CN209392056U

CN209392056U - A kind of ablation puncture 3 D locating device

Info

Publication number: CN209392056U
Application number: CN201822144752.1U
Authority: CN
Inventors: 孙良俊; 欧阳诚梓; 葛从杰
Original assignee: NANJING ECO MICROWAVE SYSTEM Co Ltd
Current assignee: Nanjing Yigao Medical Technology Co ltd
Priority date: 2018-12-20
Filing date: 2018-12-20
Publication date: 2019-09-17
Anticipated expiration: 2028-12-20

Abstract

The utility model discloses a kind of ablations to puncture 3 D locating device, including cabinet, computer and robot assemblies；Robot assemblies include multi-jointed mechanical arm and inserting needle component, are adjusted for realizing lift adjustment, level, vertical angle, needle angle is adjusted.Inserting needle component includes guide bracket, the laser range finder set on guide bracket one end and the first gyroscope and the microwave melt needle set on the guide bracket other end.The utility model is by adjusting abswolute level degree and CT/MR being combined to be imaged, the full spectrum information prompt carried out by infrared distance measurement inserting needle distance, guarantee that doctor's ablation needle inserting needle can reach specified focal zone and carry out ablation, the mechanical arm design of the device is reasonable, adjustable mechanical arm vertical height and spread length, it can be connected by front end bulb in three-dimensional space any direction adjusting mechanical arm angle simultaneously, guarantee more flexible inserting needle direction.

Description

A kind of ablation puncture 3 D locating device

Technical field

The utility model relates to medical instruments fields, relate in particular to a kind of for instructing under CT or MR imaging auxiliary The ablation of patient's inserting needle punctures 3 D locating device.

Background technique

Microwave ablation centesis is that the principle based on microwave thermal radiation treats lesion, is widely used in all kinds of cancers Treatment.Although doctor can refer to the instant imaging device of existing MR or CT when puncturing into patient's lesion, existing imaging is all It is to be presented by two-dimentional display interface, inserting needle distance, the angle under showing still may be totally different with practical inserting needle situation difference.It is existing Positioning system be not suitable for the structure of microwave ablation puncture needle, and the mechanical arm of three-dimensional localization is multifarious.Especially Existing equipment cannot thoroughly solve the difference of equipment Yu surface water Pingdu, therefore even if the angle between mechanical arm and equipment is kept It is constant, it still cannot ensure the abswolute level with horizontal plane.

Utility model content

Goal of the invention: it the purpose of the utility model is to provide a kind of flexible three-dimensional localization of realization, can be fitted based on any angle When adjusting height length, the 3 D locating device punctured for microwave ablation.

Technical solution: to achieve the above object, a kind of ablation of the utility model punctures 3 D locating device, including case Body, the computer and robot assemblies being installed on cabinet；The robot assemblies include vertically disposed first linking arm, with The L-type arm of first linking arm coaxial rotating and the second linking arm being successively flexibly connected one by one with L-type arm free-end, third Linking arm and inserting needle component；Relative to L-type arm in same horizontal plane rotation in different angles, the third connects second linking arm Arm is connect relative to the second linking arm in same vertical plane rotation in different angles；The inserting needle component includes guide bracket, is set to guidance The laser range finder of frame one end and the first gyroscope and microwave melt needle set on the guide bracket other end.

The hinged place of the hinged place and the second linking arm and third linking arm of the L-type arm and the second linking arm, is all provided with Restricted the first fastening bolt rotated each other.

Preferably, upper-lower height is adjusted in first linking arm, and the first linking arm is the lifting set based on screw structure Bar.

It is connected between first linking arm and cabinet by level(l)ing mechanism, the level(l)ing mechanism includes being used for It vertically fixes the fixture of the first linking arm, fixture be installed on to the second fastening bolt on cabinet and the on fixture Two gyroscopes, the tank floor are equipped with the adjustable support leg for adjusting edge supports height.

Further, the adjustable support leg includes electric cylinders, support rod and universal lower margin.It is adjustable by taking hexahedron cabinet as an example Stabilizer blade is divided into the angle of carriage body bottom four, and the electric cylinders and computer of each adjustable support leg communicate to connect.The utility model is by setting Two gyroscopes are counted, the horizontal error on equipment and ground is eliminated, eliminate the horizontal error that mechanical arm is installed on equipment, thus Guarantee the abswolute level of mechanical arm.The adjustable support leg electric cylinders that different location can be controlled by computer are gone up and down.

Further, the computer and MR or CT equipment communicate to connect, and computer is also communicated to connect with laser range finder, The Laser emission direction of the laser range finder and the inserting needle direction of microwave melt needle it is identical and be overlapped.Laser range finder passes through knowledge Other inserting needle distance is imaged in conjunction with MR or CT, on a computer display basic imaging send increase cue mark and parameter (away from From, angle etc.), more tutorial messages are provided for doctor, position error caused by avoiding conventional two-dimensional from being imaged.

It adjusts abswolute level degree the utility model has the advantages that the utility model provides a kind of pass through and CT/MR is combined to be imaged, by red The full spectrum information prompt that outer ranging inserting needle distance carries out guarantees that doctor's ablation needle inserting needle can reach specified focal zone and melt The mechanical arm design for the treatment of, the device is reasonable, adjustable mechanical arm vertical height and spread length, while can appoint in three-dimensional space Meaning direction adjusting mechanical arm angle, is connected by front end bulb, guarantees more flexible inserting needle direction.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model；

Fig. 2 is the structural schematic diagram of mechanical arm in embodiment 1；

Fig. 3 is the structural schematic diagram of inserting needle component in embodiment 1；

Fig. 4 is the structural schematic diagram of 2 adjustable support leg of embodiment；

Fig. 5 is the partial structural diagram that embodiment 2 installs adjustable support leg.

Specific embodiment

The utility model is further described with reference to the accompanying drawing.

Embodiment 1

As shown in Figure 1 to Figure 3, a kind of ablation punctures 3 D locating device, including cabinet 1, the computer on cabinet 1 2, fixture 3, the first linking arm 4, L-type arm 5, the second linking arm 6, third linking arm 7, inserting needle component.

Cabinet 1 is hexahedron structure, and 1 bottom of cabinet is equipped with universal wheel 8.It is 2 host of computer, table on cabinet 1 in cabinet 1 Face is equipped with 2 display of computer and other peripheral hardware parts.Cabinet prolongs to form extension behind 1 upper surface, for installing back-shaped structure Fixture 3.Fixture 3 is fixed by the second fastening bolt from bottom and extension.Fixture 3 is equipped with to be communicated to connect with computer 2 The second gyroscope.

The first linking arm 4 is vertically equipped on fixture 3.First linking arm 4 is the lifting loop bar based on screw structure.First connects It connects 4 upper end of arm and is connected with L-type arm 5.From 5 free-end of L-type arm successively to be connected with one by one the second linking arm 6, third connection Arm 7 and inserting needle component.Wherein, the second linking arm 6 is relative to L-type arm 5 in same horizontal plane rotation in different angles, third linking arm 7 relative to the second linking arm 6 in same vertical plane rotation in different angles, the present embodiment is connected using articulated manner, and is equipped with and is used In the first fastening bolt 9 that limitation junction mutually rotates.

Inserting needle component include guide bracket 10, the laser range finder 11 set on 10 one end of guide bracket and the first gyroscope 12, with And the microwave melt needle 13 set on 10 other end of guide bracket.Computer 2 and MR or CT equipment communicate to connect, computer 2 also with swash Optar 11 communicates to connect, and the Laser emission direction of laser range finder 11 and the inserting needle direction of microwave melt needle 13 are identical and again It closes.Laser range finder 11 is imaged by identification inserting needle distance in conjunction with MR or CT, and imaging is sent substantially on 2 display of computer Upper increase cue mark and parameter (distance, angle etc.), provide more tutorial messages for doctor, and conventional two-dimensional imaging is avoided to cause Position error.

Embodiment 2

In conjunction with shown in Fig. 1 to Fig. 5, adjustable support leg described in the utility model can be realized using various ways.Preferably, On the basis of embodiment 1, which further comprises four adjustable support legs 14 for being set to the bottom of box.Adjustable support leg includes phase Electric cylinders 15, support rod 16 and the universal lower margin 17 mutually assembled.The electric cylinders and computer of each adjustable support leg communicate to connect.In conjunction with top The horizontal prompt facility of spiral shell instrument adjusts the height at each position of cabinet by the universal lower margin of computer operation.

Claims

1. a kind of ablation punctures 3 D locating device, it is characterised in that: the device includes cabinet, the computer being installed on cabinet And robot assemblies；The robot assemblies include vertically disposed first linking arm, the L-type with the first linking arm coaxial rotating Arm and the second linking arm being successively flexibly connected one by one with L-type arm free-end, third linking arm and inserting needle component；Described Two linking arms are relative to L-type arm in same horizontal plane rotation in different angles, and the third linking arm is with respect to the second linking arm in phase With vertical plane rotation in different angles；The inserting needle component includes guide bracket, set on the laser range finder of guide bracket one end and One gyroscope and microwave melt needle set on the guide bracket other end.

2. a kind of ablation according to claim 1 punctures 3 D locating device, it is characterised in that: the L-type arm and second The hinged place of linking arm and the hinged place of the second linking arm and third linking arm are all provided with restricted rotated each other One fastening bolt.

3. a kind of ablation according to claim 1 punctures 3 D locating device, it is characterised in that: first linking arm is Lifting loop bar based on screw structure.

4. a kind of ablation according to claim 1 punctures 3 D locating device, it is characterised in that: first linking arm with It is connected between cabinet by level(l)ing mechanism, the level(l)ing mechanism includes the folder for vertically fixing the first linking arm Fixture is installed on the second fastening bolt on cabinet and the second gyroscope on fixture, the tank floor are set by tool There is the adjustable support leg for adjusting edge supports height.

5. a kind of ablation according to claim 4 punctures 3 D locating device, it is characterised in that: the adjustable support leg includes Electric cylinders, support rod and universal lower margin.

6. a kind of ablation according to claim 5 punctures 3 D locating device, it is characterised in that: the adjustable support leg is equipped with 4, the electric cylinders and computer of each adjustable support leg communicate to connect.

7. a kind of ablation according to claim 1 punctures 3 D locating device, it is characterised in that: the computer and MR or CT equipment communication connection, computer are also communicated to connect with laser range finder.

8. a kind of ablation according to claim 1 punctures 3 D locating device, it is characterised in that: the laser range finder Laser emission direction is identical as the inserting needle direction of microwave melt needle and is overlapped.

9. a kind of ablation according to claim 1 punctures 3 D locating device, it is characterised in that: the inserting needle component and the Three linking arms are connected by bulb.