CN211534705U - 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 comprises a puncture mechanism which is suspended on the peripheral side of the imaging equipment and can extend into a scanning cavity of the imaging equipment, and after a sickbed enters the scanning cavity, the puncture mechanism can perform interventional puncture operation; puncture mechanism is including hanging to be located imaging device week side's position and posture adjustment subassembly and set up in the intervention apparatus of position and posture adjustment subassembly tip, position and posture adjustment subassembly can drive intervention apparatus stretches into scanning chamber and motion to sick bed top to intervene the puncture operation. The puncture mechanism suspended on the peripheral side of the imaging device extends into the scanning cavity, and after the focus area is determined, the position and posture adjusting component can drive the interventional instrument to move according to the real-time image scanned by the imaging device so as to penetrate into the focus area of the patient, thereby completing the interventional puncture operation.

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 reach 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 comprises a puncture mechanism which is suspended on the peripheral side of an imaging device and can extend into a scanning cavity of the imaging device, and after a sickbed enters the scanning cavity, the puncture mechanism can perform interventional puncture operation;

puncture mechanism is including hanging to be located imaging device week side's position and posture adjustment subassembly and set up in the intervention apparatus of position and posture adjustment subassembly tip, position and posture adjustment subassembly can drive intervention apparatus stretches into scanning chamber and motion to sick bed top to intervene the puncture operation.

In one embodiment, the puncture mechanism is provided on a mounting reference around the image forming apparatus so that the puncture mechanism is suspended on the peripheral side of the image forming apparatus, the mounting reference including a ceiling above the image forming apparatus or a wall on the peripheral side of the image forming apparatus.

In one embodiment, the position and posture adjustment assembly includes an installation component installed on the installation reference, a multi-degree-of-freedom motion component rotatably installed on the installation component, and a clamping component arranged at an end of the multi-degree-of-freedom motion component, wherein the clamping component is used for clamping the interventional instrument, and the multi-degree-of-freedom motion component can drive the clamping component to extend into the scanning cavity.

In one embodiment, the multiple degree of freedom motion piece comprises a rotatable rotating piece, a rotatable rotating piece and a pushing piece, the pushing piece can be used for installing the clamping piece and pushing the interventional instrument in the clamping piece to perform interventional puncture surgery, and the rotating piece can drive the pushing piece to move so as to adjust the interventional angle of the interventional instrument.

In one embodiment, the multi-degree-of-freedom motion piece comprises a serial mechanical arm and/or a parallel mechanical arm;

or the multi-degree-of-freedom motion piece comprises a serial mechanical arm and/or a parallel mechanical arm and flexible mechanical arm combination.

In one embodiment, the interventional puncture system further comprises a sliding mechanism disposed on the mounting base, wherein the sliding mechanism is used for slidably mounting the puncture mechanism, so that the puncture mechanism can move along the sliding mechanism to the vicinity of the lesion area.

In one embodiment, the sliding mechanism includes a sliding drive connected to the lancing mechanism to drive the lancing mechanism to slide along the sliding mechanism.

In one embodiment, the sliding mechanism includes a three-axis slider mounted to the mounting datum, and an output end of the three-axis slider slidably mounts the lancing mechanism.

In one embodiment, the sliding mechanism further comprises a connecting member, one end of the connecting member is mounted on the mounting datum, and the other end of the connecting member is mounted with the puncture mechanism so as to support the puncture mechanism at one end of the scanning cavity.

In one embodiment, the sliding mechanism further comprises an axial slider mounted to the connecting member, the axial slider being extendable into the scanning lumen for slidably mounting the puncture mechanism.

A medical treatment apparatus comprising an imaging apparatus having a scanning chamber, a patient support and an interventional puncture system according to any one of the above-mentioned features;

the interventional puncture system is suspended on the peripheral side of the imaging device and can extend into the scanning cavity, and after the sickbed enters the scanning cavity, the interventional puncture system can perform 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.

In one embodiment, the medical equipment further comprises a control system in transmission connection with the imaging equipment and the interventional puncture system, after the control system receives the real-time imaging of the focal region by the imaging equipment, the control system can control the position and posture adjusting component of the interventional puncture system to drive the interventional instrument to move to the vicinity of the focal region according to the real-time imaging, and control the position and posture adjusting component to drive the interventional instrument to perform the interventional puncture operation;

or, the diagnosis and treatment equipment further comprises a control system connected with the interventional puncture system, the control system can control the position and posture adjusting component of the interventional puncture system to drive the interventional instrument to move to the position near the focus area, and control the position and posture adjusting component to drive the interventional instrument to perform interventional puncture operation.

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 suspended on the peripheral side of the imaging device extends into the scanning cavity, and after the focus area is determined, the position and posture adjusting component can drive the interventional instrument to move according to the real-time image scanned by the imaging device so as to penetrate into the focus area of the patient, and the interventional puncture operation is completed. Intervene puncture mechanism when puncture operation can be arranged in the scanning chamber, and the problem of intervention operation in the middle of the unable bare-handed aperture of medical personnel is stretched into to effectual solution at present, conveniently realizes the puncture 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 perspective view of an interventional puncture system suspended at an end of an imaging device according to an embodiment of the present invention;

FIG. 2 is a perspective view of the interventional puncture system of FIG. 1 with the puncture mechanism mounted to the slide mechanism;

FIG. 3 is a perspective view of one embodiment of a multiple degree of freedom mover of the lancing mechanism shown in FIG. 1;

FIG. 4 is a perspective view of another embodiment of a multiple degree of freedom mover of the lancing mechanism shown in FIG. 1;

FIG. 5 is a perspective view of a third embodiment of a multiple degree of freedom mover in the lancing mechanism shown in FIG. 1;

FIG. 6 is a perspective view of a fourth embodiment of a multiple degree of freedom mover in the lancing mechanism shown in FIG. 1;

FIG. 7 is a perspective view of the lancing mechanism of FIG. 6 suspended in a scan chamber by an axial slide.

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;

11121-a rotating member;

11122-rotating member;

11123-a pusher;

1113-a clamp;

112-an interventional instrument;

130-a sliding mechanism;

131-an axial slide;

132-a three-axis slider;

135-a connector;

200-a hospital bed;

300-patient;

400-an imaging device;

410-scanning the chamber.

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 and 7, 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. Moreover, the interventional puncture system 100 of the present invention can be extended into the scanning cavity 410 of the imaging device 400 (imaging body), and an interventional puncture operation is performed on the lesion area of the patient 300 in the scanning cavity 410. The focus area of the patient 300 is scanned and imaged through the imaging device 400, the control system of the diagnosis and treatment device can receive the real-time image of the focus area, then the intervention puncture system 100 is controlled to guide the intervention puncture operation according to the real-time image, accurate positioning and accurate puncture are achieved, the success rate of the intervention 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 is in order to stretch into imaging device 400's scanning chamber 410 back, need not medical personnel and stretch into and intervene the puncture operation in scanning chamber 410, conveniently realizes the puncture in scanning chamber 410. Meanwhile, the position and posture adjusting component 111 drives the interventional instrument 112 to be matched with the imaging device 400, so that the interventional instrument can accurately penetrate into a focus area of the patient 300, and the interventional puncture operation can be accurately, efficiently and safely completed in a puncture process. 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 and 7, in an embodiment, the interventional puncture system 100 includes a puncture mechanism 110 suspended around the imaging device 400 and extending into the scanning cavity 410 of the imaging device 400, and after the patient bed 200 enters the scanning cavity 410, the puncture mechanism 110 can perform an interventional puncture operation on a lesion area. The puncture mechanism 110 includes a position and posture adjusting component 111 suspended on the periphery of the imaging device 400 and an interventional device 112 disposed 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 extend into the scanning cavity 410 and move to the vicinity of the lesion area, so as to perform an interventional puncture operation.

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. After the puncturing mechanism 110 is suspended near the end face of the imaging device 400, the patient 300 is driven by the hospital bed 200 to move to the scanning cavity 410, and the puncturing mechanism 110 beside the imaging device 400 can extend into the scanning cavity 410, so that puncturing in the scanning cavity 410 can be conveniently realized. After the focal region is determined, the position and posture adjustment component 111 drives the interventional device 112 to move according to the real-time image scanned by the imaging device 400 to penetrate into the focal region of the patient 300, thereby completing the interventional puncture operation. Moreover, the puncture mechanism 110 can accurately puncture the lesion area of the patient 300 after being matched with the imaging device 400, so that the puncture process can be accurately, efficiently and safely completed in the interventional puncture operation. It will be appreciated that the lancing mechanism 110 can perform lancing autonomously or under the control of a medical practitioner, as will be described later.

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 suspended at the end of the imaging device 400, 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.

When the interventional puncture system 100 of the above embodiment is used for interventional puncture surgery, the patient 300 is driven by the hospital bed 200 to enter the scanning cavity 410 of the imaging device 400 together, so that the scanning cavity 410 can image the focal region of the patient 300; meanwhile, the puncture mechanism 110 suspended on the peripheral side of the imaging device 400 extends into the scanning cavity 410, and after the lesion area is determined, the position and posture adjustment component 111 can drive the interventional device 112 to move according to the real-time image scanned by the imaging device 400 so as to penetrate into the lesion area of the patient 300, thereby completing the interventional puncture operation. Intervene puncture mechanism 110 during puncture operation and can be arranged in scanning chamber 410, and the problem of intervention operation in the middle of the unable bare-handed aperture of medical personnel at present of effectual solution conveniently realizes the puncture in scanning chamber 410. Meanwhile, the position and posture adjusting component 111 drives the interventional instrument 112 to be matched with the imaging device 400, so that the interventional instrument can accurately penetrate into a focus area of the patient 300, and the interventional puncture operation can be accurately, efficiently and safely completed in a puncture process.

In one embodiment, the lancing mechanism 110 is provided at a mounting reference around the imaging apparatus 400 such that the lancing mechanism 110 is suspended at the peripheral side of the imaging apparatus 400, the mounting reference including a ceiling above the imaging apparatus 400 or a wall at the peripheral side of the imaging apparatus 400. It is understood that the mounting position of the puncturing mechanism 110 is not limited in principle, as long as the puncturing mechanism 110 can be suspended at the end of the imaging device 400 and can extend into the scanning cavity 410 for interventional puncturing operation. For example, the lancing mechanism 110 can be mounted to a wall or ceiling near the imaging device 400, which can facilitate interventional procedures performed by the lancing mechanism 110. If there is a side wall near the imaging device 400, the piercing mechanism 110 may be mounted on the wall; of course, the puncture mechanism 110 may be mounted in a suspended manner on the ceiling near the imaging apparatus 400, so that an interventional operation may be performed. When the puncture mechanism 110 adopts the above manner, the occupied operation space can be reduced, and the interventional operation is convenient. Specifically, during the interventional puncture operation, the puncture mechanism 110 may move to the end of the imaging device 400 and extend into the scanning cavity 410, and after the interventional puncture operation is completed, the puncture mechanism 110 moves out of the scanning cavity 410 and moves to a wall or a ceiling, so as to reduce the occupied space.

Optionally, lancing mechanism 110 is fixedly or removably attached to the mounting datum. Alternatively, the lancing mechanism 110 can be fixedly mounted to the mounting datum. That is, the piercing mechanism 110 can be integrally formed with the mounting standard, which can reduce the number of assembly processes; of course, lancing mechanism 110 can also be secured to a mounting datum in a subsequent process, such as by welding or the like. Still alternatively, the lancing mechanism 110 is removably mounted to a mounting datum. That is, the position and posture adjusting component 111 and the installation reference are separately arranged, when the interventional puncture operation is performed, the position and posture adjusting component 111 is installed on the installation reference, and after the operation is completed, the position and posture adjusting component 111 is detached from the installation reference, so that the position and posture adjusting component 111 and the installation reference can be conveniently accommodated; meanwhile, the position and posture adjusting components 111 in different types are convenient to replace so as to adapt to different types of interventional puncture operations. Optionally, the puncturing mechanism 110 is detachably mounted to the mounting standard by a pin connection, a bolt connection, a bayonet connection, an interference connection, an adhesive connection, or the like.

It can be understood that, when the position and orientation adjusting component 111 is directly disposed on the mounting reference, the position and orientation adjusting component 111 can be extended by a longer length to adapt to the interventional puncture operation of any lesion area. Of course, the position and orientation adjusting unit 111 may be provided to the installation reference by a moving member such as the slide mechanism 130.

Referring to fig. 1, 2 and 7, in one embodiment, the interventional puncture system 100 further comprises a sliding mechanism 130 disposed at the mounting reference, the sliding mechanism 130 being configured to slidably mount the puncture mechanism 110 such that the puncture mechanism 110 is movable along the sliding mechanism 130 to the vicinity of the lesion area. The sliding mechanism 130 is used to slidably mount the position and orientation adjusting assembly 111. Thus, the position and posture adjusting component 111 can slide along the installation reference through the sliding mechanism 130, the position of the position and posture adjusting component 111 on the sliding mechanism 130 is adjusted, and then the position of the position and posture adjusting component 111 on the installation reference is adjusted, so that the position and posture adjusting component 111 is closer to the lesion area of the patient 300, the extending length of the position and posture adjusting component 111 is reduced, and the control of the position and posture adjusting component 111 is facilitated.

When the interventional puncture operation is performed, after the patient 300 is driven by the hospital bed 200 to move to the scanning cavity 410 of the imaging device 400, the position and posture adjusting component 111 drives the interventional device 112 to extend into the scanning cavity 410 along the sliding mechanism 130, so that the position and posture adjusting component 111 is as close to the lesion area of the patient 300 as possible. Then, the position and posture adjustment component 111 drives the interventional device 112 to move above the lesion area of the patient 300, and performs an interventional puncturing operation.

It is understood that the position and orientation adjustment assembly 111 may be actively driven or passively driven at the sliding mechanism 130. When the position and orientation adjusting assembly 111 is actively driven, the power of the position and orientation adjusting assembly 111 on the sliding mechanism 130 can be provided by the sliding mechanism 130, and the sliding mechanism 130 can drive the position and orientation adjusting assembly 111 to slide along the sliding mechanism 130, which will be described in detail later; of course, the power of the position and orientation adjusting assembly 111 on the sliding mechanism 130 can also be realized by the control system of the medical equipment, and the control system controls the position and orientation adjusting assembly 111 to move along the sliding mechanism 130. When the position and orientation adjusting assembly 111 is driven passively, after the imaging device 400 determines the focal region of the patient 300, the medical staff may manually control the position and orientation adjusting assembly 111 to slide along the sliding mechanism 130, so that the position and orientation adjusting assembly 111 is as close to the focal region of the patient 300 as possible.

Illustratively, sliding mechanism 130 includes a sliding drive coupled to lancing mechanism 110 to drive lancing mechanism 110 to slide along sliding mechanism 130. That is, the sliding mechanism 130 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 orientation adjusting assembly 111, and can drive the position and orientation adjusting assembly 111 to move along the sliding mechanism 130, so as to adjust the position of the position and orientation adjusting assembly 111 on the patient 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.

Referring to fig. 1 and 2, in one embodiment, the sliding mechanism 130 includes a three-axis slider 132, the three-axis slider 132 being mounted to a mounting datum, and an output end of the three-axis slider 132 slidably mounting the lancing mechanism 110. The three-axis slide 132 may enable adjustment of the position and attitude adjustment assembly 111 for displacement in three directions relative to the lesion area. Illustratively, the three-axis slider 132 includes an X-direction slider, a Y-direction slider, and a Z-direction slider, which are slidably connected in sequence, wherein one slider is connected to the other two sliders, one of which is mounted to the image forming apparatus 400, and the other is slidably mounted to the position and attitude adjustment assembly 111. This may enable adjustment of the position and orientation adjustment assembly 111 in three-dimensional space.

As shown in FIG. 7, in one embodiment, the sliding mechanism 130 further comprises a link 135, one end of the link 135 is mounted to the mounting datum, and the other end of the link 135 mounts the lancing mechanism 110 to support the lancing mechanism 110 at one end of the scanning chamber 410. The link 135 corresponds to a support rod or the like, and can support the puncture mechanism 110 on an installation reference. After the connecting member 135 is disposed, one end of the connecting member 135 is mounted on the mounting reference, the other end of the connecting member 135 faces the scanning cavity 410, and the puncturing mechanism 110 can be mounted on the connecting member 135 and further can be directly extended into the scanning cavity 410 for interventional puncturing operation.

In one embodiment, the sliding mechanism 130 further comprises an axial slider 131 mounted to the connecting member 135, the axial slider 131 can extend into the scanning chamber 410 for slidably mounting the puncture mechanism 110. The axial slide 131 is always located in the scanning chamber 410 and extends in the axial direction of the scanning chamber 410. The bottom of the position and posture adjusting component 111 is mounted on the axial sliding member 131 and can slide along the axial sliding member 131, so that the position and posture adjusting component 111 can drive the interventional device 112 to be close to the lesion area, and the position and posture adjusting component 111 can be controlled conveniently.

Axial slide 131 includes, but is not limited to, a slide slot or a slide rail. Illustratively, the axial slide 131 is an axial slide. Of course, the axial sliding member 131 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 can be slid to any position of the scanning cavity 410, facilitating the interventional instrument 112 at the end of the position and orientation adjustment assembly 111 to be moved over the patient bed and aligned with the focal region of the patient 300.

Illustratively, the number of the connecting members 135 is two, and both ends of the axial slider 131 extend from both ends of the scanning chamber 410 and are mounted to the mounting reference through the connecting members 135, so as to ensure reliable support of the axial slider 131 and the puncture mechanism 110 thereon.

As shown in fig. 1 and 7, the top end of the sliding mechanism 130 in fig. 1 is fixed to the ceiling, and the connecting member 135 in fig. 7 is fixed to the ceiling.

Referring to fig. 2 to 6, in one embodiment, the position and orientation adjustment assembly 111 includes a mounting member 1111 mounted on a mounting reference, a multi-degree-of-freedom motion member 1112 rotatably mounted on the mounting member 1111, and a clamping member 1113 disposed at an end of the multi-degree-of-freedom motion member 1112, wherein the clamping member 1113 is used for clamping the interventional device 112, and the multi-degree-of-freedom motion member 1112 can drive the clamping member 1113 to extend into the scanning lumen 410, so that the interventional device 112 moves to a position near a lesion area. The mounting member 1111 is disposed on the mounting reference, and is a bearing member of the position and posture adjusting assembly 111, and can bear various components of the position and posture adjusting assembly 111, and the position and posture adjusting assembly 111 is mounted on the hospital bed 200 through the mounting member 1111; of course, the mounting member 1111 may be mounted to the mounting reference by the sliding mechanism 130 in the above embodiment, and the mounting member 1111 may slide along the sliding mechanism 130. Optionally, mount 1111 is a mounting bar or a mount. Further, mounting member 1111 is telescopically arranged for adjusting the position of multiple degree of freedom movement 1112. The retractable power source of the mounting member 1111 may be a motor, an air cylinder, a hydraulic cylinder, or a piezoelectric ceramic.

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 the multiple degree of freedom motion 1112 may control the interventional instrument 112 to produce at least two of rotation, translation, oscillation, and the like. Specific structure for the multiple degree of freedom mover 1112 is mentioned below. The clamping member 1113 is used to clamp 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 the operation. The multi-degree-of-freedom movement member 1112 is movably attached to the mounting member 1111 at one end and movably attached to the holding member 1113 at the other end. In this way, multi-degree-of-freedom motion element 1112 can move relative to mounting element 1111 to move clamping element 1113 and interventional instrument 112 therein.

Referring to fig. 2 to 6, in an embodiment, the multiple degree of freedom movement element 1112 includes a rotatable rotation element 11121, a rotatable rotation element 11122, and a pushing element 11123, the pushing element 11123 can mount the clamping element 1113 and push the interventional device 112 in the clamping element 1113 for interventional puncture, and the rotation element 11122 and the rotation element 11121 can drive the pushing element 11123 to move to adjust the interventional angle of the interventional device 112.

The rotating part 11121 can make the multi-degree-of-freedom moving part 1112 have the freedom of swinging motion, the rotating part 11122 can make the multi-degree-of-freedom moving part 1112 have the freedom of rotating motion, and the rotating part 11121 and the rotating part 11122 can make the multi-degree-of-freedom moving part 1112 generate moving displacement when rotating. It is understood that the rotating member 11121 is rotatably mounted to the mounting member 1111 and the rotating member 11122 is rotatably mounted to the rotating member 11121; the rotating member 11122 may be rotatably attached to the mounting member 1111 and the rotating member 11121 may be rotatably attached to the rotating member 11122. Furthermore, the number of the rotating member 11121 and the rotating member 11122 is one or more, the rotating member 11121 includes but is not limited to a rotating link, and the rotating member 11122 includes but is not limited to a rotating link. Optionally, the rotating members 11121 and the rotating members 11122 have driving capability to drive the rotating members 11121 and the rotating members 11122 to move. Furthermore, the driving capability is realized by a motor, an air cylinder, a hydraulic cylinder or piezoelectric ceramics.

The pushing member 11123 is mounted to the end of the rotating member 11122 or the rotating member 11121 on which the holding member 1113 is movably mounted. The pusher 11123 is used to effect pushing of the interventional instrument 112 such that the interventional instrument 112 penetrates a focal region of the patient 300. It will be appreciated that the interventional instrument 112 is rotated relative to the mounting member 1111 by the rotating member 11121 and the rotating member 11122 to adjust the position and posture of the interventional instrument 112 such that the interventional instrument 112 is positioned above the lesion area at an optimal interventional angle. Then, the pushing member 11123 pushes the holding member 1113 to move the interventional device 112 linearly along the interventional angle, so that the interventional device 112 penetrates into the lesion area of the patient 300. Alternatively, the pusher 11123 includes a housing and a linearly moving member disposed in the housing, and the clamp 1113 is located in the housing and mounted to an end of the linearly moving member. When the linear motion part moves, the clamping part 1113 can be pushed to drive the interventional device 112 to move. Further, the linear motion member includes, but is not limited to, a linear motor, a hydraulic cylinder, an air cylinder, or other components capable of outputting linear motion.

Of course, the pushing member 11123 can also be a component of the telecentric fixed point function currently used in surgery, and the pushing member 11123 can ensure that the position and posture of the interventional device 112 are fixed after the rotating member 11121 and the rotating member 11122 ensure the interventional angle of the interventional device 112. Subsequently, the pusher member 11123 may provide rotational and push control of the interventional instrument 112 so that the interventional instrument 112 may be accurately inserted into the lesion of the patient 300. The parts with the telecentric fixed point function form a stable supporting mechanism by a plurality of connecting rods, which is the prior art and is not described in detail herein. And the pushing piece 11123 has driving capability to realize the driving of the pushing piece movement. Furthermore, the driving capability is realized by a motor, an air cylinder, a hydraulic cylinder or piezoelectric ceramics.

Alternatively, the multiple degree of freedom kinematic element 1112 may be used in conjunction with the slide mechanism 130, or may be used alone. Several specific configurations of the multiple degree of freedom motion assembly are illustrated below.

Illustratively, as shown in FIG. 5, FIG. 5 is a schematic view of a third embodiment of multiple degree of freedom mover 1112 in lancing mechanism 110. In this embodiment, the multiple degree of freedom kinematic elements 1112 are used alone. The rotating member 11121 includes two horizontal links rotatably connected to the mounting member 1111, one of the horizontal links rotatably mounting the rotating member 11122, and a swinging link mounted to the end of the rotating member 11122, a pushing member 11123 mounted to the end of the swinging link, and a pushing member 11123 movably mounting the holding member 1113. At this time, the mounting member 1111 may be directly installed on a mounting reference such as a wall, and of course, the mounting member 1111 may be installed on a ceiling, and the horizontal link is a vertical link, accordingly. Thus, movement of the two horizontal links causes the rotation member 11122, the swing link, and the pushing member 11123 to extend, such that the interventional instrument 112 moves over the focal region. The rotation of the rotating member 11122 and the swinging of the swinging link can drive the pushing member 11123 and the interventional device 112 therein to move so as to adjust the posture of the interventional device 112, so that the interventional device 112 is located above the lesion area at an accurate interventional angle. Of course, in this case, the multiple degree of freedom motion element 1112 can also move in cooperation with the first slider, the first slider and the second slider, or the three-axis slider 132 in the sliding mechanism 130.

Illustratively, as shown in FIG. 4, FIG. 4 is a schematic view of another embodiment of multiple degree of freedom mover 1112 in lancing mechanism 110. In this embodiment, the multiple degree of freedom kinematic elements 1112 may be used in conjunction with the slide mechanism 130. The multiple degree of freedom motion piece 1112 is mounted on the axial slider 131 or the three-axis slider 132 of the sliding mechanism 130 through the mounting piece 1111, the multiple degree of freedom motion piece 1112 drives the pushing piece 11123 and the interventional instrument 112 therein to move above the lesion area through the sliding mechanism 130, and the multiple degree of freedom motion piece 1112 adjusts the interventional angle of the interventional instrument 112, so that the interventional instrument 112 can accurately penetrate into the lesion area of the patient 300. Specifically, as shown in the figure, the multiple degree of freedom movement element 1112 includes a rotatable rotating element 11122 and a swingable rotating element 11121, one end of the rotating element 11121 is swingably connected to the end of the mounting member 1111, the other end of the rotating element 11121 is rotatably connected to the rotating element 11122, and the pushing element 11123 is connected to the end of the rotating element 11122 away from the rotating element 11121. At this time, the mounting member 1111 is mounted to the mounting standard by the slide mechanism 130. The engagement of the rotating member 11122 and the rotating member 11121 can drive the pushing member 11123 and the interventional device 112 therein to move so as to adjust the posture of the interventional device 112, so that the interventional device 112 is located above the lesion area at a correct interventional angle.

Illustratively, as shown in FIGS. 2 and 3, FIG. 3 is a schematic view of one embodiment of a multiple degree of freedom motion element 1112 in lancing mechanism 110. In this embodiment, the pushing member 11123 is mounted to the end of the rotating member 11121, the end of the rotating member 11121 remote from the pushing member 11123 is swingably mounted to the rotating member 11122, and the end of the rotating member 11122 remote from the rotating member 11121 is rotatably mounted to the mounting member 1111. When the multi-degree-of-freedom motion element 1112 moves, the rotating element 11122 may rotate the rotating element 11121 and the pushing element 11123 relative to the mounting element 1111, and the cooperation between the rotating element 11121 and the pushing element 11123 may drive the pushing element 11123 and the interventional device 112 therein to move, so as to adjust the posture of the interventional device 112, such that the interventional device 112 is located above the lesion area at an accurate interventional angle. The multiple degree of freedom motion element 1112 in this embodiment may be attached to the tri-axial slide 132 of the slide mechanism 130 by a mounting member 1111, but of course, the multiple degree of freedom motion element 1112 in this embodiment may be attached to the axial slide 131 by a mounting member 1111, or may be used alone.

The push member 11123 in the above embodiments can be a straight-line moving part or a part with a function of a far center point.

Referring to FIG. 6, in one embodiment, the multiple degree of freedom motion 1112 comprises a tandem robot arm and/or a parallel robot arm. 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. 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.

Illustratively, as shown in fig. 6, the multiple degree of freedom kinematic element 1112 includes a plurality of serial robotic arms, and the interventional puncture procedure is performed according to real-time images through the plurality of serial robotic arm connections. The tandem arm assembly is mounted to the patient bed 200 by a mount 1111 and also can be adjusted in position on a mounting reference such as a ceiling by engagement of the axial slide 131 or the tri-axial slide 132 of the slide mechanism 130.

In one embodiment, the multi-degree-of-freedom motion 1112 comprises a combination of serial and/or parallel robots and flexible robots. That is, the multi-degree-of-freedom kinematic element 1112 may include a plurality of serial robots and flexible robots at ends of the serial robots, the flexible robots being mounted with the gripping members 1113. The multi-degree-of-freedom motion part 1112 may also include a plurality of parallel mechanical arms and a flexible mechanical arm at the end of the parallel mechanical arms, and the flexible mechanical arm is provided with a clamping part 1113 to implement an interventional puncture operation. Of course, the multi-degree-of-freedom motion element 1112 may further include at least one serial mechanical arm, at least one parallel mechanical arm, and a flexible mechanical arm, where the flexible mechanical arm is mounted with the clamp 1113, and the serial mechanical arm, the parallel mechanical arm, and the flexible mechanical arm cooperate together to implement an interventional puncture operation.

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 are described, but the multi-degree-of-freedom driving manner is various in arrangement and cannot be exhaustive, and the multi-degree-of-freedom driving manner of the present invention is not limited to the implementation by the above specific structure.

Referring to fig. 1 and 7, the present invention further provides a medical apparatus including an imaging apparatus 400 (imaging body) having a scanning chamber 410, a patient bed 200 for carrying a patient 300, and the interventional puncture system 100 of the above embodiments. The interventional puncture system 100 is suspended around the imaging device 400 and can extend into the scanning cavity 410, and after the hospital bed 200 enters the scanning cavity 410, the interventional puncture system 100 can perform interventional puncture operation on the lesion area of the patient 300. The utility model discloses a diagnosis and treatment equipment adopts intervention puncture system 100 back of above-mentioned embodiment, through the focus region of location patient 300 that imaging device 400 can be accurate, and form images in real time the focus region, and simultaneously, puncture mechanism 110 can stretch into scanning chamber 410 when intervene the puncture operation, after confirming the focus region, position and gesture adjustment subassembly 111 can directly drive intervene apparatus 112 according to the real-time image motion of imaging device 400 scanning with the focus region of piercing patient 300, accomplish and intervene the puncture operation. Moreover, the puncture mechanism 110 is suspended at the end of the imaging device 400, and can extend into the scanning cavity 410 during the puncture operation, so that medical personnel do not need to extend into the scanning cavity 410 to intervene in the puncture operation, and the effect of the intervention puncture operation is ensured.

Among them, the imaging device 400 (imaging body) may be 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), or the like.

In an embodiment, the medical apparatus further includes a control system in transmission connection with the imaging apparatus 400 and the interventional puncture system 100, and after the control system receives the real-time imaging of the focal region by the imaging apparatus 400, the control system may control the position and posture adjustment component 111 of the interventional puncture system 100 to drive the interventional device 112 to move to the vicinity of the focal region according to the real-time imaging, and control the position and posture adjustment component 111 to drive the interventional device 112 to perform the interventional puncture operation. Or, the medical apparatus further includes a control system connected to the interventional puncture system 100, the control system may control the position and posture adjusting component 111 of the interventional puncture system 100 to drive the interventional device 112 to move to a position near the lesion area, and control the position and posture adjusting component 111 to drive the interventional device 112 to perform the interventional puncture operation. It is understood that the transmission connection may be a wired connection, or may be a wireless connection such as a communication connection.

When the puncture mechanism 110 autonomously completes puncture, after the control system receives dynamic information of a focus area fed back by the imaging device 400, the control system can generate a real-time image of the focus area from the dynamic information through information processing, and further the control information can process the position of the puncture mechanism 110 and the position of the focus area to obtain the distance between the puncture mechanism 110 and the focus area, and plan a movement path of the puncture mechanism 110 moving to the vicinity of the focus area to obtain a preset planning path; the angle of penetration mechanism 110 into the lesion area is also planned to obtain a predetermined angle of intervention. Then, the control system controls the puncture mechanism 110 to move to the vicinity of the lesion area according to a predetermined planned path, and then the control system controls the puncture mechanism 110 to perform an intervention operation according to a predetermined intervention angle. In addition, in the process of interventional puncture, medical personnel can observe the relative position relationship between the puncture mechanism 110 and a focus area in real time, so as to avoid the occurrence of deviation. Of course, the predetermined planned path as well as the predetermined angle of intervention may also be planned manually by the medical staff. It can be understood that the control system processes information and positions in the prior art, and details thereof are omitted here.

When the puncture mechanism 110 is controlled by a medical staff to perform interventional puncture, after the control system receives dynamic information of a lesion area fed back by the imaging device 400, the control system can generate a real-time image of the lesion area from the dynamic information through information processing. Then, the medical staff may control the movement of the puncturing mechanism 110 through a control system, such as a remote controller, a joystick, etc., 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 position and posture adjusting component 111 adjusts the intervention angle of the interventional instrument 112 to match the current real-time image of the lesion area. Subsequently, the medical staff drives the interventional device 112 to perform the interventional puncture operation through the position and posture adjusting assembly 111 controlled by a control system such as a remote controller, a joystick and the like. In addition, during the interventional puncture procedure, the medical staff may adjust 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 is characterized by comprising a puncture mechanism which is suspended on the peripheral side of an imaging device and can extend into a scanning cavity of the imaging device, and after a sickbed enters the scanning cavity, the puncture mechanism can perform interventional puncture operation;

puncture mechanism is including hanging to be located imaging device week side's position and posture adjustment subassembly and set up in the intervention apparatus of position and posture adjustment subassembly tip, position and posture adjustment subassembly can drive intervention apparatus stretches into scanning chamber and motion to sick bed top to intervene the puncture operation.

2. The interventional puncture system of claim 1, wherein the puncture mechanism is disposed at a mounting datum about the imaging device such that the puncture mechanism overhangs a peripheral side of the imaging device, the mounting datum comprising a ceiling above the imaging device or a wall on the peripheral side of the imaging device.

3. The interventional puncture system of claim 2, wherein the position and orientation adjustment assembly comprises a mounting member mounted to the mounting reference, 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, the clamping member being configured to clamp the interventional instrument, the multi-degree-of-freedom motion member driving the clamping member to extend into the scanning lumen.

4. The interventional puncture system of claim 3, wherein the multiple degree of freedom motion member comprises a rotatable rotation member, and a pushing member, the pushing member is capable of mounting the holder and pushing the interventional instrument in the holder for interventional puncture, and the rotation member are capable of driving the pushing member to move to adjust an interventional angle of the interventional instrument; or; the multi-degree-of-freedom moving part comprises a serial mechanical arm and/or a parallel mechanical arm;

or the multi-degree-of-freedom motion piece comprises a serial mechanical arm and/or a parallel mechanical arm and flexible mechanical arm combination.

5. The interventional puncture system of any one of claims 2 to 4, further comprising a sliding mechanism provided to the mounting reference for slidably mounting the puncture mechanism.

6. The interventional puncture system of claim 5, wherein the sliding mechanism includes a sliding drive coupled to the puncture mechanism to drive the puncture mechanism to slide along the sliding mechanism.

7. The interventional puncture system of claim 6, wherein the sliding mechanism includes a tri-axial slider mounted to the mounting datum and an output end of the tri-axial slider slidably mounts the puncture mechanism.

8. The interventional puncture system of claim 6, wherein the sliding mechanism further comprises a connector, one end of the connector being mounted to the mounting datum and the other end of the connector mounting the puncture mechanism to support the puncture mechanism at one end of the scanning lumen.

9. A medical device comprising an imaging device having a scanning chamber, a patient-carrying bed, and an interventional puncture system according to any one of claims 1 to 8;

the interventional puncture system is suspended on the peripheral side of the imaging device and can extend into the scanning cavity, and after the sickbed enters the scanning cavity, the interventional puncture system can perform 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.

10. The medical equipment according to claim 9, further comprising a control system in transmission connection with the imaging device and the interventional puncture system, wherein after the control system receives the real-time imaging of the focal region by the imaging device, the control system controls the position and posture adjustment component of the interventional puncture system to drive the interventional device to move to the vicinity of the focal region according to the real-time imaging, and controls the position and posture adjustment component to drive the interventional device to perform an interventional puncture operation;

or, the diagnosis and treatment equipment further comprises a control system connected with the interventional puncture system, the control system can control the position and posture adjusting component of the interventional puncture system to drive the interventional instrument to move to the position near the focus area, and control the position and posture adjusting component to drive the interventional instrument to perform interventional puncture operation.

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