CN209377692U - A kind of prostate biopsy positioning robot - Google Patents
A kind of prostate biopsy positioning robot Download PDFInfo
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- CN209377692U CN209377692U CN201821828818.2U CN201821828818U CN209377692U CN 209377692 U CN209377692 U CN 209377692U CN 201821828818 U CN201821828818 U CN 201821828818U CN 209377692 U CN209377692 U CN 209377692U
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Abstract
The utility model discloses a kind of prostate biopsy positioning robots, it is related to field of medical technology, connecting rod B and spring B are equipped between the support rod and connecting rod A, in position fixing process is adjusted, due to the effect of spring B elastic force, entire adjustment process can be made more steady, and in the course of surgery due to the pulling force effect of spring B and the active force of connecting rod B, it can make the gravitational moment of connecting rod A and the rod set of end, the gravitational moment of the devices such as connection frame is compensated, it ensure that connecting rod A is not susceptible to deformation in use, so that positioning is more accurate, damping device is equipped with spring A, in the course of surgery, since the elastic force of spring A acts on, it can be with the support base of balance portion and the gravity for the device being sequentially connected with support base, reduce the compression shock for pedestal, guarantee Stability in surgical procedure, and then ensure that the therapeutic effect of patient.
Description
Technical field
The utility model belongs to field of medical technology, especially a kind of prostate biopsy positioning robot.
Background technique
Authorization Notice No. is that the patent of CN205672067U discloses a kind of Needle localization bracket, which is
A kind of Needle localization branch that target lesion is accurately positioned in organ or tissue's aspiration biopsy or treatment etc. in human body under CT guidance
Frame, it includes support, first angle adjustable plate, strut, second angle adjustable plate, operating stick, cross bar and puncture needle fixing sleeve folder
Equal devices position fixed puncture needle positioning sleeve folder by adjusting strut, cross bar, operating stick, can be improved to target lesion positioning
Accuracy, but lack gravitational moment compensation device between strut, cross bar, long-time service can make strut, cross bar, and deformation occurs, into
And make the reduction of Needle localization precision, to influence the therapeutic effect of patient.
In order to guarantee the therapeutic effect of patient's treatment, the prostate for designing a kind of gravitational moment that can compensate for strut, cross bar is worn
Thorn positioning robot has a very important significance.
Summary of the invention
In view of the above-mentioned problems, the technical problem to be solved by the present invention is to provide a kind of prostate biopsies to position machine
People.
A kind of prostate biopsy positioning robot of the utility model, it includes pedestal, damping device, support base, support
Bar, spring B, positioning ring, connecting rod A, connecting rod B, rod set, telescopic rod, connection frame, guide rod, clamping device, puncture needle,
Be characterized in that: the pedestal is placed on horizontal plane, and damping device is installed in the hole slot A for being placed in pedestal in perpendicular,
Support base is coaxially arranged with damping device, is connected between support rod and support base by threaded hole A, positioning ring is provided with threaded hole
B, by carrying out positioning and locking between positioning screw and support rod, connecting rod A is equipped with pull ring B, leads between spring B and connecting rod A
It crosses and welds and formed one, the other end of spring B is connect by drag hook with the pull ring A on support rod, the pin shaft hole on connecting rod A
C and the pin shaft hole A on support rod are coaxially arranged, and are locked by locking nut A, pass through between connecting rod B and positioning ring
Pin shaft hole B connection, and locked by locking nut B, hinged by pin shaft hole D between connecting rod B and connecting rod A, rod set
It is connect between connecting rod B by pin shaft hole E, and is locked by locking nut C, telescopic rod and the coaxially arranged juxtaposition of rod set
In rod set, it is connected between connection frame and telescopic rod by threaded hole C, is connected between guide rod and connection frame by hole slot B
It connects, is connected between clamping device and guide rod by hole slot C, clamping device is additionally provided with threaded hole D and is locked by locking cap
Tightly.
Preferably, described be equipped with connecting rod B and spring B between support rod and connecting rod A, it is fixed being adjusted
Position during, due to the effect of spring B elastic force, entire adjustment process can be made more steady, and in the course of surgery due to
The pulling force effect of spring B and the active force of connecting rod B can make the gravitational moment of connecting rod A and the rod set of end, connection
The gravitational moment of the devices such as frame is compensated, and ensure that connecting rod A is not susceptible to deformation in use, so that positioning is more quasi-
Really, to ensure that the therapeutic effect of patient.
Preferably, the damping device is equipped with spring A, one end of spring A is fixed on the bottom surface circular groove of shell A
Interior, the other end is fixed on baffle, and support base is placed on baffle, in the course of surgery, can be with since the elastic force of spring A acts on
The gravity of the support base of balance portion and the device being sequentially connected with support base reduces the compression shock for pedestal, protects
The stability in surgical procedure has been demonstrate,proved, and then ensure that the therapeutic effect of patient.
Preferably, the clamping device is equipped with hole slot C, can linear slide on the guide bar, and can be around hanging down
It is directly rotated in the plane of guide rod, to realize angular adjustment, so that adjusting is more flexible, positions more accurate, guarantee
The therapeutic effect of patient.
Preferably, the support base is equipped with lozenges, is concentrated to reduce stress, enhance the support energy of support base
Power guarantees the support strength of support base.
The utility model has the following beneficial effects:
(1) connecting rod B and spring B are equipped between support rod and connecting rod A, in position fixing process is adjusted, by
In the effect of spring B elastic force, entire adjustment process can be made more steady, and in the course of surgery due to the pulling force of spring B
The active force of effect and connecting rod B, can make the devices such as the gravitational moment of connecting rod A and the rod set of end, connection frame
Gravitational moment is compensated, and ensure that connecting rod A is not susceptible to deformation in use, so that positioning is more accurate, to protect
The therapeutic effect of patient is demonstrate,proved.
(2) damping device is equipped with spring A, and one end of spring A is fixed in the bottom surface circular groove of shell A, and the other end is connected
In on baffle, support base is placed on baffle, in the course of surgery, can be with the support of balance portion since the elastic force of spring A acts on
The gravity of seat and the device being sequentially connected with support base, reduces the compression shock for pedestal, ensure that in surgical procedure
Stability, and then ensure that the therapeutic effect of patient.
(3) clamping device is equipped with hole slot C, can linear slide on the guide bar, and can be around perpendicular to guide rod
Plane is rotated, to realize angular adjustment, so that adjusting is more flexible, positioning is more accurate, ensure that the treatment of patient
Effect.
(4) support base is equipped with lozenges, concentrates to reduce stress, enhances the enabling capabilities of support base, guarantees support
The support strength of seat.
Detailed description of the invention:
The present invention is described in detail by the following detailed description and drawings for ease of explanation,.
Fig. 1 is prostate biopsy positioning robot overall structure diagram
Fig. 2 is pedestal axonometric drawing
Fig. 3 is damping device structural schematic diagram
Fig. 4 is support base axonometric drawing
Fig. 5 is the structural schematic diagram that support rod is connect with positioning ring
Fig. 6 is the structural schematic diagram of connecting rod A
Fig. 7 is the structural schematic diagram of connection frame
Fig. 8 is the structural schematic diagram of clamping device
In figure: 1 pedestal, 1-1 slot A, 2 damping devices, 2-1 shell A, 2-2 spring A, 2-3 baffle, 3 support bases, 3-1 screw thread
Hole A, 3-2 lozenges, 4 support rods, 4-1 pull ring A, 4-2 pin shaft hole A, 4-3 locking nut, 5 spring Bs, 6 positioning rings, 6-1 screw thread
Hole B, 6-2 pin shaft hole B, 6-3 positioning screw, 6-4 locking nut, 7- connecting rod A, 7-1 pull ring B, 7-2 pin shaft hole C, 7-3 pin shaft
Hole D, 7-4 locking nut C, 7-5 pin shaft hole E, 8- connecting rod B, 9- rod set, 10- telescopic rod, 11- connection frame, 11-1 shell B,
11-2 threaded hole C, 11-3 hole slot B, 12- guide rod, 13- clamping device, 13-1 locking cap, 13-2 cramping body, 13-3 hole slot C,
13-4 threaded hole D, 13-5 locking nut D, 14- puncture needle.
Specific embodiment:
To make the objectives, technical solutions and advantages of the present invention clearer, below by shown in the accompanying drawings
Specific embodiment describes the utility model.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit this reality
With novel range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid unnecessarily mixing
Confuse the concept of the utility model.
Embodiment 1: shown in as shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, specific embodiment of the present invention
Using following technical scheme: a kind of prostate biopsy positioning robot, it includes pedestal 1, damping device 2, support base 3, support
Bar 4, spring B 5, positioning ring 6, connecting rod A7, connecting rod B8, rod set 9, telescopic rod 10, connection frame 11, guide rod 12, clamping machine
Structure 13, puncture needle 14, it is characterised in that: the pedestal 1 is placed on horizontal plane, and damping device 2 is installed in perpendicular simultaneously
It is placed in the hole slot A1-1 of pedestal 1, support base 3 and damping device 2 are coaxially arranged, pass through screw thread between support rod 4 and support base 3
Hole A3-1 is connected, and positioning ring 6 is provided with threaded hole B6-1, by carrying out positioning and locking between positioning screw 6-3 and support rod 4,
Connecting rod A7 is equipped with pull ring B7-1, and by welding and being formed one between spring B 5 and connecting rod A7, the other end of spring B 5 is logical
It crosses drag hook to connect with the pull ring A4-1 on support rod 4, the pin shaft hole C7-2 on connecting rod A7 and the pin shaft hole A4-2 on support rod 4
It is coaxially arranged, and locked by locking nut A4-3, it is connected between connecting rod B8 and positioning ring 6 by pin shaft hole B6-2,
And it is locked by locking nut B6-4, hinged by pin shaft hole D7-3 between connecting rod B8 and connecting rod A7, rod set 9 and company
It is connected between extension bar B8 by pin shaft hole E7-5, and is locked by locking nut C7-4, telescopic rod 10 and the coaxial cloth of rod set 9
It sets and is placed in rod set 9, be connected between connection frame 11 and telescopic rod 10 by threaded hole C11-2, guide rod 12 and connection frame
It is connected between 11 by hole slot B11-3, is connected between clamping device 13 and guide rod 12 by hole slot C13-3, clamping machine
Structure 13 is additionally provided with threaded hole D13-4, and is locked by locking nut D13-5, and puncture needle 14 is placed in cramping body 13-2, and
It is locked by locking cap 13-1.
Further, described that connecting rod B8 and spring B 5 are equipped between support rod 4 and connecting rod A7, it is being adjusted
It saves in position fixing process, due to the effect of 5 elastic force of spring B, entire adjustment process can be made more steady, and in the course of surgery
Due to the pulling force effect of spring B 5 and the active force of connecting rod B8, the gravitational moment of connecting rod A7 and the bar of end can be made
The gravitational moment of the devices such as set 9, connection frame 11 is compensated, and ensure that connecting rod A7 is not susceptible to deformation in use, makes
It is more accurate to position, to ensure that the therapeutic effect of patient.
Further, the interior needle 1 and outer needle 2 are equipped with clamp system, and collet and collet cap are equipped with screw thread, pass through
Adjust the screwing length of screw thread, thus it is possible to vary the clamping force of internal needle 1 and outer needle 2, and then interior needle 1 and outer needle 2 can be made to clamp
Or loosen, it convenient for needle 1 in preoperative replacement and outer needle 2 and is cleaned, is conducive to the cleannes for improving treatment, thus for patient's
It treats and certain guarantee is provided.
Further, the damping device 2 is equipped with spring A2-2, and one end of spring A2-2 is fixed on shell A2-1's
In the circular groove of bottom surface, the other end is fixed on baffle 2-3, and support base 3 is placed on baffle 2-3, in the course of surgery, due to spring
The elastic force of A2-2 acts on, and can be reduced with the support base 3 of balance portion and the gravity for the device being sequentially connected with support base 3
For the compression shock of pedestal 1, the stability in surgical procedure ensure that, and then ensure that the therapeutic effect of patient.
Further, the clamping device is equipped with hole slot C13-3, can on guide rod 12 linear slide, and can be with
It is rotated around the plane perpendicular to guide rod 12, to realize angular adjustment, so that adjusting is more flexible, is positioned more smart
Really, it ensure that the therapeutic effect of patient.
Further, the support base 3 is equipped with lozenges 3-2, concentrates to reduce stress, enhancing support base 3
Enabling capabilities guarantee the support strength of support base 3.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above.Current row
The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments
Only illustrate the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, the utility model is also
It will have various changes and improvements, these various changes and improvements fall within the scope of the claimed invention.The utility model
Claimed range has appended claims and its equivalent thereof.
Claims (5)
1. a kind of prostate biopsy positioning robot, it include pedestal (1), damping device (2), support base (3), support rod (4),
Spring B (5), positioning ring (6), connecting rod A (7), connecting rod B (8), rod set (9), telescopic rod (10), connection frame (11), guide rod
(12), clamping device (13), puncture needle (14), it is characterised in that: the pedestal (1) is placed on horizontal plane, damping device (2)
It is installed in the hole slot A (1-1) for being placed in pedestal (1) in perpendicular, support base (3) and damping device (2) are coaxially arranged, branch
It is connected between strut (4) and support base (3) by threaded hole A (3-1), positioning ring (6) is provided with threaded hole B (6-1), by fixed
Positioning and locking is carried out between position screw (6-3) and support rod (4), connecting rod A (7) is equipped with pull ring B (7-1), spring B (5) and company
By welding and being formed one between extension bar A (7), the other end of spring B (5) passes through the pull ring A on drag hook and support rod (4)
(4-1) is connected, and the pin shaft hole C (7-2) on connecting rod A (7) and the pin shaft hole A (4-2) on support rod (4) are coaxially arranged, and lead to
It crosses locking nut A (4-3) to be locked, be connect between connecting rod B (8) and positioning ring (6) by pin shaft hole B (6-2), and pass through
Locking nut B (6-4) is locked, between connecting rod B (8) and connecting rod A (7) hingedly by pin shaft hole D (7-3), rod set (9)
It is connect, and is locked by locking nut C (7-4), telescopic rod (10) by pin shaft hole E (7-5) between connecting rod B (8)
With rod set (9) is coaxially arranged is placed in rod set (9), pass through threaded hole C (11-2) between connection frame (11) and telescopic rod (10)
It is connected, is connected between guide rod (12) and connection frame (11) by hole slot B (11-3), clamping device (13) and guide rod
(12) it is connected between by hole slot C (13-3), clamping device (13) is additionally provided with threaded hole D (13-4), and passes through locking nut D
(13-5) is locked, and puncture needle (14) is placed in cramping body (13-2), and is locked by locking cap (13-1).
2. a kind of prostate biopsy positioning robot according to claim 1, it is characterised in that: described in support rod
(4) connecting rod B (8) and spring B (5) are equipped between connecting rod A (7), in position fixing process is adjusted, due to spring B
(5) effect of elastic force can make entire adjustment process more steady, and in the course of surgery since the pulling force of spring B (5) is made
With and connecting rod B (8) active force, the gravitational moment and the rod set (9) of end, connection frame of connecting rod A (7) can be made
(11) etc. the gravitational moment of devices is compensated, and ensure that connecting rod A (7) is not susceptible to deformation in use, so that positioning
It is more accurate, to ensure that the therapeutic effect of patient.
3. a kind of prostate biopsy positioning robot according to claim 1, it is characterised in that: the damping device
(2) it is equipped with spring A (2-2), one end of spring A (2-2) is fixed in the bottom surface circular groove of shell A (2-1), and the other end is fixed on
On baffle (2-3), support base (3) is placed on baffle (2-3), in the course of surgery, can since the elastic force of spring A (2-2) acts on
With the support base (3) of balance portion and the gravity for the device being sequentially connected with support base (3), reduce for pedestal (1)
Compression shock ensure that the stability in surgical procedure, and then ensure that the therapeutic effect of patient.
4. a kind of prostate biopsy positioning robot according to claim 1, it is characterised in that: on the clamping device
Equipped with hole slot C (13-3), can on guide rod (12) linear slide, and can be carried out around the plane perpendicular to guide rod (12)
Rotation, to realize angular adjustment, so that adjusting is more flexible, positioning is more accurate, ensure that the therapeutic effect of patient.
5. a kind of prostate biopsy positioning robot according to claim 1, it is characterised in that: the support base (3)
It is equipped with lozenges (3-2), is concentrated to reduce stress, enhance the enabling capabilities of support base (3), guarantee the branch of support base (3)
Support intensity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821828818.2U CN209377692U (en) | 2018-11-07 | 2018-11-07 | A kind of prostate biopsy positioning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821828818.2U CN209377692U (en) | 2018-11-07 | 2018-11-07 | A kind of prostate biopsy positioning robot |
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| Publication Number | Publication Date |
|---|---|
| CN209377692U true CN209377692U (en) | 2019-09-13 |
Family
ID=67868026
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821828818.2U Active CN209377692U (en) | 2018-11-07 | 2018-11-07 | A kind of prostate biopsy positioning robot |
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| Country | Link |
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| CN (1) | CN209377692U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109199554A (en) * | 2018-11-07 | 2019-01-15 | 哈尔滨理工大学 | A kind of prostate biopsy positioning robot and application method |
-
2018
- 2018-11-07 CN CN201821828818.2U patent/CN209377692U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109199554A (en) * | 2018-11-07 | 2019-01-15 | 哈尔滨理工大学 | A kind of prostate biopsy positioning robot and application method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211102 Address after: 528225 room 429, block B, phase I, Nanhai industrial think tank City, Taoyuan Road, software park, Shishan town, Nanhai District, Foshan City, Guangdong Province Patentee after: FOSHAN BAIKANG ROBOT TECHNOLOGY Co.,Ltd. Address before: 150080 No. 52, Xuefu Road, Nangang District, Heilongjiang, Harbin Patentee before: HARBIN University OF SCIENCE AND TECHNOLOGY |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A Prostate Puncture Localization Robot Effective date of registration: 20230517 Granted publication date: 20190913 Pledgee: Foshan Rural Commercial Bank Co.,Ltd. Lanshi Branch Pledgor: FOSHAN BAIKANG ROBOT TECHNOLOGY Co.,Ltd. Registration number: Y2023980040929 |