CN102670297A - Medical mechanical arm tail end device - Google Patents
Medical mechanical arm tail end device Download PDFInfo
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- CN102670297A CN102670297A CN2012101416104A CN201210141610A CN102670297A CN 102670297 A CN102670297 A CN 102670297A CN 2012101416104 A CN2012101416104 A CN 2012101416104A CN 201210141610 A CN201210141610 A CN 201210141610A CN 102670297 A CN102670297 A CN 102670297A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00577—Ablation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B2018/1405—Electrodes having a specific shape
- A61B2018/1425—Needle
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Abstract
The invention discloses a medical mechanical arm tail end device which comprises a loading and unloading guide mechanism, an assembly and a connecting plate, wherein the loading and unloading guide mechanism is used for loading and unloading a needle-shaped medical appliance; the assembly is used for installing the loading and unloading guide mechanism; the connecting plate is used for fixing the assembly on a connecting rod at the tail end of a mechanical arm; the loading and unloading guide mechanism comprises four fixture bodies with the same structure and a loading and unloading transmission mechanism for driving the four same fixture bodies to rotate; and each fixture body comprises a rotating shaft, an upper clamping plate, a lower clamping plate and a plurality of guide sleeves. Under the action of the transmission mechanism, a closed hole is formed by the corresponding guide sleeves of the two adjacent fixture bodies so as to guide an actuator; and after the guidance is completed, the transmission mechanism is reversely driven to separate the fixture bodies. The medical mechanical arm tail end device is mainly used for automatically loading, unloading and guiding an ablation needle in a tumor ablation operation, ensures that a doctor has a sufficiently large operating space after the ablation needle is positioned/subjected to posture positioning, and has high automation degree, high accuracy, simpleness for operation and strong coordinability between people and a machine.
Description
Technical field
The present invention relates to a kind of mechanical arm end equipment, the especially a kind of automatic loading and unloading of auxiliary tumour ablation operation needle-like medical equipment and medical mechanical arm end equipment of guiding of being used for.
Background technology
When inside of human body generation pathological changes, and the patient's body situation do not allow to undergo surgery and cuts off under the treatment situation, need utilize the means of puncture that focus is carried out biopsy or treatment (RF ablation, chemical ablation, microblogging melt) sometimes.Normally determine the orientation of focus and skin anchor point and the degree of depth of puncture needle (ablation needle) by means of instrument such as CT/MRI scanning means; At first on the cross section of human body, measure the position of focus; In this aspect, select best inserting needle position and needle angle, utilize the three-dimensional structure picture decision focus of inserting needle aspect, needle angle and depth of needle and the exact position of puncture needle (ablation needle) inserting needle.Though the CT/MRI scanning means can be confirmed three-dimensional needle angle and depth of needle exactly; But the process of puncture operation is all carried out patient after CT/MRI scanning aspect shifts out; When patient left the CT scan device, the doctor can only confirm an inserting needle direction roughly according to the judgement of oneself; Puncture, and then carry out CT scan and confirm.Detailed process is following:
1) the CT image of scanning lesions position before the art carries out three-dimensional reconstruction.Analyze the 3 D stereo anatomy relationship of tumor and structures surrounding, design tumor puncture target spot.In most cases, should confirm quantity, angle, the degree of depth, the skin entry point coordinate points and puncture target coordinate of puncture needle (ablation needle) before this many target spots synchronous therapeutic scheme technology for confirming that therapeutic effect need design many target spots synchronous therapeutic scheme usually.
2) patient carries out CT scan after getting into operating room again.Paste telltale mark at the tumor locus body surface before the scanning, metal that common employing can be developed or plastics fence or location paper on the CT image.After the scanning; Carry out image analysing computer once more, with reference to the plan of formulating before the art, and careful measuring and calculating; Final definite tumor target spot and skin entry point; After accomplishing operation designing, will connect one to one at target spot and skin penetrating point, the coordinate parameters of corresponding point to point such as angle, the degree of depth are location of operation puncture parameter.
3) after above-mentioned localised puncture parameter is confirmed; Can be by means of the axle position fault plane cursor on the CT equipment; Open this cursor is the elements of a fix at the projection line of patient's body surface X axle; The count intersection point of (Y axle) and CT cursor of the pairing body surface telltale mark of skin entry point can be confirmed as the skin entry point during design, with the marking pen that do not fade in the enterprising row labels of skin.
4) the skin entry point promptly begins the tumor target spot that punctures after confirming.Usually confirm that by protractor needle angle and design puncture angle are consistent as much as possible in the puncture, but often error is bigger owing to free-hand operation in the actual mechanical process, the abecedarian is difficult to once successfully accurately sting accurate target spot.Often in piercing process, need repeatedly CT scan to confirm and the angle of adjustment puncture needle and the angle of human body fault plane.Operating time prolongs, patient's radiation dose increases greatly thereby make.Owing to repeated localised puncture and tumor target spot puncture degree of accuracy difference increases postoperative complication, and directly influence therapeutic effect.
5) in addition; Existing horseley-Clarke technique is difficult to be applied in the operation at other positions of human body; Main cause is that the soft tissue at other positions of human body is fixing with respect to skeletal tissue position on every side, the coordinate setting that makes image space and patient space be difficult to agree.Therefore the intervention at other positions of human body puncture is gone back the fixed guide-localization of neither one/appearance device and can the direction of puncture needle be fixed up; Usually use the guiding of real-time CT image, but because still there is the blindness in the piercing process in the guiding location/appearance that do not puncture; Puncture instrument in the physician's hand does not have objective accurate position mark; Be difficult in the piercing process puncture needle is fixed on the desired trajectory, can only rely on doctor individual's experience, need constantly carry out image scan adjustment direction; Final result possibly still have certain skew with desirable Planned Route, and time-consuming and influence therapeutic effect.In addition, CT scan Shi doctor can suffer unnecessary roentgenization with the hand steered puncture needle of holding.
Because artificial factor is more, usually causes inserting needle inaccurate, influence treatment precision.Sometimes need repeat repeatedly inserting needle, can cause mistake to be worn when serious, bring great misery and risk to the patient.Therefore, the insider develops some and is used to the positioning means for positioning that punctures.
Application number is that 200610029776.1 Chinese patent discloses a kind of CT positioning percutaneously inserting puncture instrument, is used for the guiding that CT guiding percutaneous intervene operation puncture needle or other percutaneous down insert apparatus and locatees.This device comprises that a support body and is fixed in the cross bar of this support body, and cross bar is provided with angle scale, and angle scale is provided with position indicator pointer, and position indicator pointer is provided with the hole; The puncture guide assemblies comprises fixed block, set bolt, bolt collar and puncture guider installing hole; Fixed block and set bolt are welded as a whole; Bolt collar is enclosed within on the set bolt; Offer puncture guider installing hole on set bolt and the sleeve, puncture guider fixture is installed on the hole of position indicator pointer.This structure is improved the lancet puncture location, does not satisfy the actual effect of use but the position of angle is provided with, and the error of angle is very big.
Application number is that 201020300259.5 Chinese patent discloses a kind of needle body supporting bracket, is used for CT guiding puncture needle down and locatees, and the direction of display apparatus.This support comprises base, guiding supporting construction, universal connecting rod three parts; Guiding supporting bracket structure comprises bracing frame and direction arrow plate; Bracing frame is made up of main body that is provided with breach and the body that attaches that is used for shutoff main body breach; Be used for pin class apparatus is positioned, direction arrow plate is used for the orientation of apparatus is shown that universal connecting rod is used to connect base and guiding supporting construction.This structure can support location and display direction to pin class apparatus accurately; Operate also simplyr, cost is low, still; All operations all rely on the doctor to accomplish; Automaticity is not high, does not have the anthropic factor of basic change influence operation degree of accuracy simultaneously, does not have well to reduce operating time and suffers the situation of roentgenization with the solution doctor.
Application number is that 200710179569.9 Chinese invention patent discloses a kind of CT guidance minimally invasive surgery parallel robot, is used for puncture needle is positioned/appearance.This robot comprises double-deck silent flatform, drive mechanism, cross guide rail and puncture needle four parts.Double-deck silent flatform is parallel to each other; Cross guide rail has two guide pin bushings, is separately positioned on the groove place at upper strata silent flatform and lower floor silent flatform middle part, and the place, cross point of cross guide rail is connected with ball pivot; The top of puncture needle is connected on the ball pivot, and the bottom of puncture needle is connected in down on the ball pivot.Upper and lower ball pivot has two degree of freedom respectively, the locus and the attitude of the motion decision puncture needle of two ball pivots, and puncture needle can in axial direction move simultaneously.Cumulative error is little in the joint for the advantage applies of this invention, and positioning accuracy is high, and has certain automaticity.But; This invention can not withdraw out from the machine philtrum with puncture needle automatically; Because the space interference of robot makes follow-up manual work puncture action carry out very much, if directly replace follow-up artificial puncture procedure can cause abnormal conditions to take place with machine, this is because operation process is undertaken by machine is enforceable fully; Lack doctor's telepresenc, the patient is caused serious operation injury and risk.
In view of above situation, special proposition the present invention.Its main theory is that tumor puncture (melting) operation is carried out in the man-machine harmony division of labor; Mainly utilize increasingly automated, the high accuracy characteristics of robot; And combine the present invention to carry out the location of puncture needle (ablation needle)/decide appearance; Realize that through the present invention the entire machine people withdraws operative region automatically then, last, the operation telepresenc experience of enriching by the doctor realizes the insertion of puncture needle (ablation needle).Made full use of machine and people's advantage like this, made whole tumour ablation operation fully pratical and feasible.
Summary of the invention
The technical problem that the present invention will solve is to overcome the deficiency of prior art, and a kind of medical mechanical arm end equipment is provided.The present invention utilizes the theory of the man-machine harmony division of labor, and the high characteristics of, degree of accuracy increasingly automated by robot realize quick, the accurate guide-localization of puncture needle (ablation needle) and withdraw operative region easily.This relies on its abundant telepresenc experience realization process that undergos surgery for follow-up doctor, and enough big working place is provided.Concrete technical scheme is following:
A kind of medical mechanical arm end equipment comprises the loading and unloading guiding mechanism that is used to load and unload the needle-like medical equipment, is used to the assembly of loading and unloading guiding mechanism is installed and is used for assembly is fixed on the connecting plate on the mechanical arm tail end connecting rod.
Further optimize, described loading and unloading guiding mechanism comprises four identical clamp bodies of folder and is used to drive the loading and unloading drive mechanism that these four identical clamp bodies rotate.
Further optimize; The more than one fairlead that described each clamp body comprises rotating shaft, train wheel bridge, lower plate and is used for the needle-like medical equipment is led; Said train wheel bridge is identical with the lower plate structure and all have an end to be installed on the rotating shaft; The both sides of the edge of train wheel bridge and lower plate are equipped with more than one semicylindrical opening; A corresponding semicylindrical opening is positioned on the same vertical axis on each semicylindrical opening on the train wheel bridge and the lower plate; A fairlead is installed in a pair of semicylindrical opening of in the vertical direction, and described loading and unloading drive mechanism comprises four identical spur gear wheels of parameter formation that is meshing with each other, and a spur gear wheel correspondingly is fixed on the rotating shaft of a clamp body.
Further optimize; Said train wheel bridge equates with the intermeshing pitch diameter of spur gear wheel with the width of lower plate; The external diameter of fairlead is greater than the internal diameter of semicylindrical opening; Fairlead has two up and down, and this semi-circular groove embeds in the said semicylindrical opening, makes fairlead be fixed between train wheel bridge and the lower plate.
Further optimize; Said fairlead has and is used for pilot hole that the needle-like medical equipment is led; The cross section of this pilot hole is not limited to a certain specific shape; Can design accordingly according to the difference of pin class medical equipment cross sectional shape, the mating surface of mutual paired fairlead is the higher plane of flatness.
Further optimize, the distance of described train wheel bridge and lower plate is 10～40mm, and the semicylindrical opening diameter is 1～6mm, and the diameter of bore of fairlead is 0.5～5mm.
Further optimize; Described assembly comprises top board, lower platen, bolt, nut; Top board, lower platen are equipped with four installing holes that are used to install the loading and unloading guiding mechanism; Whole loading and unloading guiding mechanism is fixed between top board and the lower platen through bolts and nuts, and the rotating shaft of clamp body is installed in the said installing hole through bearing.
Further optimize, described connecting plate is provided with and is used for the through hole that this connecting plate is connected with top board through bolts and nuts, and connecting plate is provided with the hole that the power supply machine output shaft passes through in addition, and motor output shaft is connected with the rotating shaft of a clamp body.
The implementation method of utilizing end equipment of the present invention that ablation needle or other similar needle-like medical apparatus and instruments are loaded and unloaded and lead; Be mainly reflected in when motor (or other type of drive; When mark in the drawings) driving any rotating shaft in the loading and unloading guiding mechanism; Because the gearing of loading and unloading drive mechanism, it is opposite to drive adjacent clamp body direction of rotation, thereby makes that the mating surface of corresponding fairlead fits tightly each other on the adjacent clamp body; Form the blind hole among A, B zone (referring to Figure 10) or C, the D (referring to Figure 11), then ablation needle is inserted and can lead.After guiding finished, the reverse drive rotating shaft made the clamp body that has been combined together be separated from each other (referring to Figure 12), controls mechanical arm then and makes whole device withdraw the working region.
After adopting technique scheme, the present invention compared with prior art has following beneficial effect.
A kind of medical mechanical arm end equipment of the present invention is used for disease; Internal tumours particularly; Diagnose or when treating; Puncture needle (ablation needle) is played quick, accurate guide-localization and easily it withdrawn operative region, can cooperate puncture needle (ablation needle) practicality of various models and quantity in addition.Under CT tomography or nuclear magnetic resonance, NMR tomography, use puncture needle that focus is punctured to anaesthetize and relieve the pain, perhaps use the biopsy needle puncture to take tissue to carry out biopsy; Perhaps use radio frequency, microwave, particle implant, when freezing puncture is treated, according to the point of puncture that CT tomography or nuclear magnetic resonance, NMR fault image are measured, puncture angle and paracentesis depth; Use the position and the attitude of biopsy needle guide of the present invention (ablation needle); Before pin gets into skin or focus, give needle body support and keep certain position, the present invention play to needle body fast, the precision guiding, support; And this device can make things convenient for automatically withdraws operative region; For follow-up doctor carries out free-hand operation bigger operative space is provided, has increased the effective travel of pin, realized the man-machine harmony operation preferably.Therefore, the present invention has combined machine and people advantage separately, has reduced the technology content of stereotactic puncture, the focus target spot even if the abecedarian also can puncture exactly; Reduce puncture time, effectively shortened operating time; Reduced the passive amount of radiation of initiatively accepting with the doctor of patient, made the degree of accuracy of percutaneous targeting puncture obtain significant raising, easily be automated; Feasibility other method that relies on machine to undergo surgery fully relatively wants high, and in addition, the present invention passes through rationally transmission mechanism designed cleverly; Reduced the power source number; Only need a power source to get final product, save the energy like this, also significantly reduce the weight of device simultaneously.
Description of drawings
Fig. 1 is the mechanical arm carrier structure sketch map that end equipment of the present invention depends on.
Fig. 2 is the overall structure sketch map of medical mechanical arm end equipment of the present invention.
Fig. 3 is a loading and unloading guiding mechanism sketch map.
Fig. 4 is loading and unloading transmission principle figure in the loading and unloading guiding mechanism.
Fig. 5 is a clamp body structural representation in the loading and unloading guiding mechanism.
Fig. 6 is the fairlead structural representation.
Fig. 7 is the structural representation of fixing loading and unloading guiding mechanism.
Fig. 8 is the connecting plate structural representation that connects the loading and unloading guiding mechanism.
Fig. 9～12nd, the implementation process sketch map of the present invention's one embodiment.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing the present invention is explained further details, but embodiment of the present invention is not limited thereto.
Embodiment
The present invention need depend on a mechanical arm as a kind of medical robotic arm end effector and locate automatically and decide appearance.
As shown in Figure 1, described mechanical arm 5 can make the loading and unloading guiding mechanism 1 among the present invention realize the orientation of desired location/attitude, needs the level of freedom number.Because the degree of freedom that does not need pin to pivot; Only need 5 degree of freedom so accomplish basic task; Wherein 3 degree of freedom are used for space orientation, and other 2 are used for realizing the attitude adjustment, but in practical situation; Generally need unnecessary 5 degree of freedom carry out Redundant Control, can avoid like this interfering, the appearance of abnormal conditions such as the joint limit, singular point.
As shown in Figure 2, the medical mechanical arm end equipment comprises loading and unloading guiding mechanism 1 (calling guiding mechanism in the following text), be used to install the assembly 2 (calling assembly in the following text) of loading and unloading guiding mechanism 1 and be used for assembly 2 is fixed on the connecting plate 3 (calling connecting plate in the following text) on the tail end connecting rod 4 of mechanical arm 5.Guiding mechanism 1 main clamping, support and the guiding operation that realizes the needle-like medical apparatus and instruments; Through the reverse drive of guiding mechanism 1 and the motor control realization entire machine robot system of mechanical arm 5 are withdrawn operative region, for follow-up manually-operated provides bigger working place.
As shown in Figure 3, described guiding mechanism 1 comprises folder four identical clamp bodies (11,12,13,14) and a cover loading and unloading drive mechanism 15 (calling drive mechanism in the following text).The fairlead 113 of guiding mechanism 1 through clamp body (11,12,13,14) is used for pin is led and supports, and realizes needed rotatablely moving through drive mechanism 15, thus make 1 pair of pin class of guiding mechanism medical apparatus and instruments clamping with withdraw.
As shown in Figure 4; Transmission principle is for to carry out transmission through four identical straight spur gear external toothings; Be adjacent two clamp body rotation direction constant speed, opposite; Thereby realize the applying each other in twos of adjacent clamp body, shown in figure 10 is that clamp body 11 and 14,12 and 13 is fitted in twos, and perhaps shown in figure 11 is that clamp body 11 and 12,13 and 14 is fitted in twos.
As shown in Figure 5; The more than one fairlead 113 that each clamp body comprises rotating shaft 116, train wheel bridge 111, lower plate 114 and is used for the needle-like medical equipment is led; Said train wheel bridge 111 is identical with lower plate 114 structures and all have an end to be installed on the rotating shaft; Train wheel bridge 111 is equipped with more than one semicylindrical opening 112 with the both sides of the edge of lower plate 114; A corresponding semicylindrical opening is positioned on the same vertical axis on each semicylindrical opening on the train wheel bridge 111 and the lower plate 114; A fairlead 113 is installed in a pair of semicylindrical opening 112 of in the vertical direction, and described drive mechanism 15 comprises four identical spur gear wheels (115,125,135,145) of parameter formation that is meshing with each other, and spur gear wheel correspondingly is fixed on the rotating shaft 116 of a clamp body.
Like Fig. 3, shown in Figure 4; Said train wheel bridge 111 equates with the intermeshing pitch diameter d of spur gear wheel (115,125,135,145) with the width L of lower plate 114; With guarantee adjacent clamp body (11 and 12,13 and 14 or 11 and 14,12 and 13) under drive system 15 effect, be rotated motion the time do not interfere; And can make adjacent clamp body (11 and 12; 13 and 14 or 11 and 14,12 and 13) fit tightly so that corresponding a pair of fairlead 113 complete closed realize clamping, support and guide function.
As shown in Figure 6, the external diameter of fairlead 113 is greater than the diameter of semicylindrical opening 112, and fairlead 113 has two semi-circular grooves 119 up and down, and this semi-circular groove embeds in the said semicylindrical opening 112, makes fairlead 113 be fixed between train wheel bridge 111 and the lower plate 114.Fairlead 113 has and is used for pilot hole 118 that the needle-like medical equipment is led; The cross section of this pilot hole is not limited to a certain specific shape; Can design accordingly according to the difference of pin class medical equipment cross sectional shape, the mating surface of mutual paired fairlead 113 is the higher plane of flatness.
Described train wheel bridge 111 is 10～40mm with the distance of lower plate 114, guarantees that pin class medical apparatus and instruments has suitable support, guiding length, and does not influence work space; Semicylindrical opening 112 diameters are 1～6mm, and pilot hole 118 diameters of fairlead 113 are 0.5～5mm, are slightly larger than corresponding pin class medical apparatus and instruments diameter of section, guarantee suitable guiding clearance.
As shown in Figure 7; Assembly 2 comprises that upper and lower pressing plate 23, bolt 22, nut 21 constitute; Whole loading and unloading guiding mechanism 1 is fixed in the space 25 through bolt 22 and nut 21, and the rotating shaft 116 of clamp body is connected in the installing hole 24 in the pressing plate 23 through bearing (not marking among the figure).
As shown in Figure 8, described connecting plate 3 is provided with installing hole 31, this end effector is fixed on the end of mechanical arm 5 through bolt 22 and nut 21.In addition, connecting plate 3 is provided with the hole 32 that motor output shaft (not marking in the drawings) passes through, and motor output shaft is connected with the rotating shaft 116 of one of them clamp body (11 or 12 or 13 or 14), and power is input in this contrive equipment.So only need a motor can realize required motion, well saved the quality of power source number and this invention.
Shown in Fig. 9～12, the process of medical mechanical arm end equipment realization clamping, support, guide pin class is narrated as follows:
As shown in Figure 9; Original state before pin being carried out support guide; Only need to drive one of them rotating shaft 116 then; Effect through drive mechanism 15 makes that the mating surface 117 of corresponding fairlead 113 fits tightly each other on the adjacent clamp body, forms the blind hole in A, B (referring to Figure 10) or C, the D zone (participation Figure 11), then ablation needle 101 artificial insertions can be led.After guiding and the insertion human body appropriate depth; Reverse drive rotating shaft 116 makes clamp body 11,12,13,14 be separated from each other (referring to Figure 12), controls mechanical arm 5 then and makes whole device withdraw the working region; For subsequent procedures provides enough big space, increased the effective travel of pin.
Medical mechanical arm end equipment combination machines robot system of the present invention and doctor are following at tumour ablation clinical operation performing step:
1) prepares relevant device.As mechanical arm 5 and this contrive equipment are fixed on image documentation equipment next doors such as CT/MRI, coherent video device systems, communication system, control appliance, puncture needle (ablation needle 101) etc.
2) through CT/MRI scanning; Confirm tumor target spot and skin penetrating point, accomplish operation designing, will connect one to one at target spot and skin entry point; The coordinate parameters of corresponding point to point such as angle, the degree of depth are location of operation puncture parameter, and these data are stored.
3) each coordinate system of patient space, robotic arm manipulation space, image space is carried out registration.Change each spatial position and attitude parameter to unified benchmark, operations such as the control of convenient back, demonstration.
4) utilize communication system with 2) in the resulting data of operation designing be sent in the controller of mechanical arm 5, mechanical arm 5 control apparatus of the present invention move to desired location and attitude, and are as shown in Figure 9.
5) drive the power source of apparatus of the present invention, form the guide hole that seals as among Figure 10 or A shown in Figure 11, B, C, the D.
6) doctor when needle point touches entry point, also need be thrust human body with the partial-length (being made as) of needle body with leading in puncture needle (ablation needle) the insertion guide hole and supporting, so that after withdrawing apparatus of the present invention, pin keeps original position and direction.
7) power source of reverse drive apparatus of the present invention, at this moment, apparatus of the present invention structure is shown in figure 12.
8) control mechanical arm 5 drives whole device and withdraws operative region, and for the doctor reserves bigger operative space, the doctor continues to insert the corresponding degree of depth (being made as) until the predetermined degree of depth (being made as) along original direction of pin then, promptly satisfies:
9) CT/MRI scans affirmation again and whether hits target spot, if hit then the treatment of being correlated with; If recklessly, again since 4).
A kind of medical mechanical arm end equipment of the present invention is used for when disease being diagnosed or treat; Pin class apparatus is played guiding, supporting role; After guiding supports and finishes, can drive this device through control and withdraw operative region, for the free-hand operation of follow-up doctor provides enough big space to mechanical arm; Increase the effective travel of pin, realized the man-machine harmony operation preferably.The present invention has combined machine and people advantage separately like this, has reduced the technology content of stereotactic puncture, has reduced the passive amount of radiation of initiatively accepting with the doctor of patient, makes the degree of accuracy of percutaneous targeting puncture obtain significant raising.
The foregoing description is wherein a kind of embodiment of the present invention; But embodiment of the present invention is not restricted to the described embodiments; Other any do not deviate from change, modification, replacement, combination, the simplification of being made under spirit of the present invention and the principle; All should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (8)
1. medical mechanical arm end equipment is characterized in that comprising the loading and unloading guiding mechanism (1) that is used to load and unload the needle-like medical equipment, is used for the assembly (2) of loading and unloading guiding mechanisms (1) being installed and being used for assembly (2) is fixed on the connecting plate (3) on the mechanical arm tail end connecting rod (4).
2. a kind of medical mechanical arm end equipment according to claim 1 is characterized in that: described loading and unloading guiding mechanism (1) comprises four identical clamp bodies of folder (11,12,13,14) and is used to drive the loading and unloading drive mechanism (15) that these four identical clamp bodies rotate.
3. a kind of medical mechanical arm end equipment according to claim 2; It is characterized in that: the more than one fairlead (113) that described each clamp body comprises rotating shaft (116), train wheel bridge (111), lower plate (114) and is used for the needle-like medical equipment is led; Said train wheel bridge (111) is identical with lower plate (114) structure and all have an end to be installed on the rotating shaft; Train wheel bridge (111) is equipped with more than one semicylindrical opening (112) with the both sides of the edge of lower plate (114); Each semicylindrical opening on the train wheel bridge (111) and lower plate (114) are gone up a corresponding semicylindrical opening and are positioned on the same vertical axis; In a pair of semicylindrical opening (112) of in the vertical direction a fairlead (113) is installed; Described loading and unloading drive mechanism (15) comprises four identical spur gear wheels (115,125,135,145) of parameter formation that is meshing with each other, and a spur gear wheel correspondingly is fixed on the rotating shaft (116) of a clamp body.
4. a kind of medical mechanical arm end equipment according to claim 3; It is characterized in that: said train wheel bridge (111) equates with the intermeshing pitch diameter d of spur gear wheel (115,125,135,145) with the width L of lower plate (114); The external diameter of fairlead (113) is greater than the internal diameter of semicylindrical opening (112); Fairlead (113) has two semi-circular grooves (119) up and down; Semi-circular groove embeds in the said semicylindrical opening (112), makes fairlead (113) be fixed between train wheel bridge (111) and the lower plate (114).
5. a kind of medical mechanical arm end equipment according to claim 4 is characterized in that: fairlead (113) has and is used for pilot hole (118) that the needle-like medical equipment is led.
6. a kind of medical mechanical arm end equipment according to claim 3; It is characterized in that: described train wheel bridge (111) is 10～40mm with the distance of lower plate (114); Semicylindrical opening (112) diameter is 1～6mm, and endoporus (118) diameter of fairlead (113) is 0.5～5mm.
7. a kind of medical mechanical arm end equipment according to claim 2; It is characterized in that: described assembly (2) comprises top board, lower platen, bolt (22), nut (21); Top board, lower platen are equipped with four installing holes (24) that are used for installing loading and unloading guiding mechanisms (1); Whole loading and unloading guiding mechanism (1) is fixed between top board and the lower platen through bolt (22) and nut (21), and the rotating shaft of clamp body (116) is installed in the said installing hole (24) through bearing.
8. a kind of medical mechanical arm end equipment according to claim 7; It is characterized in that: said connecting plate (3) is provided with and is used for the through hole (31) that this connecting plate is connected with top board through bolt (22) and nut (21); Connecting plate (3) is provided with the hole (32) that the power supply machine output shaft passes through in addition, and motor output shaft is connected with the rotating shaft (116) of a clamp body.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210141610.4A CN102670297B (en) | 2012-05-09 | 2012-05-09 | Medical mechanical arm tail end device |
| PCT/CN2012/086893 WO2013166836A1 (en) | 2012-05-09 | 2012-12-19 | Medical mechanical arm tail end device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210141610.4A CN102670297B (en) | 2012-05-09 | 2012-05-09 | Medical mechanical arm tail end device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102670297A true CN102670297A (en) | 2012-09-19 |
| CN102670297B CN102670297B (en) | 2014-07-02 |
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| CN201210141610.4A Expired - Fee Related CN102670297B (en) | 2012-05-09 | 2012-05-09 | Medical mechanical arm tail end device |
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| WO (1) | WO2013166836A1 (en) |
Cited By (8)
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| WO2013166836A1 (en) * | 2012-05-09 | 2013-11-14 | 华南理工大学 | Medical mechanical arm tail end device |
| CN103892912A (en) * | 2012-12-27 | 2014-07-02 | 上海西门子医疗器械有限公司 | X-ray-assisted puncture positioning method and system |
| CN103976778A (en) * | 2014-05-26 | 2014-08-13 | 王燕青 | Full-automatic venipuncture mechanical arm and application method thereof |
| CN105055021A (en) * | 2015-06-30 | 2015-11-18 | 华南理工大学 | Calibration device and calibration method for surgical navigation puncture needle |
| CN106214253A (en) * | 2016-08-15 | 2016-12-14 | 苏州安术医疗科技有限公司 | Lesions position diagnoses and treatment all-in-one |
| CN108969093A (en) * | 2018-08-06 | 2018-12-11 | 广州复大医疗有限公司 | For the probe fixture in tumour ablation art |
| CN113633398A (en) * | 2021-06-30 | 2021-11-12 | 北京东软医疗设备有限公司 | A frame arm and treatment equipment for operation position quick locking |
| CN114041880A (en) * | 2021-11-24 | 2022-02-15 | 电子科技大学 | Medical treatment surgical robot's end puncture executive device |
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| CN106725854B (en) * | 2017-03-03 | 2023-09-12 | 王奎重 | Guide plate for guiding puncture by matching navigation rod in operation and manufacturing method thereof |
| CN109793573A (en) * | 2019-02-12 | 2019-05-24 | 北京理工大学 | Arm end device and the lung puncture robot for using the device |
| CN110478032A (en) * | 2019-08-06 | 2019-11-22 | 高杨 | CT guides lower tumour ablation Scan orientation and ablation needle fixer in vitro device |
| CN114886561B (en) * | 2022-05-24 | 2024-01-30 | 苏州铸正机器人有限公司 | Robot operation path planning device and planning method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2013166836A1 (en) * | 2012-05-09 | 2013-11-14 | 华南理工大学 | Medical mechanical arm tail end device |
| CN103892912A (en) * | 2012-12-27 | 2014-07-02 | 上海西门子医疗器械有限公司 | X-ray-assisted puncture positioning method and system |
| CN103892912B (en) * | 2012-12-27 | 2016-06-01 | 上海西门子医疗器械有限公司 | The Needle localization method that X line is auxiliary and system |
| CN103976778A (en) * | 2014-05-26 | 2014-08-13 | 王燕青 | Full-automatic venipuncture mechanical arm and application method thereof |
| CN103976778B (en) * | 2014-05-26 | 2017-08-29 | 王燕青 | A kind of full-automatic venipuncture system |
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| CN105055021A (en) * | 2015-06-30 | 2015-11-18 | 华南理工大学 | Calibration device and calibration method for surgical navigation puncture needle |
| CN106214253A (en) * | 2016-08-15 | 2016-12-14 | 苏州安术医疗科技有限公司 | Lesions position diagnoses and treatment all-in-one |
| CN108969093A (en) * | 2018-08-06 | 2018-12-11 | 广州复大医疗有限公司 | For the probe fixture in tumour ablation art |
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| CN113633398A (en) * | 2021-06-30 | 2021-11-12 | 北京东软医疗设备有限公司 | A frame arm and treatment equipment for operation position quick locking |
| CN113633398B (en) * | 2021-06-30 | 2022-10-14 | 北京东软医疗设备有限公司 | A frame arm and treatment equipment for operation position quick locking |
| CN114041880A (en) * | 2021-11-24 | 2022-02-15 | 电子科技大学 | Medical treatment surgical robot's end puncture executive device |
| CN114041880B (en) * | 2021-11-24 | 2023-06-16 | 电子科技大学 | End puncture execution device of medical surgical robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2013166836A1 (en) | 2013-11-14 |
| CN102670297B (en) | 2014-07-02 |
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