CN219895907U - Ablation needle propelling device - Google Patents
Ablation needle propelling device Download PDFInfo
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- CN219895907U CN219895907U CN202321520672.6U CN202321520672U CN219895907U CN 219895907 U CN219895907 U CN 219895907U CN 202321520672 U CN202321520672 U CN 202321520672U CN 219895907 U CN219895907 U CN 219895907U
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- 238000002679 ablation Methods 0.000 title claims abstract description 107
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 210000004907 gland Anatomy 0.000 claims description 12
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- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 239000003814 drug Substances 0.000 claims description 4
- 229940079593 drug Drugs 0.000 claims 1
- 238000000034 method Methods 0.000 description 36
- 230000008569 process Effects 0.000 description 30
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- 230000008901 benefit Effects 0.000 description 5
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- 230000008859 change Effects 0.000 description 2
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- 238000009434 installation Methods 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 208000012260 Accidental injury Diseases 0.000 description 1
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 208000002193 Pain Diseases 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
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- 238000012549 training Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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Abstract
The utility model discloses an ablation needle propelling device. Comprises an ablation needle; a base; a moving platform which is movably arranged on the base along the length direction of the ablation needle; a first driving mechanism for driving the mobile platform to move; the needle mounting seat is rotatably arranged on the moving platform, and the rotating axis of the needle mounting seat extends along the length direction of the ablation needle; a second driving mechanism for driving the needle mount to rotate; wherein, the proximal end of the ablation needle is fixedly arranged on the needle mounting seat. The ablation needle pushing device can improve the puncture quality and reduce the risk of operation.
Description
Technical Field
The utility model belongs to the field of medical appliances, and relates to an ablation needle propelling device, in particular to an ablation needle propelling device of a surgical robot.
Background
The surgical operation mainly goes through the development stages of traditional open surgery, traditional minimally invasive surgery, robot-assisted minimally invasive surgery and the like; compared with the traditional minimally invasive surgery, the surgical robot has the advantages of expanding and enhancing doctor control functions, benefiting patients, improving doctor surgery environment, remotely and fully dispatching global doctor resources, simulating and training doctors and the like, and the advantages mainly depend on key technologies such as front edge fine diagnosis and accurate medicine of ultrasound and the like realized by robot assistance, high-definition stable three-dimensional vision, high-freedom smart instruments, operation shake filtering, sustainable technological update progress, accurate and stable robot smart control, good human engineering design, operation fatigue reduction and the like, so that the effects of reducing wounds, relieving pains, reducing bleeding, shortening surgery time, shortening hospitalization time, reducing complication surgery risks, reducing cross infection, improving surgery operation precision, relieving doctor surgery operation fatigue, reducing extra injuries and improving medical efficiency are achieved.
With respect to surgical robots, there have been disclosed a surgical robot and a holding device thereof, the holding device including a frame, a rail assembled in the frame, and a surgical instrument driver assembled on the rail for installing a surgical instrument and driving the surgical instrument to travel on the rail, a thrust structure being further installed on the frame, the thrust structure extending into an area in the frame to define a surgical instrument installation area and a travel area of the frame; a multi-purpose flexible surgical tool system is also disclosed, a transmission drive unit associated with the first distal construct for driving the first distal construct into a bending motion; the second distal end structure section is associated with the proximal end structure body through the connecting body, and the transmission driving unit is also associated with the proximal end structure body so as to drive the proximal end structure body to perform bending movement, thereby indirectly driving the second distal end structure section to perform bending movement; the motor unit is connected with the flexible operation tool through the sterile barrier to provide driving force for the transmission driving unit; the output end of the linear module is connected with the motor unit and used for driving the flexible surgical tool to realize linear feeding movement.
Both devices can only realize simple propelling movement functions, cannot realize other complex movements such as rotary movement and the like, cannot completely simulate the rotary twisting method of a doctor to puncture, and has lower operation quality.
Disclosure of Invention
In view of the foregoing, the present utility model provides an improved ablation needle advancement device.
The technical scheme adopted by the utility model is as follows:
an ablation needle advancement device comprising:
an ablation needle;
a base;
a moving platform which is movably arranged on the base along the length direction of the ablation needle;
a first driving mechanism for driving the mobile platform to move;
the needle mounting seat is rotatably arranged on the moving platform, and the rotating axis of the needle mounting seat extends along the length direction of the ablation needle;
a second driving mechanism for driving the needle mount to rotate;
wherein, the proximal end of the ablation needle is fixedly arranged on the needle mounting seat.
In a preferred embodiment, a guide sleeve is also provided on the base through which the ablation needle is movably passed.
In a preferred embodiment, the needle mount is connected to the second drive mechanism by a force sensor and a rotation shaft rotatably provided on the moving platform about the rotation axis.
In a preferred embodiment, the force sensor is a two-dimensional force sensor or a six-dimensional force sensor.
Further, the second driving mechanism includes a rotating electric machine and a coupling that connects the rotating shaft and an output shaft of the rotating electric machine.
In a more preferred embodiment, the ablation needle advancement device further comprises a gland secured to the needle mount, the proximal end of the ablation needle being housed within the gland.
In a preferred embodiment, the gland is provided with one or more receiving slots for receiving a connecting cable of the ablation needle or a medicament through the ablation needle.
In a preferred embodiment, the first drive mechanism comprises a translation motor.
In a preferred embodiment, the first driving mechanism further comprises a screw rod rotatably arranged on the base and a nut arranged on the screw rod and translating along with the rotation of the screw rod, the screw rod is connected with an output shaft of the translation motor, and the nut is connected with the moving platform.
In a preferred embodiment, a guide rail extending along the length direction of the ablation needle is arranged on the base, and the moving platform is in sliding fit with the guide rail.
Compared with the prior art, the utility model has the following advantages:
according to the pushing device of the ablation needle, the first driving mechanism can realize the advancing and retreating functions of the ablation needle, and the second driving mechanism can realize the rotating function of the ablation needle, namely, when the ablation needle is in puncture, the ablation needle can rotate around the length direction of the ablation needle while advancing or retreating, so that the puncture can be realized by simulating the spiral twisting needle feeding manipulation of a doctor in the puncturing process of the ablation needle, the puncturing quality is improved, and the risk of operation is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the present utility model, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a perspective view of an ablation needle advancement device in accordance with an embodiment of the utility model.
Fig. 2 is a partial top view of an ablation needle advancement device.
Fig. 3 is a cross-sectional view taken along the direction A-A in fig. 2.
Wherein,,
1. an ablation needle; 2. a base; 21. a guide sleeve; 22. a guide rail; 3. a mobile platform; 4. a first driving mechanism; 41. a translation motor; 42. a screw rod; 5. a needle mount; 6. a second driving mechanism; 61. a rotating electric machine; 611. an output shaft; 62. a coupling; 7. a force sensor; 8. a rotating shaft; 9. a gland; 91. a connection cable; 92. an accommodating groove.
Detailed Description
Preferred embodiments of the present utility model will be described in detail below with reference to the attached drawings so that the advantages and features of the present utility model can be more easily understood by those skilled in the art. The description of these embodiments is provided to assist understanding of the present utility model, but is not intended to limit the present utility model. In addition, technical features of the embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.
Referring to fig. 1 to 3, the present embodiment provides an ablation needle advancing device including: an ablation needle 1, a base 2, a moving platform 3, a first driving mechanism 4, a needle mounting seat 5, a second driving mechanism 6 and a gland 9. The ablation needle propulsion device is used for a surgical operation system, can be a part of a surgical operation robot, is particularly provided with the tail end of a surgical operation execution trolley, can be driven to a specific position on the body surface of a patient by the surgical operation execution trolley through remote control of the control trolley, and then realizes automatic penetration of an ablation needle into the needle through remote control, and realizes a remote ablation penetration process of surgical operation.
Further, the moving platform 3 is movably arranged on the base 2 along the length direction of the ablation needle 1, a guide rail 22 extending along the length direction of the ablation needle 1 is arranged on the base 2, and the moving platform 3 is in sliding fit with the guide rail 22. The base 2 is also provided with a guide sleeve 21, the guide sleeve 21 is arranged in a hollow mode, and the ablation needle 1 movably passes through the guide sleeve 21.
The first driving mechanism 4 includes a translation motor 41, a screw 4, and a nut (not shown) provided on the screw 42 to translate as the screw 42 rotates. In other embodiments, the needle insertion and withdrawal functions of the ablation needle can also be achieved by replacing the lead screw and the nut with a synchronous belt, a gear rack. The screw 42 and the output shaft of the translation motor 41 are connected and the screw 42 is rotatably provided on the base 2, the nut moves with the rotation of the screw 42, while the nut is connected to the moving platform 3, and the moving platform 3 moves with the movement of the nut. That is, the first driving mechanism 4 can drive the moving platform 3 to move along the front-back direction, thereby realizing the needle feeding and needle withdrawing of the ablation needle 1.
The proximal end of the ablation needle 1 is fixedly arranged on a needle mounting seat 5. The needle mount 5 is rotatably disposed on the moving platform 3, the axis of rotation of the needle mount 5 extends along the length direction of the ablation needle 1, and the second driving mechanism 6 is used for driving the needle mount 5 to rotate, thereby realizing the rotation of the ablation needle 1.
Further, the needle mount 5 is connected to the second driving mechanism 6 via a force sensor 7 and a rotation shaft 8, and the rotation shaft 8 is rotatably provided on the moving platform 3 about a rotation axis. The force sensor 7 is specifically a two-dimensional force sensor or a six-dimensional force sensor, and the force sensor 7 is connected with the needle mounting seat 5, so that the rotating torsion and the puncture resistance of the ablation needle 1 in the puncture process are sensed, and a force signal is transmitted to a remote control end in real time, so that a doctor senses the force in the puncture process in real time, and the safety of the surgical puncture process is ensured.
As shown in fig. 1 and 3, the second driving mechanism 6 includes a rotating motor 61 and a coupling 62, the rotating motor 61 can realize the forward and reverse rotation of the ablation needle 1 so as to realize the penetration of the ablation needle 1 by the spiral needle-feeding method imitating the doctor's rotation and the coupling 62 connects the rotating shaft 8 with the output shaft 611 of the rotating motor 61. In other embodiments, the direct connection of the coupling 62 and the rotary motor 61 may be replaced by a gear set or belt drive to achieve the rotational function of the ablation needle 1. The gland 9 is fixed on the needle mount 5, and the proximal end of the ablation needle 1 is housed inside the gland 9. The gland 9 is provided with one or more connecting cables 91 for receiving the ablation needle 1 or receiving grooves 92 for medicament passing through the ablation needle 1.
When the surgical puncture is performed, the ablation needle 1 is driven to move through the first driving mechanism 4, and meanwhile, the second driving mechanism 6 drives the ablation needle 1 to rotate around the length direction of the ablation needle; then the two-dimensional force sensor 7 synchronously detects a first resistance value during the movement of the ablation needle 1 and a second resistance value during the rotation of the ablation needle 1, adjusts the movement speed of the ablation needle 1 according to the first resistance value, and adjusts the rotation speed of the ablation needle 1 according to the second resistance value.
The ablation needle pushing device is used for a surgical operation system, is provided with the tail end of an operation execution trolley, is remotely controlled through a control trolley, and can drive the pushing device to a specific position on the body surface of a patient, and then is remotely controlled to realize automatic penetration of an ablation needle into the needle, so that a surgical robot can complete the penetration process of the ablation needle in the surgical operation process, the penetration positioning precision and the penetration efficiency of the ablation needle in the surgical operation process are improved, the surgical quality is improved, and the risk of the operation is reduced.
The installation of the ablation needle 1 is realized jointly through the gland 9, the needle mounting seat 5 and the guide sleeve 21 at the front end, so that the firm and reliable assembly of the ablation needle 1 is ensured, in addition, the guide sleeve 21 at the front end is used for reinforcing and guiding the ablation needle 1 in the puncturing process, so as to ensure the puncturing precision, and the puncturing deviation caused by the bending of the ablation needle 1 in the puncturing process together with the overlarge force in the puncturing process is avoided.
The rotary twisting needle feeding of the ablation needle 1 is jointly realized by the first driving mechanism 4 and the second driving mechanism 6, the first driving mechanism 4 realizes the needle feeding and needle withdrawing functions of the ablation needle 1, the rotating motor 61 of the second driving mechanism 6 drives the needle mounting seat 5 to rotate positively and negatively so as to realize the forward mounting and reverse mounting of the ablation needle 1, namely, the first driving mechanism 4 and the second driving mechanism 6 jointly act to realize the advancing of the ablation needle 1 and the synchronous rotation of the ablation needle 1, thereby realizing the doctor-simulated puncture rotary twisting puncture method in the process of puncturing the ablation needle. The force sensing function of the ablation needle 1 is achieved by a force sensor 7, the force sensor 7 being able to sense the pulling pressure along its own axis and the rotational torque value about its axis. When the ablation needle 1 is driven to enter the needle by the first driving mechanism 4, the resistance of the ablation needle 1 to the penetration of the body surface of the patient is reversely given to the force sensor 7 through the needle mounting seat 5, and the force sensor 7 can sense the first resistance value of the ablation needle in the penetration process. The torque value received by the ablation needle 1 can be transmitted to the force sensor 7 through the needle mounting seat 5 in the process that the ablation needle 1 is driven to rotate by the rotating motor 61, so that the force sensor 7 senses the second resistance value received by the ablation needle 1. The first resistance value and the second resistance value sensed by the force sensor 7 can be transmitted to a doctor end of remote operation in real time, so that the doctor senses the force change in the puncturing process in real time, and adjusts the puncturing speed and mode according to the force change, thereby ensuring that the puncturing process is smoothly performed.
The propulsion device of the embodiment at least solves the following problems: aiming at the problem that the operation of an operator is required to be performed during operation, the position, the posture, the precision, the puncture quality and the like of the puncture are greatly related to the operation experience level of a clinician, the ablation needle puncture process of the pushing device does not need the operation of the doctor in person, and the automation level can be achieved; aiming at the problems that whether a doctor punctures a target focus or not, repeated adjustment and CT image shooting confirmation are needed, the operation efficiency is reduced, and radiation in the operation of a patient is increased, the embodiment realizes autonomous positioning puncture of a robot, and the puncture precision, the puncture efficiency and the puncture quality are improved; aiming at the problem that the existing propulsion device only advances and retreats singly and can not realize the rotary twisting needle feeding of the imitation doctor in the process of puncturing, the ablation needle of the embodiment can realize the rotary twisting needle feeding in the process of puncturing; aiming at the problem that the existing propulsion device does not have a force sensing protection mechanism, the device cannot sense the resistance and the torsion in the puncturing process, so that doctors cannot deeply sense the puncturing process, the embodiment can directly sense the resistance and the torsion in the puncturing process of the ablation needle through the force sensor.
The ablation needle propulsion device of the embodiment has at least the following advantages: (1) The single-forward puncture of the ablation needle can be realized, the rotary twisting needle feeding puncture function of the ablation needle rotating while the puncture is realized, and the rotary twisting needle feeding in different speed modes can be realized through different rotating speeds, so that the resistance in the puncture process can be effectively reduced, and the puncture is ensured to be smooth; (2) The puncture resistance and the puncture torsion of the ablation needle in the puncture process can be sensed in real time, the accidental injury of a patient caused by the abnormality of the force value in the puncture process is avoided, the puncture mode and the puncture speed can be regulated in real time according to the puncture force sensing information, the peak value of the force in the puncture process is effectively reduced, the puncture error caused by the stress bending of the ablation needle is avoided, the puncture precision can be effectively improved, meanwhile, the moderate puncture force is ensured, and the puncture process is safe.
In the description of the present utility model, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; 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.
The above-described embodiments are provided for illustrating the technical concept and features of the present utility model, and are intended to be preferred embodiments for those skilled in the art to understand the present utility model and implement the same according to the present utility model, not to limit the scope of the present utility model. All equivalent changes or modifications made according to the spirit of the present utility model should be included in the scope of the present utility model.
Claims (10)
1. An ablation needle advancement device comprising:
an ablation needle;
a base;
a moving platform which is movably arranged on the base along the length direction of the ablation needle;
a first driving mechanism for driving the mobile platform to move;
the needle mounting seat is rotatably arranged on the moving platform, and the rotating axis of the needle mounting seat extends along the length direction of the ablation needle;
a second driving mechanism for driving the needle mount to rotate;
wherein, the proximal end of the ablation needle is fixedly arranged on the needle mounting seat.
2. The ablation needle advancement apparatus of claim 1 wherein the base further comprises a guide sleeve disposed thereon through which the ablation needle is movably disposed.
3. The ablation needle pusher device of claim 1 wherein the needle mount is coupled to the second drive mechanism by a force sensor and a rotational shaft, the rotational shaft being rotatably disposed on the moving platform about the rotational axis.
4. The ablation needle advancement device of claim 3, wherein the force sensor is a two-dimensional force sensor or a six-dimensional force sensor.
5. The ablation needle advancement apparatus of claim 3 wherein the second drive mechanism comprises a rotary motor and a coupling connecting the rotary shaft to an output shaft of the rotary motor.
6. The ablation needle advancement apparatus of claim 1 further comprising a gland secured to the needle mount, the proximal end of the ablation needle being housed within the gland.
7. The ablation needle advancement apparatus of claim 6 wherein the gland is provided with one or more connecting cables for receiving the ablation needle or a receiving slot for medication through the ablation needle.
8. The ablation needle advancement apparatus of claim 1 wherein the first drive mechanism comprises a translation motor.
9. The ablation needle advancement apparatus of claim 8 wherein the first drive mechanism further comprises a screw rotatably disposed on the base and a nut disposed on the screw that translates as the screw rotates, the screw being coupled to an output shaft of the translation motor, the nut being coupled to the translation platform.
10. The ablation needle advancement apparatus of claim 1 wherein the base is provided with a guide rail extending along the length of the ablation needle, the moving platform being in sliding engagement with the guide rail.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321520672.6U CN219895907U (en) | 2023-06-14 | 2023-06-14 | Ablation needle propelling device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321520672.6U CN219895907U (en) | 2023-06-14 | 2023-06-14 | Ablation needle propelling device |
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| CN219895907U true CN219895907U (en) | 2023-10-27 |
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| CN202321520672.6U Active CN219895907U (en) | 2023-06-14 | 2023-06-14 | Ablation needle propelling device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117481766A (en) * | 2024-01-02 | 2024-02-02 | 北京精准医械科技有限公司 | Quick assembly disassembly clamping structure of ablation needle and piercing depth thereof |
| CN117481785A (en) * | 2024-01-02 | 2024-02-02 | 北京精准医械科技有限公司 | Limiting and buffering structure for tip of ablation needle and puncture device thereof |
-
2023
- 2023-06-14 CN CN202321520672.6U patent/CN219895907U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117481766A (en) * | 2024-01-02 | 2024-02-02 | 北京精准医械科技有限公司 | Quick assembly disassembly clamping structure of ablation needle and piercing depth thereof |
| CN117481785A (en) * | 2024-01-02 | 2024-02-02 | 北京精准医械科技有限公司 | Limiting and buffering structure for tip of ablation needle and puncture device thereof |
| CN117481785B (en) * | 2024-01-02 | 2024-03-19 | 北京精准医械科技有限公司 | Limiting and buffering structure for tip of ablation needle and puncture device thereof |
| CN117481766B (en) * | 2024-01-02 | 2024-05-10 | 北京精准医械科技有限公司 | Quick assembly disassembly clamping structure of ablation needle and piercing depth thereof |
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