CN209172447U - Digital control accurate pricking device under a kind of CT guidance - Google Patents
Digital control accurate pricking device under a kind of CT guidance Download PDFInfo
- Publication number
- CN209172447U CN209172447U CN201820460180.5U CN201820460180U CN209172447U CN 209172447 U CN209172447 U CN 209172447U CN 201820460180 U CN201820460180 U CN 201820460180U CN 209172447 U CN209172447 U CN 209172447U
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- China
- Prior art keywords
- numerical control
- mechanical arm
- puncture
- guidance
- angle demodulator
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Abstract
The utility model relates to digital control accurate pricking devices under a kind of CT guidance, including pedestal, horizontal alignment platform, numerical control triaxial mechanical arm, numerical control angle demodulator, laser calibrator, digital display dual axis inclinometer, puncture gate apparatus and numerical control device.Digital control accurate pricking device is easy to operate under the CT guidance of the utility model, and puncture accuracy can be improved；Securely and reliably, reusable, reduce medical treatment cost；For numerical control operating, expansion is strong, in conjunction with image software, can be further simplified puncture process.
Description
Technical field
The utility model relates to field of medical device, and in particular to digital control accurate pricking device under a kind of CT guidance.
Background technique
CT Conducted Puncture be tissue biopsy, heating ablation, frost ablation, the ablation of light power, radioactive prospecting instrument, percutaneously
The key operation of the technologies such as inside cavity tube, couple intervention.It is precisely punctured to presumptive area and is to ensure that the successful premise for the treatment of.
Tradition, which punctures, relies on experience accumulation, and learning curve is very long, and there are certain errors for operation, and precisely puncturing by guidance equipment becomes hair
Open up direction.The puncture ancillary equipment of clinical application at present mainly includes puncture angle guiding device (angulometer) and printing template.This
A little equipment can be improved puncture precision.Puncture angle guiding device is easy to operate, is suitable for single needle and punctures, it is difficult to meet complexity and wear
The requirement of needle-holding hand art.Non-co-planar printing template needs a couple of days predetermined puncture path in advance, when practical operation, can have error.
Coplanar printing template can only be punctured to an angle, be not suitable for the operation that multi-angle punctures.In addition, printing template is disposable consumption
Material, somewhat expensive.
Utility model content
The purpose of the utility model is to provide a kind of digital control, Reusability accurate pricking devices, pass through high-precision
Design of electrical motor numerical control triaxial mechanical arm and numerical control angle controller, easy to operate, accurate positioning are reusable.
To solve above-mentioned technical problem, technical solution provided by the utility model is:
Digital control accurate pricking device under a kind of CT guidance, including pedestal, horizontal alignment platform, numerical control triaxial mechanical arm,
Numerical control angle demodulator, laser calibrator, digital display dual axis inclinometer, puncture gate apparatus and numerical control device；The horizontal alignment platform
Seat is set on pedestal, and horizontal alignment platform top connects numerical control device and three shaft mechanical arm of numerical control, and the numerical control triaxial is mechanical
Arm includes X-axis mechanical arm, Y-axis mechanical arm and Z axis mechanical arm；The horizontal alignment platform, numerical control angle demodulator are horizontal positioned；Institute
Numerical control triaxial mechanical arm connection horizontal alignment platform and numerical control angle demodulator are stated, and between numerical control angle demodulator；It is described
Laser calibrator is placed on numerical control triaxial mechanical arm, projects laser rays and the association of three shaft mechanical arms；The digital display inclinometer connects
Numerical control angle demodulator and puncture gate apparatus are connect, and between numerical control angle demodulator and puncture gate apparatus；The numerical control is set
Standby control numerical control triaxial mechanical arm and numerical control angle demodulator.
The laser that the laser calibrator is got dissipates face perpendicular to X-axis mechanical arm, is parallel to Y-axis mechanical arm and Z axis is mechanical
Arm.
Further, the pedestal lower part is equipped with shifting roller, and the shifting roller is equipped with braking brake, and the pedestal can
With mobile or fixed.
Further, the laser calibrator projects laser rays on operation bed, and with CT or the cross-section Surface scan of MRI machine
The cross-section mapping line projected on operation bed is overlapped.
Further, the numerical control device, which adjusts mobile three shaft mechanical arms, wears puncture gate apparatus top to the default of label
Thorn point.
Further, puncture needle is implanted into target area point of puncture from the puncture gate apparatus.
The utility model has the advantages that
Digital control accurate pricking device is easy to operate under the CT guidance of the utility model, and puncture accuracy can be improved；Peace
It is complete reliable, it is reusable, reduce medical treatment cost；For numerical control operating, expansion is strong, can be further in conjunction with image software
Simplify and punctures process.
Detailed description of the invention
The structural schematic diagram of digital control accurate pricking device under Fig. 1: CT guidance.
Fig. 2: Fig. 1 partial enlarged view.
In figure: 1- pedestal, 2- horizontal alignment platform, 3- numerical control device, 4- numerical control triaxial mechanical arm, 5- laser calibrator, 6-
Numerical control angle demodulator, 7- puncture gate apparatus, 8- digital display dual axis inclinometer.
Specific embodiment
The utility model is described in further detail combined with specific embodiments below.
Digital control accurate pricking device under a kind of CT guidance, including pedestal 1, horizontal alignment platform 2, numerical control triaxial mechanical arm
4, numerical control angle demodulator 6, laser calibrator 5, digital display dual axis inclinometer 8, puncture gate apparatus 7 and numerical control device 3；The level
Calibration console 2 are set on pedestal 1,2 top of the horizontal alignment platform connection numerical control device 3 and three shaft mechanical arm 4 of numerical control, the number
Controlling three shaft mechanical arms 4 includes X-axis mechanical arm, Y-axis mechanical arm and Z axis mechanical arm.
The laser that the laser calibrator 5 is got dissipates face perpendicular to X-axis mechanical arm, is parallel to Y-axis mechanical arm and Z axis is mechanical
Arm.
The horizontal alignment platform 2, numerical control angle demodulator 6 are horizontal positioned；The numerical control triaxial mechanical arm 4 connects horizontal school
Quasi- platform 2 and numerical control angle demodulator 6, and between numerical control angle demodulator 6；The laser calibrator 5 is placed in numerical control three
On shaft mechanical arm 4, laser rays and the association of three shaft mechanical arms are projected；The digital display dual axis inclinometer 8 connects numerical control angle demodulator 6
With puncture gate apparatus 7, and between numerical control degree adjuster 6 and puncture gate apparatus 7；The numerical control device 3 controls numerical control triaxial
Mechanical arm 4 and numerical control angle demodulator 6.
1 lower part of pedestal is equipped with shifting roller, and the shifting roller is equipped with braking brake, and the pedestal 1 can move
Or it is fixed.
The laser calibrator 5 projects laser rays on operation bed, and with CT or the cross-section Surface scan of MRI machine in operation bed
The cross-section mapping line of upper projection is overlapped.
The numerical control device 3, which adjusts mobile three shaft mechanical arms, makes 7 top of puncture gate apparatus to the default point of puncture of label.
Puncture needle is implanted into target area point of puncture from the puncture gate apparatus 7.
In use, the equipment such as CT, MRI have corresponding mapping on operation bed with cross-section Surface scan, in advance in operation bed label
One or more cross-section mapping line；Adjusting horizontal alignment platform 2 is level；Laser calibrator 5 is opened, mobile and rotating base 1 makes
It projects laser rays and the cross-section mapping line of operation bed is overlapped；Confirm that 8 twin shaft of digital display dual axis inclinometer is respectively 0 ° and 0 °；Firm banking
1；Above step ensures that accurate pricking device and medical image equipment are in common three-axis reference；Medical image equipment selection is worn
Point is pierced, puncture angle is to set puncture path；Mark point of puncture；Inputting puncture angle adjustment puncture gate apparatus 7 is that setting punctures
Angle confirms angle in digital display dual axis inclinometer 8；Make puncture gate apparatus 7 by the mobile numerical control triaxial mechanical arm 4 of numerical control device 3
Puncture needle is implanted into target area to default point of puncture, along puncture gate apparatus 7 by top；It moves puncture gate apparatus 7 away, carries out subsequent
Operation；Or it is punctured next time.
When needing to puncture target area row 2 times or 2 times or more, after having operated first time puncture by above-mentioned steps, adjustment
Good puncture angle next time simultaneously calculates corresponding displacement, makes puncture gate apparatus by the mobile numerical control triaxial mechanical arm 4 of numerical control device 3
7 tops are punctured to point of puncture is preset next time, repeatedly puncture and so on.
The above is only the preferred embodiment of the utility model, not makees limit in any form to the utility model
System, any person skilled in the art are not departing within the scope of technical solutions of the utility model, according to the utility model
Technical spirit, any simple modifications, equivalent substitutions and improvements to the above embodiments etc., still falls within the utility model
Within the protection scope of technical solution.
Claims (6)
1. digital control accurate pricking device under a kind of CT guidance, it is characterised in that: including pedestal, horizontal alignment platform, numerical control three
Shaft mechanical arm, numerical control angle demodulator, laser calibrator, digital display dual axis inclinometer, puncture gate apparatus and numerical control device；The water
Flat calibration pedestal is set on pedestal, and horizontal alignment platform top connects numerical control device and three shaft mechanical arm of numerical control, the numerical control
Three shaft mechanical arms include X-axis mechanical arm, Y-axis mechanical arm and Z axis mechanical arm；The horizontal alignment platform, numerical control angle demodulator water
Placing flat；The numerical control triaxial mechanical arm connection horizontal alignment platform and numerical control angle demodulator, and it is located at numerical control angle demodulator
Between；The laser calibrator is placed on numerical control triaxial mechanical arm, projects laser rays and the association of three shaft mechanical arms；The digital display
Dual axis inclinometer connects numerical control angle demodulator and puncture gate apparatus, and be located at numerical control angle demodulator and puncture gate apparatus it
Between；The numerical control device control numerical control triaxial mechanical arm and numerical control angle demodulator.
2. digital control accurate pricking device under CT guidance according to claim 1, it is characterised in that: the laser calibration
The laser that device is got dissipates face perpendicular to X-axis mechanical arm, is parallel to Y-axis mechanical arm and Z axis mechanical arm.
3. digital control accurate pricking device under CT guidance according to claim 1, it is characterised in that: the pedestal lower part
Equipped with shifting roller, the shifting roller is equipped with braking brake, and the pedestal can be moved or be fixed.
4. digital control accurate pricking device under CT guidance according to claim 1, it is characterised in that: the laser calibration
Device projects laser rays, and the cross-section mapping line weight projected on operation bed with CT or the cross-section Surface scan of MRI machine on operation bed
It closes.
5. digital control accurate pricking device under CT guidance according to claim 1, it is characterised in that: the numerical control device
Adjusting mobile three shaft mechanical arms makes puncture gate apparatus top to the default point of puncture of label.
6. digital control accurate pricking device under CT according to claim 4 guidance, it is characterised in that: puncture needle is from described
Target area point of puncture is implanted into puncture gate apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820460180.5U CN209172447U (en) | 2018-03-30 | 2018-03-30 | Digital control accurate pricking device under a kind of CT guidance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820460180.5U CN209172447U (en) | 2018-03-30 | 2018-03-30 | Digital control accurate pricking device under a kind of CT guidance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209172447U true CN209172447U (en) | 2019-07-30 |
Family
ID=67358414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820460180.5U Expired - Fee Related CN209172447U (en) | 2018-03-30 | 2018-03-30 | Digital control accurate pricking device under a kind of CT guidance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209172447U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111558110A (en) * | 2020-05-14 | 2020-08-21 | 华中科技大学同济医学院附属协和医院 | Automatic micro-injection device and control method thereof |
-
2018
- 2018-03-30 CN CN201820460180.5U patent/CN209172447U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111558110A (en) * | 2020-05-14 | 2020-08-21 | 华中科技大学同济医学院附属协和医院 | Automatic micro-injection device and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190730 Termination date: 20200330 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |