WO2022199123A1 - 一种用于ct穿刺辅助引导定位装置 - Google Patents
一种用于ct穿刺辅助引导定位装置 Download PDFInfo
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- WO2022199123A1 WO2022199123A1 PCT/CN2021/135686 CN2021135686W WO2022199123A1 WO 2022199123 A1 WO2022199123 A1 WO 2022199123A1 CN 2021135686 W CN2021135686 W CN 2021135686W WO 2022199123 A1 WO2022199123 A1 WO 2022199123A1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
Definitions
- the invention relates to the technical field of medical instruments, in particular to a surgical medical instrument device, in particular to a CT puncture auxiliary guidance and positioning device.
- Needle biopsy is the main method for obtaining histopathological diagnosis of bone and soft tissue tumors.
- Bone and soft tissue tumors are diseases that seriously endanger human health and life. In recent years, the incidence has gradually increased, and the age of onset has gradually decreased. Early detection, correct diagnosis, and timely treatment have an important impact on prognosis. With the continuous improvement of inspection methods and methods, the accuracy of diagnosis has gradually increased, but there are still a large number of tumors that do not have typical imaging characteristics, making diagnosis difficult. The correct diagnosis requires a combination of clinical, imaging and pathology. Among them, pathological diagnosis plays a key role in the choice of treatment plan. Needle biopsy is the main way to obtain pathological diagnosis. However, pre-biopsy should be given the same high priority and careful planning as the surgical plan.
- the key to biopsy is the accuracy of puncture.
- CT, PET-CT, MRI and other methods are most commonly used to obtain the influence of the affected part of the patient, and then the puncture site and direction are determined by the influence, and the target tissue has been obtained. Since the accuracy of puncture plays a crucial role in puncture biopsy, the puncture point and puncture angle of puncture are the most important. For special parts, such as bone, blood vessels, and areas with dense organs, it is extremely difficult to puncture, which poses a great challenge to accurate puncture.
- Puncture therapy has the characteristics of small trauma, quick recovery and good curative effect, and has been widely carried out by more and more medical institutions in recent years.
- all types of minimally invasive treatments require the operator to accurately puncture the source of therapeutic action to a specific tumor location, which requires high precision. Inaccurate puncture may lead to unclean ablation of the tumor target area, seriously affecting the efficacy, and may also cause the puncture needle to mistakenly penetrate blood vessels and other organs at risk, resulting in intraoperative risks.
- the present application provides an auxiliary guidance and positioning device for CT puncture, which is used to realize puncture guidance and positioning, specifically images obtained by CT scanning
- the determined and precise puncture needle track can be guided by the accurate indication of the present application, so as to avoid the problem of skewed puncture caused by the doctor not knowing the puncture angle when performing the puncture operation.
- the present application particularly provides a CT puncture auxiliary guidance and positioning device, which is composed of a control mechanism and an actuator.
- the support frame has two ends rotatably connected with the positioning device, and any end of the support frame is provided with a locking mechanism for limiting the deflection angle of the positioning device;
- the positioning device includes a first arc-shaped arrangement.
- a guide rail, a guide device for indicating the puncture angle of the space is slidably installed on the first guide rail, and the guide device includes a deflection drive mechanism sliding along the first guide rail, a first translation mechanism and a second translation mechanism installed vertically ;
- the second translation mechanism is slidably installed with a guiding mechanism that uses visible laser space to indicate puncture.
- the deflection drive mechanism includes a guide frame serving as an installation and support body, and a second servo motor is detachably and fixedly installed on the guide frame, which is connected to the second servo motor and is connected to the second servo motor.
- a driving wheel drivingly connected to the first guide rail, and a plurality of sets of stabilizing wheels rotatably mounted on the guide frame and located on the inner and outer sides of the first guide rail respectively.
- the first translation mechanism includes a second guide rail that is detachably and fixedly installed on the guide frame, and a sliding seat that slides and clamps on the second guide rail, A third servo motor and a follower are respectively arranged at both ends of the second guide rail and are driven and connected by a belt; the sliding seat is detachably and fixedly connected to the belt.
- the second translation mechanism includes an L-shaped bracket fixedly connected with the sliding seat, and the L-shaped bracket is detachably connected with a sliding rail vertically arranged with the second guide rail, one end of the sliding rail is A fourth servo motor is provided, and the fourth servo motor drives the guide mechanism to reciprocate along the slide rail through a screw rod; the guide mechanism includes one or more laser emitters installed along the same straight line.
- the positioning device further comprises a support arm whose one end is detachably and fixedly connected with the first guide rail, and the other end is rotatably connected with the end of the support frame, and one end of the support arm away from the first guide rail is connected with a support arm. the locking mechanism.
- the locking mechanism includes a handle fixedly connected to the support arm, the handle is provided with a locking pin, and is fixedly installed on the support frame for A lock plate for locking the support arm in cooperation with the lock pin, the lock plate has a plurality of blind holes arranged adjacently for accommodating the lock pin.
- the locking mechanism includes a reversing reducer drivingly connected with the support arm, and a first servo motor drivingly connecting with the reversing reducer.
- control mechanism includes an input unit for acquiring execution parameters, including a human body input device capable of acquiring parameter information or/and a data analysis module capable of reading and importing telegram data;
- a processing unit configured to distribute the parameter information obtained by the input unit to the corresponding decoding module according to the preset control logic of the system, and the decoding module converts the parameter information into the corresponding driving signal;
- the execution unit is used for sending the driving signal to the actuator according to the preset driving logic.
- a detachable and fixed connection is provided between the base and the support frame through a connecting piece, an adjustment mechanism threadedly connected to the support frame is horizontally installed on the base, and the adjustment structure includes a first adjustment screw and a second adjustment screw.
- An adjusting screw, the projections of the straight line where the first adjusting screw is located and the straight line where the second adjusting screw is located in the horizontal direction are perpendicular to each other.
- the central angle corresponding to the first guide rail is 180°-360°.
- the central angle of the first guide rail reaches 360°, the patient's radial end face can be punctured without dead angle.
- the present invention can be used in conjunction with existing imaging equipment, such as CT and PET-CT equipment, and the puncture needle track information determined by the imaging equipment, such as images obtained by a CT machine, can be accurately indicated in space through the present invention. , to assist the doctor in the operation, avoiding the deviation and error caused by experience or freehand puncture.
- existing imaging equipment such as CT and PET-CT equipment
- the puncture needle track information determined by the imaging equipment such as images obtained by a CT machine
- the application can realize the deflection of the patient's radial plane and the lateral direction of the head and foot, and can perform puncture guidance for blood vessels, organs, and bone-intensive areas, and has a wide range of applications.
- FIG. 1 is a front view of the first guide rail with a 270° design in the present application.
- FIG. 2 is a front view of the first guide rail with a 360° design in the present application.
- FIG. 3 is a rear view of FIG. 2 .
- FIG. 4 is an enlarged view of area A in FIG. 3 .
- FIG. 5 is an axonometric view of FIG. 2 .
- FIG. 6 is an enlarged view of region B in FIG. 5 .
- FIG. 7 is an enlarged view of region C in FIG. 5 .
- Figure 8 is an axonometric view of the guide device.
- FIG. 9 is another visual axonometric view of the present application.
- FIG. 10 is a reverse visual axonometric view of FIG. 9 .
- FIG. 11 is a schematic diagram of the present application in use in conjunction with a CT machine.
- FIG. 12 is a schematic diagram of the guide deflection on the X-Y plane with reference to FIG. 11 .
- FIG. 13 is a schematic diagram of the guide deflection of the reference Y-Z plane of FIG. 12 .
- connection can also be a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be internal communication between two components.
- connection can also be a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be internal communication between two components.
- this embodiment provides an auxiliary guiding and positioning device for CT puncturing, as shown in FIGS. 1 to 4 . It is composed of a control mechanism and an actuator.
- the actuator includes a base 1 and a support frame 2 mounted on the base 1 for supporting the positioning device.
- the support frame 2 has two ends that are rotatably connected to the positioning device.
- a locking mechanism 4 for limiting the deflection angle of the positioning device is provided on either end of the support frame 2; the positioning device includes a first guide rail 7 arranged in an arc, and the first guide rail 7 is slidably installed There is a guide device 8 for indicating the puncture angle of the space, the guide device 8 includes a deflection drive mechanism sliding along the first guide rail 7, a first translation mechanism 87 and a second translation mechanism 88 installed vertically; the second translation mechanism 88; The translation mechanism 88 is slidably installed with a guide mechanism 89 that uses visible laser space to indicate the puncture.
- the installation, operation and principle of the present embodiment during the guided puncture are as follows:
- the auxiliary guiding and positioning device provided in this embodiment is installed coaxially with the detection cavity of the CT machine, and the auxiliary guiding and positioning device is located on the front side of the CT machine.
- the beds of the existing CT machines have high-precision moving functions, if the moving range of the CT machine allows, it is also possible to coaxially install the auxiliary guiding and positioning device provided in this embodiment on the rear side of the CT machine. is the same function.
- auxiliary guidance and positioning device provided in this embodiment is coaxially installed with the CT machine, auxiliary guidance can be realized.
- the specific principles of guidance are as follows:
- the preset needle track and vertical direction can be obtained from the CT image.
- the intersection of the preset needle track and the guide wire on the body surface is known, so as to determine the actual puncture point and puncture direction of the patient's body surface.
- the puncture point can be determined by the inherent mobile positioning function of the CT bed to determine the position of the patient's head and foot, that is, obtained from the slice number and slice thickness of the CT image; the radial circumferential deflection distance intersects the preset needle track through the guide wire imaging on the CT image Location OK.
- the position of the radial side can be determined from between the 21st and 22nd guidewires of the guidewires attached to the patient's body. Therefore, the intersection of the radial side and the head and foot side is the puncture point of the preset needle track on the patient's body surface.
- the number of layers of the X-ray image used as the basis for determining the puncture is obtained by reading the annotation information of the X-ray image of the CT machine for planning the needle track, that is, the distance between the puncture point and the CT machine when the CT machine is initialized, the moving distance of the CT bed . Since the auxiliary guiding and positioning device provided in this embodiment is installed coaxially with the CT machine, the scanning center during initialization of the CT machine can be coincident with the center of the auxiliary guiding and positioning device by moving the CT bed. Then input the deflection angle of the preset needle track into the control mechanism, so that the guide mechanism 89 is deflected along the first guide rail 7 to the angle of the preset needle track.
- the auxiliary guidance is completed.
- the guiding and positioning purpose of the positioning device If the indicated laser of the guiding mechanism does not coincide with the puncture point at this time, it means that the preset needle track and the ray indicated by the laser at this time are parallel lines, and it is necessary to translate between the radial planes, that is, the planes where the CT scan slices are located.
- the translation distance between the preset needle track and the ray passing through the center of the circle and parallel to the preset needle track can be read on the X-ray image by the CT machine, and then the distance
- the parameters are input to the control mechanism to drive the first translation mechanism 87 to perform translation action until the pointing laser of the guide mechanism 89 coincides with the puncture point. If parallel puncture needs to be performed on the head and foot side, that is, the moving direction of the CT bed, the second translation mechanism 88 is used for translation, and the translation distance can be achieved by entering the preset moving distance. described, and the same.
- the control mechanism described in this embodiment adopts an existing servo control system, such as a communicatively controlled upper computer system or an operation control system established through a PC.
- the doctor can make full use of the precise measurement and movement functions of the CT machine to cooperate with the auxiliary guidance and positioning device to achieve the whole process of guiding and indicating puncture, which greatly eliminates the existing bare-hand puncture.
- the influence of a large number of human factors, experience factors and luck factors contained in the device reduces the possibility of puncture failure, and greatly reduces or even eliminates the problem of injury to patients caused by puncture. It can also be connected with a special software system to realize the continuous guidance of complex puncture plans, reduce the work intensity of doctors and improve the safety of surgery.
- the auxiliary guiding and positioning device provided in this embodiment is installed in the center of the CT machine, which can greatly ensure the positioning accuracy.
- the puncture is performed immediately after the CT examination of the patient, which greatly ensures the consistency of the patient's position and avoids Inaccurate puncture caused by changes in the position or volume of the target area due to patient position changes.
- This embodiment has extremely high compatibility and can be used in conjunction with almost any type of CT machine in existence. It is not limited by the type of CT machine, and has good compatibility; thus, the hospital can pay relatively low costs. The cost investment in the field of biopsy puncture has achieved excellent technical results and practical significance.
- the deflection drive mechanism includes a guide frame 82 as an installation and support body, so A second servo motor 81 is detachably and fixedly installed on the guide frame 82, a driving wheel 83 connected to the second servo motor 81 and drivingly connected to the first guide rail 7, and a driving wheel 83 rotatably installed on the guide frame 82 and respectively
- Multiple groups of stabilizing wheels 84 are located on the inner and outer sides of the first guide rail 7 .
- the second servo motor 81 drives the driving wheel 83 fixedly connected to it to rotate. Since the guide frame 82 is slidingly connected with the first guide rail 7, the Driven by the second servo motor 81, the entire guide frame 82 moves along the first guide rail 7, and the moving distance determines the deflection angle, and the moving distance is determined by the driving signal obtained by the second servo motor 81. Since the servo motor has a very high Therefore, the realization of deflection accuracy can be effectively guaranteed. As shown in FIG.
- the inner and outer sides of the first guide rail 7 are installed in pairs with stabilizing wheels 84 for firmly holding the first guide rail 7 to prevent the guide frame 82 from vibrating or shaking on the first guide rail 7 . It affects the accuracy of the positioning indication.
- the installation method of the stabilizer wheel 84 of the present application has lower resistance, longer service life, and higher wear resistance.
- the driving wheel 83 is realized by a spur gear or a helical gear structure, and the gear teeth are preferably of a fine-toothed structure, so as to reduce or avoid the gap error between the gear meshes as much as possible.
- the first translation mechanism 87 includes a detachable fixed
- the second guide rail 85 installed on the guide frame 82 and the sliding seat 872 that slides and clamps on the second guide rail 85 are respectively disposed on both ends of the second guide rail 85 and are driven and connected by a belt 871.
- Three servo motors 86 and a follower 873; the sliding seat 872 and the belt 871 are detachably and fixedly connected.
- the first translation mechanism 87 executes the parameters that need to be translated obtained through the measurement of the CT machine, and translates the instruction of the guiding mechanism 89 from the coaxial ray pointing to the CT machine and the auxiliary guidance and positioning device to the line where the preset needle track is located. Therefore, the indication of any angle in the tomographic scanning plane can be realized, the blind spot of the angle can be overcome, and the practicability and compatibility of the auxiliary puncture can be greatly improved.
- the execution sequence and principle are as follows:
- the belt 871 is driven to move by the third servo motor 86 through the received driving signal.
- the longer the driving signal the longer the rotation time of the third servo motor 86 and the greater the displacement of the movement of the belt 871.
- There is a second translation mechanism 88 with a guide mechanism 89 so the movement of the belt 871 will drive the movement of the guide mechanism 89 synchronously, so as to finally realize the distance that the needle track needs to be translated by the CT machine on the X-ray image and the guide mechanism 89
- the distance of movement is equal to achieve the purpose of precise guidance.
- the belt 871 adopts an inner toothed belt, so as to avoid the transmission error caused by insufficient tension of the belt 871 and reducing the accuracy.
- the slave 873 can also be replaced with another servo motor that runs synchronously with the third servo motor 86, which can make it more consistent and stable.
- the belt drive can be replaced by a chain and a screw drive, and the changes that need to be made are only made to adapt to the second translation mechanism 88, such as size, structure, shape , materials, etc. have a variety of settings, but no matter how the specific structure is changed, the technical effect achieved, the specific problem solved, and the working principle are all within or substantially the same as the first translation mechanism 87 disclosed in this application, then as this Those skilled in the art can learn from improvements based on the technical content of the present application.
- the first translation mechanism 87 provided in this embodiment is a one-dimensional linear motion in a plane, and the combination of two-dimensional plane motions combined with the second translation mechanism 88 realizes translation without blind spots within the range of interest.
- the second translation mechanism 88 includes an L-shaped bracket 882 fixedly connected with the sliding seat 872, and the L-shaped bracket 882 is detachably connected with the L-shaped bracket 882.
- the second guide rail 85 is a vertically arranged slide rail 881, one end of the slide rail 881 is provided with a fourth servo motor, and the fourth servo motor drives the guide mechanism 89 to reciprocate along the slide rail 881 through a screw rod;
- the guide mechanism 89 includes one or more laser emitters mounted along the same line.
- the above-mentioned second translation mechanism 88 is realized by a screw structure.
- the first translation mechanism 87 and the second translation mechanism 88 both realize one-dimensional linear adjustment, and the functions and technical effects achieved are the same. Therefore, without considering space occupation and cost input , the two can have the same technical effect. In comparison, the cost of the belt drive is more economical, but the structure space will be larger.
- the biggest advantage and ingenuity is that the sliding seat 872 and the belt 871 can be used Adjust flexibly. For example, the zero point adjustment and error adjustment of equipment initialization can be realized through structural adjustment, and it is not necessary to jointly modify and debug the program and equipment, which can have better compatibility.
- the positioning device further includes a detachable and fixed connection with one end of the first guide rail 7, and another One end of the support arm 5 is rotatably connected to the end of the support frame 2 , and one end of the support arm 5 away from the first guide rail 7 is connected with the locking mechanism 4 .
- the function of the locking mechanism 4 is to fix the angle between the support arm 5 and the support frame 2, so that the support arm 5 and the support frame 2 are always kept at the preset relative angular position, before the positional relationship between the two needs to be changed. form a relatively fixed structure.
- this embodiment provides more than one achievable technical solution, any of which is designed according to the final technical effect of the application, specifically including manual locking and automatic locking There are two ways.
- the locking mechanism 4 includes a handle 41 fixedly connected with the support arm 5 .
- a lock plate 42 mounted on the support frame 2 for cooperating with the lock pin 43 to lock the support arm 5, the lock plate 42 has a plurality of adjacent settings for accommodating the lock Blind hole for pin 43. When adjustment is required, pull out the lock pin 43 so that the free end of the lock pin 43 is separated from the blind hole on the lock plate 42.
- the lock plate 42 does not form any restriction or obstruction to the lock pin 43 at all; then rotate the handle 41 to make The support arm 5 rotates, thereby driving the first guide rail 7 to deflect; when the preset deflection angle is reached, the locking pin 43 is inserted into the blind hole corresponding to the locking plate 42 to achieve the locking state again.
- the biggest advantage of using this blind hole locking method is high stability.
- the locking angle is not linear and belongs to discrete locking; if linear locking is required , the blind hole locking method needs to be changed to the friction locking method, but the friction locking method needs to match the angle instrument or the angle indicator to determine the deflection angle; the blind hole locking method can be determined by the preset Blind holes with a fixed angle realize the fixed angle. For example, the angular interval between two adjacent or intersecting blind holes is 1°, 2° or 5° are standard fixed values, then selecting different blind holes is equivalent to Fixed the deflection angle.
- This locking mechanism structure is mainly used for most of the deflection range of the head and foot side, because the deflection angle of the CT machine is often small when the deflection scan is performed.
- This application is mainly to match the scanning application of the CT machine, so the deflection angle is too wide Scope is also of no real use.
- the deflection angle of the CT machine can be measured by the CT machine itself.
- the above-mentioned manual locking mechanism 4 is consistent with the deflection angle of the CT machine, so that the deflection in the lateral direction of the head and foot can be guaranteed to remain the same as that of the CT machine.
- the plane of the X-ray image is the same, so it is consistent with the preset needle track direction of the plan.
- this embodiment also provides another automatic locking structure as another structural design of the high-precision automatic control locking mechanism 4, as shown in FIGS. 9 and 10 .
- the locking mechanism 4 includes a reversing reducer 61 drivingly connected with the support arm 5 , and a first servo motor 62 drivingly connecting with the reversing reducer 61 . Realizing the drive through the servo motor can realize linear control, solve the angle blind spot existing in manual locking, and at the same time the locking state is more accurate. , higher stability, and more flexible and suitable installation space can be obtained according to actual application scenarios.
- the control mechanism includes an input unit for acquiring execution parameters. , including a human body input device capable of acquiring parameter information or/and a data analysis module capable of reading and importing telegram data;
- a processing unit configured to distribute the parameter information obtained by the input unit to the corresponding decoding module according to the preset control logic of the system, and the decoding module converts the parameter information into the corresponding driving signal;
- the execution unit is used for sending the driving signal to the actuator according to the preset driving logic.
- the actuator involved in this embodiment includes the deflection of the head and foot side, and the corresponding execution hardware is the first servo motor 62, which is shown as rotating around the X-axis in FIG. 11;
- the execution hardware involved in translation in the radial plane of the tomography based on an arbitrary angle is the second servo motor in the first translation mechanism 87, which is shown in FIG. 11 as translation in the X-Y plane, as shown in FIG. 12. .
- a detachable and fixed connection is provided between the base 1 and the support frame 2 through a connecting piece, and an adjustment mechanism that is threadedly connected to the support frame 2 is horizontally installed on the base 1 , and the adjustment structure includes The first adjusting screw and the second adjusting screw, and the projections of the straight line where the first adjusting screw is located and the straight line where the second adjusting screw is located in the horizontal direction are perpendicular to each other.
- Linear fine-tuning can be achieved through the first adjustment screw and the second adjustment screw, and the adjustment directions of the two are at 90°, then the linear adjustment in any direction in the horizontal plane can be achieved by adjusting one or the other at the same time; when the adjustment is completed Then fix the base 1 and the support frame 2 to maintain the coaxial state between the equipment and the CT machine.
- the vertical adjustment is realized by the preset base connected with the base 1, and then the calibration is performed by the level 3 installed on the support frame 2, as shown in FIG. 5 .
- the installation of the base is based on the existing CT machines that have already been installed and debugged, and the installation and debugging belong to the prior art, which will not be repeated here.
- the central angle corresponding to the first guide rail 7 is 180°-360°.
- the central angle of the first guide rail 7 reaches 360°, the patient's radial end face can be punctured without dead angle.
- the entry angle of the puncture is generally carried out from top to bottom. If the puncture has to be from the bottom to the top, the puncture can be carried out by the patient in a crawling position; therefore, generally speaking, the angle of the central angle of the first guide rail 7 is There is no need to do 360°.
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Abstract
Description
Claims (10)
- 一种用于CT穿刺辅助引导定位装置,由控制机构和执行机构组成,所述执行机构包括底座(1),安装于底座(1)上用于支撑定位装置的支撑架(2),其特征在于:所述支撑架(2)具有与所述定位装置转动连接的两个端头,支撑架(2)的任一端头上设置有用于限定所述定位装置偏转角度的锁止机构(4);所述定位装置包括采用弧形设置的第一导轨(7),所述第一导轨(7)上滑动安装有用于指示空间穿刺角度的引导装置(8),所述引导装置(8)包括沿所述第一导轨(7)滑动的偏转驱动机构、呈垂直安装的第一平移机构(87)和第二平移机构(88);所述第二平移机构(88)上滑动安装有利用可见激光空间指示穿刺的引导机构(89)。
- 根据权利要求1所述的一种用于CT穿刺辅助引导定位装置,其特征在于:所述偏转驱动机构包括作为安装和支撑主体的引导架(82),所述引导架(82)上可拆卸固定安装有第二伺服电机(81),与第二伺服电机(81)连接并于所述第一导轨(7)驱动连接的驱动轮(83),以及转动安装在所述引导架(82)上并分别位于所述第一导轨(7)内外两侧的多组稳定轮(84)。
- 根据权利要求2所述的一种用于CT穿刺辅助引导定位装置,其特征在于:所述第一平移机构(87)包括可拆卸固定安装在所述引导架(82)上的第二导轨(85),滑动并夹持在所述第二导轨(85)上的滑座(872),分别设置于所述第二导轨(85)两端并通过皮带(871)驱动连接的第三伺服电机(86)和从动器(873);所述滑座(872)与所述皮带(871)可拆卸固定连接。
- 根据权利要求3所述的一种用于CT穿刺辅助引导定位装置,其特征在于:所述第二平移机构(88)包括与所述滑座(872)固定连接的L型支架(882), 所述L型支架(882)可拆卸连接有与所述第二导轨(85)呈垂直设置的滑轨(881),所述滑轨(881)的一端设置有第四伺服电机,所述第四伺服电机通过丝杆驱动所述引导机构(89)沿所述滑轨(881)往复移动;所述引导机构(89)包括一个或者多个沿同一直线安装的激光发射器。
- 根据权利要求1-4任一项所述的一种用于CT穿刺辅助引导定位装置,其特征在于:所述定位装置还包括一端与所述第一导轨(7)可拆卸固定连接,另一端与所述支撑架(2)端头转动连接的支臂(5),所述支臂(5)远离所述第一导轨(7)的一端连接有所述锁止机构(4)。
- 根据权利要求5所述的一种用于CT穿刺辅助引导定位装置,其特征在于:所述锁止机构(4)包括与支臂(5)固定连接的手柄(41),所述手柄(41)上贯穿设置有锁销(43),以及固定安装在所述支撑架(2)上用于与所述锁销(43)配合实现对所述支臂(5)进行锁止的锁板(42),所述锁板(42)上具有多个相邻设置用于容纳所述锁销(43)的盲孔。
- 根据权利要求5所述的一种用于CT穿刺辅助引导定位装置,其特征在于:所述锁止机构(4)包括与支臂(5)驱动连接的换向减速器(61),与所述换向减速器(61)驱动连接的第一伺服电机(62)。
- 根据权利要求1所述的一种用于CT穿刺辅助引导定位装置,其特征在于:所述控制机构包括用于获取执行参数的输入单元,包括能够获取参数信息的人体学输入设备或/和能够读取导入电文数据的数据分析模块;处理单元,用于将输入单元获取的参数信息根据系统预设控制逻辑分配至对应的解码模块,解码模块将参数信息转换成对应的驱动信号;执行单元,用于将驱动信号按照预设驱动逻辑发送至所述执行机构。
- 根据权利要求1所述的一种用于CT穿刺辅助引导定位装置,其特征在于:所述底座(1)与支撑架(2)之间设置通过连接件可拆卸固定连接,所述底座(1)上水平安装有与所述支撑架(2)螺纹连接的调节机构,所述调节结构包括第一调节螺杆和第二调节螺杆,所述第一调节螺杆所在直线与第二调节螺杆所在直线在水平方向的投影相互垂直。
- 根据权利要求1所述的一种用于CT穿刺辅助引导定位装置,其特征在于:所述第一导轨(7)对应的圆心角为180°-360°。
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