TW201924607A - MRI-compatible device for stereotactic surgery - Google Patents

Abstract

A MRI-compatible device for stereotactic surgery includes a base, a horizontal slide, a horizontal sliding stage, a vertical slide, a vertical sliding stage, and a guiding module. Two ends of the horizontal slide are fixed to the base, respectively. The horizontal sliding stage is disposed on the horizontal slide, thereby moving along the horizontal slide in a first direction. One end of the vertical slide is fixed to the horizontal sliding stage. The vertical sliding stage is disposed on the vertical slide, thereby moving along the vertical slide in a second direction. The guiding module is fixed to the vertical sliding stage. The guiding module includes a catheter. The guiding module is configured to guide the catheter to move along a third direction, a fourth direction, and a fifth direction.

Description

Magnetic resonance contrast compatible stereotactic surgical device

The present disclosure relates to a stereotactic surgical device, and more particularly to a magnetic resonance compatible stereotactic surgical device.

Stereotactic surgery is the core technology of cranial neurosurgery. It is generally used to scan the medical image stereoscopic locator and to perform surgery through the drilling of the skull. One of the applications of stereotactic surgery is deep brain stimulation, which is to treat Parkinson's disease. The method of epilepsy and epilepsy and mental illness, the surgical effect depends on the accuracy of the stimulation electrode placement. However, since the brain tissue after craniotomy is deformed due to the change of pressure difference, and the end position of the surgical instrument cannot be confirmed during the operation, This type of positioning surgery presents many risks to the patient.

In order to monitor the exact location of the intracranial tissue and the end of the instrument in the operation, the guided positioning technique combined with magnetic resonance imaging is another trend of stereotactic surgery. Magnetic resonance imaging is the most advanced imaging method, and it is one of the basic equipment for clinical diagnosis. Its advantages such as no-radiation, immediate, high-resolution, multi-contrast images are quite suitable for soft tissue imaging, better than ultrasonic or tomography. Aiming, but there are many difficulties in the technology of magnetic resonance imaging, because the imaging device of magnetic resonance imaging contains the main magnetic field, gradient magnetic field, electricity Magnetic RF pulse and sensitive signal receiving coil make magnetic resonance imaging a major challenge. For example, magnetic resonance imaging operates in a magnetic environment and requires anti-magnetic equipment to enter. Electromagnetic pulse generated during imaging also acts on the scanning chamber. The metal or electromechanical system in the middle, and due to the limited working space of the magnetic resonance imaging, the volume of the device is also limited.

The purpose of the present disclosure is to provide a magnetic resonance contrast compatible stereotactic surgical device for guiding stereotactic surgery through magnetic resonance imaging, through non-magnetic materials and electromagnetic shielding measures to achieve compatibility with magnetic resonance imaging. The image of the magnetic resonance imaging confirms the position of the electrode to improve the efficiency and safety of the operation.

According to the above object of the present disclosure, a magnetic resonance contrast compatible stereotactic surgical device is provided, which comprises: a substrate, a horizontal sliding rail, a horizontal sliding table group, a vertical sliding rail, a vertical sliding table group and a guiding module. Both ends of the water smoothing rail are respectively locked to the substrate. The water smoothing station is assembled on the horizontal rail and displaced along the horizontal rail in the first direction. One end of the vertical rail is locked to the horizontal slide group. The vertical slide assembly is disposed on the vertical slide rail and is displaced in the second direction along the vertical slide rail. The guiding module is locked to the vertical sliding table group, and the guiding module comprises a conduit, and the guiding module is configured to displace the conduit in the third direction, the fourth direction and the fifth direction.

In some embodiments, the horizontal rail outer shape exhibits a 1/2 arc, and the vertical rail has a 1/4 arc.

In some embodiments, the above horizontal slide group, vertical slide The group and the guiding module are respectively covered by an electromagnetic shielding cover.

In some embodiments, the magnetic resonance imaging compatible stereotactic surgical device further includes: two ball bearings are respectively mounted on both sides of the horizontal sliding table group. The water smoothing stage is displaced in the first direction along the horizontal rail by the ball bearing on the substrate.

In some embodiments, the plurality of mechanism components of the substrate, the horizontal slide rail, the horizontal slide table group, the ball bearing, the vertical slide rail, the vertical slide table group and the guide module are made of engineering plastic.

In some embodiments, the magnetic resonance contrast stereotactic surgical device further includes a plurality of signal lines for transmitting electrical signals and a plurality of fixing accessories for the locking mechanism components, wherein the signal lines are electromagnetic shielding woven materials. Covered, these fixed fittings are made of non-magnetic materials.

In some embodiments, the horizontal sliding table group and the vertical sliding table group respectively comprise a piezoelectric motor, and one of the piezoelectric motors is used to drive the horizontal sliding table group to be displaced along the horizontal sliding rail, and the other of the piezoelectric motors is used. To drive the vertical slide group to displace along the vertical slide.

In some embodiments, the horizontal sliding table group and the vertical sliding table group respectively comprise an encoder, and one of the encoders is used to sense the angle of displacement of the horizontal sliding table group on the horizontal sliding rail, and the other of the encoders is used. The angle at which the vertical slide group is displaced on the vertical slide is sensed.

In some embodiments, the guiding module further includes two first linear motors for displacing the catheter in a third direction, and two second linear motors for guiding the catheter Displaced in the fourth direction.

In some embodiments, the guide module further includes a linear motor for displacing the catheter in a third direction and a rotary motor for displacing the catheter in the fourth direction.

In some embodiments, the magnetic resonance contrast stereotactic surgical device further includes a control module, and the control module has built-in forward kinematics and backward kinematics models. The control module controls the horizontal slide group, the vertical slide group and the guide module to move the catheter to the target position through calculation.

The above described features and advantages of the present invention will be more apparent from the following description.

100‧‧‧Magnetic angiography compatible stereotactic surgical device

110‧‧‧Substrate

120‧‧‧ horizontal rails

130‧‧‧Horizontal slide group

140‧‧‧Vertical rails

150‧‧‧Vertical slide table

160, 170‧‧‧ guide module

180‧‧‧Ball bearings

161, 171‧‧ catheter

162, 163, 172, 173‧ ‧ bearings

164, 165, 174‧‧‧ translation slides

175‧‧‧Rotating mechanism

176‧‧‧Rotary motor

200, 300‧‧‧ guide pin

r ₁ ‧‧‧First direction

r ₂ ‧‧‧second direction

r ₃ , t ₃ ‧‧‧ third direction

r ₄ , t ₄ ‧‧‧ fourth direction

r ₅ , t ₅ ‧‧‧ fifth direction

A better understanding of the aspects of the present disclosure can be obtained from the following detailed description taken in conjunction with the drawings. It should be noted that, according to industry standard practices, the features are not drawn to scale. In fact, in order to make the discussion clearer, the dimensions of each feature can be arbitrarily increased or decreased.

1 is a schematic view showing the mechanism of a magnetic resonance contrast compatible stereotactic surgical device according to an embodiment of the present disclosure.

2 is a schematic view showing a complete mechanism of a magnetic resonance contrast compatible stereotactic surgical device according to a first embodiment of the present disclosure.

FIG. 3 is a schematic view showing the mechanism of the guiding module according to the first embodiment of the present disclosure.

FIG. 4 is a schematic view showing the mechanism of the guiding module according to the second embodiment of the present disclosure.

FIG. 5 is a schematic cross-sectional view showing a mechanism of a guide module according to a second embodiment of the present disclosure.

Embodiments of the invention are discussed in detail below. However, it will be appreciated that the embodiments provide many applicable concepts that can be implemented in a wide variety of specific content. The examples discussed and disclosed are illustrative only and are not intended to limit the scope of the invention. The terms "first", "second", "etc." used in this document are not intended to mean the order or the order, and are merely to distinguish between elements or operations described in the same technical terms.

FIG. 1 is a schematic diagram of a mechanism of a magnetic resonance contrast compatible stereotactic surgical device 100 in accordance with an embodiment of the present disclosure. The magnetic resonance contrast stereotactic surgical device 100 includes a substrate 110, a horizontal slide 120, a horizontal slide set 130, a vertical slide 140, and a vertical slide set 150. As shown in FIG. 1 , the outer slide rail 120 has a 1/2 arc shape, and the two ends of the horizontal rail 120 are respectively locked to the substrate 110 . The water smoothing table set 130 is mounted on the horizontal sliding rail 120. The horizontal sliding table set 130 includes a motor (not shown), and the sleeve sleeved on the motor shaft is in contact with the horizontal sliding rail 120. When the motor of the horizontal slide set 130 is running, the sleeve sleeved on the motor shaft is in rolling contact with the horizontal slide rail 120, so that the friction between the sleeve and the horizontal slide rail 120 is placed on the shaft of the motor. The force drives the horizontal sliding table group 130 to make a sliding contact with the horizontal sliding rail 120. Specifically, as shown in FIG. 1, the horizontal slide table group ₁ 130 120 r displacement in a first direction along the horizontal rails.

As shown in FIG. 1, the magnetic resonance contrast stereotactic surgical device 100 further includes two ball bearings 180. Two ball bearings 180 are mounted on both sides of the horizontal stage set 130, respectively. The water smoothing stage set 130 is displaced on the substrate 110 by the ball bearing 180 along the horizontal slide rail 120 in the first direction r ₁ . It is worth mentioning that since both ends of the horizontal slide rail 120 are locked to the substrate 110, and the two ball bearings 180 are used to displace the horizontal slide table 130 along the horizontal slide rail 120 on the substrate 110, the horizontal slide rails 120 has four support points relative to the substrate 110. In particular, the ball bearing 180 is used to provide additional two support points for the horizontal rail 120 relative to the substrate 110 to enhance the rigidity of the overall mechanism. It is worth mentioning that the ball bearing 180 has the effect of effectively reducing the friction between the horizontal stage set 130 and the substrate 110 when the horizontal stage set 130 is displaced on the substrate 110.

As shown in FIG. 1 , the outer slide rail 140 has a quarter arc, and one end of the vertical rail 140 is locked to the horizontal slide group 130 , and the vertical rail 140 and the horizontal rail 120 do not contact each other. Specifically, when the horizontal slide group 130 is displaced along the horizontal slide 120 in the first direction r ₁ , the vertical slide 140 fixed to the horizontal slide set 130 will also be in the first direction r ₁ Upper displacement.

The vertical slide set 150 is mounted on the vertical slide 140, and the vertical slide set 150 includes a motor (not shown), and the sleeve sleeved on the motor shaft is in contact with the vertical slide 140. When the motor of the vertical slide set 150 is running, the sleeve sleeved on the motor shaft is in rolling contact with the vertical slide rail 140, thereby friction between the sleeve and the vertical slide rail 140 which are sleeved on the motor shaft center. The force drives the vertical slide group 150 to make a sliding contact with the vertical slide rail 140. Specifically, as shown in FIG. 1, the vertical slider displacement group 150 140 r ₂ in a second direction perpendicular to the rails.

It should be noted that the motors of the horizontal stage set 130 and the vertical stage set 150 as described above are piezoelectric motors, such as anti-magnetic piezoelectric motors. The piezoelectric motor uses a non-magnetic piezoelectric ceramic material. The principle of actuation is to generate friction and thrust by resonance deformation after energization. Since the piezoelectric motor is not driven by magnetic force, it can operate in a strong magnetic environment, that is, pressure. The electric motor does not fail in the magnetic resonance imaging system. Furthermore, the piezoelectric motor does not generate other magnetic fields other than the power line, and is equivalently used as an actuator having magnetic resonance compatibility requirements. In addition, the piezoelectric motor has a relatively high holding torque at rest, which can reduce the motor shaft caused by external force intervention when the magnetic resonance contrast compatible stereotactic surgical device is externally engaged to perform puncture tissue. Angle error.

The water smoothing stage set 130 and the vertical stage set 150 also respectively include an optical encoder paired with the piezoelectric motor for enabling more accurate positioning of the magnetic resonance compatible stereotactic surgical device. The angle of rotation of the piezoelectric motor can be measured by the optical encoder, so that the measurement signal is fed back to the magnetic resonance contrast stereotactic surgical device for closed loop control.

It should be noted that the horizontal sliding table group 130 and the vertical sliding table group 150 are respectively covered by an electromagnetic shielding cover (not shown) for electromagnetically shielding the motor and the optical encoder from interference with the magnetic resonance imaging image. In the embodiment of the present disclosure, the electromagnetic shielding cover is a copper shielding cover, but the disclosure is not limited thereto, and aluminum or a material having a low magnetic susceptibility or a non-magnetic magnetic material may also be used as a material for forming the electromagnetic shielding cover.

It is worth mentioning that the disclosure is based on the shaft of the motor. The friction between the sleeve and the horizontal rail 120 or the vertical rail 140 drives the horizontal slide group 130 or the vertical slide group 150 to be displaced. In contrast to certain conventional positioning surgical devices that use a motor to drive a gear for mobile positioning, the present disclosure can avoid the problem of gap errors that may result from the use of a motor to drive the gear.

It is worth mentioning that when the horizontal slide set 130 is displaced along the horizontal slide 120, the resistance of the movement is only friction; when the vertical slide set 150 is displaced along the vertical slide 140, the resistance of the movement is only friction and The vertical weight of the vertical slide set 150. Due to such a low resistance design, the present disclosure reduces the torque requirement for the motor of the magnetic resonance compatible positioning surgical device, so that the volume of the motor can be reduced, that is, the volume of the magnetic resonance compatible positioning surgical device can be reduced.

It is worth mentioning that, since the sliding table assembly of the present disclosure uses frictional force to make relative sliding contact with the sliding rail, the actual moving angle of the sliding table group and the motor rotation angle may cause errors due to sliding, in order to make the magnetic resonance imaging phase The stereotactic positioning device can be positioned more accurately, so that the horizontal stage set 130 and the vertical stage set 150 are additionally provided with encoders (not shown), such as optical encoders. The encoder of the water smoothing station group 130 is used to sense the displacement of the horizontal sliding table group 130 on the horizontal sliding rail 120. The encoder of the vertical sliding table group 150 is used to sense the displacement of the vertical sliding table group 150 on the vertical sliding rail 140. The angle is controlled by a magnetic resonance contrast compatible stereotactic surgical device by means of a signal for indicating the angle of displacement of the slide group on the slide rail for closed loop control.

FIG. 2 is a schematic diagram showing the complete mechanism of the magneto-optical contrast compatible stereotactic surgical device 100 according to the first embodiment of the present disclosure. The magnetic resonance contrast stereotactic surgical device 100 further includes a guiding module 160, and the guiding module 160 is locked to the vertical sliding table group 150. Specifically, when the horizontal slide set 130 is displaced along the horizontal slide 120 in the first direction r ₁ and/or the vertical slide set 150 is displaced along the vertical slide 140 in the second direction r ₂ , the lock is locked The guide module 160 of the vertical slide set 150 is thus also displaced in the first direction r ₁ and/or the second direction r ₂ .

FIG. 3 is a schematic diagram of the mechanism of the guiding module 160 according to the first embodiment of the present disclosure. The guiding module 160 includes a conduit 161, a bearing 162, a bearing 163, a translation rail 164 and a translation rail 165. Among them, the bearing 162 and the bearing 163 are fisheye bearings. Wherein a guide bearing 162 is fixed to the frame module 160, the bearing 164 to slide 163 by a translation direction t ₃ a third translation, translational bearing 163 by the rail 165 to a fourth translation direction t _4.

The guiding module 160 further includes two first linear motors (not shown) and two second linear motors (not shown). They are two first linear motor to apply a force on both ends of the translation rail 164, two first linear motor used to drive the translation of the slide rail 164 T ₃ in the third translational direction. Two second linear motors are respectively applied to the two ends of the translation rail 165, and two second linear motors are used to drive the translation rail 165 to translate in the fourth direction t ₄ .

The conduit 161 is mounted to the bearing 162 and the bearing 163. 3, the conduit 161 is a hollow catheter, a guide needle 200 through the catheter 161, guide pin 200 may be, for example, medical personnel in the operation of the fifth displacement direction t _5, furthermore, the guide pin 161 through the catheter 200 It will be displaced in the third direction t ₃ and the fourth direction t ₄ by the translation of the translation rail 164 and the translation rail 165. Specifically, the guide module 160 is configured to displace the guide pin 200 passing through the catheter 161 in the third direction t ₃ , the fourth direction t _{4 ,} and the fifth direction t ₅ .

It should be noted that the first linear motor and the second linear motor described above are piezoelectric motors, for example, anti-magnetic piezoelectric motors. The piezoelectric motor uses a non-magnetic piezoelectric ceramic material. The principle of actuation is to generate friction and thrust by resonance deformation after energization. Since the piezoelectric motor is not driven by magnetic force, it can operate in a strong magnetic environment, that is, pressure. The electric motor does not fail in the magnetic resonance imaging system. Furthermore, the piezoelectric motor does not generate other magnetic fields other than the power line, and is equivalently used as an actuator having magnetic resonance compatibility requirements. In addition, the piezoelectric motor has a relatively high holding torque at rest, which can reduce the motor shaft caused by external force intervention when the magnetic resonance contrast compatible stereotactic surgical device is externally engaged to perform puncture tissue. Angle error.

The guide module 160 also includes an optical encoder paired with the first linear motor and includes an optical encoder paired with the second linear motor to enable more accurate positioning of the magnetic resonance compatible stereotactic surgical device. The angle of rotation of the piezoelectric motor can be measured by the optical encoder, so that the measurement signal is fed back to the magnetic resonance contrast stereotactic surgical device for closed loop control.

It should be noted that the guiding module 160 is covered by an electromagnetic shielding cover (not shown) for electromagnetically shielding the interference of the first linear motor, the second linear motor and the optical encoder on the magnetic resonance imaging image. . In the embodiment of the present disclosure, the electromagnetic shielding cover is a copper shielding cover, but the disclosure is not limited thereto, and aluminum or a material having a low magnetic susceptibility or a non-magnetic magnetic material may also be used as a material for forming the electromagnetic shielding cover.

FIG. 4 is a schematic diagram of the mechanism of the guiding module 170 according to the second embodiment of the present disclosure. Similar to the guide module 160, the guide module 170 is locked to the vertical slide set 150 and becomes part of a magnetic resonance contrast compatible stereotactic surgical device. The guide module 170 includes a conduit 171, a bearing 172, a bearing 173, a translation rail 174, and a rotating mechanism 175. Among them, the bearing 172 and the bearing 173 are fisheye bearings. The bearing 172 is fixed to the frame of the guiding module 170. FIG. 5 is a cross-sectional view showing the mechanism of the guide module 170 according to the second embodiment of the present disclosure. Referring to FIG. 4 and FIG. 5 together, the bearing 173 is in the third direction r ₃ by translating the slide rail 174. In translation, the bearing 173 is translated in the fourth direction r ₄ by the rotating mechanism 175.

The guiding module 170 further includes a linear motor (not shown) and a rotating motor 176. The linear motor is used to drive the translation slide 174 to translate in the third direction r ₃ , and the rotation motor 176 is used to drive the rotation mechanism 175 to translate in the fourth direction r ₄ .

The duct 171 is mounted on the bearing 172 and the bearing 173. As shown in Figures 4 and 5, the catheter 171 is a hollow catheter, and the guide needle 300 passes through the catheter 171. The guide needle 300 can be displaced in the fifth direction r ₅ by, for example, a medical staff member, and further, through the catheter 171. The needle 300 is also displaced in the third direction r ₃ and the fourth direction r ₄ by the translation of the slide rail 174 and the rotation mechanism 175. Specifically, the guide module 170 is configured to displace the guide pin 300 passing through the catheter 171 in the third direction r ₃ , the fourth direction r _{4 ,} and the fifth direction r ₅ .

It should be noted that the linear motor and the rotary motor 176 described above are piezoelectric motors, for example, anti-magnetic piezoelectric motors. The piezoelectric motor uses a non-magnetic piezoelectric ceramic material. The principle of actuation is to generate friction and thrust by resonance deformation after energization. Since the piezoelectric motor is not driven by magnetic force, it can operate in a strong magnetic environment, that is, pressure. The electric motor does not fail in the magnetic resonance imaging system. Furthermore, the piezoelectric motor does not generate other magnetic fields other than the power line, and is equivalent to Comes as an actuator with magnetic resonance imaging compatibility requirements. In addition, the piezoelectric motor has a relatively high holding torque at rest, which can reduce the motor shaft caused by external force intervention when the magnetic resonance contrast compatible stereotactic surgical device is externally engaged to perform puncture tissue. Angle error.

The guide module 170 also includes an optical encoder that mates with the linear motor and includes an optical encoder that mates with the rotary motor 176 to enable more accurate positioning of the magnetic resonance compatible stereotactic surgical device. The angle of rotation of the piezoelectric motor can be measured by the optical encoder, so that the measurement signal is fed back to the magnetic resonance contrast stereotactic surgical device for closed loop control.

It should be noted that the guiding module 170 is covered by an electromagnetic shielding cover (not shown) for electromagnetically shielding the linear motor, the rotating motor 176 and the optical encoder from interfering with the magnetic resonance imaging image. In the embodiment of the present disclosure, the electromagnetic shielding cover is a copper shielding cover, but the disclosure is not limited thereto, and aluminum or a material having a low magnetic susceptibility or a non-magnetic magnetic material may also be used as a material for forming the electromagnetic shielding cover.

It is to be noted that the guide module 170 of the second embodiment of the present disclosure requires only two piezoelectric motors (linear motor and rotary motor 168), in contrast to the guide module of the first embodiment of the present disclosure. 160 requires four linear motors (two first linear motors and two second linear motors), so the guiding die of the second embodiment of the present disclosure is compared to the guiding module 160 of the first embodiment of the present disclosure. The group 170 is smaller in size and is more suitable for a magnetic resonance contrast compatible stereotactic surgical device with limited working space.

It can be seen from the above that the magnetic resonance contrast compatible stereotactic surgical device of the present disclosure can make the guide needle passing through the catheter in the first direction, the second direction, The third direction, the fourth direction, and the fifth direction are displaced. In particular, the magnetic resonance contrast compatible stereotactic surgical device of the present disclosure requires only five degrees of freedom. In contrast, the design of a conventional stereotactic surgical device requires six or more degrees of freedom. Therefore, the magnetic resonance contrast compatible stereotactic surgical device of the present disclosure can reduce the requirement for the number of motors, can not only reduce the interference of the motor on the magnetic resonance image, but also reduce the cost and reduce the overall volume.

In the embodiment of the present disclosure, the substrate 110, the horizontal slide 120, the horizontal slide set 130, the ball bearing 180, the vertical slide 140, the vertical slide set 150, the guide module 160, and the mechanism assembly of the guide module are Engineering plastics, such as polyoxymethylene (POM), are made because the Young's modulus and shear modulus of engineering plastics are high enough and the magnetic susceptibility is low, which is suitable for magnetic applications. The angiography compatible stereotactic surgical device 100. In the embodiment of the present disclosure, the fixing components (for example, screws, nuts, etc.) for locking the above-mentioned mechanism components are made of copper, but the disclosure is not limited thereto, and aluminum, materials with low magnetic susceptibility are Or non-magnetic materials may also be used as materials for making fixed parts. The material of the machine component and the material for the fixed component as described above have the characteristics of sufficient strength and low magnetic susceptibility, which not only maintains the structural rigidity, but also avoids the missile effect caused by the attraction of the strong magnetic field. And can reduce the eddy current generated by the RF pulse, thereby reducing the heating effect and electromagnetic wave interference.

In the embodiment of the present disclosure, the magnetic resonance contrast stereotactic surgical device 100 further includes a plurality of signal lines for transmitting electrical signals, such as a power line of a motor, a signal line of an encoder, etc., and these signal lines are electromagnetic A shielded woven material (for example, a tinned copper braid) is coated to shield electromagnetic interference.

In the embodiment of the present disclosure, the magnetic resonance contrast compatible stereo positioning The surgical device further includes a control module including a software that has a built-in forward kinematics model and a backward kinematics model. The control module first calculates the parameters of each degree of freedom through the software, and then the control module controls the motors of the horizontal slide group, the vertical slide group and the guide module to move the guide pins passing through the guide to the target position. Wherein, the forward kinematics model is established by the Denavit-Hartenberg (DH) matrix method, and the homogeneous transformation matrix is used to represent the relative translation and rotation between each degree of freedom of the magnetic resonance contrast stereotactic surgical device, and A conversion matrix of the coordinates of the end of the catheter relative to the substrate coordinate system can be determined.

It can be seen from the above that the magnetic resonance contrast compatible stereotactic surgical device disclosed in the present invention selects a material with low magnetic susceptibility, and electromagnetic shielding measures are also performed for the interference of the magnetic resonance imaging image, thereby realizing the requirement of compatibility of magnetic resonance imaging. Furthermore, the magnetic resonance contrast compatible stereotactic surgical device disclosed in the present invention requires only five degrees of freedom, and has a simple structure and a small overall volume, which is suitable for a magnetic resonance imaging workspace with limited space. Finally, the magnetic resonance contrast compatible stereotactic surgical device of the present disclosure can guide the stereotactic operation through the magnetic resonance imaging image, calculate the parameters of each degree of freedom by using the software, and then pass through the catheter by controlling a plurality of motors. The guide needle moves to the target position.

The features of several embodiments are summarized above, and those skilled in the art will be able to understand the aspects of the disclosure. It will be appreciated by those skilled in the art that the present disclosure can be readily utilized as a basis for designing or modifying other processes and structures, thereby achieving the same objectives and/or objectives as those described herein. Achieve the same advantages. It should be understood by those skilled in the art that the invention may be made without departing from the spirit and scope of the disclosure.

Claims (11)

A magnetic resonance contrast compatible stereotactic surgical device comprises: a substrate; a horizontal sliding rail, the two ends of the horizontal sliding rail are respectively locked to the substrate; and a horizontal sliding table group is mounted on the horizontal sliding rail And sliding along the horizontal slide rail in a first direction; a vertical slide rail, one end of the vertical slide rail is fixed to the horizontal slide block group; a vertical slide block group is mounted on the vertical slide rail Up and along the vertical slide in a second direction; and a guide module secured to the vertical slide set, the guide module comprising a conduit for the conduit to be A third direction, a fourth direction, and a fifth direction are displaced. The magnetic resonance contrast compatible stereotactic surgical device according to claim 1, wherein the horizontal slide has a 1/2 arc outside the horizontal rail, wherein the vertical rail has a 1/4 circle shape. arc. The magnetic resonance contrast compatible stereotactic surgical device according to claim 1, wherein the horizontal sliding table group and the vertical sliding table group The guiding module is respectively covered with an electromagnetic shielding cover. The magnetic resonance contrast compatible stereotactic surgical device according to claim 1, further comprising: two ball bearings respectively mounted on two sides of the horizontal sliding table group, wherein the horizontal sliding table group passes through the ball bearings Displacement in the first direction along the horizontal slide on the substrate. The magneto-optical contrast compatible stereotactic surgical device according to the fourth aspect of the invention, wherein the substrate, the horizontal sliding rail, the horizontal sliding table group, the ball bearings, the vertical sliding rail, and the vertical sliding table group The plurality of mechanical components of the guiding module are made of engineering plastics. The magnetic resonance contrast compatible stereotactic surgical device according to claim 5, further comprising: a plurality of signal lines for transmitting electrical signals, the signal lines are coated with electromagnetic shielding woven material; A plurality of fixing fittings for locking the mechanical components, the fixing fittings being made of a non-magnetic material. The magnetic resonance contrast compatible stereotactic surgical device according to claim 1, wherein the horizontal sliding table group and the vertical sliding table group respectively comprise a piezoelectric motor. One of the piezoelectric motors is used to drive the horizontal sliding table group to be displaced along the horizontal sliding rail, and the other of the piezoelectric motors is used to drive the vertical sliding table group to be displaced along the vertical sliding rail. The magnetic resonance contrast compatible stereotactic surgical device of claim 1, wherein the horizontal sliding table group and the vertical sliding table group respectively comprise an encoder, and one of the encoders is used to sense the The water smoothing set is displaced at an angle of the horizontal slide, and the other of the encoders is used to sense the angle of displacement of the vertical slide set on the vertical slide. The magnetic resonance contrast compatible stereotactic surgical device of claim 1, wherein the guiding module further comprises: two first linear motors for causing the catheter to be displaced in the third direction; a second linear motor for displacing the conduit in the fourth direction. The magnetic resonance contrast compatible stereotactic surgical device of claim 1, wherein the guiding module further comprises: a linear motor for displacing the catheter in the third direction; And a rotary motor for displacing the conduit in the fourth direction. The magnetic resonance contrast compatible stereotactic surgical device according to claim 1, further comprising a control module having built-in forward kinematics and backward kinematics models The control module controls the horizontal slide group, the vertical slide set and the guide module to move the guide to a target position.