CN211534701U - Intervene puncture system and have its diagnosis and treatment equipment - Google Patents

Abstract

The utility model provides an intervene puncture system and have its diagnosis and treatment equipment. The interventional puncture system includes: the puncture mechanism capable of extending into a scanning cavity of imaging equipment comprises a position and posture adjusting component and an interventional instrument arranged at the end part of the position and posture adjusting component, wherein the position and posture adjusting component can drive the interventional instrument to move; the guide piece is connected with the position and posture adjusting component; and the control mechanism is connected with the guide piece and controls the guide piece to drive the position and posture adjusting component to move so as to intervene in the puncture operation by the intervention instrument. Intervene puncture mechanism and can be arranged in scanning the chamber during puncture operation to realize drive control by the cooperation of controlling mechanism and guide, conveniently realize puncture and the use in scanning the chamber, guarantee to intervene puncture operation can be accurate, high-efficient and safe completion puncture process.

Description

Intervene puncture system and have its diagnosis and treatment equipment

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to an intervene puncture system and have its diagnosis and treatment equipment.

Background

The real-time interventional puncture guided by magnetic resonance has great clinical value, and the puncture process can be accurately, efficiently and safely completed under the guidance of real-time images. However, the magnetic resonance imaging field of vision is in the middle area of the aperture, and the medical staff can not go deep to such a far place by bare hands, which affects the effect of interventional puncture.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide an intervention puncture system convenient for puncturing in a scanning cavity and a diagnosis and treatment device with the same aiming at the problem that the medical care personnel cannot manually extend into the middle of the aperture to perform an intervention operation at present.

The above purpose is realized by the following technical scheme:

an interventional puncture system comprising:

the puncture mechanism capable of extending into a scanning cavity of imaging equipment comprises a position and posture adjusting component and an interventional instrument arranged at the end part of the position and posture adjusting component, wherein the position and posture adjusting component can drive the interventional instrument to move;

the guide piece is connected with the position and posture adjusting component; and

and the control mechanism is connected with the guide piece and controls the guide piece to drive the position and posture adjusting component to move so as to intervene in the puncture operation by the intervention instrument.

In one embodiment, the control mechanism includes a control handle and a plurality of operation keys disposed on the control handle, and the plurality of operation keys are connected to the guide member to control the position and posture adjustment assembly to drive the interventional device to move.

In one embodiment, the guiding member is a flexible tube, and the flexible tube has a plurality of steel cables connecting the operation keys and the position and posture adjusting assembly.

In one embodiment, the plurality of operation keys include three operation knobs, and the three operation knobs are respectively connected with the position and posture adjusting assembly through the steel wire rope to drive the position and posture adjusting assembly to adjust the rotational degree of freedom and the translational degree of freedom of the interventional instrument in two directions.

In one embodiment, the interventional puncture system further comprises a support bracket for mounting the position and attitude adjustment assembly;

the support frame is arranged on the inner wall of the sickbed or the scanning cavity.

In one embodiment, the interventional puncture system further comprises a sliding mechanism disposed on an inner wall of the patient bed or the scanning cavity, and the puncture mechanism or the support frame is disposed on the sliding mechanism and can slide along the sliding mechanism.

In one embodiment, the sliding mechanism includes an axial sliding member disposed on an inner wall of the patient bed or the scanning chamber, the axial sliding member is extendable along a length direction of the patient bed, and the axial sliding member is configured to slidably mount the puncturing mechanism or the supporting frame.

In one embodiment, the sliding mechanism includes a three-axis sliding member disposed on an inner wall of the patient bed or the scanning chamber, and an output end of the three-axis sliding member is slidably mounted on the puncturing mechanism or the supporting frame for achieving three-axis displacement adjustment of the puncturing mechanism.

In one embodiment, the position and posture adjustment assembly includes a mounting member mounted on the guide member, a multi-degree-of-freedom moving member rotatably mounted on the mounting member, and a clamping member disposed at an end of the multi-degree-of-freedom moving member, the clamping member being configured to clamp the interventional instrument, and the multi-degree-of-freedom moving member being movable relative to the mounting member and driving the clamping member to move so as to move the interventional instrument to a vicinity of a lesion area.

A medical treatment device comprising an imaging device, a patient bed and an interventional puncture system according to any one of the above technical features;

the imaging device is provided with a scanning cavity;

the puncture mechanism can extend into a scanning cavity, and after the sickbed enters the scanning cavity, the control mechanism can control the puncture mechanism to carry out interventional puncture operation on a focus area of a patient;

wherein the imaging device is an MR device, a PET/MR device, a CT device, a PET/CT device.

After the technical scheme is adopted, the utility model discloses following technological effect has at least:

the utility model discloses an intervention puncture system and diagnosis and treatment equipment with the same, when the intervention puncture operation is performed, a sickbed drives a patient to enter a scanning cavity of imaging equipment together, so that the scanning cavity can image the focus area of the patient; meanwhile, the puncture mechanism can extend into the scanning cavity. After the focus area is determined, the control mechanism controls the position and posture adjusting component to move through the guide piece, so that the position and posture adjusting component drives the interventional instrument to align to the focus area, and the interventional instrument is inserted into the focus area of a patient according to the guidance of a real-time image of imaging equipment to complete interventional puncture operation. Intervene puncture mechanism when puncture operation can be arranged in the scanning chamber to realize drive control by the cooperation of control mechanism and guide, effectual solution medical personnel can't bare-handed stretch into the problem of interveneeing the operation in the middle of the aperture at present, conveniently realize puncture and the use in the scanning chamber. Meanwhile, the position and posture adjusting component drives the interventional instrument to be matched with the imaging device and then can be accurately inserted into a focus area of a patient, and the fact that the interventional puncture operation can be accurately, efficiently and safely completed in a puncture process is guaranteed.

Drawings

Fig. 1 is a schematic view of an interventional puncture system according to an embodiment of the present invention;

FIG. 2 is a schematic view of the interventional puncture system of FIG. 1 applied to a patient;

FIG. 3 is an enlarged, fragmentary schematic view of the interventional puncture system of FIG. 1;

fig. 4 is a perspective view of an interventional puncture system in accordance with another embodiment of the present invention.

Wherein:

100-an interventional puncture system;

110-a puncture mechanism;

111-position and attitude adjustment assembly;

1111-a mounting member;

1112-a multiple degree of freedom motion piece;

112-an interventional instrument;

120-a guide;

130-a steering mechanism;

131-a control handle;

132-operation keys;

140-a support frame;

200-a hospital bed;

300-patient.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the following description of the present invention, with reference to the accompanying drawings, will be made in further detail with reference to the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1-4, the present invention provides an interventional puncture system 100. The interventional puncture system 100 is applied to a medical instrument to perform an interventional puncture operation on a lesion area of a patient 300. Furthermore, the interventional puncture system 100 of the present invention can be extended into the scanning cavity of the imaging device (imaging body) to perform interventional puncture operation on the focus area of the patient 300 in the scanning cavity. The focus area of the patient 300 is scanned and imaged through the imaging device, the control system of the diagnosis and treatment device can receive the real-time image of the focus area, the interventional puncture system 100 guides the interventional puncture operation according to the real-time image, accurate positioning and accurate puncture are achieved, the success rate of the interventional puncture operation is improved, and the risk of medical accidents caused by accidental injuries is reduced.

The utility model discloses an intervene puncture system 100 and stretch into imaging device's scanning chamber after, need not medical personnel and stretch into the scanning intracavity and intervene the puncture operation, the convenient puncture and the control that realize in the scanning chamber are used. It is understood that the interventional puncture procedure herein includes, but is not limited to, tissue biopsy, tumor ablation, particle implantation, fluid collection, nerve block, superficial surgery, and other various interventional procedures.

Referring to fig. 1-4, in one embodiment, interventional puncture system 100 includes a puncture mechanism 110, a guide 120, and a steering mechanism 130. The puncture mechanism 110 can extend into the scanning cavity, the puncture mechanism 110 includes a position and posture adjusting component 111 and an interventional device 112 arranged at the end of the position and posture adjusting component 111, and the position and posture adjusting component 111 can drive the interventional device 112 to move to a focus area for interventional puncture operation. The guide 120 is connected to the position and attitude adjusting assembly 111. The control mechanism 130 is connected to the guide 120, and controls the guide 120 to drive the position and posture adjustment assembly 111 to move, so as to perform an interventional puncture operation with the interventional device 112.

Lancing mechanism 110 is the primary component of interventional lancing system 100 that performs interventional lancing operations. The puncture mechanism 110 can penetrate into the lesion area of the patient 300 to complete the interventional puncture procedure. In addition, the puncture mechanism 110 can accurately penetrate into the lesion area of the patient 300 after being matched with the local coil and the imaging device, so that the puncture process can be accurately, efficiently and safely completed in the interventional puncture operation.

The puncture mechanism 110 includes a position and posture adjusting assembly 111 and an interventional instrument 112. The position and posture adjusting component 111 is connected with the end of the guide member 120, the interventional device 112 is installed at the output end of the position and posture adjusting component 111, the position and posture adjusting component 111 can drive the interventional device 112 to move synchronously when moving, so that the interventional device 112 can move to the vicinity of a focus area, and then the position and posture adjusting component 111 drives the interventional device 112 to perform interventional puncture operation. The position and posture adjustment assembly 111 has a motion capability of at least two degrees of freedom, and can adjust the position and/or posture, and further adjust the position of the interventional device 112, so that the interventional device 112 can accurately move to the vicinity of the focal region and penetrate into the focal region of the patient 300 at an accurate interventional angle and posture.

Optionally, the interventional instrument 112 is a puncture needle. The puncture needle includes but is not limited to a biopsy needle, a radio frequency ablation needle, a microwave ablation needle or a puncture drainage needle, etc. Of course, in other embodiments of the present invention, the interventional instrument 112 may also include a non-contact treatment member or the like. Non-contact treatment components include, but are not limited to, radiation sources for radiation therapy, and the like.

The guide 120 is used to transmit the motion, and in particular, the guide 120 transmits the motion output by the operating mechanism 130. The steering mechanism 130 is held by and operated by a medical professional. When the medical staff operates the operation mechanism 130, the operation mechanism 130 outputs a corresponding motion, and the motion is transmitted to the position and posture adjusting assembly 111 of the puncturing mechanism 110 through the guiding element 120, so that the position and posture adjusting assembly 111 generates a corresponding motion, and the motion of the position and posture adjusting assembly 111 can drive the interventional device 112 to perform a corresponding action.

For example, the medical staff controls the control mechanism 130 to output a rotational motion, which is transmitted to the position and orientation adjusting assembly 111 through the guiding element 120, so that the position and orientation adjusting assembly 111 performs a rotational motion, and the position and orientation adjusting assembly 111 rotates to drive the interventional device 112 to move, thereby adjusting the angle of the interventional device 112. For another example, the medical staff controls the control mechanism 130 to output a moving motion, which is transmitted to the position and posture adjusting assembly 111 through the guiding element 120, so that the position and posture adjusting assembly 111 moves along a certain direction, and the position and posture adjusting assembly 111 moves to drive the interventional device 112 to move, so as to adjust the position of the interventional device 112 or to make the interventional device 112 penetrate into or move out of the lesion area of the patient 300.

When the interventional puncture system 100 of the above embodiment is used for a puncture interventional operation, the puncture mechanism 110 extends into the scanning cavity, meanwhile, the control mechanism 130 is located outside the scanning cavity and has a certain distance with the puncture mechanism 110, and the control mechanism 130 is connected with the puncture mechanism 110 through the guide 120. After the focal region is determined, the control mechanism 130 controls the position and posture adjustment component 111 to move through the guide 120, so that the position and posture adjustment component 111 drives the interventional device 112 to align with the focal region, and the interventional device is inserted into the focal region of the patient 300 according to the guidance of the real-time image of the imaging device, thereby completing the interventional puncture operation. Intervene puncture mechanism 110 during puncture operation and can be arranged in the scanning chamber to realize drive control by the cooperation of control mechanism 130 and guide 120, the effectual problem of solving present medical personnel can't bare-handed stretch into the aperture in the middle of intervene the operation, conveniently realize puncture and use in the scanning chamber. Meanwhile, the position and posture adjusting component 111 drives the interventional instrument 112 to be matched with the imaging device and then can be accurately inserted into the focus area of the patient 300, so that the interventional puncture operation can be accurately, efficiently and safely completed in a puncture process.

Optionally, the guide 120 is detachably connected to the manipulation mechanism 130 and the puncturing mechanism 110. In use, manipulation mechanism 130 may be coupled to lancing mechanism 110 via guide 120. After the use, the guide member 120, the operation mechanism 130 and the puncture mechanism 110 are detached, so that the storage is convenient. Of course, the guide 120 is fixedly connected with the manipulating mechanism 130 and the puncturing mechanism 110, and can be used directly without assembly.

Referring to fig. 1 and 3, in an embodiment, the control mechanism 130 includes a control handle 131 and a plurality of operation keys 132 disposed on the control handle 131, the plurality of operation keys 132 are connected to the guide 120, and the position and posture adjustment assembly 111 is controlled to drive the interventional instrument 112 to move. The control handle 131 can be held by medical staff. After the operator holds the control handle 131, the medical operator can manually control the operation key 132, and then the operation key 132 drives the position and posture adjusting assembly 111 to move through the guiding element 120, so as to adjust the position and posture of the interventional instrument 112. It is understood that the plurality of operation keys 132 can generate a plurality of movements, so that the position and orientation adjustment assembly 111 can achieve multi-degree-of-freedom adjustment, so that the position of the interventional instrument 112 can be better matched with the lesion area. Illustratively, the plurality of operation keys 132 may output rotational motion and/or translational motion, respectively. Optionally, the control handle 131 has a holding portion for holding the medical staff and a control portion, and the control portion is provided with a plurality of operation keys 132. Optionally, the holding portion and the manipulation portion are substantially L-shaped. And the free end of the holding part is provided with a convex part for assisting an operator to hold the holding part more stably. Optionally, the holding portion and the manipulation portion are of an integral structure. It is understood that the operator may hold the grip portion with a single hand and manipulate the operation keys 132 with the thumb or other fingers of the hand. Of course, the operator may also operate with both hands. Alternatively, the plurality of operation keys 132 include one operation key located on the upper surface of the manipulation part of the operation handle 131 and two operation keys located on the side surface of the manipulation part of the operation handle 131. The operating keys are reasonably arranged on different surfaces of the control part, so that the operating keys can be rotated more conveniently.

In one embodiment, the guiding element 120 is a flexible tube having a plurality of cables connecting the operation keys 132 and the position and orientation adjusting assembly 111. The flexible tube may provide bending of the guide member 120 to facilitate the transfer of movement when the operation key 132 is operated. The operation keys 132 are connected with the corresponding steel wire ropes, and when the operation keys 132 move, the steel wire ropes can move correspondingly, so that the position and posture adjustment assembly 111 is driven to move. It should be noted that the flexible pipe with the steel wire rope is an existing structure, and is not described in detail herein.

In an embodiment, the plurality of operation keys 132 includes three operation knobs, and the three operation knobs are respectively connected to the position and posture adjustment assembly 111 through a wire rope, so as to drive the position and posture adjustment assembly 111 to adjust the rotational degree of freedom and the translational degree of freedom of the interventional instrument 112 in two directions. The operation knob can rotate, and the position and posture adjusting component 111 is driven by the steel wire rope to move correspondingly. Illustratively, as shown in fig. 3, one of the operation knobs is an X-axis adjustment knob, which can drive the position and posture adjustment assembly 111 to drive the interventional device 112 to rotate/move around the X direction, the other operation knob is a Y-axis adjustment knob, which can drive the position and posture adjustment assembly 111 to drive the interventional device 112 to rotate/move around the Y direction, and the other operation knob is a Z-axis adjustment knob, which can drive the position and posture adjustment assembly 111 to drive the interventional device 112 to move along the Z direction. The adjustment of the swing posture of the interventional instrument 112 along two directions can be realized through the X-axis adjusting knob and the Y-axis adjusting knob. Through the Z-axis adjusting knob, the interventional instrument 112 can realize interventional puncture action. Of course, in other embodiments of the present invention, the operation key 132 may also be an operation button.

Referring to fig. 1-4, in one embodiment, the interventional puncture system 100 further includes a support bracket 140, and the support bracket 140 is used for mounting the position and posture adjustment assembly 111. The supporting frame 140 is disposed on the inner wall of the patient bed 200 or the scanning chamber. The support frame 140 is used for mounting the puncture mechanism 110, so that the puncture mechanism 110 is reliably supported to facilitate interventional puncture surgery on a lesion region. Specifically, the position and orientation adjusting assembly 111 is mounted on the supporting frame 140. Optionally, the support frame 140 is disposed on the hospital bed 200. Thus, the patient bed 200 can drive the supporting frame 140 and the puncturing mechanism 110 thereon into the scanning cavity, and then the control mechanism 130 controls the puncturing mechanism 110 to perform the interventional puncturing operation. Still alternatively, the support frame 140 is disposed on an inner wall of the scanning chamber. At this time, the puncturing mechanism 110 is directly located in the scanning cavity, and does not need to be moved, and after the hospital bed 200 enters the scanning cavity, the control mechanism 130 can directly control the puncturing mechanism 110 to perform the interventional puncturing operation. Of course, in other embodiments of the present invention, the position and posture adjustment assembly 111 can also be directly disposed on the patient bed 200, placed on the patient 300, disposed on the inner wall of the scanning chamber or other positions, and so on.

In one embodiment, the interventional puncture system 100 further includes a sliding mechanism disposed on the inner wall of the patient bed 200 or the scanning cavity, and the puncture mechanism 110 or the support 140 is disposed on the sliding mechanism and can slide along the sliding mechanism. The sliding mechanism is used for realizing position adjustment of the position and posture adjusting component 111, so that the position and posture adjusting component 111 can slide along the sliding mechanism. Alternatively, the sliding mechanism may be provided on the patient bed 200, or may be provided on the inner wall of the scanning chamber, or may be provided on a wall or ceiling near the imaging apparatus, or the like. Alternatively, lancing mechanism 110 can be mounted directly on a sliding mechanism, in which case lancing mechanism 110 can slide directly along the sliding mechanism; of course, the puncture mechanism 110 may also be disposed on the sliding mechanism through the supporting frame 140, and the supporting frame 140 may drive the position and posture adjusting assembly 111 to slide along the sliding mechanism.

Like this, position and gesture adjustment subassembly 111 can slide along sick bed 200 or scanning chamber through slide mechanism, and the position of adjustment position and gesture adjustment subassembly 111 at slide mechanism, and then the position of adjusting position and gesture adjustment subassembly 111 corresponding patient 300 for position and gesture adjustment subassembly 111 is closer to the focus area of patient 300, reduces the length that stretches out of position and gesture adjustment subassembly 111, is convenient for position and gesture adjustment subassembly 111's control.

It will be appreciated that adjustment of the general position of the piercing mechanism 110 is accomplished by a sliding mechanism such that the piercing mechanism 110 is positioned adjacent to the focal region of the patient 300. Then, the position and posture adjustment component 111 is driven by the control mechanism 130 to move, so as to finely adjust the position and posture of the interventional device 112, so that the interventional device 112 can be accurately aligned with the lesion area. Of course, the sliding mechanism may not be provided, and the medical staff may generally know the location of the lesion area in advance, place the puncturing mechanism 110 near the lesion area, and then fine-tune the position and posture of the interventional device 112 through the manipulating mechanism 130.

When an interventional puncture operation is performed, after the patient 300 is driven by the hospital bed 200 to move to the scanning cavity of the imaging device, the position and posture adjusting component 111 drives the interventional device 112 to move along the sliding mechanism, so that the position and posture adjusting component 111 is close to the focus area of the patient 300 as much as possible, the interventional device 112 is moved to the upper side of the focus area of the patient 300, and then the control mechanism 130 controls the position and posture adjusting component to adjust the posture of the interventional device 112 and perform the interventional puncture operation.

It is understood that the position and orientation adjustment assembly 111 may be actively driven or passively driven in the sliding mechanism. When the position and posture adjusting component 111 is actively driven, the power of the position and posture adjusting component 111 in the sliding mechanism can be provided by the sliding mechanism, and the sliding mechanism can drive the position and posture adjusting component 111 to slide along the sliding mechanism, which is described in detail later; of course, the power of the position and posture adjusting component 111 in the sliding mechanism can also be realized by a control system of the medical equipment, and the control system controls the position and posture adjusting component 111 to move along the sliding mechanism; the power of the position and orientation adjusting assembly 111 on the sliding mechanism can also be provided by the control mechanism 130, and the control mechanism 130 controls the position and orientation adjusting assembly 111 to move along the sliding mechanism. When the position and posture adjustment assembly 111 is driven passively, after the imaging device determines the focal region of the patient 300, the medical staff may manually control the position and posture adjustment assembly 111 to slide along the sliding mechanism, so that the position and posture adjustment assembly 111 is as close to the focal region of the patient 300 as possible.

Illustratively, the sliding mechanism includes a sliding drive coupled to lancing mechanism 110 to drive lancing mechanism 110 to slide along the sliding mechanism. That is, the sliding mechanism enables the position and orientation adjustment assembly 111 to be actively driven by sliding the driving member. The sliding driving member is a power source of the position and posture adjusting assembly 111, and can drive the position and posture adjusting assembly 111 to move along the sliding mechanism, so as to adjust the position of the position and posture adjusting assembly 111 on the hospital bed 200. Alternatively, the sliding driving member includes, but is not limited to, an electric motor, a pneumatic cylinder, a hydraulic cylinder, a piezoelectric ceramic, etc., and may also be other actuators capable of driving the position and orientation adjusting assembly 111.

In one embodiment, the sliding mechanism includes an axial slider disposed on the inner wall of the patient bed 200 or the scanning chamber, the axial slider can extend along the length direction of the patient bed 200, and the axial slider can be used to slidably mount the puncturing mechanism 110 or the supporting frame 140. Alternatively, the axial sliding member may be disposed on the patient bed 200, or may be disposed on the inner wall of the scanning chamber, and is used to slidably mount the supporting frame 140 and the position and posture adjusting assembly 111 thereon, or directly slidably mount the position and posture adjusting assembly 111. Thus, the position and orientation adjustment assembly 111 can slide along the axial sliding member to bring the interventional instrument 112 close to the lesion area.

Optionally, the axial slide includes, but is not limited to, a sliding slot or a sliding rail. Illustratively, the axial slide is an axial slide. Of course, the axial sliding member may have a linear type, a curved type, or a combination of linear and curved types. In this way, the position and orientation adjustment assembly 111 may be slid to scan any location within the cavity to facilitate alignment of the interventional instrument 112 at the end of the position and orientation adjustment assembly 111 with the focal region of the patient 300.

In other embodiments of the present invention, the sliding mechanism includes a three-axis sliding member disposed on the inner wall of the patient bed 200 or the scanning chamber, and the puncturing mechanism 110 or the supporting frame 140 is slidably mounted on the output end of the three-axis sliding member for adjusting the three-axis displacement of the puncturing mechanism 110. The three-axis slider can achieve adjustment of the displacement of the position and attitude adjustment assembly 111 in three directions. Illustratively, the three-axis slider includes an X-direction slider, a Y-direction slider, and a Z-direction slider, and the X-direction slider, the Y-direction slider, and the Z-direction slider can be sequentially connected in a sliding manner, wherein one of the two sliders is connected to the other two sliders, one of the two sliders is mounted on the inner wall of the patient bed 200 or the scanning chamber, and the other one is slidably mounted on the support frame 140 or the position and posture adjustment assembly 111. This may enable adjustment of the position and orientation adjustment assembly 111 in three-dimensional space.

Referring to fig. 3 and 4, in one embodiment, position and orientation adjustment assembly 111 includes a mounting member 1111 mounted on guide member 120, a multi-degree-of-freedom motion member 1112 rotatably mounted on mounting member 1111, and a clamping member disposed at an end of multi-degree-of-freedom motion member 1112 for clamping interventional instrument 112, wherein multi-degree-of-freedom motion member 1112 is movable relative to mounting member 1111 and drives clamping member to move interventional instrument 112 to a vicinity of a lesion. The mounting member 1111 is a bearing member of the position and orientation adjusting assembly 111, and can bear various components of the position and orientation adjusting assembly 111, and the position and orientation adjusting assembly 111 is connected to the guide 120 through the mounting member 1111 and is mounted on the support frame 140. Optionally, mount 1111 is telescopically arranged for adjusting the position of multiple degree of freedom motion 1112. In addition, the telescopic power source of the mounting piece 1111 is a motor, an air cylinder, a hydraulic cylinder or piezoelectric ceramics and the like; of course, the extension and retraction of the mounting member 1111 may also be controlled by the steering mechanism 130.

The multiple degree of freedom motion 1112 may implement motion in at least two degrees of freedom, and may be a component of the position and orientation adjustment assembly 111 that implements multiple degree of freedom motion to implement adjustment of the position and/or orientation of the interventional instrument 112. It is understood that, after the control mechanism 130 is connected to the mounting assembly, the multi-degree-of-freedom motion element 1112 can be controlled to rotate, move, swing, or the like at least two of, and further the multi-degree-of-freedom motion element 1112 drives the interventional instrument 112 to adjust the position of the interventional instrument 112. Specific structure for the multiple degree of freedom mover 1112 is mentioned below. The clamping member is used for clamping the interventional device 112, so that the interventional device 112 is reliably installed in the position and posture adjusting assembly 111, and the interventional device 112 is prevented from falling off during an operation. The multi-degree-of-freedom movement element 1112 is movably attached to the mounting member 1111 at one end and movably attached to the holding member at the other end. In this way, multi-degree of freedom motion element 1112 may move relative to mounting member 1111 to move clamping member and interventional instrument 112 therein.

In one embodiment, the multiple degree of freedom motion 1112 comprises a combination of one or more of a series robot, a parallel robot, and a flexible robot. That is, the multiple degree of freedom kinematic unit 1112 may include a plurality of serial robotic arms, and the interventional puncture procedure may be performed by connecting the plurality of serial robotic arms. The multiple degree of freedom motion 1112 may also include multiple parallel robotic arms coupled to perform an interventional procedure. Multi-degree-of-freedom motion 1112 may also include a flexible robotic arm having one end attached to mounting member 1111 and the other end for grasping interventional instrument 112 via a grasping member. Of course, the multi-degree-of-freedom motion element 1112 may further include at least one serial robot and at least one parallel robot, and the interventional puncture operation is performed by the cooperation of the serial robot and the parallel robot, in which case the parallel robot is located at the end of the serial robot. It will be appreciated that the tandem robot arm comprises a plurality of single arms, with rotatable connections between adjacent single arms. The parallel robotic arm may comprise, for example, a stewart platform.

Referring to fig. 1-3, in one embodiment, the multiple degree of freedom motion element 1112 is a flexible mechanical arm, one end of the flexible mechanical arm is mounted to the mounting member 1111, and the mounting member 1111 is connected to the guide element 120, and in use, the mounting member 1111 is further mounted to the support frame 140. The three knobs of the control mechanism 130 can control the degrees of freedom of the flexible robotic arm in three directions, so as to drive the interventional instrument 112 to perform corresponding actions.

Referring to fig. 4, in another embodiment, the multi-degree-of-freedom motion element 1112 further includes a parallel mechanical arm and a flexible mechanical arm, and the control mechanism 130 controls the parallel mechanical arm and the flexible mechanical arm to adjust the position and the posture of multiple degrees of freedom, and complete the interventional puncture operation according to the real-time image. The parallel mechanical arm is the stewart platform structure, the specific structure of the parallel mechanical arm is shown in fig. 4, and the parallel mechanical arm is provided with a plurality of telescopic rods to realize multi-degree-of-freedom adjustment. The flexible robotic arms are mounted to the output ends of the parallel robotic arms, and the interventional instrument 112 is mounted to the output ends of the flexible robotic arms. The parallel mechanical arm is assembled on the support frame 140, or can be directly placed on the body of the user.

Of course, in other embodiments of the present invention, the multiple degree of freedom kinematic element 1112 may also be a linkage structure or the like. It should be noted that the essential spirit of the multi-degree-of-freedom motion 1112 is that it can have a multi-degree-of-freedom drive scheme to achieve arbitrary adjustment of the position and/or attitude of the interventional instrument 112. In the above embodiments, several specific implementation forms of the multi-degree-of-freedom motion element 1112 have been described, but the multi-degree-of-freedom structure is various and cannot be exhaustive, and the multi-degree-of-freedom structure of the present invention is not limited to the specific implementation form.

Referring to fig. 1 to 4, the present invention further provides a medical apparatus, which comprises an imaging device (imaging body), a hospital bed 200 and an interventional puncture system 100 according to any one of the above technical features. The imaging device includes a scanning chamber extending along a length thereof. The puncturing mechanism 110 can extend into a scanning cavity of the imaging device, and after the hospital bed 200 enters the scanning cavity, the control mechanism 130 can control the puncturing mechanism 110 to perform an interventional puncturing operation on a lesion region of the patient 300. The utility model discloses a diagnosis and treatment equipment adopts intervention puncture system 100 back of above-mentioned embodiment, the focus region of location patient 300 that cooperation through imaging device can be accurate, and form images in real time to the focus region, and simultaneously, puncture mechanism 110 can stretch into in the scanning chamber when intervene the puncture operation, after confirming the focus region, control mechanism 130 can directly drive intervention apparatus 112 through guide 120 controlled position and gesture adjustment subassembly 111 and move the focus region in order to pierce patient 300 according to the real-time image that imaging device scanned, the completion is intervened the puncture operation.

Among the Imaging devices of the medical treatment device are a Magnetic Resonance Imaging (MR) device (body), a Positron Emission Computed Tomography (PET) device (body), a Computed Tomography (CT) device (body), a PET-MR device (body), a PET-CT device (body), and so on.

The utility model discloses an intervene puncture system 100 is applied to when medical equipment intervenes the puncture operation, and when puncture mechanism 110 was intervened by medical personnel control mechanism 130 execution, control system received the regional dynamic information of focus of imaging device feedback after, control system passed through information processing can be with the regional real-time image of this dynamic information generation focus. Then, the medical staff may control the movement of the puncturing mechanism 110 through the control mechanism 130, and the medical staff may observe the relative position relationship between the puncturing mechanism 110 and the lesion area in real time, so as to control the puncturing mechanism 110 to move above the lesion area of the patient 300, and at the same time, the medical staff may adjust the intervention angle of the intervention instrument 112 through the control mechanism 130 to adjust the position and posture adjusting component 111, so as to match the current real-time image of the lesion area. Subsequently, the medical staff controls the position and posture adjusting assembly 111 through the control mechanism 130 to drive the interventional instrument 112 to perform the interventional puncture operation. In addition, during the interventional puncture process, the medical staff can adjust the pose of the interventional device 112 according to the real-time image of the lesion area.

The technical features of the embodiments described above can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. An interventional puncture system, comprising:

the puncture mechanism capable of extending into a scanning cavity of imaging equipment comprises a position and posture adjusting component and an interventional instrument arranged at the end part of the position and posture adjusting component, wherein the position and posture adjusting component can drive the interventional instrument to move;

the guide piece is connected with the position and posture adjusting component; and

and the control mechanism is connected with the guide piece and controls the guide piece to drive the position and posture adjusting component to move so as to intervene in the puncture operation by the intervention instrument.

2. The interventional puncture system of claim 1, wherein the control mechanism comprises a control handle and a plurality of operation keys disposed on the control handle, the plurality of operation keys being connected to the guide member for controlling the position and posture adjustment assembly to move the interventional device.

3. The interventional puncture system of claim 2, wherein the guide is a flexible tube having a plurality of cables therein connecting the operation keys and the position and attitude adjustment assembly.

4. The interventional puncture system of claim 3, wherein the plurality of operation keys comprise three operation knobs, and the three operation knobs are respectively connected with the position and posture adjustment assembly through the steel wire rope to drive the position and posture adjustment assembly to adjust the rotational degree of freedom and the translational degree of freedom of the interventional instrument in two directions.

5. The interventional puncture system of any one of claims 1 to 4, further comprising a support bracket for mounting the position and attitude adjustment assembly;

the support frame is arranged on the inner wall of the sickbed or the scanning cavity.

6. The interventional puncture system of claim 5, further comprising a sliding mechanism disposed on an inner wall of the patient bed or the scanning cavity, wherein the puncture mechanism or the supporting frame is disposed on the sliding mechanism and can slide along the sliding mechanism.

7. The interventional puncture system of claim 6, wherein the sliding mechanism comprises an axial slider disposed on an inner wall of the patient bed or the scanning cavity, the axial slider being extendable along a length of the patient bed, the axial slider being configured to slidably mount the puncture mechanism or the support bracket.

8. The interventional puncture system of claim 6, wherein the sliding mechanism comprises a tri-axial slider disposed on an inner wall of the patient bed or the scanning cavity, and an output end of the tri-axial slider slidably mounts the puncture mechanism or the support bracket for three-axial displacement adjustment of the puncture mechanism.

9. The interventional puncture system of any one of claims 1 to 4, wherein the position and orientation adjustment assembly comprises a mounting member mounted to the guide member, a multi-degree-of-freedom motion member rotatably mounted to the mounting member, and a clamping member disposed at an end of the multi-degree-of-freedom motion member for clamping the interventional instrument, wherein the multi-degree-of-freedom motion member is movable relative to the mounting member and moves the clamping member to move the interventional instrument to a vicinity of a lesion area.

10. A medical device comprising an imaging device, a patient bed, and the interventional puncture system of any one of claims 1-9;

the imaging device is provided with a scanning cavity;

the puncture mechanism can extend into a scanning cavity, and after the sickbed enters the scanning cavity, the control mechanism can control the puncture mechanism to carry out interventional puncture operation on a focus area of a patient;

wherein the imaging device is an MR device, a PET/MR device, a CT device, a PET/CT device.

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