CN218943527U - Self-adaptive head three-dimensional positioning instrument - Google Patents
Self-adaptive head three-dimensional positioning instrument Download PDFInfo
- Publication number
- CN218943527U CN218943527U CN202221684004.2U CN202221684004U CN218943527U CN 218943527 U CN218943527 U CN 218943527U CN 202221684004 U CN202221684004 U CN 202221684004U CN 218943527 U CN218943527 U CN 218943527U
- Authority
- CN
- China
- Prior art keywords
- head
- positioning
- adaptive
- motor
- assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The utility model discloses a self-adaptive head three-dimensional positioning instrument, which belongs to the technical field of head positioning instruments and comprises: the head analysis assembly comprises a fixing frame and a head camera, wherein the head camera is arranged at two ends of the fixing frame; the head positioning assembly comprises a head adjusting assembly, a positioning pin propulsion motor, a first pressure sensor and positioning pins, wherein the positioning pin propulsion motor is installed on two support arms at the movable end of the head adjusting assembly, the first pressure sensor is installed at the output end of the positioning pin propulsion motor, the positioning pins are installed on the first pressure sensor, and the two positioning pins are respectively located on two sides of the head of a user. The self-adaptive head three-dimensional positioning instrument realizes the fixation and positioning of the head, models the head, drives the head fixing pin to fix the head through the sensor control motor, and can electrically adjust the head angle.
Description
Technical Field
The utility model relates to the technical field of head positioners, in particular to a self-adaptive head stereotactic instrument.
Background
Craniotomy, also known as craniotomy, is generally clinically performed in cases of brain injury or removal of brain tumors of patients. The craniotomy is generally to cut a U-shaped opening on the scalp of a patient, then to make a plurality of holes on the skull, take out the corresponding skull, perform medical operation and then put back into the skull suture wound.
At present, the craniotomy is performed by a head positioning instrument. The head positioning instrument is mainly characterized in that the head is clamped on a positioning pin of the positioning instrument in a manual mode, and then the angle of the head is manually adjusted.
However, the existing manual mode is used for setting the head positioning pin and adjusting the head, so that abundant clinical experience is required, and the angle adjustment operation is complicated.
Disclosure of Invention
The utility model mainly aims to provide a self-adaptive head three-dimensional positioning instrument, and aims to solve the technical problems that the existing manual mode is used for setting a head positioning pin, the clinical experience is required to be enriched for adjusting the head, and the angle adjustment operation is complicated.
In order to solve the technical problems, according to one aspect of the present utility model, the following technical solutions are provided:
an adaptive head stereotactic apparatus, comprising:
the head analysis assembly comprises a fixing frame and a head camera, wherein the head camera is arranged at two ends of the fixing frame;
the head positioning assembly comprises a head adjusting assembly, a positioning pin propulsion motor and a positioning pin, wherein the positioning pin propulsion motor is arranged on two support arms at the movable end of the head adjusting assembly, and the two positioning pins are respectively positioned on two sides of the head of a user;
the mechanical arm is arranged near the head of the user;
and the implantation assembly is arranged at the tail end of the mechanical arm.
As a preferable scheme of the self-adaptive head stereotactic apparatus, the utility model comprises the following steps: the fixing frame is of a radian rod structure, and head cameras on two sides of the fixing frame face towards the head position of a user.
As a preferable scheme of the self-adaptive head stereotactic apparatus, the utility model comprises the following steps: the head positioning assembly further comprises first pressure sensors, the first pressure sensors are arranged at the output ends of the two positioning pin propulsion motors, positioning pins are arranged on the first pressure sensors, and the two first pressure sensors are respectively and electrically connected with the positioning pin propulsion motors at the corresponding sides.
As a preferable scheme of the self-adaptive head stereotactic apparatus, the utility model comprises the following steps: the head adjusting assembly comprises a head adjusting bracket, a rotating motor and an electric push rod, wherein one end of the head adjusting bracket is connected with the output end of the rotating motor, the fixing part of the rotating motor is connected with the output end of the electric push rod, and the rotating motor and the electric push rod are both wirelessly connected with a head imaging measuring module.
As a preferable scheme of the self-adaptive head stereotactic apparatus, the utility model comprises the following steps: the angle sensor is arranged on the rotating motor and is electrically connected with the rotating motor, and the angle sensor is wirelessly connected with the head imaging measurement module.
As a preferable scheme of the self-adaptive head stereotactic apparatus, the utility model comprises the following steps: an infrared ranging sensor is installed on one side wall of the rotating motor, a reflecting plate is arranged at an infrared transmitting end of the infrared ranging sensor, the reflecting plate is installed on one side of the electric push rod fixing portion, the infrared ranging sensor is electrically connected with the electric push rod, and the infrared ranging sensor is wirelessly connected with a head imaging measuring module.
As a preferable scheme of the self-adaptive head stereotactic apparatus, the utility model comprises the following steps: install the mounting bracket on electric putter's the fixed part, the mounting panel is all installed at the both ends of mounting bracket, the mounting hole has been seted up on the mounting panel.
As a preferable scheme of the self-adaptive head stereotactic apparatus, the utility model comprises the following steps: the implantation assembly comprises a microneedle propulsion motor and a microneedle clamp, a fixing part of the microneedle propulsion motor is arranged at the tail end of the mechanical arm, the output end of the microneedle propulsion motor is connected with the microneedle clamp, and the microneedle propulsion motor is wirelessly connected with a head imaging measurement module.
As a preferable scheme of the self-adaptive head stereotactic apparatus, the utility model comprises the following steps: the micro-adjustment motor is installed on both sides of the inner side of the micro-needle clamp, a second pressure sensor is installed at the joint of the micro-adjustment motor and the lower part of the micro-needle clamp, and the second pressure sensor is electrically connected with the micro-adjustment motor.
As a preferable scheme of the self-adaptive head stereotactic apparatus, the utility model comprises the following steps: the two head cameras are all wirelessly connected with a head imaging measurement module, the head adjusting assembly and the two locating pin propulsion motors are all wirelessly connected with the head imaging measurement module, the mechanical arm is wirelessly connected with the head imaging measurement module, and the implantation assembly is wirelessly connected with the head imaging measurement module.
The beneficial effects of the utility model are as follows: the head camera acquires an image by shooting the head, sends the image to the head imaging measurement module, establishes a simple three-dimensional model, obtains the position relation of head positioning points according to the characteristics, adjusts the position of a positioning pin propulsion motor through a head adjusting assembly, adjusts the position of the positioning pin through the positioning pin propulsion motor to be suitable for the head corresponding positioning point, fixes the positioning pin after reaching the positioning point, feeds back the state of the positioning pin in real time according to a first pressure sensor in the fixing process, drives and controls the compression force of the positioning pin to reach a proper range, fully automatically implants the micro needle through the mechanical arm and the implantation assembly according to the positioning structure, finds the proper head operation position, and adjusts the head position;
the self-adaptive head three-dimensional positioning instrument realizes the fixation and positioning of the head, models the head, drives the head fixing pin to fix the head through the sensor control motor, and can electrically adjust the head angle.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the head analysis assembly and a portion of the head positioning assembly of the present utility model;
FIG. 2 is a schematic view of the mechanical arm and implant assembly of the present utility model;
FIG. 3 is a schematic view of the head positioning assembly of the present utility model;
FIG. 4 is a flow chart of the present utility model controlling the operation of the robotic arm and implant assembly;
FIG. 5 is a flow chart of the present utility model controlling the operation of the head positioning assembly.
Reference numerals illustrate:
the achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present utility model, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present utility model, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.
The utility model provides a self-adaptive head three-dimensional positioning instrument, which is used for fixing and positioning a head, modeling the head, controlling a motor through a sensor to drive a head fixing pin to fix the head, and electrically adjusting the angle of the head;
referring to fig. 1-5, the method includes:
the head analysis assembly 100, the head analysis assembly 100 includes at least one head camera 120, the head camera is used for obtaining the head image of the patient, in the practical application scene, the form of the head analysis assembly 100 determines the required number of cameras, when the head analysis assembly 100 is in a fixed structure, the positioning of the cameras needs at least more than 2 sets, so as to ensure that a three-dimensional image can be formed; when the head portion assembly 100 is of a movable structure, the camera can be at least 1 set, and multi-angle shooting modeling is achieved through moving positions.
In one embodiment, the head analysis assembly 100 includes a fixing frame 110 and a head camera 120, and two ends of the fixing frame 110 are connected with the head camera 120 through bolts;
the head positioning assembly 200 comprises a head adjusting assembly 210, a positioning pin pushing motor 220, a first pressure sensor 230 and a positioning pin 240, wherein two support arms of the head adjusting assembly 210 are connected with the positioning pin pushing motor 220 through bolts, the output ends of the two positioning pin pushing motors 220 are connected with the first pressure sensor 230 through bolts, the first pressure sensor 230 is connected with the positioning pin 240 through bolts, the two positioning pins 240 are respectively positioned at two sides of the head of a user, and the two first pressure sensors 230 are respectively electrically connected with the positioning pin pushing motor 220 at one side;
a robot arm 300 disposed near the head of the user;
an implant assembly 400 mounted at the end of the robot arm 300;
the fixing frame 110 is used for installing the head camera 120, the head camera 120 is used for shooting an image of a head, the image is sent to the head imaging measurement module, the head imaging measurement module is used for establishing a three-dimensional model of the head according to the sent image, and according to the position relation of head positioning points obtained by characteristics, the head adjusting component 210 is used for adjusting the position of the positioning pin pushing motor 220, the positioning pin pushing motor 220 is used for pushing the first pressure sensor 230 to move, the first pressure sensor 230 is used for sensing the pressure born by the positioning pin 240, the positioning pin 240 is used for fixing the head of a user, the mechanical arm 300 is used for driving the implantation component 400 to move, and the implantation component 400 is used for implanting microneedles.
When the device is specifically used, the head camera 120 acquires an image by shooting the head, sends the image to the head imaging measurement module, builds a simple three-dimensional model, obtains the position relation of head positioning points according to the characteristics, adjusts the position of the positioning pin propulsion motor 220 through the head adjusting assembly 210, adjusts the position of the positioning pin 240 through the positioning pin propulsion motor 220 to be suitable for the head corresponding positioning point, fixes the positioning pin 240 after reaching the positioning point, feeds back the state of the positioning pin 240 in real time according to the first pressure sensor 230 in the fixing process, drives and controls the compression force of the positioning pin 240 to reach a proper range, fully automatically implants the microneedle of the mechanical arm 300 and the implantation assembly 400 according to the positioning structure, finds the proper head operation position, and adjusts the head position.
Referring to fig. 1-5 again, the fixing frame 110 has a radian bar structure, and the head cameras 120 on both sides of the fixing frame 110 face the head of the user, so that the head cameras 120 can capture the image of the whole head.
Referring to fig. 1-5 again, the head adjusting assembly 210 includes a head adjusting bracket 211, a rotating motor 212 and an electric push rod 213, one end of the head adjusting bracket 211 is connected with an output end of the rotating motor 212, a fixing portion of the rotating motor 212 is connected with an output end of the electric push rod 213, the rotating motor 212 and the electric push rod 213 are both wirelessly connected with a head imaging measurement module, the head adjusting bracket 211 is used for installing a positioning pin pushing motor 220, the rotating motor 212 is used for driving the head adjusting bracket 211 to rotate, and the electric push rod 213 is used for driving the rotating motor 212 to linearly move.
Referring to fig. 1-5 again, the rotating motor 212 is connected with an angle sensor 214 through a bolt, the angle sensor 214 is electrically connected with the rotating motor 212, the angle sensor 214 is wirelessly connected with a head imaging measurement module, and the angle sensor 214 is used for sensing a rotation angle of an output end of the rotating motor 212.
Referring to fig. 1-5 again, an infrared ranging sensor 215 is connected to a side wall of the rotating motor 212 through a bolt, a reflecting plate 216 is disposed at an infrared transmitting end of the infrared ranging sensor 215, the reflecting plate 216 is connected to one side of a fixing portion of the electric push rod 213 through a bolt, the infrared ranging sensor 215 is electrically connected to the electric push rod 213, and the infrared ranging sensor 215 is wirelessly connected to a head imaging measuring module, the infrared ranging sensor 215 is used for transmitting infrared rays and receiving infrared rays, so as to measure distances, and the reflecting plate 216 is used for reflecting infrared rays.
Referring to fig. 1-5 again, the fixing portion of the electric push rod 213 is connected with a mounting frame 217 through bolts, two ends of the mounting frame 217 are welded with mounting plates 218, mounting holes are formed in the mounting plates 218, the mounting frame 217 is used for mounting the electric push rod 213, the mounting plates 218 are used for connecting the mounting frame 217 with external devices, and the mounting holes are used for connecting the mounting plates 218 with the external devices.
Referring again to fig. 1-5, the implantation assembly 400 includes a microneedle propulsion motor 410 and a microneedle gripper 420, a fixing portion of the microneedle propulsion motor 410 is embedded in and connected to a distal end of the mechanical arm 300, an output end of the microneedle propulsion motor 410 is connected to the microneedle gripper 420, the microneedle propulsion motor 410 is wirelessly connected to a head imaging measurement module, the microneedle propulsion motor 410 is used for pushing movement of the microneedle gripper 420, and the microneedle gripper 420 is used for gripping a microneedle.
Referring to fig. 1-5 again, the two sides of the inner side of the microneedle fixture 420 are embedded and connected with a trimming motor 430, a second pressure sensor 440 is embedded and connected at the connection position between the trimming motor 430 and the lower side of the microneedle fixture 420, the second pressure sensor 440 is electrically connected with the trimming motor 430, the trimming motor 430 is used for trimming the width of the microneedle fixture 420, so as to clamp the microneedle fixture 420, the second pressure sensor 440 is used for sensing the pressure applied by the microneedle fixture 420, and sending a signal to control the trimming motor 430 to perform trimming, so as to avoid damage caused by overlarge pressure of the microneedle fixture 420.
Referring to fig. 1-5 again, the two head cameras 120 are both wirelessly connected with a head imaging measurement module, the head adjusting assembly 210 and the two locating pin propulsion motors 220 are both wirelessly connected with the head imaging measurement module, the mechanical arm 300 is wirelessly connected with the head imaging measurement module, the implantation assembly 400 is wirelessly connected with the head imaging measurement module, and the head imaging measurement module is a cloud server provided with existing head three-dimensional imaging measurement software and sends control signals to each component according to the measured head three-dimensional model.
The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the description of the present utility model and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the utility model.
Claims (10)
1. An adaptive head stereotactic apparatus, comprising:
a head analysis assembly (100) comprising at least one head camera (120);
the head positioning assembly (200) comprises a head adjusting assembly (210), a positioning pin pushing motor (220) and positioning pins (240), wherein the positioning pin pushing motor (220) is installed on two support arms of the head adjusting assembly (210), and the two positioning pins (240) are respectively located on two sides of the head.
2. An adaptive head stereotactic apparatus as claimed in claim 1, wherein: the head analysis assembly (100) comprises a fixing frame (110), and head cameras (120) are mounted at two ends of the fixing frame (110).
3. An adaptive head stereotactic apparatus as claimed in claim 1, wherein: the head positioning assembly (200) further comprises first pressure sensors (230), the first pressure sensors (230) are respectively installed at the output ends of the two positioning pin propulsion motors (220), positioning pins (240) are installed on the first pressure sensors (230), and the two first pressure sensors (230) are respectively and electrically connected with the positioning pin propulsion motors (220) at the corresponding sides.
4. An adaptive head stereotactic apparatus as claimed in claim 1, wherein: the head adjusting assembly (210) comprises a head adjusting bracket (211), a rotating motor (212) and an electric push rod (213), wherein one end of the head adjusting bracket (211) is connected with the output end of the rotating motor (212), and the fixing part of the rotating motor (212) is connected with the output end of the electric push rod (213).
5. An adaptive head stereotactic apparatus as claimed in claim 4, wherein: an angle sensor (214) is mounted on the rotating motor (212), and the angle sensor (214) is electrically connected with the rotating motor (212).
6. An adaptive head stereotactic apparatus as claimed in claim 4, wherein: an infrared ranging sensor (215) is installed on one side wall of the rotating motor (212), a reflecting plate (216) is arranged at an infrared transmitting end of the infrared ranging sensor (215), the reflecting plate (216) is installed on one side of a fixing portion of the electric push rod (213), and the infrared ranging sensor (215) is electrically connected with the electric push rod (213).
7. An adaptive head stereotactic apparatus as claimed in claim 4, wherein: install mounting bracket (217) on the fixed part of electric putter (213), mounting panel (218) are all installed at the both ends of mounting bracket (217), set up the mounting hole on mounting panel (218).
8. An adaptive head stereotactic apparatus as claimed in claim 1, wherein: the self-adaptive head stereotactic instrument further comprises an implantation assembly (400) and a mechanical arm (300), wherein the implantation assembly (400) is arranged at the tail end of the mechanical arm (300).
9. An adaptive head stereotactic apparatus as claimed in claim 8, wherein: the implantation assembly (400) comprises a microneedle propulsion motor (410) and a microneedle clamp (420), wherein a fixing part of the microneedle propulsion motor (410) is arranged at the tail end of the mechanical arm (300), and the output end of the microneedle propulsion motor (410) is connected with the microneedle clamp (420).
10. An adaptive head stereotactic apparatus as claimed in claim 9, wherein: the micro-adjustment motor (430) is installed on both sides of the inner side of the micro-needle clamp (420), a second pressure sensor (440) is installed at the joint of the micro-adjustment motor (430) and the lower side of the micro-needle clamp (420), and the second pressure sensor (440) is electrically connected with the micro-adjustment motor (430).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221684004.2U CN218943527U (en) | 2022-06-30 | 2022-06-30 | Self-adaptive head three-dimensional positioning instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221684004.2U CN218943527U (en) | 2022-06-30 | 2022-06-30 | Self-adaptive head three-dimensional positioning instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218943527U true CN218943527U (en) | 2023-05-02 |
Family
ID=86110622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221684004.2U Active CN218943527U (en) | 2022-06-30 | 2022-06-30 | Self-adaptive head three-dimensional positioning instrument |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218943527U (en) |
-
2022
- 2022-06-30 CN CN202221684004.2U patent/CN218943527U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5647373A (en) | Articulated needle guide for ultrasound imaging and method of using same | |
| CN114041880A (en) | Medical treatment surgical robot's end puncture executive device | |
| US20100023021A1 (en) | Biological Interface and Insertion | |
| US20070156126A1 (en) | Medical device insertion system and related methods | |
| JP2011530320A (en) | Universal template that can pierce the patient's jaw and place an artificial tooth root | |
| CN112568998B (en) | Remote master-slave interactive medical system and method | |
| CN109602498B (en) | Ophthalmic micro-surgery auxiliary robot calibration mechanism | |
| CN116196112B (en) | Mechanical arm motion control method and surgical robot | |
| CN218943527U (en) | Self-adaptive head three-dimensional positioning instrument | |
| CN111938817A (en) | Safety early warning method and system for guide wire action of interventional operation robot | |
| EP3361973B1 (en) | Obstetric extraction | |
| JP2003117010A (en) | Radiotherapy device, program and computer-readable recording medium recording program | |
| WO2015027898A1 (en) | Medical imaging system with mechanical arm | |
| CN111000623A (en) | Percutaneous puncture three-dimensional positioning frame based on CT guidance | |
| CN113647966B (en) | Medical imaging device | |
| WO2011149182A2 (en) | Triaxial movement tracking device for medical image device, and method for compensating medical image using same | |
| CN110811986B (en) | Automatic fixing device for outer canthus forming of eye and control method thereof | |
| CN113598815B (en) | End device for remote ultrasonic diagnosis and master-slave control method | |
| CN112690880B (en) | Puncture positioning device for cardiology department | |
| JP4381907B2 (en) | Surgery support system | |
| CN220938128U (en) | Puncture positioning module based on multi-degree-of-freedom linkage and machine vision | |
| CN116172717B (en) | Probe fixing mechanical arm for ultrasonic guided plane puncture | |
| CN210773971U (en) | Micro-displacement monitoring and positioning system | |
| CN114948230A (en) | High-precision brain-computer interface microneedle implantation device | |
| JP7244909B2 (en) | Puncture robot and program for puncture control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |