basis of operation path
The various interventional minimally-invasive operations such as sub- planting, the bone cement injection of pyramid plastic operation, the hollow nail implantation of Fracture internal fixaiion operation.
During using electric model, mobile needle holder 6 is connected with motor driver, and motor driver is those of ordinary skill in the art
Known, it will not be described here.
In a word, patient is scanned by multi-layer spiral CT (MSCT), by Medical Image Workstation planning and positioning operation
Path, and its three-dimensional data is obtained, the three dimensional space coordinate data of operation pathway are conveyed to ten thousand as instruction by controller
To mechanical arm 1, the digital command that universal mechanical arm 1 is transmitted according to Medical Image Workstation passes through articulation and robot
Displacement, the Surgery Platform 3 of mechanical arm tail end drives operating theater instruments clamping guiding device, finds Minimally Invasive Surgery skin entry point accurately, leads to
Cross joint of robot coding techniques and find Minimally Invasive Surgery path spacing position accurately, and drive operating theater instruments 8 to transport by universal mechanical arm 1
Row to Minimally Invasive Surgery path three-dimensional attitude, that is, three-dimensional localization posture, and keep this posture motionless, by manually or
It is electronic that operating theater instruments 8 is pushed into emplacement depth, open-close type needle holder is opened, universal mechanical arm 1 removes CT scan scope.In art
CT scan, real-time three-dimensional is rebuild, and whether checking operating theater instruments 8 reaches surgical target.
Above-mentioned operating robot can also be small-sized, and base 2 sets clamping device that universal mechanical arm 1 is clamped in into CT inspections
(not shown) on a bed board is looked into, CT examination bed is upper (will also to set level so that universal mechanical arm 1 be fixed on base 2
Governor motion 21 and level meter 22), then universal mechanical arm 1 and examination couch just can together with pass in and out CT frames.
If as shown in figure 3, universal mechanical arm 1 is directly anchored on CT examination couch, can be passed in and out with examination couch,
So fixing needle holder 6 and mobile needle holder 5 can make into a single integrated structure using saturating X-ray material (such as plastics, carbon fiber), and
Without being designed to open-close type, the direct scanning validations of CT will not also produce metal artifacts.
The percutaneous interventional programs robot of non-vascular disclosed in the utility model, is applicable partes corporis humani's position aspiration biopsy
Operation, the RF therapy of tumour, the Microwave Coagulation Therapy of tumour, the local chemotherapy of tumour, radioactive particle treatment tumour, brain blood
Swollen Microinvasive aspiration operation, the minimally invasive internal fixation operation of fracture of neck of femur, the minimally invasive forming treatment art of compression fracture of vertabral body and centrum
The Minimally Invasive Surgeries such as the minimally invasive diagnosis and treatment of metastatic tumor.
The percutaneous interventional programs robot of non-vascular disclosed in the utility model improves the actual puncture path of operation
With the uniformity in positioning operation path, reduce and puncture repeatedly and CT scan checking repeatedly, reduce ionising radiation with performing the operation simultaneously
Disease, operating time and patient suffering are sent out, the accuracy and surgical result of operation materials is significantly improved, establishes a rule
Model, efficient three-dimensional digital Surgery Platform, and it is suitable for remote operation, it is the developing direction of Minimally Invasive Surgery, is pushed away with wide
Wide application prospect, with higher social benefit and economic benefit.
Claims (10)
1. a kind of percutaneous interventional programs robot of non-vascular, including：
The controller of Medical Image Workstation and the universal mechanical arm of driving, the universal mechanical arm is installed on base；It is special
Levy and be,
The base is provided with level(l)ing mechanism and level meter, and the end of the universal mechanical arm is fixed with Surgery Platform, institute
State Surgery Platform and be provided with guide rail, the guide rail is provided with operating theater instruments clamping guiding device.
2. the percutaneous interventional programs robot of non-vascular as claimed in claim 1, it is characterised in that the operating theater instruments folder
Holding guiding device includes：
Fixed needle holder and mobile needle holder, the fixed needle holder are fixed on the guide rail, and the mobile needle holder is slided
It is installed on the guide rail.
3. the percutaneous interventional programs robot of non-vascular as claimed in claim 2, it is characterised in that the fixed needle holder
Or mobile needle holder includes upper press cover and lower connecting base, the lower connecting base of the fixed needle holder is fixed on the guide rail, institute
The lower connecting base for stating mobile needle holder is slidably mounted on the guide rail, and the upper press cover is hinged with the lower connecting base, described
Elastic clip holds guiding set between upper press cover and the lower connecting base, and the guiding set is provided with operating theater instruments guide hole.
4. the percutaneous interventional programs robot of non-vascular as claimed in claim 3, it is characterised in that the material of the guiding set
Material is X-ray material.
5. the percutaneous interventional programs robot of non-vascular as claimed in claim 2, it is characterised in that
The fixed needle holder or mobile needle holder are integral structures, on the body of the fixed needle holder or mobile needle holder
Offer operating theater instruments guide hole.
6. the percutaneous interventional programs robot of non-vascular as claimed in claim 5, it is characterised in that the fixed needle holder
Or the material of mobile needle holder is the material of X-ray.
7. the percutaneous interventional programs robot of non-vascular as claimed in claim 2, it is characterised in that the mobile needle holder
It is connected with Vidacare corp.
8. the percutaneous interventional programs robot of non-vascular as claimed in claim 1, it is characterised in that the guide rail is provided with
Scale.
9. the percutaneous interventional programs robot of non-vascular as claimed in claim 1, it is characterised in that the level meter is several
Word display type level meter.
10. the percutaneous interventional programs robot of non-vascular as claimed in claim 1, it is characterised in that the base is set
There is CT examination bed bed board clamping device.
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| CN201621362144.2U CN206612845U (en) | 2016-12-12 | 2016-12-12 | The percutaneous interventional programs robot of non-vascular |
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| CN201621362144.2U CN206612845U (en) | 2016-12-12 | 2016-12-12 | The percutaneous interventional programs robot of non-vascular |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107928794A (en) * | 2017-11-16 | 2018-04-20 | 上海墨汇机器人科技有限公司 | A kind of method precisely punctured using robot and the robot |
| CN108272494A (en) * | 2018-03-14 | 2018-07-13 | 潍坊科技学院 | A kind of pulmonary abscess sting device of CT images guiding |
| CN108324353A (en) * | 2018-01-19 | 2018-07-27 | 上海联影医疗科技有限公司 | Operating robot and its point of puncture instruction device |
| CN110547867A (en) * | 2018-05-31 | 2019-12-10 | 上海联影医疗科技有限公司 | control method, device, equipment, storage medium and system of mechanical arm |
| CN111012514A (en) * | 2019-12-28 | 2020-04-17 | 天机医用机器人技术(清远)有限公司 | Puncture arm with direction function |
| CN111671502A (en) * | 2020-04-17 | 2020-09-18 | 长春理工大学 | Needle holder for percutaneous puncture minimally invasive surgery intelligent guidance |
| CN112190337A (en) * | 2018-10-09 | 2021-01-08 | 北京术锐技术有限公司 | Flexible surgical robot system |
| CN112336433A (en) * | 2020-11-10 | 2021-02-09 | 亿盛欣科技(北京)有限公司 | Device for indicating action position of surgical instrument, use method and calibration method |
| CN113243978A (en) * | 2021-05-14 | 2021-08-13 | 磅客策(上海)智能医疗科技有限公司 | Puncture device and surgical robot |
| CN113796833A (en) * | 2021-09-17 | 2021-12-17 | 中国人民解放军空军军医大学 | Intelligent clinical photographing robot |
| CN115337089A (en) * | 2022-10-20 | 2022-11-15 | 真健康（北京）医疗科技有限公司 | Surgical system suitable for nuclear particle implantation |
| CN116096322A (en) * | 2020-09-04 | 2023-05-09 | 上海联影医疗科技股份有限公司 | Systems and methods for assisting in placement of a surgical instrument into a subject |
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- 2016-12-12 CN CN201621362144.2U patent/CN206612845U/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928794A (en) * | 2017-11-16 | 2018-04-20 | 上海墨汇机器人科技有限公司 | A kind of method precisely punctured using robot and the robot |
| CN108324353A (en) * | 2018-01-19 | 2018-07-27 | 上海联影医疗科技有限公司 | Operating robot and its point of puncture instruction device |
| CN108272494A (en) * | 2018-03-14 | 2018-07-13 | 潍坊科技学院 | A kind of pulmonary abscess sting device of CT images guiding |
| CN110547867A (en) * | 2018-05-31 | 2019-12-10 | 上海联影医疗科技有限公司 | control method, device, equipment, storage medium and system of mechanical arm |
| CN112190337A (en) * | 2018-10-09 | 2021-01-08 | 北京术锐技术有限公司 | Flexible surgical robot system |
| CN112190337B (en) * | 2018-10-09 | 2023-12-05 | 北京术锐机器人股份有限公司 | Flexible surgical robot system of peritoneoscope |
| WO2021128412A1 (en) * | 2019-12-28 | 2021-07-01 | 天机医用机器人技术(清远)有限公司 | Puncture mechanical arm having guiding function |
| CN111012514A (en) * | 2019-12-28 | 2020-04-17 | 天机医用机器人技术(清远)有限公司 | Puncture arm with direction function |
| CN111671502A (en) * | 2020-04-17 | 2020-09-18 | 长春理工大学 | Needle holder for percutaneous puncture minimally invasive surgery intelligent guidance |
| CN116096322A (en) * | 2020-09-04 | 2023-05-09 | 上海联影医疗科技股份有限公司 | Systems and methods for assisting in placement of a surgical instrument into a subject |
| CN112336433A (en) * | 2020-11-10 | 2021-02-09 | 亿盛欣科技(北京)有限公司 | Device for indicating action position of surgical instrument, use method and calibration method |
| CN112336433B (en) * | 2020-11-10 | 2022-04-08 | 亿盛欣科技(北京)有限公司 | Device for indicating action position of surgical instrument, use method and calibration method |
| CN113243978A (en) * | 2021-05-14 | 2021-08-13 | 磅客策(上海)智能医疗科技有限公司 | Puncture device and surgical robot |
| CN113796833A (en) * | 2021-09-17 | 2021-12-17 | 中国人民解放军空军军医大学 | Intelligent clinical photographing robot |
| CN115337089A (en) * | 2022-10-20 | 2022-11-15 | 真健康（北京）医疗科技有限公司 | Surgical system suitable for nuclear particle implantation |
| CN115337089B (en) * | 2022-10-20 | 2023-02-07 | 真健康（北京）医疗科技有限公司 | Surgical system suitable for nuclear particle implantation |
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