WO2017000538A1 - Arc-shaped precise positioning device capable of being assembled and disassembled - Google Patents

Abstract

Disclosed is an arc-shaped precise positioning device capable of being assembled and disassembled, comprising a support unit and a three-dimensional adjustment unit connected to the support unit, and further comprising a guided positioning unit which comprises an arc-shaped rail (22), a guide rod (19), a gripper (23), and locators (11, 12). A second slide block (17) is connected to the three-dimensional adjustment unit; the arc-shaped rail (22) is arranged on the second slide block, is slidable on the second slide block (17), and can rotate in the original position around a vertical axis at any angle; the three-dimensional adjustment unit can drive the arc-shaped rail (22) to move up and down, left and right or back and forth in three dimensions; the guide rod can either slide along the arc-shaped rail (22) or move in the direction of the long axis of the guide rod (19); and the gripper (23) is arranged on the guide rod for fixing a surgical instrument. Two locators (11, 12) are provided, and rays emitted from the two locators (11, 12) and the long axis of the gripper (23) are both parallel to or coincide with the radial line of the arc-shaped rail (22), the three lines being in the same plane, which is parallel to or overlapped with the plane where the arc-shaped rail (22) is located, and the three lines intersecting at a point.

Description

Detachable assembly arc-shaped precision positioning device Technical field

The invention belongs to the technical field of medical instruments, in particular to a detachable assembly arc-shaped precise positioning device.

Background technique

The minimally invasive technique of the spine is to reduce the trauma of the surrounding tissue to minimize the surgical incision, less tissue damage, lighter systemic response, quick recovery period and good psychological effect. At present, minimally invasive spine technology has developed rapidly, and has achieved good practical results and good social benefits in the clinical treatment of spinal diseases. More and more spine surgeons have begun to pay attention to and carry out minimally invasive techniques for the spine. However, minimally invasive spine techniques require precise surgical procedures within a limited field of view that must rely on the positioning of imaging equipment. The traditional minimally invasive technique of the spine technique has low accuracy and many times of perspective, which leads to repeated radiation exposure of patients and medical staff, which is an important factor limiting the development of minimally invasive techniques. Some spine surgeons have a large dose of radiation for minimally invasive surgery, and even fear and repel the spine minimally invasive technique. Therefore, how to improve the positioning method or create a new high-accuracy positioning system is an important development direction of "precise surgery".

Puncture is one of the commonly used examination methods or treatment methods in clinical medicine, and is of great value for the diagnosis and treatment of diseases. Especially in the field of percutaneous transforaminal surgery, the existing puncture methods often require puncture under fluoroscopy, and the direction and depth of puncture can be determined only by repeated perspective. And rely heavily on the doctor's experience to operate, the location of the puncture is not necessarily accurate. This method of relying solely on sensation is not accurate enough, and often requires a wealth of surgical experience, and can be completed with repeated perspective; both increase the operation time, and expose the medical staff and patients to X-ray radiation multiple times. If the positioning is not accurate, it will inevitably cause unnecessary structural damage, thereby increasing damage.

In the medical field, including various types of puncture, minimally invasive spine, neurosurgery and other surgical operations, precise positioning devices are needed to assist the smooth operation of the operation, and the positioning device is required to be conveniently adjusted.

Summary of the invention

The object of the present invention is to overcome the defects of the prior art described above and to provide a detachable assembly arc-shaped precise positioning device capable of more accurate surgical positioning, shorter operation time, simple operation and less radiation of medical personnel.

The object of the present invention can be achieved by the following technical solutions:

Option One:

A detachable assembly arc-shaped precise positioning device comprises a support unit and a three-dimensional adjustment unit, wherein the three-dimensional adjustment unit is connected with the support unit, and further comprises a guide positioning unit, wherein the guide positioning unit comprises a circular arc track and a guide Rod, holder and locator,

The guiding and positioning unit is further provided with a second slider, the second sliding block is connected to the three-dimensional adjusting unit, and the circular arc-shaped track is disposed on the second sliding block and can slide on the second sliding block The second slider together with the circular arc track can be rotated in situ on the three-dimensional adjustment unit at an arbitrary angle around the vertical axis, and the three-dimensional adjustment unit drives the second slider and the circular arc track thereon , left and right, front and back three dimensions,

The guiding rod is connected on the circular arc track, and the guiding rod can slide along the circular arc track or move along the long axis direction of the guiding rod.

The holder is disposed on the guide rod for fixing the surgical instrument;

The locator is provided with two rays emitted by two locators, and the axis of the holder is parallel or coincident with the radial line of the circular arc track, and the three lines are on the same plane, and the plane Parallel or coincide with the plane in which the circular arc is located, the three lines intersect at one point.

The two locators may be arranged on a circular arc track, or one locator may be arranged on a circular arc track, and another locator may be arranged in the three-dimensional adjustment unit.

The holder may be a needle guide, and the needle guide may be used to fix the needle.

The circular arc track length is at least a quarter arc length, and may be, for example, a quarter to a third arc.

The locator can emit visible light or infrared light. More preferably, the locator may be a laser locator or an infrared locator.

The support unit is selected from one of the following forms:

(a) is an L-shaped base, and the bottom of the L-shaped base is provided with a roller;

(b) consisting of a foot, a vertical rod and a cylinder, the lower end of which is fixed to the foot, the upper end is for connection with a three-dimensional moving unit, and the cylinder is sleeved under the vertical rod for equipment Overall balance;

(c) a fixed arm fixed to the ceiling of the room, the operating bed or the wall;

(d) is composed of a plurality of fixed arms, and the two fixed arms are hinged by a universal joint.

The above supporting unit can also be driven and fixed by means of pneumatic or electric motor.

The three-dimensional adjustment unit includes a lifting adjustment unit and a horizontal adjustment unit: the lifting adjustment unit can make a circle The curved track moves up and down, and the horizontal adjusting unit can move the circular arc track in the horizontal plane back and forth, left and right. The three-dimensional adjustment unit may be composed of a common mechanical structure such as a screw or a screw rod, or may be constituted by a commonly used three-dimensional moving platform, and may be driven by a pneumatic or electric motor.

One of the implementations of the three-dimensional adjustment unit is:

The lifting and lowering adjustment unit is composed of two height-adjustable lifting rods, and is connected to the supporting unit through a fixing block, and the lifting movement of the lifting rod is adjusted by the rocking rod.

The lifting adjustment unit includes a first fixing block, a first lifting rod, a second lifting rod and a first rocking rod, and the first fixing block is mounted on a vertical arm of the L-shaped base, The first lifting rod and the second lifting rod are parallel to each other and vertically pass through the first fixing block, and the first rocking rod is mounted on the top of the vertical arm of the L-shaped base, and the A lifting rod and a second lifting rod are vertically connected, and the first lifting rod and the second lifting rod are driven to move up and down by rotating the first rocking rod.

The horizontal adjustment unit includes a second fixed block, a first horizontal rod, a second horizontal rod, a second rocker and a third fixed block, and the second fixed block is mounted on the first lifting rod and the second lifting rod The first horizontal rod and the second horizontal rod are parallel to each other and one end is horizontally passed through the second fixed block, and the other end is connected to the third fixed block, the second The rocker is vertically connected to the first horizontal rod and the second horizontal rod, and the first horizontal rod and the second horizontal rod are driven to rotate left and right horizontally by rotating the second rocking rod.

The first slider and the first adjustment knob are further movably mounted on the third fixing block, and the first adjustment knob is connected to the first slider by controlling the first adjustment knob The first slider is moved back and forth, and then the circular arc track is driven to perform horizontal movement before and after.

Further, the guiding and positioning unit further includes a first locking knob and a second adjusting knob, wherein the circular arc track is connected to the second slider and the first locking knob is connected, and the second slider is connected with the second adjusting knob. By controlling the second adjustment knob to drive the circular arc track to rotate around the vertical axis, by controlling the first locking knob, the circular arc track can be locked or opened around the center of the circle.

Further, the guiding and positioning unit further includes a second locking knob and a second locking wrench. One end of the guiding rod is connected to the third sliding block, and the other end is connected with a holder, which can be extended and contracted along the long axis of the guiding rod. Moving, by controlling the second locking knob, the telescopic movement of the guiding rod in the third sliding block can be locked, and the sliding movement of the third sliding block in the circular arc-shaped track can be locked by the second locking wrench.

The circular arc track, the first slider, the second slider, the third slider, the guide rod, and the needle guide can be easily disassembled, and can be used in surgery after being assembled and assembled lightly.

The detachable assembly arc-shaped precise positioning device further includes a storage rack horizontally mounted on the vertical rail for placing an instrument box during a surgical procedure, and placing the instrument box therein At least one set of sterilized circular arc-shaped rails, a first slider, a second slider, a third slider, a guide rod and a gripper or a needle guide, the total weight of the instrument box is not greater than the weight of the orthopedic instrument package.

Option II:

A detachable assembly arc-shaped precise positioning device, comprising:

Supporting unit: an L-shaped base, the bottom of the L-shaped base is provided with a roller, and the base is provided with a roller and a ground-fixing brake device, which is convenient for moving and fixing the detachable assembled arc-shaped precise positioning device.

Lifting and adjusting unit: consisting of two height-adjustable lifting rods connected to the supporting unit by a fixing block.

The horizontal adjusting unit is composed of two horizontal rods with adjustable lengths, and is connected to the lifting unit through a fixing block, and the horizontal rod and the lifting rod are perpendicular to each other.

The guiding and positioning unit comprises: a circular arc track and a guiding rod with a gripper, wherein the circular arc track is movably connected to the horizontal adjusting unit, and the guiding rod is slidably connected to the circular arc track by the sliding block.

The lifting and lowering adjustment unit comprises: a first fixing block, a first lifting rod, a second lifting rod and a first rocking rod, wherein the first fixing block is mounted on a vertical arm of the L-shaped base, The first lifting rod and the second lifting rod are parallel to each other and vertically pass through the first fixing block, and the first rocking rod is mounted on the top of the vertical arm of the L-shaped base, and The first lifting rod and the second lifting rod are vertically connected, and the first lifting rod and the second lifting rod are driven to move up and down by rotating the first rocking rod.

The horizontal adjustment unit includes a second fixed block, a first horizontal rod, a second horizontal rod, a second rocker and a third fixed block, and the second fixed block is mounted on the top of the first lifting rod and the second lifting rod The first horizontal rod and the second horizontal rod are parallel to each other and one end is horizontally passed through the second fixed block, and the other end is connected to the third fixed block, the second rocker The first horizontal rod and the second horizontal rod are vertically connected to the first horizontal rod and the second horizontal rod, and the first horizontal rod and the second horizontal rod are driven to rotate horizontally by rotating the second horizontal rod.

The guiding and positioning unit may be a guiding and puncturing unit: including a circular arc track, a first adjusting knob, a second adjusting knob, a third adjusting knob, a guiding rod and a gripper, the leading end of the circular arc track Connecting a first slider and a second adjustment knob, wherein the first slider is movably mounted on the third fixing block, and the first adjustment knob is connected to the first slider, and is controlled by the first The adjusting knob moves the first slider back and forth, thereby driving the circular arc track to move back and forth, and controlling the second adjusting knob to drive the circular arc track to rotate at any angle of 0-360 degrees around the vertical axis;

The third slider is slidably connected to the circular arc track, the guide rod is connected to the holder at one end, and the third end is connected to the other end, and the guide rod can be telescopically moved along the long axis direction thereof. . The third adjustment knob is connected to the third slider, and the third slider is driven to move the guide rod along the circular arc track by controlling the third adjustment knob.

third solution:

The detachable assembly arc-shaped precise positioning device of the invention may further comprise a movable three-dimensional rocker arc-shaped guiding spinal puncture aid, comprising a ground movable supporting part, a three-dimensional rocker adjusting part, and a circular arc angle guiding Positioning section, where:

The ground movable support portion includes a foot, a vertical rod and a cylinder, the vertical rod is fixed at one end to the foot, and the cylinder is sleeved under the vertical rod for maintaining the overall balance of the auxiliary device; the three-dimensional rocker The adjustment portion is composed of three threaded rockers, three extension rods and a horizontal locking wrench; one end of the third extension rod is connected to the other end of the vertical rod, and a horizontal locking wrench is arranged at the connection between the third extension rod and the vertical rod. The other end of the third extension rod is respectively connected to one end of the second extension rod and one end of the first extension rod, and the third extension rod and the second extension rod are horizontally placed, the first extension rod is vertically placed, and the third extension rod is extended. The rod and the first extension rod are arranged perpendicularly to each other, the first extension rod is connected to the seventh rocker, and is driven up and down by the seventh rocker, the second extension rod is connected to the fifth rocker, and the fifth rocker is driven by the fifth rocker Moving horizontally back and forth, the third extension rod is connected to the sixth rocker, and is driven by the sixth rocker to move left and right in the horizontal direction;

The horizontal calibrator is located on a third extension rod for adjusting the horizontal balance and locking the horizontal state by a horizontal locking wrench;

The arc-shaped angle guiding positioning portion comprises a circular arc-shaped track, a third rocker, a fourth rocker, a guide bar and a gripper, wherein the arc-shaped track is a quarter arc, and the scale is provided thereon. The arc-shaped track is connected to the fourth rocker, and the arc-shaped track is adjusted by the fourth rocker for 360-degree vertical rotation. One end of the arc is provided with a horizontal locator, and the other end is provided with a vertical locator, one end of the guide rod The third slider is located on the circular arc track, and the guide bar slider is connected to the third rocker, and the guide bar can slide on the circular arc track by the third slider under the driving of the third rocker. A rod is provided at one end of the rod, and the needle inlet of the holder can directly reach the puncture target point by the puncture needle.

In the present solution, the foot of the ground movable supporting portion has a roller that can be freely moved, and a brake device that can fix the ground.

In the present solution, the third rocker, the fourth rocker, the fifth rocker, the sixth rocker, the seventh rocker, the first extension pole, the second extension pole, and the third extension pole are all X-rays The composition of the polymer material that is not developed under fluoroscopy.

In the present solution, the horizontal calibrator can be used as a reference for adjusting the horizontal position of the three-dimensional rocker adjusting portion, and the horizontal position is locked by the horizontal locking wrench.

The method for using the detachable assembled circular arc positioning device proposed by the present invention is as follows: according to the front, rear and lateral perspective, the projection of the target target on the back side and the side surface of the body surface is determined, and marked by a marker, Then adjust the horizontal locator and the vertical locator to align the two body surface markers to determine that the target point is the intersection of the ray emitted by the two locators and the long axis of the holder, and adjust the circular arc of the circular orbit according to different surgical segments. Rotate straight to the proper angle, and adjust the guide rod on the circular arc track to slide along the circular arc track to the appropriate position, which is the appropriate surgical entry point.

In the present invention, the long axis of the holder (including the needle guide) is parallel or coincident with the long axis of the guide rod and coincides with the long axis of the surgical instrument (including the puncture needle) fixed thereto.

The support unit and the three-dimensional adjustment unit of different solutions in the invention can be used interchangeably or in combination, further increasing the stability of the support, and the flexibility of coarse adjustment and fine adjustment in the three-dimensional direction.

The radial line of the circular arc-shaped track according to the present invention refers to the line connecting the center of the circular arc track with a point on the circular arc track.

The circular arc, the circular arc shape and the curved shape in the present invention can be used interchangeably, and both refer to a portion between any two points on the circle.

Compared with the prior art, the present invention has the following advantages:

(1) The detachable assembly arc-shaped precise positioning device proposed by the invention can assist the medical staff to perform surgery during the operation, and can be widely applied to the intervertebral foramen puncture, epidural anesthesia, spinal tumor biopsy, spinal abscess puncture Orthopaedic surgery such as drainage and surgery in other departments such as neurosurgery and general surgery;

(2) During the actual operation, the circular movement of the circular arc track relative to its fixing device can prevent the patient's body from blocking the circular arc orbiting around the vertical axis, especially for some operations that are difficult for the surgical approach, such as Pedicle screw placement, lateral position for intervertebral foramen surgery, etc., it is very important to adjust the surgical approach angle to the appropriate position and expand the surgeon's surgical operation space, with outstanding substantive effects;

(3) The positioning device of the invention can greatly improve the accuracy of the positioning operation including the puncture, save the fluoroscopy time and improve the operation efficiency;

(4) In the present invention, the arc-shaped track, the first slider, the second slider, the third slider, the guide rod, and the holder can be easily disassembled, and can be used in surgery after being assembled and assembled lightly.

DRAWINGS

1 is a schematic perspective view showing a three-dimensional structure of a detachable assembly arc-shaped precise positioning device in Embodiment 1;

2 is a schematic front view showing the structure of a detachable assembled arc-shaped precise positioning device in Embodiment 1;

3 is a schematic top plan view of a detachable assembly arc-shaped precise positioning device in Embodiment 1;

4 is a schematic structural view 1 of the guiding positioning unit in different states in Embodiment 1;

5 is a schematic structural view 2 of the guiding positioning unit in different states in Embodiment 1;

6 is a schematic structural view 3 of the guiding positioning unit in different states in the first embodiment, and the broken line is the long axis of the holder;

7 is a schematic top plan view of the guiding and positioning unit in Embodiment 2, showing that the two positioning instruments are on the circular arc track, and the positional relationship between the two positioning instruments, the holder and the circular arc track; The locator is installed in a circular arc track, B and C are sectional views of the third slider, the guide bar and the holder in A; D is two locators mounted on the outside of the circular arc track;

8 is a schematic structural view of a detachable assembled arc-shaped precise positioning device in Embodiment 3;

9 is a schematic structural view of a detachable assembled arc-shaped precise positioning device in Embodiment 3;

10 is a schematic structural view of a detachable assembled arc-shaped precise positioning device in Embodiment 3;

11 is a schematic structural view of a detachable assembled arc-shaped precise positioning device in Embodiment 4;

Figure 12 is a schematic view 1 of the puncture direction adjustment;

Figure 13 is a schematic diagram 2 of the puncture direction adjustment;

14 is a schematic structural view of a detachable assembled arc-shaped precise positioning device in Embodiment 5;

15 is a schematic structural view of a detachable assembled arc-shaped precise positioning device in Embodiment 3.

The figures are as follows: 1 vertical guide rail, 2 storage platform, 3 first fixed block, 4 first lifting rod, 5 second lifting rod, 6 first rocker, 7 third locking knob, 8 first locking wrench , 9 second rocker, 10 first horizontal bar, 11 vertical locator, 12 horizontal locator, 13 first adjustment knob, 14 second adjustment knob, 15 third fixed block, 16 first locking knob, 17 second Slider, 18 second locking wrench, 19 guide, 20 second locking knob, 21 third slider, 22 circular arc track, 23 gripper, 24 first slider, 25 second fixed block, 26 Two horizontal poles, 27 third rocker, 28 fourth rocker, 29 fifth rocker, 30 sixth rocker, 31 seventh rocker, 32 second extension pole, 33 first extension pole, 34 third extension Rod, 35 horizontal locking wrench, 36 vertical rod, 37 cylinder, 38 first fixed arm, 39 second fixed arm, 40 third fixed arm, 41 first universal joint, 42 second universal joint, 43 height Adjustment assembly, 44 level adjustment assembly, 45 third adjustment knob.

detailed description

The invention will be described in detail below with reference to the drawings and specific embodiments.

Example 1

As shown in Figure 1-3, a detachable assembly arc-shaped precision positioning device includes a support unit, a three-dimensional adjustment unit, and a guide positioning unit.

The supporting unit comprises an L-shaped base composed of a base and a vertical rail 1 perpendicular to the base. The base is provided with a roller and a ground-fixable braking device, which is convenient for moving and fixing the detachable assembly arc-shaped precise positioning device. A stage 2 can be horizontally mounted on the vertical rail 1 for placing a spare instrument box during the operation, and the actual size of the stage is adjusted to the actual size of the operation.

In this embodiment, the three-dimensional adjustment unit includes a lifting adjustment unit and a level adjustment unit.

The lifting adjustment unit comprises a first fixing block 3 disposed on the vertical rail 1, and the first fixing block 3 is connected with a first lifting rod 4 and a second lifting rod 5 which are slidably connected, the first lifting rod 4 and the second lifting rod The rods 5 are parallel to each other, and the top end of the vertical rail 1 is mounted with a first rocker 6 which is vertically connected to the first lifting rod 4 and the second lifting rod 5, and controls the first rocker 6 to drive the first lifting and lowering The rod 4 and the second lifting rod 5 are moved up and down.

At the first rocker 6, there may also be a first locking wrench 8, and the lifting rod can be locked by the first locking wrench 8, and the lifting rod can be fixed when the lifting rod is lifted to a suitable position.

The structure of the horizontal adjustment unit includes a second fixing block 25 at the top end of the first lifting rod 4 and the second lifting rod 5, and the second fixing block 25 is connected with the first horizontal rod 10 and the sliding parallel and parallel to each other. The second horizontal rod 26, the first horizontal rod 10 and the second horizontal rod 26 are vertically connected with a second rocking rod 9, and the first horizontal rod 10 and the second horizontal rod 26 are driven to control the second horizontal rod 9 to be left and right (relative to The patient's) horizontal movement.

A third fixing block 15 is disposed on the other end of the first horizontal rod 10 and the second horizontal rod 26, and the first fixing block 15 is slidably coupled to the first fixing block 15, and the first adjusting knob 13 is mounted on the first sliding block 24. The first slider 24 is horizontally moved back and forth by controlling the first adjustment knob 13. The third locking knob 7 is coupled to the first slider 24 and functions to lock the sliding of the first slider 24 and the third fixing block 15.

In this embodiment, the first lifting rod 4 and the second lifting rod 5 may also be combined into one. However, the two lifting rods have an outstanding effect on improving the overall stability of the device and reducing sway. The first horizontal rod 10 and the second horizontal rod 26 may also be combined into one. However, the two horizontal rods have outstanding effects on improving the overall stability of the device and reducing sway.

As shown in FIGS. 4, 5, and 6, the guide positioning unit includes a circular arc track 22, a guide rod 19, a holder 23, a second slider 17, and two positioning instruments. In this embodiment, the circular arc track 22 Connected to the second slider 17, The second slider 17 is connected to the first slider 24 of the three-dimensional adjustment unit, and is connected with a second adjustment knob 14 for driving the circular arc track 22 to be 0-360 degrees around the vertical axis by controlling the second adjustment knob 14. Rotating at any angle can also directly rotate the arc-shaped track to any angle within the range of 0-360 degrees. FIG. 4 and FIG. 6 show different states of the arc-shaped track 22 and the second slider 17 when rotating.

In particular, the circular arc-shaped rail 22 is movable relative to the second slider 17 about its center, and FIGS. 4 and 5 show a state in which the circular arc-shaped rail 22 and the second slider 17 are in different positional relationships. The circular arc track 22 can also be coupled with a first locking knob 16 that can be locked by the first locking knob 16 when the circular arc track 22 is moved relative to the second slider 17. During the actual surgical operation, the structure or the relative movement can prevent the patient's body from blocking the arc-shaped track from rotating around the vertical axis, which is very important for adjusting the surgical approach angle and expanding the surgeon's surgical operation space, and has outstanding substantial effects. .

The technical design of the circular arc track can be moved on the second slider, and its substantial effect and outstanding significance are specifically as follows (see Figures 12 and 13):

1. The intervertebral foramen surgery in the normal prone position is the posterior lateral approach. It is only necessary to rotate the circular arc around the vertical axis to obtain the ideal working path. However, other rear approaches are made by using the positioning device. When operating, such as pedicle screw placement, due to the body block, if the circular arc track can only rotate around the vertical axis, the ideal working path cannot be obtained, so the circular arc track must be circularly moved around the center of the circle. The ideal working path can be obtained by moving the circular arc around the vertical axis after moving relative to the second slider. Therefore, circular motion of the circular arc around the center of the circle has great clinical significance and has outstanding substantive effects.

2. For patients with partial lumbar disc herniation with poor cardiopulmonary function, the lateral position is often used for intervertebral foramen surgery. For example, the circular arc can only rotate around the vertical axis and the ideal working path cannot be obtained. In order to reach the ideal working path for puncture and other operations, the circular arc track must be circularly moved around the center of the circle, that is, moved relative to the second slider and rotated around the vertical axis. Therefore, the circular arc track is circularly moved around the center of the circle. The actual clinical problems have outstanding substantive effects.

The circular arc track 22 is connected to the first slider 24 via the second slider 17, and can be driven by the lifting adjustment unit and the horizontal adjusting unit to move up and down, and to move back and forth.

The guide rod 19 is connected to the circular arc-shaped rail 22 via the third slider 21, and is movable along the circular arc-shaped rail 22 or vertically along the long axis of the guide rod 19. The third slider 21 can also be coupled to a second locking wrench 18 that can lock the position of the guide when the guide is moved into position. A second locking knob 20 can also be connected to the third slider 21. By controlling the second locking knob 20, the upper and lower telescopic movement of the guiding rod 19 along the long axis of the guiding rod can be locked.

There are two locators, a vertical locator 11 and a horizontal locator 12, and the horizontal locator 12 can be mounted on the circular arc track 22 (as shown in Figures 4, 5 and 6), and the vertical locator 11 can be mounted on In the three-dimensional adjustment unit (as shown in FIGS. 4, 5, and 6, the vertical locator 11 may be mounted on the first slider 24 in the three-dimensional adjustment unit); or the two locators may all be mounted on the circular arc-shaped track 22 (as shown in Figure 7); and the rays emitted by the two locators and the long axis of the holder 23 are parallel or coincident with the radial line of the circular arc-shaped track, the three lines intersect at one point, and form a plane, The plane formed is parallel or coincident with the arcuate plane of the arcuate track.

When positioning with the locator, the rays emitted by the vertical aligner 11 and the horizontal locator 12 are respectively aligned with the body surface projection points determined by the C-arm machine. After the positioning is completed, the positions of the vertical aligner 11 and the horizontal locator 12 may change according to the change of the position of the circular arc track, and the circular arc track 22 is at least a quarter arc, and the radius may be according to different parts. The need for surgical positioning is adjusted, for example, from one quarter to one third of an arc.

The holder 23 is designed with multiple sockets to accommodate different sizes of surgical instruments, including puncture needles and the like.

In this embodiment, the vertical aligner 11 and the horizontal locator 12 are both infrared or laser locators.

The above-mentioned method for using the detachable assembled circular arc precise positioning device, the specific steps are as follows:

(1) The patient parallels the long axis of the operating table, attaches the existing epidermis to the back and sides of the patient's body surface, and then uses the C-arm machine to take the standard anteroposterior and lateral slices, in the anteroposterior and lateral positions. The puncture target point is determined on the film, and then marked on the back side and the side of the patient's body surface with a marker, and the general shape of the ipsilateral transverse process of the puncture target point is drawn on the patient's body surface; in addition, the patient's body surface is drawn by touching the patient's body surface. Out of shape;

(2) Move the detachable assembled circular arc precise positioning device to the appropriate position beside the operating table, and fix the arbitrarily arranged circular arc precise positioning device through the brake on the roller;

(3) controlling the first rocker 6 to bring the top ends of the first lifting rod 4 and the second lifting rod 5 to a proper position, and controlling the second rocking rod 9 to adjust the first horizontal rod 10 and the second horizontal rod 26 to a suitable position. .

(4) Opening the third locking knob 7, controlling the first adjusting knob 13, controlling the first rocker 6, and the second rocker 9, so that the locators 11, 12 are respectively accurately aligned with the side surface marking points of the patient, and the back side The body surface points, at which point the puncture target point is always the intersection of the rays emitted by the two locators and the long axis of the holder;

(5) Mounting the clamper 23, which has been autoclaved, on the guide rod 19, and sliding the third slider 21 onto the circular arc track 22 according to the transverse projection position and the ridge shape drawn by the body surface. In a proper position, the telescopic guide 19 positions the gripper 23 as close as possible to the needle insertion point of the patient's body surface. In this embodiment, the gripper 23 uses a needle guide;

(6) At this time, the puncture needle can reach the puncture target point through the guide pin on the needle guide.

Example 2

As shown in FIG. 7, the difference from Embodiment 1 is that there are two locators, a vertical locator 11 and a horizontal locator 12, and the horizontal locator 12 and the vertical aligner 11 are both mounted on the circular arc guide 22 The ray emitted by the two locators and the long axis of the holder 23 are parallel or coincident with the radial line of the circular arc track, the three lines intersect at one point, and form a plane, and the formed plane and arc The circular arc-shaped planes of the shaped rails 22 coincide. First Embodiment As shown in Fig. 7A, two locators can be embedded in the circular arc-shaped rail 22, and the third slider, the guide rod and the holder can be connected as shown in Figs. 7B and 7C. The second embodiment is illustrated in Fig. 7D. Two locators can be connected outside the circular arc track 22, and the rays emitted by the two locators and the long axis of the holder 23 are aligned with the radial line of the circular arc track. Parallel or coincident, the three lines intersect at a point and form a plane which is formed parallel to the arcuate plane of the arcuate track 22.

Example 3

The difference from Embodiment 1 is that in the present embodiment, the support unit and the three-dimensional adjustment unit have different structures.

The first implementation manner is as shown in FIG. 8 and FIG. 9. In this embodiment, the support unit is composed of a plurality of fixed arms, and the two fixed arms are hinged by a universal joint. In this embodiment, there are three fixed arms, which are a first fixed arm 38, a second fixed arm 39, and a third fixed arm 40, wherein the first fixed arm 38 is fixed at one end to a roof or a wall, and the first fixed arm The other end is hinged to the one end of the second fixed arm 39 through the first universal joint 41, and the other end of the second fixed arm 39 is hinged to the one end of the third fixed arm 40 through the second universal joint 42. The third fixed arm 40 The other end is connected to the first slider 24. The first slider 24 is driven by the fixed arm to move up and down, and to move back and forth.

The second implementation manner is as shown in FIG. 10 . In this embodiment, the first slider 24 is connected to one end of the horizontal adjustment component 44 , and the other end of the horizontal adjustment component 44 is connected to the height adjustment component 43 , and the height adjustment component 43 . Connect directly to the operating bed.

The height adjustment component 43 and the level adjustment component 44 can adopt a conventional telescopic rod, a slide rail, or the like.

A third implementation manner: as shown in FIG. 15, the support unit is composed of a foot, a vertical rod 36 and a cylinder 37, and one end of the vertical rod 36 is fixed on the foot, and the cylinder 37 is sleeved on Below the vertical bar for overall equipment balance.

Example 4

As shown in FIG. 11, a detachable assembly arc-shaped precise positioning device includes:

Supporting unit: an L-shaped base is formed by a base and a vertical rail 1 perpendicular to the base. The base is provided with a roller and a ground-fixable braking device, which is convenient for moving and fixing the detachable assembly arc-shaped precise positioning device. A stage 2 can be horizontally mounted on the vertical rail 1 for placing a spare instrument box during the operation, and the actual size of the stage is adjusted to the actual size of the operation.

The shelf 2 is horizontally mounted on the vertical arm of the L-shaped base 1 for placing a spare instrument box during the operation, and the actual size can be adjusted according to the surgical requirements; in this embodiment, the length, width and height of the instrument box are separately asked. 550mm, 300mm, 130mm, the instrument box is equipped with 2 sets of circular arc track 22, holder 23 and the remaining disinfection parts, with a total weight of 14 kg, which can be operated twice in succession.

In this embodiment, the three-dimensional adjustment unit includes a lifting adjustment unit and a level adjustment unit.

The lifting adjustment unit comprises a first fixing block 3, a first lifting rod 4, a second lifting rod 5 and a first rocking rod 6, the first fixing block 3 being mounted on the vertical arm of the L-shaped base 1, the first lifting rod 4 And the second lifting rod 5 are parallel to each other and vertically pass through the first fixing block 3, respectively, the first rocker 6 is mounted on the top end of the vertical arm of the L-shaped base 1, and is vertically connected with the first lifting rod 4 and the second lifting rod 5 The first lifting rod 4 and the second lifting rod 5 are driven to move up and down by rotating the first rocker 6; the lengths of the first lifting rod 4 and the second lifting rod 5 are both 1 meter, and the first adjustment is performed in this embodiment. The distance between the top end of the lifting rod 4 and the second lifting rod 5 is 1.2 meters from the ground.

Level adjusting unit: comprising a second fixing block 25, a first horizontal rod 10, a second horizontal rod 26, a second rocker 9 and a third fixing block 15, the second fixing block 25 being mounted on the first lifting rod 4 and the second The top end of the lifting rod 5, the first horizontal rod 10 and the second horizontal rod 26 are parallel to each other and one end horizontally passes through the second fixing block 25, and the other end is connected with the third fixing block 15, the second rocker 9 and the first A horizontal rod 10 and a second horizontal rod 26 are vertically connected, and the first horizontal rod 10 and the second horizontal rod 26 are horizontally moved by rotating the second rocking rod 9; the lengths of the first horizontal rod 10 and the second horizontal rod 26 are 0.5 m, and the width between the two is 200 mm. In the present embodiment, the distance between the right end of the first horizontal rod 10 and the second horizontal rod 26 from the second fixed block 25 is adjusted to be 50 mm.

The guiding and positioning unit comprises a circular arc track 22, a second adjusting knob 14, a first adjusting knob 13, a third adjusting knob 45, a guiding rod 19 and a holder 23, and the first end of the circular arc track 22 is connected to the first sliding The block 24 and the first adjusting knob 13, the first slider 24 is movably mounted on the third fixing block 15, the first adjusting knob 13 is connected to the first slider 24, and the first sliding knob 13 is controlled to make the first sliding The block 24 moves back and forth, thereby driving the circular arc track 22 to move back and forth, and controlling the second adjustment knob 14 to drive the circular arc track 22 to rotate at any angle of 0-360 degrees around the vertical axis, or in the range of 0-360 degrees. Rotate the arc-shaped track directly to any angle;

One end of the guide rod 19 is connected to the holder 23, the other end is movably connected to the third slider 21, and the third slider 21 is movably mounted on the circular arc-shaped rail 22. In this embodiment, the third adjustment knob 45 is connected to the third slider 21, and the third slider 21 is driven to move the guide rod 19 along the circular arc track 22 by controlling the third adjustment knob, thereby driving the guide rod 19 along the circle. The curved track 22 moves.

The circular arc track 22 is a quarter arc

The first end of the circular arc track 22 is provided with a vertical aligner 11 and a horizontal locator 12 is provided at the end.

In this embodiment, the gripper 23 is a needle guide, and the needle guide of the needle guide adopts multiple sleeve design to adapt to different sizes of puncture needles; the guide pin mouth is matched with the reaming tool. The diameter of the ring saw is from the novice personnel. Auxiliary surgery; the needle can be processed under the condition of the needle, and the disposable aseptic packaging is provided; the posterior guide can be directly designed with the reaming tool to provide the tool aseptic packaging.

The L-shaped base 1 is provided with a brake device that can fix the ground.

The first lifting rod 4, the second lifting rod 5, the first horizontal rod 10, and the second horizontal rod 26 are each made of a polymer material that is not developed under fluoroscopy.

In this embodiment, the vertical aligner 11 and the horizontal locator 12 may be laser aligners or infrared locators.

In this embodiment, the use method of the detachable assembly arc-shaped precise positioning device is taken as follows. The specific steps are as follows: (1) The paralyzed patient's parallel operating table has a long axis prone, and the existing epidermis locator is attached to the disease. The back and sides of the human body table, then use the C-arm machine to take the standard anterior-posterior and lateral slices, determine the target point on the anterior-posterior and lateral slices, and then mark them on the back and sides of the patient's body surface. At the same time, the general shape of the ipsilateral transverse process of the puncture target point is drawn on the patient's body surface; in addition, the shape of the patient is drawn by touching the body surface;

(2) Move the detachable assembly surgery precise positioning device to the appropriate position beside the operating table, fix the detachable assembly precision positioning device through the brake on the roller; balance the overall device;

(3) controlling the first rocker 6 to bring the top ends of the first lifting rod 4 and the second lifting rod 5 to a proper position, and controlling the second rocking rod 9 to adjust the first horizontal rod 10 and the second horizontal rod 26 to the appropriate position. .

(4) Controlling the second adjustment knob 14 and the first adjustment knob 13 respectively to precisely align the two locators to the body surface marker point and the side body surface marker point of the patient, and the puncturing target point is always detachable assembly. The intersection of the rays emitted by the two locators of the surgical precision positioning device and the long axis of the holder;

(5) Mounting the holder 23 which has been sterilized by high temperature and high pressure on the guide rod 19, according to the transverse protrusion position and the ridge shape drawn by the body surface, the third slider 21 on the slide guide 19 is to the arc The proper position on the shaped track 22 is such that the holder 23 is as close as possible to the patient's body surface position;

(6) At this time, the puncture needle passes through the guide needle port on the gripper 23 to reach the puncture target point.

Example 5

As shown in FIG. 14, the ground movable supporting portion includes a foot 39 with a roller, a cylinder 37 and a vertical rod 36, and one end of the vertical rod 36 is fixed to the foot, and the cylinder 37 is placed on the vertical Below the straight rod 36, for maintaining the overall balance of the assister; the three-dimensional rocker adjusting portion is composed of a fifth rocker 29, a sixth rocker 30, a seventh rocker 31, a first extension rod 33, and a second extension rod 32, The three extension rods 34, the horizontal calibrator 38 and the horizontal locking wrench 35 are composed. One end of the third extension rod 34 is connected to the other end of the vertical rod 36. The third extension rod 34 is connected with the vertical rod 36 with a horizontal locking wrench 35. The other end of the third extension rod 34 is connected to one end of the second extension rod 32, respectively. And one end of the first extension rod 33, the third extension rod 34 and the second extension rod 32 are horizontally placed, the first extension rod 33 is vertically placed, and the third extension rod 34, the second extension rod 32 and the first extension rod 33 are mutually Vertically arranged, the first extension rod 33 is connected to the seventh rocker 31, and is driven up and down by the seventh rocker 31. The second extension rod 32 is connected to the fifth rocker 29, and is driven by the fifth rocker 29 to be horizontal. The direction of the third extension rod 34 is connected to the sixth rocker 30, and is driven by the sixth rocker 30 to move left and right in the horizontal direction; the horizontal aligner 38 is located on the third extension rod 34. The circular arc-shaped guide positioning portion includes a circular arc-shaped rail 22, a third rocker 27, a fourth rocker 28, a guide rod 19, and a needle guide 23, which is a quarter arc, on which The circular arc track 22 is connected to the fourth rocker 28, and the circular rock track 22 is adjusted to rotate 360 degrees vertically by the fourth rocker 28, and the horizontal positioning device 12 is disposed at one end of the circular arc track 22, The other end is provided with a vertical locator 11 , one end of the guide rod 19 is located on the circular arc track 22 through the third slider 21 , and the third slider 21 is connected to the third rocker 27 , and the guide rod 19 passes through the The three sliders can slide on the circular arc track 22 under the driving of the third rocker 27, and the other end of the guide bar 12 is provided with a gripper 23, and the needle insertion port of the gripper 23 can directly puncture the puncture needle. Reach the puncture target point.

In this embodiment, the gripper 23 is a needle guide, and the vertical locator 11 and the horizontal locator 12 can be an infrared locator.

The above device operates as follows:

(1) The paralyzed patient's parallel operating table is tilted on the long axis, the existing epidermis locator is attached to the back and side of the patient's body surface, and then the standard anterior and posterior and lateral slices are taken by the C-arm machine, in the anteroposterior and lateral sections. The puncture target point is determined on the slice, and then marked on the back and sides of the patient's body surface with a marker, and the general shape of the ipsilateral transverse process of the puncture target point is drawn on the patient's body surface; in addition, the patient's body surface is drawn by touching the patient's body surface. Walking away;

(2) moving the spinal puncturing aid to the appropriate position beside the operating table, pressing the brake on the roller 39 to fix the spinal puncturing aid; balancing the overall device;

(3) Appropriate control of the seventh rocker 31, the first extension rod 33 can be raised and lowered up and down, similarly, control The fifth rocker 29 and the sixth rocker 30 can realize the movement of the second extension rod 32 in the front-rear direction, and the third extension rod 34 is in the left-right direction until the arc-shaped guide positioning portion reaches a satisfactory position; if necessary, the reference horizontal calibration The meter 38 can adjust the horizontal balance while locking the horizontal state with the horizontal locking wrench 35;

(4) Control step (3) The fifth rocker 29, the sixth rocker 30, and the seventh rocker 31 respectively align the horizontal locator 12 with the body surface marker point, and the vertical locator 11 is aligned with the patient. The body surface marks the side points, at which point the puncture target point is always the intersection of the rays emitted by the two locators and the long axis of the needle guide;

(5) Mounting the needle guide 23 which has been sterilized by high temperature and high pressure on the guide rod 19, and controlling the fourth rocker 28 to make the circular arc track 22 as a whole according to the transverse protrusion position and the ridge shape drawn by the body surface. Straight rotation to the appropriate angle is fixed, the third slider 21 on the sliding guide 19 is fixed to the appropriate position on the circular arc track 22, and the length of the needle guide is adjusted by adjusting the length of the third rocker 27 on the control guide 19 Close to the patient's body surface position;

(6) At this time, the puncture needle can reach the puncture target point through the guide pin hole on the needle guide.

The above description of the embodiments is intended to facilitate the understanding and use of the invention by those skilled in the art. It will be apparent to those skilled in the art that various modifications can be readily made to these embodiments and the general principles described herein can be applied to other embodiments without the inventive work. Therefore, the present invention is not limited to the embodiments described above, and those skilled in the art should be able to make modifications and changes within the scope of the invention without departing from the scope of the invention.

Claims (16)

1. The utility model relates to a detachable assembly arc-shaped precise positioning device, which comprises a supporting unit and a three-dimensional adjusting unit, wherein the three-dimensional adjusting unit is connected with the supporting unit, and further comprises a guiding positioning unit, wherein the guiding positioning unit comprises an arc Shaped track, guide rod, holder, locator,

   The guiding and positioning unit is further provided with a second slider, the second sliding block is connected to the three-dimensional adjusting unit, and the circular arc-shaped track is disposed on the second sliding block and can slide on the second sliding block The second slider together with the circular arc track can be rotated in situ on the three-dimensional adjustment unit at an arbitrary angle around the vertical axis, and the three-dimensional adjustment unit drives the second slider and the circular arc track thereon , left and right, front and back three dimensions,

   The guiding rod is connected on the circular arc track, the guiding rod can slide along the circular arc track, and can also move along the long axis direction of the guiding rod, and the holder is arranged on the guiding rod for fixing the surgical instrument ;

   The locator is provided with two rays emitted by two locators, and the long axis of the holder is parallel or coincident with the radial line of the circular arc track, and the three lines are located on the same plane, and the locator The plane is parallel or coincident with the plane in which the circular arc is located, and the three lines intersect at one point.
2. The detachable assembly arc-shaped precise positioning device according to claim 1, wherein the two locators are arranged on a circular arc track, or a locator is arranged on the circular arc track. Another locator can be located in the 3D adjustment unit.
3. The detachable assembly arc-shaped precise positioning device according to claim 1, wherein the holder is a needle guide, and the needle guide is used for fixing the puncture needle.
4. The detachable assembly arc-shaped precise positioning device according to claim 1, wherein the arc-shaped track length is between a quarter arc length and a third arc length.
5. The detachable assembly arc-shaped precise positioning device according to claim 1, wherein the locator emits visible light.
6. The detachable assembly arc-shaped precise positioning device according to claim 1, wherein the locator is a laser locator.
7. The detachable assembly arc-shaped precise positioning device according to claim 1, wherein the supporting unit is selected from one of the following forms:

   (a) is an L-shaped base, and the bottom of the L-shaped base is provided with a roller;

   (b) consisting of a foot, a vertical rod and a cylinder, the lower end of which is fixed to the foot, the upper end is for connection with a three-dimensional moving unit, and the cylinder is sleeved under the vertical rod for equipment Overall balance;

   (c) a fixed arm fixed to the ceiling of the room, the operating bed or the wall;

   (d) is composed of a plurality of fixed arms, and the two fixed arms are hinged by a universal joint.
8. The detachable assembly arc-shaped precise positioning device according to claim 1, wherein the three-dimensional adjustment unit comprises a lifting adjustment unit and a horizontal adjustment unit: the lifting adjustment unit can move the circular arc track up and down, The horizontal adjustment unit can move the circular arc track in the horizontal plane back and forth, left and right.
9. The detachable assembly arc-shaped precise positioning device according to claim 8, wherein the lifting and lowering adjustment unit is composed of a height-adjustable lifting rod, and is connected to the supporting unit through a fixing block, The up and down movement of the lifting rod is adjusted by the rocker.
10. The detachable assembly arc-shaped precise positioning device according to claim 8, wherein the lifting adjustment unit comprises a first fixing block, a first lifting rod, a second lifting rod and a first rocking rod, The first fixing block is mounted on the vertical arm of the L-shaped base, and the first lifting rod and the second lifting rod are parallel to each other and vertically pass through the first fixing block, respectively. a first rocker is mounted on a top end of the vertical arm of the L-shaped base, and is vertically connected to the first lifting rod and the second lifting rod, and the first lifting rod is driven to rotate the first lifting rod The rod and the second lifting rod are moved up and down.
11. The detachable assembly arc-shaped precise positioning device according to claim 8, wherein the horizontal adjustment unit comprises a second fixed block, a first horizontal bar, a second horizontal bar, a second rocker, and a third fixing block, the second fixing block is mounted on a top end of the first lifting rod and the second lifting rod, the first horizontal rod and the second horizontal rod are parallel to each other and one end horizontally passes through the horizontal a second fixing block, the other end of which is connected to the third fixing block, the second rocker is vertically connected to the first horizontal bar and the second horizontal bar, and the second rocker is rotated by The first horizontal rod and the second horizontal rod are driven to move left and right horizontally.
12. A detachable assembly arc-shaped precise positioning device according to claim 11, further comprising a first slider and a first adjustment knob, wherein said first slider is movably mounted on said On the third fixing block, the first adjusting knob is connected to the first sliding block, and the first adjusting block is controlled to move the first sliding block back and forth, thereby driving the circular arc-shaped track to move back and forth horizontally.
13. The detachable assembly arc-shaped precise positioning device according to claim 1, wherein the guiding and positioning unit further comprises a first locking knob and a second adjusting knob, and the circular arc track is connected to the second sliding A first locking knob is connected to the block, and a second adjusting knob is connected to the second sliding block. The second adjusting knob is used to drive the circular arc track to rotate around the vertical axis, and the first locking knob can be used to lock or open the arc. The shaped track slides around the center of the circle on the second slider.
14. The detachable assembly arc-shaped precise positioning device according to claim 13, wherein the guiding and positioning unit further comprises a second locking knob and a second locking wrench, and one end of the guiding rod is connected to the third sliding block The other end is connected with a gripper, and the second locking knob can be used to lock the telescopic movement of the guide rod in the third slider, and the second locking wrench can lock the sliding movement of the third slider on the arc-shaped track.
15. A detachable assembly arc-shaped precise positioning device, characterized in that it comprises a detachable assembly surgery precision positioning device, comprising:

    Supporting unit: an L-shaped base, the bottom of the L-shaped base is equipped with a roller, which is convenient for detachable assembly and precise positioning equipment.

    Lifting and adjusting unit: consisting of two height-adjustable lifting rods connected to the supporting unit by a fixing block.

    The horizontal adjusting unit is composed of two horizontal rods with adjustable lengths, and is connected to the lifting unit through a fixing block, and the horizontal rod and the lifting rod are perpendicular to each other.

    The guiding and positioning unit comprises: a circular arc track and a guiding rod with a gripper, wherein the circular arc track is movably connected to the horizontal adjusting unit, and the guiding rod is slidably connected to the circular arc track by the sliding block.
16. A detachable assembly arc-shaped precise positioning device, comprising: a movable three-dimensional rocker arc-shaped guiding spinal puncture aid, comprising: a ground movable supporting part, a three-dimensional rocker adjusting part, a circular arc shape Angle-oriented positioning part, where:

    The ground movable support portion includes a foot, a vertical rod and a cylinder, the vertical rod is fixed at one end to the foot, and the cylinder is sleeved under the vertical rod for maintaining the overall balance of the auxiliary device; the three-dimensional rocker The adjustment portion is composed of three threaded rockers, three extension rods, a horizontal calibrator and a horizontal locking wrench; one end of the third extension rod is connected to the other end of the vertical rod, and the third extension rod is connected with the vertical rod a horizontal locking wrench is provided, and the other end of the third extension rod is respectively connected to one end of the second extension rod and one end of the first extension rod, and the third extension rod and the second extension rod are horizontally placed, the first extension rod is vertically placed, and the third extension rod is horizontally The second extension rod and the first extension rod are arranged perpendicularly to each other, the first extension rod is connected to the seventh rocker, and the seventh rocker is used to drive up and down movement, and the second extension rod is connected to the fifth rocker through the fifth The rocker is driven to move back and forth in the horizontal direction, and the third extension rod is connected to the sixth rocker, and is driven by the sixth rocker to move left and right in the horizontal direction;

    The horizontal calibrator is located on a third extension rod for adjusting the horizontal balance and locking the horizontal state by a horizontal locking wrench;

    The circular arc angle guiding positioning portion comprises a circular arc track, a third rocker, a fourth rocker, a guide rod and a needle guide, wherein the circular arc track is a quarter arc, and the scale is arranged thereon. The circular arc track connects the fourth rocker, The fourth rocker adjusts the circular arc track to realize 360 degree vertical rotation. One end of the circular arc track is provided with a horizontal locator, and the other end is provided with a vertical locator. One end of the guide rod is located in a circular arc through the third slider. In the track, the guide rod slider is connected to the third rocker, and the guide rod is slidable on the circular arc track by the third slider under the driving of the third rocker, and the guide rod is provided at one end of the guide rod. The needle insertion port of the needle guide can directly reach the puncture target point through the puncture needle.

Images