CN219207225U - Operation puncture positioning equipment - Google Patents
Operation puncture positioning equipment Download PDFInfo
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- CN219207225U CN219207225U CN202320376902.XU CN202320376902U CN219207225U CN 219207225 U CN219207225 U CN 219207225U CN 202320376902 U CN202320376902 U CN 202320376902U CN 219207225 U CN219207225 U CN 219207225U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The utility model relates to the technical field of medical appliances, in particular to surgical puncture positioning equipment. The horizontal moving part of the operation puncture positioning device is arranged on the extendable platform and can linearly reciprocate along the horizontal direction relative to the extendable platform; the terminal fixing device is arranged on the extendable platform, the inside-out assembly is arranged on the horizontal moving part, and the head-tail tilting assembly is arranged on the inside-out assembly; the puncture positioning device is arranged on the head-tail tilting assembly. The surgical puncture positioning equipment is fixed on a human body through the terminal fixing device, so that the relative displacement between the navigation device and the human body is greatly reduced, the puncture and navigation accuracy is improved, the miniature puncture navigation positioning device can be axially rotated along the terminal fixing device by the axial rotation device, the full-plane puncture navigation positioning in a certain range is realized, the position of the puncture positioning device can be adjusted by the multi-degree-of-freedom mobile platform, and the puncture navigation positioning range is further enlarged.
Description
Technical Field
The utility model relates to the technical field of medical appliances, in particular to surgical puncture positioning equipment.
Background
In order to realize accurate positioning, navigation and puncture of important systems such as clinical human organs, tissues, bones and the like, the computer-aided mechanical puncture navigation positioning device has various appearance forms. The current computer-aided mechanical puncture navigation positioning device comprises a remote control system, a surgery cooperative system and a virtual reality system, and the surgery cooperative system is commonly used in clinic, such as an astronomical robot, a Mako robot, a Rosa robot and the like. The operating principle is that the operation is scanning CT, then transmitting data to the computer terminal of the navigation equipment, and displaying the data to the operation for planning puncture track in operation through three-dimensional reconstruction, and guiding the navigation device to accurately position and puncture.
The existing computer-aided mechanical puncture navigation positioning device has large size and mostly consists of a host, a mechanical arm and an optical visual detector. Firstly, the working principle of the devices needs to be three-dimensionally scanned in operation, so that the X-ray radiation quantity is increased, and the physical health of operators and patients is threatened; secondly, almost all computer-aided mechanical puncture navigation positioning devices are robotic arms or supported by means of instruments on the bedside of a patient or an operating table, and as the target sites are moved by the operation of an operator in the operation, the accuracy of the navigation devices is affected; finally, the confirmation of the puncture site also requires the confirmation of the intra-operative manual planning of the operator, thereby prolonging the operation time and increasing the human error.
Disclosure of Invention
The utility model aims to provide a surgical puncture positioning device which can solve the problems of a navigation device in the prior art;
the utility model provides operation puncture positioning equipment, which comprises a terminal fixing device, a multi-degree-of-freedom moving platform and a puncture positioning device;
the multi-degree-of-freedom moving platform comprises an extensible platform, a horizontal moving part, an inside-out assembly and a head-tail tilting assembly;
the horizontal moving part is arranged on the extendable platform and can linearly reciprocate along the horizontal direction relative to the extendable platform;
the terminal fixing device is arranged on the extendable platform, the inside-out assembly is arranged on the horizontal moving component, and the head-tail tilting assembly is arranged on the inside-out assembly;
the puncture positioning device is arranged on the head-tail tilting assembly.
Preferably, the terminal fixing device comprises a clamp, a base and a fixing needle;
one end of the clamp holder is rotatably connected with the base, and the other end of the clamp holder is provided with two clamping pieces which are oppositely arranged;
an inner needle channel for the fixing needle to pass through is arranged in the base, and the fixing needle is inserted into the inner needle channel.
Preferably, the extendable platform has a rectangular structure;
the terminal fixing device and the horizontal moving part are respectively arranged on two long edges of the extensible platform;
the horizontal moving member reciprocates along the long side of the extendable platform.
Preferably, the horizontal moving component comprises a linear guide rail, a mounting platform and a horizontal moving power assembly;
the linear guide rail is arranged on the long side of the extensible platform, and the mounting platform is in sliding connection with the linear guide rail;
the horizontal movement power assembly drives the mounting platform to reciprocate relative to the linear guide rail.
Preferably, the horizontal movement power assembly comprises a horizontal movement motor, a gear and a rack;
the horizontal movement motor is fixed on the mounting platform, the gear is mounted on the motor shaft, the rack is fixedly connected with the extendable platform, and the gear is meshed with the rack.
Preferably, the inside-out assembly comprises an inside-out base and an inside-out driving device;
the inside-out driving device is fixed on the mounting platform through the inside-out base, the rotary connecting shaft of the inside-out driving device is horizontally arranged, and the head-tail tilting assembly is connected with the driving shaft of the inside-out driving device and turns inside and outside relative to the rotary connecting shaft under the driving of the inside-out driving device.
Preferably, the inside-out driving device comprises three gears which are sequentially meshed;
among the three gears, one gear located at the outer side is connected with the inside-out motor, and the other gear is connected with the driving shaft.
Preferably, the head-tail tilting assembly comprises a fixing frame and a head-tail tilting driving device;
the fixing frame is connected with the driving shaft, the head-tail tilting driving device is arranged on the fixing frame, the rotating shaft of the head-tail tilting driving device is horizontally arranged, and the puncture positioning device is arranged on the rotating shaft of the head-tail tilting driving device and performs pitching motion under the driving of the rotating shaft.
Preferably, the head-tail tilting driving device comprises a head-tail tilting motor and a rotating shaft;
the head-tail tilting motor and the rotating shaft are arranged on the fixing frame, and the head-tail tilting motor and the rotating shaft are connected through a gear set.
Preferably, the puncture positioning device comprises a sleeve, a puncture needle, a puncture fixing block and a fixing knob;
the sleeve is fixedly connected with the puncture fixing block;
the puncture needle is arranged in the sleeve in a penetrating way, the fixing knob is arranged on the puncture fixing block, and the fixing knob extends into the sleeve and locks the puncture needle.
The beneficial effects are that:
the surgical puncture positioning equipment is fixed on a human body through the terminal fixing device, compared with the prior art that the navigation equipment is arranged beside a bed or on an operating table, the target site cannot move, relative displacement between the navigation device and the human body is greatly reduced, puncture and navigation accuracy is improved, the miniature puncture navigation positioning device can axially rotate along the terminal fixing device by the axial rotation device, full-plane puncture navigation positioning in a certain range is realized, the position of the puncture positioning device can be adjusted by the multi-degree-of-freedom mobile platform, and the puncture navigation positioning range is further enlarged.
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 needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a surgical puncture positioning device according to an embodiment of the present utility model;
FIG. 2 is a schematic view of another angle of the surgical puncture positioning device according to an embodiment of the present utility model;
fig. 3 is a schematic structural diagram of a terminal fixing device according to an embodiment of the present utility model;
FIG. 4 is a schematic structural view of an extendable platform according to an embodiment of the present utility model;
FIG. 5 is a schematic view of a horizontal movement power assembly according to an embodiment of the present utility model;
FIG. 6 is a schematic structural view of an inside-outside overturning assembly according to an embodiment of the present utility model;
FIG. 7 is a schematic view of a head-to-tail tilt assembly according to an embodiment of the present utility model;
fig. 8 is a schematic structural view of a puncture positioning device according to an embodiment of the present utility model.
Detailed Description
The technical solutions of the present utility model will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. 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.
In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are 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 one or more of the described features. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. Furthermore, the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1 and 2, the present embodiment provides a surgical puncture positioning device, which comprises a terminal fixing device 1, a multi-degree-of-freedom moving platform and a puncture positioning device 6;
the terminal fixture 1 includes a mounting portion for mounting the positioning device on a human body.
The multi-degree-of-freedom moving platform comprises an extensible platform 2, a horizontal moving part 3, an inside-out assembly 4 and a head-tail tilting assembly 5.
The horizontal moving member 3 is provided on the extendable platform 2, and the horizontal moving member 3 is capable of linearly reciprocating in a horizontal direction with respect to the extendable platform 2.
The terminal fixing device 1 is arranged on the extendable platform 2, the inside-out assembly 4 is arranged on the horizontal moving part, the head-tail tilting assembly 5 is arranged on the inside-out assembly 4, and the puncture positioning device 6 is arranged on the head-tail tilting assembly 5.
In the embodiment, the surgical puncture positioning equipment is fixed on a human body through the terminal fixing device, compared with the prior art that the navigation equipment is arranged beside a bed or an operating table, the target site cannot move, the relative displacement between the navigation device and the human body is greatly reduced, the puncture and navigation accuracy is improved, the miniature puncture navigation positioning device can be axially rotated along the terminal fixing device by the axial rotation device, the full-plane puncture navigation positioning in a certain range is realized, the position of the puncture positioning device can be adjusted by the multi-degree-of-freedom mobile platform, and the puncture navigation positioning range is further enlarged.
Terminal fixing device 1
As shown in fig. 3, the terminal fixture 1 is composed of a holder 11, a base 12, and a fixing pin 13.
One end of the holder 11 is rotatably connected with the base 12, and the other end is provided with two clamping pieces which are oppositely arranged. Specifically, the holder 11 is composed of an i-shaped double-sided blade and a fixing bolt. The upper end of the holder 11 is connected with the base 12 by a fixing bolt, and the structure can keep the activity degree between the holder 11 and the base 12, change the fixing angle between the holder 11 and the base 12, and improve the durability of the connecting part.
In the present embodiment, the base 12 is a square column, and an inner needle passage through which the fixing needle passes is provided in the base 12, and the fixing needle 13 passes through the inner needle passage of the base 12. The front of the fixing needle 13 reaches the tip under the holder 11 through the gap between the two side blades of the holder 11.
The spinous process is gripped by the two side blades of the gripper 11 and then the tip of the fixing needle 13 is penetrated into the spinous process, which helps to fix the terminal fixing device 1 to the spinous process more firmly.
Multi-freedom-degree mobile platform
As shown in fig. 1, the multi-degree-of-freedom mobile platform comprises an extendable platform 2, a horizontal moving part 3, an inside-out assembly 4 and a head-tail tilting assembly 5.
Referring to fig. 4, the extendable platform 2 is of rectangular configuration;
the terminal fixture 1 and the horizontal moving member 3 are provided on both long sides of the extendable platform, respectively.
The horizontal moving member 3 reciprocates along the long side of the extendable platform 2.
The horizontal moving member 3 includes a linear guide 31, a mounting platform 32, and a horizontal moving power assembly.
The linear guide 31 is disposed on the long side of the extendable platform 2, and the mounting platform 32 is slidably connected to the linear guide 21.
The horizontal movement power assembly drives the mounting platform 32 to reciprocate relative to the linear guide rail 31.
Referring to fig. 5, the horizontal movement power assembly includes a horizontal movement motor 33, a gear, and a rack.
The horizontal movement motor is fixed on the mounting platform 32, the gear is mounted on the motor shaft, the rack is fixedly connected with the extendable platform 2, and the gear is meshed with the rack.
The horizontal moving part 3 is linearly prolonged along the horizontal direction, and is characterized by wider moving range and higher horizontal translation stability, and can meet the puncture positioning task of tissue organs with larger stroke or puncture positioning span.
The linear racks increase the accuracy of the electrical control.
The linear platform can be prolonged, the CT three-dimensional preoperative planning is facilitated, the linear position is easy to position in three-dimensional modeling, and the bilateral pedicle positioning and puncture are simplified.
The rectangular structure of the platform 2 can be prolonged, the device is more stable under the support of the spinous process fixator, and meanwhile, the middle area is more suitable for the deflection angle of the puncture device along the horizontal direction, so that the puncture positioning in a large-angle long-stroke range can be performed.
Inside and outside upset subassembly 4
The inside-out flip assembly 4 includes an inside-out flip base 41, and inside-out flip driving means.
The inside-out driving device is fixed on the mounting platform 32 through the inside-out base 41, the rotary connecting shaft of the inside-out driving device is horizontally arranged, and the head-tail tilting assembly 5 is connected with the driving shaft of the inside-out driving device and turns inside and outside relative to the rotary connecting shaft under the driving of the inside-out driving device.
The inside-out driving device comprises three gears which are sequentially meshed;
of the three gears, one gear located on the outside is connected to the inside-out motor 42, and the other gear is connected to the drive shaft 43.
By adopting three gears, the space between the inside-out motor 42 and the driving shaft 43 is increased, the inside-out motor 42 is prevented from obstructing the overturning of the puncture device, and the inside-out overturning angle is increased. More working spaces are reserved for the head-tail tilting assembly, the internal and external tilting space is increased, and the working coverage range of the mechanism is increased;
the transmission ratio among the three groups of gear sets has more combinability, so that the real-time efficiency and the efficiency transfer stability of the internal and external turning are changed according to the product requirement;
the motor is far away from the puncture positioning assembly; because of CT during, the magnetic substance can leave the shade in the motor, and this application needs to calculate the required position that arrives of puncture locating component according to CT data, and when the motor was kept away from, puncture locating component's CT image was more obvious, avoided the possibility of sheltering from, also further improved the easy operability and the stability of equipment.
Head-tail tilting assembly 5
As shown in fig. 5, the head-to-tail tilt assembly includes a mount 51 and a head-to-tail tilt drive.
The fixing frame 51 is connected with the driving shaft 43, the head-tail tilting driving device is arranged on the fixing frame 51, the rotating shaft of the head-tail tilting driving device is horizontally arranged, and the puncture positioning device 6 is arranged on the rotating shaft of the head-tail tilting driving device and performs pitching motion under the driving of the rotating shaft.
The head-tail tilt driving device comprises a head-tail tilt motor 52 and a rotating shaft 53, the head-tail tilt motor 52 and the rotating shaft 53 are arranged on a fixing frame 51, and the head-tail tilt motor 52 and the rotating shaft 53 are connected through a gear set.
As shown, the puncture positioning device 6 includes a sleeve 61, a puncture needle 62, a puncture fixing block 63, and a fixing knob.
Wherein the puncture needle 62 passes through the axis of the sleeve 61 and is fixed with the puncture fixing block 63 by a fixing knob. The puncture fixing block 63 is fixed with the rotating shaft 53 in the head-tail tilting assembly 5 through a screw, so that the puncture positioning device 6 obtains head-tail tilting power.
In summary, the surgical puncture positioning apparatus provided in this embodiment uses the terminal fixing device to clamp the spinous process of the spine during the surgical procedure, so as to integrally fix the apparatus on the spine of the surgical object and improve the stability of the surgical puncture positioning apparatus. The terminal fixture 1 may also be a multi-point anchor, a body surface guide or the like, the purpose of which is to secure the surgical puncture positioning device outside the surgical object, and the extendable platform 2 portion of the overall device is placed parallel to the body surface.
The puncture positioning device 6 may be a puncture guide needle for positioning a human tissue organ target (such as bone tissue, skull, skeletal muscle, oral bone structure, and individual organs and tissues of the human body). The puncture positioning means 6 can also be said to be an injection needle for drug targeting applications. The puncture positioning device 6 may also be an implanter for implantation applications of other instruments, such as radio frequency electrodes, pacer electrodes, brain nerve electrodes and even radiation particle implants, which are assisted by a surgical puncture positioning device to be automatically or manually pushed along its longitudinal axis by the operator. The puncture positioning device 7 may also be equipped with an endoscope, an ultrasonic guide, or the like. The surgical puncture positioning device supports percutaneous surgery, interventional surgery, radiotherapy and chemotherapy treatment, bone and soft tissue biopsy. Surgical puncture positioning devices have been found to benefit considerably in bone surgery.
The surgical punch positioning device may be used in conjunction with a CT scanner or MRI device (without limitation). The surgical puncture positioning device can be used for guiding the puncture positioning device 6 matched device to the human body when the imaging device moves. Thus, the operator can observe the position of the puncture positioning device 6 and the target spot of the surgical object in real time to control the surgical puncture positioning apparatus and adjust its automatic or manual movement of the puncture positioning device 6. For use in MRI or magnetic imaging systems, the surgical puncture positioning device may be designed to not include any magnetic parts or components susceptible to strong magnetic fields. The surgical puncturing positioning device may utilize non-metallic components, such as those made of polymeric composites, in place of the original components and may use piezoelectric actuators in place of the electric motors of the magnetic fields.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.
Claims (10)
1. The surgical puncture positioning equipment is characterized by comprising a terminal fixing device, a multi-degree-of-freedom moving platform and a puncture positioning device;
the multi-degree-of-freedom moving platform comprises an extensible platform, a horizontal moving part, an inside-out assembly and a head-tail tilting assembly;
the horizontal moving part is arranged on the extendable platform and can linearly reciprocate along the horizontal direction relative to the extendable platform;
the terminal fixing device is arranged on the extendable platform, the inside-out assembly is arranged on the horizontal moving component, and the head-tail tilting assembly is arranged on the inside-out assembly;
the puncture positioning device is arranged on the head-tail tilting assembly.
2. The surgical puncturing positioning device of claim 1, wherein the terminal fixture comprises a holder, a base, and a stationary needle;
one end of the clamp holder is rotatably connected with the base, and the other end of the clamp holder is provided with two clamping pieces which are oppositely arranged;
an inner needle channel for the fixing needle to pass through is arranged in the base, and the fixing needle is inserted into the inner needle channel.
3. The surgical puncturing positioning device of claim 1, wherein the extendable platform is rectangular in configuration;
the terminal fixing device and the horizontal moving part are respectively arranged on two long edges of the extensible platform;
the horizontal moving member reciprocates along the long side of the extendable platform.
4. A surgical penetration positioning apparatus according to claim 3, wherein the horizontal movement component comprises a linear guide, a mounting platform and a horizontal movement power assembly;
the linear guide rail is arranged on the long side of the extensible platform, and the mounting platform is in sliding connection with the linear guide rail;
the horizontal movement power assembly drives the mounting platform to reciprocate relative to the linear guide rail.
5. The surgical penetration positioning apparatus of claim 4, wherein the horizontal movement power assembly comprises a horizontal movement motor, a gear, and a rack;
the horizontal movement motor is fixed on the mounting platform, the gear is mounted on the motor shaft, the rack is fixedly connected with the extendable platform, and the gear is meshed with the rack.
6. A surgical puncturing positioning device as claimed in claim 3, wherein the varus-valgus assembly comprises a valgus base, and a valgus drive;
the inside-out driving device is fixed on the mounting platform through the inside-out base, the rotary connecting shaft of the inside-out driving device is horizontally arranged, and the head-tail tilting assembly is connected with the driving shaft of the inside-out driving device and turns inside and outside relative to the rotary connecting shaft under the driving of the inside-out driving device.
7. The surgical puncturing positioning device of claim 6, wherein the varus-valgus drive comprises three gears disposed in meshing sequence;
among the three gears, one gear located at the outer side is connected with the inside-out motor, and the other gear is connected with the driving shaft.
8. The surgical puncturing positioning device of claim 6, wherein the head-to-tail tilt assembly comprises a mount and a head-to-tail tilt drive;
the fixing frame is connected with the driving shaft, the head-tail tilting driving device is arranged on the fixing frame, the rotating shaft of the head-tail tilting driving device is horizontally arranged, and the puncture positioning device is arranged on the rotating shaft of the head-tail tilting driving device and performs pitching motion under the driving of the rotating shaft.
9. The surgical puncture positioning device according to claim 8, wherein the head-to-tail tilt driving means includes a head-to-tail tilt motor and a rotation shaft;
the head-tail tilting motor and the rotating shaft are arranged on the fixing frame, and the head-tail tilting motor and the rotating shaft are connected through a gear set.
10. The surgical punch positioning apparatus of claim 8, wherein the punch positioning device comprises a sleeve, a punch block, and a fixing knob;
the sleeve is fixedly connected with the puncture fixing block;
the puncture needle is arranged in the sleeve in a penetrating way, the fixing knob is arranged on the puncture fixing block, and the fixing knob extends into the sleeve and locks the puncture needle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320376902.XU CN219207225U (en) | 2023-02-24 | 2023-02-24 | Operation puncture positioning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320376902.XU CN219207225U (en) | 2023-02-24 | 2023-02-24 | Operation puncture positioning equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219207225U true CN219207225U (en) | 2023-06-20 |
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ID=86756803
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320376902.XU Active CN219207225U (en) | 2023-02-24 | 2023-02-24 | Operation puncture positioning equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219207225U (en) |
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2023
- 2023-02-24 CN CN202320376902.XU patent/CN219207225U/en active Active
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